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+ ], + [ + 3301.75, + -934.4373779296875 + ], + [ + 3294.75, + -934.4373779296875 + ] + ] + ], + "character_reference_z": 212.611 + } + }, + "shortest_path_uu": 1132.731 +} diff --git a/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_a/infos.json b/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7b502b88b8b6484ab40425625931cc4b2eced6 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the second office chair from the left.", + "Type": 2, + "Start_Pose": [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ], + [ + -164.802, + 1629.743, + 197.359, + 0.0, + 15.36, + -0.0 + ], + [ + -164.802, + 1629.743, + 197.359, + 0.0, + -9.64, + 0.0 + ], + [ + -40.72, + 1608.667, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 83.362, + 1587.591, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 83.362, + 1587.591, + 198.15, + 0.0, + -9.64, + 0.0 + ] + ], + "Rationale": [ + "The row of office chairs sits far ahead along the console on my left, and counting from the left end of that row my target is the second one in. The chairs are identical, so I hold it by its place in the run beside the console rather than by looks. I will walk forward to close the long distance.", + "The chairs and their console are off to my left while my heading still points down the open walkway beside the parapet. Turning left should bring the workstation row squarely in front of me so I can walk straight at the chair I picked.", + "The console row is now centered ahead of me with its chairs lined up along it, so my heading is good. Several meters of tiled floor still separate me from them, so I will keep walking forward toward the chair I am after.", + "Coming this close, the left end of the row has slid out of my view and the chairs no longer read as a countable line, but I am still going to the same one I fixed on beside the console. It remains a couple of steps off to my left front, so I will advance once more to stand beside it.", + "The chair I chose now stands directly beside me, within arm's reach at my left. I have reached it, so the walk is done and I stop." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_b/infos.json b/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..780c25ec56d312e7a3b9e11507f438c34b1a5c7f --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the third office chair from the left.", + "Type": 2, + "Start_Pose": [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ], + [ + -284.846, + 1629.702, + 197.359, + 0.0, + -9.64, + 0.0 + ], + [ + -160.764, + 1608.626, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + -36.682, + 1587.55, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 87.399, + 1566.474, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 211.481, + 1545.398, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 211.481, + 1545.398, + 198.15, + 0.0, + -9.64, + 0.0 + ] + ], + "Rationale": [ + "A row of identical office chairs sits along the console, crowded at the left edge of my view. Since they look alike, I pin my target as the third along that run, near the raised glass canopy. Turning left should center the row so I can walk to it.", + "The turn has opened up the full row of chairs along the console ahead on my left, with clear tiled floor between me and them. The chair I settled on still lies well down that run, so I step forward along the open lane.", + "The chairs now spread wider across my view, so I am clearly gaining ground on the row. My chosen chair is still several paces further along the console, and the floor beside the parapet stays clear. I keep walking.", + "The nearest chairs are drawing level with me and the far end of the row is sliding out of my view, so I can no longer count the line from its end. The chair I chose, over by the glass canopy, is still ahead on my left, and I keep closing on it.", + "From here only the last stretch of console and the chairs beside the canopy remain in view, and the one I am going to sits just ahead on my left. One more step forward should bring me alongside it.", + "The chair I set out for stands directly beside me at the console end by the glass canopy. I have arrived, so nothing further is needed." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_c/infos.json b/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fda07a32f479c046920f374faf491479dea2445d --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the fourth office chair from the left.", + "Type": 2, + "Start_Pose": [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ], + [ + -284.846, + 1629.702, + 197.359, + 0.0, + -9.64, + 0.0 + ], + [ + -160.764, + 1608.626, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + -36.682, + 1587.55, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 87.399, + 1566.474, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 211.481, + 1545.398, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 333.833, + 1531.52, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + 333.833, + 1531.52, + 198.15, + 0.0, + -9.64, + 0.0 + ] + ], + "Rationale": [ + "The office chairs sit cropped at the far left edge of my view, too partial to count them off reliably. I turn left so the whole run of seats along the console faces me and I can settle on the fourth one from the left, the chair standing just short of the glass canopy.", + "The full line of chairs along the console is now in front of me, and the one I want is the fourth from the left, seated beneath the angled glass canopy. It is still far down the room, so I walk forward across the open floor toward it.", + "The console and its seats are noticeably larger on my left, yet the chair I chose, the one beside the glass canopy, still lies several seats further on. Nothing blocks the aisle, so I keep walking forward.", + "The nearest chairs are starting to pass by my left shoulder, so I hold onto the chair beside the glass canopy rather than recounting the row from an end I can no longer see. It remains ahead of me, so I step forward again.", + "With the start of the row now behind me, I am tracking the chair tucked at the console near the canopy and the partition wall. It sits a short way further along, so I continue forward.", + "The chair I picked out is close ahead on my left, pushed in at the console beside the partition wall. One more step forward should place me right alongside it.", + "The office chair I singled out stands immediately beside me at the console, within arm's reach. The approach objective is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_d/infos.json b/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e030d2a94944c61eb54764ee1d81732873c96aa --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000285_y001630_z000197_t2_d/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Proceed to the nearest chair on the left side.", + "Type": 2, + "Start_Pose": [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ], + [ + -284.846, + 1629.702, + 197.359, + 0.0, + -9.64, + 0.0 + ], + [ + -160.764, + 1608.626, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + -36.682, + 1587.55, + 198.15, + 0.0, + -9.64, + 0.0 + ], + [ + -36.682, + 1587.55, + 198.15, + 0.0, + -34.64, + 0.0 + ], + [ + 66.867, + 1516.01, + 198.15, + 0.0, + -34.64, + 0.0 + ], + [ + 66.867, + 1516.01, + 198.15, + 0.0, + -34.64, + 0.0 + ], + [ + 66.867, + 1516.01, + 198.15, + 0.0, + -34.64, + 0.0 + ] + ], + "Rationale": [ + "The chairs stand in a row tucked under the console desks off to my left, and they all look alike, so I fix on the one at the near end of that row, closest to me, as my target. My body faces the open walkway instead, so I turn left to bring that row ahead of me.", + "The console row with its chairs now lies ahead and slightly to my left, with clear tiled floor between me and it. I step forward to close that gap toward the chair at the near end of the row.", + "The desks and their chairs have grown noticeably larger, but the near chair is still several paces off to my left front. The floor ahead remains clear, so I walk forward again to keep closing on it.", + "I am now level with the console row, and the chair I chose has slid to the lower left edge of my view while my heading still runs past it down the room. Turning left should place that chair squarely in front of me for the final approach.", + "The chair at the near end of the console row is now directly ahead of me, only a short distance away with clear floor between us. I step forward to bring myself right up beside it.", + "The chair is now immediately in front of me, so close that its backrest and the desk edge fill the lower part of my view. I look down to confirm the seat is right at my position rather than still a step away.", + "The chair at the near end of the console row stands directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-000592_y-000815_z000098_t3_a/infos.json b/dataset/trajectory/CommandCenter/task_x-000592_y-000815_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87af2266f9e4ba219d1d06ef78b7b514b0ac5944 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000592_y-000815_z000098_t3_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the door's silver handle, then move to the orange floor pipe base.", + "Type": 3, + "Start_Pose": [ + -592.372, + -815.233, + 98.15, + -0.006, + -144.999, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -592.372, + -815.233, + 98.15, + -0.006, + -144.999, + 0.0 + ], + [ + -592.372, + -815.233, + 98.15, + -0.006, + -169.999, + -0.0 + ], + [ + -716.319, + -837.09, + 98.15, + -0.006, + -169.999, + -0.0 + ], + [ + -840.265, + -858.948, + 98.15, + -0.006, + -169.999, + -0.0 + ], + [ + -840.265, + -858.948, + 98.15, + -0.006, + -169.999, + -0.0 + ], + [ + -840.265, + -858.948, + 98.15, + -0.006, + -144.999, + -0.0 + ], + [ + -840.265, + -858.948, + 98.15, + -0.006, + -119.999, + -0.0 + ], + [ + -903.193, + -967.946, + 98.15, + -0.006, + -119.999, + -0.0 + ], + [ + -937.648, + -1074.018, + 98.15, + -0.006, + -119.999, + -0.0 + ], + [ + -937.648, + -1074.018, + 98.15, + -0.006, + -119.999, + -0.0 + ] + ], + "Rationale": [ + "The white door with its silver knob sits off to my left edge, while the orange pipes run down the wall ahead and to my right. I will turn left to bring that door squarely in front of me before walking to it.", + "The door is now centered ahead of me with its silver knob clearly visible, and the tiled floor between us is clear of equipment cabinets. I will walk forward to close the gap toward that handle.", + "The doorway now fills much of my view and the silver knob is plainly readable, but I am still a stride or two short of it. Another step forward should bring me right up to the handle.", + "The white door fills my view and its silver knob sits right at arm's length beside the narrow window. I have reached the door's silver handle. I mark reaching it, then turn my attention to the orange pipe running down to the floor.", + "The door face is all I can see, so I need to swing away from it toward the wall where the orange pipes descend. I will turn right to start bringing those pipes into view.", + "The pair of orange pipes has come into view along the right edge, running from the ceiling down into the corner. Turning right once more should place them and their floor base in the middle of my path.", + "The orange pipes now sit near the center of my view, dropping toward the corner where their base meets the floor, and the tiles ahead are clear. I will step forward to close on that base.", + "The two orange pipes now tower directly in front of me, though their base at the floor is still a short step beyond reach. One more forward step should bring me right up against the pipe base.", + "The orange pipes fill my view at arm's length against the corner wall. I am at the pipe base, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-000592_y-000815_z000098_t3_b/infos.json b/dataset/trajectory/CommandCenter/task_x-000592_y-000815_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05efd42c121336aee65a3842c8dac7be7d89b310 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000592_y-000815_z000098_t3_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Move to the orange pipe meeting the floor, then walk to the metal door.", + "Type": 3, + "Start_Pose": [ + -592.372, + -815.233, + 98.15, + -0.006, + -144.999, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -592.372, + -815.233, + 98.15, + -0.006, + -144.999, + 0.0 + ], + [ + -704.813, + -858.127, + 98.15, + -0.006, + -144.999, + -0.0 + ], + [ + -704.813, + -858.127, + 98.15, + -0.006, + -119.999, + -0.0 + ], + [ + -792.196, + -934.263, + 98.15, + -0.006, + -119.999, + -0.0 + ], + [ + -855.124, + -1043.261, + 98.15, + -0.006, + -119.999, + -0.0 + ], + [ + -855.124, + -1043.261, + 98.15, + -0.006, + -119.999, + -0.0 + ], + [ + -855.124, + -1043.261, + 98.15, + -0.006, + -144.999, + -0.0 + ], + [ + -855.124, + -1043.261, + 98.15, + -0.006, + -169.999, + -0.0 + ], + [ + -855.124, + -1043.261, + 98.15, + -0.006, + 165.001, + -0.0 + ], + [ + -855.124, + -1043.261, + 98.15, + -0.006, + 140.001, + -0.0 + ], + [ + -855.124, + -1043.261, + 98.15, + -0.006, + 115.001, + -0.0 + ], + [ + -908.316, + -929.195, + 98.15, + -0.006, + 115.001, + -0.0 + ], + [ + -908.316, + -929.195, + 98.15, + -0.006, + 140.001, + -0.0 + ], + [ + -937.949, + -853.644, + 98.15, + -0.006, + 140.001, + -0.0 + ], + [ + -937.949, + -853.644, + 98.15, + -0.006, + 140.001, + -0.0 + ] + ], + "Rationale": [ + "The orange pipes drop from the ceiling ducts ahead and run down the far wall to the tiled floor, and the grey cabinet sits clear to my right. Nothing blocks the open floor between us, so I will walk forward to close on the point where those pipes meet the floor.", + "The pipe run now sits a little right of straight ahead, so a direct walk would drift me toward the door wall on my left. A small turn to the right should put the base of the pipes squarely in front of me before I continue.", + "The pipes are now centered in front of me with clear tile between here and the corner where they touch the floor. The cabinets stay off to my right, so I will step forward along this heading to shorten the remaining gap.", + "The two orange pipes now fill much of my view and I can see them run down the wall to where they end at the tile. I am still a few paces short of that spot, so I will keep walking forward to stand right at their base.", + "The orange pipe is directly beside me, close enough that it fills the left of my view down to the tile where it meets the floor. I am standing at that spot. I mark reaching the pipe base and now turn my attention to the metal door back along the white wall.", + "Facing into this corner, all I have in front of me is the pipe and blank wall, while the metal door lies well around to my left along the white wall. I will turn left to begin swinging my heading off the corner and back toward that door.", + "The pipes have swung toward the middle of my view but the wall corner still fills everything ahead, so I am not yet looking down the wall that carries the metal door. Another turn to the left should keep rotating me toward that side.", + "The pipes have slid over to my right edge and plain white wall now dominates the view, so my heading is sweeping the right way but the door is still out of sight. I will turn left again to keep bringing the door wall into view.", + "My view is filled by blank white wall with nothing usable in it, so I still cannot see the metal door I now need. Since the door stood off to my left side of this room, I will keep swinging left to bring it back into view.", + "The metal door with its narrow window and round knob has come into view at the left edge, with the orange pipes running down beside it. It is still too far off my heading to walk straight at, so I will turn left again to bring it nearer the center of my view.", + "The metal door now sits ahead of me along the wall, with clear tiled floor and the open workspace opening up on my left. My heading is good enough to close distance directly, so I will walk forward to get near the door.", + "I am now close beside the metal door, its knob and window plainly visible just to my right. My body is still aimed down the aisle rather than at the door, so I will turn right to square up with its face.", + "The metal door is now centered in front of me, its slit window and knob within a short stride. A last step forward should place me right at the door, completing my approach to it.", + "The metal door's window and frame fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-000621_y-001165_z000098_t0_a/infos.json b/dataset/trajectory/CommandCenter/task_x-000621_y-001165_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03a8bcda3af18cd55ec78fe33a159d17fe94c5d7 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000621_y-001165_z000098_t0_a/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Walk to the doorway with the dark frame.", + "Type": 0, + "Start_Pose": [ + -621.487, + -1164.686, + 98.15, + 0.0, + 136.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -621.487, + -1164.686, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -712.509, + -1077.764, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -803.532, + -990.842, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -894.554, + -903.92, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -894.554, + -903.92, + 98.15, + 0.0, + 136.32, + -0.0 + ] + ], + "Rationale": [ + "I can see the white door set in a dark black frame ahead along the right-hand wall, with an open tiled corridor leading toward it. My heading already lines up with that corridor, so I will move forward to close the distance instead of turning.", + "The dark-framed doorway is noticeably larger and closer now, still slightly right of my center view but reachable along the same straight path. The floor ahead remains clear of equipment cabinets, so I will continue forward to keep closing the gap.", + "The door with its black frame now fills much of the right side of my view, including the handle and narrow window, but I am not yet standing at the threshold. One more forward step should bring me directly in front of the doorway.", + "The dark-framed door fills my view at arm's length, with its handle directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-000621_y-001165_z000098_t0_b/infos.json b/dataset/trajectory/CommandCenter/task_x-000621_y-001165_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9ecf4b9a39fc8f1d91028f43875079ed013b3725 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000621_y-001165_z000098_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the base of the red vertical pipe near the door.", + "Type": 0, + "Start_Pose": [ + -621.487, + -1164.686, + 98.15, + 0.0, + 136.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -621.487, + -1164.686, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -712.509, + -1077.764, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -803.532, + -990.842, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -803.532, + -990.842, + 98.15, + 0.0, + 111.32, + -0.0 + ], + [ + -849.291, + -873.596, + 98.15, + 0.0, + 111.32, + -0.0 + ], + [ + -895.05, + -756.351, + 98.15, + 0.0, + 111.32, + -0.0 + ], + [ + -895.05, + -756.351, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -895.05, + -756.351, + 98.15, + 0.0, + 136.32, + -0.0 + ] + ], + "Rationale": [ + "I can see the red vertical pipes running down the dark wall on my right, with one pair descending right beside the white door frame ahead. That door-side pipe is my target, so I will move forward along the open tiled aisle to close the distance.", + "The door and the pair of red pipes at its left edge are now larger and closer on my right, but still several steps away. I will continue straight down the aisle to keep reducing the gap to the pipe base.", + "The door and its two red pipes are now very close on my right, and my current heading points into the wall rather than down the corridor. I will turn slightly left to face the open aisle again so I can keep advancing parallel to the pipes.", + "With the corridor now open ahead of me, the pair of red pipes stands just off to my right against the wall beside the door. I will step forward along this aisle to bring myself level with the pipes' floor contact point.", + "The two red pipes are now large and near, running from the ceiling down to the floor just to my right. One more forward step should place me right at their base rather than slightly short of it.", + "I am now beside the pipes, but only a sliver of red shows at the right edge of my view while a cabinet fills the center. I will turn right to bring the pipe base squarely in front of me.", + "The red vertical pipes fill my view directly ahead, with their lower sections and floor contact within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-000802_y-000647_z000098_t0_a/infos.json b/dataset/trajectory/CommandCenter/task_x-000802_y-000647_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..072d9180a121592b6438ba82ffa0215891aff529 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-000802_y-000647_z000098_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the base of the red vertical pipe.", + "Type": 0, + "Start_Pose": [ + -802.182, + -647.197, + 98.15, + 0.0, + -78.72, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -802.182, + -647.197, + 98.15, + 0.0, + -78.72, + 0.0 + ], + [ + -792.176, + -770.232, + 98.15, + 0.0, + -78.72, + 0.0 + ], + [ + -768.31, + -893.7, + 98.15, + 0.0, + -78.72, + 0.0 + ], + [ + -768.31, + -893.7, + 98.15, + 0.0, + -103.72, + 0.0 + ], + [ + -768.31, + -893.7, + 98.15, + 0.0, + -128.72, + 0.0 + ], + [ + -847.037, + -991.897, + 98.15, + 0.0, + -128.72, + 0.0 + ], + [ + -919.861, + -1083.247, + 98.15, + 0.0, + -128.72, + 0.0 + ], + [ + -919.861, + -1083.247, + 98.15, + 0.0, + -128.72, + 0.0 + ] + ], + "Rationale": [ + "I can see the red vertical pipe running down the far wall on my left side, well across the room. The open tiled floor straight ahead is clear, so I will move forward to cut down the large gap before worrying about heading. Closing distance first should make the pipe's base easier to judge.", + "The red pipes are now noticeably larger on my left, confirming my forward motion is closing the distance. The lane between the gray cabinets on my right and the left wall is still open, so I will keep pushing forward. Another step should bring me roughly level with the pipe wall.", + "My forward heading now points me at the gray cabinet that fills the right and center of my view, and the red pipe has slipped out of sight past my left edge. I will turn left to swing my heading back toward the pipe wall instead of the equipment. That rotation should bring the target back into view.", + "The red pipes are back in view but sit well to the left of my center, so my heading is still off the target. I will turn left again to bring the pipe and its base closer to the middle of my view. A centered target should let me walk straight in from here.", + "The red vertical pipes now sit near the middle of my view with their bases meeting the floor ahead of me. My heading looks well aligned and the floor between us is clear, so I will move forward to close the remaining gap. This should bring me appreciably nearer the base.", + "The pipes now fill the center of my view and I can see them running down to the floor, but there is still a short stretch of tile before I stand at the base. I will move forward once more to finish closing that gap. That should put me directly in front of the pipe's lower end.", + "The red vertical pipe fills my view at arm's length with its base at the floor right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-001876_y-000007_z000098_t0_a/infos.json b/dataset/trajectory/CommandCenter/task_x-001876_y-000007_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..867f3f4908a28d9d808891e4368c5ba98787ead8 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-001876_y-000007_z000098_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the gray trash bin near the door.", + "Type": 0, + "Start_Pose": [ + -1875.832, + -6.71, + 98.15, + 0, + 102.72, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "TurnRight", + "LookDown", + "TurnRight", + "LookDown", + "MoveBackward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1875.832, + -6.71, + 98.15, + 0, + 102.72, + 0 + ], + [ + -1903.545, + 116.06, + 98.15, + 0.0, + 102.72, + -0.0 + ], + [ + -1931.257, + 238.83, + 98.15, + 0.0, + 102.72, + -0.0 + ], + [ + -1962.328, + 360.005, + 98.15, + 0.0, + 102.72, + -0.0 + ], + [ + -1986.206, + 479.057, + 109.319, + 0.0, + 102.72, + -0.0 + ], + [ + -1986.206, + 479.057, + 109.319, + 0.0, + 102.72, + -0.0 + ], + [ + -1986.206, + 479.057, + 109.319, + 0.0, + 127.72, + -0.0 + ], + [ + -1986.206, + 479.057, + 109.319, + 0.0, + 127.72, + -0.0 + ], + [ + -1986.206, + 479.057, + 109.319, + 0.0, + 152.72, + -0.0 + ], + [ + -1986.206, + 479.057, + 109.319, + 0.0, + 152.72, + -0.0 + ], + [ + -1913.233, + 428.992, + 98.15, + 0.0, + 152.72, + -0.0 + ], + [ + -1913.233, + 428.992, + 98.15, + 0.0, + 152.72, + -0.0 + ], + [ + -1913.233, + 428.992, + 98.15, + 0.0, + 152.72, + -0.0 + ] + ], + "Rationale": [ + "From my starting position in the corridor I can see the pale door on my left and, just past it, a small gray cylindrical trash bin standing at the base of the dark partition ahead. My heading already lines up with that bin, so I will step forward to begin closing the open floor between us.", + "The gray bin now sits noticeably larger near the center of my view beside the wooden partition, confirming I am headed the right way. The floor between us is still clear of chairs and desks, so I will keep advancing.", + "The bin has dropped lower in my view and sits right against the partition edge, which tells me I am getting close but am not yet beside it. I will take another step forward to shorten that remaining gap.", + "The bin is now at the very bottom of my view, tucked beside the tall wooden partition just ahead of me. One more forward step should bring me right up next to it.", + "The dark partition panel now fills almost all of my view, so the bin has slipped below what I can see at this head angle. I will tilt my head down to check the floor immediately in front of me and reacquire the bin at my feet.", + "Looking down against the partition gives me only its dark surface, with no floor or bin visible. Turning right should swing my view past the partition edge toward the open carpet where the bin should stand.", + "After turning, the partition still blocks the left half of my view while the open floor with the desk chairs opens up on the right. I will look down again to bring the carpet along the partition base, where the bin sits, into view.", + "The near partition panel still fills most of my view and only a strip of carpet and chair legs shows on the right. A further turn right should clear that panel and put the bin's position at the partition corner in front of me.", + "After turning, the open floor and chair cluster fill the center of my view, but the low gray bin I want is not yet visible along the base of the dark counter to my left. I will tilt my gaze downward to bring the floor line beside that counter into view and confirm where the bin sits.", + "With my gaze lowered I can see the carpet and the wheeled chairs ahead, yet the counter panel on my left still blocks the corner where the gray bin should stand, which suggests I have advanced slightly past a good viewing spot. I will step backward to open that angle and regain a clear line to the bin without giving up my heading.", + "From this slightly withdrawn position the room reads clearly and something pale is just appearing at the bottom edge of my view beside the counter. I will look down again to bring that floor area fully into sight and verify it is the gray bin near the door.", + "The gray trash bin now stands clearly in view just a step to my left at the counter corner. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-001897_y-000398_z000098_t3_a/infos.json b/dataset/trajectory/CommandCenter/task_x-001897_y-000398_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e889c707c2692633d6b5b339f74ec05d8430785 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-001897_y-000398_z000098_t3_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the metal trash bin, then approach the wooden door.", + "Type": 3, + "Start_Pose": [ + -1897.442, + -398.231, + 98.15, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1897.442, + -398.231, + 98.15, + 0.0, + 120.0, + -0.0 + ], + [ + -1950.258, + -287.385, + 98.15, + 0.0, + 120.0, + -0.0 + ], + [ + -2013.177, + -178.381, + 98.15, + 0.0, + 120.0, + -0.0 + ], + [ + -2013.177, + -178.381, + 98.15, + 0.0, + 120.0, + -0.0 + ], + [ + -2013.177, + -178.381, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -2013.177, + -178.381, + 98.15, + 0.0, + 70.0, + -0.0 + ], + [ + -2013.177, + -178.381, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + -1924.181, + -89.386, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + -1924.181, + -89.386, + 98.15, + 0.0, + 70.0, + -0.0 + ], + [ + -1881.135, + 28.883, + 98.15, + 0.0, + 70.0, + -0.0 + ], + [ + -1881.135, + 28.883, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1892.104, + 154.263, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1905.56, + 270.674, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1905.56, + 270.674, + 98.15, + 0.0, + 95.0, + -0.0 + ] + ], + "Rationale": [ + "The dark metal bin sits ahead of me on the carpet at the base of the wooden partition, still a fair distance off. Walking straight forward should close most of that gap without any turn.", + "The bin is noticeably larger now and sits just left of my path beside the partition, but I am not yet beside it. Another step forward should bring me level with it, and the open floor ahead stays clear of chairs and desks.", + "The dark metal bin now stands close beside me at the foot of the wooden partition, low in my view. I have reached it. I mark reaching it before setting off toward the pale wooden door over on the far side of this room.", + "Straight ahead of me are only consoles, chairs and the window wall, while the doorway side of the room lies off past the partition to my left. Turning left should swing that quieter corner into my view so I can pick out the wooden door.", + "The pale door with its narrow window has come into view over on the left, past the wooden partition and the blank wall. One more turn to the left should bring me around further onto that corner of the room.", + "The door sits in the recess ahead, but the wooden partition and the desk edge still crowd the line between me and it. Turning left once more should point me down the open carpet lane along the wall, clear of that furniture.", + "The long pale wall runs away in front of me with clear carpet beside it, and the pale door with its slim window sits ahead on the right past the partition. Walking forward now should carry me down this open lane and closer to that door.", + "My advance has brought the blank wall directly in front of me while the door with its narrow window and handle now sits off to my right. Turning right should put that door squarely ahead so I can walk straight in on it.", + "The pale door with its narrow vertical window now sits clearly ahead of me at the end of this wall, with open floor between us. Nothing blocks the stretch, so I walk forward to cut the remaining distance to it.", + "The door panel is close now, but my heading points into the wall face on my left, which would crowd me against it. I turn right to swing my line of travel onto the open floor beside the door so I can close the last stretch cleanly.", + "With my heading now onto the open carpet, the door and its handle sit just ahead on my left and the room beyond opens up clear of obstacles. I step forward to draw level with the doorway.", + "The door now fills the left half of my view, its knob and window panel at close range, but I am still a stride short of standing at it. I move forward once more to bring myself right up beside the doorway.", + "The door frame and handle stand immediately at my left shoulder, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-001897_y-000398_z000098_t3_b/infos.json b/dataset/trajectory/CommandCenter/task_x-001897_y-000398_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d1df20026b67449842f1926928a7ce438843ccd7 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-001897_y-000398_z000098_t3_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Approach the wooden door, then move to the metal trash bin.", + "Type": 3, + "Start_Pose": [ + -1897.442, + -398.231, + 98.15, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1897.442, + -398.231, + 98.15, + 0.0, + 120.0, + -0.0 + ], + [ + -1897.442, + -398.231, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1908.411, + -272.851, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1919.381, + -147.471, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1930.35, + -22.091, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1918.984, + 4.171, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1899.546, + 90.541, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1910.516, + 215.921, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1910.516, + 215.921, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1902.462, + 123.873, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1894.409, + 31.824, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1886.356, + -60.224, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1878.303, + -152.272, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1878.303, + -152.272, + 98.15, + 0.0, + 120.0, + -0.0 + ], + [ + -1941.232, + -43.275, + 98.15, + 0.0, + 120.0, + -0.0 + ], + [ + -1941.232, + -43.275, + 98.15, + 0.0, + 120.0, + -0.0 + ], + [ + -1941.232, + -43.275, + 98.15, + 0.0, + 120.0, + -0.0 + ] + ], + "Rationale": [ + "The pale door with the narrow vertical window stands far over on my left, near the corner of the room, while my heading points into the desks and partitions ahead. I will turn left so that door sits in front of me and I can walk a straight line to it.", + "The door now sits ahead of me along the left wall, and the carpet lane between us is open with no furniture in the way. I will walk forward to begin closing that distance.", + "The door has grown larger and its handle is now distinguishable, so my heading is carrying me correctly toward it. The lane beside the wall remains clear, so I will keep walking forward.", + "I am still several paces short of the door, which now fills the left portion of my view with the wooden partition sliding past on my right. Walking forward again should bring me nearer without needing any turn.", + "The doorway is close on my left now, its knob and kickplate clearly resolved, but I am not yet beside it. The passage between the wall and the partition stays wide enough, so I will step forward again.", + "The door leaf dominates my left side while the dark cabinet edge crowds my right, meaning I am nearly level with the doorway. One more step forward should bring me squarely alongside it.", + "I am almost at the door, with its window strip and round handle plainly within a short reach on my left. I will take one more step forward to stand right at it.", + "The door fills my left side at arm's length, its handle and window strip right beside me, so I am standing at it. I have reached the door, and I mark that arrival before setting off toward the dark metal bin standing on the carpet beside the wooden partition to my right.", + "The wooden door fills the left of my view at arm's length, so I have no room to swing away from it here. I will step back to open space between me and the door before heading toward the metal bin standing on the carpet beside the wooden partition.", + "The door has pulled back from my face but still crowds my left side, and the bin by the partition remains far off across the carpet. Another step back should give me the clearance I need before turning onto a line toward it.", + "I can now see the whole doorway and the open floor beyond it, with the bin sitting low beside the partition. Backing up once more should widen my angle on that open floor so I can aim at the bin cleanly.", + "A tall wooden partition now crowds the right edge of my view and hides part of the room where the bin sits. One more step back should put that partition edge behind my shoulder so a turn can open the lane toward the bin.", + "From here the door is off to my left and the room with the metal bin lies to my right, past the partition corner. Turning right should bring that stretch of carpet and the bin into the middle of my view for a straight walk in.", + "The metal trash bin is now plainly in view at the base of the wooden partition, straight ahead of me across clear carpet. I will walk forward to close that remaining gap.", + "The partition panel now fills most of my forward view, which means I am right up against it, and the bin should be low and near my feet rather than at eye level. I will look down to bring it back into view and confirm how close I stand.", + "The metal trash bin stands directly at my feet beside the partition. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-001927_y-000055_z000098_t0_a/infos.json b/dataset/trajectory/CommandCenter/task_x-001927_y-000055_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8131bd169f4e1a1199ae1fd1d75ff14367d46042 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-001927_y-000055_z000098_t0_a/infos.json @@ -0,0 +1,56 @@ +{ + "Instruction": "Walk to the door with the small rectangular window.", + "Type": 0, + "Start_Pose": [ + -1927.278, + -55.021, + 98.15, + 0.0, + 72.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1927.278, + -55.021, + 98.15, + 0.0, + 72.96, + -0.0 + ], + [ + -1888.042, + 63.786, + 98.15, + 0.0, + 72.96, + -0.0 + ], + [ + -1862.15, + 183.674, + 98.15, + 0.0, + 72.96, + -0.0 + ], + [ + -1862.15, + 183.674, + 98.15, + 0.0, + 72.96, + -0.0 + ] + ], + "Rationale": [ + "Down this narrow corridor between the white wall on my left and the open hall on my right, I can see a pale door with a slim vertical rectangular window set high in it, which matches the target described in the task. My heading already points along the passage toward that door, so no turn is needed yet. I will walk forward to close the gap and get a clearer look at the window and handle.", + "The door now fills much more of my view, and its slim rectangular window with the round knob beside it is clearly the target. I am still a couple of steps short of standing right at the door, and my heading remains lined up with it. I will step forward again to close the remaining distance.", + "The door's slim rectangular window and handle fill the right side of my view, an arm's length ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-002718_y-001161_z000098_t0_a/infos.json b/dataset/trajectory/CommandCenter/task_x-002718_y-001161_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f2bd4846c3c21f25dccf1900b3379c7791827a7 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-002718_y-001161_z000098_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the dark doorway beneath the digital clock display.", + "Type": 0, + "Start_Pose": [ + -2717.53, + -1161.183, + 98.15, + 0.0, + 0.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2717.53, + -1161.183, + 98.15, + 0.0, + 0.96, + -0.0 + ], + [ + -2591.689, + -1159.074, + 98.15, + 0.0, + 0.96, + -0.0 + ], + [ + -2476.73, + -1163.284, + 98.15, + 0.0, + 0.96, + -0.0 + ], + [ + -2375.202, + -1188.329, + 98.15, + 0.0, + 0.96, + -0.0 + ], + [ + -2249.365, + -1187.874, + 98.15, + 0.0, + 0.96, + -0.0 + ], + [ + -2123.526, + -1186.263, + 98.15, + 0.0, + 0.96, + -0.0 + ], + [ + -2123.526, + -1186.263, + 98.15, + 0.0, + 25.96, + -0.0 + ], + [ + -2010.366, + -1131.169, + 98.15, + 0.0, + 25.96, + -0.0 + ], + [ + -2010.366, + -1131.169, + 98.15, + 0.0, + 50.96, + -0.0 + ], + [ + -1931.092, + -1033.414, + 98.15, + 0.0, + 50.96, + -0.0 + ], + [ + -1862.148, + -936.001, + 98.15, + 0.0, + 50.96, + -0.0 + ], + [ + -1859.094, + -844.33, + 98.15, + 0.0, + 50.96, + -0.0 + ], + [ + -1859.094, + -844.33, + 98.15, + 0.0, + 25.96, + -0.0 + ], + [ + -1859.094, + -844.33, + 98.15, + 0.0, + 25.96, + -0.0 + ] + ], + "Rationale": [ + "The red digital clock display glows on the far wall straight ahead, with filing cabinets lining the aisle to my left and console desks to my right. The doorway I need should sit on the wall beneath that display, so I will move forward along the open aisle to close the long distance.", + "The clock display now appears larger and the wall behind it is closer, confirming my heading is aimed at the right part of the room. The aisle between the cabinets and the desk edge is still clear, so another forward step should keep reducing the gap.", + "The clock is rising in my view as I get nearer to the wall it is mounted on, and the desk clutter stays clear of my path on the right. I will continue straight to reach the wall region under the display where the doorway should be.", + "The pale wall under the clock now fills much of the view and the display sits high above it, so I am getting close to the target wall. No doorway is yet distinguishable from here, so I will advance further to bring that wall section into better view.", + "The wall beneath the display is only a short distance ahead and the clock has climbed near the top of my view. One more forward step should place me right at this wall, close enough to inspect it for the dark doorway.", + "I am now standing close to the wall under the clock, but from this heading I see only blank wall surface and no opening. Turning right should sweep my view along this wall so I can find the dark doorway beneath the display.", + "The turn brought a dark recessed doorframe into view ahead and slightly to my right, sitting under the glowing clock display. I will move forward to close the remaining distance toward that opening.", + "The dark doorway has drifted to the right side of my view as I advanced along this wall, so my heading is drifting past it. Turning right should swing the opening back toward the center of my view for a straight approach.", + "The dark-framed doorway now sits ahead along the white wall on my left side, with a red digital display glowing above the same wall line. My heading runs roughly parallel to that wall, so I will step forward to close the remaining gap toward the door frame.", + "The doorway's dark surround and pale door slab have grown noticeably larger just ahead of me, confirming I am tracking the right target beneath the illuminated display. There is still a few steps of clear floor between me and it, so another forward step should bring me nearly alongside the opening.", + "I am now very close to the wall, with the pale door surface and its dark jamb filling the middle of my view and the near wall sliding past on my left. One more short forward step should place me directly at the doorway rather than slightly short of it.", + "I have arrived right at the opening, but my heading still points down the corridor, so the door itself is edge-on at the left of my view and only its dark jamb is squarely visible. Turning left should swing my facing onto the doorway so it is centered in front of me.", + "The doorway's slim window and metal frame fill my view at arm's length directly ahead. The approach target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-002747_y000070_z000098_t2_a/infos.json b/dataset/trajectory/CommandCenter/task_x-002747_y000070_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..498b6b0781465e8f69cb13ae0c6a7013f76474c9 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-002747_y000070_z000098_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the leftmost office chair near the desk.", + "Type": 2, + "Start_Pose": [ + -2747.256, + 70.064, + 98.15, + 0.0, + 93.12, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2747.256, + 70.064, + 98.15, + 0.0, + 93.12, + -0.0 + ], + [ + -2747.256, + 70.064, + 98.15, + 0.0, + 68.12, + -0.0 + ], + [ + -2719.293, + 189.507, + 98.15, + 0.0, + 68.12, + -0.0 + ], + [ + -2672.39, + 306.3, + 98.15, + 0.0, + 68.12, + -0.0 + ], + [ + -2672.39, + 306.3, + 98.15, + 0.0, + 43.12, + -0.0 + ], + [ + -2580.522, + 392.328, + 98.15, + 0.0, + 43.12, + -0.0 + ], + [ + -2580.522, + 392.328, + 98.15, + 0.0, + 43.12, + -0.0 + ] + ], + "Rationale": [ + "The long desk with its row of office chairs runs off to my left, and the chair at the far left end of that row is the one standing beside the tall wooden panel. My current heading points between the two dark partitions instead. I turn left to face that side of the room.", + "Facing left now, the desk and its chairs sit well back across open carpet, with the wooden panel bounding that side. Nothing blocks the floor between me and them, so I walk forward to close the distance toward the chair at the near end of the run.", + "The desk and its chairs are larger and clearer ahead, yet I am still several paces short of the chair standing beside the wooden panel at the end of the run. The route past the dark partition remains open, so I step forward again.", + "I am now alongside the console run, and the chair at the end of it beside the wooden desk return sits off to my left rather than along my heading. Turning left should bring that end chair in front of me for a straight final approach.", + "The chair beside the wooden desk return is now roughly ahead of me with clear carpet between us. I walk forward to cover the last stretch and stand right at that chair by the desk.", + "The office chair at the end of the run beside the wooden desk stands directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-002747_y000070_z000098_t2_b/infos.json b/dataset/trajectory/CommandCenter/task_x-002747_y000070_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..73d5b55261d90ea6e9db62c09c3205aaf8289ff1 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-002747_y000070_z000098_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the rightmost black office chair on the right.", + "Type": 2, + "Start_Pose": [ + -2747.256, + 70.064, + 98.15, + 0.0, + 93.12, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2747.256, + 70.064, + 98.15, + 0.0, + 93.12, + -0.0 + ], + [ + -2747.256, + 70.064, + 98.15, + 0.0, + 118.12, + -0.0 + ], + [ + -2806.576, + 181.067, + 98.15, + 0.0, + 118.12, + -0.0 + ], + [ + -2865.896, + 292.07, + 98.15, + 0.0, + 118.12, + -0.0 + ], + [ + -2865.896, + 292.07, + 98.15, + 0.0, + 143.12, + -0.0 + ], + [ + -2966.57, + 367.603, + 98.15, + 0.0, + 143.12, + -0.0 + ], + [ + -2966.57, + 367.603, + 98.15, + 0.0, + 168.12, + -0.0 + ], + [ + -3089.733, + 393.513, + 98.15, + 0.0, + 168.12, + -0.0 + ], + [ + -3089.733, + 393.513, + 98.15, + 0.0, + 143.12, + -0.0 + ], + [ + -3089.733, + 393.513, + 98.15, + 0.0, + 143.12, + -0.0 + ], + [ + -3089.733, + 393.513, + 98.15, + 0.0, + 143.12, + -0.0 + ] + ], + "Rationale": [ + "Two console banks flank the room, and the chairs I care about are the ones lining the right-hand bank, with my target the last chair at the far end of that run beside the curved desk. My body currently points straight down the middle aisle. I turn right so that right-hand side of the room lies ahead of me.", + "The right-hand desk run with its dark chairs now sits ahead of me, partly screened by a low partition panel. Nothing blocks the open floor between me and it, so I step forward to close that distance.", + "The chairs along the right-hand console are noticeably nearer and the curved wooden desk at that end is now readable. I keep walking forward to reach that end of the run.", + "More chairs of the same dark type have come into view along this console, so I hold to the one at the far end beside the curved desk rather than whatever now looks last from here. That end lies off toward my right, past the standing partition. I turn right to bring it into the middle of my view.", + "The desk run and its chairs now spread across my view with open carpet between the partitions. I walk forward to get alongside the curved desk end where my chair stands.", + "The broad curved desk now lies directly across the line I was walking, while clear floor opens between that desk and the panelled unit on my right. I turn right to face that gap so I can continue past the desk instead of walking into its edge.", + "The lane between the desk and the panelled unit is clear, with the far wall and its door beyond. I step forward along it to draw level with the end of the console where my chair sits.", + "I am now level with the rounded desk end, and the chair I have been heading for has slid to my left edge behind the monitors. I turn left to bring it back in front of me and finish squaring up to it.", + "Squared up to the rounded desk end, the chair I came for is so close that its backrest falls below my level line, leaving only desk surface and monitors in view. I look down to bring it into view and check how near I actually stand.", + "The black chair at the end of the right-hand console stands directly below me at the curved desk edge, within arm's reach. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-002924_y000908_z000098_t3_a/infos.json b/dataset/trajectory/CommandCenter/task_x-002924_y000908_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c17a22ef3a005646d69aeba579cc1973ab4dbf06 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-002924_y000908_z000098_t3_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the two-step dark staircase, then approach the five-step dark staircase.", + "Type": 3, + "Start_Pose": [ + -2924.178, + 907.551, + 98.15, + 0.0, + 155.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2924.178, + 907.551, + 98.15, + 0.0, + 155.52, + -0.0 + ], + [ + -3038.723, + 959.704, + 98.15, + 0.0, + 155.52, + -0.0 + ], + [ + -3153.268, + 1011.857, + 98.15, + 0.0, + 155.52, + -0.0 + ], + [ + -3267.058, + 1057.789, + 112.491, + 0.0, + 155.52, + -0.0 + ], + [ + -3267.058, + 1057.789, + 112.491, + 0.0, + 155.52, + -0.0 + ], + [ + -3267.058, + 1057.789, + 112.491, + 0.0, + -179.48, + 0.0 + ], + [ + -3392.593, + 1054.614, + 128.618, + 0.0, + -179.48, + 0.0 + ], + [ + -3518.446, + 1053.471, + 123.395, + 0.0, + -179.48, + 0.0 + ], + [ + -3607.79, + 1052.415, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3607.79, + 1052.415, + 98.15, + 0.0, + -179.48, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the low two-step dark stair ahead against the wooden wall, with a taller dark flight of steps further back to its right. My first destination is that two-step stair, so I will walk straight ahead to close the open floor between us.", + "The two-step dark stair now sits larger and lower in my view, so my previous stride clearly shortened the gap. The floor in front of me is still clear, so I will keep walking straight toward it.", + "The two steps and the pale block above them now dominate the lower half of my view, so I am only a short walk short of them. I will step forward again to bring myself right up to the edge of that low stair.", + "The two dark steps and the pale block above them are directly at my feet, filling my view at arm's length. I have arrived at this two-step dark staircase. I mark reaching it and turn my attention to the five-step dark staircase rising off to my right.", + "The five-step dark staircase climbs along the right side of my view, partly behind the pale block I am standing beside. I will turn right so that taller flight comes in front of me and I can walk straight at it.", + "The turn has brought the five-step dark staircase into the middle of my view, its treads rising away from me along the white wall. With clear floor between us, I will walk forward toward it.", + "The stepped flight is noticeably closer and its individual treads are now distinct against the bright wall. I will keep walking straight at it to close the remaining distance.", + "The lower treads of the dark five-step staircase now fill the bottom of my view and the pale block has slid to my left. A short step forward should bring me right up to the foot of these steps.", + "The dark five-step staircase fills my view right at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-002924_y000908_z000098_t3_b/infos.json b/dataset/trajectory/CommandCenter/task_x-002924_y000908_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..81b564e1fa596bc6da270359b0ef850be8c13154 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-002924_y000908_z000098_t3_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the five-step dark staircase, then reach the two-step staircase.", + "Type": 3, + "Start_Pose": [ + -2924.178, + 907.551, + 98.15, + 0.0, + 155.52, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2924.178, + 907.551, + 98.15, + 0.0, + 155.52, + -0.0 + ], + [ + -2924.178, + 907.551, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3050.032, + 906.409, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3175.886, + 905.267, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3301.739, + 904.124, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3427.593, + 902.982, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3553.447, + 901.84, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3553.447, + 901.84, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3461.051, + 902.678, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -3461.051, + 902.678, + 98.15, + 0.0, + 155.52, + -0.0 + ], + [ + -3461.051, + 902.678, + 98.15, + 0.0, + 130.52, + -0.0 + ], + [ + -3461.051, + 902.678, + 98.15, + 0.0, + 105.52, + -0.0 + ], + [ + -3461.051, + 902.678, + 98.15, + 0.0, + 105.52, + -0.0 + ] + ], + "Rationale": [ + "The dark flight of five steps rises further back and slightly to my right, while the low two-step block sits nearer on my left. Since the deeper five-step flight is my first destination, I will turn right to bring it in front of me and open a straight approach.", + "The dark five-step flight now lies ahead of me across open grey floor, with the wooden partition well clear on my right. Nothing blocks the lane, so I will walk forward to close the distance toward those steps.", + "The five treads and their shadowed risers are larger and still slightly left of my heading, and the floor between us stays unobstructed. I will keep walking forward to shorten the remaining gap.", + "The stepped dark flight now fills the left side of my view and the pale wall behind it is close. I am still a few paces short of standing at its foot, so I will advance again.", + "I can count the individual dark treads climbing away to my left front, and the wooden partition has slipped past on my right. A further step forward should bring me right up beside the five-step flight.", + "The dark five-step staircase now dominates the near left of my view with only bare floor and the sunlit wall beyond it. One more forward step should place me directly at its base.", + "The five dark treads climb immediately beside me, close enough that their edges and shadows fill my near view. I have reached the five-step dark staircase. I mark reaching it, then set off for the low two-step staircase.", + "Standing this tight against the five-step flight leaves me almost nose to the wall, with the low two-step block out of sight behind my left shoulder. I will step back to regain clearance so a turn toward that two-step staircase can bring it into view.", + "I am standing right at the dark five-step flight, whose treads now sit at the far left edge while blank sunlit wall fills the rest of my view. The low two-step stair is not in front of me, so I will turn left to sweep my gaze back across the open floor toward it.", + "The turn has pulled the dark five-step flight and the white curved block into view, but I still see no shallow two-tread stair in front of me. I will turn left again to keep swinging my heading toward the open area where those low steps should lie.", + "The white curved wall now fills the center and I can see broad low treads emerging along the lower left of my view. One more left turn should bring that shallow two-step stair squarely in front of me.", + "The wide two-step stair lies directly before me, both low treads within a stride. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x-003413_y-001200_z000098_t0_a/infos.json b/dataset/trajectory/CommandCenter/task_x-003413_y-001200_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d9c072fd4efdbbe189aa117fefdb352a2cada217 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x-003413_y-001200_z000098_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Proceed to the white door beneath the red digital display.", + "Type": 0, + "Start_Pose": [ + -3412.522, + -1199.538, + 98.15, + 0.0, + 149.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3412.522, + -1199.538, + 98.15, + 0.0, + 149.76, + -0.0 + ], + [ + -3521.255, + -1136.152, + 98.15, + 0.0, + 149.76, + -0.0 + ], + [ + -3629.987, + -1072.767, + 98.15, + 0.0, + 149.76, + -0.0 + ], + [ + -3629.987, + -1072.767, + 98.15, + 0.0, + 124.76, + -0.0 + ], + [ + -3704.946, + -979.792, + 98.15, + 0.0, + 124.76, + -0.0 + ], + [ + -3737.942, + -879.477, + 98.15, + 0.0, + 124.76, + -0.0 + ], + [ + -3737.942, + -879.477, + 98.15, + 0.0, + 124.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the red digital display running along the dark upper wall, and directly beneath it, past the workstation partition, there is a white door with a narrow window. My heading already points down the open floor toward that wall, so I will move forward to close the gap.", + "The white door is now much larger in view, slightly left of my heading, with the display panel above it near the top edge. The path ahead is still open, so I will advance again to keep closing distance.", + "From here the white door sits off toward the left side of my view while the bright wall face dominates the center, so my heading is skewed past the target. I will turn left to bring the door closer to the middle of my view before advancing further.", + "The door is now framed more centrally along the corridor with its handle and window clearly visible, and the floor in front of it is clear. I will move forward to close the remaining distance to it.", + "I am close alongside the door now, with its window and knob large in view at arm's-length scale. One more forward step should place me directly at the door beneath the display.", + "The white door's window and frame are directly in front of me at contact range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_a/infos.json b/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6af395ce988618888812e47e67c27190ff7828f7 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the double door on the white wall.", + "Type": 0, + "Start_Pose": [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 103.756, + 371.502, + 98.15, + 0.0, + 9.56, + -0.0 + ], + [ + 227.867, + 392.405, + 98.15, + 0.0, + 9.56, + -0.0 + ], + [ + 351.978, + 413.307, + 98.15, + 0.0, + 9.56, + -0.0 + ], + [ + 476.089, + 434.21, + 98.15, + 0.0, + 9.56, + -0.0 + ], + [ + 600.2, + 455.113, + 98.15, + 0.0, + 9.56, + -0.0 + ], + [ + 600.2, + 455.113, + 98.15, + 0.0, + -15.44, + 0.0 + ], + [ + 721.517, + 421.606, + 98.15, + 0.0, + -15.44, + 0.0 + ], + [ + 842.834, + 388.098, + 98.15, + 0.0, + -15.44, + 0.0 + ], + [ + 942.582, + 355.051, + 98.15, + 0.0, + -15.44, + 0.0 + ], + [ + 942.582, + 355.051, + 98.15, + 0.0, + 9.56, + -0.0 + ], + [ + 942.582, + 355.051, + 98.15, + 0.0, + 9.56, + -0.0 + ] + ], + "Rationale": [ + "I can see the white double door set into the pale wall on the far left side of this equipment room, well off my current heading. I will turn left to bring that doorway toward the center of my view before advancing, so the aisle between the cabinet rows lines up with it.", + "The white double door now sits near the middle of my view at the end of a clear tiled aisle, with server cabinets flanking me on both sides. I will move forward along this open lane to start closing the distance to it.", + "The doorway has grown larger and stays framed straight ahead between the two rows of cabinets, so my heading is still good. I will continue forward since nothing blocks the aisle.", + "I am now past most of the cabinet rows and the white wall with the double door dominates the space in front of me. Another forward step should bring me appreciably closer to that door.", + "The double door is close enough that I can make out its handles and the dark trim around the frame, but there is still open floor between us. I will step forward again to keep reducing that gap.", + "The door has drifted to the left half of my view as I closed in, so I am no longer squared up on it. I will turn left to bring the doorway back to the center of my heading before advancing the last stretch.", + "The double door is now centered ahead of me with the white wall and a bank of small lockers to its left. The floor in front of the threshold is clear, so I will move forward to close the remaining distance.", + "The two door leaves now fill most of my view and I can see the paired handles and the glazed slots clearly, but I am still a step or so short of the threshold. I will move forward once more to finish arriving directly at the door.", + "The white double door now fills most of my view, with its two narrow windows and paired handles just right of center, so I am nearly at the wall. I will take one more short step forward to close the last bit of the gap and stand directly at the door leaves.", + "I am close enough that my view is filled by a flat white door panel with only the dark frame edge showing at the right side, so I cannot see the door's features from this heading. Turning right should swing my facing back onto the center of the double door where its glazed slit and handles are.", + "I am standing directly at the white wall's double door, its glazed slit and metal frame filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_b/infos.json b/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a10d9ce2005918080dfa370b5375df80dc07535c --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the office chair at the computer desk.", + "Type": 0, + "Start_Pose": [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 207.405, + 442.898, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 311.054, + 514.294, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 311.054, + 514.294, + 98.15, + 0.0, + 59.56, + -0.0 + ], + [ + 374.819, + 622.804, + 98.15, + 0.0, + 59.56, + -0.0 + ], + [ + 401.992, + 729.085, + 98.15, + 0.0, + 59.56, + -0.0 + ], + [ + 405.119, + 778.479, + 98.15, + 0.0, + 59.56, + -0.0 + ], + [ + 405.119, + 778.479, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 405.119, + 778.479, + 98.15, + 0.0, + 34.56, + -0.0 + ] + ], + "Rationale": [ + "Across the room I can pick out the console desk on the right side with a swivel office chair pulled up to it, partly screened by a row of tall gray cabinets. Nothing blocks the open tiled floor ahead of me, so I will move forward to start closing that distance.", + "The cabinet row and the desk workstation have grown larger, and the dark office chair beside the console is now clearly resolved to my right. The path straight ahead is still open floor, so I will keep advancing toward the desk area.", + "My heading is drifting toward the far wall and doors on the left while the chair and console desk sit off to my right, partly behind the cabinet bank. I will turn right to bring the chair nearer the center of my view before continuing.", + "The turn has put the workstation with its blue-seated office chair roughly ahead of me, with open aisle floor between the cabinets and the console. I will move forward along that aisle to close on the chair.", + "The desk console and its office chair are now close and filling much of the right and center of my view, but I am still a step short of standing at the workstation. I will advance again to reach the chair position.", + "I am right beside the console row, with a chair and keyboard directly to my lower left and more chairs further along the desk. A short forward step should bring me level with the chair rather than stopping behind the desk edge.", + "At this range the desk top and its side panel fill most of my view, and the office chair has slipped to the very edge on my left. I will turn left to face the chair at the workstation squarely.", + "The office chair at the computer desk is directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_c/infos.json b/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8f0aea00d62d7bd928773be6b5de766ce424561f --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x000104_y000372_z000098_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the computer monitor on the desk workstation near the office chair.", + "Type": 0, + "Start_Pose": [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 207.405, + 442.898, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 311.054, + 514.294, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 311.054, + 514.294, + 98.15, + 0.0, + 59.56, + -0.0 + ], + [ + 374.819, + 622.804, + 98.15, + 0.0, + 59.56, + -0.0 + ], + [ + 401.992, + 729.085, + 98.15, + 0.0, + 59.56, + -0.0 + ], + [ + 405.119, + 778.479, + 98.15, + 0.0, + 59.56, + -0.0 + ], + [ + 405.119, + 778.479, + 98.15, + 0.0, + 34.56, + -0.0 + ], + [ + 405.119, + 778.479, + 98.15, + 0.0, + 34.56, + -0.0 + ] + ], + "Rationale": [ + "From the doorway side of the room I can see the desk workstation ahead on the right, with its monitor console and a blue office chair tucked in beside a row of tall cabinets. The open tiled floor directly in front of me is clear, so I will move forward to start closing that distance.", + "The cabinet row and the workstation behind it have grown noticeably larger, confirming my heading is carrying me toward the desk area. There is still open floor ahead, so I will continue forward before adjusting my heading.", + "The desk with the monitors and the office chair now sits to the right of my heading, partly screened by the near cabinet bank, while my current facing points along the wall instead. I will turn right to bring the workstation into the center of my view before advancing further.", + "After the turn the workstation is centered in front of me, with the monitor console, chair and instrument panels clearly in line with my heading. The aisle between the cabinets and the desk looks passable, so I will move forward to close the remaining gap.", + "The desk surface, keyboard and monitor screens are now large in my view, but I am still short of a comfortable standing position at the workstation. I will step forward again to bring myself right up to the desk edge.", + "I am nearly at the workstation, with the console panels and keyboard directly in front of me and the chair to my left. One more short forward step should place me at the desk itself, even if the desk structure limits how far I can advance.", + "At this distance the raised desk partition fills most of my view and the monitor screens have slipped out of sight to my left. I will turn left to bring the workstation monitors and the adjacent office chair back into the center of my view.", + "The desk workstation monitor is directly in front of me at arm's length, with the office chair beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_a/infos.json b/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..acef1326be8436578116f008459469cf1e8e313a --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the double doors with narrow glass windows, then reach the staircase base.", + "Type": 3, + "Start_Pose": [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ], + [ + 633.068, + 388.332, + 98.15, + 0.0, + 2.84, + -0.0 + ], + [ + 758.772, + 394.568, + 98.15, + 0.0, + 2.84, + -0.0 + ], + [ + 884.477, + 400.804, + 98.15, + 0.0, + 2.84, + -0.0 + ], + [ + 884.477, + 400.804, + 98.15, + 0.0, + 2.84, + -0.0 + ], + [ + 884.477, + 400.804, + 98.15, + 0.0, + 27.84, + -0.0 + ], + [ + 884.477, + 400.804, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 884.477, + 400.804, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 910.988, + 523.839, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 937.499, + 646.874, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 937.867, + 769.069, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 937.87, + 885.589, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 937.87, + 885.589, + 98.15, + 0.0, + 77.84, + -0.0 + ] + ], + "Rationale": [ + "The white double doors with their narrow vertical glass panes sit far to my left, while my heading points across empty tiled floor. I will turn left to bring that doorway toward the center of my view so I can walk straight at it.", + "The doors with the slim glass windows now sit squarely ahead of me across open tile, with nothing between us. I will walk forward to close that gap.", + "The doorframe now fills most of my view, but the knobs are still well beyond arm's reach and floor tile remains in front of the threshold. Another step forward should bring me right up to the panels.", + "The two narrow glass slits and the paired round knobs fill my view at arm's length, so nothing of the doorway remains ahead of me. I have arrived at these double doors. I mark reaching them, and now I set off for the staircase.", + "Standing this close, the door panels block everything and I cannot see the steps I now want. The staircase lay off along the wall to my right, so I will turn right to begin swinging my view off the doors and toward it.", + "The edge of the doorframe and the wall beyond have come into the right of my view, but the steps are still outside it. I will keep turning right to bring the open floor and the staircase into view.", + "The dark treads of the staircase have appeared at the far right of my view, past the wall corner, with open tile leading to them. One more turn right should put those steps ahead of me so I can walk straight along the wall.", + "The staircase now lies ahead down the corridor beside the pale wall, with the console and desk keeping to the right of my path. I will walk forward along this clear tile to close on the bottom step.", + "The flight of steps is now clearly ahead along this wall, with the console desk clear of my path on the right. I will keep walking straight to close the remaining distance to the bottom step.", + "The stair treads have grown larger and the lowest step is still a few paces off along the wall on my left. Another stride forward should bring me nearly to the foot of the flight.", + "The bottom tread now spans the lower part of my view, just short of where I stand. One more short step forward should place me right at the base of the staircase.", + "The lowest tread of the staircase lies directly at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_b/infos.json b/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..31ab4d93c44ee5a2f5392327309006c5ca2379bd --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Move to the bottom step of the stairs, then navigate to the double doors.", + "Type": 3, + "Start_Pose": [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ], + [ + 633.068, + 388.332, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 709.092, + 488.636, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 785.116, + 588.939, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 861.141, + 689.243, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 937.165, + 789.546, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 937.165, + 789.546, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 937.165, + 789.546, + 98.15, + 0.0, + 27.84, + -0.0 + ], + [ + 937.165, + 789.546, + 98.15, + 0.0, + 2.84, + -0.0 + ], + [ + 937.165, + 789.546, + 98.15, + 0.0, + -22.16, + 0.0 + ], + [ + 937.165, + 789.546, + 98.15, + 0.0, + -47.16, + 0.0 + ], + [ + 937.165, + 789.546, + 98.15, + 0.0, + -72.16, + 0.0 + ], + [ + 937.857, + 671.493, + 98.15, + 0.0, + -72.16, + 0.0 + ], + [ + 937.967, + 553.431, + 98.15, + 0.0, + -72.16, + 0.0 + ], + [ + 942.649, + 435.345, + 98.15, + 0.0, + -72.16, + 0.0 + ], + [ + 942.649, + 435.345, + 98.15, + 0.0, + -47.16, + 0.0 + ], + [ + 942.649, + 435.345, + 98.15, + 0.0, + -47.16, + 0.0 + ] + ], + "Rationale": [ + "From here the white double doors fill the left of my view, while only the edge of a dark staircase shows at the far right. Since I need the bottom step of those stairs first, I will turn right to bring the staircase into the center of my heading.", + "The dark staircase now sits ahead of me, beyond an open stretch of tiled floor and past the grey equipment cabinet on my right. Nothing blocks the lane along the pale wall, so I will walk forward to close on the bottom step.", + "The steps have grown larger and their lowest tread is still some distance away across the tiles. The wall on my left and the cabinet on my right leave a clear gap straight ahead, so I keep walking toward the stairs.", + "The full flight is now clearly in front of me on the right, with the bottom tread resting on the tiled floor a short walk away. I will continue forward to stand at that lowest step.", + "The bottom tread is close on my right and the plaster wall crowds my left, so I am nearly at the foot of the flight. One more step forward should place me right at the lowest stair.", + "The lowest tread of the flight lies immediately beside me, its edge resting on the tiles right at my feet. I am standing at the bottom step of the stairs. I mark reaching it and now set off for the white double doors back across the floor.", + "I am at the foot of the stairs, and the white double doors are not in front of me but back along the wall behind my left shoulder. I will turn left to begin swinging my heading around toward them.", + "My view is still filled by the blank plaster wall, so the rotation has not yet cleared it or brought the open floor back into sight. I will turn left again to keep swinging toward the double doors.", + "Having marked the bottom step, my view is still filled by the blank plaster wall beside the staircase, so I have no line on the double doors yet. I will keep swinging left to bring the open floor and that doorway back into view.", + "The wall texture is sliding across my view but no floor or opening has appeared yet, so my heading is still short of the corridor. Another left turn should carry my gaze past the wall toward the space holding the double doors.", + "Tiled floor and a dark opening are now edging into the left side of my view, so the passage back along the wall is nearly ahead of me. One more left turn should set my heading straight down that walkway toward the doors.", + "My heading now runs down the open hall with the wall to my right and clear tiled floor ahead, and a dark recessed door frame sits some distance along that wall. I will walk forward to close the gap toward the double doors.", + "The doorway on the right wall has grown noticeably, with its narrow window and handle now distinct, but I am still short of it. Walking forward again should bring me alongside those doors.", + "Two tall narrow windows and paired handles are now clearly the double doors set in the wall just to my right, though my body is still slightly ahead of their centre line. Another step forward should place me squarely beside them.", + "I am now standing right at the double doors, but they sit off to my right while my gaze runs down the hall. Turning right should square me up facing the doors themselves.", + "The double doors fill my view directly ahead, their window and handles within arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_c/infos.json b/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6205f7a863ab255f1b50017fa3da744339844d7e --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x000633_y000388_z000098_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the lowest stair step, then approach the door handles.", + "Type": 3, + "Start_Pose": [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ], + [ + 633.068, + 388.332, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 709.092, + 488.636, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 785.116, + 588.939, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 861.141, + 689.243, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 861.141, + 689.243, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 887.652, + 812.278, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 887.652, + 812.278, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 868.189, + 721.951, + 98.15, + 0.0, + 77.84, + -0.0 + ], + [ + 868.189, + 721.951, + 98.15, + 0.0, + 52.84, + -0.0 + ], + [ + 868.189, + 721.951, + 98.15, + 0.0, + 27.84, + -0.0 + ], + [ + 868.189, + 721.951, + 98.15, + 0.0, + 2.84, + -0.0 + ], + [ + 868.189, + 721.951, + 98.15, + 0.0, + -22.16, + 0.0 + ], + [ + 868.189, + 721.951, + 98.15, + 0.0, + -47.16, + 0.0 + ], + [ + 868.189, + 721.951, + 98.15, + 0.0, + -72.16, + 0.0 + ], + [ + 906.747, + 602.144, + 98.15, + 0.0, + -72.16, + 0.0 + ], + [ + 942.61, + 482.41, + 98.15, + 0.0, + -72.16, + 0.0 + ], + [ + 942.61, + 482.41, + 98.15, + 0.0, + -72.16, + 0.0 + ] + ], + "Rationale": [ + "The flight of steps sits far off to my right against the glazed wall, while the double doors with their handles are close on my left. Since the steps are where I need to go first, I will turn right to bring their bottom edge in front of me before walking.", + "The dark treads of the staircase now sit ahead of me, past the open tiled floor and just left of the grey equipment cabinet. The way across is clear, so I will walk forward to close the gap toward the bottom step.", + "The steps have grown larger and their lowest tread is now clearly separated from the cabinet on the right. I am still several paces short of the foot of the stairs, so I will keep walking forward.", + "The bottom tread now fills much of the lower right of my view, with the white wall running close along my left shoulder. A little more distance remains before I stand at the foot of the steps, so I will advance again.", + "The staircase has slid off to my right and the blank wall now dominates what is in front of me, so my heading no longer points at the steps. I will turn right to square up with the bottom tread before taking the last pace toward it.", + "The stairs are now centered ahead, with the lowest step running across the tiles a short pace in front of me. I will step forward to bring myself right up to that bottom tread.", + "The lowest tread now runs across the floor directly at my feet, with the higher steps rising away in front of me. I have reached the bottom of the staircase. I mark arriving here before setting off for the double doors with their handles back along the wall.", + "I am pressed right against the bottom tread with the wall tight on my left, so there is little room here to swing around toward the doors. I will step backward off the stair face to open up space for turning back the way I came.", + "The bottom tread of the flight sits right in front of me, so that part of the errand is behind me and the double doors with the handles are the thing left to reach. They lie well off to my left, back along the wall I came past. I will swing left to begin bringing that direction into view.", + "The staircase has slid to the right edge of my view and only the blank plastered wall fills the middle, so I am not yet pointed anywhere useful. The doorway I want is further round to the left. I will keep rotating left to continue the sweep.", + "Now the rough white wall covers almost everything, with just a corner of stair treads at the lower right. Nothing here tells me where the doors are, so the rotation is not finished. I will turn left again to carry the sweep onward.", + "My view is entirely blank wall now, with no floor or opening to steer by. The doors I am heading for must still be further around to the left. Another left turn should carry me closer to a heading that clears this wall.", + "A dark edge has appeared at the top left corner, the first hint that the wall is finally running out on that side. The doors should sit just beyond it. I will turn left once more to bring that opening into view.", + "The corridor has opened up and the pair of white doors with their slim windows and round handles is now visible ahead on the left, though the near wall still crowds the right half of my view. One more left turn should put the doors squarely in front of me for a clean walk in.", + "The corridor now runs clear ahead of me with the double doors and their handles set into the wall on my right. Nothing blocks the tiled floor between us. I will walk forward to close the gap to those handles.", + "The doors are noticeably nearer and the cluster of round handles is clearly picked out at chest height on my right, but I am still short of arm's reach and slightly behind them. Another step forward should bring me level with the handles.", + "The paired door handles fill the right of my view at arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/CommandCenter/task_x000938_y-000467_z000098_t0_a/infos.json b/dataset/trajectory/CommandCenter/task_x000938_y-000467_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23d4c1df50b058a45f74b5c955f0309dd3d1eea0 --- /dev/null +++ b/dataset/trajectory/CommandCenter/task_x000938_y-000467_z000098_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the door.", + "Type": 0, + "Start_Pose": [ + 937.841, + -467.097, + 98.15, + 0.0, + -132.48, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 937.841, + -467.097, + 98.15, + 0.0, + -132.48, + 0.0 + ], + [ + 937.841, + -467.097, + 98.15, + 0.0, + -107.48, + 0.0 + ], + [ + 900.036, + -587.144, + 98.15, + 0.0, + -107.48, + 0.0 + ], + [ + 862.232, + -707.191, + 98.15, + 0.0, + -107.48, + 0.0 + ], + [ + 824.427, + -827.238, + 98.15, + 0.0, + -107.48, + 0.0 + ], + [ + 794.927, + -943.316, + 98.15, + 0.0, + -107.48, + 0.0 + ], + [ + 768.321, + -1060.777, + 98.15, + 0.0, + -107.48, + 0.0 + ], + [ + 768.321, + -1060.777, + 98.15, + 0.0, + -82.48, + 0.0 + ], + [ + 784.792, + -1185.554, + 98.15, + 0.0, + -82.48, + 0.0 + ], + [ + 799.342, + -1252.581, + 98.15, + 0.0, + -82.48, + 0.0 + ], + [ + 799.342, + -1252.581, + 98.15, + 0.0, + -82.48, + 0.0 + ] + ], + "Rationale": [ + "The white door with the narrow vertical window sits well to the right of my current heading, near the far light wall, while my facing is aimed down the row of server cabinets. I will turn right to bring that door closer to the center of my view before committing to forward travel.", + "The door now appears ahead of me with the open tiled aisle running toward it and the cabinets kept to my left. With the heading roughly aligned and no obstruction in the lane, I will move forward to start closing the distance.", + "The door is still some distance away, though it now reads larger with its frame and kick plate clearer. The aisle to my right of the cabinet row remains open, so I will continue forward to keep closing the gap.", + "The door keeps growing in my view and stays slightly right of center, which tells me my heading is workable and the remaining distance is still several steps. I will advance again along the clear tiles rather than adjust the heading yet.", + "The doorway and its handle are now clearly resolved ahead, but I am still too far back to count as standing at it. The cabinets stay clear of my path on the left, so I will step forward once more.", + "The door now fills a large part of the right side of my view, so only a short remaining gap separates me from the wall it is set in. I will continue forward to bring myself close to the door face.", + "At this close range the door has drifted to the right half of my view and the equipment console edge is crowding my left, so my heading is no longer pointed squarely at it. I will turn right to bring the door back into the center of my view before the last approach step.", + "The door is now centered in front of me with its handle and window slot squarely framed, and only a short stretch of tile remains. I will move forward to close that last gap and stand directly at the door.", + "The white door now fills my view with its knob and narrow window centered ahead, so my heading is squarely on the target. A small gap of floor still separates me from the panel, so I will step forward once more to close that last bit of distance.", + "The door surface fills my entire view at arm's length, showing I stand directly at it. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/002.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..86ae4f0cc93f8966a984c04306058b37f58f3e7f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8ce8106615918d47c73a61de820b03710b24e376c573c3a5ed97bf1db313049 +size 131315 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/003.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c2cbbc3d54edd3ad81791b73eed6a91df771b5d6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:976fb602c73eaa0a4945f0c4d8776a366f89d5779162b0c183c665752972672e +size 118738 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/005.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..18445270f0ff41a2e1116eb01baa6c2b59293e10 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6b6cdd04c2ec5485631de32517ff4f2ecdbae0fc017a6ad6d3c4c69d3ba6eff +size 122895 diff --git a/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..353122dedd2b097c5309c791c4c9eb77b517a32d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the second tree from the left.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + [ + 2.067, + 2819.442, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 76.471, + 2920.954, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 150.875, + 3022.465, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 150.875, + 3022.465, + 128.997, + 0.0, + 28.76, + -0.0 + ], + [ + 261.208, + 3083.021, + 128.997, + 0.0, + 28.76, + -0.0 + ], + [ + 371.542, + 3143.577, + 128.382, + 0.0, + 28.76, + -0.0 + ], + [ + 481.875, + 3204.133, + 128.382, + 0.0, + 28.76, + -0.0 + ], + [ + 592.208, + 3264.689, + 128.382, + 0.0, + 28.76, + -0.0 + ], + [ + 702.542, + 3325.245, + 128.382, + 0.0, + 28.76, + -0.0 + ], + [ + 812.875, + 3385.801, + 141.142, + 0.0, + 28.76, + -0.0 + ], + [ + 923.209, + 3446.357, + 138.258, + 0.0, + 28.76, + -0.0 + ], + [ + 989.747, + 3465.308, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1013.271, + 3443.499, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1013.271, + 3443.499, + 138.15, + 0.0, + 28.76, + -0.0 + ] + ], + "Rationale": [ + "Counting from the left along this frontage, the low dark tree at the edge comes first, and the tall leafy one rising over the row of teal bins is second, so that is where I am going. It stands far ahead across open pavement, so I walk forward.", + "The leafy tree above the teal bins is still well ahead and sits a little left of my current heading. The road surface in front of me is empty, so I keep walking straight to close distance before making any heading correction.", + "The tree over the bins has grown larger and has drifted further toward my left as I close in. Nothing blocks the open roadway in front of me, so another step forward should bring me nearer before I correct my facing.", + "My tree now sits well off to the left of center, near the building corner, while my heading still runs down the roadway past it. I turn left to swing my facing onto it so the rest of the approach can be a straight walk.", + "The turn has brought the leafy tree into the middle of my view, standing just behind the line of teal bins. The pavement between us is clear, so I walk forward toward it.", + "The tree is holding near the center of my view and its crown has grown, which tells me my heading is good. I keep walking straight across the clear pavement to shorten the remaining distance.", + "The trunk of my tree is now plainly visible rising behind the row of teal bins near the plaza corner. The roadway in front stays clear, so I continue advancing toward its base.", + "The dark tree I originally counted from has slid out of my view, but the leafy tree I chose stands directly ahead with its trunk behind the bins. I keep walking toward it, heading for the paved area at its foot.", + "Only one crown fills my view now, so I hold onto the leafy tree whose trunk rises just behind the teal bins at the plaza edge. The pavement between me and that curb is open, so I step forward again.", + "The trunk now shows plainly in the gap between two of the bins, and the tiled surface at its base has come into view. Distance is the only thing left between us, so I walk on.", + "The bins have grown large enough to fill the lower half of my view, and the trunk stands just beyond them, slightly right of center. My line still runs to its base, so I continue advancing.", + "I am close enough now that the trunk and the low shrubs at its foot rise between the two nearest bins. A short push forward should bring me right up against the planting at its base.", + "The trunk fills the gap directly ahead with its leafy base within a stride of me. One last small step should settle me at the tree itself.", + "The tree's trunk rises directly in front of me, just past the planting between the two bins. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ceac2d3f97634828d26b27f299b0bd588d1010c6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the third yellow barrier from the right.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + [ + 2.067, + 2819.442, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 2.067, + 2819.442, + 128.997, + 0.0, + 78.76, + -0.0 + ], + [ + 26.599, + 2942.887, + 128.997, + 0.0, + 78.76, + -0.0 + ], + [ + 51.132, + 3066.332, + 128.997, + 0.0, + 78.76, + -0.0 + ], + [ + 75.664, + 3189.777, + 128.357, + 0.0, + 78.76, + -0.0 + ], + [ + 100.196, + 3313.222, + 128.357, + 0.0, + 78.76, + -0.0 + ], + [ + 124.729, + 3436.667, + 128.357, + 0.0, + 78.76, + -0.0 + ], + [ + 124.729, + 3436.667, + 128.357, + 0.0, + 53.76, + -0.0 + ], + [ + 199.133, + 3538.178, + 128.357, + 0.0, + 53.76, + -0.0 + ], + [ + 199.133, + 3538.178, + 128.357, + 0.0, + 78.76, + -0.0 + ], + [ + 223.387, + 3656.504, + 128.357, + 0.0, + 78.76, + -0.0 + ], + [ + 223.387, + 3656.504, + 128.357, + 0.0, + 78.76, + -0.0 + ] + ], + "Rationale": [ + "A run of yellow barriers lines the storefront ahead, and counting in from the right end of that run puts my target on the third one, which stands just left of an orange cone beneath the pale pillars. The whole row is still far off across the open lot, so I walk forward to close distance before committing to a heading.", + "Walking straight has carried me toward the left portion of the row, while the barrier I chose lies off to my right, past the near cones. I turn right so that my heading points down the row toward it instead of into the teal containers on the left.", + "The turn has put the yellow section of the row roughly ahead of me, with the cones marking the gaps between panels. Nothing blocks the paved lane between me and the barriers, so I step forward to keep closing on the one I am tracking.", + "The barrier panels and the cones in front of them have grown noticeably, so my heading is carrying me straight toward the yellow stretch of the row. I keep walking forward to shorten the remaining gap.", + "The row now spans most of my view, and the barrier I am after still sits ahead beside its cone rather than off to a side. I advance again since a straight walk continues to reduce the distance.", + "The right end of the run has slipped out of my view as I closed in, so I stay on the barrier I already picked out, the one standing next to the cone below the wide pillar. It is still ahead of me, so I walk forward once more.", + "Only a handful of barrier panels and two cones remain in view, and the one I am heading for is still a short walk away on the far side of the pavement. I step forward again to reach speaking distance of it.", + "I am now close enough that the barrier faces dominate my view and my heading points at the panel just right of the one I want. I turn left so my line of travel swings back onto the barrier I have been tracking and leaves me room to walk along the row rather than into its face.", + "The left turn has opened the pavement ahead and the barrier I am tracking now sits to my right front, its yellow top clear above the cone beside it. A short strip of open asphalt still separates me from the row, so I walk forward to close that last stretch.", + "From here the row runs off to my right and the barrier I want fills the right side of my view, close enough that its ribbed panel is sharp. I turn right to face it squarely instead of skimming past along the line.", + "The barrier now sits square in front of me, its yellow cap spanning the lower view with the pillars rising behind it. Only a step of pavement remains, so I walk forward to bring myself right up to it.", + "The yellow barrier I chose is directly against me, filling the bottom of my view. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fabd387ac21d15a1572a0605425f3aa90b159a2f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the second traffic cone from the left.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + [ + 2.067, + 2819.442, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 2.067, + 2819.442, + 128.997, + 0.0, + 78.76, + -0.0 + ], + [ + 26.599, + 2942.887, + 128.997, + 0.0, + 78.76, + -0.0 + ], + [ + 51.132, + 3066.332, + 128.997, + 0.0, + 78.76, + -0.0 + ], + [ + 75.664, + 3189.777, + 128.357, + 0.0, + 78.76, + -0.0 + ], + [ + 100.196, + 3313.222, + 128.357, + 0.0, + 78.76, + -0.0 + ], + [ + 100.196, + 3313.222, + 128.357, + 0.0, + 53.76, + -0.0 + ], + [ + 174.6, + 3414.733, + 128.357, + 0.0, + 53.76, + -0.0 + ], + [ + 249.004, + 3516.245, + 128.357, + 0.0, + 53.76, + -0.0 + ], + [ + 249.004, + 3516.245, + 128.357, + 0.0, + 53.76, + -0.0 + ] + ], + "Rationale": [ + "Three cones stand along the barrier line ahead, and counting from the left my target is the middle one; they look alike, so I pin it by the pale column rising right behind it. It is still far off across open pavement, so I walk forward to close distance.", + "The cones sit ahead and slightly right, but my heading points along the road so a straight walk would drift past the row instead of into it. I turn right to swing my line of travel onto the open pavement facing the barriers, which should let the next steps close on my cone directly.", + "My heading now points across the clear pavement toward the barrier line, with the cone I chose still a comfortable distance off. Nothing stands between me and it, so I step forward.", + "The barriers and cones have grown larger, so the previous step clearly gained ground on the row. My cone still lies well ahead and left of center, so I keep walking forward.", + "The row now fills much of my view and the yellow barrier faces are clearly detailed, yet my cone is still several strides away. I advance again to keep shrinking that gap.", + "I am close enough now to read the reflective bands on the cones, but my one still sits off to the left with pavement between us. Another forward step should bring me nearly alongside the row.", + "I am nearly at the barrier line, and the far left end of the row has slipped out of my view, so I simply keep following the cone I have been tracking, which now sits well left of center. I turn left to bring it back in front of me before the final steps.", + "The turn has placed my cone near the middle of my view, with a farther cone reappearing off to the left. The path to it is clear pavement, so I step forward to close the last of the distance.", + "My cone now sits just left of center with its base clearly visible against the barrier, but a couple of strides of open asphalt still separate us. The pavement between is clear, so I walk forward once more to pull up close beside it.", + "My cone stands directly in front of me, filling the lower view within arm's reach. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..76c101160e0850308442d0d9dfeea72264dab23f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Navigate to the second green barrier on the left.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + [ + 2.067, + 2819.442, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 76.471, + 2920.954, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 76.471, + 2920.954, + 128.997, + 0.0, + 28.76, + -0.0 + ], + [ + 186.804, + 2981.51, + 128.997, + 0.0, + 28.76, + -0.0 + ], + [ + 297.138, + 3042.066, + 128.997, + 0.0, + 28.76, + -0.0 + ], + [ + 407.471, + 3102.622, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + 517.804, + 3163.178, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + 628.138, + 3223.734, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + 738.471, + 3284.29, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + 848.805, + 3344.846, + 144.791, + 0.0, + 28.76, + -0.0 + ], + [ + 959.138, + 3405.402, + 138.171, + 0.0, + 28.76, + -0.0 + ], + [ + 959.138, + 3405.402, + 138.171, + 0.0, + 3.76, + -0.0 + ], + [ + 1064.802, + 3395.726, + 138.15, + 0.0, + 3.76, + -0.0 + ], + [ + 1064.802, + 3395.726, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1064.802, + 3395.726, + 138.15, + 0.0, + 28.76, + -0.0 + ] + ], + "Rationale": [ + "Along the building front runs a line of barriers, olive ones on the right and green ones grouped toward the left end near the bins and trees. Counting that green group from its left end, my target is the second one, the one standing just past the leftmost by the trees. It is far off, so I step forward to close distance.", + "The barrier line has grown slightly larger but the green section is still well ahead on the left side of the row. Nothing blocks the open roadway in front of me, so I keep walking forward to shorten the gap before adjusting my heading.", + "From here the green barriers sit off to my left while my heading points at the olive ones and the open lane. Walking straight would carry me past the green group, so I turn left to bring that end of the row toward the centre of my view.", + "The turn has put the green barriers and the yellow guard rails ahead of me instead of off to the side. The path across the plaza is clear, so I walk forward toward that group.", + "The green barriers are noticeably nearer and I can see them lined up beside the walkway with the tree behind them. My heading still points at that group, so another step forward is the direct way to reach the second one from its left end.", + "I am now close enough to see the individual green units separated along the kerb, with the curved wall marking the left end of the run. My target is the second unit in from that curved wall, and it lies straight ahead, so I keep walking.", + "The green barriers fill more of my view and the curved wall on the left still anchors where their run begins. Since the second barrier in from that wall is still some paces off, I advance again along the paved walkway.", + "The barrier I want, the second one in from the curved wall, is now clearly separated from its neighbours just ahead and slightly to my left. I am not yet beside it, so I take another step forward to pull alongside.", + "The green units now fill the near ground with the pale curved wall closing off their left end, and the tiled walkway between me and them is clear. The unit standing next in from that wall is still a couple of paces along the row, so I keep walking.", + "The barriers have grown tall enough that their ribbed panels and the shrubs behind them are clearly separated, and the wall still marks where the run begins. My target sits just beyond arm's reach from where I stand, so another step forward should bring me nearer.", + "At this range the units no longer read as a tidy row, since the nearest ones tower over the frame and the tree trunk splits them. I am still tracking the same barrier, the one beside the curved wall end on my left, and one more step should bring me level with it.", + "My heading now points across the barrier tops toward the railing and the tree, while the barrier I want lies off to my left where the wall closes the run. Continuing straight would slide me past it, so I turn left to swing that end back in front of me.", + "The turn has put the curved wall back on my left with the barrier abutting it and my target immediately next to that one, both squarely ahead. The paving between us is open, so I walk forward to draw level with it.", + "I have come up level with my barrier, which now fills the near right of my view, but my heading runs into the curved wall and the corner beyond it. Turning right should square me along the walkway with the barrier settled at my side.", + "The green barrier beside the curved wall end stands immediately at my side, within touching distance. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..92db34cb77c2d0195177a4dca4e06ec5b5988af5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000072_y002718_z000130_t2_e/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Proceed to the second yellow barrier from the left.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ], + [ + 2.067, + 2819.442, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 76.471, + 2920.954, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 150.875, + 3022.465, + 128.997, + 0.0, + 53.76, + -0.0 + ], + [ + 225.279, + 3123.976, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + 299.683, + 3225.487, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + 374.087, + 3326.999, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + 448.491, + 3428.51, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + 448.491, + 3428.51, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + 473.023, + 3551.955, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + 473.023, + 3551.955, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + 547.427, + 3653.466, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + 547.427, + 3653.466, + 128.15, + 0.0, + 53.76, + -0.0 + ] + ], + "Rationale": [ + "The run of yellow barriers begins just to the right of the teal bins, so counting from that left end, my target is the barrier standing immediately right of the one with the traffic cone at its left corner. It lies well across the open road ahead of me, so I will walk forward to begin closing that distance.", + "The barriers have grown slightly but are still far off across the crosswalk markings. The yellow barrier I am heading for, the one beside its cone-marked neighbour, stays clearly in view with nothing in the way, so I keep walking straight ahead.", + "The yellow segments now read distinctly against the teal bins on their left, and my target sits just right of the cone-flanked barrier. It remains a good distance off toward the right of my heading, so another stride forward is the efficient move.", + "The barrier line fills more of my view and the cones in front of it are now plainly visible. My yellow barrier, the neighbour of the cone-marked one, is still several paces off, so I continue forward across the open lot.", + "More of the barrier line has spread across my view as I near it, so rather than recount from an end that keeps shifting, I hold onto the yellow barrier beside the cone-marked one as my target. It is still ahead and slightly right, so I walk forward again.", + "The yellow barriers are close enough that their panels and the cone standing at the left end are large in front of me. My target barrier sits just beyond that cone, off to my right, so I take another step forward to shorten the remaining gap.", + "I am nearly at the barrier line, with the teal bins on my left and the cone standing at the left corner of the yellow run. My barrier is the next one along to the right, so I advance once more before adjusting my heading.", + "Standing this close, the cone-marked barrier is almost in front of me while the yellow barrier I want lies just past it, angled off to my right. I will turn right so that my target sits squarely ahead instead of at the edge of my view.", + "With my heading swung right, the yellow barrier I want now sits centred between the two cones, its panel filling most of my view. Only a short gap of asphalt remains, so I walk forward to close it.", + "I am right up against the barrier line now, close enough that the panels crowd the bottom of my view and the cone that marked my target's neighbour has slid out to my left. Turning left should bring that cone and my barrier back into the middle of my view so I can settle beside it.", + "The cone is back at my left with my yellow barrier standing immediately beyond it, so my heading is squared on the right piece of the line. A last step forward should put me directly at its face.", + "The yellow barrier beside the cone-marked one now stands directly against me, filling the near edge of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..46fd6295336b8bce3ac304f277f01f7d53a4dafd --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Approach the green awning storefront, then head toward the blue motorcycle.", + "Type": 3, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -291.791, + 121.977, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -417.293, + 131.457, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -542.794, + 140.938, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -542.794, + 140.938, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -652.531, + 202.569, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -762.267, + 264.201, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -872.003, + 325.832, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -981.739, + 387.464, + 128.77, + 0.0, + 150.68, + -0.0 + ], + [ + -1091.476, + 449.095, + 128.77, + 0.0, + 150.68, + -0.0 + ], + [ + -1091.476, + 449.095, + 128.77, + 0.0, + 125.68, + -0.0 + ], + [ + -1164.884, + 551.329, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -1164.884, + 551.329, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -1164.884, + 551.329, + 138.15, + 0.0, + 150.68, + -0.0 + ], + [ + -1164.884, + 551.329, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -1164.884, + 551.329, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -1282.633, + 506.882, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -1282.633, + 506.882, + 138.15, + 0.0, + -134.32, + 0.0 + ], + [ + -1368.822, + 454.454, + 139.785, + 0.0, + -134.32, + 0.0 + ], + [ + -1368.822, + 454.454, + 139.785, + 0.0, + -109.32, + 0.0 + ], + [ + -1426.458, + 418.364, + 138.15, + 0.0, + -109.32, + 0.0 + ], + [ + -1468.098, + 299.593, + 128.15, + 0.0, + -109.32, + 0.0 + ], + [ + -1509.738, + 180.822, + 128.15, + 0.0, + -109.32, + 0.0 + ], + [ + -1551.378, + 62.05, + 128.15, + 0.0, + -109.32, + 0.0 + ], + [ + -1551.378, + 62.05, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -1639.311, + -27.995, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -1721.522, + -110.541, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -1721.522, + -110.541, + 128.15, + 0.0, + -134.32, + 0.0 + ] + ], + "Rationale": [ + "Down the tree-lined street I can pick out a green awning over a shopfront on the left side, still some distance off. Nothing blocks the open roadway ahead of me, so I will walk straight on to close that gap.", + "The green awning on the left has grown noticeably larger, confirming I am closing on it. The lane in front stays clear of the cones near the curb, so another step forward should bring me nearer.", + "The awning and its glass doors are now clearly readable on my left, but I am still out in the middle of the road and short of them. I will keep walking forward to draw level with the shopfront before turning toward it.", + "The green awning storefront now sits well off to my left while my heading still points straight down the street past it. I will turn left so the shopfront comes into the center of my view and I can walk directly at it.", + "The turn has brought the green awning and its doors into the middle-left of my view, with the sidewalk running toward them. The way is clear apart from cones set back at the curb, so I will step forward to close on the storefront.", + "The green awning is filling more of my view and the posters on the shop windows are becoming distinct, so I am gaining ground. I will keep advancing along the open pavement toward the entrance.", + "The awning now stretches across the upper left of my view and the double doors beneath it are close on my left. A few more steps should put me right alongside the shopfront, so I will continue forward.", + "I am nearly abreast of the green-awninged shop, with its glass doors and signage filling my left side and a cone standing clear by the tree on my right. The pavement ahead is still open, so I will take another step to draw fully alongside the entrance.", + "The green-signed storefront runs along my left, its glass doors now beside me rather than ahead. The walkway in front of me is clear past the traffic cone, so I will keep walking to draw fully level with the shop frontage.", + "I am standing level with the shop's glass frontage, but my heading still runs parallel to it, leaving the entrance off to my left. Turning left should square my view onto the doors under the green sign so I can close the last short gap directly.", + "The green sign and the double glass doors of the storefront now sit centered in front of me. A couple of paces of clear pavement separate me from the entrance, so I will step forward to stand right at it.", + "The green shop sign and its glass frontage fill my view from arm's length, with nothing left between me and the storefront. I have reached the green awning storefront. I mark arriving here before turning my attention to the blue motorcycle parked further along the street.", + "Pressed this close to the shop glass, my view holds only the sign and the frontage, and the street I need is off to my right. I will turn right to begin swinging away from the wall toward the open sidewalk.", + "The sidewalk and the sunlit street are opening on my right, though the shop wall and its utility boxes still block most of my forward line. Another right turn should bring the walkway that leads on down the block into the middle of my view.", + "The sidewalk now stretches ahead on my right, past the trees and the roadside railing, while the shop facade still takes up my left. One more turn right should put that open walkway straight in front of me for the run toward the blue motorcycle.", + "I am now facing straight down the tree-lined sidewalk, and a blue two-wheeler stands parked by the railing across the road ahead on my right. The path is clear between the tree planters, so I will walk forward to close that distance.", + "The green awning frontage is behind me now and my other destination, the blue motorcycle, sits across the roadway to my right beside the railing, partly screened by tree trunks. My heading still points along the sidewalk rather than at it, so I will turn right to bring it in front of me.", + "The blue motorcycle now sits ahead of me by the railing, though tree trunks still break up the view of it. The paved strip in front of me is open, so I will walk forward to close the gap.", + "A thick trunk stands just to my right front and my line runs at a slant across the road rather than straight at the parked blue motorcycle's stretch of railing. Turning right should swing my path clear of the trunks and square me with the frontage I need to reach.", + "From this heading the road ahead is empty and the blue motorcycle rests against the railing a little to my left. I will step forward onto the roadway to begin crossing toward it.", + "The blue motorcycle and the orange cone beside it read clearly now against the shopfront railing, so my crossing line is good. Nothing blocks the asphalt between us, and I will keep walking forward to shorten the distance.", + "The blue motorcycle has grown noticeably larger and its frame and wheels are distinct against the greenery behind the railing. I am still out in the road, so another step forward should bring me close to it.", + "The blue motorcycle is close now, drifting toward the left side of my view as I come up on the far curb. I will advance once more to draw level with it.", + "The blue motorcycle has slipped to the left edge of my view while my heading runs on past it along the railing. Turning left should bring it back in front of me for the final steps.", + "The blue motorcycle is now clearly ahead of me, parked against the railing just left of my path with a cone beside it. My heading lines up with it, so I will walk forward to cut the remaining gap.", + "The blue motorcycle now fills much of my view, its frame and front wheel only a couple of paces off to my left. One more step forward should bring me right alongside it.", + "The blue motorcycle stands directly beside me at arm's length against the railing. I have reached it, so the task is complete and there is no reason to keep walking." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c4c74180b9542dc971afd8ecaa47daf36646fa1 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_c/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Head to the yellow guardrail, then move to the shop with purple and blue banners.", + "Type": 3, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -166.29, + 112.496, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -276.026, + 174.128, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -385.763, + 235.759, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -495.499, + 297.391, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -495.499, + 297.391, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -495.499, + 297.391, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -495.499, + 297.391, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -495.499, + 297.391, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -583.432, + 207.345, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -671.365, + 117.299, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -759.299, + 27.254, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -759.299, + 27.254, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -877.048, + -17.193, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -994.798, + -61.64, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -1112.547, + -106.087, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -1112.547, + -106.087, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -1112.547, + -106.087, + 128.15, + 0.0, + -109.32, + 0.0 + ], + [ + -1156.996, + -222.689, + 138.15, + 0.0, + -109.32, + 0.0 + ], + [ + -1156.996, + -222.689, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1156.996, + -222.689, + 138.15, + 0.0, + -59.32, + 0.0 + ], + [ + -1092.778, + -330.932, + 138.15, + 0.0, + -59.32, + 0.0 + ], + [ + -1028.559, + -439.174, + 138.15, + 0.0, + -59.32, + 0.0 + ], + [ + -965.222, + -524.608, + 138.15, + 0.0, + -59.32, + 0.0 + ], + [ + -965.222, + -524.608, + 138.15, + 0.0, + -59.32, + 0.0 + ] + ], + "Rationale": [ + "The yellow and white railing sits on the sidewalk off to my left, while my current heading points straight down the middle of the empty street. I will turn left so that railing lines up ahead of me and I can walk a direct line toward it.", + "The yellow guardrail now stands ahead of me at the corner of the sidewalk, still a fair distance off. The roadway between us is clear, so I will walk forward to close that gap.", + "The railing has grown noticeably larger ahead and slightly to my left, confirming my heading still leads onto it. I am not yet alongside it, so I will keep walking forward.", + "The yellow guardrail now fills much of my left foreground, though I am still a step short of being level with it. I will move forward once more to draw fully up beside the railing.", + "The yellow guardrail runs right beside me, its bars within arm's reach along the sidewalk edge. I have arrived at it. I mark reaching it and set off to find the shopfront hung with purple and blue banners.", + "From here my view is filled by the railing and the shuttered wall behind it, with no banners of any kind in sight. I will turn right to swing my gaze back toward the open street where the shop row stands.", + "The street has opened up ahead with storefronts along both sides, but none in view shows purple and blue banners yet. I will continue turning right to bring the shops on the far side of the road into view.", + "The row of shops with awnings and hanging signs now sits along the right side of my view, across the road. I still cannot pick out purple and blue banners among them, so I will turn right again to face that side squarely.", + "Now facing back down the street, I can see the row of shopfronts on my right, with blue glass and colored posters further along. Nothing blocks the roadway ahead, so I will walk forward to close on that row and read its banners.", + "The storefronts on my right have grown larger, and I can now pick out purple and blue signs in the glass frontage beside the orange doorway. The distance is still too great to stand at that shop, so I keep walking forward.", + "The blue-fronted shop with its purple lettering is drawing level on my right, but I am still out on the roadway beside the fence rather than in front of its entrance. I will step forward again to keep bringing that frontage closer.", + "The fence rail and building wall now crowd almost my entire view, leaving me looking sideways into the shopfronts instead of along my route. I will turn left to bring the open street back ahead of me so I can continue down the row.", + "With the street open ahead again, the shopfronts run along my right and a red-and-purple banner hangs in a doorway further down. I will walk forward to come level with that stretch of frontage.", + "The banner-hung doorway on my right is noticeably nearer, and beyond the parked bicycle the sidewalk stays clear. Another step forward should bring me alongside that shop entrance.", + "I am nearly abreast of the yellow-framed shop with the hanging banner, though its neighbouring glass front is still ahead of me. I will advance once more to sit squarely in front of this pair of storefronts.", + "I have come level with the storefronts, but my heading still runs along the street instead of facing them. I will turn right to swing the banner-hung shop fronts into view directly ahead of me.", + "Only the left edge of the blue glass storefront is showing at the right of my view, while the pink and yellow shop still takes up the center. I will turn right again to swing that blue frontage into the middle of my view and check its banners.", + "The blue glass front now sits ahead on my right, with purple and blue banners hanging inside its windows, so this is the shop I want. The pavement in front of it is clear, so I will walk forward to close the remaining distance.", + "After stepping ahead the banner-hung glass front has slid to the right half of my view while the pink shop door crowds the left. Turning right should put that blue frontage squarely in front of me for a straight approach.", + "I am now looking straight at the banner windows, but the glass wall is broad and its entrance panel lies toward the right side. One more turn right should aim me along the open paving beside the frontage so I can walk in to the doors instead of into the glass.", + "The purple and blue banners now hang along my left as the glass frontage runs forward, and the paving ahead is open apart from a low barrier well to the right. I will step forward along the shop front to reach its entrance.", + "The banners and the poster beside the door handles have grown much larger on my left, so I am drawing level with the shop's entrance. Another step forward should bring me right up to it.", + "The glass doors with the red poster now fill the left of my view at close range, so only a short gap remains to the shop front. I will take one more step to stand directly at it.", + "I am standing right against the glass front of the banner-hung shop, with its panel filling my view. The destination is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_d/infos.json b/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0245a95d0861259c07edd9954172d2bd8ac0eba4 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t3_d/infos.json @@ -0,0 +1,356 @@ +{ + "Instruction": "Navigate to the blue awning storefront, then go to the blue motorcycle.", + "Type": 3, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -291.791, + 121.977, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -417.293, + 131.457, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -417.293, + 131.457, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -535.042, + 87.01, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -652.792, + 42.563, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -770.542, + -1.883, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -888.291, + -46.33, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -1006.041, + -90.777, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -1123.79, + -135.224, + 141.876, + 0.0, + -159.32, + 0.0 + ], + [ + -1123.79, + -135.224, + 141.876, + 0.0, + -134.32, + 0.0 + ], + [ + -1123.79, + -135.224, + 141.876, + 0.0, + -109.32, + 0.0 + ], + [ + -1169.573, + -250.818, + 138.15, + 0.0, + -109.32, + 0.0 + ], + [ + -1169.573, + -250.818, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1157.116, + -376.059, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1144.66, + -501.3, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1144.66, + -501.3, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1153.805, + -409.354, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1162.95, + -317.407, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1162.95, + -317.407, + 138.15, + 0.0, + -109.32, + 0.0 + ], + [ + -1162.95, + -317.407, + 138.15, + 0.0, + -134.32, + 0.0 + ], + [ + -1162.95, + -317.407, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -1162.95, + -317.407, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -1162.95, + -317.407, + 138.15, + 0.0, + 150.68, + -0.0 + ], + [ + -1162.95, + -317.407, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -1236.358, + -215.174, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -1309.766, + -112.94, + 128.15, + 0.0, + 125.68, + -0.0 + ], + [ + -1309.766, + -112.94, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -1309.766, + -112.94, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -1435.268, + -103.46, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -1560.769, + -93.979, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -1560.769, + -93.979, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -1678.519, + -138.426, + 142.989, + 0.0, + -159.32, + 0.0 + ], + [ + -1678.519, + -138.426, + 142.989, + 0.0, + -159.32, + 0.0 + ] + ], + "Rationale": [ + "The street runs straight ahead under the blossoming trees, and the shop row on my right carries a pale blue canopy further down. Nothing blocks the roadway in front of me, so I will walk forward to close that distance before judging which frontage is the blue awning one.", + "The shopfronts on the right have grown larger and the blue awning above them is clearer now. The lane between the cone on my left and the railing on my right is still open, so another step forward should bring that storefront within reach of a turn.", + "The blue awning frontage sits off to my right behind the railing, while my heading still points straight down the middle of the street. I will turn right so that shop row lines up with my direction of travel instead of sliding past my shoulder.", + "The turn has put the blue canopied shopfront and its railing squarely in the right half of my view. The pavement ahead is clear, so I will walk forward along the road to shorten the gap to that frontage.", + "The awning and the shop windows beneath it keep growing on my right as I advance along this stretch. I am still some way short of standing at that frontage, so I will keep walking forward.", + "The blue awning now stretches across the upper right of my view and the shop entrance below it is coming into detail. My path along the roadway beside the railing remains open, so I will continue forward toward that entrance.", + "I am nearly level with the awning, but the shop doorway I want still lies a little further along the row on my right. Walking forward again should carry me up beside that frontage.", + "The pink and yellow shopfront under the canopy is close on my right and the pavement beside it is unobstructed. I will step forward once more to draw level with that storefront.", + "The sidewalk ahead stays clear, with the shopfronts I am tracking running along my right and a parked bicycle at the curb further on. The blue-panelled frontage I want is still ahead of my shoulder rather than beside me, so I keep walking to draw level with it.", + "I have now come level with the row of shops, and the blue glass frontage with its awning is off to my right rather than in front of me. Turning right should swing that entrance toward the middle of my view so I can walk straight at it.", + "The turn brought the shop row across my view, but the deep blue glass panels under the awning still sit at the right edge while the pink doorway occupies the centre. Another right turn should bring that blue frontage squarely ahead.", + "The blue awning storefront with its posters and glass doors is now clearly in front of me, just across a few paces of tiled pavement. With the way to it open, I walk forward to close that gap.", + "Closer in, the pink shop front still takes up the left of my view and the blue glass doors sit to the right of centre. A small right turn should put those doors directly ahead so my next steps land at the entrance.", + "The blue glass entrance with its purple and white signs is now centred right in front of me, with only open paving between. I step forward to come up to the doorway itself.", + "The frontage now fills most of my view and the door handles and posters are close enough to read. One more step should put me right at the threshold of this blue storefront.", + "The blue glass panels of the awning storefront fill my view at arm's length, with nothing left between me and its doors. I am at the blue awning storefront. I mark arriving here before turning back toward the street to find the blue motorcycle.", + "The blue awning shop's glass frontage fills my whole view at arm's length, so I can see nothing of the street from here. I have reached this storefront, and my remaining destination is the blue motorcycle, so I will step back to gain the distance needed before I can look around.", + "Backing off has brought the door handles, posters and part of the frame back into view, but the shop frontage still dominates everything I can see. Another step backward should clear me of the entrance recess and onto open pavement where I have room to swing around toward the street.", + "I am now clear of the entrance, with tiled pavement showing beneath the glass doors and shade from the trees at the right. Straight ahead there is only shopfront and no motorcycle, so I will turn left to swing my view toward the open street.", + "The rotation has brought the neighbouring pink and yellow shopfront into view beside the blue one, still nothing but building frontage. I will keep turning left, since a parked motorcycle is far more likely to stand out along the roadway than against these doors.", + "More of the arcade and the dark window bays are sliding in from the left, and none of them hides anything like a motorcycle. Another left turn should carry my view further off this wall of shops toward the open sidewalk and road.", + "Blossom trees, a planter and a stretch of open pavement have appeared at the left edge, so the street side is nearly in view. I will turn left again to bring that open ground fully in front of me while looking for the blue motorcycle.", + "The wide sidewalk with its planter, bollards and trees now fills most of my view, but the carriageway itself still lies further to my left. Turning left again should bring the road and anything parked along its kerb into sight.", + "The road and its far kerb are open in front of me now, showing only barriers and distant street furniture, no blue motorcycle yet. One more left turn should point me straight down the street so I can set off along it and search further.", + "I am back out on the open roadway with the shopfronts to my left and a clear lane running ahead, so nothing blocks a straight walk. The blue motorcycle I still need is not in sight from here, so I will walk forward to cover ground and open up the street ahead.", + "The lane continues unobstructed past the yellow barriers and the parked utility box on my left, and the far end of the street is opening up. Still no blue motorcycle in view, so I will keep walking forward to bring the far kerb and its parked vehicles closer.", + "My heading is angled toward the buildings on the left, so most of my view is wall and the near sidewalk rather than the street. I will turn right to swing my gaze across the open roadway toward the opposite kerb, where a parked motorcycle would most likely sit.", + "A blue motorcycle is now visible at the right edge of my view, parked against the railing beside an orange cone. It sits too far to the side for a straight approach, so I will turn right again to bring it nearer the middle of my heading.", + "The blue motorcycle now sits ahead and slightly to my right, leaning against the railing by the cone, and the road between us is clear. I will walk forward to close that distance.", + "The motorcycle and the cone beside it have grown noticeably larger, so my line of travel is taking me toward them. A short gap of open road remains, so I will keep walking forward to close on it.", + "The blue motorcycle is close now, but it sits off to my right against the planter railing while my heading still points down the empty street. I will turn right so I am facing it squarely before stepping the last stretch.", + "The blue motorcycle now fills the near left of my view, parked against the railing with the cone just beyond it, and my heading is aimed along the kerb toward it. One more step forward should bring me right alongside it.", + "The blue motorcycle stands right beside me, filling the near left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a09af9458888a7cc6e7a3db4a68c0dac847e5277 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000166_y000112_z000128_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Lift the green bell pepper by the yellow guardrail, then place it by the shop with purple and blue banners.", + "Type": 5, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0, + 175.68, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -639.992, + 300.078, + 73.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -166.29, + 112.496, + 128.15, + 0, + 175.68, + 0 + ], + [ + -291.791, + 121.977, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -291.791, + 121.977, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -401.528, + 183.608, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -511.264, + 245.24, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -511.264, + 245.24, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -511.264, + 245.24, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -511.264, + 245.24, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -629.014, + 200.793, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -746.764, + 156.347, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -864.513, + 111.901, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -982.263, + 67.455, + 128.724, + 0.0, + -159.32, + 0.0 + ], + [ + -982.263, + 67.455, + 128.724, + 0.0, + -134.32, + 0.0 + ], + [ + -1070.197, + -22.591, + 128.149, + 0.0, + -134.32, + 0.0 + ], + [ + -1158.131, + -112.636, + 128.149, + 0.0, + -134.32, + 0.0 + ], + [ + -1158.131, + -112.636, + 128.149, + 0.0, + -109.32, + 0.0 + ], + [ + -1158.131, + -112.636, + 128.149, + 0.0, + -84.32, + 0.0 + ], + [ + -1145.675, + -237.877, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1133.219, + -363.118, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1120.763, + -488.359, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -1109.974, + -524.71, + 138.148, + 0.0, + -84.32, + 0.0 + ], + [ + -1117.099, + -453.063, + 138.148, + 0.0, + -84.32, + 0.0 + ], + [ + -1117.099, + -453.063, + 138.148, + 0.0, + -84.32, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -639.992, + 300.078, + 73.15, + 0.0, + 0.0, + 0.0 + ], + [ + -639.992, + 300.078, + 73.15, + 0.0, + 0.0, + 0.0 + ], + [ + -639.992, + 300.078, + 73.15, + 0.0, + 0.0, + 0.0 + ], + [ + -639.992, + 300.078, + 73.15, + 0.0, + 0.0, + 0.0 + ], + [ + -639.992, + 300.078, + 73.15, + 0.0, + 0.0, + 0.0 + ], + [ + -521.189, + 226.322, + 98.256, + -28.202, + -159.176, + 1.862 + ], + [ + -512.329, + 222.944, + 98.529, + -28.189, + -134.164, + 1.872 + ], + [ + -503.453, + 224.113, + 97.861, + -28.215, + -109.193, + 1.849 + ], + [ + -621.2, + 180.917, + 97.675, + -28.202, + -109.179, + 1.858 + ], + [ + -738.807, + 136.526, + 97.937, + -28.208, + -109.179, + 1.852 + ], + [ + -856.312, + 92.164, + 98.359, + -28.189, + -109.162, + 1.867 + ], + [ + -973.807, + 47.826, + 99.372, + -28.207, + -109.186, + 1.857 + ], + [ + -966.456, + 52.25, + 98.313, + -28.202, + -84.179, + 1.859 + ], + [ + -1054.669, + -37.255, + 97.801, + -28.205, + -84.179, + 1.854 + ], + [ + -1142.434, + -127.122, + 98.181, + -28.207, + -84.183, + 1.858 + ], + [ + -1137.032, + -119.564, + 98.284, + -28.199, + -59.176, + 1.863 + ], + [ + -1135.161, + -110.302, + 98.509, + -28.191, + -34.165, + 1.868 + ], + [ + -1124.523, + -234.749, + 108.831, + -28.197, + -34.172, + 1.865 + ], + [ + -1112.066, + -360.031, + 108.847, + -28.194, + -34.171, + 1.871 + ], + [ + -1099.591, + -485.506, + 108.5, + -28.203, + -34.179, + 1.864 + ], + [ + -1088.783, + -521.954, + 108.281, + -28.188, + -34.164, + 1.872 + ], + [ + -1110.171, + -522.719, + 128.148, + 0.0, + -84.32, + 0.0 + ], + [ + -1110.171, + -522.719, + 128.148, + 0.0, + -84.32, + 0.0 + ] + ], + "PD_Dist_2D": [ + 509.5, + 391.1, + 391.1, + 265.4, + 139.9, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.9, + 21.4, + 21.4, + 22.2, + 23.1, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the green bell pepper sitting on the road ahead on my left, right beside the yellow and white guardrail that lines the sidewalk. It is still far off, so I will walk straight forward to close the gap before I worry about fine alignment.", + "The pepper is now noticeably closer but it sits left of my heading, near the guardrail and the shop with the green awning. I will turn left so the pepper moves toward the center of my view and I can walk straight at it.", + "After turning, the green pepper is now roughly centered ahead of me on the road beside the guardrail. With the path in front clear of cones and posts, I will step forward to shorten the distance for a grasp.", + "The pepper has grown much larger in view and sits just ahead by the guardrail, though still a bit beyond comfortable reach. I will take another step forward to bring it close enough in front of me to attempt a pick.", + "The green bell pepper is now directly at my feet at the bottom of my view, right beside the yellow guardrail rails. This is within reach, so I will attempt to pick it up before moving on toward the delivery point.", + "The grasp worked, since the pepper is now held low in front of me rather than resting on the road. Facing the guardrail and shopfront gives me no route onward, so I will turn right to swing my heading back toward the open street.", + "I am still carrying the pepper and now face down the tree-lined street, but my heading is angled toward the left-hand shopfronts and a traffic cone. I will turn right again to line up with the open roadway leading toward the shops with banners further along.", + "With the pepper in hand, my heading now runs along the open street with the banner-hung shopfronts on my right. Nothing blocks the road ahead, so I will walk forward to carry the pepper toward the purple and blue banner storefront.", + "The pepper is secured in my grip, so I am now in the transport stage and need to reach the shop row ahead. Looking down the street, the storefronts on my right show awnings and hanging signs, but I am still too far to read which one carries the purple and blue banners. I will walk forward to close that distance and get a clearer look at the shopfronts.", + "Carrying the pepper, I can now see a pink shop with a red sign and a blue glass storefront further along on my right. The blue frontage is the likelier match for the purple and blue banners, but it is still off to the side and partly behind trees. I will keep walking forward along the open roadway to draw level with that stretch of shops.", + "The blue-fronted shop with dark glass doors is now noticeably nearer on my right, and the pepper remains in my hands. I am still positioned in the middle of the street rather than in front of that entrance. Another step forward should bring me alongside the shop before I turn toward it.", + "I am now roughly abreast of the shop row, and the target storefronts with their colored signage sit off to my right rather than straight ahead. Continuing forward would carry me past them down the street. I will turn right to bring the shop frontage into the center of my view before approaching.", + "The turn has put the shop row in front of me, with the pink shop and the blue glass frontage bearing purple lettering now clearly visible. A railing and a parked bicycle sit to the left, but the sidewalk directly ahead is open. I will step forward toward those entrances while keeping the pepper in hand.", + "The blue storefront with its purple banner panel is close on my right and the pink shop with the red sign is directly ahead. I am still on the open pavement with room to advance and no obstruction in my path. I will walk forward again to get within placing range of the banner shop.", + "From here the pink shop fills the center of my view while the blue frontage with the purple and blue banners lies just beyond it to my right. I need that banner shop squarely in front of me before I set the pepper down. I will turn right to swing my heading toward it.", + "The turn has brought the blue glass shop with its purple and blue banner posters into view on the right half of my field, next to the pink storefront. It is not yet centered, so a placement now would leave the pepper off to the side of that entrance. I will turn right once more to face the banner shop directly.", + "I am still holding the green pepper, and the recessed glass storefront with the purple banner and the blue-and-purple posters is now squarely ahead of me. I will walk forward to close the remaining stretch of tiled sidewalk toward that entrance so the pepper can be set down right by this shop.", + "The banner-covered glass doors fill more of my view now, so I am closer but still a few paces short of the shop frontage. I will step forward again to bring myself right up to the entrance before releasing the pepper.", + "The purple banner and the blue posters on the door glass are close enough to read details, confirming this is the shop the task names. I will advance once more to stand directly at the doorway so the drop lands clearly beside this shop.", + "I am practically against the glass frontage, with the door handles and banner edge filling my view at arm's length. A last short step forward should settle me at the shop threshold so the pepper is released unmistakably by this storefront.", + "I am pressed right up against the banner-marked shop front, with its glass panel filling my view, which is the delivery spot the task specifies. Still carrying the green pepper, I will release it here so it comes to rest by this shop.", + "The green pepper now rests at the doors of the shop with the purple and blue banners. The task condition is met, so I stop." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..989eb51bb23ce4a4e39c85705e6341fa5db7a8d9 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the second tree from the left.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + [ + -141.829, + -171.787, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + -26.851, + -120.595, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + -26.851, + -120.595, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 55.72, + -25.608, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 138.291, + 69.379, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 220.862, + 164.366, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 303.433, + 259.353, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 386.004, + 354.34, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 468.574, + 449.327, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 551.145, + 544.314, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 551.145, + 544.314, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + 666.123, + 595.505, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + 781.101, + 646.697, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + 781.101, + 646.697, + 128.15, + 0.0, + -1.0, + 0.0 + ], + [ + 906.941, + 644.5, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + 906.941, + 644.5, + 138.15, + 0.0, + -26.0, + 0.0 + ], + [ + 1020.062, + 589.327, + 138.15, + 0.0, + -26.0, + 0.0 + ], + [ + 1119.074, + 548.455, + 148.766, + 0.0, + -26.0, + 0.0 + ], + [ + 1119.074, + 548.455, + 148.766, + 0.0, + -26.0, + 0.0 + ] + ], + "Rationale": [ + "Reading the row along the far sidewalk from the left, the slim tree at the building corner is first and the taller one rising beside the street lamp is second, so that lamp-side tree is my target. It stands across the open roadway ahead of me. I step forward to begin closing that distance.", + "The tree beside the street lamp is still ahead and a little to my left, and the roadway in front of me is clear of traffic and obstacles. I walk forward again to reach the far edge of the road.", + "A continuous white railing runs along the far sidewalk directly in front of me, so I cannot step up onto that frontage on this line. The striped crossing and open pavement lie off to my right. I turn right to take a route that can actually carry me around toward my tree.", + "With this heading the crossing and the open plaza pavement now lie ahead of me, while the railing slides off to my left. I move forward along this line to make ground toward the area where the lamp-side tree stands.", + "More trees along the far frontage are coming into view as I advance, but I am still following the one whose canopy stands by the street lamp on my left. The roadway ahead stays open, so I keep walking.", + "The crosswalk stripes are broadening ahead on my right, and my tree is drawing level on the left, still fenced off from me by the railing along that curb. I continue forward to reach the point where the pavement opens up.", + "I am close to the crossing now, with my tree's foliage spreading overhead on the left and the curbed planting strip still running beside me. Another step forward should bring me to where the sidewalk edge opens and I can turn in toward the trunk.", + "The wide crosswalk lies straight ahead and the railing has run out, leaving open plaza pavement beyond it near the tree I am after. I keep walking forward to get across and onto that pavement.", + "The painted stripes now run directly under my feet and the raised plaza edge sits just beyond them, with my tree's canopy overhanging on the left. The crossing is clear of traffic, so I walk on toward the far side.", + "Only a short band of crossing separates me from the paved apron along this frontage. I step forward again so I can get up onto that pavement and swing in toward my tree.", + "From this close the frontage no longer reads as a countable row, so I hold to the trunk itself, the one rooted in the low planting bed off my left rather than the nearer one straight ahead. Turning left should set it in front of me for a direct approach.", + "The turn has opened the plaza frontage in front of me with my tree standing along it. Nothing blocks the paving between us, so I walk forward to close the gap.", + "The apron keeps widening as I advance, and my tree stands ahead and slightly left, its bed of low shrubs at the building wall. The other trunk in the round planter passes on my right, so I keep striding forward.", + "My approach has carried the tree I want out toward the left margin of my view while the planter trunk now looms on my right. I turn left to put my target squarely in front before the final stretch.", + "The turn has centred my tree, its trunk rising from the grass bed in front of the glass doors. Clear paving lies between us, so I walk straight at it.", + "Closing in has pushed the trunk back toward my left side, and the corner of its raised bed now sits right in front of me. A short left turn should square me on the trunk again for the last steps.", + "The turn has brought the trunk back to the middle of my view, rising straight out of the low green bed against the glazed frontage. Only a couple of paving widths of clear ground remain between us, so I step forward to close them.", + "The trunk now fills the centre of my view at close range, its bark texture plain and the shrubs of its bed just below me. One more short step should put me right at its base.", + "The trunk I set out for stands at arm's length, filling the near edge of my view. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..64ae5e51ebffe5f47d531ce6ebad953fcd10ff66 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_d/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Make your way to the third tree from the left.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + [ + -141.829, + -171.787, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + -141.829, + -171.787, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + -59.258, + -76.8, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 23.313, + 18.187, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 105.884, + 113.174, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 188.455, + 208.161, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 271.026, + 303.148, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 353.597, + 398.135, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 436.167, + 493.122, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 518.738, + 588.109, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 601.309, + 683.096, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 683.88, + 778.083, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 766.451, + 873.07, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 849.022, + 968.057, + 144.562, + 0.0, + 49.0, + -0.0 + ], + [ + 931.593, + 1063.044, + 138.297, + 0.0, + 49.0, + -0.0 + ], + [ + 1014.164, + 1158.031, + 138.297, + 0.0, + 49.0, + -0.0 + ], + [ + 1014.164, + 1158.031, + 138.297, + 0.0, + 49.0, + -0.0 + ] + ], + "Rationale": [ + "From here the trees along the far sidewalk line up cleanly, and counting from the left the third is the broad one standing right beneath the green overhead sign. That sign pins it for me, so I no longer need the count. I will walk forward to close the gap toward that sidewalk.", + "The tree under the green sign now sits just right of my heading, and the crossing that leads to its plaza lies that way as well. I will turn right to bring both that route and the tree in front of me.", + "My heading is now set down the open roadway toward the plaza where the tree with the green sign stands. Nothing blocks the lane in front of me, so I will step forward to close distance.", + "The tree by the green sign is noticeably larger ahead of me and the railing line beside it is resolving into detail. The road remains clear, so I will keep walking straight toward it.", + "The crosswalk stripes now spread across the ground just ahead, leading toward the raised walk where the tree under the green sign grows. Another step forward should carry me onto that crossing line.", + "I am close enough that the planter and railings beneath the tree with the green sign are clearly separated from the buildings behind. The crossing surface ahead is open, so I will continue advancing.", + "More trees along the far arcade on the right have come into view, so counting from here would mislead me; I stay with the tree beneath the green sign. It is directly ahead across the stripes, so I will walk on.", + "The crossing ahead is clear and the tree beneath the green sign now rises well above me on its planted curb. I will keep stepping forward to reach the walk at its base.", + "The painted bars run out a short way ahead at the low kerb, and past that kerb my tree rises out of its planted bed with the green panel still glowing behind its branches. The lane stays empty, so I will take another step across.", + "The far edge of the crossing is nearly under me and the low planter wall holding my tree sits just beyond the pale kerb strip. Its trunk now reads as a solid column rather than a silhouette. I will step forward to gain the walk.", + "Shrubs packed around the base of my tree are now distinct leaf by leaf, and the railing line runs off to the right of its bed. Only a couple of paces of paving separate me from that raised edge, so I will keep walking.", + "I am up on the walk now, with the kerb behind me and the trunk of my tree standing tall almost straight ahead beside the grey column. The paving between us is unobstructed apart from a slim bollard I can pass, so I will advance.", + "The trunk and its bed of greenery fill the left half of what I see, and the striped bollard marks the near corner of the planter. A few more paces along this paving should bring me level with the tree's base.", + "The planter rim now runs close along my left and the trunk rises just past the low shrubs at arm's reach of that edge. I am not yet beside it, so I will step on to close the last of the gap.", + "The trunk is very near now, its bark filling the left of my view above the leafy bed, and the open plaza opens out past the round grey column. One more step should set me squarely at the foot of this tree.", + "The bark stands at my left shoulder with the planting spilling over the kerb between us, so I am almost level with the trunk rather than alongside it. A final short step should place me right at its base.", + "The trunk fills my left edge at arm's length above its planter. I am at the tree's base, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aaf5ff657028e83d01e337c46e5dc16355d2f4ed --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_e/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the second tree from the right.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + [ + -141.829, + -171.787, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + -141.829, + -171.787, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + -59.258, + -76.8, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 23.313, + 18.187, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 105.884, + 113.174, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 188.455, + 208.161, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 271.026, + 303.148, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 353.597, + 398.135, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 436.167, + 493.122, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 518.738, + 588.109, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 601.309, + 683.096, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 683.88, + 778.083, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 766.451, + 873.07, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 849.022, + 968.057, + 144.562, + 0.0, + 49.0, + -0.0 + ], + [ + 931.593, + 1063.044, + 138.297, + 0.0, + 49.0, + -0.0 + ], + [ + 1014.164, + 1158.031, + 138.297, + 0.0, + 49.0, + -0.0 + ], + [ + 1014.164, + 1158.031, + 138.297, + 0.0, + 49.0, + -0.0 + ] + ], + "Rationale": [ + "From this open roadway the row of trees along the far sidewalk reads clearly, and counting in from the right end, the second one is the tall tree rising beside the lamp post over the green arrow sign. That pairing is what I will hold onto as my target. I walk forward to close the distance across the road.", + "A continuous white railing lines the sidewalk straight ahead of me, while the marked crossing opens away to my right. I turn right so my heading follows that crossing, which should give me a clear route onto the walkway where the tree beside the green arrow sign stands.", + "My heading now runs along the open lane toward the crossing, with the tree beside the green arrow sign standing ahead and a little to my left. The way in front of me is clear pavement, so I step forward to gain ground toward it.", + "The green arrow sign and the lamp post beside my tree have grown noticeably larger, which tells me the gap is shrinking. The lane in front stays open, so I keep walking forward.", + "The tree I am going to still sits ahead and slightly left, its canopy now spreading over the near edge of the walkway. Another stride forward should bring me up to the curb line and the crossing.", + "The crosswalk stripes now start just in front of my feet, and the tree beside the green arrow sign rises beyond them on the raised walkway. I keep moving forward onto the crossing to reach that side.", + "The trees at the right end of the row have slid out of my view, so I stop counting and simply hold to the tall tree standing next to the green arrow sign. It is close ahead and a little left, and I keep walking toward it.", + "I am partway over the striped crossing, with my tree and its planter bed directly ahead past the curb. Nothing stands between me and it, so I continue forward to close the remaining gap.", + "The stripes still run under my feet and the raised walkway edge with its low railings is drawing near on my right. My tree stands just beyond the curb, slightly left of my heading, so another stride forward keeps me on line.", + "The green sign and its lamp post sit almost overhead now, with the trunk I am going to rising from the planter just left of my path. Clear pavement remains between me and the curb, so I keep advancing.", + "The planter bed with its shrubs and the pale trunk is now only a couple of strides off, its base clearly visible above the low curb. Nothing blocks the last stretch of crossing, so I step on toward it.", + "I am at the curb line where the walkway begins, and the trunk sits close ahead and a touch left, the metal railings running off to my right. I keep walking to step up beside the planter.", + "Up here the trees no longer line up as a countable row, so I simply hold to this trunk beside the green sign and the round grey column. It stands a short walk ahead on the planter's far side, and I continue toward it.", + "The trunk has thickened in front of me and the planter's low kerb runs along my left. The paved strip between the bed and the railing is clear, so I press on to draw level with the tree.", + "The canopy now fills the top of my view and the bare trunk rises directly ahead out of the shrubs. One more stride should put me right at the planter beside it.", + "The trunk stands close on my left with the planted bed spreading in front of me and the grey column behind it. A final short step forward should bring me right up alongside the tree.", + "The trunk I chose fills my left side, close enough to touch beside its planter. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be96d707060087c123a26aabb347529f0f00b3a7 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the second closest orange traffic cone on the right.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -672.539, + 2165.509, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -797.405, + 2181.284, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -922.272, + 2197.058, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -922.272, + 2197.058, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1042.106, + 2158.584, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1161.94, + 2120.109, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1161.94, + 2120.109, + 128.149, + 0.0, + -137.2, + 0.0 + ], + [ + -1161.94, + 2120.109, + 128.149, + 0.0, + -137.2, + 0.0 + ] + ], + "Rationale": [ + "Along the right curb a line of orange cones recedes ahead, and since they all look alike I fix my target as the second one from me, the one standing just short of the flowering tree beside the building corner. It sits well down the walkway, so I step forward along the open pavement toward it.", + "The nearest cone has grown large low on my right, while the cone I chose still stands further up the curb by the tree. I keep walking straight to close that remaining gap.", + "The cone I passed is now sliding out at my lower right edge, and my target sits ahead on the curb below the blossoming tree, still several strides away. I continue forward to reach it.", + "My heading points down the middle of the street, while the cone I am going to sits off to the right against the raised curb by the building. I turn right so my path lines up with it before advancing further.", + "After the turn my target cone sits close to the center of my view, resting on the curb strip beside the yellow railing. The way there is clear, so I walk forward to close in on it.", + "The cone has grown large just ahead and slightly right, its base sitting on the curb edge near the railing. One more step forward should bring me right up beside it.", + "I am now standing right beside the cone, but it hangs at the lower edge of my view rather than in front of me. I turn right to face it squarely and confirm I have arrived at it.", + "The chosen cone stands directly in front of me at arm's length on the curb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6278ffdac14ca728fe5a42993280ce8c7b8271e6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the second shop storefront on the left side.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -672.539, + 2165.509, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -797.405, + 2181.284, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -797.405, + 2181.284, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -903.906, + 2248.351, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -1010.407, + 2315.418, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -1116.908, + 2382.486, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -1223.409, + 2449.553, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -1329.91, + 2516.62, + 144.726, + 0.0, + 147.8, + -0.0 + ], + [ + -1436.411, + 2583.687, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -1542.912, + 2650.755, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -1649.413, + 2717.822, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -1749.184, + 2778.76, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -1749.184, + 2778.76, + 138.15, + 0.0, + 147.8, + -0.0 + ] + ], + "Rationale": [ + "Looking down the street, the left side is a row of near identical shuttered frontages under one long tan awning, so I settle the count now: my target is the one just past the nearest frontage, sitting under the far stretch of that awning where the street trees begin. The walkway ahead is clear apart from cones along the right curb, so I step forward to close the distance.", + "The awning on my left has grown wider in view but the frontage I am heading for is still well down the block. Nothing obstructs the open pavement in front of me, so I keep walking straight to gain ground before angling in.", + "My heading still runs down the middle of the street, leaving the shopfront I want off to my left and only obliquely visible. I turn left so my facing lines up with the left sidewalk and the frontage I am aiming for comes onto my forward path.", + "The turn has put the left row of shopfronts squarely in front of me, with the awning running away down the block and the paved sidewalk open beneath it. I walk forward along this side to reach the frontage past the nearest one.", + "The red character sign on the nearest frontage is close on my left, which tells me the shop I want lies a little further along under the same awning. The path beside the white posts stays clear, so I continue forward.", + "The near frontage with its red sign is sliding past my left shoulder, so the shuttered front I am heading for is the next one along under the awning. I keep advancing along the sidewalk toward it.", + "Ahead on my left I can see the shuttered frontage with its bench and doorway, the one I am walking to, and it is still a short way off. The sidewalk between the building wall and the bollards is unobstructed, so I step forward again.", + "The shuttered frontage I am heading for now dominates the left side, but I am still short of standing directly at its entrance. I continue forward along the walkway to draw level with it.", + "The awning edge is passing overhead and the shuttered front I want, with its bench and recessed door, lies just ahead on my left. The walkway between the wall and the planter of shrubs is wide and clear, so another stride should bring me level with it.", + "The bench and the dark recessed doorway of that frontage are now close on my left, though I am still a stride or two short of standing at its entrance. Nothing blocks the paving between the wall and the hedge, so I press on.", + "The rolled shutters and glazed panels of the frontage now fill my left side, with its bench just short of my shoulder. A little more ground will put me squarely at that storefront, so I walk on.", + "The bench outside this frontage is almost level with me and the shuttered glass runs right along my left arm. One short step more should set me directly at the storefront rather than just before it.", + "The shuttered storefront and its bench are directly beside me on the left, its entrance at my shoulder. I have arrived, so there is no reason to walk further." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1c406fc429f6199a868ad5b990771045e51b4fd6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_e/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Navigate to the second green iron fence on the left.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -672.539, + 2165.509, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -672.539, + 2165.509, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -779.04, + 2232.577, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -885.541, + 2299.644, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -992.042, + 2366.711, + 128.149, + 0.0, + 147.8, + -0.0 + ], + [ + -992.042, + 2366.711, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -1116.908, + 2382.486, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -1241.775, + 2398.26, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -1366.641, + 2414.034, + 130.824, + 0.0, + 172.8, + -0.0 + ], + [ + -1366.641, + 2414.034, + 130.824, + 0.0, + 147.8, + -0.0 + ], + [ + -1473.142, + 2481.101, + 140.303, + 0.0, + 147.8, + -0.0 + ], + [ + -1473.142, + 2481.101, + 140.303, + 0.0, + 147.8, + -0.0 + ] + ], + "Rationale": [ + "From here the left side of the street carries two green iron railings, one close beside the shopfronts and a second farther down the block. I am going to that farther run, the one standing under the awnings past the street trees. The walkway ahead is open, so I step forward.", + "My heading runs down the middle of the walkway, while the railings I care about line the left edge of the street. I turn left to angle onto that side so I can follow the sidewalk toward the railing I chose.", + "I am now angled toward the left sidewalk, with the near green panels close on my left and clear pavement in front of me. I walk forward to close distance along that side toward the railing I am heading for.", + "The near railing is sliding past on my left and the sidewalk ahead stays open under the awnings. The railing I want is still farther down the block, so I keep walking.", + "I am still moving alongside the near green panels, with white posts and shopfronts running ahead on my left and no obstruction in my path. Another step forward should carry me closer to the run I am aiming for.", + "My leftward angle has brought me almost against the shopfront, so the facade and the near railing fill most of my view instead of the street. I turn right to bring my heading back parallel with the block so I can continue down toward the railing I want.", + "Facing back down the block, the sidewalk on my left runs clear past posts, planters and street trees. The green railing I am heading for lies farther along that side, so I move forward.", + "The line of white posts continues along my left, but I am not yet alongside the railing run I chose beneath the shop awnings. The pavement in front of me stays open, so I keep walking down the block.", + "Green panels have reappeared on my left, set behind the white posts under the shop awnings further along. That is the run I set out for, and its near end is still a few paces off with clear pavement between. I step forward to reach it.", + "The green railing now runs right along my left flank, its nearest panel almost level with me, while my heading still points on down the block. Turning left should square me up with it instead of carrying me past.", + "Now the green panels and their white posts sit across the front of my view, with only a short strip of sidewalk between us. One step forward should bring me right up against the railing.", + "The green iron railing fills my view at arm's length, its panels and white posts immediately before me. I am at the target, so stopping here is correct." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..999f34687b9c263b725c8e91cee10769e50b225a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Search the surrounding streets for the blue bicycle parked along the cherry blossom street, then approach it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -10.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 14.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 39.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 64.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 89.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 114.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 139.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 164.48, + -0.0 + ], + [ + -871.428, + -34.329, + 128.39, + 0.0, + 164.48, + -0.0 + ], + [ + -992.698, + -0.653, + 128.39, + 0.0, + 164.48, + -0.0 + ], + [ + -1113.967, + 33.024, + 128.39, + 0.0, + 164.48, + -0.0 + ], + [ + -1113.967, + 33.024, + 128.39, + 0.0, + -170.52, + 0.0 + ], + [ + -1238.108, + 12.295, + 128.39, + 0.0, + -170.52, + 0.0 + ], + [ + -1362.248, + -8.435, + 128.39, + 0.0, + -170.52, + 0.0 + ], + [ + -1486.388, + -29.164, + 128.39, + 0.0, + -170.52, + 0.0 + ], + [ + -1610.528, + -49.893, + 128.39, + 0.0, + -170.52, + 0.0 + ], + [ + -1610.528, + -49.893, + 128.39, + 0.0, + -145.52, + 0.0 + ], + [ + -1711.852, + -119.284, + 131.441, + 0.0, + -145.52, + 0.0 + ], + [ + -1711.852, + -119.284, + 131.441, + 0.0, + -145.52, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, a railing and hedge block the left side and I see only a wide plaza and glass office facades, with no bicycle anywhere along this stretch. I notice pale petals scattered on the pavement to my right, which hints that the cherry blossom street lies in that direction. I will turn right to begin a steady clockwise scan toward that cue.", + "The view now shows a crosswalk and a row of green street trees, but still no parked bicycle in sight. Blossom petals continue across the ground to my right, so the flowering street should be further around in that direction. I will keep rotating right to hold a consistent scan direction.", + "A pink blossoming tree has now entered the right edge of my view above the sidewalk, which matches the cherry blossom cue in the task. The road ahead of me is still empty of any bicycle, so the flowering stretch likely continues past my current heading. I will continue turning right to bring that blossoming side fully in front of me.", + "The blossoming tree and its guardrail now sit near the center-right of my view, confirming I am rotating toward the flowering side of the block. I still cannot see a bicycle, only sidewalk, a corner building, and open road. I will turn right again to look past this corner along the blossom-lined pavement.", + "Directly ahead a tiled shopfront wall with an air conditioning unit and a traffic cone fills my view, so this corner blocks any further sight line here. The blossom canopy overhead tells me the flowering street runs past this building rather than into it. I will turn right again to look along the storefront and find the open stretch of street.", + "A green awning and glass shop entrance now face me with cones at the curb, and the roadway to my right opens up under the blossom trees. There is still no bicycle along this short section of frontage. I will keep turning right to bring the open blossom-lined street into view.", + "The street now stretches away in front of me lined with blossoming trees on both sides, which is clearly the cherry blossom street named in my task. I still cannot resolve a bicycle among the distant sidewalk clutter from this angle. I will turn right once more to square my heading down the street before moving along it.", + "Looking down the blossom-covered street, I can pick out a small blue object parked near the railing on the right sidewalk that may be the bicycle I am searching for. My heading is still angled slightly toward the left-hand shopfronts rather than down the roadway. I will turn right a bit more to center that stretch of street so I can walk straight toward the blue object.", + "The scan has brought a blossom lined street into view, and partway down it on the right side I can make out a small blue bicycle standing against the railing. That matches the target described in the task, so I stop scanning and commit to it. I will walk forward along this street to close the considerable distance between us.", + "The blue bicycle by the right hand railing has grown slightly larger and stays in the same part of my view, confirming I am heading toward it. The road ahead is still clear of obstructions. I will keep walking forward to reduce the remaining gap.", + "The bicycle is now clearly resolved against the green hedge and railing on the right, with an orange cone standing just beside it. It is still too far away to count as reached, and my current heading keeps it slightly right of center. I will advance again to bring it closer.", + "The bicycle sits off to the right side of the street while my heading is still aimed down the middle of the roadway. Turning right should place it nearer the center of my view so that further forward steps carry me straight at it rather than past it.", + "After the turn the blue bicycle sits closer to the middle of my view, propped against the railing beside the cone. The path along this side of the street looks clear. I will step forward to continue closing on it.", + "The bicycle's frame and wheels are clearly distinguishable now, but it remains several strides away down the sidewalk edge. My heading still points at it. I will keep advancing to shorten that distance.", + "The blue bicycle now fills a noticeable part of my view, parked tight against the metal railing with the hedge behind it. I am close but not yet within immediate reach of it. I will move forward again to get right up beside it.", + "The bicycle is close ahead on the right, its handlebars and light blue frame plainly visible beside the railing. A little more distance remains before I am standing next to it. I will take another step forward to finish closing that gap.", + "The blue bicycle is now only a couple of paces ahead, leaning against the railing on my right, but it sits off the center of my view while my heading still runs down the cherry blossom street. I will turn right to square my body onto the bike so the final closing step goes straight toward it rather than past it along the curb.", + "After the turn the blue bicycle fills the near left-center of my view, framed against the railing and hedge, so my heading is now on it. A single step forward should close the last bit of distance and bring me right beside the bike.", + "The blue bicycle is directly beside me at arm's length, filling the near left of my view against the railing. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..870f16cd54a1db697899beeff18845f725a799f7 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Explore the nearby storefronts for the convenience store with the green awning, then go to it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -10.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 14.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 39.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 64.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 89.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 114.48, + -0.0 + ], + [ + -802.311, + 46.539, + 128.177, + 0.0, + 114.48, + -0.0 + ], + [ + -854.464, + 161.084, + 128.177, + 0.0, + 114.48, + -0.0 + ], + [ + -906.617, + 275.629, + 128.177, + 0.0, + 114.48, + -0.0 + ], + [ + -958.77, + 390.174, + 128.638, + 0.0, + 114.48, + -0.0 + ], + [ + -1010.922, + 504.719, + 144.634, + 0.0, + 114.48, + -0.0 + ], + [ + -1060.379, + 572.987, + 138.15, + 0.0, + 114.48, + -0.0 + ], + [ + -1060.379, + 572.987, + 138.15, + 0.0, + 114.48, + -0.0 + ] + ], + "Rationale": [ + "From where I stand a railing and planting bed block the way ahead, and the storefronts visible across the plaza show no green awning. I will turn right to begin a steady scan of the surrounding shopfronts for the convenience store described in the task.", + "The new heading shows an open crossing and office facades, but still no shop with a green awning. I will keep rotating right in the same direction to sweep more of the street frontage.", + "This heading mostly shows the wide road, crosswalk markings and tall glass buildings, none of which match a convenience store entrance. I will continue the rightward scan toward the block edge where street level shopfronts are more likely.", + "A low building corner with tiled walls and a guardrail is now entering the right side of my view, which looks like street level frontage rather than office glass. I will turn right again to bring that corner and whatever storefront it carries fully into view.", + "The tiled facade with an air conditioner unit and a traffic cone is directly ahead, and the building continues off to my right where its entrance should be. I will turn right once more to uncover that section of the frontage.", + "The green awning over a glass double door is now visible on the right side of my view, matching the convenience store I am looking for. I will turn right one more step to center that entrance so I can head straight for it.", + "The green awning and its glass double doors are now roughly centered ahead of me, with clear pavement and only cones off to the sides. I will walk forward along this heading to close the distance to the storefront.", + "The awning and door posters have grown larger, confirming the previous step brought me closer to the convenience store. The path stays clear, so I will keep walking forward toward the entrance.", + "The green awning and the glass double doors of the convenience store now fill most of my view, so this is clearly the storefront the task describes. I am still out on the sidewalk with a cone and curb between me and the entrance, so I will keep walking straight ahead to close that gap.", + "The store's doors and their posters are now large and centered, confirming I am nearly on the entrance of the green awning shop. A short stretch of pavement remains before the doorway, so I will step forward again to reach it.", + "The storefront glass and door handles are close enough that details on the posters are legible, so I am right at the convenience store entrance. I will advance once more to stand directly at the doorway rather than off to its side.", + "I am practically against the shop's glass front, with the door frame and handle just to the right of my view. One more short step should place me squarely at the convenience store entrance to complete the approach.", + "I am standing right against the green awning convenience store's glass front, at its entrance. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_d/infos.json b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..705d2cc326cba5b5d26e2697e5b3f7818e090f58 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search the area for the convenience store with the orange-and-yellow door, then walk to it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -60.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -85.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -110.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -135.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -160.52, + 0.0 + ], + [ + -868.813, + -109.977, + 128.15, + 0.0, + -160.52, + 0.0 + ], + [ + -986.892, + -139.739, + 143.523, + 0.0, + -160.52, + 0.0 + ], + [ + -1099.247, + -136.907, + 142.572, + 0.0, + -160.52, + 0.0 + ], + [ + -1218.035, + -178.238, + 144.091, + 0.0, + -160.52, + 0.0 + ], + [ + -1218.035, + -178.238, + 144.091, + 0.0, + -135.52, + 0.0 + ], + [ + -1307.835, + -266.422, + 138.24, + 0.0, + -135.52, + 0.0 + ], + [ + -1307.835, + -266.422, + 138.24, + 0.0, + -110.52, + 0.0 + ], + [ + -1351.953, + -384.296, + 138.24, + 0.0, + -110.52, + 0.0 + ], + [ + -1396.071, + -502.169, + 140.991, + 0.0, + -110.52, + 0.0 + ], + [ + -1396.071, + -502.169, + 140.991, + 0.0, + -110.52, + 0.0 + ] + ], + "Rationale": [ + "From here I mostly see a metal railing, planting bed, and the pale plaza and elevated walkway ahead, with no convenience store front showing an orange-and-yellow door. There is a hint of a yellow surface behind the railing at my left edge, so a left scan seems the most promising direction. I will turn left to sweep that side of the street into view.", + "The turn brought a large white column and more of the railing into view, but still no storefront door with orange and yellow framing. The yellow patch behind the planting is now nearer the center, suggesting shopfronts continue further to my left. I will keep turning left in the same direction to uncover that row.", + "A shop facade with blue glass and colored signage has come into view on the left, confirming a commercial row on this side. That is a strong cue that the convenience store I need lies along this street, though this particular front is blue rather than orange and yellow. I will continue the left scan to reveal more of the row.", + "More of the shop row is now visible, and beyond the blue-fronted shop I can make out a warmer pink and yellow facade further along the block. That matches the color cue I am searching for better than anything else seen so far. I will turn left again to bring the sidewalk and that facade more fully into view.", + "The sidewalk and street now open toward my left while the shopfronts run along my right side, including a doorway with bright yellow trim just past the railing. One more left turn should line my heading up with the walkway that runs alongside these stores so I can travel down the row. I will turn left to set that heading.", + "I am now facing straight down the tree-lined street with a clear sidewalk ahead and the shop row continuing on my right. Since no orange-and-yellow door is within reach yet, closing distance along this row is the way to inspect the fronts. I will walk forward along the sidewalk.", + "Stepping ahead has brought me alongside a pink facade with a red sign and yellow framing on my right, which fits the convenience store cue I am looking for. The path forward remains clear past the railing and the parked scooter is off to the left in the roadway. I will keep walking forward to get a fuller look at that entrance.", + "The yellow-framed storefront on my right is noticeably closer now, though the railing and bollards still separate me from its entrance. Continuing straight should carry me past this barrier and level with the doorway itself. I will step forward again along the sidewalk.", + "Ahead on my right I can clearly see the storefront with its bright yellow door frame and orange-toned wall, matching the convenience store I am looking for. It is still several steps further along this sidewalk, so I will keep walking forward to close the remaining distance before turning toward it.", + "The orange-and-yellow store door is now close and sits off to my right, while my heading still points down the street past it. I will turn right to bring the doorway toward the center of my view so I can walk straight at it.", + "The store front with its yellow-trimmed door and orange facade is now in view ahead and slightly right of my heading. The paved walkway between me and it is clear, so I will step forward to reduce the gap.", + "I am now very close to the storefront, but the yellow-framed door still sits to the right of my forward direction and the wall runs diagonally across my view. Turning right should square me up with the door so my final steps go straight into it.", + "The orange-and-yellow convenience store door is now centered in front of me with its sign clearly visible. I will walk forward to bring myself right up to the entrance.", + "The door and its yellow frame now fill most of my view, so I am nearly at the storefront but not yet standing right against it. One more forward step should place me directly at the entrance.", + "I am standing directly against the convenience store's orange-and-yellow door, its yellow frame at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_e/infos.json b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3cabeb270a9800c48e6aded2b57ac515cc2a94a8 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Explore around the green-awning convenience store for the nearby white door, then approach it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -10.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 14.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 39.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 64.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 89.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 114.48, + -0.0 + ], + [ + -802.311, + 46.539, + 128.177, + 0.0, + 114.48, + -0.0 + ], + [ + -854.464, + 161.084, + 128.177, + 0.0, + 114.48, + -0.0 + ], + [ + -906.617, + 275.629, + 128.177, + 0.0, + 114.48, + -0.0 + ], + [ + -958.77, + 390.174, + 128.638, + 0.0, + 114.48, + -0.0 + ], + [ + -1010.922, + 504.719, + 144.634, + 0.0, + 114.48, + -0.0 + ], + [ + -1060.379, + 572.987, + 138.15, + 0.0, + 114.48, + -0.0 + ], + [ + -1060.379, + 572.987, + 138.15, + 0.0, + 114.48, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, a railing, hedge, and tree trunk fill most of my view and I see no green awning or white door anywhere ahead. The open plaza and roadway continue off to my right, so I will turn right to begin a consistent scan of that side for the store frontage.", + "The crossing and the tall glass office block now in front of me show no green awning or white door, only street furniture and trees. I will keep turning right in the same direction to sweep further along the street edge where a shopfront is more likely.", + "This part of the plaza is still all pale office glazing, planters, and street trees, with no convenience store frontage. Continuing my rightward sweep should bring the lower buildings on the far side of the intersection into view.", + "A darker low-rise building with tiled walls has just entered the right edge of my view, which looks much more like a small shop than the office towers behind me. I will turn right again to bring that promising facade toward the center of my view.", + "The tiled low-rise wall with its air conditioner unit now fills the right side of my view, and the shopfront itself still lies further around that corner. I will turn right once more to bring that frontage and any doorway fully into view.", + "I can now see the green awning over a glass entrance with white door frames on the right side of my view, which matches the convenience store target. I will turn right a bit more to place that doorway directly ahead before I walk toward it.", + "The green-awning storefront and its white-framed glass doors are now roughly centered in my view with clear pavement between me and them. I will walk forward to close the distance toward that entrance.", + "The white-framed doors under the green awning are larger in my view now, so my heading is carrying me straight at the entrance. I am still several paces short of it, so I will keep walking forward.", + "The white-framed glass double door under the green awning is now clearly centered ahead of me, and the sidewalk in front of it is open apart from the traffic cone off to the right. I will keep walking straight toward that entrance to close the remaining gap.", + "The door panels and their white frame now fill much of my view, so my heading is still well aligned with the entrance. I am not yet close enough to count as standing at it, so I will step forward again.", + "The glass doors and their pink lower panels dominate the view and the awning has passed above my sightline, which tells me I am close to the storefront. A short further step should bring me right up against the entrance.", + "I am nearly at the glass, with the door seam and its vertical handle just to the right of center. One last short step forward should place me directly at the white door.", + "The white-framed glass door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6d41f7724eed4096d2573963578c80558538df12 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Look around for the green notice posted on the gray door, then move close to it.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 41.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 16.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -8.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -33.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -58.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -83.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -108.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -133.76, + 0.0 + ], + [ + -964.681, + 2249.192, + 128.149, + 0.0, + -133.76, + 0.0 + ], + [ + -1051.73, + 2158.291, + 128.149, + 0.0, + -133.76, + 0.0 + ], + [ + -1138.779, + 2067.391, + 128.149, + 0.0, + -133.76, + 0.0 + ], + [ + -1225.828, + 1976.49, + 144.771, + 0.0, + -133.76, + 0.0 + ], + [ + -1312.188, + 1891.758, + 138.15, + 0.0, + -133.76, + 0.0 + ], + [ + -1312.188, + 1891.758, + 138.15, + 0.0, + -133.76, + 0.0 + ], + [ + -1312.188, + 1891.758, + 138.15, + 0.0, + -133.76, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a green guardrail, shrubs, and the pale plant wall directly ahead, with no gray door carrying a green notice anywhere in view. I will turn left to begin a steady scan of the surroundings in one consistent direction. Opening up the street side to my left should reveal building frontages where such a notice could be posted.", + "The view has opened onto a paved walkway and a distant plaza, but there is still no gray door with a green notice within reach of my eyes. Continuing the same leftward rotation keeps the scan consistent and avoids re-checking ground I have just swept. More of the street frontage should come into view with another turn.", + "I am now looking across a wide open plaza with a crossing and tall towers, which is unlikely to hold a posted notice on a gray door. Keeping the rotation leftward continues the sweep toward the near buildings on that side. I will turn again to bring closer facades into the center of my view.", + "Trees, barriers, and a traffic cone fill this heading, and the far facades are too distant to carry the notice I am looking for. Another left turn should swing my view toward the near shopfronts on this side of the walkway. Those closer walls are the most plausible place for a posted green notice.", + "A near storefront with glass doors and a small poster has entered the left edge, which is the kind of frontage where notices are posted. I will keep turning left to bring that facade fully in front of me. Its adjacent wall panels may hold the gray door I am searching for.", + "The shopfront is now centered and I can make out a small green plate on the wall beside it, but the plain gray service door itself is still clipped at the left edge. Turning left again should place that door and its wall panel squarely in my view. That is the strongest cue I have seen so far for the posted notice.", + "A plain gray door is now visible to the left of the store entrance, with cones and a yellow rail in front of it. I will continue turning left to sweep the wall beyond that door, where a posted notice would sit. Bringing more of that panel into center should confirm whether the green notice is there.", + "I can now see a green notice board mounted on the pale gray wall panel just left of the plain gray door, which matches the target I was told to find. I will make one more left turn to center that notice ahead of me instead of leaving it off to the side. With it aligned, a straight walk along the sidewalk should close the distance.", + "Scanning along this storefront wall, I can now see the green notice panel mounted flat on the pale gray door section ahead of me, with the yellow guard rail and traffic cones marking the sidewalk in front of it. It is still far off, so I will walk straight forward along the open pavement to close the distance. The path ahead looks clear enough that this step should bring the notice noticeably nearer.", + "The green notice with its white lettering is larger now and clearly fixed on the light gray door panel to my right front, so my heading is good. Nothing blocks the sidewalk between me and it except a cone set well to the side. I will keep walking forward to shorten the remaining gap.", + "I am close enough now to read the shapes on the green notice and to see the yellow railing running beneath it along the gray door. The target is still a few paces off to my front right, so stopping here would leave me short of it. Another forward step should place me closer to the wall where the notice hangs.", + "The green notice now dominates the upper part of my view and the gray door and its handles are just beside it. I am nearly at the wall but not yet standing directly under the sign. I will step forward again to finish closing on it.", + "I am right beside the wall with the green notice and the white lettered panel directly in front of me, and the yellow railing is close under it. A short final step should put me as near to the notice as the railing allows. I will move forward once more to settle at that close standing position.", + "Standing this close, my view is dominated by the lower half of the posted panel and the green notice above it is cut off at the top of my sight. Tilting my gaze upward should bring the whole green notice on the gray door into clear view. I will look up to frame it properly.", + "The green notice on the gray door fills my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c4464afbe65476ecbf1d8b980039b7980ff0d348 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search the nearby streets for the blue-fronted convenience store and approach it.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 41.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 16.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -8.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -33.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -58.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -83.76, + 0.0 + ], + [ + -863.952, + 2214.98, + 128.149, + 0.0, + -83.76, + 0.0 + ], + [ + -850.272, + 2089.866, + 128.149, + 0.0, + -83.76, + 0.0 + ], + [ + -836.592, + 1964.753, + 144.762, + 0.0, + -83.76, + 0.0 + ], + [ + -836.592, + 1964.753, + 144.762, + 0.0, + -83.76, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a guardrail, hedge, and the blank flank of a building, with no storefront of any kind in sight. I will turn left to begin a consistent scan of the street toward the more open area suggested by the sidewalk running off to that side.", + "Turning has opened up a wider street scene with a crossing, trees, and a signed building facade, but nothing with a blue shopfront yet. I will keep rotating left in the same direction to sweep more of this open frontage.", + "The plaza and roadway ahead show shop signage and street furniture, yet none of these frontages read as the blue-fronted convenience store. Continuing left keeps my scan consistent and should reveal the buildings lining the near side of the street.", + "Ahead I see the crossing, cones, and tree-lined pavement, still without the target frontage, though the near building edge on the left remains unexamined. I will turn left again to bring that closer facade into view.", + "A shopfront with bright blue panels and a poster in the window has just come into the left part of my view, which matches the blue-fronted convenience store I am looking for. I will turn left once more to bring that entrance toward the center of my heading instead of continuing a full sweep.", + "The blue-fronted store with its glass double doors and awning now sits clearly in my view, but slightly left of straight ahead. One more left turn should line my heading up with the entrance before I walk toward it.", + "The blue-fronted store's glass doors are now centered ahead of me with clear open pavement between us. I will walk forward to close the distance toward the entrance.", + "The blue panels and door handles of the storefront have grown noticeably larger, confirming I am closing on the right building. I will keep stepping forward to bring myself right up to the entrance.", + "The blue-fronted storefront now fills my view, with its glass entrance doors, bright blue panels, and the printed poster directly ahead of me. I am still a step short of standing right at the entrance, so I will walk forward once more to close that last bit of distance. This should place me immediately in front of the store doors.", + "The blue-fronted convenience store's glass entrance doors fill my view at arm's length. The approach objective is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_c/infos.json b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f95fa58cbea76553b4a9e493f82c28b3272ad56 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Scan the surrounding area for the orange bicycle parked near a building, then walk to it.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 91.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 116.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 141.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 166.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -168.76, + 0.0 + ], + [ + -1001.077, + 2315.561, + 128.149, + 0.0, + -168.76, + 0.0 + ], + [ + -1001.077, + 2315.561, + 128.149, + 0.0, + -143.76, + 0.0 + ], + [ + -1102.588, + 2241.157, + 128.149, + 0.0, + -143.76, + 0.0 + ], + [ + -1204.1, + 2166.753, + 128.149, + 0.0, + -143.76, + 0.0 + ], + [ + -1305.611, + 2092.349, + 128.149, + 0.0, + -143.76, + 0.0 + ], + [ + -1406.402, + 2034.383, + 128.149, + 0.0, + -143.76, + 0.0 + ], + [ + -1507.914, + 1959.979, + 144.781, + 0.0, + -143.76, + 0.0 + ], + [ + -1606.136, + 1938.21, + 138.701, + 0.0, + -143.76, + 0.0 + ], + [ + -1606.136, + 1938.21, + 138.701, + 0.0, + -143.76, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, my view is filled with a white guard fence, planting, and a blank building facade, with no bicycle anywhere in sight. I will turn right to begin a steady scan of the surrounding area in one consistent direction, hoping to uncover an orange bicycle parked along a building.", + "The new heading shows more of the same fenced planter and a pale wall with a door and a shop sign edging into the right side, but still no bicycle. I will keep rotating right in the same direction so the scan stays consistent and the storefront area comes fully into view.", + "Now shuttered storefronts with awnings sit ahead and the pavement widens toward the right, which is a plausible place for parked bicycles, yet none is visible here. I will continue turning right to open up that walkway and check it for the orange bicycle.", + "The street corridor is now opening up along the shop row, but the objects near the far buildings are too distant and small to identify as a bicycle. I will turn right again to bring more of that open street and the buildings on its far side into the center of my view.", + "Down the open street I can pick out orange shapes near the right-hand building, one of which could be the parked bicycle rather than just traffic cones. I will turn right once more to swing that side of the street toward the center of my view for a clearer look.", + "Ahead and slightly to the right, beside the wall of the building with the green signs, I can now make out an orange bicycle standing among the traffic cones. I will walk forward along the open pavement to close distance and confirm it as the target.", + "The orange bicycle is clearly parked against the building on my right, but from this heading it sits well off to the side of my path. I will turn right to point myself at it so my next steps carry me straight toward it.", + "With this heading the orange bicycle sits near the middle of my view, leaning against the wall of the building past the traffic cone. I will step forward along the open pavement to close the remaining gap to it.", + "The orange bicycle is clearly visible ahead, leaning against the pale building wall past the traffic cone on my right. The walkway between the cones and the raised curb is open, so I will keep walking straight to close the remaining distance to it.", + "The orange bicycle now sits distinctly against the building facade slightly right of my heading, and it has grown larger as I advance. The path along the curb stays clear, so I will step forward again to keep shrinking the gap.", + "I am close enough now to see the bicycle's frame and wheels resting beside the barred door of the building. Nothing blocks the strip of pavement in front of me, so another step forward should bring me nearly alongside it.", + "The bicycle is only a short distance ahead, parked against the wall on my right with its shadow cast across the walkway. I will continue forward to finish closing that last gap and stand next to it.", + "The bicycle is now right beside me at the edge of my view, its frame and front wheel almost within arm's reach against the building. One more short step should place me directly at it.", + "The orange bicycle stands directly in front of me against the building wall, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_d/infos.json b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3fab42aea48a3968fb9b52a97f4a2430296fbb4d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Explore the nearby alleyways for the yellow safety barrier by an entrance, then go to it.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 91.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 116.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 141.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 166.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -168.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -143.76, + 0.0 + ], + [ + -979.143, + 2265.689, + 128.149, + 0.0, + -143.76, + 0.0 + ], + [ + -979.143, + 2265.689, + 128.149, + 0.0, + -118.76, + 0.0 + ], + [ + -1039.699, + 2155.356, + 128.149, + 0.0, + -118.76, + 0.0 + ], + [ + -1104.817, + 2050.131, + 128.149, + 0.0, + -118.76, + 0.0 + ], + [ + -1165.373, + 1939.797, + 139.617, + 0.0, + -118.76, + 0.0 + ], + [ + -1165.373, + 1939.797, + 139.617, + 0.0, + -118.76, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a green and white roadside railing and a blank building wall, with no alleyway entrance or yellow barrier anywhere in sight. I will turn right to begin a steady scan of the surroundings for an opening between the buildings.", + "Turning has brought a shopfront with an awning and a service door into view, which suggests a street frontage rather than the open alley I need. Nothing yellow stands by any entrance yet, so I will keep rotating right to continue the scan in the same direction.", + "The row of shuttered shops and their awnings now stretches away from me, hinting that a walkable lane opens further to my right. I will continue turning right to bring that lane and any entrance beside it into view.", + "A narrow paved alley between the buildings has opened up ahead, exactly the kind of passage the task points me toward. I will turn right again to sweep further along that alley and check its entrances for anything yellow.", + "Further into the alley I can now see traffic cones and a hint of yellow equipment near the buildings on the right side. I will keep turning right to bring that promising area fully into the center of my view.", + "A yellow tubular barrier is now clearly visible on the right, set against the blue building wall among orange cones. I will turn right once more to line myself up with it before moving in.", + "The yellow barrier sits ahead and slightly right, mounted beside a doorway in the blue building wall, which matches the target described in the task. I will walk forward along the open pavement to close the distance to it.", + "Stepping closer has left the yellow barrier and the entrance it guards off to my right rather than straight ahead. I will turn right to face them directly so my remaining approach stays on line.", + "The yellow tubular safety barrier is now clearly in view ahead, set against the blue wall right beside the recessed entrance door. My heading points straight at it with open pavement between the two traffic cones, so I will walk forward to close the distance.", + "The yellow barrier and the door beside it are noticeably larger and centered in my view, confirming my heading is good. There is still a gap of sidewalk before I reach it, so I will step forward again.", + "The yellow barrier now fills much of my view directly in front of the entrance, but I am still a short step short of standing at it. I will advance once more to bring myself right up beside the barrier.", + "The yellow safety barrier is directly in front of me at the entrance wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_e/infos.json b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bd24eb7a010bffd960da3eb506802558392f6d4a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000878_y002340_z000128_t1_e/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Find the shop with the brown awning and approach the red notice on its door.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 41.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 16.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -8.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -33.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -58.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -83.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -108.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -133.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + -158.76, + 0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 176.24, + -0.0 + ], + [ + -877.632, + 2340.093, + 128.149, + 0.0, + 151.24, + -0.0 + ], + [ + -987.965, + 2400.649, + 128.149, + 0.0, + 151.24, + -0.0 + ], + [ + -1098.299, + 2461.205, + 128.149, + 0.0, + 151.24, + -0.0 + ], + [ + -1098.299, + 2461.205, + 128.149, + 0.0, + 126.24, + -0.0 + ], + [ + -1175.997, + 2553.431, + 138.15, + 0.0, + 126.24, + -0.0 + ], + [ + -1175.997, + 2553.431, + 138.15, + 0.0, + 101.24, + -0.0 + ], + [ + -1200.53, + 2676.876, + 138.15, + 0.0, + 101.24, + -0.0 + ], + [ + -1225.062, + 2800.321, + 138.15, + 0.0, + 101.24, + -0.0 + ], + [ + -1225.062, + 2800.321, + 138.15, + 0.0, + 101.24, + -0.0 + ] + ], + "Rationale": [ + "My view is filled by a plain building wall and a guardrail with hedge, so no shop awning or door notice is reachable from this heading. I will start a steady leftward scan to open up the street and look for a brown awning.", + "Turning has opened a wider plaza with a road and distant buildings on my left, but I still see no brown awning or red notice. I will keep rotating the same direction to bring more of that open area into view.", + "The open crossing and a distant green storefront sign are now centered, but that facade is far away and shows no brown awning. I will continue the same leftward sweep to check the nearer street frontage.", + "This heading shows mostly road, trees, barriers and a traffic cone, with the shopfronts too distant to judge their awnings. Keeping a consistent leftward rotation should swing my view onto the near sidewalk where shop entrances would be.", + "A storefront has just entered the left edge of my view, so a shop frontage is close by on that side. I will turn left again to face it squarely and check the color of its awning.", + "The shop now facing me has a blue awning and blue glass doors, which does not match the brown awning I am looking for. I will keep turning left to look further along this row of buildings.", + "From here the same blue awning shop and a plain side door are in front of me, so this frontage is still not the brown awning target. Continuing the leftward turn should reveal the stretch of street beyond this building.", + "The blue awning shop has slid to my right and I can now see a blue wall with a green vertical sign and cones lining a sidewalk that continues to the left. I will turn left once more to bring that continuing street corridor into view and check its shopfronts.", + "The frontage ahead of me is a plain blue wall with a service door, traffic cones and yellow railings, and the awning above it is blue rather than brown. Nothing here matches the shop I am looking for, so I will keep rotating left in the same consistent direction to sweep the rest of this street. The open pavement and blossoming tree toward the left edge suggest more storefronts lie that way.", + "The view has opened onto a long pedestrian street with shopfronts running down the left side, but from this angle they are still edge-on and I cannot judge their awning colours. I will continue the same leftward sweep to bring that row of shops squarely into view. That row is the most promising place to find a brown awning and a red notice.", + "Now the left-hand shop row is visible and its long canopy reads as a tan brown awning over shuttered windows, which fits the shop described in the task. I will turn left once more to line my heading up with that frontage instead of the open street. Facing it directly should let me pick out any red notice near its door.", + "I am now facing along the brown awning frontage and I can see a red sign panel mounted in the shop window on the left. My heading is aligned with the walkway that runs past those shops, so I will step forward to close the distance. Getting nearer should let me confirm that this red panel is the notice by the door.", + "The brown awning and the red sign in the window are noticeably larger now, confirming I am closing on the right shop. There is still open pavement between me and that frontage, and the benches under the windows are well clear of my path. I will walk forward again to bring the notice within reach.", + "I have drawn level with the shopfront, and the red notice has slid to the far left edge of my view while I am still pointed down the street. Turning left should swing the brown awning shop and its red notice back to the centre of my view. That heading is what I need before stepping in toward it.", + "The shopfront under the brown awning now faces me squarely, with the red notice on the window panel and the entrance door just to its left. Only a short stretch of pavement and a bench off to the side separate me from it. I will step forward to close on the notice.", + "I am close to the frontage now, but the red notice sits toward the left of my view while the awning edge and further windows fill the right. A small left turn should centre the notice and the adjacent door so I can approach it head on. That keeps my final steps aimed straight at the target.", + "The red notice is now squarely ahead on the shopfront panel beside the pale door, with only a bench and a few steps of open pavement between us. I will walk forward to close that remaining gap and bring the notice within arm's reach. The path directly ahead looks clear, so this step should tighten the approach without needing another turn.", + "The red notice now fills a large part of my view, but I am still slightly back from it and the bench sits at the edge of my path. One more step forward should place me directly at the notice on the shop's door frontage, close enough to count as reaching it.", + "The red notice on the brown awning shop's door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000928_y002328_z000128_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-000928_y002328_z000128_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a18e52a02849c6042b9d2a6aa19ece54fab2581f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000928_y002328_z000128_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the orange bicycle.", + "Type": 0, + "Start_Pose": [ + -928.228, + 2328.088, + 128.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -928.228, + 2328.088, + 128.15, + 0.0, + 172.8, + -0.0 + ], + [ + -1053.095, + 2343.862, + 128.15, + 0.0, + 172.8, + -0.0 + ], + [ + -1053.095, + 2343.862, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1172.929, + 2305.388, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1292.763, + 2266.913, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1292.763, + 2266.913, + 128.15, + 0.0, + -137.2, + 0.0 + ], + [ + -1385.109, + 2181.399, + 128.15, + 0.0, + -137.2, + 0.0 + ], + [ + -1477.456, + 2095.886, + 128.15, + 0.0, + -137.2, + 0.0 + ], + [ + -1569.802, + 2010.372, + 131.805, + 0.0, + -137.2, + 0.0 + ], + [ + -1662.149, + 1924.858, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -1662.149, + 1924.858, + 138.15, + 0.0, + -137.2, + 0.0 + ] + ], + "Rationale": [ + "I can see an orange bicycle parked far ahead on the right side of the street, near the building wall past the traffic cone. It sits well down the block, so I will move forward along the open paved lane to close some of that distance before refining my heading.", + "After advancing, the orange bicycle is still off to my right against the far building, while my heading points straight down the middle of the street. I will turn right to bring the bicycle closer to the center of my view so my approach line points at it.", + "The turn has brought the orange bicycle into clearer view ahead on the right, leaning against the pale blue building. The path in front of me is open with only a cone off to the side, so I will move forward to shorten the distance.", + "The bicycle now looks noticeably larger on my right, so my heading is carrying me closer to it. I will continue forward along this clear stretch of walkway to keep closing the gap.", + "I am now close to the building line, but the orange bicycle sits to my right against the wall rather than straight ahead. I will turn right so my facing points more directly at the bicycle before advancing further.", + "The orange bicycle is now roughly centered in my view, resting against the blue wall just beyond the curb. With the target lined up, I will step forward to reduce the remaining distance.", + "The bicycle fills more of my view and its frame and wheels are clearly distinguishable a few steps ahead. I will keep moving forward to arrive right beside it.", + "The orange bicycle now dominates the center of my view and I am nearly at arm's length from its handlebars. I will advance once more to settle into a close standing position at the target.", + "The orange bicycle now fills the center of my view, leaning against the pale blue wall just ahead and slightly right of my heading. It is close but still a step away, so I will move forward once more to close the final bit of distance and stand directly beside it.", + "The orange bicycle's frame and handlebar are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000928_y002328_z000128_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-000928_y002328_z000128_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8def5b0536f964385f96cf983518583301ea8333 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000928_y002328_z000128_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the plate near the orange bicycle.", + "Type": 5, + "Start_Pose": [ + -928.228, + 2328.088, + 128.15, + 0, + 172.8, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1720.735, + 2086.731, + 78.15, + -90, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -928.228, + 2328.088, + 128.15, + 0, + 172.8, + 0 + ], + [ + -928.228, + 2328.088, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1048.062, + 2289.613, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1167.896, + 2251.139, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1287.73, + 2212.664, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1407.564, + 2174.19, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1527.398, + 2135.715, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1647.232, + 2097.241, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1647.232, + 2097.241, + 128.15, + 0.0, + -162.2, + 0.0 + ], + [ + -1647.232, + 2097.241, + 128.15, + 0.0, + -162.2, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1720.735, + 2086.731, + 78.15, + -90.0, + 0.0, + 0.0 + ], + [ + -1720.735, + 2086.731, + 78.15, + -90.0, + 0.0, + 0.0 + ], + [ + -1720.735, + 2086.731, + 78.15, + -90.0, + 0.0, + 0.0 + ], + [ + -1720.735, + 2086.731, + 78.15, + -90.0, + 0.0, + 0.0 + ], + [ + -1720.735, + 2086.731, + 78.15, + -90.0, + 0.0, + 0.0 + ], + [ + -1720.735, + 2086.731, + 78.15, + -90.0, + 0.0, + 0.0 + ], + [ + -1720.735, + 2086.731, + 78.15, + -90.0, + 0.0, + 0.0 + ], + [ + -1720.735, + 2086.731, + 78.15, + -90.0, + 0.0, + 0.0 + ], + [ + -1640.124, + 2077.096, + 98.256, + -28.202, + -112.055, + 1.862 + ], + [ + -1640.124, + 2077.096, + 98.256, + -28.202, + -112.055, + 1.862 + ] + ], + "PD_Dist_2D": [ + 828.4, + 828.4, + 702.6, + 576.8, + 450.9, + 325.2, + 199.4, + 74.3, + 21.4, + 21.4 + ], + "Rationale": [ + "From here I can see a large white plate lying on the pavement well ahead on the right side of the street, close to the orange bicycle parked against the building. My current heading points down the left side of the arcade, so the plate sits off my forward path. I will turn right to bring the plate and the bicycle closer to the center of my view before walking toward them.", + "After turning, the plate and the orange bicycle beside it now sit near the middle of my view down the open sidewalk. The path ahead is clear paving with only a traffic cone off to the right. I will walk forward to close the still large distance to the plate.", + "The plate and the orange bicycle appear slightly larger now, so my heading is carrying me toward them. There is still a long stretch of open pavement between me and the target. I will keep walking straight to reduce that distance.", + "The white plate is clearly resting on the walkway just left of the curb where the orange bicycle stands, and it is now noticeably closer. Nothing blocks the straight line between me and it. I will continue advancing toward the plate.", + "The plate now fills a good portion of the lower center of my view with the orange bicycle right behind it at the curb, confirming I am on the correct target. I am still a few paces short of a comfortable grasping distance. I will step forward again to close that gap.", + "The plate is close ahead and slightly left of my center line, with the orange bicycle on the raised curb to my right. I am nearly within reach but not yet standing over the plate. I will advance once more to get the plate directly in front of me.", + "The plate now dominates the near foreground just below my view, which means I am almost on top of it. A final short step should place it squarely within arm's reach for a grasp. I will move forward once more before reaching for it.", + "The plate is right at my feet in the immediate foreground, with the orange bicycle beside me at the curb confirming this is the intended one. I am standing close enough that reaching down should bring it into my hands. I will attempt the pick now.", + "The plate is now held in my hand, lifted off the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001068_y-000525_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-001068_y-000525_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb6fec0f98723cd0532cc816c045299b406ee8d3 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001068_y-000525_z000138_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the storefront beneath the green awning on the red building.", + "Type": 0, + "Start_Pose": [ + -1068.381, + -524.76, + 138.149, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1068.381, + -524.76, + 138.149, + 0.0, + 113.28, + -0.0 + ], + [ + -1118.124, + -409.148, + 138.149, + 0.0, + 113.28, + -0.0 + ], + [ + -1167.866, + -293.536, + 138.149, + 0.0, + 113.28, + -0.0 + ], + [ + -1167.866, + -293.536, + 138.149, + 0.0, + 88.28, + -0.0 + ], + [ + -1164.089, + -167.733, + 144.547, + 0.0, + 88.28, + -0.0 + ], + [ + -1160.311, + -41.931, + 128.15, + 0.0, + 88.28, + -0.0 + ], + [ + -1156.533, + 83.871, + 128.149, + 0.0, + 88.28, + -0.0 + ], + [ + -1152.755, + 209.673, + 128.163, + 0.0, + 88.28, + -0.0 + ], + [ + -1148.978, + 335.476, + 128.163, + 0.0, + 88.28, + -0.0 + ], + [ + -1145.2, + 461.278, + 128.721, + 0.0, + 88.28, + -0.0 + ], + [ + -1141.474, + 572.828, + 138.15, + 0.0, + 88.28, + -0.0 + ], + [ + -1141.474, + 572.828, + 138.15, + 0.0, + 88.28, + -0.0 + ] + ], + "Rationale": [ + "From the task description I pick out the green awning over glass doors on the red trimmed building ahead and slightly to my left, partly screened by blossoming branches and railings. I will move forward along the open paving to clear the foreground clutter and get a better line on that storefront.", + "The awning and the storefront's glass doors are now larger and clearer on my left front, so my heading is roughly correct but the target still sits off to the side. Another step forward should bring me to the roadway edge where I can square up on the entrance.", + "I have come far enough forward that the awning and its doorway now sit toward the left edge of my view while my heading points down the street. I will turn left to bring the storefront entrance into the center of my view before closing the remaining distance.", + "The turn has centered the green awning and the glass double doors beneath it, with the red trimmed facade squarely ahead. With the heading aligned, I will move forward across the open road surface to close the gap to the entrance.", + "The storefront keeps growing in front of me and the doors stay near the center, so my alignment is holding. I continue forward to shorten the distance across the street toward the awning.", + "The awning now fills the upper part of my view and the sidewalk in front of the doors is close, but I am still on the street side of the curb. I will step forward again to reach the frontage directly beneath the awning.", + "I am at the curb with the glass double doors just ahead and slightly left, the cone standing to their right on the walkway. Moving forward should carry me onto the frontage beneath the awning without hitting that cone.", + "The doorway and its posted signs now dominate my view and only the awning's lower edge remains visible above, so I am nearly at the storefront. One more step forward should place me directly at the entrance beneath the awning.", + "The glass double doors of the storefront now fill my view, with the green awning edge just above them and the red band of the building framing the entrance. My heading is squared on the doorway, so I will step forward again to keep closing the last of the gap.", + "I am nearly at the entrance, with the door handles and posted signs clearly resolved right in front of me. One more forward step should place me directly at the storefront threshold beneath the awning.", + "The storefront's door handles and glass panels are immediately in front of me at arm's reach beneath the awning. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001068_y-000525_z000138_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-001068_y-000525_z000138_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b64f40c5b01e56d56f2f542490fdbb81f7819141 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001068_y-000525_z000138_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the yellow barrier on the road.", + "Type": 0, + "Start_Pose": [ + -1068.381, + -524.76, + 138.149, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1068.381, + -524.76, + 138.149, + 0.0, + 113.28, + -0.0 + ], + [ + -1118.124, + -409.148, + 138.149, + 0.0, + 113.28, + -0.0 + ], + [ + -1167.866, + -293.536, + 138.149, + 0.0, + 113.28, + -0.0 + ], + [ + -1217.609, + -177.924, + 144.041, + 0.0, + 113.28, + -0.0 + ], + [ + -1217.609, + -177.924, + 144.041, + 0.0, + 138.28, + -0.0 + ], + [ + -1311.551, + -94.166, + 128.15, + 0.0, + 138.28, + -0.0 + ], + [ + -1405.493, + -10.408, + 128.15, + 0.0, + 138.28, + -0.0 + ], + [ + -1499.435, + 73.35, + 128.15, + 0.0, + 138.28, + -0.0 + ], + [ + -1593.376, + 157.108, + 128.15, + 0.0, + 138.28, + -0.0 + ], + [ + -1687.318, + 240.867, + 128.15, + 0.0, + 138.28, + -0.0 + ], + [ + -1781.26, + 324.625, + 141.879, + 0.0, + 138.28, + -0.0 + ], + [ + -1781.26, + 324.625, + 141.879, + 0.0, + 138.28, + -0.0 + ] + ], + "Rationale": [ + "From the tiled walkway I can see a pale yellow barrier standing at the far curb, past the bollards and the flowering trees on the right side of the street. It is far away, so I will move forward across the paving to begin closing that gap and get a clearer line on it.", + "The yellow barrier segments are now more distinct ahead and slightly right, sitting alongside the road beyond the green-awning storefront. Nothing blocks the open pavement in front of me, so another forward step should keep shrinking the distance.", + "I am now out on the roadway with the barrier clearly visible at the right-hand curb, still several steps off. The path along the road is unobstructed, so I will keep pressing forward toward it.", + "My current heading points too much at the storefront facade on my left, and the barrier sits off toward the right edge of what I can see. A modest turn to the right should swing my heading along the street corridor and bring the barrier into the center of my view for a straight approach.", + "The street now opens straight ahead of me and the yellow barrier sits just left of center at the near curb, with clear asphalt between us. I will move forward along this heading to close the remaining distance.", + "The barrier's two yellow-and-white blocks are noticeably bigger now, resting against the curb on my left-forward side. The lane ahead stays clear, so I will continue forward to draw nearer.", + "I can now make out individual panels and markings on the barrier a short way ahead beside the bench and the curb. It is still not within arm's reach, so I will take another step forward.", + "The yellow barrier is close now, occupying much of my left-forward view where it meets the curb. A further forward step should bring me right up beside it.", + "The pair of yellow road barriers now sits clearly ahead and slightly left along the curb, filling a good part of my view. My heading still carries me straight toward them, so I will move forward again to cut the remaining gap.", + "The yellow barrier is now very close, spanning the lower left of my view with its ribbed face plainly visible. One more step forward should bring me right alongside it, close enough to count as reaching the target.", + "The yellow barrier is directly beside me, filling the near foreground at arm's reach. The approach objective is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa30854f198a7293559c868ae58ba822d31cd352 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the orange bicycle, then head toward the blue awning shop.", + "Type": 3, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0, + -97.92, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1157.995, + 2806.462, + 138.15, + 0, + -97.92, + 0 + ], + [ + -1175.337, + 2681.803, + 138.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1175.337, + 2681.803, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1243.737, + 2576.154, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1312.138, + 2470.504, + 132.694, + 0.0, + -122.92, + 0.0 + ], + [ + -1380.538, + 2364.854, + 128.332, + 0.0, + -122.92, + 0.0 + ], + [ + -1448.938, + 2259.204, + 128.332, + 0.0, + -122.92, + 0.0 + ], + [ + -1517.339, + 2153.554, + 128.332, + 0.0, + -122.92, + 0.0 + ], + [ + -1585.739, + 2047.904, + 128.332, + 0.0, + -122.92, + 0.0 + ], + [ + -1654.139, + 1942.254, + 140.862, + 0.0, + -122.92, + 0.0 + ], + [ + -1654.139, + 1942.254, + 140.862, + 0.0, + -122.92, + 0.0 + ], + [ + -1603.923, + 2019.818, + 128.149, + 0.0, + -122.92, + 0.0 + ], + [ + -1603.923, + 2019.818, + 128.149, + 0.0, + -97.92, + 0.0 + ], + [ + -1603.923, + 2019.818, + 128.149, + 0.0, + -72.92, + 0.0 + ], + [ + -1603.923, + 2019.818, + 128.149, + 0.0, + -47.92, + 0.0 + ], + [ + -1603.923, + 2019.818, + 128.149, + 0.0, + -22.92, + 0.0 + ], + [ + -1488.0, + 1970.803, + 144.795, + 0.0, + -22.92, + 0.0 + ], + [ + -1372.078, + 1921.787, + 138.15, + 0.0, + -22.92, + 0.0 + ], + [ + -1372.078, + 1921.787, + 138.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1246.302, + 1926.355, + 138.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1120.526, + 1930.923, + 138.15, + 0.0, + 2.08, + -0.0 + ], + [ + -994.75, + 1935.491, + 138.15, + 0.0, + 2.08, + -0.0 + ], + [ + -994.75, + 1935.491, + 138.15, + 0.0, + -22.92, + 0.0 + ], + [ + -878.827, + 1886.476, + 138.15, + 0.0, + -22.92, + 0.0 + ], + [ + -878.827, + 1886.476, + 138.15, + 0.0, + -22.92, + 0.0 + ] + ], + "Rationale": [ + "The orange bicycle is parked against the pale blue wall far down the sidewalk to my left, while the shop with the blue awning sits closer on my right. The bicycle is my first stop and nothing blocks the open pavement between us, so I will walk forward to begin closing that gap.", + "After advancing, the orange bicycle sits off to my left edge rather than in front of me, so walking straight would carry me past it. I will turn left to swing my heading onto the bicycle before continuing.", + "The turn has brought the orange bicycle into the middle of my view, resting against the building beyond the traffic cone and the flowering tree. With the heading now pointing at it, I will step forward along the walkway to shorten the distance.", + "The bicycle is noticeably larger and still lined up ahead of me beside the blue wall, so my heading remains good. I will keep walking forward since only distance separates me from it.", + "The orange frame and its white wheels are now clearly resolved against the wall a short way ahead, with the cone off to the left of my line of travel. I will continue forward to keep closing on it.", + "The bicycle now dominates the near part of my view, leaning against the blue panelled wall just up the raised walkway. A few more strides should bring me right alongside it, so I will move forward again.", + "I am close enough to see the bicycle's handlebar, saddle and basket in detail, but I am still a couple of paces short of standing beside it. I will step forward once more to draw level with it.", + "The orange bicycle is directly in front of me now, its frame filling much of my view against the wall. One more step forward should put me right at it.", + "The orange bicycle now fills most of my view, leaning against the pale blue wall just a step or two ahead of me. I will walk forward once more to close that last bit of distance and stand right beside it.", + "The orange bicycle's handlebar, seat and front basket fill my view from arm's length against the blue wall. I am standing at it, so I mark reaching the orange bicycle here. Now I turn my attention to the shop under the blue awning further along the street.", + "Pressed this close, the bicycle and the wall block almost everything, so I cannot pick out the street line toward the blue awning shop. Stepping back should open up enough space and view for me to swing my heading around cleanly.", + "With a little clearance restored I can see the bicycle and the blue wall it leans on straight ahead of me. The shopfronts continue rightward along this building face, so I will rotate right to start bringing that stretch of street into view.", + "My view is still mostly flat wall panels with the bicycle sliding off to my left, so nothing of the awning is visible yet. I will keep rotating right to follow the building line toward the shopfronts.", + "Now I face a grated window and pale panel, with a green sign and a yellow guard rail appearing at the right edge, signs of the shop frontage that way. Another turn right should carry my heading further along the storefronts.", + "A blue awning is now showing at the far right of my view, further down this sidewalk past the yellow railings. Turning right once more should put that awning and the open walkway in front of me for a straight approach.", + "The sidewalk now runs straight ahead of me with the blue awning of the shop hanging over it a short way along, past a traffic cone at the curb. I will walk forward down this clear stretch toward it.", + "The dark blue awning over the shopfront is now clearly visible ahead along this wall, past the yellow railing. Walking straight on the sidewalk should carry me toward that storefront and shorten the remaining stretch.", + "The pale wall on my left now fills most of my view and my heading is hugging it too tightly, while the awning sits off to the right edge of what I can see. Turning right should swing my facing back onto the open sidewalk running under that awning.", + "The sidewalk ahead is open, with the blue awning and its shopfront running along my left. Stepping forward should bring me under that canopy line.", + "The shop's blue frontage on my left is larger now, though its entrance is still further along the walkway. I will keep walking straight to close the last of that gap.", + "I am alongside the blue paneled windows, with the awning overhead just to my left and the doorway still slightly ahead. Another step forward should place me level with that shop entrance.", + "I am now beside the shop under the blue awning, but my facing runs past it down the open plaza. Turning left should square me up with the storefront and its glass door.", + "The blue awning shop's glass door with its poster is now angled in front of me, just a short step off. Advancing should put me right at that entrance.", + "I am standing at the glass entrance of the blue shop with its awning directly overhead. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_d/infos.json b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8fb130acecea317ff64337ffb2bf5318e2839a57 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_d/infos.json @@ -0,0 +1,376 @@ +{ + "Instruction": "Make your way to the orange traffic cone near the cherry blossom tree, then reach the blue awning shop door.", + "Type": 3, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookDown", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1226.395, + 2700.812, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1294.796, + 2595.162, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1363.196, + 2489.512, + 143.465, + 0.0, + -122.92, + 0.0 + ], + [ + -1431.596, + 2383.862, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1499.996, + 2278.213, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1568.397, + 2172.563, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1568.397, + 2172.563, + 128.15, + 0.0, + -147.92, + 0.0 + ], + [ + -1675.038, + 2105.719, + 128.15, + 0.0, + -147.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -147.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -172.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -172.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -172.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -147.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -72.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -47.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + -22.92, + 0.0 + ], + [ + -1781.679, + 2038.875, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1655.903, + 2043.443, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1530.127, + 2048.011, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1530.127, + 2048.011, + 128.15, + 0.0, + 27.08, + -0.0 + ], + [ + -1418.066, + 2105.306, + 128.15, + 0.0, + 27.08, + -0.0 + ], + [ + -1418.066, + 2105.306, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1292.29, + 2109.874, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1166.514, + 2114.442, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1040.737, + 2119.01, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1040.737, + 2119.01, + 128.15, + 0.0, + -22.92, + 0.0 + ], + [ + -924.815, + 2069.995, + 130.175, + 0.0, + -22.92, + 0.0 + ], + [ + -924.815, + 2069.995, + 130.175, + 0.0, + -47.92, + 0.0 + ], + [ + -924.815, + 2069.995, + 130.175, + 0.0, + -72.92, + 0.0 + ], + [ + -887.849, + 1949.687, + 143.51, + 0.0, + -72.92, + 0.0 + ], + [ + -853.085, + 1875.465, + 138.15, + 0.0, + -72.92, + 0.0 + ], + [ + -853.085, + 1875.465, + 138.15, + 0.0, + -72.92, + 0.0 + ] + ], + "Rationale": [ + "The pale cherry blossom canopy stands at the far left edge of my view, while I am currently facing the shop fronts straight ahead. Turning left should swing that tree and the sidewalk running beneath it into the center of my path so I can walk toward the cone there.", + "The blossom trees now sit ahead and slightly left, with an orange cone standing on the paving beneath them. The sidewalk between me and that cone is clear, so I will walk forward to close the distance.", + "The blossom tree has grown larger ahead of me and the cone beneath it is still some distance off along the same open walkway. Nothing blocks the paving, so another step forward should bring me nearer that cone.", + "The cone by the blossom tree sits ahead on my left, and the parked bicycle against the blue wall marks the right edge of my lane. I keep walking straight down this open strip of pavement to shorten the gap.", + "The tree and the cone under it are noticeably closer, sitting just left of my heading. The paving ahead stays clear of the bicycle and the yellow railing on the right, so I continue forward.", + "The cone now stands out clearly on my left, close to the curb beneath the blossom branches. A few more strides along this line should put me right beside it, so I step forward again.", + "The cone is nearly abreast of me on the left, with the wall and bicycle hemming the right side. I advance once more to draw level with the cone standing under the blossom tree.", + "The orange cone has slipped to the very left edge of my view while my heading still points along the blue wall and the bicycle. Turning left should bring the cone and the blossom tree above it back in front of me for a clean final approach.", + "The striped orange cone now sits just ahead and slightly left of me, at the edge of the raised walkway under the blossom trees. My heading points straight along that curb line, so a step forward should close most of the remaining gap to it.", + "The cone has grown large in the lower left of my view, but I am still slightly short of standing beside it. One more stride along this curb should bring me level with it rather than leaving it ahead of me.", + "My stride has carried me alongside the cone, so it has slipped almost out of the bottom left corner while I face straight down the open plaza. Turning left should swing my view back onto the cone and the blossom tree beside it so I can confirm I am standing at it.", + "The cone's orange tip is now cut off at the bottom of my view, which means it is right at my feet. Looking down should show the whole cone and the paving I am standing on, confirming I am truly beside it.", + "The orange traffic cone stands right against my feet on the petal-strewn paving, with the blossom tree rooted in the planter just beside it. I have reached the cone by the cherry blossom tree. I mark reaching it, and now I set off for the shop door under the blue awning.", + "The cone at my feet is done with, and nothing resembling a blue awning shopfront lies in the open plaza ahead of me. Turning right should start swinging my view across the storefronts on that side so I can pick out the awning.", + "The sweep so far has brought a green shop sign and the pale building face into view, but no blue awning yet. I will keep turning right to carry the scan further along this row of frontages.", + "My view has swung onto the blank blue-grey wall with the parked bicycle leaning against it, which is not the shopfront I want. Continuing to turn right should carry my gaze past this wall toward the storefronts further along.", + "The parked bicycle and the flat blue wall of this building fill nearly my whole view, so there is nothing to walk toward on this heading. I keep rotating right to swing my facing off the wall and back toward the open street frontage where a shop awning should lie.", + "The wall and bicycle still block most of my view, though a darker building corner is now edging into the right side. I turn right again so that corner and the street beyond it come into the middle of my view rather than staying at the margin.", + "Past the corner I can now glimpse a strip of open sidewalk with a yellow barrier and the edge of a blue awning at the far right. That awning frontage is what I want to face, so I continue turning right to bring it out of the margin.", + "The sidewalk now runs off to my right, with a cone on it and a green arch sign spanning the street further along. One more turn right should line my heading down that walkway so I can head toward the awning-fronted shops.", + "I am now looking straight down the walkway, with a blue awning over the shopfront on my left and the green arch further ahead. The path is clear underfoot, so I step forward along it to close distance on the awning storefronts.", + "The awning and shop windows on my left are noticeably nearer and the cones ahead have grown larger, confirming the walkway leads where I want. I keep walking forward to reach the frontage under that blue awning.", + "A pair of traffic cones now sits squarely in the narrow lane straight ahead of me, tight against the curb line. I turn right toward the wide open pavement so I have room to walk past them instead of pushing into them.", + "With the cones now off to my left, the tiled plaza in front of me is completely clear. I walk forward to slip past them while keeping the awninged shop frontage close on my left side.", + "The blue awning storefront sits at the far left edge of my view while my heading points straight at the arcade gateway ahead. I will turn left to swing that shopfront and its sidewalk into the center of my path.", + "The blue awning now runs along the left side of my view above a row of shop windows, and the paved walkway in front of it is clear apart from a cone by the curb. I will walk forward to close the remaining distance along that frontage.", + "The awning and its blue glass frontage have grown larger on my left, so I am still short of the entrance. Another step forward along the open walkway should bring me level with the shop's doorway.", + "I can now see the poster and the recessed entry panel under the blue awning to my left, but I am still slightly behind it. I will step forward once more to draw level with that entrance.", + "I am level with the blue awning frontage, yet my heading still runs down the plaza past it. Turning left should face me toward the shop's glass front so I can approach the door directly.", + "The blue glass frontage under the awning now fills the left of my view, with the raised entry step just ahead. I will walk forward to bring myself onto that frontage rather than staying out on the open plaza.", + "I am right against the shop's frontage, but the glazed doors with their handles sit off to my left rather than in front of me. A left turn should square my view onto that entrance.", + "The paired glass doors and the poster panel are now visible, but they still sit left of center with the awning edge and street intruding on the right. One more left turn should put the doorway squarely in front of me.", + "The shop front under the blue awning is now squarely ahead, with its glass double doors and their vertical handles filling the right half of my view. Only a short stretch of pavement separates me from that entrance, so I will walk forward to close the remaining gap.", + "The doorway now dominates my view, with the paired handles and the seam between the two glass panels just off to my right. I am still a step short of standing at the door itself, so I will advance once more to bring myself right up to it.", + "I am standing right at the blue awning shop's door, its glass panel filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..112126d8268dd365a6be512281728007eb7f3e27 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the orange bicycle parked by the building.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1274.017, + 2641.99, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1285.074, + 2516.617, + 144.656, + 0.0, + -95.04, + 0.0 + ], + [ + -1285.074, + 2516.617, + 144.656, + 0.0, + -120.04, + 0.0 + ], + [ + -1348.079, + 2407.664, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1411.085, + 2298.711, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1474.09, + 2189.758, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1537.096, + 2080.805, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1600.102, + 1971.852, + 144.739, + 0.0, + -120.04, + 0.0 + ], + [ + -1669.709, + 1915.237, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1669.709, + 1915.237, + 138.15, + 0.0, + -120.04, + 0.0 + ] + ], + "Rationale": [ + "I can see the orange bicycle leaning against the pale blue building wall on the left side of my view, past the traffic cones. Since it sits far across the paved area, I will move forward to begin closing that gap.", + "The bicycle and the building wall now fill more of my view, so my forward heading is productive. I will continue straight to keep reducing the distance before refining my alignment.", + "The bicycle now sits well off to the left of my heading, while I am facing the shop doors and railings ahead. I will turn left to bring the bicycle nearer the center of my view before advancing again.", + "After the turn, the orange bicycle sits close to the middle of my view against the building wall. With clear pavement in between, I will move forward along this heading to close the remaining distance.", + "The bicycle is growing steadily larger slightly right of center and the wall behind it is filling more of my view. I will keep moving forward since this heading is carrying me straight toward it.", + "I am now close enough to see the bicycle's frame, seat and wheels clearly against the wall ahead. Another forward step should bring me within an arm's reach of the parked bicycle.", + "The orange bicycle is directly ahead and nearly fills the lower center of my view, with the building wall right behind it. I will advance once more to finish closing the short remaining gap.", + "I am nearly at the bicycle, with its handlebar and seat filling my view against the blue wall. One more small forward step should place me right beside it at a proper stopping distance.", + "The orange bicycle now fills most of my view, its frame and basket directly ahead against the pale blue wall of the building. Only a short gap remains, so I will step forward once more to close it and stand right beside the bicycle.", + "The orange bicycle's handlebar, seat and frame are directly in front of me against the building wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..939b93636038258e574e25a05758b924cdab698e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the yellow metal barrier on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1274.017, + 2641.99, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1285.074, + 2516.617, + 144.656, + 0.0, + -95.04, + 0.0 + ], + [ + -1296.131, + 2391.245, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1307.187, + 2265.873, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1318.244, + 2140.5, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1351.813, + 2068.568, + 128.149, + 0.0, + -95.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -95.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -95.04, + 0.0 + ] + ], + "Rationale": [ + "I can see the yellow metal barrier ahead against the pale blue storefront wall, sitting on the sidewalk beyond the road edge and traffic cones. It is roughly centered in my view, so my heading already points at it and I only need to close distance. I will move forward toward it.", + "The yellow barrier and the cones in front of it now appear larger, confirming that straight travel is closing the gap. My heading still keeps the barrier slightly right of center and clear of obstructions. I will continue forward.", + "I am now on the flat paving with the two yellow barrier sections plainly visible ahead beside the green sign. Nothing blocks the lane between me and them, so continued straight motion remains the most direct approach. I will keep moving forward.", + "The barrier's yellow tubing now spans a wide part of my view and the curb edge in front of it is close. I am still a few paces short of a proper standing distance, so more forward motion is needed. I will advance again.", + "The barrier fills the middle of my view with the traffic cone just in front of it and slightly to my right of center. There is still open sidewalk between my position and the barrier, so I can keep closing without turning. I will move forward.", + "Both yellow rails are large and clearly detailed just ahead, with the cone at my lower right rather than in my path. A short additional step should bring me right up to the barrier. I will move forward again.", + "The yellow rails are now only a step away, filling the lower half of my view against the wall and its poster. One more short advance should place me immediately at the barrier for a completed approach. I will step forward.", + "The yellow metal barrier fills the near foreground directly in front of me, within arm's reach. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ceae336f06449dd2521bebc88951dd52c356c2fa --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1325.966, + 2658.409, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1388.971, + 2549.456, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1388.971, + 2549.456, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1492.119, + 2477.338, + 138.157, + 0.0, + -145.04, + 0.0 + ], + [ + -1595.267, + 2405.22, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1698.415, + 2333.102, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1801.563, + 2260.985, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1904.711, + 2188.867, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1904.711, + 2188.867, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1967.717, + 2079.914, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -2030.722, + 1970.961, + 144.669, + 0.0, + -120.04, + 0.0 + ], + [ + -2030.722, + 1970.961, + 144.669, + 0.0, + -120.04, + 0.0 + ] + ], + "Rationale": [ + "Straight ahead I only face the blue shopfront with its bicycle and traffic cones, while the pink cherry blossom canopy sits at the far left edge of my view. I will turn left so that the blossom tree moves toward the center of my heading and the sidewalk beyond it opens up. That should give me a clear line to approach it.", + "The cherry blossom trees now stand ahead and slightly left of me, lining the raised planter beside the walkway. The paved sidewalk in front of me is clear apart from cones far to the right, so I will move forward to close distance on the blossoms.", + "The nearest blossom canopy has grown noticeably larger and its trunk is now clearly visible past the railing on my left. Nothing obstructs the tiled ground ahead, so another step forward should keep shrinking the gap to the tree.", + "My current heading points me at the blue shop wall and the parked bicycle on my right, which would carry me past the blossoms rather than along them. Turning left should swing my heading onto the open walkway that runs beneath the blossom trees toward the plaza. That alignment should let me continue straight at the target.", + "The walkway now runs straight ahead of me with the cherry blossom canopy hanging over the right side of my path and more blossoms further down the plaza. Only a single cone sits off to the right, so I will move forward along this clear lane toward the trees.", + "The blossom branches on my right are spreading wider across the top of my view, confirming I am closing in on the tree along the sidewalk. The lane between the shopfront and the open plaza remains clear, so I will keep advancing.", + "The dark trunk of the blossom tree is now visible just right of center behind the low planter, and its canopy fills the upper edge of my view. The path ahead stays open aside from the cone at the curb, so another forward step should bring me nearly level with the trunk.", + "Fallen pink petals are now scattered across the tiles right in front of me and the trunk stands close on my right, so I am nearly beneath the cherry blossom tree. I will move forward once more to draw level with it.", + "The blossom-laden tree standing on the paved island to my right is now close, with fallen pink petals scattered across the tiles just ahead of me. The open plaza in front is clear of obstacles, so I will move forward again to close the remaining gap toward its trunk.", + "The cherry blossom trunk and its petal-strewn base now sit to the right of my heading, so continuing straight would carry me past it. I will turn right to bring the tree into the center of my view before advancing the last short distance.", + "The tree's pale trunk is now roughly centered ahead with its raised petal-covered base visible just beyond the tiles. The path between me and it is clear, so I will step forward to close in on the trunk.", + "The trunk has grown much larger and now dominates the middle of my view, with scattered blossoms directly at its foot. One more forward step should place me right at the base of the cherry blossom tree.", + "The cherry blossom trunk stands directly in front of me at arm's length, with petals covering the ground at its base. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_d/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..59e59de39ab82dbf6e204010823589a728666476 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_d/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Navigate to the store with the blue awning.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1219.996, + 2649.063, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1177.032, + 2530.764, + 143.393, + 0.0, + -70.04, + 0.0 + ], + [ + -1134.069, + 2412.466, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1091.105, + 2294.167, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1091.105, + 2294.167, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1002.171, + 2205.109, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -913.238, + 2116.051, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -824.304, + 2026.993, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -824.304, + 2026.993, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -781.34, + 1908.694, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -742.98, + 1875.459, + 138.146, + 0.0, + -70.04, + 0.0 + ], + [ + -742.98, + 1875.459, + 138.146, + 0.0, + -70.04, + 0.0 + ] + ], + "Rationale": [ + "Scanning the street ahead, I can see a shop with a blue awning and blue glass doors at the right edge of my view, while the storefront directly in front of me has a different red and white sign. I will turn right to bring that blue awning entrance closer to the center of my heading before advancing.", + "The blue awning shop with its glass doors now sits in the right half of my view across an open paved area, with only traffic cones and a railing off to the sides. The path in front of me is clear, so I will move forward to start closing the distance to that storefront.", + "The blue awning and the blue glass doors beneath it are noticeably larger than a moment ago, confirming I am on a good line toward that shop. The pavement ahead is still unobstructed, so I will keep moving forward.", + "The blue awning store is clearly ahead and slightly right, and I can now read the poster on its glass door, but I am still out on the open pavement rather than at its frontage. I will continue forward to shorten the remaining gap.", + "The awning now spans the upper part of my view and the shop's step and doorway are close ahead on the right, with only a single cone standing off to my left of the path. One more forward step should bring me right up to the frontage of this blue awning store.", + "I am now standing at the blue awning frontage, but my heading points into the pale wall and side door on the left rather than along the shop's entrance. Turning right should swing my view onto the open sidewalk running past the blue glass doors so I can approach them directly.", + "With the turn done, the blue awning runs above me and its glass entrance doors are just ahead along the sidewalk on my left. The paving in front is open past the cones, so I will move forward to draw level with the entrance.", + "The blue glass doors and their bright blue lower panels now fill the left side of my view, so I am nearly alongside the entrance of the awning shop. I will step forward again to bring myself squarely in front of the doorway.", + "The blue awning and its blue-paneled glass doors fill the left side of my view, so I am running along the frontage rather than facing the entrance yet. I will move forward once more to bring the door panels and their poster abreast of me before I swing in toward them.", + "The double glass doors of the blue-awning store are now directly off my left shoulder, while my heading still points down the sidewalk past them. Turning left should square my view onto the entrance so I can close the last of the gap straight on.", + "I am now facing the store's blue-paneled glass doors head on, with the poster and handles centered in my view. Moving forward should close the remaining gap to the entrance under the blue awning.", + "The paired door handles and blue panels now dominate my view, so I am nearly at the threshold of the blue-awning store. One short step forward should place me right at the entrance, close enough to treat the store as reached.", + "I am standing directly at the blue-paneled glass front of the store under the blue awning. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6955a8daa6ce48ed6c8c6598400a40aafa5ccfd --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_b/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Approach the cherry blossom tree, then proceed to the yellow barrier rails.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1274.017, + 2641.99, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1274.017, + 2641.99, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1337.022, + 2533.037, + 142.721, + 0.0, + -120.04, + 0.0 + ], + [ + -1400.028, + 2424.083, + 131.11, + 0.0, + -120.04, + 0.0 + ], + [ + -1400.028, + 2424.083, + 131.11, + 0.0, + -145.04, + 0.0 + ], + [ + -1503.176, + 2351.966, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1606.324, + 2279.848, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1709.472, + 2207.73, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1812.62, + 2135.612, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1915.965, + 2084.274, + 128.149, + 0.0, + -145.04, + 0.0 + ], + [ + -1915.965, + 2084.274, + 128.149, + 0.0, + -120.04, + 0.0 + ], + [ + -1978.97, + 1975.321, + 144.777, + 0.0, + -120.04, + 0.0 + ], + [ + -1978.97, + 1975.321, + 144.777, + 0.0, + -120.04, + 0.0 + ], + [ + -1932.715, + 2055.309, + 130.503, + 0.0, + -120.04, + 0.0 + ], + [ + -1932.715, + 2055.309, + 130.503, + 0.0, + -95.04, + 0.0 + ], + [ + -1932.715, + 2055.309, + 130.503, + 0.0, + -70.04, + 0.0 + ], + [ + -1932.715, + 2055.309, + 130.503, + 0.0, + -45.04, + 0.0 + ], + [ + -1884.75, + 1966.598, + 144.725, + 0.0, + -45.04, + 0.0 + ], + [ + -1884.75, + 1966.598, + 144.725, + 0.0, + -20.04, + 0.0 + ], + [ + -1884.75, + 1966.598, + 144.725, + 0.0, + 4.96, + -0.0 + ], + [ + -1759.363, + 1977.48, + 144.725, + 0.0, + 4.96, + -0.0 + ], + [ + -1633.975, + 1988.361, + 144.151, + 0.0, + 4.96, + -0.0 + ], + [ + -1508.587, + 1999.243, + 140.128, + 0.0, + 4.96, + -0.0 + ], + [ + -1508.587, + 1999.243, + 140.128, + 0.0, + -20.04, + 0.0 + ], + [ + -1508.587, + 1999.243, + 140.128, + 0.0, + -45.04, + 0.0 + ], + [ + -1419.654, + 1910.185, + 138.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1419.654, + 1910.185, + 138.15, + 0.0, + -45.04, + 0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the pink blossom canopy standing well off to my left, past the shopfront with the parked orange bicycle. Nothing blocks the paved strip directly ahead, so I will walk forward onto the open pavement to gain ground before angling toward that tree.", + "The blossom tree sits at the far left of my view while my heading points straight at the blue shop wall, which leads nowhere useful. Turning left should swing that flowering canopy and the open sidewalk running beside it into the middle of my view.", + "The turn has brought the flowering tree into the upper left of my view with clear pavement leading toward it. I will step forward along that open stretch to close the gap to the blossoms.", + "The blossom canopy has grown larger and its trunk is now clearly visible ahead on the left, so my heading is still good. The lane past the cone and the leaning bicycle stays open, so another step forward should bring me under the flowers.", + "The blossom tree now looms at the top left while the shop wall and its bicycle crowd my right, so continuing straight would push me into the building. Turning left should face me down the open promenade that runs beneath the flowering trees.", + "The blossom tree now stands directly ahead of me with its trunk rising just left of the shop frontage, and the wide walkway below it is clear apart from one cone. I will walk forward to draw right up beside the flowering tree.", + "The flowering canopy fills the top of my view and its trunk is close now, with the cone sitting on the curb strip rather than in my path. Another step forward should bring me level with the tree.", + "I am nearly beneath the blossom tree, with its trunk just ahead on the planted curb and petals scattered across the pavement to my left. I will keep walking forward to reach the foot of the tree itself.", + "The blossom tree with its dark trunk and pale pink canopy stands just ahead on the raised planter strip, and petals are already scattered across the pavement in front of me. The walkway to its base is clear apart from the cone on my right, so I will keep walking straight to close the remaining gap.", + "The trunk of the blossom tree now rises close on my right with petals thick on the tiles beside the planter, but I am still short of standing level with it. Another step forward should bring me right alongside the tree.", + "I am nearly level with the blossom tree, but my heading points out across the open plaza to the left rather than at the trunk and its petal-strewn planter. Turning right should swing the tree and the sidewalk beside it into the centre of my view for the final approach.", + "The pale trunk of the blossom tree now sits ahead of me, with the petal-covered planter curving at its foot and clear pavement between us. I will step forward to draw level with it.", + "The pale trunk of the blossom tree fills the space directly beside me, its petal-littered planter at my feet. I have reached the cherry blossom tree, so I mark arriving here before setting off along the sidewalk to find the yellow barrier rails.", + "Standing this close, the trunk and the planter kerb crowd the front of my view and leave little room to swing around toward the shopfront sidewalk where railings would run. Backing up a short way should open enough space to reorient without scraping the planter.", + "With clearance from the tree now, my heading still runs across the plaza rather than along the shop frontage where barrier rails are usually set against the walls. Turning right should begin bringing that sidewalk under the awnings into view.", + "The narrow sidewalk beside the building is coming into view on my right, but I am still angled partly across it toward the plaza. Continuing the turn should square me onto that walkway so I can search its wall line for the yellow rails.", + "My view is still filled by the pale wall and the orange bicycle propped against it, with no usable line of travel ahead. Continuing the swing to the right should bring the open sidewalk running along the shopfronts into view so I can pick a route toward the yellow rails.", + "The sidewalk now opens along the building line to my right, with cones and a stretch of yellow barrier rail visible far down the pavement. I will step forward along this walkway to close that distance.", + "The advance has brought me right up beside the parked bicycle and the flat wall, so most of my view is blank panelling. Turning right should swing my heading back onto the clear strip of pavement leading down the street.", + "The walkway with its line of cones and the arched gateway is now visible ahead to my right, but my heading still cuts toward the wall. One more turn to the right should place that open lane straight in front of me.", + "I am now facing straight down the open pavement, with cones marking the lane and yellow barrier rails standing along the shop wall and across the plaza. Walking forward should carry me toward those rails.", + "A short yellow barrier rail is now clearly set against the shop wall on my left and more rails line the far side, so I am closing on them. I will keep walking forward along the cone-marked lane to draw level with the nearer rail.", + "The yellow rail on my left is bigger in view but still slightly behind the cones I am passing. Another step forward should bring me alongside a rail section rather than leaving it off to the side.", + "I am now level with the yellow barrier rail set against the shop wall on my left, while my heading still points down the open lane. Turning left should put those rails squarely in front of me so I can step up to them.", + "The yellow barrier rails sit against the blue wall on my left, still off to the edge of my view rather than in front of me. I will turn further left so the rails come to the center of my heading and I can walk straight in toward them.", + "The pair of yellow barrier rails is now centered ahead against the blue wall, with clear open pavement between us. I will step forward to close the remaining gap and stand right at them.", + "The yellow barrier rails are directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c5b746499206547993feb08d8612e62339ea1a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_c/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Head to the orange traffic cone near the cherry blossom tree, then move to the blue door.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1325.966, + 2658.409, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1388.971, + 2549.456, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1451.977, + 2440.503, + 130.474, + 0.0, + -120.04, + 0.0 + ], + [ + -1514.982, + 2331.55, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1577.988, + 2222.596, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1577.988, + 2222.596, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1681.136, + 2150.479, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1784.284, + 2078.361, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1784.284, + 2078.361, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1784.284, + 2078.361, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1784.284, + 2078.361, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1784.284, + 2078.361, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1784.284, + 2078.361, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1784.284, + 2078.361, + 128.15, + 0.0, + -20.04, + 0.0 + ], + [ + -1666.045, + 2035.232, + 128.15, + 0.0, + -20.04, + 0.0 + ], + [ + -1547.807, + 1992.103, + 142.831, + 0.0, + -20.04, + 0.0 + ], + [ + -1429.568, + 1948.974, + 143.479, + 0.0, + -20.04, + 0.0 + ], + [ + -1311.329, + 1905.845, + 138.15, + 0.0, + -20.04, + 0.0 + ], + [ + -1311.329, + 1905.845, + 138.15, + 0.0, + 4.96, + -0.0 + ], + [ + -1185.941, + 1916.727, + 138.15, + 0.0, + 4.96, + -0.0 + ], + [ + -1060.554, + 1927.609, + 138.15, + 0.0, + 4.96, + -0.0 + ], + [ + -935.166, + 1938.491, + 138.78, + 0.0, + 4.96, + -0.0 + ], + [ + -935.166, + 1938.491, + 138.78, + 0.0, + -20.04, + 0.0 + ], + [ + -935.166, + 1938.491, + 138.78, + 0.0, + -45.04, + 0.0 + ], + [ + -848.555, + 1875.46, + 138.15, + 0.0, + -45.04, + 0.0 + ], + [ + -848.555, + 1875.46, + 138.15, + 0.0, + -45.04, + 0.0 + ] + ], + "Rationale": [ + "Several orange cones line the shopfront ahead, but the one that sits under the pale pink blossom tree is off at the far left edge of my view. Turning left should swing that side of the street in front of me so I can walk straight at it.", + "The blossom trees now fill the left of my view and an orange cone stands on the pavement ahead beneath them. The path along the shopfront is open, so I will walk forward to close the distance.", + "The cone under the blossoms has grown larger and sits just left of my heading, which tells me I am tracking it correctly. I will keep walking forward along the open pavement.", + "The blossom canopy now hangs directly over the cone ahead of me, confirming this is the one I want. Nothing blocks the strip of pavement between us, so another step forward should bring me nearer.", + "The cone and the tree trunk beside it are noticeably closer, sitting at the curb just ahead and to my left. I will continue walking forward to reach it.", + "The cone under the blossom tree is close now, standing on the raised walkway to my left, with the orange bicycle propped against the wall on my right. A further step forward should bring me alongside it.", + "The cone beneath the blossom tree has drifted to the left edge of my view as I closed in, and my heading now points along the building wall instead. Turning left should put the cone back in front of me for a clean final approach.", + "The cone now sits centered ahead of me with the blossom tree rising directly behind it, so my heading is right. I will step forward to close the last of the gap.", + "The orange cone stands directly ahead of me at the base of the cherry blossom tree, close enough that it fills the lower center of my view. One more step should bring me level with it rather than leaving a gap. I walk forward.", + "The orange cone is now right at my feet under the cherry blossom tree, its tip cut off by the bottom of my view. I have arrived at it. I mark reaching this cone before setting off toward the blue door.", + "With the cone reached, the open plaza ahead offers nothing blue, while the shop frontage stands off to my right. I turn right to begin swinging my heading onto that line of storefronts where a blue door is more likely to be found.", + "My view has come around onto the parked orange bicycle and the pale wall it leans against, but no blue door has appeared yet. I keep turning right to sweep further along this frontage.", + "The bicycle and blank wall panels now dominate my view, so I am facing a stretch of building with no opening. Continuing right should carry my gaze past this wall toward the sidewalk running along the shops.", + "Ahead of me is a grated window and the corner of a grey building, still nothing resembling a blue door. I turn right again to bring the walkway alongside these shopfronts into the center of my view.", + "The sidewalk with its yellow railings and a blue awning now opens toward the right of my view, with cones spaced further down it. One more turn to the right should put that walkway straight ahead so I can follow it.", + "I am now lined up along the sidewalk that runs past the shopfronts under the blue awning, with the way ahead clear apart from a cone at the curb. Walking forward should carry me down this frontage toward a blue door.", + "With the cone by the blossom tree behind me, my route now runs along this shopfront sidewalk toward the green arch and the awnings further on, where a blue door front should be. The paved strip ahead is clear apart from a cone set off to my right. I step forward to keep closing that distance.", + "The cones have slipped past on my right and the blue awning over the next shop entrance is growing closer along this wall. Nothing stands in the walking lane between the yellow railing and the curb. I continue walking to bring those storefronts within reach.", + "The shop entrances under the blue awning are now only a short stretch ahead on my left, though I cannot yet see a blue door face from this angle. The path stays open past the yellow railing. Another step forward should bring those frontages alongside me.", + "My heading has drifted in toward the wall, which now fills most of my view and hides the walkway ahead. Turning right should swing my line back down the open sidewalk so I can keep moving past these entrances. That reopened view should also let me judge the storefronts as I pass.", + "The sidewalk runs clear ahead again with the shopfronts lined up on my left and a cone standing aside on the right. The awnings I want to inspect are just beyond. I walk forward along this lane.", + "A bright blue shopfront panel has come into view on my left, just under the dark awning. That is the frontage I want to reach, so I keep walking along the curb line. A few more steps should bring its entrance beside me.", + "The blue frontage is now close on my left, but its glass door and handle are still slightly behind the near edge of my view. Walking on should place me squarely opposite that entrance rather than short of it.", + "I am standing level with the blue storefront, whose framed glass door sits directly to my left while I face down the street. Turning left should put that blue door in front of me so I can step up to it.", + "The blue shuttered door and its frame sit off to my left, still seen at a sharp angle along the storefront wall. Another left turn should bring the door squarely in front of me so I can walk straight up to it.", + "The blue door now fills the view directly ahead, with its handle and frame centered rather than skewed to one side. A short step forward should close the last of the gap and put me right at it.", + "I am standing immediately at the blue door, its handle and frame within arm's reach. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_d/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aa7d5d53da2f97c70e41d368f76c5ee3921bfeca --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the yellow barrier rails, then navigate to the orange bicycle.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1274.017, + 2641.99, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1285.074, + 2516.617, + 144.656, + 0.0, + -95.04, + 0.0 + ], + [ + -1296.131, + 2391.245, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1307.187, + 2265.873, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1318.244, + 2140.5, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1351.813, + 2068.568, + 128.149, + 0.0, + -95.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -95.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -95.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -120.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -145.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -170.04, + 0.0 + ], + [ + -1501.498, + 1938.186, + 138.686, + 0.0, + -170.04, + 0.0 + ], + [ + -1624.9, + 1938.099, + 138.65, + 0.0, + -170.04, + 0.0 + ], + [ + -1624.9, + 1938.099, + 138.65, + 0.0, + -145.04, + 0.0 + ], + [ + -1624.9, + 1938.099, + 138.65, + 0.0, + -145.04, + 0.0 + ] + ], + "Rationale": [ + "From across the street I can see the pair of yellow barrier rails set against the blue shopfront wall, with the orange bicycle leaning further to the left. The rails are my first destination and they lie almost straight ahead, so I will walk forward to close the gap.", + "The yellow rails have grown larger and sit slightly right of my center, still a good distance off across the paving. Nothing blocks the open sidewalk between us, so another forward step should keep shrinking that distance.", + "The two yellow rails now sit near the middle of my view, with a cone standing just in front of the right one and the curb still ahead of me. My heading already lines up with them, so I keep walking rather than turning.", + "The rails and the green sign above them are clearly closer, and the orange bicycle is now visible off to my left along the same wall. I am still short of the barriers, so I advance again straight toward them.", + "The barrier rails now span much of my view with a cone standing just before them, and I can step past that cone on my left without contact. A further stride forward should bring me right up to the yellow bars.", + "Both yellow rails are near enough that I can see the scuffed paint and the litter on the pavement beneath them. I am not yet standing at them, so I take another shorter step toward the barriers.", + "The yellow bars stretch across the lower part of my view and the poster on the blue wall is directly in front of me. One last step should place me right at the barrier rails.", + "The yellow barrier rail is right at my feet, its bar curving across the front of my view against the blue wall. I have reached the yellow barrier rails. I mark reaching them, and now I turn my attention to the orange bicycle parked further along this wall.", + "The yellow rail is right under me against the blue wall, so nothing more is needed here. The orange bicycle sits further along this frontage to my left, out of my current narrow view. I will turn left to swing my heading off the wall and start looking for it.", + "My view has swung onto the grey shutter doors and the rail has slid to the lower right, but the orange bicycle is still not in sight. I need more rotation to bring the open sidewalk into view. I will turn left again.", + "The street with its blossom trees is opening at the far left edge and an orange frame is just appearing beside the wall ahead. My heading is still angled too far into the building face to walk that line. One more left turn should place that path and the bicycle in front of me.", + "The sidewalk now runs straight ahead along the wall on my right, with the orange bicycle leaning against that wall a short way down. My heading is clear of the building and nothing blocks the strip. I will walk forward to close on it.", + "The orange bicycle has grown noticeably and now sits just ahead against the wall on my right. The gap is still more than a stride or two. I will keep walking forward to draw level with it.", + "I have drawn level with the orange bicycle, but it sits at the right edge of my view while I face down the street. Turning right should bring it squarely in front of me at arm's reach.", + "The orange bicycle stands directly in front of me, filling my view at arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_e/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3dbe697026187024b381a8a5a0594e7507fce1d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_e/infos.json @@ -0,0 +1,356 @@ +{ + "Instruction": "Make your way to the blue door, then reach the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1219.996, + 2649.063, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1177.032, + 2530.764, + 143.393, + 0.0, + -70.04, + 0.0 + ], + [ + -1134.069, + 2412.466, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1091.105, + 2294.167, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1091.105, + 2294.167, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1002.171, + 2205.109, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -913.238, + 2116.051, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -913.238, + 2116.051, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -870.274, + 1997.752, + 140.859, + 0.0, + -70.04, + 0.0 + ], + [ + -827.31, + 1879.454, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -827.31, + 1879.454, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -858.852, + 1966.303, + 144.795, + 0.0, + -70.04, + 0.0 + ], + [ + -858.852, + 1966.303, + 144.795, + 0.0, + -95.04, + 0.0 + ], + [ + -858.852, + 1966.303, + 144.795, + 0.0, + -120.04, + 0.0 + ], + [ + -858.852, + 1966.303, + 144.795, + 0.0, + -145.04, + 0.0 + ], + [ + -858.852, + 1966.303, + 144.795, + 0.0, + -170.04, + 0.0 + ], + [ + -982.815, + 1944.534, + 141.961, + 0.0, + -170.04, + 0.0 + ], + [ + -1106.777, + 1922.766, + 138.246, + 0.0, + -170.04, + 0.0 + ], + [ + -1230.739, + 1900.997, + 138.246, + 0.0, + -170.04, + 0.0 + ], + [ + -1230.739, + 1900.997, + 138.246, + 0.0, + 164.96, + -0.0 + ], + [ + -1352.287, + 1933.657, + 138.246, + 0.0, + 164.96, + -0.0 + ], + [ + -1473.834, + 1966.316, + 144.691, + 0.0, + 164.96, + -0.0 + ], + [ + -1595.382, + 1998.976, + 140.488, + 0.0, + 164.96, + -0.0 + ], + [ + -1716.93, + 2031.635, + 128.149, + 0.0, + 164.96, + -0.0 + ], + [ + -1795.793, + 2069.091, + 128.149, + 0.0, + 164.96, + -0.0 + ], + [ + -1795.793, + 2069.091, + 128.149, + 0.0, + -170.04, + 0.0 + ], + [ + -1841.265, + 2105.977, + 128.149, + 0.0, + -170.04, + 0.0 + ], + [ + -1841.265, + 2105.977, + 128.149, + 0.0, + -145.04, + 0.0 + ], + [ + -1941.55, + 2064.626, + 130.499, + 0.0, + -145.04, + 0.0 + ], + [ + -2044.698, + 1992.508, + 141.224, + 0.0, + -145.04, + 0.0 + ], + [ + -2044.698, + 1992.508, + 141.224, + 0.0, + -120.04, + 0.0 + ], + [ + -2044.698, + 1992.508, + 141.224, + 0.0, + -120.04, + 0.0 + ] + ], + "Rationale": [ + "Straight ahead is a shuttered shop wall with cones and a parked bicycle blocking it, while the blue-glass entrance under the blue awning sits off toward my right. I turn right so that blue doorway comes into my forward path.", + "The blue doors under the awning now sit ahead of me with clear paving between us. I step forward to close that gap.", + "The blue-panelled doors and their awning have grown larger and are still slightly right of my heading, with only cones off to the side of my line. I keep walking forward to shorten the distance.", + "The blue doors and the poster in their glass are clearly resolved now, and the step up to their entrance is visible. The paving in front of me stays open, so I advance again.", + "The blue entrance is close enough that its handles and lower blue panels fill much of my view, though I am still out on the open pavement. One more step forward should bring me up near the storefront.", + "A traffic cone and the storefront wall now sit directly in my walking line, so pushing straight ahead would put me into the building face. I turn right to take up the open sidewalk that runs along the front of these blue doors.", + "The sidewalk beside the shop is now open in front of me, with the blue doors running along my left. I walk forward down this lane to draw level with that entrance.", + "The glass doors with their poster are close on my left and the paved lane ahead remains clear of the cones and bollards. I step forward again to bring myself alongside the entrance itself.", + "The blue glass storefront doors sit off to my left along this frontage, while my heading currently points down the open sidewalk past them. I will turn left so the door panels come square in front of me before I close the remaining gap.", + "The blue double doors are now centered ahead of me with clear paving between us and no cones or posts in the way. I will walk straight forward to shorten that gap.", + "The blue panels and the door handles now fill most of my view, so I am close but not yet standing at the threshold. Another step forward should bring me right up to the doorway.", + "The blue door panel and its frame are directly in front of me, close enough that nothing else remains in view. I have reached the blue door. I mark arriving here, then set off for the cherry blossom tree.", + "Pressed this close to the blue door, the panel blocks nearly everything and I cannot see the street I need to search for the blossoming tree. I will step back to open up room to swing around and take in the surroundings again.", + "With a little clearance regained, the entrance still fills my view and gives me no line on a blossoming tree. I will turn left to start sweeping my heading away from this frontage toward the open street.", + "The sweep has only brought tiled wall and the edge of the shopfront into view, still all building and no open sidewalk. I will keep turning left to carry my heading further around toward the street.", + "A plain metal service door and a yellow barrier are coming into frame, so I am now looking along the building rather than into it. I will turn left once more to bring the open street and its trees into view.", + "The blue storefront doors are behind me now, and off to my left down the sidewalk I can see the pale pink blossom canopy over the street. One more step of turning left should put that flowering tree squarely on my forward heading before I set off toward it.", + "The blossoming tree now sits ahead of me along the sidewalk, its pink canopy spilling over the curb. The walkway between the yellow barrier on my right and the traffic cones on my left is clear, so I will walk forward to close the distance.", + "The pink canopy has grown larger and stays roughly on my line of travel, so my heading along this sidewalk is good. Nothing blocks the paved strip ahead, so I keep walking forward toward the tree.", + "The flowering branches now hang close ahead and slightly to my left, above the open street. The lane beside the yellow railing is still walkable, so another step forward should bring me nearly level with the tree.", + "The gray utility housing and signboard wall now press in on my right and the sidewalk narrows against them, while the blossom canopy has drifted to my left over the open street. Turning left should swing me off this cramped edge and put the flowering tree back in front of me.", + "With the wall corner cleared, the broad street opens ahead and the pink blossoms hang over the pavement just forward and to my right. I will walk forward along this open stretch to close on the tree.", + "The blossom-laden branches are noticeably nearer, spreading above the right side of the street ahead of me. The paved way in front is empty apart from a cone off to the left, so I continue walking forward.", + "I can now make out the tree's trunk rising ahead on the right with petals scattered across the pavement below it. Another stride forward should bring me right up beside the flowering tree.", + "The pale pink canopy hanging over the right side of the street is clearly closer now, with fallen petals scattering across the pavement ahead of me. The lane between the cone and the raised planters stays open, so I will keep walking forward to close the remaining distance to that blossoming tree.", + "The blossom tree now stands well ahead and slightly right, over the raised planter beside the open plaza, and the petal-strewn ground confirms I am nearly under its reach. Nothing blocks the paving in front of me, so another step forward should bring me level with the planter.", + "Walking straight would carry me past the blossom tree, since its canopy and the planter it grows from now sit off to my right rather than in front of me. I will turn right to bring the flowering tree into the centre of my view before advancing further.", + "The turn has put the blossoming tree and the planter curb ahead of me across the open square. I will step forward over the petal-covered paving to close in on it.", + "From here the plaza opens away to my left while the flowering tree and its raised bed lie to my right, just off my heading. I will turn right again so I am facing the tree squarely before covering the last stretch.", + "The trunk of the blossom tree and the curved planter it rises from are now squarely in front of me, with petals thick on the stones underfoot. I will walk forward across the remaining open paving toward it.", + "The blossom tree's trunk is close ahead, its planter rim only a couple of paces away and the pink drift of petals spreading around it. One more step forward should put me right at the base of the tree.", + "I am standing at the planter with the blossom tree's trunk rising just to my right, so my view is aimed past it rather than at it. I will turn right to face the tree directly and settle at its base.", + "The blossom tree's trunk stands directly before me with its petal-strewn planter at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa2fb4206479d96bf572a023cfeb180830f46d58 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the blue bicycle, then head toward the orange storefront door.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1486.024, + 296.225, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1486.024, + 296.225, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1549.029, + 187.272, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1612.035, + 78.319, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1675.04, + -30.634, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1675.04, + -30.634, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1675.04, + -30.634, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1675.04, + -30.634, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1675.04, + -30.634, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1675.04, + -30.634, + 128.15, + 0.0, + -20.04, + 0.0 + ], + [ + -1556.802, + -73.763, + 128.15, + 0.0, + -20.04, + 0.0 + ], + [ + -1438.563, + -116.892, + 128.639, + 0.0, + -20.04, + 0.0 + ], + [ + -1438.563, + -116.892, + 128.639, + 0.0, + -45.04, + 0.0 + ], + [ + -1438.563, + -116.892, + 128.639, + 0.0, + -70.04, + 0.0 + ], + [ + -1381.366, + -199.351, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1381.366, + -199.351, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1392.423, + -324.723, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1403.48, + -450.095, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1413.04, + -506.682, + 141.415, + 0.0, + -95.04, + 0.0 + ], + [ + -1413.04, + -506.682, + 141.415, + 0.0, + -95.04, + 0.0 + ] + ], + "Rationale": [ + "The blue bicycle is parked against the railing on the far side of the road, ahead and to my left. I am still out in the open street, so I walk forward to close the gap toward that side of the block.", + "The bicycle has slipped to the very edge of my view on the left and is now half cut off as I advance. I turn left so the bicycle sits in front of me again before I continue closing on it.", + "The blue bicycle now sits ahead of me, leaning by the traffic cone against the railing, with clear pavement between us. With the heading corrected I walk forward to shorten that distance.", + "The bicycle has grown noticeably larger and its frame and wheels are now clearly separated from the railing behind it. I am still a few paces short of it, so I keep walking straight ahead.", + "The bicycle now fills much of the left side of my view and the curb line runs just in front of my feet. One more step forward should bring me right alongside it.", + "The blue bicycle is right beside me, its handlebars and basket close enough to touch against the railing. I have reached it. I mark arriving at the bicycle before setting off for the orange storefront door.", + "With the bicycle beside me on the left, the orange shopfront panel and its red sign show at the right edge of my view. I turn right to swing my heading off the bicycle and bring that storefront into the centre of my view.", + "The orange doorway with its red sign now sits right of centre, but a metal railing and planted strip run directly between me and it, so a straight walk from here is barred. I keep turning right to look along the sidewalk that continues past that frontage.", + "The metal railing in front of me still walls off the shopfronts, so I cannot walk straight at the orange framed door with its red sign. The pavement opens up further round to my right. I will keep pivoting right to bring that open walkway into my heading.", + "The rotation has swung the wide tree lined walkway into view ahead and to my right, while the railing still runs along the shopfronts on my left. One more pivot right should square my heading with that open path so I can advance toward the storefront entrances.", + "The sidewalk now runs clear straight ahead beneath the blossom trees, with the railing and planting strip kept to my left. I will walk forward along it to close on the row of shop entrances.", + "I am still on the open pavement, and the railing on my left ends only a short way ahead near a bollard. Another stride forward should bring me level with that gap, where I can turn in toward the shopfronts.", + "The railing has run out beside the bollard, so the shopfront frontage on my left is now reachable on foot. Rather than continue down the street, I will turn left to face that line of entrances.", + "The blue awning entrance now sits ahead of me, but the orange framed door I am aiming for is further round to my left, with only its edge showing. Another left pivot should bring that frontage nearer the middle of my view.", + "A bollard stands close in front of me, with the orange framed door just past it on my left and open paving beyond. Stepping forward should carry me clear of the post and onto the frontage nearer the doors.", + "The orange framed door with its pink panels now sits at the left edge of my view while the dark blue glass entrance fills the center. I will turn left to bring that orange door squarely in front of me before walking up to it.", + "The orange storefront with its yellow framed glass door now sits squarely ahead of me, its red sign panel centered in my view. Nothing blocks the paving between me and its threshold, so I will step forward to close the remaining gap.", + "The orange doorway fills more of my view now, with its yellow handles and pink lower panels clearly resolved just slightly left of center. I am still a couple of paces short of the threshold, so I will keep walking straight in.", + "The glass and pink panelling of the storefront door now fill nearly my whole view, and the yellow frame edge sits at my left shoulder. One short step should bring me right up against the entrance.", + "I am standing directly against the orange storefront's door panel, close enough to touch it. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..badfbf6bd99eff9c03531fa6f959a19ce8fc9d83 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_b/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Approach the traffic cone, then proceed to the blue-awning shop entrance.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "LookDown", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1480.234, + 380.88, + 138.475, + 0.0, + -120.04, + 0.0 + ], + [ + -1480.234, + 380.88, + 138.475, + 0.0, + -120.04, + 0.0 + ], + [ + -1480.234, + 380.88, + 138.475, + 0.0, + -120.04, + 0.0 + ], + [ + -1433.978, + 460.868, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1433.978, + 460.868, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1387.722, + 540.857, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1387.722, + 540.857, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1406.401, + 444.38, + 138.23, + 0.0, + -95.04, + 0.0 + ], + [ + -1433.815, + 339.222, + 144.776, + 0.0, + -95.04, + 0.0 + ], + [ + -1433.815, + 339.222, + 144.776, + 0.0, + -120.04, + 0.0 + ], + [ + -1496.821, + 230.269, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1559.826, + 121.316, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1559.826, + 121.316, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1662.974, + 49.198, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1766.122, + -22.92, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1865.694, + -75.845, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1865.694, + -75.845, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1865.694, + -75.845, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1865.694, + -75.845, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1865.694, + -75.845, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1865.694, + -75.845, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1865.694, + -75.845, + 128.15, + 0.0, + -20.04, + 0.0 + ], + [ + -1865.694, + -75.845, + 128.15, + 0.0, + 4.96, + -0.0 + ], + [ + -1740.306, + -64.963, + 128.15, + 0.0, + 4.96, + -0.0 + ], + [ + -1614.919, + -54.081, + 128.15, + 0.0, + 4.96, + -0.0 + ], + [ + -1489.531, + -43.199, + 128.15, + 0.0, + 4.96, + -0.0 + ], + [ + -1489.531, + -43.199, + 128.15, + 0.0, + -20.04, + 0.0 + ], + [ + -1489.531, + -43.199, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1400.597, + -132.257, + 140.864, + 0.0, + -45.04, + 0.0 + ], + [ + -1311.664, + -221.315, + 138.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1222.73, + -310.373, + 138.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1133.796, + -399.431, + 138.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1133.796, + -399.431, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1090.833, + -517.73, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1090.833, + -517.73, + 138.15, + 0.0, + -70.04, + 0.0 + ] + ], + "Rationale": [ + "The orange traffic cone sits far off at the left edge of my view, beside the parked blue bicycle and the railing. Facing straight across the street would carry me past it, so I will turn left to bring the cone toward the center of my heading before walking.", + "The cone now sits ahead of me by the bicycle and the low railing, roughly in line with my heading. Nothing blocks the open roadway between us, so I will step forward to shorten the gap to it.", + "The cone against the railing has grown only slightly larger, so I am still some distance short of it. The pavement ahead still looks open, so I will keep walking forward to close on the cone.", + "My last step gained almost nothing, since the cone, bicycle and railing sit at practically the same size and angle as before. It may have been only a stalled stride rather than a real block, so I will attempt another forward step toward the cone.", + "Two forward steps in a row have left the cone and railing at the same apparent size, so something on this line is holding me in place. Rather than push again, I will back up to open space around me and give myself room to pick a different line to the cone.", + "My last pushes forward gained no ground before I stepped back, and a thick tree trunk now fills the left foreground of my path. I cannot tell from this eye level whether the raised planter and curb at its base are what stopped me. I will look down to inspect the ground immediately ahead.", + "Looking down confirms it: a raised planter curb with the tree rooted in it sits right against me, which explains why forward pushes gained nothing. I need room before I can swing onto the open roadway. I will step back to open clearance from this planter edge.", + "With clearance gained, the tree and its planter still sit squarely on my current heading, so pressing straight on would only jam me again. The roadway opens to my right, past the trunk, with the cone and bicycle standing along the railing beyond. I will turn right to pick up a passable line.", + "The new heading clears the planter, with open asphalt running between the tree trunks and the orange cone visible at the far left beside the parked bicycle. Nothing now stands between me and that stretch of road. I will walk forward to close the distance along the storefronts.", + "That step cleared the trees and the street now lies fully open, with the orange cone and bicycle on my left along the fence and the blue-awning shopfront on my right. The cone is still several paces off. I will keep walking forward to draw nearer to it.", + "The orange traffic cone I am heading for has slid off past the left edge of my view, with only the parked blue bicycle still showing at that side. I will turn left to swing my heading back onto the cone so I can walk straight at it.", + "The cone is now back in view beside the bicycle along the railing, roughly ahead of me. The open roadway between us looks clear, so I will step forward to close the distance to it.", + "The cone has grown noticeably larger at the base of the railing, so my last step did shorten the gap. Nothing blocks the road strip in front of me, so I will keep walking forward toward it.", + "I am close to the cone now, but it has drifted toward the left edge while the bicycle and railing fill the center of my view. I will turn left to bring the cone back in front of me before continuing in.", + "The cone sits squarely ahead of me at the curb, just beyond the front wheel of the bicycle. I will step forward to draw right up beside it.", + "The orange and white traffic cone now stands just ahead on my left, close beside the parked blue bicycle at the railing. A short step along the curb should bring me level with it rather than leaving it a stride away.", + "The cone has grown large at the left edge and the bicycle frame now fills much of my right side, so I am nearly abreast of it. One more short step forward should place me right at the cone instead of slightly short of it.", + "The striped orange cone sits directly beside me at the curb, close enough to touch, with the bicycle and railing pressed against my other side. I am standing at the traffic cone. I mark reaching it and now set off for the shop entrance under the blue awning.", + "Standing this close, the bicycle, the railing and the tree trunk block almost everything ahead, and no blue awning is anywhere in my narrow view. I will turn right to begin sweeping my heading along the shopfronts and open street in search of that entrance.", + "The first turn only brought more of the same grey shopfront windows under the beige awning into view, still with the bicycle handlebar in the way. I will keep rotating right to carry my gaze further along the row toward where a blue awning may stand.", + "Standing right beside the cone, my view is still filled by the parked bicycle's handlebar and the railing, which tells me nothing about where the blue-awning storefront lies. I will keep turning right to sweep past this near clutter and pick up the open stretch of street.", + "The rotation has cleared most of the bicycle, and the row of shopfronts with a dark canopy is now creeping in at the right edge. I will turn right again so that side of the block, and the pavement running along it, comes properly into view.", + "A glass shop entrance under a dark blue canopy now sits left of center, and the sidewalk beside the railing runs off to my right. Another right turn should swing my heading onto that walkway rather than into the fence in front of me.", + "The tree-lined street now opens ahead on the right while the railing still crowds my left shoulder. One more turn right should put the clear roadway squarely in front of me so I can advance along the block toward the awninged entrances.", + "My heading now runs straight down the open street, with the railed shopfronts on my left and a clear path of asphalt and pavement ahead. I will walk forward to close distance along this block toward the shop entrances further down.", + "The shopfront with the deep blue awning stands along the sidewalk at my left, while I am still out on the open roadway well short of its frontage. I will keep walking forward down the street to draw level with that entrance before turning in toward it.", + "I am still passing the row of trees and railing, and the blue awning entrance has not yet come abreast of me on the left. Another step forward should carry me far enough along the street that the storefront opens up beside me.", + "I have walked far enough up the street that the blue awning is now at the upper left edge of my view rather than ahead of me. Turning left should swing my heading off the roadway and back toward that storefront and its sidewalk.", + "The blue awning and the glass shopfront beneath it are now in view, but they sit off to my left and are still seen at a sharp angle. A second left turn should bring the entrance closer to the center of my view so I can walk straight at it.", + "The glass doors with their posters, tucked under the dark blue awning, now sit ahead and slightly left of me across an open stretch of paving. I will step forward to close that remaining distance to the entrance.", + "The shop under the dark blue awning is now directly ahead on my left, its glass doors and posters clearly readable. I am still several paces short of the entrance along this tiled walkway, which is clear of obstacles. I will step forward to keep closing that gap.", + "The awning now fills the upper left of my view and the door handles are becoming distinct, so the last step brought me noticeably nearer. The doorway is still off to my left front rather than in front of me. Another step forward should bring me level with the entrance.", + "The twin glass doors with their purple banner and menu poster are close on my left now, and the pavement ahead stays clear apart from a barrier further along. I am not yet standing at the doorway itself. I will walk forward once more to draw level with it.", + "I have drawn level with the entrance, but the doors sit off the left edge of my view while I face along the building wall. Turning left should swing the doorway into the centre of my view so I can face it squarely.", + "The glass double doors with their handles and posters are now centred in front of me, so my heading points straight at the entrance. Only a short stretch of tile separates me from it. I will step forward to stand at the doorway.", + "The glass door handles of the awning-shaded shop entrance fill my view at arm's length. I am at the entrance, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9546a943e5c8e1c65be78a7317b12c1285db53 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head to the metal fence gate opening, then move to the traffic cone.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1436.473, + 299.847, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1393.51, + 181.548, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1350.546, + 63.25, + 129.227, + 0.0, + -70.04, + 0.0 + ], + [ + -1307.582, + -55.049, + 128.149, + 0.0, + -70.04, + 0.0 + ], + [ + -1307.582, + -55.049, + 128.149, + 0.0, + -70.04, + 0.0 + ], + [ + -1307.582, + -55.049, + 128.149, + 0.0, + -95.04, + 0.0 + ], + [ + -1307.582, + -55.049, + 128.149, + 0.0, + -120.04, + 0.0 + ], + [ + -1307.582, + -55.049, + 128.149, + 0.0, + -145.04, + 0.0 + ], + [ + -1307.582, + -55.049, + 128.149, + 0.0, + -170.04, + 0.0 + ], + [ + -1431.544, + -76.818, + 128.149, + 0.0, + -170.04, + 0.0 + ], + [ + -1431.544, + -76.818, + 128.149, + 0.0, + 164.96, + -0.0 + ], + [ + -1553.092, + -44.158, + 128.149, + 0.0, + 164.96, + -0.0 + ], + [ + -1674.64, + -11.499, + 128.149, + 0.0, + 164.96, + -0.0 + ], + [ + -1674.64, + -11.499, + 128.149, + 0.0, + -170.04, + 0.0 + ], + [ + -1798.602, + -33.267, + 128.149, + 0.0, + -170.04, + 0.0 + ], + [ + -1798.602, + -33.267, + 128.149, + 0.0, + -170.04, + 0.0 + ] + ], + "Rationale": [ + "The metal railing runs across the whole storefront in front of me, and the break in it lies off to my right, near the shop with the dark blue awning. Turning right should put that gap in the fence squarely ahead so I can walk straight at it.", + "The opening between the railing sections now sits ahead of me, framed by the blue-awning entrance, with clear road in between. I will walk forward to close that distance.", + "The railing posts and the shop entrance have grown noticeably larger, so my heading is carrying me straight toward the gap. Nothing blocks the pavement ahead, so another step forward should bring me closer to that opening.", + "The curb and the paved forecourt beyond the fence break are now close in front of me, with the gap still lined up on my heading. I will keep walking to reach it.", + "I am at the edge of the tiled pavement, with the railing ending to my right and the shop doors filling my view. One more step forward should carry me into the opening itself.", + "The metal railing has ended beside me and I stand on the open tiled ground in the gap, with the shop doors right in front. I have arrived at the fence gate opening. I mark reaching it, and now I turn back toward the orange traffic cone by the parked bicycle down the street.", + "The cone is nowhere in this view; shop glass and awning fill everything ahead of me. Since the cone stood back along the street to my left beside the bicycle, I will swing left to bring that stretch of curb into view.", + "Rotating has brought a tree trunk and the pink shop doors into view, but still no curb or cone. I will keep turning left to sweep further around toward the open roadside where the cone stands.", + "Facing the shopfronts, I still have no line on the cone, though the railing and planting strip are now creeping into the left of my view. Continuing to swing left should bring the curb and the road back where I can see them.", + "The orange cone and the blue bicycle have come into the far left of my view, down the street beside the railing. One more turn to the left should put that stretch of curb closer to straight ahead before I start walking.", + "The cone now sits ahead of me along the curb, with the bicycle parked against the railing just beyond it. With the road open in that direction, I will walk forward to cut down the distance.", + "The parked bicycle and the railing pinch the narrow curb line straight in front of me, right where the cone stands. Turning left onto the open lane should give me a clear walking line alongside the curb instead of squeezing past the bike.", + "From the open lane the cone stands clear on my right, close to the bicycle at the railing. Walking forward along this uncluttered stretch of road should bring me level with it.", + "The cone has grown noticeably and now sits low on my right, so I am nearly abreast of it. Another step forward should close the remaining gap along the curb.", + "The cone is right beside me now, pushed to the lower right edge of my view next to the bicycle wheel. I will turn right so it comes back in front of me before I take the last step.", + "The cone is now in front of me, just short of arm's reach beside the bicycle at the railing. One short step forward should place me right at it.", + "The orange traffic cone stands directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_d/infos.json b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..099af3aa5692bd47bc002890de8bbe26d283dffb --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_d/infos.json @@ -0,0 +1,356 @@ +{ + "Instruction": "Go to the blue sign on the blue-awning shop entrance, then navigate to the orange cone.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1436.473, + 299.847, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1393.51, + 181.548, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1350.546, + 63.25, + 129.227, + 0.0, + -70.04, + 0.0 + ], + [ + -1307.582, + -55.049, + 128.149, + 0.0, + -70.04, + 0.0 + ], + [ + -1264.618, + -173.348, + 144.735, + 0.0, + -70.04, + 0.0 + ], + [ + -1264.618, + -173.348, + 144.735, + 0.0, + -45.04, + 0.0 + ], + [ + -1175.685, + -262.406, + 138.2, + 0.0, + -45.04, + 0.0 + ], + [ + -1086.751, + -351.464, + 138.2, + 0.0, + -45.04, + 0.0 + ], + [ + -1086.751, + -351.464, + 138.2, + 0.0, + -70.04, + 0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + -70.04, + 0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + -70.04, + 0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + -70.04, + 0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + -95.04, + 0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + -120.04, + 0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + -145.04, + 0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + -170.04, + 0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + 164.96, + -0.0 + ], + [ + -1043.787, + -469.763, + 138.2, + 0.0, + 139.96, + -0.0 + ], + [ + -1140.144, + -388.795, + 138.2, + 0.0, + 139.96, + -0.0 + ], + [ + -1140.144, + -388.795, + 138.2, + 0.0, + 114.96, + -0.0 + ], + [ + -1193.255, + -274.691, + 138.2, + 0.0, + 114.96, + -0.0 + ], + [ + -1193.255, + -274.691, + 138.2, + 0.0, + 139.96, + -0.0 + ], + [ + -1289.612, + -193.723, + 138.2, + 0.0, + 139.96, + -0.0 + ], + [ + -1385.969, + -112.755, + 128.15, + 0.0, + 139.96, + -0.0 + ], + [ + -1385.969, + -112.755, + 128.15, + 0.0, + 164.96, + -0.0 + ], + [ + -1507.517, + -80.095, + 128.15, + 0.0, + 164.96, + -0.0 + ], + [ + -1629.065, + -47.436, + 128.15, + 0.0, + 164.96, + -0.0 + ], + [ + -1750.612, + -14.776, + 128.15, + 0.0, + 164.96, + -0.0 + ], + [ + -1750.612, + -14.776, + 128.15, + 0.0, + -170.04, + 0.0 + ], + [ + -1750.612, + -14.776, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1850.833, + -74.784, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -1850.833, + -74.784, + 128.15, + 0.0, + -145.04, + 0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the shop with the dark blue awning off to my right, its glazed entrance carrying colored signs. My current heading points across the street frontage rather than at that doorway. I will turn right to bring the blue-awning entrance into the center of my path.", + "The blue-awning entrance now sits ahead of me with its signboards visible behind the glass, but it is still across the road and well back. Nothing blocks the open asphalt between us. I will walk forward to close that distance.", + "The awning and the posters on the entrance glass are noticeably larger, so my heading is carrying me straight at the shop front. The curb and sidewalk ahead are unobstructed. I will keep walking toward the entrance.", + "The dark blue awning and the lettered signs beneath it now dominate the middle of my view, and the sidewalk in front of the shop is clear. I am still several strides short of the doorway. I will continue forward.", + "I have reached the paved frontage and the entrance bay under the blue awning is directly ahead, with the pink and blue placards readable on the glass. The recessed doorway is still a short distance off. I will step forward again to reach it.", + "The awning overhangs the top of my view and the signed glass front fills most of it, so I am close to the entrance now. A little more distance remains before I am at the doors themselves. I will advance once more.", + "I am right up against the shop's glass frontage, and the doorway with the blue and white signs sits slightly right of where I am facing, with open tiled walkway beside it. Pushing straight ahead would only bring me into the window panels. I will turn right to face along that open frontage toward the doors.", + "Turning has opened the tiled walkway running along the shop front, with the signed entrance doors now on my left and clear ground ahead. Nothing stands in the way except a low barrier well to the side. I will walk forward along this frontage to draw level with the doors and their signs.", + "The glass entrance under the dark blue awning is now beside me on my left, with its purple and blue signboards on the door panels. I will step forward once more along the paving to draw level with the doorway rather than stopping short of it.", + "I am now level with the shopfront, and the doors carrying the blue signboards sit off to my left while the open plaza stretches ahead. Turning left should swing my heading onto that entrance so the sign sits centered in front of me.", + "The entrance is squarely ahead now, with the blue and purple signs mounted on the glass doors under the dark awning. One more step should bring me close enough to stand right at that signed doorway.", + "I am close enough that only the lower poster and door handles fill my view, and the blue banner sign sits above my current line of sight. I will look up so the sign on this entrance comes properly into view.", + "The blue sign hangs directly before me on the glass of this entrance beneath the dark blue awning, close enough to touch. I have reached the blue sign on that shop entrance. I mark reaching it and now turn my attention to finding the orange cone.", + "With the entrance sign reached, my view is filled entirely by door glass and posters, so nothing of the surrounding street is usable for spotting the orange cone. I will turn left to begin swinging my heading off the shopfront toward the open walkway.", + "My view still shows only door handles and the poster on the glass, so I have not yet cleared the shopfront. I will keep turning left to bring the open pavement and street into view for the orange cone.", + "The edge of the doorframe and the wall beside it are now sliding across my view, so the rotation is starting to clear the storefront. Another left turn should open up the sidewalk beyond, where I can search for the orange cone.", + "The dark shopfront glass still fills most of my view, with only a sliver of open sidewalk showing past the building edge on the left. Having marked the blue sign at this entrance, I keep rotating left so the street I need to travel comes into view.", + "The rotation has opened the sidewalk running past the pink and yellow storefronts, but the shop wall still crowds the whole right half of my view. I continue swinging left to bring the walkway and the roadway beyond it squarely in front of me before I start moving.", + "The tree-lined walkway and the road beyond are mostly ahead of me now, yet my heading still leans toward the shopfronts on the right. One more turn to the left should center the open lane so I can walk straight down it.", + "The walkway and the road beside it now run clear ahead beneath the flowering trees, with nothing blocking my path. I step forward to cover ground along this open stretch while watching for an orange cone.", + "Planter greenery and tree trunks sit close on my right, while the roadway opens out to my left. I turn left to face along that open road, which should give me a cleaner line down the block.", + "The road in front of me is clear, with the green-awning shop across the way and yellow barriers further along. I walk forward onto this open stretch to keep closing on the area where I expect to find the orange cone.", + "From here the street corridor that runs back toward the railed sidewalk and the blue bicycle, where an orange cone stood beside it, lies off to my right. I turn right to line my heading up with that route down the block.", + "The road now stretches straight ahead between the buildings on the left and the railed sidewalk on my right, with nothing in the way. I step forward along it to close the distance toward the bicycle stand and the cone beside it.", + "The striped orange cone standing beside the blue bicycle at the railing is now clearly visible ahead on the right side of the street. The roadway between us is open, so I walk forward to cut down that distance.", + "The cone has slipped toward the right edge of my view as I closed in along the street. I turn right so it sits nearer the middle of my heading and my next steps carry me straight at it.", + "The orange cone now sits ahead and slightly right, in front of the parked blue bicycle at the fence. With clear pavement in between, I step forward to close on it.", + "The cone has grown noticeably larger and its reflective band is easy to pick out beside the bicycle. Nothing blocks my line, so I keep walking to shorten the remaining gap.", + "The cone is close now, standing at the curb just off my right side with the bicycle behind it. I take another step forward to draw level with it.", + "My forward walk has brought the cone right up beside me, pushed out to the lower right corner where I can barely keep it framed. I turn right to swing my facing back onto it.", + "The cone is directly in front of me at the curb, with the railing and blue bicycle just past it. I turn right once more to square onto the sidewalk edge where it stands, so a short step should set me alongside it.", + "The orange cone stands only a stride away at the curb on my left, with the bicycle and railing filling my right side. I step forward to close that last bit of ground and stand beside it.", + "The orange traffic cone stands right beside me at the curb, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b66a31bb099f174ccf06f0ba0afdfd16c3f7fdbb --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the leftmost bollard along the sidewalk edge.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ], + [ + -2282.756, + -139.722, + 143.518, + 0.0, + 94.04, + -0.0 + ], + [ + -2291.623, + -14.176, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2300.49, + 111.371, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2309.358, + 236.917, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2318.225, + 362.463, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2327.092, + 488.009, + 130.465, + 0.0, + 94.04, + -0.0 + ], + [ + -2327.092, + 488.009, + 130.465, + 0.0, + 69.04, + -0.0 + ], + [ + -2327.092, + 488.009, + 130.465, + 0.0, + 69.04, + -0.0 + ], + [ + -2327.092, + 488.009, + 130.465, + 0.0, + 69.04, + -0.0 + ] + ], + "Rationale": [ + "A row of short bollards runs along the sidewalk edge ahead, and the one at the left end of that row stands by the curb beside the lit shopfront. They all look alike, so I hold that curbside spot next to the shopfront as my mark. I turn left to bring it into view.", + "The left portion of the sidewalk is now centered, with the shopfront and its small glowing marker ahead on my left. The bollard I chose is still well across the open pavement. I walk forward to close that distance.", + "The shopfront canopy and the curb line are growing larger straight ahead, so my heading along the sidewalk edge is still sound. The bollard by that curb remains several strides off. I continue walking toward it.", + "More bollards along this curb are resolving as I get closer, and the far right end of the run is sliding out of my view, so I keep following the one standing by the shopfront curb rather than recounting. It is still a short walk ahead. I step forward again.", + "A tall utility pole now rises in the middle of my view, with the shopfront curb and its glowing marker just to its left. My bollard sits at that curb, still a couple of strides beyond. I advance again.", + "I am close enough that the tiled sidewalk fills the lower view and the pole stands almost within arm's reach on my path. The curb beside the shopfront, where my bollard stands, is just to the left. One more step forward should bring me level with it.", + "The pole now blocks the middle of my view and the shopfront curb with its glowing marker lies off to my left. My bollard stands along that curb, outside my current heading. I turn left to face the curb edge where it should be.", + "I am now standing right at the curb by the shopfront, but my gaze is level and these bollards are too low to appear at this range. I look down to confirm the bollard at my feet along the sidewalk edge.", + "The bollard by the shopfront curb stands directly at my feet, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f896a434cde543a21d81ea40c85b5f2594f7184 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Make your way to the green barriers on the far right.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0, + 119.04, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2282.756, + -139.722, + 143.518, + 0, + 119.04, + 0 + ], + [ + -2282.756, + -139.722, + 143.518, + 0.0, + 144.04, + -0.0 + ], + [ + -2384.63, + -65.815, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2486.503, + 8.092, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2588.377, + 81.999, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2588.377, + 81.999, + 128.15, + 0.0, + 169.04, + -0.0 + ], + [ + -2711.941, + 105.928, + 128.15, + 0.0, + 169.04, + -0.0 + ], + [ + -2835.504, + 129.856, + 128.15, + 0.0, + 169.04, + -0.0 + ], + [ + -2959.067, + 153.785, + 128.15, + 0.0, + 169.04, + -0.0 + ], + [ + -3082.631, + 177.714, + 128.15, + 0.0, + 169.04, + -0.0 + ], + [ + -3206.194, + 201.643, + 128.15, + 0.0, + 169.04, + -0.0 + ], + [ + -3206.194, + 201.643, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -3308.068, + 275.55, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -3409.941, + 349.457, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -3511.815, + 423.364, + 129.589, + 0.0, + 144.04, + -0.0 + ], + [ + -3613.396, + 487.423, + 142.868, + 0.0, + 144.04, + -0.0 + ], + [ + -3613.396, + 487.423, + 142.868, + 0.0, + 144.04, + -0.0 + ] + ], + "Rationale": [ + "The green railings I want stand at the right-hand end of this plaza, along the walkway lined with cherry trees, while my heading points straight across the open road. Turning right should swing that side of the street into the middle of my view and give me a clear line to follow.", + "Now the roadway runs away from me toward the buildings on the right, with the tree-lined walkway and its railings along the far side. The asphalt ahead is empty of obstacles, so I will step forward to close distance on that end of the plaza.", + "The blue buildings on the right have grown noticeably larger and the raised walkway with its barriers is drawing nearer. The lane in front of me remains clear, so another step forward should keep shrinking the gap to the green railings.", + "The green painted strip along the right kerb is now close, and the yellow and green fittings beside the cherry tree are resolving ahead of me. Walking forward again should bring me level with that corner before I commit to a new heading.", + "From this corner the green painted lane and the railings continue off to my right, into the corridor that opens between the blue buildings, while straight ahead only leads past them. I will turn right to point down that corridor and keep the barriers on my line of travel.", + "The turn has lined me up with the street running between the blue building and the arcade, with the green painted lane leading forward on my left. The road is clear, so I will walk ahead toward the railings along that walkway.", + "The cherry tree and the yellow barriers beside the building fronts are noticeably closer, and green rail sections show along the raised walkway to their left. Continuing forward should carry me up alongside those railings.", + "The green railings are now clearly picked out ahead beside the walkway under the cherry tree, just short of the yellow barriers and the traffic cone. The road between me and them is empty, so I will keep walking straight toward them.", + "The green rails beside the raised walkway on my left have grown into distinct posts and top bars, with the yellow blocks and a cone strung out past them. Nothing occupies the lane in front of me, so another stride should bring me alongside that run of railing.", + "The railing now reads as a long green rail with a bench seat set into it, close on my left under the cherry tree. I am not yet level with it, so I will step ahead once more before turning toward the walkway.", + "I am level with the green rails, but they sit off to my left while my heading runs on down the road past them. Turning left should square me onto the walkway so the railing sits ahead of me rather than sliding by my shoulder.", + "The turn has put the green rail and its bench squarely in front of me, with the raised kerb and the cherry tree just beyond. A short walk across the remaining strip of green lane should close the last of the gap.", + "The green rail is filling more of my view and its bench slats are clearly visible, though I am still out on the painted lane. Stepping forward again should carry me right up against it.", + "The rail now spans most of my view from the pillar across to the tree, with the yellow blocks lined up behind it. One more step should place me directly at the railing rather than a pace short of it.", + "The green tubing is close enough that I can see the curve of its end loop and the petals fallen along its base. A final short step should bring me flush with the barrier.", + "The green barrier rail stands directly in front of me, filling the near foreground of my view. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..38a52590ef9dd9adf2ee01b9aa0dd1b76328df08 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the second white bollard from the right on the curb.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0, + 119.04, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2282.756, + -139.722, + 143.518, + 0, + 119.04, + 0 + ], + [ + -2343.851, + -29.686, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2404.945, + 80.35, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2404.945, + 80.35, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2506.819, + 154.257, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2608.692, + 228.164, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2608.692, + 228.164, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2669.787, + 338.2, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2730.881, + 448.236, + 129.66, + 0.0, + 119.04, + -0.0 + ], + [ + -2730.881, + 448.236, + 129.66, + 0.0, + 94.04, + -0.0 + ], + [ + -2730.881, + 448.236, + 129.66, + 0.0, + 94.04, + -0.0 + ] + ], + "Rationale": [ + "A line of white bollards runs along the raised curb ahead on my left, and counting in from the right end of that line, my target is the second one, the one standing just short of the tall green-banded pillar. I am still out on the open roadway, so I walk forward to begin closing that gap.", + "The bollards on the curb are larger now, and the one I picked out near the green-banded pillar remains clearly visible. Plenty of open pavement still separates me from the walkway, so I step forward again before adjusting my heading.", + "From here the curb line and its bollards run off toward my right, and the end of that run where my chosen bollard stands lies well to the right of my current heading. I turn right so my path follows the curb toward it instead of drifting past the near end.", + "The turn has put the curb and the plaza ahead on my left, with my bollard near the far portion of the run by the pillar. I walk forward along the open pavement to draw nearer to that stretch of curb.", + "I am close to the green-marked lane edge, and the bollard I am tracking sits ahead and slightly left beside the banded pillar. Another step forward should bring me roughly level with it before I need to turn toward the walkway.", + "I have advanced far enough along the lane that the bollard I want now lies off to my left rather than in front of me. I turn left to swing my heading onto the curb so it sits squarely ahead.", + "The turn has placed the curb bollards directly ahead, my target among them beside the tall green-banded pillar. I walk forward to reach the walkway and close the last of the distance.", + "This close the bollards no longer read as a countable row, but I am still following the same one at the curb edge beside the green-banded pillar, now just ahead and to my right. One more step forward should put me within arm's reach of it.", + "I am up on the paved walkway beside the green-banded pillar, and the bollard I have been tracking has slipped to the far left edge of my view, only its top showing. A turn to the left should bring it squarely in front of me at arm's reach.", + "The bollard stands right in front of me at arm's length beside the green-banded pillar. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b89b7eb724632e42e48022bdb302083143a091d7 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the second traffic cone from the left along the street.", + "Type": 2, + "Start_Pose": [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -2188.65, + 2387.672, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -2063.426, + 2375.04, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1938.202, + 2362.409, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1812.979, + 2349.777, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1812.979, + 2349.777, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1704.826, + 2285.408, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1596.673, + 2221.038, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1488.52, + 2156.668, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1380.368, + 2092.298, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1380.368, + 2092.298, + 128.149, + 0.0, + -30.76, + 0.0 + ] + ], + "Rationale": [ + "The cones run in a line along the left sidewalk, the nearest one standing beside the parked yellow bicycle, and the next one down, set against the blue-awning storefront with the yellow guard rails, is the one I want. The paved walkway ahead is clear, so I walk forward to close that distance.", + "The cone beside the blue-awning storefront is still well down the street, only a small shape at this distance. The walkway stays open with the railing on my right and shopfronts on my left, so I keep walking straight toward it.", + "The cones ahead on the left are noticeably larger now, confirming I am closing in on the one standing by the blue-awning storefront. Nothing obstructs the pavement in front of me, so I take another step forward.", + "The cone I am heading for now reads clearly beside the yellow rails under the blue awning, but it still sits ahead and off to my left. I advance again to bring myself level with that stretch of sidewalk.", + "My heading points down the open plaza toward the arch, while the cone by the blue-awning storefront now sits well off to my left. A modest turn to the left should put it in front of me so I can walk straight at it.", + "The turn has brought the cone at the blue-awning storefront into the middle of my view, with its neighbour just beyond it. The pavement between us is clear, so I step forward toward it.", + "The cone by the bicycle has fallen out of my view behind me, so I hold onto the cone standing against the yellow rails under the blue awning as the one I am going to. It is close now but still a few paces off, so I keep walking toward it.", + "The cone at the storefront now fills much of my left foreground, close but not yet beside me. One more step forward should bring me right up alongside it.", + "The cone at the yellow rails under the blue awning stands just ahead and slightly left, still a stride short of being beside me. I step forward once more so that I draw level with it at the storefront edge.", + "The cone by the yellow rails at the blue-awning storefront now stands immediately at my side. I have arrived at it, so there is no reason to walk further." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e769288ca7ca04645e6044b68585c2f532e1ec94 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the third traffic cone from the left along the street.", + "Type": 2, + "Start_Pose": [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -2188.65, + 2387.672, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -2063.426, + 2375.04, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1938.202, + 2362.409, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1812.979, + 2349.777, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1687.755, + 2337.146, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1562.532, + 2324.514, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1437.308, + 2311.883, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -1437.308, + 2311.883, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1329.155, + 2247.513, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1221.003, + 2183.144, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1112.85, + 2118.774, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1112.85, + 2118.774, + 128.149, + 0.0, + -30.76, + 0.0 + ] + ], + "Rationale": [ + "Counting the cones along the left side of this walkway, the one beside the yellow bicycle at my feet is first, and two more stand farther down the pavement. The third one sits near the shop with the blue awning ahead, so that cone is my destination. I start walking straight down the open tiles toward it.", + "The cone by the blue-awning shopfront is still far down the left side, small in my view. Nothing blocks the wide tiled walkway in front of me, so I keep walking forward to close the distance.", + "The pair of cones on the left is growing clearer as I advance, and the shop awning behind my target is now easier to read. The path stays open, so I continue straight ahead.", + "The cone standing beside the blue-awning shop entrance is clearly distinguishable now, still some way ahead on my left. I keep advancing along the pavement to bring it within reach.", + "The nearest cone has fallen behind me, so counting the row from its left end no longer works from here; I simply stay with the cone at the blue-awning shopfront. It sits ahead and slightly left, so I walk forward again.", + "My cone by the blue-awning shop now reads as a full-height marker on the left, but it is still several strides off. The tiles between us are clear, so I keep moving straight ahead.", + "The cone at the blue-awning shopfront is drifting toward the left edge of my view as I come alongside the storefront. I take another step forward to bring myself level with it before adjusting my heading.", + "My cone now sits well off to my left, close beside the blue-awning shop entrance, while my heading still points down the arcade. I turn left to put it in front of me so my remaining steps carry me straight to it.", + "The turn has set the cone at the blue shopfront door squarely ahead of me, with only open tile between us. A second cone stands close on my left, but the one at that entrance is the one I chose, so I walk straight toward it.", + "My cone now stands alone in front of the shuttered blue storefront, a few strides off and growing. The pavement between us is empty, so I press ahead.", + "The cone has swollen to fill the lower part of my view, its base almost at my feet level on the curb strip. One more step should bring me right alongside it.", + "The cone at the blue-awning shopfront is now at my feet, filling the near left of my view. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6aa288835fe80955234bab1470a943113fd457b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002314_y002400_z000128_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the orange bike on the left.", + "Type": 2, + "Start_Pose": [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ], + [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -2205.72, + 2335.933, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -2097.567, + 2271.564, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1989.415, + 2207.194, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1881.262, + 2142.824, + 128.149, + 0.0, + -30.76, + 0.0 + ], + [ + -1881.262, + 2142.824, + 128.149, + 0.0, + -55.76, + 0.0 + ], + [ + -1805.721, + 2082.26, + 128.149, + 0.0, + -55.76, + 0.0 + ], + [ + -1805.721, + 2082.26, + 128.149, + 0.0, + -80.76, + 0.0 + ], + [ + -1775.88, + 1967.665, + 144.557, + 0.0, + -80.76, + 0.0 + ], + [ + -1775.88, + 1967.665, + 144.557, + 0.0, + -80.76, + 0.0 + ] + ], + "Rationale": [ + "The one orange bike in sight leans against the pale building wall far over on my left, just behind an orange traffic cone. My heading runs straight down the middle of the arcade street, leaving that bike clinging to the edge of my view. I turn left so it sits ahead of me before I start walking.", + "The orange bike by the cone now lies ahead and slightly left, still a long stretch of paving away. The walkway between us is clear and flat, so I step forward to begin closing that distance.", + "The orange bike against the wall has grown larger but is still well out of reach up the sidewalk. The paving ahead stays open past the cone line, so I keep walking straight toward it.", + "I can now make out the bike's orange frame and pale wheels clearly where it rests against the building. It remains several paces off, so another forward step should bring me nearer without needing to change heading yet.", + "The orange bike is close now, filling the left part of my view beside the cone, but I am not yet alongside it. The strip of sidewalk in front of me is still clear, so I advance once more.", + "Coming up level with the wall has pushed the orange bike hard to my left, where its frame is cut off by the edge of my view. My body still faces along the street rather than at it. I turn left to put the bike back in front of me.", + "The orange bike now stands squarely ahead against the wall with only a short gap of pavement left between us. Nothing but the cone sits off to my side, clear of my path, so I step forward to draw right up to it.", + "At this range the orange bike spreads across the left half of my view, its rear wheel running off the edge while I face more toward the doorway beyond. I turn left to square up on the bike so the last step should take me straight to it.", + "The orange bike now sits centered in front of me, whole frame and both wheels visible against the pale wall. Only a step or two of clear pavement separates my feet from its rear wheel. I walk forward to close that last gap and stand right beside it.", + "The orange bike's saddle and handlebars fill my view at arm's length. I have reached it, so the task is done and there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b64e2770b9b74b4ff31a1a27a455062daaffca03 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the red-and-white bollard on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2317.295, + 2158.169, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2292.762, + 2281.614, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2292.762, + 2281.614, + 128.15, + 0.0, + 103.76, + -0.0 + ], + [ + -2322.698, + 2403.861, + 128.15, + 0.0, + 103.76, + -0.0 + ], + [ + -2322.698, + 2403.861, + 128.15, + 0.0, + 103.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the red-and-white striped bollard standing on the sidewalk near the far right of my view, in front of the glass shop entrance. My current heading points down the open plaza instead of at it, so I will turn right to bring the bollard closer to the center of my view before advancing.", + "The bollard now sits ahead of me, slightly right of center, with clear tiled sidewalk between us and no obstruction in the path. I will move forward to close the distance toward it.", + "The bollard appears noticeably larger and taller in my view than before, which tells me my previous advance closed real distance. It is still several strides away across open pavement, so I will keep moving forward.", + "From this closer position the bollard has drifted to the right of my view center, next to the tree planter and shop entrance. I will turn right to re-center it so my final approach runs straight at it.", + "The bollard is now framed near the middle of my view with its base clearly on the sidewalk just a short step ahead. One more forward move should bring me right up beside it.", + "The red-and-white bollard now fills the near foreground directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb422bbaaf7bd67bcc6afe08796c10df4e130673 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the green tree near the tan awning.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + -2267.423, + 2136.235, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + -2267.423, + 2136.235, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2242.891, + 2259.68, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2218.358, + 2383.125, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2193.826, + 2506.57, + 144.795, + 0.0, + 78.76, + -0.0 + ], + [ + -2193.826, + 2506.57, + 144.795, + 0.0, + 53.76, + -0.0 + ], + [ + -2193.826, + 2506.57, + 144.795, + 0.0, + 53.76, + -0.0 + ] + ], + "Rationale": [ + "From the sidewalk I can see the tan awnings over the storefront ahead and the leafy green tree rising just right of center in front of them. The tree is still several strides off, so I will move forward along the open pavement to begin closing that gap.", + "After advancing, the green tree and its trunk sit noticeably right of my heading, with the awnings and railing running off to my left. A modest turn to the right should bring the tree onto my forward axis so I can walk straight at it.", + "The tree now stands near the middle of my view, its trunk rising from the planter beside the awning-covered shopfront. With the heading lined up and nothing blocking the pavement, I will move forward to close more distance.", + "The trunk and canopy have grown larger and the planter curb is now clearly visible, so I am closing in but not yet beside the tree. I will keep moving forward to bring myself up to its base.", + "The trunk now fills much of the left side of my view and the awning edge passes overhead, showing I am nearly level with the tree. One more step forward should place me right at its base near the tan awning.", + "I am now up against the shopfront wall and the tree has slid out of my forward view toward my left, with only its planter greenery showing at the bottom edge. Turning left should swing the trunk back into the center of my view so I can confirm I am standing at it.", + "The green tree's trunk stands directly in front of me beneath the tan awning. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_e/infos.json b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..62f4a44fcf327d3224b205d369d824f83103ec79 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the glass shop door that displays an orange advertisement and has a red-and-white bollard outside.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2317.295, + 2158.169, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2292.762, + 2281.614, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2268.23, + 2405.059, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2243.698, + 2528.504, + 143.926, + 0.0, + 78.76, + -0.0 + ], + [ + -2243.698, + 2528.504, + 143.926, + 0.0, + 103.76, + -0.0 + ], + [ + -2273.634, + 2650.751, + 138.15, + 0.0, + 103.76, + -0.0 + ], + [ + -2303.57, + 2772.998, + 140.312, + 0.0, + 103.76, + -0.0 + ], + [ + -2331.793, + 2862.581, + 140.312, + 0.0, + 103.76, + -0.0 + ], + [ + -2331.793, + 2862.581, + 140.312, + 0.0, + 103.76, + -0.0 + ] + ], + "Rationale": [ + "Scanning the shopfronts ahead, I can see a recessed glass double door on the right side of my view with small posters on the panes and a red-and-white striped bollard planted on the pavement in front of it. That matches the target described in the task, but it sits well off to my right, so I will turn right to bring it toward the center of my heading before I start closing distance.", + "The glass entrance with the orange-toned poster and the striped bollard is now roughly ahead of me, with open paving between us. Nothing blocks the route, so I will move forward to begin closing the fairly long distance to that doorway.", + "The awning, the two posters on the glass panels, and the bollard have all grown larger, confirming I am tracking the correct entrance. The pavement in front stays unobstructed, so I will keep moving forward to shrink the remaining gap.", + "I am now close enough to read the poster shapes on the frosted glass and to see the striped bollard standing clearly at the curb edge of the entrance apron. The straight path is still clear, so I will continue forward toward the door.", + "The doorway now dominates the right portion of my view and the bollard has passed close by on my right, so I am nearly at the shop frontage. I will advance once more to reach the entrance apron rather than stopping short on the open sidewalk.", + "Standing on the entrance apron, the glass double door with the orange poster has drifted into the right half of my view while my heading points along the frontage. I will turn right to square myself with the doorway so the remaining steps take me straight to it.", + "The pair of glass panels with the two posters is now centered squarely ahead of me, framed by its brick surround. I will step forward to close the last stretch of the apron and stand directly at this door.", + "The door panels and the poster with the orange border now fill most of my view, with the twin handles just ahead at center. I will advance a little more to finish arriving right at the doorway.", + "The glass door with its posted advertisements now fills my view, with the central handle and door seam directly ahead of me. A short final step forward should bring me right up against the door panel at a proper standing distance for the target.", + "I am standing directly at the glass shop door, close enough that its posted advertisement and frame fill my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69cabe5b711b088beee2c03ebb103f2b2a8e2446 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the jerry can near the green tree near the tan awning.", + "Type": 5, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0, + 53.76, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2209.577, + 2624.15, + 58.15, + 0, + 80, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2341.827, + 2034.724, + 128.15, + 0, + 53.76, + 0 + ], + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2317.295, + 2158.169, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2292.762, + 2281.614, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2268.23, + 2405.059, + 128.15, + 0.0, + 78.76, + -0.0 + ], + [ + -2243.698, + 2528.504, + 143.926, + 0.0, + 78.76, + -0.0 + ], + [ + -2243.698, + 2528.504, + 143.926, + 0.0, + 78.761, + -0.0 + ], + [ + -2243.698, + 2528.504, + 143.926, + 0.0, + 78.761, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2209.577, + 2624.15, + 58.15, + 0.0, + 80.0, + -0.0 + ], + [ + -2209.577, + 2624.15, + 58.15, + 0.0, + 80.0, + -0.0 + ], + [ + -2209.577, + 2624.15, + 58.15, + 0.0, + 80.0, + -0.0 + ], + [ + -2209.577, + 2624.15, + 58.15, + 0.0, + 80.0, + -0.0 + ], + [ + -2209.577, + 2624.15, + 58.15, + 0.0, + 80.0, + -0.0 + ], + [ + -2209.577, + 2624.15, + 58.15, + 0.0, + 80.0, + -0.0 + ], + [ + -2264.761, + 2532.067, + 108.256, + -28.202, + 128.905, + 1.862 + ], + [ + -2264.761, + 2532.067, + 108.256, + -28.202, + 128.905, + 1.862 + ] + ], + "PD_Dist_2D": [ + 604.1, + 604.1, + 478.3, + 352.5, + 226.8, + 101.5, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the green street tree and the tan awning ahead, with a small pale can sitting on the sidewalk beside the tree, but it sits right of my current heading. I will turn right to bring that jerry can and the storefront doorway near it into the center of my view before walking in.", + "The turn has centered the tree, the tan awning, and the pale container standing on the pavement beside the striped post. The path across the open sidewalk looks clear, so I will walk forward to close the long gap to the jerry can.", + "The storefront and the tree have grown noticeably larger, and the pale jerry can beside the striped bollard is clearer, but it is still several strides off. I will keep walking straight since my heading remains lined up with it.", + "The jerry can is now distinctly recognizable on the pavement in front of the shop doors, with its handle and ribbed side visible. It remains beyond arm's reach, so I will step forward again to get close enough to grasp it.", + "The jerry can now sits large and low in my view, just short of comfortable reaching range near the shop entrance. One more step forward should place me directly over it so a grasp becomes possible.", + "The jerry can is right at my feet at the bottom of my view, close under the shop front near the green tree and tan awning. I will attempt to pick it up now, since it should be within reach at this distance.", + "The jerry can is now held in my hands in front of me, lifted off the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec965fda0a705ed718a269b94e28344a1c0fcb8e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the leftmost orange bollard on the street.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2603.355, + 849.573, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2603.355, + 849.573, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2612.222, + 975.119, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2621.089, + 1100.666, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2629.956, + 1226.212, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2638.823, + 1351.758, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2647.69, + 1477.304, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2656.557, + 1602.851, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2656.557, + 1602.851, + 128.15, + 0.0, + 69.04, + -0.0 + ], + [ + -2611.536, + 1720.382, + 128.15, + 0.0, + 69.04, + -0.0 + ], + [ + -2566.514, + 1837.913, + 128.15, + 0.0, + 69.04, + -0.0 + ], + [ + -2521.492, + 1955.444, + 128.15, + 0.0, + 69.04, + -0.0 + ], + [ + -2476.47, + 2072.975, + 128.15, + 0.0, + 69.04, + -0.0 + ], + [ + -2431.448, + 2190.506, + 128.15, + 0.0, + 69.04, + -0.0 + ], + [ + -2386.427, + 2308.036, + 128.15, + 0.0, + 69.04, + -0.0 + ], + [ + -2341.405, + 2425.567, + 128.15, + 0.0, + 69.04, + -0.0 + ], + [ + -2341.405, + 2425.567, + 128.15, + 0.0, + 69.04, + -0.0 + ] + ], + "Rationale": [ + "A line of orange and white bollards runs along the street edge ahead, and since they all look alike I pin my target as the one at the far left end of that run, beside the shopfronts under the big blue sign. I walk forward to close on the plaza edge and get a clearer read on the whole row.", + "The bollards nearest me sit slightly right of my heading, while the left end of the run lies off toward the shopfronts on my left. I turn left so my path points down that side of the street rather than across the open plaza.", + "After the turn the shopfront frontage with its bollards is spread ahead of me, with more of the street's left side now open. I step forward along the plaza to cut the distance toward the left end of that bollard run.", + "The storefronts are growing larger and the bollards nearest me have slid toward the right edge of my view, confirming I am tracking past them toward the far end of the row. I keep walking straight since nothing blocks the paved plaza ahead.", + "I am still short of the shop frontage, with the glass entrance and awnings ahead and the striped bollard on my right belonging to the nearer part of the run, not to the end I chose. Another step forward keeps me closing along the same line.", + "More striped bollards have come into view on my right as I advance, but those are the near ones I am passing, and I am still heading for the bollard at the left end beside the shopfront. I continue straight ahead over the clear pavement.", + "The shop entrance and its signage now fill much of my view, so I am nearly level with the frontage but not yet at my bollard. I take another step forward to keep closing before I need to swing toward the left side.", + "A slim striped bollard is now visible far over on my left near the railings, which is the leftward end I have been aiming for, while the ones on my right are the near part of the run. I step forward once more to bring that side of the frontage within easy reach.", + "Dead ahead the frontage squares off and the pavement carries on past its left corner, where the far end of the street's posts sits, while the striped post by these glass doors belongs to the stretch I am already level with. I turn left so my heading follows that continuing frontage instead of running into the building face.", + "The swing has opened up a long awninged shop row on my left with the paving running clear beside it, and a striped post stands out ahead near the recessed glass doors. I walk forward along this frontage to close that gap.", + "From this angle the posts no longer read as one countable line, so I hold onto mine as the one planted at the corner of the recessed entrance with the notice-covered doors. It is still some way off along the walkway, so I keep stepping forward.", + "The awnings and the tree beside the railings have grown noticeably, and the post at the recessed doorway sits just right of the lamp column ahead. Nothing stands between me and it, so I continue straight on.", + "The doorway I pinned my post to now shows its posters clearly, and the post itself stands low near the kerb line just left of the column. Another stride should bring me within a couple of paces of it.", + "My post is squarely in front of me now at the edge of the raised entrance apron, with the bench and railings off to its left. I step forward again to keep shrinking the last of the distance.", + "The banded post is close enough that I can pick out each stripe on it, standing right where the entrance apron curves out. I move forward once more to bring myself alongside it.", + "The post fills the near foreground at the kerb just ahead of my feet, with the shop doors right behind it. One last short step should put me level with it, close enough to count as standing at it.", + "The banded post stands directly at my feet, filling the foreground. I am standing at it, so the task is done and there is nothing further to close." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0fd0a341e5579eba44761fe7c94987c0562c2c7e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the second storefront door from the left.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0, + 119.04, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2542.26, + 739.537, + 128.15, + 0, + 119.04, + 0 + ], + [ + -2603.355, + 849.573, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2664.449, + 959.609, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2725.543, + 1069.645, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2786.638, + 1179.682, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2847.732, + 1289.718, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2847.732, + 1289.718, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2856.6, + 1415.264, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2865.467, + 1540.81, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2874.334, + 1666.356, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2883.201, + 1791.903, + 130.547, + 0.0, + 94.04, + -0.0 + ], + [ + -2892.068, + 1917.449, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2900.935, + 2042.995, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2909.802, + 2168.542, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2918.67, + 2294.088, + 137.581, + 0.0, + 94.04, + -0.0 + ], + [ + -2927.537, + 2419.634, + 138.698, + 0.0, + 94.04, + -0.0 + ], + [ + -2936.404, + 2545.18, + 138.283, + 0.0, + 94.04, + -0.0 + ], + [ + -2945.271, + 2670.727, + 141.86, + 0.0, + 94.04, + -0.0 + ], + [ + -2945.271, + 2670.727, + 141.86, + 0.0, + 94.04, + -0.0 + ] + ], + "Rationale": [ + "Counting the storefronts along the building on my left, the first entrance is the dark recessed doorway under the small awning and the second is the pale glass double door directly beneath the large blue sign with red characters. That glass double door is my target, and it lies well across the open plaza ahead. I will walk forward to close that distance.", + "The glass double door under the big blue sign is slightly larger in view but still far off across the tiles. Nothing blocks the paved stretch in front of me. I will keep walking straight to shorten the gap.", + "The storefront with the glass double door under the blue sign is growing steadily but remains ahead and to my left. The bollards and curb sit off to my right, so my straight path stays clear. I continue forward.", + "My target glass double door beneath the blue sign is clearly resolved now, though still some distance off toward the left of my heading. The tiled plaza ahead remains unobstructed. I will advance again before worrying about heading.", + "The doorway under the blue sign has drifted further toward the left edge as I close in, but I still have open ground straight ahead. Gaining more distance first keeps the approach efficient. I step forward once more.", + "The glass double door under the blue sign now sits well to the left of my heading, so walking straight would carry me past it along the curb. I need my body pointed at that entrance before closing the last stretch. I will turn left to bring it into the center of my view.", + "The turn has centered the glass double door beneath the blue sign, and more shopfronts have opened up further along the facade, so counting from this angle would no longer pick out the same entrance; I stay on the door under that sign. The plaza between us is flat and clear. I will walk toward it.", + "The glass double door under the blue sign stays squarely ahead as I advance, so my heading needs no further correction. It is still a fair walk across the open pavement. I will keep moving straight toward it.", + "The recessed entrance with the pale glass double door sits centered beneath the red lettered sign, and the striped bollards stay off along the curb to my right. Flat open tile runs the whole way to the shopfront. I keep walking forward.", + "The door frame and the notice taped inside its glass are resolving, confirming this is the entrance under the sign rather than the dark doorway of the neighbouring shop. Still too much pavement between us to call it an arrival. I take another step forward.", + "The facade now spans most of my view and the sign overhead is cropping at the top edge, so the shopfronts no longer read as a countable row from here. The pale glass double door straight ahead is the one I settled on. I continue toward it.", + "The bench and parked scooter beside the entrance give me a sense of scale, and the doorway is still a fair walk off. My line over the tiles stays clear of the bollard at the left. I keep advancing.", + "The tiled surround of the recess and both door leaves sit squarely in the middle of my view, so my heading needs no adjustment. Nothing stands between me and the threshold. I close in further.", + "Only this entrance bay fills my view now, with the neighbouring shop reduced to its awning at the far edge. I am near, but the doorstep is still ahead of me. Another stride should bring me onto the entrance apron.", + "The two glass leaves and their vertical handles stand directly in front of me, with the low step of the entrance just short of my feet. A little more ground remains before I am properly at the door. I move forward.", + "The frosted panels and the poster behind the glass now span nearly my entire view, so I am within a stride or two of the entrance. One more step forward should place me right at it.", + "Both leaves and their handles fill my view with the tiled surround at either side, yet a narrow band of the green entrance apron still shows below the frame. That strip means I am not quite standing at the threshold. One short stride forward should settle me right against it.", + "The glass double door beneath the blue sign fills my view at arm's length. I have arrived at it, so nothing further is needed and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed546b493181be93a8856e3555c7493016f6ab1f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_e/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the second orange bollard on the street from the right.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2603.355, + 849.573, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2664.449, + 959.609, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2725.543, + 1069.645, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2786.638, + 1179.682, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2847.732, + 1289.718, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2908.827, + 1399.754, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2969.921, + 1509.79, + 144.666, + 0.0, + 119.04, + -0.0 + ], + [ + -2969.921, + 1509.79, + 144.666, + 0.0, + 119.04, + -0.0 + ] + ], + "Rationale": [ + "Orange and white bollards stand in a line along the curb ahead, and they look alike, so I settle the count now: from the right end of that row, my target is the second post, the one set back near the shop fronts rather than the one beside the tall support column. It lies well ahead, so I step forward.", + "The bollard I chose is still a fair distance off along the curb line. The paved plaza in front of me is clear and level, so I keep walking straight toward it.", + "The posts are noticeably larger now, and my bollard sits ahead near the raised curb by the cherry tree. Nothing blocks the direct line, so I advance again to close the remaining gap.", + "The bollard beside the support column has swung out to my right and the row no longer reads as a countable line from here, so I simply keep following the post I picked, which stands ahead by the curb. I step forward to close on it.", + "My bollard is now clearly ahead of me on the curb line, taller in view and only a short stretch of open pavement away. I continue walking straight at it.", + "The post I am heading for now stands large just ahead, its banded top well above the curb edge. A couple more paces should bring me level with it, so I step forward again.", + "The bollard fills the near part of my view, but I am still a step short of standing beside it. I move forward once more to arrive right at it.", + "The orange and white bollard I targeted stands immediately in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..62fcc35a767e964e365b7f180894d5ad50dcf33d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the second cherry blossom tree on the left.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + [ + -2429.022, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2303.163, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2177.304, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2177.304, + 177.205, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -2063.237, + 124.015, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1949.17, + 70.824, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1835.103, + 17.634, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1721.036, + -35.556, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1606.969, + -88.747, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1493.046, + -139.73, + 143.521, + 0.0, + -25.0, + 0.0 + ], + [ + -1493.046, + -139.73, + 143.521, + 0.0, + -50.0, + 0.0 + ], + [ + -1493.046, + -139.73, + 143.521, + 0.0, + -50.0, + 0.0 + ] + ], + "Rationale": [ + "Counting the blossoming trees along the left side from where I stand, the first is the trunk right at the edge of my view, so the one I want is the next along, rising over the railed planter by the shopfronts. It is still far down the street, so I walk forward.", + "The tree I am heading for, the one over the railing beside the shop awnings on the left, still lies well ahead of me. The road surface is clear of traffic and obstacles, so I keep walking forward to cut the distance.", + "The storefronts and the railed sidewalk on my left have grown noticeably larger, but the tree I want is not yet beside me. Nothing obstructs the lane, so I advance again.", + "Holding this heading straight down the middle of the road would carry me along the street instead of over to the tree, which stands off to my left above the railing. I turn left to swing my facing toward that sidewalk and put the trunk in front of me.", + "With my facing swung toward the left sidewalk, the bicycle, cone and railing sit ahead of me and the blossoming crown I am after hangs just beyond them. I walk forward along this angled line to close on that trunk.", + "More blossoming trees have opened up across the plaza ahead, so counting from here would no longer pick out the right one; I stay with the trunk rising beside the shop with the blue awning. It is still some way off, so I keep walking forward.", + "The railing and its planting run close along my left while the trunk beside the blue-awning shop is now clearly the nearest blossoming tree in front of me. I step forward again to draw level with it.", + "The trunk I am aiming for now stands just ahead beside the shop awning, with the sidewalk railing guiding me straight to it. Another step forward should bring me right up alongside the tree.", + "The pale trunk beside the awninged shopfront now rises close on my left, tall enough that its crown is cut off above me, but I am still a stride short of standing level with its base. The paved strip between the railing and the curb stays clear, so I walk forward again.", + "The trunk is right at the railing beside me now, leaning across the near edge of my view, and its base sits only slightly ahead. One more short step should put me squarely alongside it rather than just short of it.", + "Having drawn level with it, the trunk has slid out past the left edge of my view, leaving only the bollard and the shopfront ahead of me. Turning left should swing my facing back onto the tree so I am standing at it rather than passing it.", + "The blossoming tree's trunk stands directly before me, close enough to touch across the railing. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3206effd8833cb87e59d63d9afd44dbe81c9d070 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the third tree on the right side.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + [ + -2429.022, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2303.163, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2177.304, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2051.445, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -1925.586, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -1799.727, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -1673.868, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -1673.868, + 177.205, + 128.266, + 0.0, + 25.0, + -0.0 + ], + [ + -1559.801, + 230.395, + 128.266, + 0.0, + 25.0, + -0.0 + ], + [ + -1445.734, + 283.586, + 128.266, + 0.0, + 25.0, + -0.0 + ], + [ + -1445.734, + 283.586, + 128.266, + 0.0, + 25.0, + -0.0 + ] + ], + "Rationale": [ + "Counting the blossoming trees lining the right sidewalk from here, the third one stands farther down beside the storefront with the green awning, since the trees themselves look nearly identical. That shop front is my anchor for the target from now on. The street ahead is clear, so I walk forward along it.", + "The green-awning shop on the right has grown noticeably larger, so my target tree is still ahead and roughly straight down the street. Nothing blocks the roadway between me and it. I keep walking forward.", + "Yellow barriers and the near trunk on my right are sliding past the edge of my view, while the awning I am aiming for sits farther along the same sidewalk. My heading still points down the street toward it. I continue forward.", + "The teal awning and its vertical sign are now clearly ahead on my right, with the tree I want rising beside them. The lane in front of me remains open. I step forward again to close the gap.", + "The nearer roadside trees have dropped behind me, so the row is no longer something I can count from where I stand, but the tree by the green-awning shop is still plainly in view ahead on my right. That is the one I am going to. I walk on toward it.", + "The shop sign and the trunk beside it are noticeably closer on my right, and a cone marks the curb near its base. I am still short of that spot. Another step forward should bring me alongside it.", + "The green-awning storefront and the tree at its curb now sit just ahead and slightly to my right, with the cone beside the trunk. I am not yet level with it. I keep walking forward to reach that stretch of sidewalk.", + "The tree I have been heading for is now close on my right, at the curb of the green-awning shop, while my body still points straight down the street. Holding this heading would carry me past it. I turn right to face the tree and set up a short approach.", + "The turn has put the trunk at the green-awning storefront squarely ahead of me, with the cone at its base just to its left. Only a short stretch of roadway separates us now. I walk forward to close it.", + "The trunk now rises across most of my view and the cone beside it sits close at hand, yet I am still out on the roadway rather than beside the curb planter. One more step should bring me level with the tree.", + "I stand at the curb beside the tree at the green-awning storefront, its trunk right in front of me. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4ba530b2632f64ce8bfbad4e9d15174466409884 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the leftmost orange traffic cone.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + [ + -2554.881, + 177.205, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -2440.814, + 124.015, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -2326.747, + 70.824, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -2212.68, + 17.634, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -2098.613, + -35.556, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -2098.613, + -35.556, + 128.266, + 0.0, + -25.0, + 0.0 + ] + ], + "Rationale": [ + "Scanning the street, I count a few orange cones, and the one furthest to the left stands on the near sidewalk beside the parked blue scooter by the railing, which is how I will keep track of it. It sits off my current heading toward the left edge of my view. I will turn left so that cone lines up ahead of me.", + "The cone beside the blue scooter now sits near the middle of my view, with clear open pavement between us. Nothing blocks the sidewalk strip along the railing. I will walk forward to close that distance.", + "The cone by the scooter has grown noticeably larger and stays close to my heading, so my line of travel is still good. The gap is shorter but I am not yet beside it. I will keep stepping forward.", + "The cone and the scooter behind it now fill a good part of my view, and I can make out the cone's reflective banding clearly. A few more paces should bring me within arm's reach. I will continue forward.", + "The cone stands just ahead of me at the curb, tall in my view against the scooter and railing. One more step should put me right at it rather than short of it. I will move forward again.", + "The orange cone stands directly at my feet, filling the near view beside the scooter and railing. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1dbce2c8b4e41ff435ba922c535133bd88bc1a83 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the second yellow barrier on the right.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + [ + -2429.022, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2303.163, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2303.163, + 177.205, + 128.266, + 0.0, + 25.0, + -0.0 + ], + [ + -2189.096, + 230.395, + 128.266, + 0.0, + 25.0, + -0.0 + ], + [ + -2075.029, + 283.586, + 130.285, + 0.0, + 25.0, + -0.0 + ], + [ + -1961.106, + 324.281, + 141.699, + 0.0, + 25.0, + -0.0 + ], + [ + -1855.629, + 321.078, + 140.115, + 0.0, + 25.0, + -0.0 + ], + [ + -1855.629, + 321.078, + 140.115, + 0.0, + 25.0, + -0.0 + ] + ], + "Rationale": [ + "Along the right kerb ahead I can pick out two yellow barriers set end to end, and I take the farther of the pair, the one standing next to the shopfront with the green awning, as my target. The roadway in front of me is open, so I will walk forward to close the distance.", + "The yellow barriers are still some way down the right side of the street, and the lane in front of me stays clear. I will keep walking forward toward the barrier beside the green-awning shopfront.", + "My heading runs straight down the middle of the road while the barriers sit off to my right against the kerb. Turning right should swing that side of the street into the center of my view and put the barrier by the green-awning shopfront in my path.", + "The two yellow barriers now sit squarely in front of me on the right sidewalk, with the green-awning shopfront just beyond them. This heading points straight at them, so I will step forward to approach the farther one.", + "The barriers now take up much more of my view and the near one is close to the kerb edge just off my right. I will keep walking forward to reach the farther barrier under the green awning.", + "The nearer barrier is drawing level with me on the right, while the one beside the green-awning shopfront still lies ahead of it. I will keep advancing so that I end up alongside that farther barrier rather than this one.", + "The near barrier has slipped back past my shoulder and the barrier under the green awning now fills my right foreground, though its front face is still slightly ahead of me. One more step forward should bring me level with it.", + "The yellow barrier beside the green-awning shopfront stands immediately at my right, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3bd38cfc66e9736bb85faec8e0083f93e515db8e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002555_y000177_z000128_t2_e/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the third tree on the left side.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ], + [ + -2429.022, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2303.163, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2177.304, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -2051.445, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -1925.586, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -1799.727, + 177.205, + 128.266, + 0.0, + 0.0, + 0.0 + ], + [ + -1799.727, + 177.205, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1685.66, + 124.015, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1571.593, + 70.824, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1457.526, + 17.634, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1343.459, + -35.556, + 128.266, + 0.0, + -25.0, + 0.0 + ], + [ + -1343.459, + -35.556, + 128.266, + 0.0, + -50.0, + 0.0 + ], + [ + -1262.558, + -131.97, + 140.729, + 0.0, + -50.0, + 0.0 + ], + [ + -1181.658, + -228.383, + 138.15, + 0.0, + -50.0, + 0.0 + ], + [ + -1181.658, + -228.383, + 138.15, + 0.0, + -25.0, + 0.0 + ], + [ + -1181.658, + -228.383, + 138.15, + 0.0, + 0.0, + -0.0 + ], + [ + -1071.537, + -245.749, + 138.15, + 0.0, + 0.0, + -0.0 + ], + [ + -1071.537, + -245.749, + 138.15, + 0.0, + 0.0, + -0.0 + ] + ], + "Rationale": [ + "Counting the blossoming trees lining the left sidewalk from here, the third one stands past the railed frontage with the blue awning shop, since the trees themselves look identical. It sits well down the street, so I will walk forward along the road to close that distance.", + "The left-hand row is spreading wider in my view as the nearest trunks slide toward the edge, which tells me I am still far short of my tree. The roadway ahead stays clear and open. I will keep walking straight down it.", + "The bicycle and cone by the left railing are now beside me, so the near end of the row is passing behind and I should stop counting from it. My target remains the tree standing by the shopfront with the blue awning further down the left side. I will continue forward.", + "The blue awning storefront on the left is growing steadily larger, and the tree I want stands along that stretch of sidewalk. Nothing blocks the lane in front of me. Another step forward should bring me closer to it.", + "The open plaza and the pale building at the end of the street are opening up ahead, while the awning shop and its adjacent tree are still off to my left front. I am not yet level with that tree. I will keep advancing.", + "The left sidewalk with its railing and the awning shop is now clearly ahead and slightly to my left, with the tree I am heading for standing on that stretch. Walking straight a little further should put me near enough to angle in toward it.", + "I have come far enough along the road that the tree I want lies off to my left rather than in front of me. Continuing straight would carry me past it into the plaza. I will turn left to swing my heading onto that sidewalk.", + "The turn has brought the left sidewalk with its railing, the awning shop, and the blossoming tree beside it into the front of my view. With the path across the road clear, I will walk forward on this heading to close in on that tree.", + "The shopfront with the blue awning now fills my left, and the blossoming crowns stand just past the railing off my right front. This close the row no longer reads as a countable line, so I simply hold to the tree that stands by this shop. I will keep walking in.", + "The awning and its glass doorway are drawing level on my left, so the tree I am heading for lies only a short way further along the railed strip. Nothing on the pavement between us blocks me. Another step forward.", + "I am nearly at the curb, with a bollard and the low railing marking the walkway in front and the blossoming canopy hanging over it to my right. I am still short of standing alongside my tree. I will advance again.", + "The railing and its planted edge run between me and the tree, so I cannot cut straight across to it from where I stand. Swinging left puts me along the open paved walkway that follows the storefront past those planters. I will make that turn.", + "Squared onto the tiled walkway beside the shop, I have a clear run along the frontage with the railing to my right rather than in my path. My tree sits along that strip a little ahead. I will walk on.", + "The shop's glass front is sliding past on my left while the planter edging and a trunk show at the right margin of my view, so I am close to level with it. One more stride along this walkway should bring me beside the tree.", + "Walking along the frontage has carried the tree out of my view to the right, leaving me facing plain shop wall and the open plaza. I need it back in front of me before I can close the last stretch. Turning right should bring it back.", + "The trunk and its planter have come back into the right half of my view, but they are still off to the side of my heading. A further turn to the right should set the tree squarely ahead so I can step straight to it.", + "The blossoming trunk and its planter now sit squarely ahead of me, with clear tiled walkway between us and the railing running off to my right. Only a short gap remains before I am standing at it, so I will step forward to close it.", + "The blossoming trunk and its planter stand directly ahead, filling my view at arm's length. I have reached the tree, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002558_y000851_z000128_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-002558_y000851_z000128_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f7eaaa8c7e56c21eed8c40a793a63f44620982c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002558_y000851_z000128_t0_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the blue bicycle parked beside the red vertical sign.", + "Type": 0, + "Start_Pose": [ + -2557.842, + 851.22, + 128.149, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2557.842, + 851.22, + 128.149, + 0.0, + -95.04, + 0.0 + ], + [ + -2568.899, + 725.848, + 128.149, + 0.0, + -95.04, + 0.0 + ], + [ + -2568.899, + 725.848, + 128.149, + 0.0, + -70.04, + 0.0 + ], + [ + -2525.935, + 607.549, + 128.149, + 0.0, + -70.04, + 0.0 + ], + [ + -2539.123, + 556.931, + 128.149, + 0.0, + -70.04, + 0.0 + ], + [ + -2539.123, + 556.931, + 128.149, + 0.0, + -45.04, + 0.0 + ], + [ + -2499.577, + 474.878, + 129.905, + 0.0, + -45.04, + 0.0 + ], + [ + -2410.643, + 385.82, + 129.613, + 0.0, + -45.04, + 0.0 + ], + [ + -2321.71, + 296.762, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -2232.776, + 207.704, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -2232.776, + 207.704, + 128.15, + 0.0, + -20.04, + 0.0 + ], + [ + -2114.538, + 164.575, + 128.15, + 0.0, + -20.04, + 0.0 + ], + [ + -2114.538, + 164.575, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -2025.604, + 75.517, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1936.67, + -13.541, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -1936.67, + -13.541, + 128.15, + 0.0, + -45.04, + 0.0 + ] + ], + "Rationale": [ + "From the wide sidewalk I can already pick out a blue bicycle propped by the railing far off at the right edge of my view, near the shopfront with the red vertical sign. It is much too distant to judge precisely, so I will step forward across the open paving to shorten the gap and get a clearer read on it.", + "After advancing, the blue bicycle sits at the far right margin of my view while my heading points straight across the road at the storefront doors. Turning right should swing that bicycle and the red sign area toward the center of my view so I can walk directly at it.", + "The turn worked, and the blue bicycle now stands roughly ahead of me against the railing, with the red vertical sign glowing on the wall just behind it. The paving and road between us look clear, so I will move forward to close that distance.", + "The bicycle and the red sign are noticeably larger now, but I am still out in the roadway well short of the railing where it is parked. I will keep advancing along the same heading to reduce the remaining distance.", + "The blue bicycle and the red sign have drifted to the right of my center as I closed in, so walking straight would carry me past them. A turn to the right should bring the target back onto my forward line before I continue.", + "With the heading corrected, the blue bicycle now sits close to the middle of my view against the railing under the red sign. The lane ahead is clear of obstacles, so I will step forward again to keep closing in.", + "The bicycle is clearly resolved now, leaning against the railing with the red vertical sign on the wall right beside it, but it is still several strides away. I will continue forward on this heading to keep shrinking the gap.", + "The blue bicycle with the orange cone at its wheel is now plainly ahead and to my left, still beside the red sign at the shopfront. I remain out on the road rather than beside it, so I will advance again to get near enough to stop.", + "The blue bicycle is clearly visible ahead and a little left of center, leaning against the railing right under the tall red shop sign, which matches the target described in my task. The open road surface in front of me is clear of obstacles, so I will step forward again to keep closing the remaining distance.", + "I am now close to the raised curb and metal railing on my left, and the bicycle with its orange cone sits tight against that fence line. Continuing straight would push me into the barrier rather than alongside it, so I will turn right to line up with the open lane running past the shopfront.", + "With my heading now along the open lane, the bicycle sits just off to my left beside the red sign and the path ahead is clear pavement. I will advance so I come level with the parked bicycle instead of stopping short of it.", + "The bicycle has slid to the far left edge of my view and is nearly beside me, so it is no longer in front of my heading. I will turn left to bring the blue bicycle and the red sign back into the center of my view for a straight final approach.", + "The blue bicycle is centered in my view again, standing at the railing directly beneath the red vertical sign with the traffic cone next to it. Nothing blocks the short stretch of pavement between us, so I will step forward to close in on it.", + "The bicycle now fills much of the lower left of my view, but I am still a step short of standing right beside it. One more forward step should place me immediately at the bicycle and the red sign above it.", + "The blue bicycle is right beside me at the railing, directly below the red vertical sign. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..12280368dcf9103828676aba52264e6499c184e2 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the green tree on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -2706.806, + 1779.767, + 128.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2706.806, + 1779.767, + 128.15, + 0.0, + 83.52, + -0.0 + ], + [ + -2692.602, + 1904.822, + 128.15, + 0.0, + 83.52, + -0.0 + ], + [ + -2678.398, + 2029.877, + 128.15, + 0.0, + 83.52, + -0.0 + ], + [ + -2678.398, + 2029.877, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2612.674, + 2137.212, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2546.951, + 2244.548, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2481.227, + 2351.883, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2415.503, + 2459.218, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2352.471, + 2567.291, + 138.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2352.471, + 2567.291, + 138.15, + 0.0, + 33.52, + -0.0 + ], + [ + -2352.471, + 2567.291, + 138.15, + 0.0, + 8.52, + -0.0 + ], + [ + -2240.431, + 2597.374, + 138.15, + 0.0, + 8.52, + -0.0 + ], + [ + -2240.431, + 2597.374, + 138.15, + 0.0, + 8.52, + -0.0 + ] + ], + "Rationale": [ + "I can see a leafy green tree standing in the sidewalk planter ahead on my left, in front of the shopfronts. It is still far off across the open paved area, so I will move forward to begin closing that distance before refining my heading.", + "The tree and its trunk now appear larger and closer to the left edge of my view, confirming I am approaching the right stretch of sidewalk. The pavement in front of me is still clear, so I will continue straight to gain more ground before turning toward it.", + "The tree has drifted to the far left of my view and is nearly out of sight, while my heading still points at the shop entrance straight ahead. I will turn left to bring the sidewalk and the green tree back into the center of my view so I can keep advancing toward it.", + "After turning, the green tree is now clearly framed ahead of me on the sidewalk beside the shuttered shopfronts. The route along the pavement looks open, so I will move forward to close the remaining distance.", + "The tree's trunk and canopy are noticeably bigger and the awnings beside it are resolving in detail, so my heading is carrying me toward it. I will keep moving forward along this clear stretch of sidewalk.", + "The tree now fills the upper left of my view and the bench and railing at its base are close, showing I am nearly alongside it. I will advance again to pull up beside the planter rather than stopping short.", + "The tree has slid past to my left edge as I ride along the shopfront curve, and the sidewalk continues open in front of the barrier post. I will move forward once more to stay on this walkway and keep the planter strip within reach.", + "Right now I am facing the tiled shop wall and its curved green threshold, with the tree trunk barely at my left shoulder and further planters visible farther up the walk. I will move forward along the open pavement so I can reach the next stretch of sidewalk and reorient onto the tree line from there.", + "My heading has drifted so close to the storefront that all I see is tiled wall and the glass entrance, with no green tree anywhere in view. Turning left should swing my facing back along the open sidewalk where the planted trees line the curb, so I can reacquire the target.", + "The sidewalk is open again and a leafy tree trunk shows at the far left edge of my view, still well off my heading. One more left turn should center that green tree ahead of me before I close the remaining distance.", + "The green tree in its sidewalk planter is now nearly straight ahead with clear pavement between us. Moving forward should close most of that gap and bring me right up beside it.", + "The green tree's trunk and planter are directly in front of me, filling my near view on the sidewalk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b4c8bdcd0262f55b980cc7315af09c5375824d2 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the blue bicycle.", + "Type": 0, + "Start_Pose": [ + -2706.806, + 1779.767, + 128.15, + 0, + 83.52, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2706.806, + 1779.767, + 128.15, + 0, + 83.52, + 0 + ], + [ + -2706.806, + 1779.767, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2746.783, + 1899.108, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2786.761, + 2018.449, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2826.738, + 2137.79, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2866.715, + 2257.131, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2866.715, + 2257.131, + 128.15, + 0.0, + 133.52, + -0.0 + ], + [ + -2953.383, + 2348.396, + 144.057, + 0.0, + 133.52, + -0.0 + ], + [ + -3040.05, + 2439.661, + 138.15, + 0.0, + 133.52, + -0.0 + ], + [ + -3126.718, + 2530.925, + 142.56, + 0.0, + 133.52, + -0.0 + ], + [ + -3213.385, + 2622.19, + 138.356, + 0.0, + 133.52, + -0.0 + ], + [ + -3299.941, + 2713.137, + 139.616, + 0.0, + 133.52, + -0.0 + ], + [ + -3299.941, + 2713.137, + 139.616, + 0.0, + 133.52, + -0.0 + ] + ], + "Rationale": [ + "I can just make out the blue bicycle parked at the far right edge of my view, next to the storefront at the end of the plaza. It sits too far off to my side to walk straight at, so I will turn right to bring it closer to the center of my heading before advancing.", + "The blue bicycle now sits ahead and slightly right of center, leaning near the shop entrance with benches beside it. The open paved plaza in front of me is clear, so I will move forward to start closing the distance.", + "The bicycle and the benches next to it have grown noticeably larger, confirming my heading is carrying me toward the target. The ground ahead is still open pavement, so I will continue forward.", + "The blue bicycle is clearly visible against the shop wall, still ahead and a little to my right, and the storefront now fills much of my view. There is nothing blocking the walkway, so another step forward should keep shrinking the gap.", + "I am close to the shop facade now, with the bicycle off to the right beside the yellow bench and low stools. I will press forward again to reach the section of sidewalk where it is parked.", + "From this close position the bicycle has drifted well to my right while the shop wall now fills the front of my view. I will turn right so the bicycle and the sidewalk running past it line up with my heading.", + "The blue bicycle is now roughly centered ahead of me, leaning against the yellow bench along the shop wall, with the open sidewalk leading straight to it. I will move forward along that clear stretch to close in.", + "The bicycle's frame and handlebars are clearly detailed now, so my heading is holding steady on it. The stools sit off to my right rather than in my path, so I will keep stepping forward.", + "The blue bicycle is clearly ahead of me, parked against the tiled wall beside the yellow bench, and it now fills a good part of the center of my view. My heading is already lined up with it and the walkway ahead is clear of the benches on my right, so I will keep moving forward to close the remaining gap.", + "The bicycle has grown noticeably larger and sits just left of center against the wall, so I am closing distance well. There is still a few steps of clear pavement between us, so I will advance again to get within a close standing distance of it.", + "The blue bicycle now dominates the lower left of my view with its frame and front wheel plainly visible, so I am nearly beside it. One more short step forward should bring me right up to it and complete the approach.", + "The blue bicycle is directly in front of me, close enough to touch its handlebar and frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_d/infos.json b/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c3a7b7ed2459d1051710cf5ab29bf752cded087 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the storefront entrance beneath the large red-and-blue sign.", + "Type": 0, + "Start_Pose": [ + -2706.806, + 1779.767, + 128.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2706.806, + 1779.767, + 128.15, + 0.0, + 83.52, + -0.0 + ], + [ + -2706.806, + 1779.767, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2746.783, + 1899.108, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2786.761, + 2018.449, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2826.738, + 2137.79, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2866.715, + 2257.131, + 128.15, + 0.0, + 108.52, + -0.0 + ], + [ + -2906.692, + 2376.473, + 144.53, + 0.0, + 108.52, + -0.0 + ], + [ + -2946.67, + 2495.814, + 143.824, + 0.0, + 108.52, + -0.0 + ], + [ + -2986.647, + 2615.155, + 138.15, + 0.0, + 108.52, + -0.0 + ], + [ + -3026.624, + 2734.496, + 140.353, + 0.0, + 108.52, + -0.0 + ], + [ + -3026.624, + 2734.496, + 140.353, + 0.0, + 108.52, + -0.0 + ] + ], + "Rationale": [ + "I can see the large red-and-blue sign on the upper facade to the right of center, with a pair of glass storefront doors set beneath it. My heading is aimed at the empty plaza and the neighboring shopfront, so I will turn right to bring that signed entrance toward the middle of my view before walking to it.", + "The red-and-blue sign and the recessed glass double doors beneath it now sit near the center of my view, so my heading lines up with the target entrance. I will step forward across the open plaza to begin closing the distance.", + "The doorway is growing larger and remains near the center of my path, confirming my heading is still good. Nothing blocks the tiled ground ahead, so I will keep advancing toward the entrance.", + "The red-and-blue sign is rising toward the top of my view as I get nearer, which is what I expect while approaching the entrance below it. The doors are still ahead of me, so I will continue forward without changing heading.", + "I am now close enough that the entrance alcove, its tiled surround, and the poster on the left door panel are clearly readable. The parked bicycle and bench sit off to the right of my line of travel, so I will keep stepping straight toward the doors.", + "The double doors fill much of my view and the green threshold pad in front of them is visible, but I am still short of the doorway itself. I will advance again to reach the entrance mat.", + "The glass doors and their handles are now directly in front of me at close range, with the teal threshold immediately ahead. A short step forward should bring me right up onto the entrance.", + "I am standing on the teal entrance surface with the two glass door panels filling most of my view slightly to the left. One more small step should place me squarely at the doorway beneath the sign.", + "The paired glass entrance doors now fill most of my view, with the tiled wall and poster close on either side, so only a short gap remains. I will step forward once more to close that gap and stand directly at the storefront entrance.", + "I am standing immediately at the glass entrance door, its handle and frame within arm's reach. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..537a7a91e14109433c64d6eecca109a55068ed60 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Approach the green tree, then proceed to the glass door with purple announcement under the white sign.", + "Type": 3, + "Start_Pose": [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ], + [ + -2755.404, + 1775.089, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2755.404, + 1775.089, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2684.37, + 1878.987, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2613.336, + 1982.884, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2542.303, + 2086.782, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2471.269, + 2190.68, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2400.235, + 2294.577, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2400.235, + 2294.577, + 128.15, + 0.0, + 30.64, + -0.0 + ], + [ + -2291.948, + 2358.72, + 128.15, + 0.0, + 30.64, + -0.0 + ], + [ + -2183.661, + 2422.863, + 128.15, + 0.0, + 30.64, + -0.0 + ], + [ + -2183.661, + 2422.863, + 128.15, + 0.0, + 30.64, + -0.0 + ], + [ + -2183.661, + 2422.863, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2183.661, + 2422.863, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2183.661, + 2422.863, + 128.15, + 0.0, + 105.64, + -0.0 + ], + [ + -2217.591, + 2544.062, + 138.325, + 0.0, + 105.64, + -0.0 + ], + [ + -2251.522, + 2665.261, + 140.472, + 0.0, + 105.64, + -0.0 + ], + [ + -2285.452, + 2786.46, + 140.312, + 0.0, + 105.64, + -0.0 + ], + [ + -2317.31, + 2862.61, + 140.312, + 0.0, + 105.64, + -0.0 + ], + [ + -2317.31, + 2862.61, + 140.312, + 0.0, + 105.64, + -0.0 + ] + ], + "Rationale": [ + "From the open paved plaza I can see the leafy green tree standing near the shopfronts off to my left, and a wide stretch of empty tiling separates me from that row. Walking straight ahead first should cut that gap before I worry about heading.", + "The green tree now sits well to the left of my heading while I am facing the shuttered storefront and its lit glass doors straight ahead. Turning left should swing the tree and the sidewalk that runs past it into the middle of my view so I can walk directly at it.", + "After the turn a green tree stands ahead of me above the white railing planters, with the shop row and its awnings running off to my right. The way along the tiled sidewalk is clear, so I will walk forward to close on that tree.", + "The green tree is noticeably larger and still roughly ahead of me, its trunk rising from the planter strip beside the shops. Nothing blocks the pavement between us, so another step forward should shorten the remaining distance.", + "The tree's trunk and the low green hedge behind the white rail are clearer now, so I am steadily gaining on it. My heading still points along the open walkway, and I will keep walking straight rather than adjust yet.", + "The green tree fills much more of my view and its canopy now overhangs the curb close by on my left. I am not beside it yet, so I will step forward again to keep closing.", + "The tree's trunk is close ahead where it rises from its square bed by the railing, and the glass entrance with its posters sits under the white shop sign on my right. A little more ground remains before I am level with the tree, so I will walk on.", + "The tree stands just ahead of me but my heading is angling into the storefront wall rather than following the walkway past its trunk. Turning left should put the railing line and the tree's base squarely along my path so I can step right up beside it.", + "The leafy green tree stands ahead on the right side of the sidewalk, its trunk rising from a planter beside the railing. The open pavement in front of me is clear, so I will keep walking to close the remaining distance to it.", + "The tree's trunk and its square planter are now close on my right, but I am still a stride short of standing level with them. I will step forward once more to draw even with the tree.", + "The green tree's pale trunk now rises directly beside me at the edge of my view, its planter and the green railing right at my feet. I have arrived at the tree. I mark reaching it, and now I turn my attention to the glass door with the purple announcement under the white sign.", + "I am beside the tree, but my heading runs along the sidewalk toward the arched gateway, with the shopfronts off to my right. The glass entrance with the purple notice sits somewhere along that facade, so I will turn right to bring the building frontage into view.", + "The awning and shuttered windows of the shopfront now fill my view, but the glass door with the purple notice is not yet in front of me. I will turn right again to sweep further along the facade toward the entrance.", + "The glass doors with the purple placard have come into view, but they sit off to the right of my heading behind the corner of the wall. Another turn to the right should place that entrance squarely in front of me.", + "The glass double door with the purple announcement and the smaller notice beside it now sits centered ahead, under the white lettered sign on the awning. The paved apron in front of it is clear, so I will walk straight toward the entrance.", + "The doorway now fills most of my view, with the purple announcement clearly visible on the left glass panel. I am still a few steps back from the threshold, so I will continue advancing to stand at the door.", + "The glass double doors now fill my view, with the purple announcement posted on the left panel and the paired handles just right of center. I am squarely lined up but still a stride or two short of standing at them, so I walk forward again to close that gap.", + "The purple announcement and its white lettering now dominate the glass in front of me, and the door handles sit at arm's-length scale to the right. One more short step should bring me right up against the door face rather than hovering just off it.", + "The purple announcement on the glass door is directly before me at contact range. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..36e604f14dc617be873b172b7f0958add65c14d9 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Navigate to the gray lamp pole, then go to the green tree.", + "Type": 3, + "Start_Pose": [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ], + "Action": [ + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ], + [ + -2775.873, + 1650.906, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2755.404, + 1775.089, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2734.934, + 1899.273, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2714.465, + 2023.456, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2693.996, + 2147.639, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2673.526, + 2271.823, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2653.057, + 2396.006, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2653.057, + 2396.006, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2582.023, + 2499.903, + 144.77, + 0.0, + 55.64, + -0.0 + ], + [ + -2582.023, + 2499.903, + 144.77, + 0.0, + 55.64, + -0.0 + ], + [ + -2582.023, + 2499.903, + 144.77, + 0.0, + 30.64, + -0.0 + ], + [ + -2582.023, + 2499.903, + 144.77, + 0.0, + 5.64, + -0.0 + ], + [ + -2475.248, + 2488.871, + 143.182, + 0.0, + 5.64, + -0.0 + ], + [ + -2353.206, + 2499.768, + 144.795, + 0.0, + 5.64, + -0.0 + ], + [ + -2254.294, + 2485.967, + 142.153, + 0.0, + 5.64, + -0.0 + ], + [ + -2254.294, + 2485.967, + 142.153, + 0.0, + 30.64, + -0.0 + ], + [ + -2146.006, + 2550.11, + 138.15, + 0.0, + 30.64, + -0.0 + ], + [ + -2146.006, + 2550.11, + 138.15, + 0.0, + 30.64, + -0.0 + ] + ], + "Rationale": [ + "From this plaza I can see a slim gray lamp pole rising ahead of me, but my gaze is aimed low and its upper length is cut off. I will look up to take in its full height and confirm it is the pole I want before walking toward it.", + "With my gaze raised I can now trace the gray lamp pole from the pavement up past the shop signage, and it sits almost straight ahead of me. It is still far across the open plaza, so I will walk forward to close that distance.", + "The lamp pole is noticeably thicker and closer now, standing just left of center with clear paving in front of me. Nothing blocks the lane, so I will keep walking straight at it.", + "The gray pole now fills a tall band of my view and I can pick out the curb and short traffic posts beside it. I am still a few paces short of standing at its base, so I will advance again.", + "The pole is close enough that its dark base and the drain grate at the curb are clearly visible slightly left of my heading. Continuing straight should bring me right up beside it.", + "The lamp pole's square footing is now plainly in front of me at the edge of the raised walkway. A short step more should put me level with it, so I will move forward.", + "The pole has drifted to the left side of my view as I come alongside the shopfront, meaning I am nearly abreast of it. I will take one more step forward to draw level with the pole rather than stopping short.", + "The gray pole has slid to the far left edge of my view and I am looking mostly at the shop windows instead. I will turn left to bring the pole back in front of me so I can settle squarely at its base.", + "The tall gray lamp pole now stands squarely in front of me, its base clearly visible on the sidewalk just ahead. One more step should bring me right up beside it.", + "The gray lamp pole fills the left side of my view at arm's length, its base at my feet on the same slab of pavement. I have reached the lamp pole. I mark reaching it and now set off for the green tree.", + "Standing this close, the pole blocks most of what lies ahead and no foliage is visible from here. I will turn left to swing my view off the pole and along the open sidewalk, where a leafy tree may come into sight.", + "Green foliage and a long open walkway have appeared past the left edge of the pole, but the pole still covers the middle of my view. Another turn left should clear it and put the leafy tree and the walkway in front of me.", + "The walkway is now open ahead and a green tree rises from the planter strip along the right side of it. I will walk forward down this clear stretch to close on that tree.", + "The green tree has grown noticeably larger ahead on my right, with its trunk rising out of the planter beside the railing. The pavement in front of me stays clear, so I will keep walking toward it.", + "The tree's trunk now stands tall right beside the railing a few paces ahead, its leaves scattered across the pavement below it. One more step forward should bring me level with it.", + "The green tree's trunk has slid to the right edge of my view as I came alongside it, so I am no longer facing it. Turning right should bring the trunk back into the middle of my view for a straight final approach.", + "The leafy tree in its planter now stands just ahead and slightly left of my heading, with clear pavement between me and its trunk. One more step forward should bring me right up beside the green tree.", + "The green tree's trunk and foliage fill the space immediately in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f5490471cb8d82819fecbf383924bf32c47362e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002776_y001651_z000128_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Lift the tomato by the green tree, then place it at the shop entrance beneath the white sign with black lettering.", + "Type": 5, + "Start_Pose": [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2186.257, + 2530.701, + 105.27, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ], + [ + -2755.404, + 1775.089, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2734.934, + 1899.273, + 128.15, + 0.0, + 80.64, + -0.0 + ], + [ + -2734.934, + 1899.273, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2663.901, + 2003.17, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2592.867, + 2107.068, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2521.833, + 2210.965, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2450.8, + 2314.863, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2379.766, + 2418.761, + 128.15, + 0.0, + 55.64, + -0.0 + ], + [ + -2379.766, + 2418.761, + 128.15, + 0.0, + 30.64, + -0.0 + ], + [ + -2271.479, + 2482.904, + 141.158, + 0.0, + 30.64, + -0.0 + ], + [ + -2271.479, + 2482.904, + 141.158, + 0.0, + 30.64, + -0.0 + ], + [ + -2271.479, + 2482.904, + 141.158, + 0.0, + 55.64, + -0.0 + ], + [ + -2271.479, + 2482.904, + 141.158, + 0.0, + 80.64, + -0.0 + ], + [ + -2271.479, + 2482.904, + 141.158, + 0.0, + 105.64, + -0.0 + ], + [ + -2271.479, + 2482.904, + 141.158, + 0.0, + 105.64, + -0.0 + ], + [ + -2271.355, + 2580.396, + 138.15, + 0.0, + 105.64, + -0.0 + ], + [ + -2305.287, + 2701.595, + 140.636, + 0.0, + 105.64, + -0.0 + ], + [ + -2339.218, + 2822.793, + 140.312, + 0.0, + 105.64, + -0.0 + ], + [ + -2319.807, + 2753.459, + 140.312, + 0.0, + 105.64, + -0.0 + ], + [ + -2319.807, + 2753.459, + 140.312, + 0.0, + 105.64, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2186.257, + 2530.701, + 105.27, + 0.0, + 0.0, + 0.0 + ], + [ + -2282.887, + 2500.965, + 98.256, + -28.202, + 80.785, + 1.862 + ], + [ + -2290.246, + 2494.987, + 98.529, + -28.189, + 105.797, + 1.872 + ], + [ + -2293.677, + 2486.718, + 97.862, + -28.215, + 130.768, + 1.849 + ], + [ + -2298.513, + 2481.012, + 97.916, + -14.092, + 147.984, + 6.87 + ], + [ + -2291.41, + 2476.983, + 97.932, + -28.208, + 155.783, + 1.851 + ], + [ + -2291.652, + 2573.7, + 108.737, + -28.206, + 155.775, + 1.858 + ], + [ + -2325.579, + 2694.855, + 111.051, + -28.191, + 155.79, + 1.872 + ], + [ + -2359.546, + 2816.219, + 110.824, + -28.206, + 155.778, + 1.863 + ], + [ + -2338.678, + 2820.867, + 155.312, + 0.0, + 105.64, + -0.0 + ], + [ + -2338.678, + 2820.867, + 155.312, + 0.0, + 105.64, + -0.0 + ] + ], + "PD_Dist_2D": [ + 1059.1, + 946.0, + 836.5, + 836.5, + 711.6, + 587.2, + 463.5, + 341.4, + 223.6, + 223.6, + 97.7, + 21.4, + 22.3, + 22.5, + 27.1, + 20.8, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this open plaza I can see the leafy green tree ahead on the left side of the storefront row, with a small round red object resting at its base. That matches the tomato I need to lift, but it is still far across the paving, so I will walk forward to close the gap. Advancing should also let me judge the shop entrance and its white sign more clearly.", + "The tree and the red tomato at its base are noticeably larger now, so my previous step did shorten the distance along a clear path. Nothing blocks the pavement in front of me, so another forward step is the simplest way to keep closing in. I will continue walking straight before adjusting my heading.", + "The tomato in its planter sits well to the left of my current heading, near the base of the green tree, while I am aimed at the glass shopfront straight ahead. Walking further on this line would carry me past it rather than toward it. I will turn left so the tree and tomato move toward the center of my view.", + "After the turn the green tree and the tomato in its planter now sit near the middle of my view, with open pavement leading to them. This heading points straight down the shop frontage, so stepping forward should shorten the remaining distance. I will keep walking toward the planter.", + "The tomato and the tree trunk have grown larger and drifted slightly left as I advance along the frontage. I am still too far to reach the fruit, so I will take another step forward. The path over the paving remains clear of obstacles.", + "The tomato is now clearly visible beside the striped bollard at the foot of the green tree, but it is still several paces away and below the sidewalk edge. Continuing straight keeps it in view and steadily reduces that gap. I will step forward again.", + "The tomato now fills a good part of the lower left view, so I am getting close to the planter under the green tree. It is still not near enough to grasp from where I stand, so I will walk forward once more. The sidewalk ahead is open apart from the bollard, which I can pass on my left.", + "The tomato is now very large at the base of the green tree, just left of the striped bollard, which tells me I am nearly beside it. One more forward step should bring me within grasping range instead of stopping short. I will keep advancing along the sidewalk edge.", + "The tomato in the planter at the base of the green tree is now very close, but it sits low and far to my left, near the edge of what I can see, with a striped bollard between us. Turning left should bring the tomato back toward the center of my heading so I can walk straight onto it. I will turn left to line up my approach.", + "After the turn, the tomato sits directly ahead and low in front of me at the foot of the green tree, with clear sidewalk between us. I still need to close the last bit of distance before a grasp is plausible. I will step forward toward it.", + "I am now standing right over the planter at the base of the green tree, and the tomato has slid to the very bottom of my view, showing only its red rim and leaves. That is as close as I can usefully get on foot, so a grasp attempt is appropriate here. I will try to pick up the tomato.", + "The grasp worked, since the tomato is now lifted in my hands and moves with me as I look down at the pavement. The shop front with its glass doors lies off to my right, not along my current heading. I will turn right to begin swinging toward the storefront entrance.", + "Carrying the tomato, I now see the shop facade with its bench, windows and the edge of a glass door frame toward the right of my view. The entrance itself is still not centered ahead of me. I will turn right again to bring the doorway into line with my heading.", + "The paired glass entrance doors with their posters are now visible, but they still sit right of center with the brick pier and window filling my forward view. A further turn right should place the doorway and its green threshold mat squarely ahead. I will turn right once more.", + "The entrance doors and the green threshold mat are now centered ahead of me, but my view is pitched low so I mostly see pavement and the base of the doorway. Raising my gaze should reveal the sign above the entrance and confirm this is the right storefront before I walk in with the tomato. I will look up.", + "With my gaze raised I can see the awning above the doorway carrying pale lettering, confirming this is the shop entrance I need. The doors are still several steps away across the mat while I carry the tomato. I will walk forward to close in on the threshold.", + "The tomato is in my hands and the shop's glass double doors with the white posted signs in black lettering now fill the view straight ahead. I am still standing back on the teal entrance apron, so I will step forward again to close the remaining gap to the doorway. This should bring me near enough that a release would leave the tomato right at the entrance.", + "The entrance doors and their two white signs now dominate my view, so my heading onto the doorway is correct while I still carry the tomato. A small amount of paving still separates me from the threshold, so one more step forward should place me directly beneath the signage. That position is where the tomato needs to be set down.", + "I am now right up against the shop entrance, with the door handles and the white black-lettered signs immediately in front of me. This is the placement spot the task specifies, and the tomato is still in my grasp. I will release it here so it should come to rest at the entrance beneath the sign.", + "The tomato now rests at the entrance beneath the white sign with black lettering, so the drop succeeded. The task is complete, so I stop." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002874_y000190_z000128_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-002874_y000190_z000128_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..92e5823a9f1e72f4f1bd6f6c87018da219731ebd --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002874_y000190_z000128_t3_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Walk to the blue bike, then head toward the orange-signed storefront.", + "Type": 3, + "Start_Pose": [ + -2874.334, + 190.131, + 128.149, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2874.334, + 190.131, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -2987.989, + 136.066, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3101.644, + 82.002, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3215.299, + 27.937, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3328.955, + -26.128, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3442.61, + -80.193, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3556.241, + -133.41, + 141.38, + 0.0, + -154.56, + 0.0 + ], + [ + -3666.543, + -133.41, + 141.38, + 0.0, + -154.56, + 0.0 + ], + [ + -3772.246, + -127.797, + 138.56, + 0.0, + -154.56, + 0.0 + ], + [ + -3772.246, + -127.797, + 138.56, + 0.0, + -154.56, + 0.0 + ], + [ + -3772.246, + -127.797, + 138.56, + 0.0, + -129.56, + 0.0 + ], + [ + -3772.246, + -127.797, + 138.56, + 0.0, + -104.56, + 0.0 + ], + [ + -3772.246, + -127.797, + 138.56, + 0.0, + -79.56, + 0.0 + ], + [ + -3772.246, + -127.797, + 138.56, + 0.0, + -54.56, + 0.0 + ], + [ + -3772.246, + -127.797, + 138.56, + 0.0, + -29.56, + 0.0 + ], + [ + -3772.246, + -127.797, + 138.56, + 0.0, + -4.56, + 0.0 + ], + [ + -3646.92, + -133.445, + 141.395, + 0.0, + -4.56, + 0.0 + ], + [ + -3521.607, + -133.452, + 141.398, + 0.0, + -4.56, + 0.0 + ], + [ + -3396.268, + -133.452, + 141.398, + 0.0, + -4.56, + 0.0 + ], + [ + -3270.986, + -133.445, + 141.395, + 0.0, + -4.56, + 0.0 + ], + [ + -3270.986, + -133.445, + 141.395, + 0.0, + -29.56, + 0.0 + ], + [ + -3164.209, + -152.52, + 144.794, + 0.0, + -29.56, + 0.0 + ], + [ + -3164.209, + -152.52, + 144.794, + 0.0, + -54.56, + 0.0 + ], + [ + -3164.209, + -152.52, + 144.794, + 0.0, + -79.56, + 0.0 + ], + [ + -3141.402, + -276.296, + 138.168, + 0.0, + -79.56, + 0.0 + ], + [ + -3141.402, + -276.296, + 138.168, + 0.0, + -104.56, + 0.0 + ], + [ + -3173.042, + -398.113, + 138.168, + 0.0, + -104.56, + 0.0 + ], + [ + -3173.042, + -398.113, + 138.168, + 0.0, + -104.56, + 0.0 + ] + ], + "Rationale": [ + "The blue bike is parked ahead against the metal railing on the far side of this open roadway, and the storefront with the orange sign stands to my right. Nothing blocks the pavement between me and the bike, so I will walk straight forward to begin closing that gap.", + "The blue bike sits slightly left of my heading, now noticeably larger against the railing. The ground ahead is still clear roadway, so another step forward should keep shrinking the distance without needing to reorient yet.", + "The bike and its blue front basket are clearly resolved now, propped by the curbside railing just left of my line of travel. My heading still points at it, so I continue walking forward rather than adjusting my facing.", + "The bike now stands well within a few paces, its basket and handlebars distinct above the low railing. The road remains open right up to the curb, so I keep advancing toward it.", + "The bike's blue basket and seat fill a large part of my view just ahead beside the railing, so I am nearly upon it. I take another step forward to bring myself right alongside it.", + "The blue basket is now close enough to see its panel seams, sitting just past the railing rail in front of me. A further step should place me right beside the bike rather than merely near it.", + "The bike's blue basket and handlebar now dominate the near foreground, only a stride away across the railing line. I move forward once more to stand level with the machine itself.", + "I am right at the parked blue bike, with its frame and basket filling the near view over the railing. One more short step should bring me fully abreast of it and settle my position at this destination.", + "The blue bike is right beside me now, its saddle and frame filling the near edge of my view within arm's reach. I have arrived at it, so I mark reaching the blue bike and set off toward the shopfront with the orange sign and orange door panels.", + "Standing at the blue bike, my heading still points across the green cycle lane toward the dark blue building, which is not where I am going. The orange-signed shop lies well round to my right, behind the bike's bulk, so I turn right to start swinging my heading toward it.", + "The sweep has brought the paved plaza, planter and bollards into view, but no orange signage yet stands ahead of me. I keep turning right to carry the rotation further around toward the shopfronts on that side.", + "My view is still filled by the bike's blue bodywork and the glazed blue building beyond it, so the storefront I want remains outside my forward arc. I turn right again to continue clearing the bike from my line of sight and bring the shop frontage around.", + "The bike's blue carrier still occupies the middle of my view, but a strip of orange trim is just appearing past its right edge. Another right turn should swing that orange-signed frontage fully into the centre of my view.", + "The shopfront with the orange sign and orange-panelled glass doors is now clearly in view, sitting left of centre with the bike still crowding my left. I turn right once more to bring the open pavement and street in front of me for a clean approach along that frontage.", + "The orange-signed shopfront now stands on my left along the pavement, with the railing and roadway opening ahead of me. One more turn to the right should line my heading up with that street so I can walk down it beside the frontage.", + "My heading is now down the open street, with the orange-signed shop and its orange-panelled doors running along the pavement to my left and nothing blocking the way ahead. I step forward to close along that frontage.", + "Having marked the blue bike behind me, I am now walking down the open street with the shop frontages running along my left. The orange panelling and orange lettering of the storefront are still beside and ahead of me, so another step forward should bring its entrance within reach.", + "The orange sign board and orange door panels are sliding past on my left as I advance along the block. The pavement ahead is clear, so I keep stepping forward to line myself up with the shop's entrance frontage.", + "I am still out in the roadway with the storefronts set back on the sidewalk to my left. Moving forward once more should carry me level with the orange-fronted shop before I swing toward it.", + "My heading runs straight down the street while the shop entrances sit off to my left on the raised walkway. I turn left to angle my body toward that frontage rather than continue past it.", + "Now angled toward the sidewalk, I can see the shop facades with their awnings and the orange panelling at the near left edge. A step forward should close the remaining gap onto the walkway in front of the shops.", + "I am on the walkway, but my gaze runs along the row of shops instead of at the orange-fronted one, which lies off to my left. Turning left should bring its orange-banded glass doors into the middle of my view.", + "The orange-panelled glass doors are now visible, but they sit toward the left side of my view rather than straight ahead. Another left turn should square me up with that entrance before I walk in.", + "The double glass doors with their orange panels are now centred squarely ahead of me across the tiled forecourt. I step forward to close the last stretch to that entrance.", + "The orange-panelled glass doors of the storefront sit off to my left, with the shuttered wall and bench taking up the right side of my view. A small left turn should put that entrance squarely ahead of me before I close the last of the gap.", + "The orange-trimmed glass doors now sit centered in front of me with clear paving between us. I will step forward to bring myself right up to this storefront entrance.", + "I stand directly at the orange-panelled glass doors of the storefront, their handles within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003069_y001469_z000138_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-003069_y001469_z000138_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0c01f036d9c0c21189960c9a79e555e00554f128 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003069_y001469_z000138_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the metallic doorway surrounded by a thick white angular frame.", + "Type": 0, + "Start_Pose": [ + -3068.69, + 1469.025, + 138.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3068.69, + 1469.025, + 138.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2966.252, + 1395.903, + 144.578, + 0.0, + -35.52, + 0.0 + ], + [ + -2863.813, + 1322.78, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2761.375, + 1249.658, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2761.375, + 1249.658, + 128.15, + 0.0, + -10.52, + 0.0 + ], + [ + -2637.632, + 1226.678, + 128.15, + 0.0, + -10.52, + 0.0 + ], + [ + -2513.888, + 1203.699, + 128.15, + 0.0, + -10.52, + 0.0 + ], + [ + -2390.145, + 1180.72, + 128.15, + 0.0, + -10.52, + 0.0 + ], + [ + -2266.401, + 1157.741, + 128.15, + 0.0, + -10.52, + 0.0 + ], + [ + -2142.658, + 1134.762, + 138.15, + 0.0, + -10.52, + 0.0 + ], + [ + -2142.658, + 1134.762, + 138.15, + 0.0, + 14.48, + -0.0 + ], + [ + -2037.115, + 1165.799, + 140.086, + 0.0, + 14.48, + -0.0 + ], + [ + -2036.975, + 1190.743, + 140.086, + 0.0, + 14.48, + -0.0 + ], + [ + -2036.975, + 1190.743, + 140.086, + 0.0, + 14.48, + -0.0 + ] + ], + "Rationale": [ + "From the open plaza I can already pick out the target on my right, a metallic sliding doorway set into a thick white angular frame under the yellow and blue signage. It is still far off across the paving, so I will step forward to begin closing that gap while keeping it in view.", + "The framed metallic doorway on my right has grown slightly larger, confirming my forward heading is bringing me nearer to it. The paving ahead is clear of poles and barriers, so I will keep advancing.", + "The white angular frame and its metallic doors are noticeably closer now, though still off to my right rather than straight ahead. Another step forward should bring me level with the entrance before I swing toward it.", + "I am now roughly abreast of the recessed entrance, but the metallic doors and their thick white frame sit to my right while I am still facing along the plaza. I will turn right to bring the doorway toward the center of my view so a straight walk-in becomes possible.", + "The turn has placed the metallic double doors and their thick white angular frame near the center of my view, with open pavement between us. I will move forward along this heading to close the remaining distance.", + "The framed entrance is filling more of my view and the dark threshold mat is now clearly visible, so my heading is good. I will continue forward toward the doors.", + "I am close enough to make out the individual door handles and the ribbed white frame curving around the recess. Another step forward should bring me right up to the threshold.", + "The metallic doors and the thick white frame now dominate the right of my view and the entrance step is just ahead of my feet. I will step forward again to draw fully up to the doorway rather than stopping short of it.", + "The frosted metallic double door and its thick white angular surround now fill the right half of my view, so I am close but still off to its side. I will step forward again to keep closing the remaining gap along the building front before squaring up on the entrance.", + "After moving up along the facade, the target door panel sits to the right of my heading while the pale angular frame edge cuts across the left of my view. I will turn right to bring the doorway into the center of my view so my remaining steps run straight at it.", + "The doorway is now centered ahead, with both frosted panels and their handles clearly framed by the thick white surround. With the heading aligned, I will walk forward to close the last of the distance to the threshold.", + "The frosted panels and their vertical handles now fill nearly my whole view, so only a short step remains before I am standing at the door. I will advance once more to settle right in front of the entrance.", + "I am standing directly at the metallic frosted doorway with its handles right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003195_y001147_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-003195_y001147_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a26d407f7f675aa97347c5b3065606177c5dd87 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003195_y001147_z000138_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the yellow barrier blocks on the plaza.", + "Type": 0, + "Start_Pose": [ + -3195.206, + 1146.822, + 138.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3195.206, + 1146.822, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3308.861, + 1092.757, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3422.516, + 1038.693, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3536.172, + 984.628, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3649.827, + 930.563, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3763.482, + 876.498, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3877.137, + 822.434, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3990.792, + 768.369, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3990.792, + 768.369, + 138.15, + 0.0, + -129.56, + 0.0 + ], + [ + -4070.95, + 671.337, + 138.15, + 0.0, + -129.56, + 0.0 + ], + [ + -4070.95, + 671.337, + 138.15, + 0.0, + -129.56, + 0.0 + ] + ], + "Rationale": [ + "Scanning the open plaza, I can pick out a low yellow barrier block sitting just right of the gray building's glass doors, well ahead of me across the paving. My heading is already close to that line, so I will move forward over the flat, unobstructed stone to begin closing the long gap.", + "The yellow barrier and the orange cone beside it have grown slightly larger and remain near the center-right of my view, confirming my heading points at the target. The pavement between us is still empty, so another forward step should keep shrinking the distance.", + "The barrier block is now clearly resolved ahead, with the green railings and the tree to its right framing it. Nothing blocks the direct line, so I continue straight forward rather than adjusting my heading yet.", + "The yellow barrier now reads as a distinct block with its white base and the cone leaning against its right end, still a few paces off. My heading remains aimed slightly left of it, which is fine while I close ground, so I press forward again.", + "The barrier occupies a noticeably larger part of the view and I can make out its recessed panels, so I am getting close but not yet within arm's reach. The paving directly in front stays clear, so another forward step is safe.", + "The yellow block now sits low in the right half of my view with the cone right beside it, indicating only a short remaining gap. I will advance once more to bring myself alongside the barrier line.", + "The barriers fill much of the lower right of my view and I can see two blocks joined end to end, so I am nearly at them. One more forward step should place me right at the barrier line before I settle my heading.", + "I am now immediately beside the yellow barriers, but they run off the right edge of my view while my heading points past them at the plain paving and the building doors. Turning right should swing the barrier line into the center of my view so I am squarely facing the target.", + "After the slight turn, the pair of yellow barrier blocks now sits centered in front of me with the orange cone just beyond their end. I will step forward once more to close the last bit of distance so the barriers are directly at arm's reach.", + "The yellow barrier blocks fill the near foreground directly ahead of me, close enough to touch. The task is complete, so I stop here rather than pushing into them." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003195_y001147_z000138_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-003195_y001147_z000138_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a055269c522b783a1ac280b92113c9470d6902 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003195_y001147_z000138_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the tomato near the yellow barrier blocks on the plaza.", + "Type": 5, + "Start_Pose": [ + -3195.206, + 1146.822, + 138.15, + 0, + -154.56, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4145.778, + 694.644, + 108.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3195.206, + 1146.822, + 138.15, + 0, + -154.56, + 0 + ], + [ + -3308.861, + 1092.757, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3422.516, + 1038.693, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3536.172, + 984.628, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3649.827, + 930.563, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3763.482, + 876.498, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3877.137, + 822.434, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3990.792, + 768.369, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3990.792, + 768.369, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3990.792, + 768.369, + 138.15, + 0.0, + -154.56, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4145.778, + 694.644, + 108.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4145.778, + 694.644, + 108.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4145.778, + 694.644, + 108.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4145.778, + 694.644, + 108.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4145.778, + 694.644, + 108.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4145.778, + 694.644, + 108.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4145.778, + 694.644, + 108.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4145.778, + 694.644, + 108.15, + 0.0, + 0.0, + 0.0 + ], + [ + -3981.068, + 749.348, + 108.256, + -28.202, + -104.415, + 1.862 + ], + [ + -3981.068, + 749.348, + 108.256, + -28.202, + -104.415, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1052.6, + 926.8, + 800.9, + 675.1, + 549.2, + 423.3, + 297.5, + 171.6, + 21.4, + 21.4 + ], + "Rationale": [ + "From the open plaza I can already see the small red tomato resting on the pavement beside the yellow and white barrier blocks, far ahead near the glass storefronts. The path across the tiles is clear and my heading is roughly on that line, so I will walk straight forward to close the large gap.", + "The tomato and the yellow barrier now sit slightly larger in view, confirming my heading is taking me toward them. Nothing blocks the open tiles between me and that spot, so I will keep walking forward.", + "The tomato beside the barrier is clearly resolved now, though still several strides away across the plaza. My current facing keeps it near the middle of my view, so continuing straight ahead is the most direct way to close the remaining distance.", + "The tomato and the yellow barrier block are noticeably nearer, with the orange cone and railing to their right. I still have open pavement in front of me and no need to change heading, so I will step forward again.", + "The tomato now sits low and clearly centered ahead against the yellow barrier, but it is still beyond arm's reach. Walking forward should bring me close enough to attempt a grasp.", + "The tomato fills a good part of my lower view and the barrier behind it is close, so only a short remaining gap separates us. I will advance once more to bring the fruit within reach rather than reaching from too far away.", + "The tomato is right in front of me at ground level, just left of the yellow barrier, but it still sits a step beyond where I could comfortably grab it. One more forward step should place it directly at my feet for a clean pick.", + "The tomato is now directly at my feet, filling the bottom of my view beside the yellow barrier block, which is exactly the target described for this task. With nothing between me and the fruit, I will reach down and attempt to pick it up.", + "The tomato is now held in my hands directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20882e0dddf40c9a0043ee5684bb8b8116c9ef16 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the leftmost cherry blossom tree.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ], + [ + -3305.946, + 587.455, + 138.15, + 0.0, + 110.4, + -0.0 + ], + [ + -3349.817, + 705.421, + 138.15, + 0.0, + 110.4, + -0.0 + ], + [ + -3393.688, + 823.386, + 138.15, + 0.0, + 110.4, + -0.0 + ], + [ + -3437.559, + 941.352, + 138.15, + 0.0, + 110.4, + -0.0 + ], + [ + -3437.559, + 941.352, + 138.15, + 0.0, + 85.4, + -0.0 + ], + [ + -3427.465, + 1066.805, + 138.15, + 0.0, + 85.4, + -0.0 + ], + [ + -3417.371, + 1192.259, + 147.939, + 0.0, + 85.4, + -0.0 + ], + [ + -3407.277, + 1317.712, + 143.15, + 0.0, + 85.4, + -0.0 + ], + [ + -3397.184, + 1443.166, + 143.15, + 0.0, + 85.4, + -0.0 + ], + [ + -3397.184, + 1443.166, + 143.15, + 0.0, + 110.4, + -0.0 + ], + [ + -3441.055, + 1561.131, + 143.15, + 0.0, + 110.4, + -0.0 + ], + [ + -3441.055, + 1561.131, + 143.15, + 0.0, + 110.4, + -0.0 + ] + ], + "Rationale": [ + "Several blossoming cherry trees stand around this plaza, and the leftmost of them rises in front of the shopfront with the big blue sign and red characters on the left side. I will pin my target to that storefront and walk forward across the open pavement to close distance.", + "The blossom tree by the blue shop sign has grown larger ahead and slightly to my left, so my heading is still useful. The pavement between me and the planted strip is clear, so I will keep walking forward.", + "The tree above the blue shop sign now shows its trunk and lower branches, so I am gaining ground on it. Nothing blocks the tiled floor in front of me, so another step forward is the simplest way to keep closing.", + "The target tree is close enough now that its canopy fills the upper left of my view, though the grey column still sits between us. Walking forward again should bring me level with the grass strip where it is planted before I angle over.", + "The grey column now takes up the middle of my view while the blossoming tree by the blue shop sign has slid to my left. I will turn left so that tree comes into the centre of my path and the column falls aside.", + "The blossoming tree in front of the blue shop sign now sits ahead of me with open pavement and lawn edge between us. With my heading aimed at it, I will step forward to shorten the remaining gap.", + "The trunk and its ring of shrubs are noticeably nearer, with the shopfront and its blue sign directly behind them. The route stays clear, so I will keep walking straight at the tree.", + "The trunk now rises through most of my view and fallen petals cover the grass at its base, so only a short gap remains. I will advance once more to bring myself right up beside it.", + "The trunk of the blossoming tree now stands just beyond the shrubs at its foot, with petals scattered across the turf right in front of me. One more step should put me at its base rather than a stride short of it.", + "The trunk sits squarely in the middle of my heading, so walking straight on would run me into it instead of bringing me alongside. Turning right should shift it off my line and open the paving beside the planter for a final step in.", + "With the trunk now off to my left and clear ground opening ahead along the grass edge, nothing stands in my way. Stepping forward should draw me level with the tree so I am standing right at it.", + "The blossoming tree's trunk rises at arm's length beside me, its petal-strewn grass under my feet. I have reached it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68c91e3d5c73ae10136fa9cd1c063280226f8f4a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the first orange traffic bollard from the left.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0, + 110.4, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3262.075, + 469.49, + 131.659, + 0, + 110.4, + 0 + ], + [ + -3305.946, + 587.455, + 138.15, + 0.0, + 110.4, + -0.0 + ], + [ + -3305.946, + 587.455, + 138.15, + 0.0, + 85.4, + -0.0 + ], + [ + -3295.852, + 712.909, + 138.15, + 0.0, + 85.4, + -0.0 + ], + [ + -3285.758, + 838.363, + 138.15, + 0.0, + 85.4, + -0.0 + ], + [ + -3275.665, + 963.816, + 138.15, + 0.0, + 85.4, + -0.0 + ], + [ + -3275.665, + 963.816, + 138.15, + 0.0, + 60.4, + -0.0 + ], + [ + -3213.498, + 1073.25, + 138.15, + 0.0, + 60.4, + -0.0 + ], + [ + -3151.331, + 1182.684, + 138.15, + 0.0, + 60.4, + -0.0 + ], + [ + -3151.331, + 1182.684, + 138.15, + 0.0, + 60.4, + -0.0 + ] + ], + "Rationale": [ + "From here the plaza opens ahead, and a line of short posts runs along the pavement in front of the shopfronts to my left, the nearest end of that line being the orange-topped bollard I want. It is still far off and partly hidden by the canopy pillars, so I will walk forward to shorten the distance and get a clearer read on the row.", + "Walking straight has kept the bollard row well off to my left edge, while my heading points across the open plaza past the planter and benches. I will turn left so the left end of that row, where my bollard stands, sits ahead of me rather than beside me.", + "The turn has brought the storefront frontage and its line of posts into the middle of my view, with the pillar and planter edge to my right leaving a clear paved lane ahead. I will step forward along that lane to close on the row.", + "The posts along the shopfront are noticeably larger now and the paving ahead of me stays unobstructed. I will keep walking forward to bring the left end of that line within a few steps.", + "The bollards are now clearly separated on the pavement to my left front, their orange bands readable, and the grass border curves away to my right. Another step forward should put me close enough to the run of posts to settle onto its leftmost one.", + "The nearest posts sit ahead, but the row continues out past my left edge, so the end I am after is not yet the one in front of me. I will turn left to swing that far end of the line into the center of my view before advancing further.", + "Now the full run of orange-banded posts lies across the pavement ahead of me, with its left end nearest my path and clear ground between us. I will walk forward to close on that end post.", + "From this close the posts no longer read as a neat row, but the end bollard is the tall banded one just ahead and slightly left of me, with the others trailing off to the right. One more step should bring me right up beside it.", + "The orange-banded end bollard stands right at my feet, close enough to touch. I have arrived at it, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..128400740a5b45a156a536ba61f4b25187f85c0e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Make your way to the left pillar of the canopy structure.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ], + [ + -3262.075, + 469.49, + 131.659, + 0.0, + 85.4, + -0.0 + ], + [ + -3251.981, + 594.944, + 138.333, + 0.0, + 85.4, + -0.0 + ], + [ + -3241.887, + 720.397, + 138.333, + 0.0, + 85.4, + -0.0 + ], + [ + -3231.794, + 845.851, + 138.333, + 0.0, + 85.4, + -0.0 + ], + [ + -3231.794, + 845.851, + 138.333, + 0.0, + 60.4, + -0.0 + ], + [ + -3169.627, + 955.285, + 138.333, + 0.0, + 60.4, + -0.0 + ], + [ + -3107.46, + 1064.718, + 138.333, + 0.0, + 60.4, + -0.0 + ], + [ + -3107.46, + 1064.718, + 138.333, + 0.0, + 60.4, + -0.0 + ] + ], + "Rationale": [ + "The canopy roof spans ahead of me on several supports, and the leftmost one is the slim square column at the near left edge of that shelter, close to the street lamp. My heading points too far toward the right-hand supports, so I will turn left to bring that outermost column into the center of my path.", + "The square column at the near left end of the canopy now sits close to my forward line, with open paving between me and it. I will walk forward to close that gap.", + "The canopy edge and its near support are growing larger, so my line of travel is still good. The distance remains too great to stop here, so I will keep walking forward.", + "The tall square support now rises directly at my left, and the canopy roof fills the upper part of my view. I will step forward again to draw level with that column.", + "I am nearly beside the tall square support, but it sits off at the left margin of my view rather than in front of me. I will turn left so that column is squarely ahead before I close the last stretch.", + "The tall square support now stands centered in my view with clear paving up to its base. I will walk forward to reach it.", + "The column fills much of the center of my view but I am still a short distance from its base. One more step forward should place me right at it.", + "The canopy's left support column stands directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bbce8983522bcd295f55aa1b73bfd9246bac5f1d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_e/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the second bench from the right near the right pillar.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ], + [ + -3305.946, + 587.455, + 138.15, + 0.0, + 110.4, + -0.0 + ], + [ + -3305.946, + 587.455, + 138.15, + 0.0, + 135.4, + -0.0 + ], + [ + -3395.561, + 675.828, + 138.15, + 0.0, + 135.4, + -0.0 + ], + [ + -3485.176, + 764.2, + 138.15, + 0.0, + 135.4, + -0.0 + ], + [ + -3574.791, + 852.572, + 138.15, + 0.0, + 135.4, + -0.0 + ], + [ + -3664.405, + 940.945, + 138.15, + 0.0, + 135.4, + -0.0 + ], + [ + -3754.02, + 1029.317, + 138.15, + 0.0, + 135.4, + -0.0 + ], + [ + -3843.635, + 1117.689, + 138.15, + 0.0, + 135.4, + -0.0 + ], + [ + -3843.635, + 1117.689, + 138.15, + 0.0, + 135.4, + -0.0 + ] + ], + "Rationale": [ + "Far ahead on the right, a line of low benches runs along the grass beside two rounded pillars. The benches all look alike, so I pin my target as the one standing at the foot of the right pillar, counting in second from that end. I walk forward to close the long gap.", + "My heading points at the shopfronts across the plaza, while the pillar and the bench beside it sit off to my right. I turn right so that pillar and its bench come into the middle of my view for a straight approach.", + "The pillar and the bench at its foot now lie roughly ahead across clear paving. Nothing stands in the way, so I step forward to shorten the distance.", + "The pillar has grown larger and the bench beside it is still some way off across the grass strip. I keep walking straight ahead toward it.", + "The bench at the foot of the pillar reads clearly now, its metal frame low on the green strip just left of my path. I advance again to draw level with it.", + "As I close in, more benches spread across the lawn on my left, so the row no longer reads as a simple line from here. I hold to the bench sitting at the foot of the pillar and keep stepping toward it.", + "The pillar now looms close and the bench at its base is only a short walk ahead, while a nearer bench passes on my left. I keep walking forward to reach the bench by the pillar.", + "The bench beside the pillar is now just a step or two off, with the grass already under my feet and the nearest bench alongside me. One more step forward should bring me right up to it.", + "The bench at the foot of the right pillar sits directly beside me, close enough to touch on my right. I am at my target, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dde425502ef1a5e282533186558be989a2c91690 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Walk to the leftmost orange traffic bollard.", + "Type": 2, + "Start_Pose": [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ], + [ + -3359.631, + 2005.699, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3306.998, + 1891.374, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3254.366, + 1777.048, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3201.734, + 1662.723, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3149.102, + 1548.397, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3096.469, + 1434.071, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3096.469, + 1434.071, + 138.15, + 0.0, + -90.28, + 0.0 + ], + [ + -3097.085, + 1308.214, + 138.15, + 0.0, + -90.28, + 0.0 + ], + [ + -3097.7, + 1182.356, + 138.15, + 0.0, + -90.28, + 0.0 + ], + [ + -3098.315, + 1056.499, + 138.15, + 0.0, + -90.28, + 0.0 + ], + [ + -3098.315, + 1056.499, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3045.682, + 942.173, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -2993.05, + 827.848, + 142.473, + 0.0, + -65.28, + 0.0 + ], + [ + -2993.05, + 827.848, + 142.473, + 0.0, + -90.28, + 0.0 + ], + [ + -2993.05, + 827.848, + 142.473, + 0.0, + -90.28, + 0.0 + ] + ], + "Rationale": [ + "Orange and white bollards stand in a line along the plaza curb ahead, and the one furthest left sits close to the green archway sign near the crossing, so that is the one I want. It is far off across the open pavement, so I walk straight ahead to begin closing the gap.", + "The bollard beside the archway has grown slightly but is still well across the plaza. The paved square in front of me stays clear, so I keep walking forward toward it.", + "I am nearer now, with the bollards along the curb spread wider across my view and the one by the archway still ahead and slightly to my left. Nothing blocks the pavement, so I continue straight to keep reducing the distance.", + "One bollard now looms large on my right side, but that is a near post along the curb, not the one I chose by the archway. My target still lies further ahead and to the left, so I keep stepping forward.", + "The nearer posts are sliding past on my right as I advance, and the bollard I want remains ahead beyond them, near the storefront side of the plaza. I walk forward again to keep gaining ground.", + "The plaza has opened up and the bollard I am heading for now reads as a small post over by the curb in front of the orange doored shopfront, left of my line of travel. Ground ahead is clear, so I take another step forward before adjusting my heading.", + "A bollard now fills my right foreground, but that is a close post beside me, while the one I am after stands far to my left by the curb in front of the orange doored shop. My body is aimed past it, so I turn left to bring it back toward the centre of my view.", + "The turn has put the bollard by the curb in front of the orange doored shop roughly ahead of me, past the structural post on my right. With open pavement between us, I walk forward to close on it.", + "The orange and white post at the curb below the orange doored shop sits just right of my heading, clear of the tall column edging my right side. The pavement between us is empty, so I keep walking straight at it.", + "The banded post has grown noticeably and now reads clearly against the road edge, with the crossing stripes just beyond it. Still a good stretch of open plaza to cover, so I step forward again.", + "The orange banded post sits a little right of where my body points, with the fat blue lamp column further out on that side. A small turn right should put the post squarely on my line before I close the last stretch.", + "With the heading corrected, the orange post stands ahead at the kerb, and the slim grey bollards spaced along the crossing are plainly not it. I walk forward to close the remaining gap.", + "The orange post is now large and low on my left, right where the paving meets the road below the shop with the orange doors. A little more ground remains, so I take another step toward it.", + "I am level with the orange post now, but it has slipped to the bottom left corner while the broad blue column fills my centre. Turning left should swing my body onto the post and clear the column from in front of me.", + "The orange banded bollard by the orange doored shop stands directly before me at the kerb, close enough to touch. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d020d4c52525a2a41a8a635bc96bc2e1189d3722 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the third bollard from the left.", + "Type": 2, + "Start_Pose": [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ], + [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -40.28, + 0.0 + ], + [ + -3316.246, + 2038.654, + 138.15, + 0.0, + -40.28, + 0.0 + ], + [ + -3220.229, + 1957.283, + 138.15, + 0.0, + -40.28, + 0.0 + ], + [ + -3124.212, + 1875.912, + 138.15, + 0.0, + -40.28, + 0.0 + ], + [ + -3124.212, + 1875.912, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3071.579, + 1761.587, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3071.579, + 1761.587, + 138.15, + 0.0, + -65.28, + 0.0 + ] + ], + "Rationale": [ + "From here I count the orange and white bollards spread across the plaza from left to right, and the third is the one standing at the near edge of the tiled walkway on the right side. It lies right of my current heading, so I will turn right to face it.", + "The striped bollard beside the tiled walkway now sits near the center of my view with flat, unobstructed pavement between us. I will walk forward to close that distance.", + "My bollard by the tiled walkway has grown noticeably larger and stays just right of center, so I am still on a good line. Nothing blocks the pavement, so I keep walking toward it.", + "More bollards have come into view along this near edge, so counting from the left no longer picks out the same post; I keep following the striped one beside the tiled walkway that I have been tracking. It is still several paces off, so I advance again.", + "My bollard now stands close but has drifted to the left of center as I closed in. I will turn left to square my heading onto it before the final steps.", + "The striped bollard sits squarely ahead of me now, only a step or two away on clear ground. I will step forward to bring myself right up to it.", + "The striped bollard I chose stands directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3eda2cabb1e18a29286d92da0488651e9ce79c93 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the third bollard from the right.", + "Type": 2, + "Start_Pose": [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ], + [ + -3359.631, + 2005.699, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3306.998, + 1891.374, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3254.366, + 1777.048, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3201.734, + 1662.723, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3149.102, + 1548.397, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3096.469, + 1434.071, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3096.469, + 1434.071, + 138.15, + 0.0, + -65.28, + 0.0 + ] + ], + "Rationale": [ + "Counting from the right end of the curb line ahead, the third orange and white bollard is my target. They all look alike, so I hold it as the one standing at the curb just right of the tall dark pole beneath the green arched sign. I walk forward toward it.", + "The bollard I settled on, at the curb beside the tall dark pole under the green sign, is still far down the walkway. The pavement between us is clear and level, so I continue straight ahead.", + "The nearest curb bollard has slid to the edge of my view, so the row can no longer be counted reliably from its right end. I stay with the bollard by the tall pole under the green sign and keep walking toward it.", + "My bollard now reads clearly on the right, standing at the curb edge near the tall pole. A noticeable gap still separates us and the route stays open, so I advance again.", + "The bollard sits close ahead on my right, its base on the raised curb line. I keep stepping forward to close the remaining distance.", + "The bollard now fills much of my lower right view, yet I am still a short stride from standing level with it. One more forward step should bring me right up beside it.", + "The target bollard stands immediately beside me at the curb, filling my near right view. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c9220b8760e262ee8f2773adf4f0e4e730a7882 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the second cherry blossom tree from the right.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3543.592, + 791.537, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3668.458, + 807.312, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3918.191, + 838.86, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4043.058, + 854.635, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4167.925, + 870.409, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4292.791, + 886.183, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4417.658, + 901.957, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4542.524, + 917.732, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4667.391, + 933.506, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4792.257, + 949.28, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4792.257, + 949.28, + 138.15, + 0.0, + 172.8, + -0.0 + ] + ], + "Rationale": [ + "Counting the blossom trees from the right, the nearest is the thick trunk beside the yellow cart on my right, so my target is the next one inward, the tree standing further down the walkway where the blue shopfronts begin. The path ahead is open pavement, so I will walk straight toward it.", + "The near trunk by the cart has drifted to my right edge, while the tree I want still sits ahead along the walkway beside the blue shopfronts. Nothing blocks the paving in front of me, so I keep walking forward.", + "The tree I am heading for now shows its full canopy over the middle of the plaza, with the blue roller doors running along its right. The yellow barrier sits off to my right and does not cross my line, so I continue straight ahead.", + "The pale trunk of my target is now clearly visible rising from the walkway just left of center, its blossoms spread wide overhead. The gap between us is still several strides of plain paving, so I press forward.", + "The blossom tree I chose stands ahead with its trunk meeting the ground near the white building's edge, and a second trunk to my left belongs to the row behind it. I am still short of it, so I keep advancing along the walkway.", + "From here the trees no longer read as a neat row, but I am still tracking the one whose trunk rises in front of the white building beside the blue roller doors. Its canopy now fills much of the view above me, so a few more steps should bring me to its base.", + "The trunk I am following is close now, standing just right of the low green shrub with its shadow spilling across the paving in front of me. I have not reached its base yet, so I take another step forward.", + "The trunk now rises tall through the middle of my view with the blossoms cropped near the top edge, showing how near I have come. The paving up to its root is still clear, so I keep walking to close the last of the gap.", + "The trunk I am following dominates the middle of my view, its base still a couple of paces beyond the fallen petals scattered on the paving in front of me. The ground between us is clear, so I step forward again to close in on its root.", + "I can now see the raised stone collar around the base of my tree, which means the root is nearly within reach but not yet beside me. A short advance should bring me right up against it.", + "The bark now fills a wide band of my view and the planter stones at the foot sit just ahead of my feet. One more step should put me level with the trunk rather than short of it.", + "The blossom tree's trunk stands directly in front of me, close enough to touch, with its bark filling my view. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4407579f5d6fcc529575a0abac21e915683decca --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the second bench on the left side of the path.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3543.592, + 791.537, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3668.458, + 807.312, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -3899.826, + 890.153, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4006.327, + 957.22, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4112.828, + 1024.288, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4219.329, + 1091.355, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4219.329, + 1091.355, + 138.15, + 0.0, + 147.8, + -0.0 + ] + ], + "Rationale": [ + "Two benches sit on the grassy strip along the left of the path, and the farther of the pair stands right at the foot of the tall cylindrical kiosk, so that is the one I fix on. Both are still well ahead, so I walk forward along the open paving.", + "The kiosk with my bench beside it is still some way off on my left, and the paving in front of me is clear of obstacles. I keep walking forward to close the gap before angling off the path.", + "The kiosk and the bench at its base now sit off my forward left rather than far down the walkway. Another step forward should bring me close enough to swing toward them cleanly.", + "My heading runs straight down the paving, which would carry me past the bench standing at the kiosk's base off to my left. I turn left so that kiosk and its bench come into the middle of my view before I advance further.", + "The turn has placed the kiosk and the grass strip squarely ahead of me, with bench seats along its edge. I walk forward toward the bench that stands at the kiosk's base.", + "The kiosk now dominates the view ahead and the grass edge below it is within a few paces. I step forward again to reach the bench sitting against it.", + "The bench at the kiosk's base is plainly in front of me now, its metal frame lying along the grass edge, while the other seating has slid off to my left, so I just follow this bench. I keep moving forward to close the last stretch.", + "The bench beside the kiosk is directly in front of me, its near end filling the lower part of my view against the grass. One more short step forward should bring me right up alongside it.", + "The bench beside the kiosk is right at my feet, its frame filling the lower view. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a0fec256a4d31d1350570b045a3160c3f8d0e1 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the second blue double door from the right on the far building.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0, + 172.8, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3418.725, + 775.763, + 138.15, + 0, + 172.8, + 0 + ], + [ + -3543.592, + 791.537, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3668.458, + 807.312, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -3913.159, + 784.611, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4032.993, + 746.137, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4152.827, + 707.662, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4272.661, + 669.188, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4392.495, + 630.713, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4512.329, + 592.239, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4632.163, + 553.764, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4751.997, + 515.29, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4871.831, + 476.815, + 144.111, + 0.0, + -162.2, + 0.0 + ], + [ + -4871.831, + 476.815, + 144.111, + 0.0, + 172.8, + -0.0 + ], + [ + -4996.698, + 492.59, + 140.043, + 0.0, + 172.8, + -0.0 + ], + [ + -4996.698, + 492.59, + 140.043, + 0.0, + -162.2, + 0.0 + ], + [ + -5088.968, + 468.796, + 140.043, + 0.0, + -162.2, + 0.0 + ], + [ + -5088.968, + 468.796, + 140.043, + 0.0, + -162.2, + 0.0 + ] + ], + "Rationale": [ + "The building across the plaza on my right carries a row of blue double doors, and counting from its right end my target is the second, the door immediately left of the rightmost one. They look alike, so I hold it by that neighbour rather than by any marking. I step forward along the open walkway to close the distance.", + "The door frontage on my right is a little larger now but still well off to the side and far away. The pavement in front of me stays clear of the yellow barrier and the cone, so I keep walking forward to shorten the distance before angling in.", + "The blue door bays on the right are widening in my view, but I am still short of being level with them. Continuing straight along the open plaza is the cheapest way to gain ground before I swing my heading toward the doors.", + "I have come far enough along the plaza that the door frontage now sits off at the right edge of my view, with the yellow barrier marking its foot. Walking straight would carry me past it, so I turn right to bring the doors into the centre of my heading.", + "The turn has put the door bays squarely ahead: the right-hand one of the pair I can see is the end of the row, so the bay to its left is the one I want. The paving between me and them is open apart from the barrier off to the right, so I walk forward.", + "The barrier stays to my right while the left-hand door of the pair, my target, sits ahead and slightly left. Nothing crosses that line, so another stride forward should bring me nearer to its threshold.", + "The frontage is close enough now that the door frames and their canopies read clearly, and my target still stands to the left of the end door. The lane left of the barrier remains free, so I keep advancing along it.", + "Both door bays now fill much of my view and the recessed one on the left is the one I am heading for. I am still a few paces short of standing in front of it, so I walk forward again.", + "The barrier has slipped to the right edge of my view and the two bays now tower over me, my door being the recessed one on the left. Clear paving runs straight up to that frontage, so I walk on to close the last stretch.", + "Handles and the frosted panels of both bays are legible now, with the left-hand doorway set slightly back under its own canopy. I am still out on open pavement rather than under the frontage, so another stride forward is worthwhile.", + "The frontage fills nearly my whole view and the raised kerb step at the base of the doorways is visible ahead. My door still sits beyond the wide pier on the left, so I keep advancing toward that side of the wall.", + "The nearer bay's glass and metal frame now crowd the right side of my view while my doorway remains ahead and left, past the pier. Nothing blocks the pavement between me and it, so I press on.", + "At this range the wall no longer reads as a countable row; I have only the pier and the doorway behind it on my left to steer by, and that doorway is mine. I step forward again to reach the frontage itself.", + "The broad pier and the near bay's frame have swollen across the centre of my view, leaving my doorway squeezed into the left edge. Turning left should swing that recessed entrance back in front of me before I close the final paces.", + "The turn has brought the recessed glass doors back into view ahead and slightly left, with clear pavement and the kerb running up to them. I walk forward to bring myself level with that entrance.", + "I am now beside the entrance rather than facing it, with the doors sitting left of centre and the wall running past them ahead. Turning right should square me into the door recess so a short step can put me at its threshold.", + "The glass doors and their handle now sit close on my left, with the pier edge just ahead of my shoulder and clear paving underfoot. One short stride should carry me the last bit into the recess and put me right at the doorway.", + "The blue double doors are directly beside me, their handle and frosted panel within arm's reach at the recess. I have arrived at this entrance, so the approach is complete." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..48dfccf978f474b147dad8080994873d027c2dfb --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Navigate to the rightmost blue door on the far building.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3543.592, + 791.537, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3668.458, + 807.312, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3918.191, + 838.86, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4043.058, + 854.635, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4043.058, + 854.635, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4162.892, + 816.16, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4282.726, + 777.686, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4402.56, + 739.211, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4402.56, + 739.211, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4494.907, + 653.697, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4587.253, + 568.183, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4679.6, + 482.67, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4771.946, + 397.156, + 142.63, + 0.0, + -137.2, + 0.0 + ], + [ + -4864.293, + 311.642, + 140.043, + 0.0, + -137.2, + 0.0 + ], + [ + -4864.293, + 311.642, + 140.043, + 0.0, + -137.2, + 0.0 + ] + ], + "Rationale": [ + "A row of blue glass doors runs along the far building to my right, and the last one at the right end of that run stands beside the yellow barrier under the cherry tree. Since the doors look alike, I hold my target by that barrier. I step forward to close the distance.", + "The blue door beside the yellow barrier is still far off and well to my right. The plaza ahead is wide and unobstructed, so straight walking is the cheapest way to shorten the gap before I angle toward the entrance. I move forward again.", + "The door bays on the right building have grown noticeably larger and the yellow barrier that marks my door now sits close on my right. Nothing stands in the paving in front of me. I keep walking to draw level with that end of the building.", + "I am coming alongside the building now, with two blue bays framed on my right and the barrier sliding toward the edge of my view. I still have ground to cover before it is worth swinging toward the entrance. I continue straight.", + "The blue entrances remain off to my right while my heading runs down the open lane past the trees. A little more depth into the plaza should let me face the bay beside the barrier squarely rather than at a sharp angle. I take another step forward.", + "My heading still points down the open lane while the blue entrances sit off to my right. A modest turn to the right should bring the bay next to the yellow barrier toward the middle of my view so I can walk straight at it. I turn right.", + "The turn paid off: two blue door bays now face me, with the yellow barrier and the red brick frontage just past the right-hand one. The left part of the row has slid out of my view, so I keep to the bay beside that barrier. I walk forward toward it.", + "Both bays are larger and closer, and with the rest of the row out of sight I go by the barrier: my door is the right-hand bay standing next to it. The paving between us is clear. I keep advancing.", + "The right-hand bay is close enough now that its handles and frosted panels read clearly, and the barrier sits at the edge of my view on that side, confirming this is the entrance I settled on. A few paces of clear paving still separate us. I step forward.", + "My heading is drifting past the face of the doors, so the bay I want now hangs toward the right of my view rather than in front of me. A short turn to the right should square me with its frame and give me a straight line to its threshold. I turn right.", + "The turn lined me up well: my door faces me with its neighbouring bay set off to the left, and the barrier has swung clear to my right. The paving between me and the raised landing is empty. I walk forward.", + "The blue surround of my entrance has grown to dominate the middle of my view, and the curved kerb of its landing is now visible just beyond a couple of paces. Nothing crosses that stretch. I keep walking toward the doors.", + "The landing edge now lies immediately in front of me and the glass leaves of my door sit squarely ahead, with the adjacent bay pushed to the left margin. I am still short of the threshold. Another step closes that gap.", + "Only this one entrance remains in front of me now, its twin glass leaves and central handles filling most of my view. The last stretch of paving up to the doorway is flat and clear. I advance again.", + "The doors span my view from side to side and the paired handles sit near the middle at about hand height, so I am nearly on the threshold. One more short step should bring me right up against them. I move forward.", + "The blue glass door fills my view at arm's length, handles within reach. I stand at the entrance, so the task is complete." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..51a73eb24760742e27723aad0163a6ca3e796203 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t2_e/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Make your way to the third cherry blossom tree from the right.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3543.592, + 791.537, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3668.458, + 807.312, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3918.191, + 838.86, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3918.191, + 838.86, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4024.692, + 905.928, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4131.193, + 972.995, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4237.694, + 1040.062, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4344.196, + 1107.129, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4450.697, + 1174.197, + 148.009, + 0.0, + 147.8, + -0.0 + ], + [ + -4557.198, + 1241.264, + 143.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4557.198, + 1241.264, + 143.15, + 0.0, + 147.8, + -0.0 + ] + ], + "Rationale": [ + "Counting the blossom trees from the right, the first stands over the yellow barrier, the second further down the walkway, and the third deeper in the plaza beside the tall cylindrical kiosk on the grass. They all look alike, so I hold that kiosk as its marker and step forward.", + "The walkway in front of me stays clear, and the tree I chose is still deeper ahead on the left near the cylindrical kiosk. I keep walking forward to close distance before I need to angle toward it.", + "The canopy above the kiosk is filling more of my view, so my line toward that tree is good. The paving in front of me remains open, so I advance again.", + "I am still short of the kiosk lawn where my tree stands, and the open paving carries me straight toward it. I take another step forward before I adjust my heading.", + "My heading now points down the corridor between the buildings, but the tree I am going to stands off to my left beside the kiosk. I will turn left so that tree and the grass under it sit in front of me.", + "The turn has brought the kiosk and the lawn beside it squarely into view, with the trunk I am aiming for rising just past it. The paving between us is clear, so I walk forward.", + "From this close the trees no longer read as a countable row, but I am still following the one rooted in the lawn beside the kiosk. Nothing blocks the walkway, so I keep moving forward.", + "I am nearly level with the kiosk and the tree's pale trunk stands close ahead on the grass, its blossoms overhead. A few more strides should bring me right to its base, so I step forward again.", + "The kiosk now fills the left edge of my view and the pale trunk on the lawn sits just ahead and slightly right of it. Open paving still runs between us, so I press forward to draw level with that trunk.", + "The kiosk has slid past my left shoulder and the trunk I am following rises straight ahead out of the petal-strewn grass. Its base is still a couple of strides off, so I keep walking toward it.", + "The trunk now fills a broad band of my view with the low shrub tucked against its base, meaning I am nearly touching distance. One more step should put me right at the foot of it.", + "The pale trunk I have been following stands right beside me on the blossom-littered lawn. I am at the tree, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eb1fc477131c51bbeca303e0732d43b827c84aaa --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the leftmost green barrier railing on the curb.", + "Type": 2, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ], + [ + -3603.457, + -133.377, + 141.366, + 0.0, + 84.52, + -0.0 + ], + [ + -3591.438, + -8.093, + 128.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3579.418, + 117.191, + 128.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3567.399, + 242.474, + 128.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3555.38, + 367.758, + 128.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3555.38, + 367.758, + 128.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3597.434, + 486.383, + 142.527, + 0.0, + 109.52, + -0.0 + ], + [ + -3597.434, + 486.383, + 142.527, + 0.0, + 109.52, + -0.0 + ] + ], + "Rationale": [ + "The green barrier railings stand in a row along the curb off to my right, and the leftmost one is the near-end piece closest to the covered plaza entrance, since the others continue away to the right. I will turn right so that end of the run sits ahead of me.", + "The green railing run now sits ahead and slightly right across the open roadway, with the near-end piece I chose closest to the plaza entrance. Nothing blocks the pavement between me and the curb, so I will walk forward to close that gap.", + "The railing appears larger and the green curbside strip is closer, so my heading is carrying me toward it. I still have several strides of open road left, and I will keep walking forward.", + "The railing hoops are now clearly ahead of me at the raised curb, with the bench seat between them plainly visible. The path remains unobstructed, so I will step forward again to reach the kerbside.", + "I am nearly at the raised kerb, with the green hoops just beyond it and slightly to my right. One more forward step should bring me up level with that railing rather than stopping short in the roadway.", + "I have reached the kerb, but the railing I want sits off to my right and is partly cut off at the edge of my view by the support column ahead. Turning right should swing that railing into clear view directly in front of me.", + "The green railing with its bench now sits squarely in front of me, just a short step beyond the pavement edge. I will walk forward to close the last of that distance and stand right at it.", + "I have arrived at the curb where the green railing at the near end of the run stands beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c066ee584cbe444cf3be2f8f324820349c22aed --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the second bollard from the left on the sidewalk.", + "Type": 2, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ], + [ + -3539.617, + -24.911, + 128.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3475.776, + 83.555, + 128.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3475.776, + 83.555, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3372.077, + 154.879, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3268.379, + 226.202, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3164.68, + 297.526, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3060.981, + 368.849, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3060.981, + 368.849, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2936.855, + 389.665, + 129.622, + 0.0, + 9.52, + -0.0 + ], + [ + -2812.73, + 410.481, + 129.622, + 0.0, + 9.52, + -0.0 + ], + [ + -2812.73, + 410.481, + 129.622, + 0.0, + 34.52, + -0.0 + ], + [ + -2709.031, + 481.805, + 129.622, + 0.0, + 34.52, + -0.0 + ], + [ + -2605.332, + 553.128, + 128.672, + 0.0, + 34.52, + -0.0 + ], + [ + -2605.332, + 553.128, + 128.672, + 0.0, + 9.52, + -0.0 + ], + [ + -2605.332, + 553.128, + 128.672, + 0.0, + 9.52, + -0.0 + ] + ], + "Rationale": [ + "A row of low bollards runs along the sidewalk ahead to my left, in front of the lit storefront. Counting from the left end, my target is the second one, and since they all look alike I pin it to the store entrance it stands beside. I walk forward to close that gap.", + "I am still out on the roadway, with the storefront sidewalk and its bollards ahead and slightly to my left. Nothing obstructs the crossing, so I keep walking forward to reach that frontage before adjusting my heading toward the bollard beside the entrance.", + "As I advanced, the storefront and its line of bollards have drifted toward the left edge of my view while my heading points across toward the far corner. I turn left to swing that frontage back in front of me so my next steps carry me along it.", + "The storefront with the bollards along its frontage now sits centered ahead of me, and the roadway toward it is clear. I walk forward to cut down the remaining distance to that sidewalk.", + "The storefront is noticeably nearer and the slim bollards along its frontage are easier to pick out ahead and to my right. The way remains open, so I keep walking toward the one standing by the store entrance.", + "From here the left end of the bollard line is sliding out of my view and a striped post further along has come in, so counting the row again from this angle would mislead me. I hold to the bollard beside the store entrance and step forward again.", + "Only the nearer posts and the store's glass entrance are still in view as I close in, and my target is the bollard set beside that entrance. The pavement ahead is clear, so I take another step forward.", + "Continuing straight would take me into the building frontage, since the storefront now fills the view ahead and the nearest posts sit to my right. The sidewalk and street run off to my left, so I turn left to line up with that run and keep approaching the bollard by the entrance.", + "The street now runs clear ahead of me with the store frontage down my right side, and the slim posts stand spaced along that pavement. I walk forward to draw level with the glass entrance instead of stopping short of it.", + "The posts on the pavement to my right have grown larger and the store's doors sit just beyond them. I take another step along the street to bring myself abreast of the one standing by that entrance.", + "My heading still runs straight down the street while the entrance and the post beside it now sit off to my right. I turn right to square up with that frontage so my next steps carry me onto the pavement toward it.", + "The store entrance sits squarely ahead of me now, with the posts spread across the paving in front of it and one close on my right. The tiled surface between us is open, so I step forward onto it.", + "From this close the posts no longer read as a row at all, just a couple of separate uprights near the doorway, so I stay with the one set beside the entrance. The paving remains clear, and I advance again to close the last stretch.", + "The post I am heading for has slid to the far left edge of my view as I came up level with the doorway, and the pillar in front of me crowds the rest. I turn left to bring it back squarely before me.", + "The bollard beside the store entrance now stands directly in front of me, within arm's reach on the sidewalk. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..638521d55b14717a2306f342f6227ea124ff47ab --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the second white bollard from the right on the sidewalk.", + "Type": 2, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0, + 59.52, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3603.457, + -133.377, + 141.366, + 0, + 59.52, + 0 + ], + [ + -3539.617, + -24.911, + 128.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3539.617, + -24.911, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3435.918, + 46.413, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3332.219, + 117.736, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3228.52, + 189.06, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3124.821, + 260.383, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3021.123, + 331.707, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2917.424, + 403.03, + 129.663, + 0.0, + 34.52, + -0.0 + ], + [ + -2813.725, + 474.354, + 129.663, + 0.0, + 34.52, + -0.0 + ], + [ + -2813.725, + 474.354, + 129.663, + 0.0, + 34.52, + -0.0 + ] + ], + "Rationale": [ + "From here I can settle the count: a short row of white bollards lines the far sidewalk in front of the store with the big arched sign, and counting in from the right end, my target is the one standing just inboard of that end post, beside the store's glass entrance. The road between us is clear, so I step forward to begin closing the gap.", + "After advancing, the bollard beside the store entrance sits left of where my body is pointed, and my current heading would carry me past it toward the right-hand plaza. A modest turn to the left should place that bollard and the storefront squarely along my walking line.", + "The turn has brought the storefront with its arched sign and the pale bollards in front of it onto my heading. The distance is still considerable, so I keep walking straight to close it.", + "The bollards by the store entrance are growing but remain well down the block. Nothing blocks the lane in front of me, so I continue advancing along the same line.", + "More posts have come into view along the right-hand pavement, including a striped one, so the row no longer counts the same from where I stand. I hold to the bollard set beside the store's glass entrance and keep walking toward it.", + "The store entrance and the pale bollards guarding it are clearly ahead and slightly right of my path. The green cycle lane runs straight toward them, so I press on.", + "I am close enough now that the posts read as separate objects rather than a row seen end on. The one standing in front of the entrance canopy is still my mark, so I continue toward it.", + "The paved sidewalk is right in front of me and the bollard by the store entrance is only a short walk away. One more step forward should bring me alongside it.", + "I am up on the paving now, and the post I picked out beside the store's glass entrance stands just ahead of me, well clear of the pair further left. A single step should bring me right up against it.", + "The white bollard beside the store's glass entrance now stands directly at my feet, filling the near view. I have reached it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5973a36d6befbfe7476cb507a7847cab68b1ec0f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t5_a_p/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Grab the wicker basket near the root of the cherry blossom tree on the far left.", + "Type": 5, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0, + 59.52, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2178.521, + 371.779, + 78.15, + 90, + 19.52, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3603.457, + -133.377, + 141.366, + 0, + 59.52, + 0 + ], + [ + -3603.457, + -133.377, + 141.366, + 0.0, + 34.52, + -0.0 + ], + [ + -3499.758, + -62.053, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3396.059, + 9.27, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3292.361, + 80.594, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3188.662, + 151.917, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3084.963, + 223.241, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3084.963, + 223.241, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2960.837, + 244.057, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2836.712, + 264.873, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2712.586, + 285.689, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2588.46, + 306.505, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2464.335, + 327.321, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2340.209, + 348.137, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2340.209, + 348.137, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2340.209, + 348.137, + 128.15, + 0.0, + 9.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2178.521, + 371.779, + 78.15, + 90.0, + 19.52, + 0.0 + ], + [ + -2344.343, + 369.096, + 98.256, + -28.202, + 59.665, + 1.862 + ], + [ + -2344.343, + 369.096, + 98.256, + -28.202, + 59.665, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1511.8, + 1511.8, + 1390.6, + 1270.4, + 1151.3, + 1033.8, + 918.5, + 918.5, + 792.7, + 666.8, + 541.0, + 415.1, + 289.3, + 163.4, + 21.4, + 21.4 + ], + "Rationale": [ + "From this spot the road runs across my view and only the edge of a pink blossom canopy shows at the far left margin, so the cherry tree row I need is well off my current heading. I will turn left to swing that blossoming tree line into the center of my view before committing to any walking. That should let me pick out the wicker basket sitting at a tree root.", + "The turn has brought the blossoming cherry trees into the left half of my view, with the street running away past them toward a distant open area. The basket at a tree root is still far too distant to resolve, so I will walk forward along this open roadway to close the gap. The pavement ahead looks clear of obstacles.", + "The row of cherry trees on my left is noticeably larger and the street beyond them is opening up, confirming my heading is carrying me the right way. Nothing at the tree roots is distinguishable yet at this range. I will keep walking straight to reduce the distance further.", + "More of the tree-lined stretch is now visible on my left, with railings and the sidewalk under the blossoms coming into detail. The target basket should sit at one of those trunks, but I still cannot separate it from the shadowed ground. Another step forward should continue improving my view.", + "The corner building on my right is sliding past and the tree row on the left continues down the street, so I am steadily advancing along the correct corridor. The bases of the nearer trunks are visible but show nothing basket-like yet, suggesting the target lies further along. I will keep moving forward.", + "I am now level with the storefront on my right and the blossom trees form a continuous line down the left side of the street. The route ahead remains open pavement, so continuing forward is the most direct way to reach the tree roots. I will take another step forward.", + "My current heading is drifting toward the building frontage on the right while the cherry trees and the sidewalk I need sit off to my left. Turning left should square me with the tree-lined lane so I can walk straight down it and inspect the trunk bases. That heading correction is cheaper now than a longer diagonal later.", + "The turn has lined me up with the lane running under the cherry blossoms, and near the base of a trunk ahead I can make out a pale round woven object that likely is the wicker basket. It is still well out of reach, so I will walk forward along the open road toward it. The path between the curb and the trees looks unobstructed.", + "The round wicker basket is now clearly visible on the pavement just past the cherry blossom trunk ahead on my right side of the street. My path along the road stays open with no obstruction between me and it, so I will keep walking forward to close the remaining distance.", + "The basket has grown noticeably larger and now sits near the middle of my view beside the blossom-covered trunk, confirming I am closing on it. Nothing blocks the lane in front of me, so another step forward should bring me nearer to grasping range.", + "The wicker basket is close enough now that I can see its woven texture at the base of the cherry tree slightly right of my heading. I am still a few strides short of a comfortable reach, so I will continue walking straight toward it.", + "The basket now fills a large part of the lower center of my view, resting against the cherry tree root with petals scattered around it. My heading is still lined up on it, so one more step forward should bring it within arm's reach.", + "The basket is directly below and ahead of me now, but it still sits slightly beyond a comfortable grasp at my feet. I will take one more short step forward to stand right over it before attempting to pick it up.", + "The wicker basket is now right at my feet, filling the lower part of my view beside the cherry tree root, which is as close as I can usefully stand. This is the grasp position the task calls for, so I will attempt to pick it up.", + "The wicker basket is now held in my hands in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..354669be581b85539f2f01d3e139c528cb98f9f1 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the leftmost blue-framed door on the building.", + "Type": 2, + "Start_Pose": [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3979.227, + 967.786, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4092.882, + 913.722, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4206.538, + 859.657, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4320.193, + 805.592, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4433.848, + 751.527, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4547.503, + 697.463, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4661.158, + 643.398, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4774.813, + 589.333, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4888.468, + 535.269, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4888.468, + 535.269, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -5014.324, + 534.302, + 144.603, + 0.0, + -179.56, + 0.0 + ], + [ + -5140.179, + 533.336, + 140.043, + 0.0, + -179.56, + 0.0 + ], + [ + -5140.179, + 533.336, + 140.043, + 0.0, + -179.56, + 0.0 + ] + ], + "Rationale": [ + "Two blue-framed glass doors sit side by side on the grey building ahead, and the leftmost is the one tucked beside the alley corner under the flowering tree. That door beside the alley is my target, so I keep it fixed and start closing the open paving between us. I walk straight forward.", + "The pair of blue-framed doors has grown larger, confirming I am closing on the building frontage. The door beside the alley corner remains my goal and my heading is already pointed at that side of the facade. I take another step forward.", + "I am still well out on the open plaza with the yellow barriers off to my right, clear of my line of travel. The alley-side blue-framed door sits slightly left of my heading and is still comfortably far away. I continue walking forward to cut the distance.", + "The doorways now show their recessed frames and canopy lights clearly, so I am noticeably nearer the wall. My target, the blue-framed door next to the alley corner, stays in the left half of my view with clear paving between us. Another step forward continues the approach.", + "Both blue-framed entrances now fill much of my view, with the alley-side one shaded in its recess to the left. I still have several paces of open ground before I reach that entrance. I keep moving forward toward it.", + "The alley-side entrance is close enough now that its glass panels and metal push bars are distinct. Nothing lies between me and the frontage, so straight walking is still the efficient way in. I advance again.", + "From this range the frontage no longer reads as a countable row, so I simply hold onto the entrance beside the shaded alley corner as my goal. It sits toward the left edge of my view and is still a few paces off along the pavement. I step forward once more.", + "The alley-side entrance and its recess are now clearly on my left while the nearer glass doors dominate the right of my view. Closing a little more ground along the frontage should put me level with that entrance. I keep walking forward.", + "The nearer glass doors are sliding past on my right and the shaded recess of the alley-side entrance is opening up ahead on the left. A short stretch of pavement still separates me from that recess. I step forward to draw level with it.", + "I am now beside the frontage, with the alley-side entrance and its glass panels pushed to the left edge while a wide pillar blocks the middle of my view. Walking straight would carry me past it along the wall. A left turn should swing that entrance in front of me.", + "The turn has put the alley-side entrance squarely ahead, its twin glass leaves and handle bar clear under the dark canopy, with the alley corner and its curb off to my left. Only a couple of paces of paving remain. I walk straight in toward it.", + "The doorway now fills most of my view, its handles and lower panels sharp, but I am still a stride short of standing right at the threshold. Closing that last bit should put me directly in front of the entrance. I take one more step forward.", + "The blue-framed entrance beside the alley corner stands directly before me, its handles within arm's reach. The task is done, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2af5ddd9b1915d21452793c4ea632fc91bcbdcf5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the rightmost blue-framed door on the building.", + "Type": 2, + "Start_Pose": [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3979.227, + 967.786, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4092.882, + 913.722, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4206.538, + 859.657, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4320.193, + 805.592, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4320.193, + 805.592, + 138.15, + 0.0, + -129.56, + 0.0 + ], + [ + -4400.35, + 708.56, + 138.15, + 0.0, + -129.56, + 0.0 + ], + [ + -4480.508, + 611.528, + 138.15, + 0.0, + -129.56, + 0.0 + ], + [ + -4562.14, + 516.568, + 138.15, + 0.0, + -129.56, + 0.0 + ], + [ + -4642.298, + 419.536, + 138.15, + 0.0, + -129.56, + 0.0 + ], + [ + -4722.456, + 322.504, + 146.456, + 0.0, + -129.56, + 0.0 + ], + [ + -4802.614, + 225.472, + 140.043, + 0.0, + -129.56, + 0.0 + ], + [ + -4802.614, + 225.472, + 140.043, + 0.0, + -129.56, + 0.0 + ] + ], + "Rationale": [ + "Two blue-framed doors sit side by side on the grey building across the plaza, and the right-hand one of that pair is the one standing next to the yellow barriers and the red brick building. Since the two look alike, I hold onto that barrier-side door as my target and walk forward over the open paving toward it.", + "The door beside the yellow barriers is still well ahead, though its frame and canopy lights are already clearer than before. The paving in front of me stays open, so I keep walking straight to cut the distance.", + "The building face is filling more of my view and the door next to the barriers now shows its blue surround and glass panels distinctly. Nothing blocks the ground between us, so another stride forward should bring me closer.", + "I am close enough now that the door beside the barriers shows its handles and step, and it sits a little right of where I am pointed. I walk forward again to close more of the gap before correcting my heading.", + "My current heading would carry me into the wall pier and the left door rather than the one I chose, which sits off to my right beside the yellow barriers. I turn right to swing my path onto that door so the remaining steps run straight at it.", + "The turn brought the barrier-side door nearly in front of me, with the yellow barriers now running along my right. The lane between the barriers and the building is open, so I step forward toward that door.", + "The door I am heading for now fills much of the frame ahead, its recessed dark surround and step clearly visible. I keep walking straight down the open strip beside the barriers to shorten the last stretch.", + "The neighbouring door has slid to the far left edge, so I am guiding on the door itself rather than on any row. Its glass panels and raised step are close in front of me, and I walk forward to bring myself up to it.", + "The blue-framed door with its raised threshold now dominates my view, squarely lined up with my heading. Only a short stretch of clear paving separates me from its step, so I walk forward to close it.", + "I am right at the kerbed apron now, with the two glass leaves and their handles at arm's-length scale ahead of me. Another stride should bring me onto the threshold itself.", + "The glass and the blue pier fill nearly everything I can see, so I am standing almost against the doorway. One last short step forward should place me directly at it.", + "The blue-framed door's glass and frame fill my view at touching distance. I have arrived at it, so the task is done and no further movement helps." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e11158384dc2552e170d8e6201d3af56da8a9b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the second cherry blossom tree from the left.", + "Type": 2, + "Start_Pose": [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3979.227, + 967.786, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4092.882, + 913.722, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4206.538, + 859.657, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4206.538, + 859.657, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4332.393, + 858.69, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4458.248, + 857.724, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4584.103, + 856.757, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4709.959, + 855.791, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4835.814, + 854.824, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4835.814, + 854.824, + 138.15, + 0.0, + 155.44, + -0.0 + ], + [ + -4835.814, + 854.824, + 138.15, + 0.0, + 155.44, + -0.0 + ] + ], + "Rationale": [ + "From here I can count the blossom trees across the courtyard: one at the far left edge, and next to it the one whose pale trunk rises from the open pavement beside the covered walkway. That second trunk is what I am going to, so I step forward across the open ground toward it.", + "The pale trunk beside the covered walkway is noticeably larger and its canopy now spreads over the upper left of my view, so my heading is carrying me toward it. Nothing blocks the paving between us, so I keep walking forward.", + "The trunk I am heading for now stands clearly to my left front, in front of the covered walkway and the blue service structures. There is still open paving between me and it, so another step forward closes the gap.", + "My straight-ahead heading has drifted past the tree: its trunk and blossoms now sit near the left edge while the garage doors fill the center of my view. I turn left to swing that trunk back in front of me before continuing.", + "The turn has brought the trunk I want back into the middle of my view, with its blossoms overhead and the alley opening behind it. More blossom canopies now crowd the left side, so I hold onto this same trunk rather than any count, and I walk straight at it.", + "The trunk stands squarely ahead of me, thicker now, with its base and the fallen petals visible on the paving. I am still several strides short of it, so I keep walking straight forward.", + "The trunk fills much of the center of my view and its canopy has risen above my sight line, which tells me I am closing in. A short further advance should bring me right up beside it.", + "The trunk now rises like a column just left of center, close enough that its bark texture and the petal litter at its foot are plain. I step forward once more to stand right at the tree.", + "The trunk is close enough on my left that its bark fills that side of my view and the petal-strewn paving at its base is right beside me. One more stride should bring me level with the trunk rather than still short of it.", + "Advancing has carried me level with the trunk, so it has slipped out of my view past the left edge and only the tiled alley wall and the glass doors face me. I turn left to bring the tree back in front of me and confirm I am standing at it.", + "The blossom trunk I chose now stands directly before me, close enough to touch. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5454ef1ebcd1b58061528723d510647412b89d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003866_y001022_z000138_t2_d/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Move to the first cherry blossom tree from the left.", + "Type": 2, + "Start_Pose": [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -3991.427, + 1020.884, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4117.283, + 1019.918, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4243.138, + 1018.951, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4368.993, + 1017.985, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -4368.993, + 1017.985, + 138.15, + 0.0, + 155.44, + -0.0 + ], + [ + -4483.465, + 1070.298, + 138.15, + 0.0, + 155.44, + -0.0 + ], + [ + -4597.937, + 1122.61, + 138.15, + 0.0, + 155.44, + -0.0 + ], + [ + -4597.937, + 1122.61, + 138.15, + 0.0, + 155.44, + -0.0 + ] + ], + "Rationale": [ + "Blossom canopies hang at both edges of my view, and the leftmost belongs to the tree whose pale trunk rises from the grass strip beside the white modular building. That one is my goal, but it sits at the very edge of my view. I turn left to bring it and the walkway leading to it in front of me.", + "The turn has placed the grass strip and the pale trunk of my cherry blossom tree ahead and slightly left, with clear pavement between us. I step forward along the open walkway to close that distance.", + "The tree is noticeably larger now, its trunk still rooted in the grass beside the pale building on my left. The path in front of me stays clear, so I keep walking forward.", + "More blossom branches now spread overhead and toward the right side of the walkway, but the tree I am going to is the one rising from the grass strip along the pale building. Nothing blocks my line of travel, so I advance again.", + "The grass strip with my tree's trunk is drawing level on my left, and fallen petals now speckle the pavement beneath the canopy. I take another step forward to come alongside it.", + "My heading now points down the corridor between the buildings, while the cherry tree I want stands off to my left above the grass. I turn left so I am facing it directly before covering the last short stretch.", + "Facing left, the cherry tree now stands ahead of me with its trunk rising from the grass and petals scattered across the ground around it. Only a short gap remains, so I walk forward toward it.", + "The trunk is close ahead on my left, with petals lying thick on the grass and pavement beside it. One more step should bring me right up beside the tree.", + "The cherry tree's trunk rises directly beside me at arm's reach, petals covering the grass at its base. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003979_y002478_z000139_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-003979_y002478_z000139_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b4247cab3fd286e69498a67ff7b405ea132e5760 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003979_y002478_z000139_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the store with the orange awning.", + "Type": 0, + "Start_Pose": [ + -3978.567, + 2478.334, + 138.745, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3978.567, + 2478.334, + 138.745, + 0.0, + 172.8, + -0.0 + ], + [ + -4103.433, + 2494.108, + 143.7, + 0.0, + 172.8, + -0.0 + ], + [ + -4228.3, + 2509.883, + 143.955, + 0.0, + 172.8, + -0.0 + ], + [ + -4353.167, + 2525.657, + 138.843, + 0.0, + 172.8, + -0.0 + ], + [ + -4478.033, + 2541.431, + 138.843, + 0.0, + 172.8, + -0.0 + ], + [ + -4602.9, + 2557.206, + 138.843, + 0.0, + 172.8, + -0.0 + ], + [ + -4727.766, + 2572.98, + 143.589, + 0.0, + 172.8, + -0.0 + ], + [ + -4727.766, + 2572.98, + 143.589, + 0.0, + 147.8, + -0.0 + ], + [ + -4834.267, + 2640.047, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4940.768, + 2707.114, + 142.005, + 0.0, + 147.8, + -0.0 + ], + [ + -4940.768, + 2707.114, + 142.005, + 0.0, + 147.8, + -0.0 + ] + ], + "Rationale": [ + "From this corner I can already see the store with the orange awning ahead on my left, its blue glass doors under the striped canopy. The open road in front of me is clear, so I will move forward to begin closing the gap toward that storefront.", + "The awning and the shop's entrance doors now sit larger in my view, confirming my heading is carrying me toward the target. Nothing blocks the roadway ahead, so I continue forward to keep shortening the distance.", + "The orange awning has grown across the upper left of my view and the door posters are becoming readable, so I am still on a good approach line. I will push forward again along the open street toward the shop corner.", + "I am nearly level with the shop frontage now, with the awning edge overhead to my left and the bollards lining its sidewalk. The lane ahead is still free, so another forward step should bring me alongside the entrance.", + "The store's glass doors are close on my left, though my heading still points down the street past them. I will keep moving forward to draw even with the entrance before turning in.", + "The awning now hangs directly above me and the shop's doorway is just off my left shoulder along the tiled sidewalk. One more forward step should place me right in front of the entrance area.", + "I am standing under the orange awning, but my view is aimed down the alley while the store's doors sit off to my left. I will turn left to bring the entrance squarely in front of me before closing the last bit of distance.", + "The turn has centered the store's twin glass doors and poster wall directly ahead of me under the awning. With a short clear stretch of tile between us, I will step forward to finish arriving at the entrance.", + "The storefront's glass double doors now fill most of my view and I am squared up on them under the awning, but there is still a short stretch of pavement between me and the entrance. I will step forward once more to close that last bit of distance and stand directly at the shop front.", + "I am standing directly at the awning store's glass entrance doors, close enough to read the posted signs. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d1eca0ef795467f59c08478bc2b07757474f28c1 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the third yellow barrier from the right on the green road.", + "Type": 2, + "Start_Pose": [ + -4107.307, + -216.891, + 128.253, + 0, + -121.92, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4107.307, + -216.891, + 128.253, + 0, + -121.92, + 0 + ], + [ + -4173.853, + -323.719, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4240.399, + -430.546, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4306.945, + -537.374, + 128.236, + 0.0, + -121.92, + 0.0 + ], + [ + -4306.945, + -537.374, + 128.236, + 0.0, + -96.92, + 0.0 + ], + [ + -4322.109, + -662.316, + 128.15, + 0.0, + -96.92, + 0.0 + ], + [ + -4337.273, + -787.258, + 128.493, + 0.0, + -96.92, + 0.0 + ], + [ + -4352.437, + -912.2, + 129.038, + 0.0, + -96.92, + 0.0 + ], + [ + -4367.601, + -1037.142, + 128.149, + 0.0, + -96.92, + 0.0 + ], + [ + -4367.601, + -1037.142, + 128.149, + 0.0, + -121.92, + 0.0 + ], + [ + -4367.601, + -1037.142, + 128.149, + 0.0, + -121.92, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the whole run of yellow barriers lining the far edge of the green road, and counting in from the right end lands me on the one standing just left of the tall lamp pole, with a cone leaning at its corner. That barrier is my target, so I start walking forward across the green surface to close the distance.", + "The barrier by the lamp pole is now larger and sits a little right of my heading, so I am still well short of it. I keep walking straight ahead over the green road to cut down the remaining gap.", + "The barriers and their orange cones are clearly closer now, but the one I chose beside the lamp pole is still several strides off and drifting toward the right side of my view. Another forward step should bring me near enough to square up on it.", + "My heading has drifted along the curb so the barrier I am after now sits well to the right of straight ahead, with the railing and building filling the left of my view. I turn right to put that barrier back near the center of my path before continuing.", + "The turn lined my path up with the barrier by the lamp pole, which now sits close to the middle of my view across the open green lane. With a clear stretch of road in front of me, I walk forward to keep closing on it.", + "The barrier I am heading for stands just ahead of me now, flanked by orange cones and set against the pole and railing. Nothing blocks the green lane between us, so I take another step forward.", + "The right end of the barrier line has slipped out of my view, so I stay fixed on the barrier next to the lamp pole rather than any tally. It now fills much of the frame just ahead, and I step forward again to draw right up to it.", + "The barrier beside the lamp pole now looms directly in front of me with a cone at its near corner. One more short step forward should place me right at it.", + "I am right up against the barrier line, but my heading splits the gap between two of them and stares down the side street beyond. The barrier I want sits off to my left, so I turn left to face it squarely.", + "The yellow barrier beside the lamp pole now stands directly before me, close enough to touch, with its cone at my feet. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e38c37ee07392cad3e78dbcb2d6fa54b0351d09 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the second traffic cone from the left.", + "Type": 2, + "Start_Pose": [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4173.853, + -323.719, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4240.399, + -430.546, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4306.945, + -537.374, + 128.236, + 0.0, + -121.92, + 0.0 + ], + [ + -4373.491, + -644.201, + 128.214, + 0.0, + -121.92, + 0.0 + ], + [ + -4440.037, + -751.029, + 128.214, + 0.0, + -121.92, + 0.0 + ], + [ + -4506.583, + -857.856, + 128.214, + 0.0, + -121.92, + 0.0 + ], + [ + -4573.129, + -964.684, + 144.776, + 0.0, + -121.92, + 0.0 + ], + [ + -4639.675, + -1071.511, + 138.15, + 0.0, + -121.92, + 0.0 + ], + [ + -4639.675, + -1071.511, + 138.15, + 0.0, + -121.92, + 0.0 + ] + ], + "Rationale": [ + "Counting the orange cones lined along the far sidewalk from the left end, the second one stands right at the joint where the first two yellow barriers meet, so I fix on that cone by its barrier seam. It is still far down the green lane, so I walk straight ahead toward it.", + "The cone I chose, the one set against the joint of the two yellow barriers, is a little larger now but still well down the lane. My heading points squarely at it, so I keep stepping forward without adjusting direction.", + "More cones are coming into view further to the right along the barriers, but mine is still the one seated at the seam between the two yellow barriers near the building entrance. Nothing blocks the lane in front of me, so I continue walking forward.", + "The cone at the barrier joint is noticeably closer and sits slightly right of my path, still within an easy straight approach. There is plenty of open ground between us, so another forward step is the direct way to close in.", + "My cone is now clearly visible where the two yellow barriers abut, with the entrance cone standing just to its left. The gap is shrinking but I am not yet beside it, so I keep advancing.", + "From this close the barriers no longer read as one long row, but the cone I am after is still the one tucked at the joint between the two yellow blocks beside the entrance. I walk forward again to shorten the remaining gap.", + "The cone at the barrier seam now stands close ahead on the sidewalk, with the entrance cone just left of it. A short forward step should bring me right up against it.", + "My cone fills the lower part of my view where the two yellow barriers meet, only about a stride away. One more step forward should place me directly at it.", + "The cone at the barrier joint stands directly in front of me, close enough to touch. I have reached it, so the approach is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e423138568558c1a40398db600b15c1833e42483 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the third traffic cone from the left.", + "Type": 2, + "Start_Pose": [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4173.853, + -323.719, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4240.399, + -430.546, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4306.945, + -537.374, + 128.236, + 0.0, + -121.92, + 0.0 + ], + [ + -4306.945, + -537.374, + 128.236, + 0.0, + -96.92, + 0.0 + ], + [ + -4322.109, + -662.316, + 128.15, + 0.0, + -96.92, + 0.0 + ], + [ + -4337.273, + -787.258, + 128.493, + 0.0, + -96.92, + 0.0 + ], + [ + -4352.437, + -912.2, + 129.038, + 0.0, + -96.92, + 0.0 + ], + [ + -4352.437, + -912.2, + 129.038, + 0.0, + -121.92, + 0.0 + ], + [ + -4418.983, + -1019.028, + 128.149, + 0.0, + -121.92, + 0.0 + ], + [ + -4418.983, + -1019.028, + 128.149, + 0.0, + -121.92, + 0.0 + ] + ], + "Rationale": [ + "The cones line up along the barriers ahead, and counting from the left end, the third one stands beside a post of the metal handrail. They all look alike, so I hold its place by that railing post rather than by the count alone. I walk forward to close the distance.", + "The cone beside the handrail post is still well ahead of me, small in my view within the barrier line. The green lane in front is clear, so I keep walking straight to shrink the gap.", + "The barriers and cones are noticeably larger now, and the cone by the handrail post sits a little right of my heading. Nothing blocks the lane, so I advance again before correcting my facing.", + "The barrier line with my cone has drifted toward the right side of my view, so continuing straight would carry me down the lane past it. I turn right to bring the cone beside the handrail post back toward the center of my heading.", + "The row now spreads across the middle of my view, with the cone next to the handrail post roughly in line with my facing. With the heading corrected, I step forward to eat into the remaining distance.", + "The cones stand much taller in my view, but the one beside the grey bollard and handrail is still several paces off to my left front. The lane between us stays open, so I keep advancing.", + "Up close the far left of the row has slid out of my view, so I simply follow the cone standing beside the grey bollard and handrail. It is only a couple of steps ahead on my left, so I move forward again.", + "The handrail and its grey bollard now sit at the left edge of my view, which puts my cone off to that side rather than in front of me. I turn left to face it squarely before the last step in.", + "With my facing corrected, the cone standing at the grey bollard and handrail now sits near the middle of my view, close enough that its base and reflective bands read clearly. Only one short step separates us, so I walk forward to bring myself right up beside it.", + "The cone by the bollard and handrail now fills the near foreground, close enough to touch. I have arrived at it, so there is nothing left to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..81c7e5b581e89a58782f24905ca6af01f0c9359a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_a/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Walk to the gray door on the building, then head to the entrance of the orange building.", + "Type": 3, + "Start_Pose": [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4198.538, + -469.152, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -4308.274, + -407.52, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -4418.011, + -345.889, + 128.253, + 0.0, + 150.68, + -0.0 + ], + [ + -4527.747, + -284.257, + 129.698, + 0.0, + 150.68, + -0.0 + ], + [ + -4624.003, + -215.969, + 138.15, + 0.0, + 150.68, + -0.0 + ], + [ + -4733.739, + -154.338, + 138.15, + 0.0, + 150.68, + -0.0 + ], + [ + -4733.739, + -154.338, + 138.15, + 0.0, + 150.68, + -0.0 + ], + [ + -4733.739, + -154.338, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4733.739, + -154.338, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4733.739, + -154.338, + 138.15, + 0.0, + -134.32, + 0.0 + ], + [ + -4733.739, + -154.338, + 138.15, + 0.0, + -109.32, + 0.0 + ], + [ + -4775.379, + -273.109, + 138.15, + 0.0, + -109.32, + 0.0 + ], + [ + -4775.379, + -273.109, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -4762.922, + -398.35, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -4750.465, + -523.591, + 138.15, + 0.0, + -84.32, + 0.0 + ], + [ + -4738.009, + -648.832, + 145.786, + 0.0, + -84.32, + 0.0 + ], + [ + -4725.552, + -774.073, + 148.472, + 0.0, + -84.32, + 0.0 + ], + [ + -4725.552, + -774.073, + 148.472, + 0.0, + -109.32, + 0.0 + ], + [ + -4725.552, + -774.073, + 148.472, + 0.0, + -134.32, + 0.0 + ], + [ + -4813.486, + -864.119, + 138.15, + 0.0, + -134.32, + 0.0 + ], + [ + -4901.419, + -954.165, + 138.15, + 0.0, + -134.32, + 0.0 + ], + [ + -4901.419, + -954.165, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4901.419, + -954.165, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -5026.92, + -944.684, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -5152.422, + -935.204, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -5152.422, + -935.204, + 138.15, + 0.0, + 175.68, + -0.0 + ] + ], + "Rationale": [ + "The gray service door set into the blue-gray building sits off to my left, partly screened by the pole in front of me. I will turn left so that door lines up ahead of me and I have a clear line to walk toward it.", + "The gray door now sits ahead of me with open pavement and the curb between us. I will walk forward to close that distance while my heading already points at it.", + "The gray door has grown larger and its handle is now distinct, so my heading is still true. I will keep walking forward to cut the remaining stretch of pavement.", + "I have stepped up off the road and the gray door stands squarely ahead across the paved apron. Nothing blocks the line, so I will continue walking straight at it.", + "The gray door and the windows above it now dominate my view, so only a short stretch of paving remains. I will step forward again to bring myself right up to it.", + "The gray door fills most of my view and its lever handle is plainly visible just ahead. One more step forward should put me directly at its threshold.", + "The gray door fills my whole view, its hinges and lever handle within arm's reach. I am standing at that door on the building. I mark reaching it, then set off for the entrance of the orange building.", + "Facing this gray door leaves me pressed against a blank wall with nowhere to walk. The orange building lay off along the sidewalk to my right as I came in, so I will turn right to swing my heading off the wall and back toward that route.", + "The gray door is now behind my left shoulder and I am still facing along its wall, so this heading leads nowhere useful. I will keep turning right to swing my view off the wall toward the open sidewalk, where the orange building should come into sight.", + "A reddish orange facade has just edged into the right of my view past the white utility cabinet and the tree. Another turn right should bring that building and the walkway leading to it into the middle of my view.", + "The orange building with its poster now sits ahead to my right, with a bicycle and clear pavement in front of it. One more turn right should line my heading up with that open walkway toward the orange facade.", + "The walkway now runs straight ahead with the orange facade rising on the left and the planter bordering the right. Nothing blocks the pavement in front of me, so I will step forward to close distance on that building.", + "The orange wall is close on my left and shows no doorway on this face, while the pavement continues onward to my right past the planter. I will turn right to follow that open lane and look for the entrance further along the building.", + "My heading now runs down the walkway with the orange building flanking me on the left and the hedge on the right. I will walk forward along this corridor to reach the part of the facade where an entrance should appear.", + "The orange facade is drawing closer along my left and the pavement ahead is still clear up to the barriers. I will keep walking forward to bring more of that frontage into view where a doorway may sit.", + "Ahead on my left the orange wall gives way to a recessed blue-paneled section, which looks like where the building opens up. The lane between the hedge and the wall remains clear, so I will advance again toward that section.", + "The orange building runs along my left with its shuttered bay and painted wall, and the walkway ahead stays clear apart from the yellow barriers and cones set off to the side. I will step forward again to draw level with the orange frontage where an entrance should be found.", + "Walking straight would carry me past the orange building and into the row of barriers ahead. A dark recess breaks the facade on my left, so I will turn left to bring that side of the building into view.", + "The shaded recess in the orange building is now on my left, with glazed panels just visible inside it. Another left turn should place that sheltered doorway squarely in front of me before I close the distance.", + "The recessed entry of the orange building is now open ahead of me, with glass double doors set back under the overhang. The paving between me and it is clear except for a cone off to the right, so I will walk forward to close in.", + "The glazed doors under the entrance canopy are larger now and the raised threshold of the alcove lies just ahead. I will keep walking forward to reach the doorway itself.", + "I am at the mouth of the entrance recess, but the doors have slid to my left while my heading points along the side wall. Turning left should swing the glazed doors back in front of me.", + "The pair of glass doors is in view but I am still angled across the alcove rather than facing it head on. One more left turn should square my heading with the doorway so a short walk takes me right up to it.", + "The double glass doors of the orange building's entrance now sit ahead in the sheltered alcove with clear paving in front of them. I will step forward to close the last of the gap to the doorway.", + "The glass entrance doors of the orange building now fill most of my view, with their handles just ahead and slightly right of center. A short step remains before I am standing directly at the doorway. I will walk forward once more to close that last bit of distance.", + "I am standing right at the orange building's glass entrance door, its panel filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..92ffd4422a0ae7ceadd9158f9eb104c6ad169d3e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Approach the entrance of the orange building, then proceed to the AC unit.", + "Type": 3, + "Start_Pose": [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4198.538, + -469.152, + 128.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4198.538, + -469.152, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -4286.471, + -559.198, + 128.144, + 0.0, + -134.32, + 0.0 + ], + [ + -4374.405, + -649.243, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -4462.338, + -739.289, + 128.15, + 0.0, + -134.32, + 0.0 + ], + [ + -4550.271, + -829.335, + 143.653, + 0.0, + -134.32, + 0.0 + ], + [ + -4638.205, + -919.38, + 138.15, + 0.0, + -134.32, + 0.0 + ], + [ + -4638.205, + -919.38, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4638.205, + -919.38, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4763.706, + -909.9, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4889.207, + -900.419, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -5014.709, + -890.939, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -5014.709, + -890.939, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4922.571, + -897.899, + 142.163, + 0.0, + 175.68, + -0.0 + ], + [ + -4830.434, + -904.859, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4738.296, + -911.819, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4738.296, + -911.819, + 138.15, + 0.0, + 150.68, + -0.0 + ], + [ + -4738.296, + -911.819, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -4796.687, + -816.88, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -4835.668, + -726.089, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -4909.077, + -623.855, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -4982.485, + -521.622, + 143.746, + 0.0, + 125.68, + -0.0 + ], + [ + -4982.485, + -521.622, + 143.746, + 0.0, + 125.68, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead I only face a railed planter and the grey building's wall, with just a sliver of orange masonry at the right edge of my view. I will turn right to swing that orange facade and any doorway on it into the centre of my view before committing to a direction.", + "The orange building is now in view with a recessed dark doorway under its overhang, but it still sits off to my right beyond the cones and yellow barriers. Another turn to the right should line my heading up with the open paved strip leading toward that entrance.", + "The orange building's recessed entrance is now framed ahead of me with the green lane and pavement running straight toward it. Nothing blocks that lane, so I will walk forward to close the distance.", + "The doorway of the orange building has grown larger and its glass panels are becoming distinct, so my heading is carrying me toward it. The cones and yellow barriers stay to the right of my path, leaving the pavement open, so I will keep walking forward.", + "The tiled surround of the entrance now fills much of the left half of my view, so I am closing well on it. The pavement immediately ahead is clear of the barriers, so another step forward should bring me nearer the doors.", + "I am now on the paved forecourt with the double glass doors clearly to my left front and a bicycle parked at the corner. I still have several strides of open ground before I am level with the doorway, so I will continue forward.", + "The recessed doors and their dark surround now dominate the left of my view, and only a short stretch of paving separates me from being level with them. I will step forward again to draw alongside the entrance.", + "I am practically level with the entrance now, and its glass doors have slid to the far left edge of my view while my heading points past them down the facade. Turning left should square me up on the doorway so I can walk straight into the recess.", + "The recessed glass doors of the orange building sit slightly right of center, but the doorway frame is still angled across my view rather than square to me. I will turn a little further left to bring the recess and its threshold straight ahead before closing the last distance.", + "The entrance recess is now centered ahead with the double doors framed cleanly between the side walls. The open paving in front of me is clear, so I will walk straight in toward the doorway.", + "The doors have grown larger and the shaded alcove now fills most of my view, so I am within a few steps of the threshold. I will keep walking forward to close the remaining gap to the entrance.", + "I am inside the shadowed alcove with the glass doors nearly at arm's reach and their handles clearly visible. One more step forward should put me right at the entrance.", + "The glass entrance doors of the orange building fill my view at arm's length, with the threshold directly under me. I have reached the entrance. I mark arriving here before turning back out to find the AC unit.", + "Standing this close, the alcove walls crowd my view and leave no room to swing around toward the AC unit. I will step back out of the recess to regain space and open sightlines before changing heading.", + "Backing off has already widened my view of the doorway, though I am still within the shaded recess. I will continue stepping back to clear the entrance walls before turning toward the AC unit.", + "The whole recess and both doors are visible now, so I am nearly back out onto the open pavement. One more step back should give me the clearance to turn toward the AC unit standing along the grey wall.", + "I now have enough clearance from the recessed doorway to swing my heading, and the entrance no longer needs to fill my view. The grey machinery with its ventilation grilles sits off to my left beyond the corner, so I will turn that way to bring it into view.", + "Turning has already brought the louvered grey units into the left half of my view, but the orange corner column still cuts across the middle. One more turn left should center that machinery and clear the column from my path.", + "The grey wall with the stacked vented condenser units and its yellow guard rail is now roughly ahead of me across open pavement. Nothing blocks the walkway between us, so I will walk forward to close the distance.", + "The vented unit and its yellow barrier rail have grown noticeably larger and now sit near the middle of my view. There is still a stretch of empty pavement in front of me, so I keep walking toward it.", + "The grille panel and the yellow rail guarding it now dominate the frame, but I am still a few paces short of standing at the unit. I will step forward again to close that remaining gap.", + "I am nearly at the yellow rail, with the grated intake panel of the unit directly ahead of me. One more short step should put me right up against it.", + "The unit's grated intake panel and its yellow guard rail fill my view at arm's length. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c81df8bebf623eb61594d3da576fccef11cc5cee --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_c/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Head toward the green tree, then move to the gray door.", + "Type": 3, + "Start_Pose": [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4324.04, + -459.671, + 128.938, + 0.0, + 175.68, + -0.0 + ], + [ + -4324.04, + -459.671, + 128.938, + 0.0, + 150.68, + -0.0 + ], + [ + -4433.776, + -398.04, + 128.28, + 0.0, + 150.68, + -0.0 + ], + [ + -4536.107, + -337.412, + 137.338, + 0.0, + 150.68, + -0.0 + ], + [ + -4540.952, + -281.726, + 140.069, + 0.0, + 150.68, + -0.0 + ], + [ + -4540.952, + -281.726, + 140.069, + 0.0, + 175.68, + -0.0 + ], + [ + -4606.864, + -244.173, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4606.864, + -244.173, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4606.864, + -244.173, + 138.15, + 0.0, + -134.32, + 0.0 + ], + [ + -4692.58, + -298.993, + 140.588, + 0.0, + -134.32, + 0.0 + ], + [ + -4780.513, + -389.039, + 138.297, + 0.0, + -134.32, + 0.0 + ], + [ + -4868.447, + -479.084, + 143.816, + 0.0, + -134.32, + 0.0 + ], + [ + -4956.38, + -569.13, + 143.816, + 0.0, + -134.32, + 0.0 + ], + [ + -4956.38, + -569.13, + 143.816, + 0.0, + -134.32, + 0.0 + ], + [ + -4956.38, + -569.13, + 143.816, + 0.0, + -159.32, + 0.0 + ], + [ + -4956.38, + -569.13, + 143.816, + 0.0, + 175.68, + -0.0 + ], + [ + -4956.38, + -569.13, + 143.816, + 0.0, + 150.68, + -0.0 + ], + [ + -4956.38, + -569.13, + 143.816, + 0.0, + 125.68, + -0.0 + ], + [ + -4956.38, + -569.13, + 143.816, + 0.0, + 100.68, + -0.0 + ], + [ + -4956.38, + -569.13, + 143.816, + 0.0, + 75.68, + -0.0 + ], + [ + -4925.25, + -447.182, + 143.816, + 0.0, + 75.68, + -0.0 + ], + [ + -4887.996, + -329.771, + 138.15, + 0.0, + 75.68, + -0.0 + ], + [ + -4856.866, + -207.822, + 138.15, + 0.0, + 75.68, + -0.0 + ], + [ + -4856.866, + -207.822, + 138.15, + 0.0, + 100.68, + -0.0 + ], + [ + -4856.866, + -207.822, + 138.15, + 0.0, + 100.68, + -0.0 + ] + ], + "Rationale": [ + "The leafy green tree rises just past the metal railing ahead on my right, so that is where I head first. I am still out on the roadway, so I will step forward to close on the curb and read how the railing and planting bed sit in front of it.", + "From this close the railing and its planted bed run right across the ground beneath the tree, so I cannot push straight in from here. I will turn left to swing my heading toward the open pavement past the column, which may give me a way around toward the tree.", + "The turn has opened a clear stretch of sidewalk that runs past the column with no railing across it. I will walk forward along that opening to work around the fenced greenery and keep closing on the tree.", + "The walkway beside the column is still clear ahead, with the fenced greenery held off to my right. Another step forward should bring me level with the column and show what opens up beyond it.", + "The column now fills most of my view, though pale pavement stays visible to its left and a gap shows past its edge. I will step forward to draw clear of it and regain sight of the route toward the tree.", + "I am past the column and now facing a blue door in the tiled wall, with open pavement and a yellow guard rail off to my right. The greenery I am heading for lies that way, around the corner, so I will turn right to point along that side.", + "The turn has lined me up with the gap between the tiled wall on my left and the pale utility unit on my right. I will walk forward into that passage to get around the corner and nearer the tree.", + "Green foliage and a pale trunk are now showing past the utility unit on my right, so the tree stands off to that side rather than straight down this wall. I will turn right to bring it toward the middle of my path.", + "The leafy green tree rises ahead of me but still sits right of my heading, beyond the yellow barrier and the open paving. One more turn to the right should bring its trunk near the center of my view so I can walk straight at it.", + "The green tree now stands ahead along the walkway, its trunk close to my line of travel with unobstructed pavement in front of me. I will step forward to close the remaining distance toward it.", + "The tree has grown larger in my view and its trunk sits just left of my path, so my heading is still good. The parked bicycle and the barrier stay clear of my lane, so I keep walking forward.", + "The trunk of the green tree now fills much of the left side of my view and its planter base is visible on the ground. There is still a stretch of paving between us, so I advance again.", + "I am nearly level with the green tree, its trunk and light planter square just ahead on my left. One more step should put me right beside it.", + "The trunk of the green tree fills the edge of my view at arm's length, its canopy shadow falling across the paving around me. I have reached the tree. I mark arriving here before setting off for the gray door.", + "Standing at the tree, all I face is the reddish wall of this corner with its poster and the parked bicycle, no gray door anywhere in front of me. I will turn left to sweep my view around and pick up the route toward that door.", + "The swing has only brought the tree trunk and the dark tiled wall of the narrow gap into view, with no gray door yet. I will keep turning left to carry my heading further around toward the open walkway.", + "My view is still filled by the dark tiled wall, the trunk beside it and a yellow guard rail, so nothing here shows me a way onward to the gray door. I will keep swinging left to sweep my heading away from this wall corner and open up the sidewalk beyond it.", + "The rotation has brought a yellow barrier and more glossy blue tiling into view, but still no doorway and no clear stretch of pavement. I will turn left again so my heading keeps rotating toward the open side of this building face.", + "A grated window and the yellow railing now sit in front of me, so I am still aimed at building fabric rather than a route. Another left turn should carry my facing past this frontage toward the open pavement where a door may stand.", + "The scene has finally opened: a gray door sits in the blue tiled wall on the left of my view, with clear sidewalk running past it. I will turn left once more to bring that door and the walkway closer to the center of my heading before advancing.", + "The gray door now stands ahead along the tiled wall, and the pavement between me and it is unobstructed apart from the low yellow rail at my right. I will walk forward to close the remaining distance to that door.", + "The gray door has grown noticeably and its handle is now visible, so my heading down this frontage is good. I will keep walking forward, since I am still several strides short of standing at it.", + "The gray door and its lever handle are close on my right along the wall, but I am not yet level with the panel. One more step forward should bring me alongside it.", + "I am now standing right beside the gray door, whose hinged edge runs down the middle of my view while my body still points along the wall. I will turn right so the door faces me squarely.", + "The gray door fills my view at arm's length, its handle directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_d/infos.json b/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..886d2d33fb0378e989f43370710698a5a2cb0e12 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004199_y-000469_z000128_t3_d/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Make your way to the AC unit, then walk to the gray door on the building.", + "Type": 3, + "Start_Pose": [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4324.04, + -459.671, + 128.938, + 0.0, + 175.68, + -0.0 + ], + [ + -4324.04, + -459.671, + 128.938, + 0.0, + 150.68, + -0.0 + ], + [ + -4433.776, + -398.04, + 128.28, + 0.0, + 150.68, + -0.0 + ], + [ + -4536.107, + -337.412, + 137.338, + 0.0, + 150.68, + -0.0 + ], + [ + -4536.107, + -337.412, + 137.338, + 0.0, + 125.68, + -0.0 + ], + [ + -4568.897, + -234.456, + 144.676, + 0.0, + 125.68, + -0.0 + ], + [ + -4568.897, + -234.456, + 144.676, + 0.0, + 150.68, + -0.0 + ], + [ + -4568.897, + -234.456, + 144.676, + 0.0, + 175.68, + -0.0 + ], + [ + -4568.897, + -234.456, + 144.676, + 0.0, + -159.32, + 0.0 + ], + [ + -4686.872, + -267.381, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4804.622, + -311.828, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4906.215, + -352.82, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4906.215, + -352.82, + 138.15, + 0.0, + -159.32, + 0.0 + ], + [ + -4906.215, + -352.82, + 138.15, + 0.0, + 175.68, + -0.0 + ], + [ + -4906.215, + -352.82, + 138.15, + 0.0, + 150.68, + -0.0 + ], + [ + -4906.215, + -352.82, + 138.15, + 0.0, + 125.68, + -0.0 + ], + [ + -4906.215, + -352.82, + 138.15, + 0.0, + 100.68, + -0.0 + ], + [ + -4906.215, + -352.82, + 138.15, + 0.0, + 75.68, + -0.0 + ], + [ + -4875.085, + -230.872, + 138.15, + 0.0, + 75.68, + -0.0 + ], + [ + -4875.085, + -230.872, + 138.15, + 0.0, + 100.68, + -0.0 + ], + [ + -4849.77, + -154.936, + 138.15, + 0.0, + 100.68, + -0.0 + ], + [ + -4849.77, + -154.936, + 138.15, + 0.0, + 100.68, + -0.0 + ] + ], + "Rationale": [ + "The boxy AC unit stands against the blue building ahead of me, but a metal railing and a planting bed cut across my line to it. I will walk straight forward to close the distance and see where that barrier ends.", + "Standing this close, the railing and greenery fill my view and still cut off a straight path to the AC unit. Turning left should swing my heading toward the open pavement past the end of the barrier, which looks like the usable way in.", + "Now the sidewalk opens ahead on my left, running past the pillar toward the corner of the blue building, with the AC unit still off to my right behind the rail. I will walk forward along this clear stretch to reach that corner.", + "The AC unit's white casing is much larger on my right now, so I am gaining on it, but the railing and the pillar still stand between us. Another step forward should carry me past the pillar toward the open corner.", + "The pillar now fills almost my whole view and I can barely read the space around it. Turning left should point me back at the open sidewalk visible at the edge, so I can keep moving around this corner toward the unit.", + "The pavement ahead is clear again, with the blue building and its gray double door on my right and the plaza opening to the left. I will step forward along this open ground to come level with the building face.", + "I am beside the building now, with its gray double door off to my right and the plaza behind me on the left. The AC unit sits further along that same wall, so I will turn right to bring the building face and the space beside it into view.", + "Facing the wall squarely, the gray door is centred and the white louvered casing of the AC unit just shows at the right edge of my view. I will turn right again to bring that unit toward the middle of my heading before approaching it.", + "The white AC unit with its vented top sits off to my right beyond the yellow guard bollards, while the gray door is close on my left. I will turn right again to put the AC unit squarely ahead so I can walk straight in on it.", + "The AC unit now stands ahead of me along the blue tiled wall, with clear paving between us. I will walk forward to close that gap.", + "The AC unit has grown noticeably larger and its lower cabinet and yellow bollards are clearly ahead of me. I am still a few strides short, so I will keep walking toward it.", + "The AC unit's paneled doors and handles now dominate my view, with the yellow bollards right in front of its base. One more step forward should bring me right up against it.", + "The AC unit's smooth casing and its handle are right at arm's length, filling the near edge of my view with the bollard beside my feet. I have reached the AC unit. I mark reaching it, and now I am heading for the gray door on the building.", + "Pressed up against the AC unit, all I can see is its casing, the tree, and the wall corner, so the gray door is well off to my left along the tiled facade. I will turn left to start swinging my heading back that way.", + "The AC unit's white doors still fill my view and the blue tiled wall is only just entering at the left edge. The gray door lies further around, so I will keep rotating left.", + "The blue tiled wall now takes up most of my view with the AC unit sliding off to my right, and there is still no sign of the gray door. I will continue turning left to bring the door's stretch of wall into view.", + "The glossy blue tile wall still fills nearly my whole view, so I cannot yet pick out any door along this facade. I will keep swinging left to sweep my gaze further along the building and open sidewalk. That should bring a door frame or entryway into view.", + "A gray double door with a lever handle has come into view at the left edge of the tiled wall, with clear sidewalk beyond it. It sits too far to my left for a straight approach, so I will turn left again. That should center the doorway ahead of me.", + "The gray door on the building now stands ahead of me along the wall, with unobstructed pavement between us. Nothing blocks the line, so I will walk forward to close the gap. Each step should bring the door and its handle nearer.", + "I am close enough that the door's handle is large in front of me, but the panel now sits to my right while my heading points down the sidewalk. I will turn right to square myself with the door face. That should put the doorway directly ahead for a final step.", + "The gray door with its lever handle is now squarely in front of me, only a short gap of pavement remaining. I will step forward to finish closing that distance and stand right at the door. That should place me within reach of the entrance.", + "The gray door's panels and hinge fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..73d7be91f1831bb1d4c00d427ae7152ff2d89348 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Walk to the blue bicycle, then head toward the orange building entrance.", + "Type": 3, + "Start_Pose": [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ], + [ + -4238.029, + 417.412, + 129.664, + 0.0, + -70.04, + 0.0 + ], + [ + -4195.065, + 299.113, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -4152.101, + 180.814, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -4109.138, + 62.516, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -4109.138, + 62.516, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -4020.204, + -26.542, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -3931.27, + -115.6, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -3931.27, + -115.6, + 128.15, + 0.0, + -45.04, + 0.0 + ], + [ + -3931.27, + -115.6, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -3931.27, + -115.6, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -3931.27, + -115.6, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -3931.27, + -115.6, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4034.418, + -187.718, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4137.566, + -259.836, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4137.566, + -259.836, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4200.572, + -368.789, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4263.578, + -477.742, + 129.031, + 0.0, + -120.04, + 0.0 + ], + [ + -4326.583, + -586.695, + 128.201, + 0.0, + -120.04, + 0.0 + ], + [ + -4389.589, + -695.648, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4452.594, + -804.601, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4452.594, + -804.601, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4555.742, + -876.719, + 144.41, + 0.0, + -145.04, + 0.0 + ], + [ + -4555.742, + -876.719, + 144.41, + 0.0, + -170.04, + 0.0 + ], + [ + -4679.705, + -898.488, + 138.15, + 0.0, + -170.04, + 0.0 + ], + [ + -4803.667, + -920.256, + 138.15, + 0.0, + -170.04, + 0.0 + ], + [ + -4927.629, + -942.025, + 144.184, + 0.0, + -170.04, + 0.0 + ], + [ + -5051.591, + -963.794, + 138.349, + 0.0, + -170.04, + 0.0 + ], + [ + -5051.591, + -963.794, + 138.349, + 0.0, + -170.04, + 0.0 + ] + ], + "Rationale": [ + "The blue bicycle sits well off to my right, parked at the rack beside the curved glass building, while my body faces straight down the green lane. I will turn right to put that bicycle nearer the center of my view before walking toward it.", + "The blue bicycle now sits ahead and slightly right, parked against the railing at the corner of the pale glass building. The green lane in front of me is clear, so I will walk forward to close the distance.", + "The bicycle is noticeably larger and closer along the curb line to my right, so my heading is carrying me toward it. I will keep walking forward to shorten the remaining gap.", + "The parked blue bicycle is close now, standing just beyond the curb ahead on my right with the rack bars around it. Another step forward should bring me alongside it.", + "I am nearly level with the bicycle, but it has drifted to my right as I advanced and my heading points past it down the lane. I will turn right to face the bicycle squarely before stepping the last distance.", + "The blue bicycle is now directly in front of me on the sidewalk beside the railing. I will step forward to bring myself right up beside it.", + "The bicycle fills much of my view, its blue frame and seat just a short step away. One more step forward should place me right at its side.", + "The blue bicycle's saddle and handlebar are right in front of me, close enough to touch beside the rack. I have reached the blue bicycle. I mark reaching it and now turn my attention toward the entrance of the orange building.", + "The blue bicycle fills my whole view at arm's length, so no walkable route is visible from this heading. Having arrived at it, I turn left to sweep my gaze off the rack and back toward the open street where the orange building lies.", + "The bicycle still crowds my right foreground, but the green lane and the buildings beyond it are just appearing at my left edge. I turn left again to bring that open lane further into view so I can pick a line toward the orange building.", + "The paved strip and green lane now run across my view, with a brown-orange facade coming into the far left. Another left turn should bring that facade and the lane leading toward it nearer to straight ahead.", + "The orange building with its dark recessed doorway now stands to my left across the green lane, while a bollard and planter sit close on my right. One more left turn should place that frontage and the open lane squarely in front of me.", + "The green lane now runs clear ahead of me, with the orange building and its recessed glass entrance standing off to my right front. Nothing blocks the near stretch, so I step forward to begin closing that distance.", + "The orange facade and its dark doorway have grown larger ahead of me, and the lane underfoot is still free, with the cones and yellow barriers kept over by the far kerb. I keep walking forward to close in on that entrance.", + "The orange building now fills the left of my view, but a metal railing and planting run along the sidewalk directly across my line of travel. I turn right to stay on the open lane instead of walking into that fence, keeping the entrance in sight.", + "With the railing now angled off to my left, the lane ahead of me is open past the barriers on the right. The orange building's entrance sits along that left frontage, so I step forward to keep closing on it.", + "The orange building runs along my left, and its dark recessed glass entrance is now clearly visible in that facade. The green lane ahead is clear of the yellow barriers and cones stacked to my right, so I will walk forward to close the remaining gap toward that doorway.", + "The recessed entrance in the orange wall has grown larger and sits further toward my left as I close on it. I am still short of being level with it, so another step forward should keep shrinking that distance.", + "The dark doorway set into the orange building is now close on my left, with the cones and yellow barriers keeping to the curb line beside me. Walking on should bring me abreast of the entrance rather than stopping short of it.", + "The glass doors in their deep recess are almost abeam on my left, so I am nearly level with the entrance. One more step forward should place me squarely in front of the opening before I swing toward it.", + "The entrance recess in the orange building now sits at the left edge of my view while my heading still runs along the lane past it. I will turn left to bring those glass doors into the center of my view before advancing on them.", + "The recessed doorway of the orange building is now in front of me, with open paving between us and the barriers set off to the right. I will step forward onto that forecourt to close on the doors.", + "From here the glass doors sit off to my left rather than straight ahead, so walking on now would carry me past the opening. Turning left should square my heading with the recessed entrance.", + "The glass doors of the orange building are now centered ahead inside their deep recess, with clear paving leading straight in. I will walk forward to bring myself up to that entrance.", + "The glass double doors set into the orange building's recessed entry are centered ahead of me, with the alcove walls framing them evenly. Nothing blocks the paving between me and that threshold, so I will walk straight in to shorten the remaining gap.", + "I am now inside the entry recess, with the doors squarely ahead and the side walls close on both sides, confirming my heading is true. I will keep walking forward to close the last of the distance to the doors.", + "The doors now dominate my view and their handles and lower panels are clearly resolved, so only a short stretch of floor remains. One more step forward should bring me right up to the entrance.", + "The orange building's glass entrance doors are directly in front of me, filling my view at arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dec5810839ecb4cb65ef84018c142b49a244fac5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Approach the AC near the green tree, then proceed to the orange building entrance.", + "Type": 3, + "Start_Pose": [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ], + [ + -4249.086, + 292.04, + 128.162, + 0.0, + -95.04, + 0.0 + ], + [ + -4249.086, + 292.04, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4312.091, + 183.086, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4375.097, + 74.133, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4438.102, + -34.82, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4501.108, + -143.773, + 131.885, + 0.0, + -120.04, + 0.0 + ], + [ + -4501.108, + -143.773, + 131.885, + 0.0, + -145.04, + 0.0 + ], + [ + -4604.256, + -215.891, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4707.404, + -288.008, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4810.552, + -360.126, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4810.552, + -360.126, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4810.552, + -360.126, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4810.552, + -360.126, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -4821.609, + -485.499, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -4832.666, + -610.871, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -4832.666, + -610.871, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -4789.702, + -729.17, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -4789.702, + -729.17, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -4797.237, + -853.815, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -4797.237, + -853.815, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4797.237, + -853.815, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4900.385, + -925.933, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -5003.533, + -998.051, + 138.348, + 0.0, + -145.04, + 0.0 + ], + [ + -5003.533, + -998.051, + 138.348, + 0.0, + -145.04, + 0.0 + ] + ], + "Rationale": [ + "From the start of this green cycle lane I can see a white air conditioning unit standing against the wall on the left sidewalk, beside the leafy green tree. It is still far ahead, so I will walk forward along the lane to close the gap before angling toward it.", + "Walking straight keeps the lane centered, but the AC unit and its green tree sit off to my left near the building wall. I will turn left so my heading points along that sidewalk instead of past it.", + "The turn has brought the white AC unit and the green tree above it into the left portion of my view, roughly along my heading now. I will step forward to shorten the distance to that unit.", + "The AC unit against the blue wall has grown larger and the yellow guard rail at its base is now distinct, so my heading is carrying me toward it. I will keep walking forward to close the remaining distance.", + "The tall white AC cabinet and the green tree beside it are clearly closer, though still some way up the sidewalk on my left. Another step forward should bring me nearer to that unit.", + "The AC unit and its yellow protective rail now fill much of the left side, so I am within a short walk of it. I will advance again to draw level with the unit under the green tree.", + "The utility pole and railing directly ahead now cut across my view, and the AC unit with its green tree has slid to the far left edge. I will turn left to face that unit squarely before continuing toward it.", + "The turn has put the white AC unit with its yellow guard rail and the green tree behind it in clear view ahead of me on the open pavement. I will step forward to come right up beside that unit.", + "The white air conditioning unit stands against the blue wall ahead on my left, with the leafy tree rising right beside it. I am still a few paces short of it, so I will walk forward along the clear sidewalk to close that gap.", + "The unit and its yellow guard rail now fill the left side of my view, and the tree stands just past them. I am not quite level with the unit yet, so another step forward should bring me alongside it.", + "The air conditioning unit and its yellow guard rail are right at my side, and the tree trunk stands within arm's reach in front of me. I have reached the unit by the tree. I mark reaching it and now set off for the entrance of the orange building.", + "My view is filled by the blue wall and the unit beside it, while the orange facade lies off to my right. Turning right should begin bringing that orange frontage into the front of my view.", + "The orange wall and the parked bicycle now sit ahead of me, but the walkway running along that building continues further round to my right. I will turn right again to line my heading up with that open stretch of pavement.", + "The paving now runs clear alongside the orange wall on my left, past the parked bicycle toward the yellow barriers and the buildings beyond. With my heading down that walkway, I will step forward to follow the orange frontage toward its entrance.", + "The orange wall and the bicycle leaning near it are close on my left, and the pavement stays open toward the yellow barriers ahead. I will keep walking forward along this frontage to bring the building's entrance within reach.", + "I have come level with the parked bicycle and the orange wall now crowds my left shoulder, so my heading points into the building face rather than along it. Turning right should swing me back onto the open walkway running past the barriers.", + "The orange facade sits along my left and the sidewalk ahead stays open beside the line of yellow barriers and cones. I will walk forward to close the remaining distance along that frontage and bring its entrance recess into view.", + "I am now level with the orange building, whose lower wall runs along my left while the barriers block the way straight ahead. Turning left should swing my heading onto that frontage where a doorway is likely set.", + "Facing along the building line, I can see a dark recessed entryway cut into the frontage just off my left, with open pavement between me and it. Stepping forward should carry me alongside that recess.", + "The barriers now sit squarely ahead of me and the entrance recess has slipped to my left side. I will turn left to bring that alcove back toward the center of my view.", + "The glass doors of the entrance are visible in the alcove but still sit off to my left, with the orange wall to their right. Another left turn should square my heading with the doorway before I step in.", + "The doors now sit centered ahead inside the recessed entry, with clear tiled floor leading to them. I will walk forward into the alcove to close on the doorway.", + "I am inside the entry alcove with the glass doors filling much of my view and still a short gap of floor remaining. One more step forward should bring me right up to the entrance.", + "The building's glass entrance doors stand directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6e747c25a6f5e17eb660b54eb72aec5d43a50d1 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t3_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head to the metal pole on the sidewalk, then move to the blue bicycle.", + "Type": 3, + "Start_Pose": [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ], + [ + -4249.086, + 292.04, + 128.162, + 0.0, + -95.04, + 0.0 + ], + [ + -4249.086, + 292.04, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4312.091, + 183.086, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4375.097, + 74.133, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4438.102, + -34.82, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4438.102, + -34.82, + 128.162, + 0.0, + -120.04, + 0.0 + ], + [ + -4438.102, + -34.82, + 128.162, + 0.0, + -95.04, + 0.0 + ], + [ + -4438.102, + -34.82, + 128.162, + 0.0, + -70.04, + 0.0 + ], + [ + -4438.102, + -34.82, + 128.162, + 0.0, + -45.04, + 0.0 + ], + [ + -4438.102, + -34.82, + 128.162, + 0.0, + -20.04, + 0.0 + ], + [ + -4319.864, + -77.949, + 128.162, + 0.0, + -20.04, + 0.0 + ], + [ + -4201.625, + -121.078, + 128.162, + 0.0, + -20.04, + 0.0 + ], + [ + -4083.386, + -164.206, + 128.162, + 0.0, + -20.04, + 0.0 + ], + [ + -3986.536, + -200.764, + 144.792, + 0.0, + -20.04, + 0.0 + ], + [ + -3986.536, + -200.764, + 144.792, + 0.0, + -20.04, + 0.0 + ] + ], + "Rationale": [ + "The tall grey metal pole rises from the sidewalk on the left side of the green lane, still some distance ahead of me. I will walk forward along the lane to close that gap before angling toward it.", + "The metal pole on the sidewalk now sits off to my left rather than in front of me, so walking straight would carry me past it down the lane. I will turn left to put the pole and the sidewalk squarely ahead.", + "The sidewalk and its metal pole are now near the middle of my view, with open lane between us. I will step forward along this heading to shorten the remaining distance to the pole.", + "The grey pole and the yellow guard rail beside it have grown noticeably larger, so my heading is carrying me correctly toward the sidewalk. I will keep walking forward to reach the base of the pole.", + "The pole now dominates the centre of my view and the kerb edge is close in front of me. A further step forward should bring me right alongside it.", + "The thick grey metal pole stands immediately in front of me at the sidewalk edge, its base and the kerb within a step. I have reached it. I mark arriving here before turning away toward the blue bicycle parked by the rail across the lane.", + "Standing at the pole, my view is filled by the sidewalk, guard rail and building wall, with no blue bicycle in sight. I will turn right to swing my heading back across the green lane toward the far side where the bicycle stood.", + "The turn has brought the green lane back ahead of me, but the blue bicycle is still not in view on this heading. I will turn right again to continue sweeping toward the far kerb where it is parked.", + "My view has swung across the green lane and now shows mostly empty pavement ahead with the curved blue building on the right, but no bicycle yet. I will keep rotating right to bring the far corner of the sidewalk into view where the blue bicycle should stand.", + "The blue bicycle is now visible ahead on the right, leaning against a railing beside the corner building, but it sits at the edge of my view rather than in front of me. One more turn to the right should place it near the center of my heading before I start walking.", + "The blue bicycle is now roughly ahead of me, propped against the railing on the sidewalk by the corner building, with clear open pavement between us. I will walk forward to close that gap.", + "The bicycle has grown noticeably larger and its frame and railing are clearer, so my heading is carrying me straight toward it. I will continue walking forward since the route across the lane stays clear.", + "The blue bicycle now dominates the right of my view, its wheel and handlebars distinct beside the yellow striped post at the corner. I am still a couple of paces short of standing beside it, so I will step forward again.", + "The bicycle fills much of the right side of my view and I am nearly level with the corner where it leans. One more short step forward should bring me right alongside it.", + "The blue bicycle stands directly beside me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..618b4fdc8c0f154da0d4561424944a602b9d6e33 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004238_y000417_z000130_t5_a_pd/infos.json @@ -0,0 +1,582 @@ +{ + "Instruction": "Grab the trash bag at the AC near the green tree, then set it down near the orange building entrance.", + "Type": 5, + "Start_Pose": [ + -4238.029, + 417.412, + 129.664, + 0, + -95.04, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4878.24, + -432.585, + 51.469, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4238.029, + 417.412, + 129.664, + 0, + -95.04, + 0 + ], + [ + -4238.029, + 417.412, + 129.664, + 0.0, + -120.04, + 0.0 + ], + [ + -4301.034, + 308.459, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4364.04, + 199.506, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4427.046, + 90.553, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4490.051, + -18.401, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4490.051, + -18.401, + 128.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4593.199, + -90.518, + 142.667, + 0.0, + -145.04, + 0.0 + ], + [ + -4696.347, + -162.636, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4799.495, + -234.754, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4799.495, + -234.754, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4799.495, + -234.754, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4862.501, + -343.707, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4862.501, + -343.707, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4862.501, + -343.707, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -4873.558, + -469.079, + 143.808, + 0.0, + -95.04, + 0.0 + ], + [ + -4873.558, + -469.079, + 143.808, + 0.0, + -70.04, + 0.0 + ], + [ + -4830.594, + -587.378, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -4787.63, + -705.677, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -4787.63, + -705.677, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -4793.951, + -830.226, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -4793.951, + -830.226, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4856.957, + -939.18, + 138.15, + 0.0, + -120.04, + 0.0 + ], + [ + -4856.957, + -939.18, + 138.15, + 0.0, + -145.04, + 0.0 + ], + [ + -4856.957, + -939.18, + 138.15, + 0.0, + -170.04, + 0.0 + ], + [ + -4980.919, + -960.948, + 141.16, + 0.0, + -170.04, + 0.0 + ], + [ + -5104.881, + -982.717, + 138.15, + 0.0, + -170.04, + 0.0 + ], + [ + -5033.966, + -970.264, + 138.15, + 0.0, + -170.04, + 0.0 + ], + [ + -5033.966, + -970.264, + 138.15, + 0.0, + -170.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4878.24, + -432.585, + 51.469, + 0.0, + 0.0, + 0.0 + ], + [ + -4843.71, + -353.869, + 108.256, + -28.202, + -69.895, + 1.862 + ], + [ + -4840.221, + -345.052, + 108.529, + -28.189, + -44.883, + 1.872 + ], + [ + -4852.195, + -469.942, + 108.84, + -28.193, + -44.891, + 1.872 + ], + [ + -4853.001, + -461.456, + 107.676, + -28.202, + -19.899, + 1.858 + ], + [ + -4810.675, + -579.671, + 107.937, + -28.208, + -19.898, + 1.852 + ], + [ + -4767.792, + -697.724, + 108.359, + -28.189, + -19.881, + 1.867 + ], + [ + -4767.064, + -707.154, + 108.062, + -28.194, + -44.892, + 1.865 + ], + [ + -4772.652, + -831.795, + 107.679, + -28.203, + -44.899, + 1.858 + ], + [ + -4776.048, + -839.651, + 108.886, + -28.192, + -69.891, + 1.874 + ], + [ + -4838.015, + -949.073, + 108.74, + -28.211, + -69.902, + 1.853 + ], + [ + -4844.84, + -955.862, + 108.082, + -28.21, + -94.911, + 1.853 + ], + [ + -4853.605, + -958.59, + 108.412, + -28.187, + -119.88, + 1.876 + ], + [ + -4976.806, + -981.904, + 107.88, + -28.208, + -119.906, + 1.854 + ], + [ + -5100.905, + -1003.699, + 107.671, + -28.201, + -119.899, + 1.862 + ], + [ + -5102.911, + -982.371, + 98.15, + 0.0, + -170.04, + 0.0 + ], + [ + -5102.911, + -982.371, + 98.15, + 0.0, + -170.04, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1064.1, + 1064.1, + 939.3, + 814.8, + 690.8, + 567.7, + 567.7, + 445.3, + 325.5, + 212.9, + 212.9, + 212.9, + 90.3, + 21.4, + 22.3, + 21.4, + 21.9, + 21.4, + 21.4, + 20.6, + 21.4, + 20.2, + 21.4, + 20.6, + 19.7, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the middle of the green cycle lane I can see the target side of the street off to my left, where a white air conditioning unit stands against the pale building beside a leafy green tree. My current heading points straight down the road, so nothing on that sidewalk is centered for approach. I will turn left to bring that AC and tree corner into the front of my view before advancing.", + "After turning, the left sidewalk with its white AC unit, yellow guard rail and green tree now sits ahead in my view, and the lane in front of me is clear apart from a traffic cone at the far left edge. The trash bag I need should be at the base of that AC, still too far to make out. I will walk forward along the open lane to close the distance toward it.", + "The white AC cabinet and the yellow barrier beside it have grown noticeably larger and the green tree above them is clearer, so my previous step moved me closer along the correct line. The path ahead on the lane is still unobstructed. I will keep walking forward toward that AC corner.", + "I am now close enough that the ribbed white AC unit, the yellow railing and the parked white bicycle on the sidewalk are clearly resolved just ahead on my left. I still cannot make out a trash bag at the base of the unit from this distance and angle. I will advance again to get near enough for a proper look at that spot.", + "A dark bag shape is now visible on the pavement just past the yellow railing beneath the AC unit, matching the trash bag described in the task. It is still ahead of me and slightly to the left, beyond the pole and planter at the curb. I will step forward once more to bring myself alongside that sidewalk area before adjusting my heading.", + "The dark trash bag is sitting on the sidewalk to my left, beside the yellow railing under the white AC unit and the leafy green tree. My current heading points down the road past it, so I will turn left to face the sidewalk pocket where the bag rests. That should line up a straight walking path toward the pickup target.", + "After turning, the trash bag now sits near the center of my path, next to the yellow guard rail and the AC unit against the blue wall. The paved sidewalk between me and it is clear of obstacles. I will step forward to close the remaining distance to the bag.", + "The trash bag has grown larger ahead of me, but it is still several paces away beside the yellow rail and the AC cabinet. Nothing blocks the walkway between my position and it. I will keep walking forward to get within reach for a grab.", + "The bag is now close, resting on the pavement just past the yellow rail slightly to my right. I am still a step or two short of a comfortable grabbing distance. I will advance once more to bring it within arm's reach.", + "That last step brought me right up beside the AC cabinet and the yellow rails, and the trash bag has slipped to the far right edge of what I can see. Facing the wall and rails like this, I am not squared up on the bag. I will turn right so the bag sits in front of me for a grab attempt.", + "The dark trash bag sitting beside the white AC unit near the leafy tree is now centered in front of me, so this is the target the task refers to. I will attempt to grab it from where I stand, hoping my reach covers the short gap of pavement between us.", + "My grab attempt did not take hold, since nothing is in my hands and I am only looking down at the tiled pavement and my own shadow. The bag must still be lying a bit too far ahead for my reach, so I will step forward to close that remaining distance. Getting closer should put it within grabbing range.", + "I have advanced right up to the AC unit and yellow rail on my left, with the bike and orange wall directly ahead, so the bag should now be at my feet just below my line of sight. My earlier reach from farther back came up empty, so this closer stance is the reason to try again. I will attempt the grab once more from here.", + "This time the grab worked, and the bulky trash bag is now filling the lower part of my view as I carry it. The orange building and its walkway lie off to my right, away from the AC alcove I am facing. I will turn right to swing my heading toward that side and begin carrying the bag out of this corner.", + "With the bag secured, my view is now clear of the AC alcove and shows the open pavement past the parked bicycle toward the orange wall and the barricaded plaza. This is the direction I need to travel to reach the building entrance. I will walk forward along this open stretch while carrying the bag.", + "I have the trash bag in hand and I am carrying it away from the AC alcove, but my heading is angled into the orange wall with the parked bicycle filling my left foreground. Turning right should swing my view off that wall and onto the open walkway that runs past the yellow barriers toward the buildings ahead.", + "The bicycle has fallen back to my left edge and the paved walkway now runs clear ahead between the planter on my right and the line of yellow barriers further on. Carrying the bag, I will step forward along this lane to close distance with the building fronts where the entrance should be.", + "The walkway directly in front of me is still open, with the barrier and cone line sitting across the far side of the plaza rather than at my feet. I will keep walking forward with the bag so I can reach the facades and pick out the orange building's entrance.", + "The yellow barriers and traffic cones now span the space straight in front of me, so pressing further ahead would only bring me against that line. The orange facade and the recessed frontage sit off to my left, so I will turn left to face that side and look for the entrance where the bag should go.", + "After turning, the barriers sit off to my right and a clear strip of pavement runs alongside the orange and blue building wall in front of me. I will walk forward with the bag to follow this wall toward the entrance frontage.", + "I am still carrying the trash bag, and straight ahead the walkway is closed off by a row of yellow barriers and traffic cones, so continuing on this heading gains nothing. The building facade runs away to my left with a shaded recess that looks like the entrance I need. I will turn left to swing off the blocked line and bring that entrance side into view.", + "The turn has opened up a recessed doorway with glass double doors along the wall to my left, with only a cone and barrier standing off to the right of it. With the bag still in hand and no obstruction on the paving in front of me, walking forward should carry me alongside that entrance recess. I will step forward to close the remaining distance to the doorway area.", + "That step carried me past the front of the recess, so the glass doors now sit off to my left edge while I face mostly blank cladding and a cone. I need the entrance itself in front of me before I can set the bag down near it. I will turn left to bring the doorway back toward the center of my view.", + "The glass doors are now visible on the left side of my view, but I am still angled across the recess rather than facing it. A further left rotation should square my heading with the doorway so I can walk straight in and place the bag right at the entrance. I will turn left again to finish that alignment.", + "The double doors of the entrance are now centered in front of me with clear floor between us. Since the bag has to be set down near this entrance, I should close that last gap rather than drop it out in the walkway. I will walk forward toward the doors.", + "I am still carrying the trash bag and the recessed glass entrance doors now fill my view straight ahead, with the doorway threshold just a short step away. I will walk forward once more to close the last bit of distance so the bag can be set down right at the entrance rather than out on the open walkway.", + "I am now right up against the entrance doors, close enough that the glass panels and handles fill the whole view, so there is no useful distance left to cover. This is the drop-off spot the task asks for, so I will release the trash bag here and expect it to come to rest at the doorway.", + "The trash bag is resting on the ground directly at the building entrance doors, no longer in my hands. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..51aa8113f1542e504857eca05ac2964b57169e5e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the red-and-white traffic cone beside the turquoise barrier.", + "Type": 0, + "Start_Pose": [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ], + [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 78.76, + -0.0 + ], + [ + -4247.997, + 2288.07, + 138.296, + 0.0, + 78.76, + -0.0 + ], + [ + -4247.997, + 2288.07, + 138.296, + 0.0, + 103.76, + -0.0 + ], + [ + -4277.934, + 2410.317, + 146.436, + 0.0, + 103.76, + -0.0 + ], + [ + -4307.87, + 2532.564, + 145.395, + 0.0, + 103.76, + -0.0 + ], + [ + -4337.806, + 2654.811, + 138.86, + 0.0, + 103.76, + -0.0 + ], + [ + -4367.742, + 2777.058, + 138.86, + 0.0, + 103.76, + -0.0 + ], + [ + -4397.679, + 2899.305, + 138.86, + 0.0, + 103.76, + -0.0 + ], + [ + -4397.679, + 2899.305, + 138.86, + 0.0, + 78.76, + -0.0 + ], + [ + -4373.146, + 3022.75, + 138.843, + 0.0, + 78.76, + -0.0 + ], + [ + -4348.614, + 3146.194, + 138.843, + 0.0, + 78.76, + -0.0 + ], + [ + -4324.082, + 3269.639, + 138.843, + 0.0, + 78.76, + -0.0 + ], + [ + -4324.082, + 3269.639, + 138.843, + 0.0, + 78.76, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead I only see shop fronts, benches and a parked scooter, but at the far right edge of my view I can just make out an orange-and-white cone and a hint of coloured barrier near the roadway. I will turn right to bring that cone and barrier area properly in front of me before committing to any walking direction.", + "The turn has opened up the street to my right, and I can now see a line of turquoise barriers with several red-and-white cones standing along them in the mid distance. They are far off across the open pavement, so I will step forward to begin closing that gap.", + "The barriers with their cones are now clearly nearer, but they sit off to the right of my current heading while a building corner and glass entrance fill the left of my view. I will turn right so the cone-and-barrier line moves toward the middle of my view and my path down the street lines up with it.", + "After the turn the roadway runs straight ahead and the turquoise barriers with their red-and-white cones sit near the center of my view. The route along the curb looks clear, so I will walk forward to reduce the remaining distance.", + "The barriers and the cones in front of them have grown noticeably larger and stay ahead of me on this street, with only a striped post and planter close on my left. Nothing blocks the road surface, so I will continue advancing toward them.", + "I can now clearly distinguish individual red-and-white cones standing along the turquoise barrier straight in front of me, though they are still several paces off. The open lane keeps my heading good, so another step forward should keep shrinking the distance.", + "The turquoise barrier now spans much of the street ahead with the cones set out in front of it, and their bases are clearly visible on the asphalt. I am still short of them, so I will keep walking straight toward the line.", + "The cones and the turquoise barrier are close now, filling the middle of my view with the barrier panels plainly detailed. A couple more steps are still needed before I am beside one of the cones, so I will advance again.", + "The turquoise barrier line with its row of red-and-white cones now spans the lane just ahead of me, but my heading points at the right end of that line rather than the cone I want to reach. I will turn left to swing my facing toward the nearer cone standing at the left end of the barrier, beside the building wall. That should put it near the center of my view for a straight approach.", + "After the turn, the barrier segment and its adjacent red-and-white cone sit ahead of me slightly right of center, with clear open pavement between us. I will step forward along the wall to close that gap.", + "The barrier panel and the cone beside it have grown noticeably larger and now stand just a short stretch ahead on my right side. I will keep advancing to bring myself alongside that cone.", + "The red-and-white cone is now directly in front of me at the foot of the turquoise barrier, close enough that its base fills the lower part of my view. One more step forward should place me right beside it, which is the stopping position the task asks for.", + "The red-and-white cone is right at my feet against the turquoise barrier. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5370a111eeab3d9b4126763479b427e3144a7cbb --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the frosted glass double doors beneath the gray metal awning and beside the turquoise vertical sign.", + "Type": 0, + "Start_Pose": [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ], + [ + -4198.126, + 2266.136, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -4198.126, + 2266.136, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + -4173.594, + 2389.581, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + -4149.061, + 2513.026, + 144.032, + 0.0, + 78.76, + -0.0 + ], + [ + -4124.529, + 2636.471, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + -4099.997, + 2759.916, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + -4075.464, + 2883.361, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + -4050.932, + 3006.806, + 144.324, + 0.0, + 78.76, + -0.0 + ], + [ + -4050.932, + 3006.806, + 144.324, + 0.0, + 78.76, + -0.0 + ] + ], + "Rationale": [ + "From the open plaza I can already pick out the frosted glass double doors set back under the gray metal awning, with the turquoise vertical sign hanging just to their left. They sit ahead of me and slightly to the right, so I will move forward to close the initial gap across the paving before refining my heading.", + "The doorway and its turquoise sign now sit right of my view center, so walking straight would carry me past the storefront along the sidewalk. I will turn right to bring the recessed frosted doors into the middle of my view and set a heading that points directly at them.", + "With the frosted double doors, the awning above them, and the turquoise sign now centered in my view, my heading looks correct for a straight approach. I will move forward to start cutting the remaining distance across the open forecourt.", + "The doorway is noticeably larger and still framed by the awning and the turquoise sign, confirming I am tracking straight toward it. The planter and striped post stay off to my right side of the path, so I will continue forward.", + "The frosted panels and their step now dominate the left-center of my view, so I am within a short walk of the entrance. I will keep moving forward to reach the doorway rather than stopping out on the open pavement.", + "I am close enough that the awning edge and the raised semicircular step in front of the doors fill much of my view. Another forward step should bring me onto that step directly before the frosted glass panels.", + "The two frosted glass leaves now span nearly my whole view with their handles becoming visible, so I am nearly at the threshold. I will advance once more to close in on the door face.", + "The vertical handles of the frosted double doors are directly in front of me, though a small gap of pavement still separates me from the panels. One more short forward step should place me squarely at the entrance.", + "The frosted glass double doors and their handles fill my view at arm's length. The task is complete, so I stop here rather than press closer." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_d/infos.json b/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf139da02c6174b3b185a95972bd3c9425099efd --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_d/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the green shrub by the glass double doors.", + "Type": 0, + "Start_Pose": [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ], + [ + -4198.126, + 2266.136, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -4123.722, + 2367.648, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -4123.722, + 2367.648, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + -4099.19, + 2491.093, + 143.327, + 0.0, + 78.76, + -0.0 + ], + [ + -4074.657, + 2614.537, + 138.162, + 0.0, + 78.76, + -0.0 + ], + [ + -4074.657, + 2614.537, + 138.162, + 0.0, + 103.76, + -0.0 + ], + [ + -4104.593, + 2736.784, + 138.162, + 0.0, + 103.76, + -0.0 + ], + [ + -4104.593, + 2736.784, + 138.162, + 0.0, + 128.76, + -0.0 + ], + [ + -4104.593, + 2736.784, + 138.162, + 0.0, + 128.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the glass double doors set into the white storefront ahead on my right, and a patch of green planting sits just to the right of that entrance. The distance is still large, so I will move forward along the open sidewalk to close it.", + "The glass double doors and the leafy planter beside them have grown noticeably larger, confirming I am on the right line of travel. I will continue forward since the walkway ahead remains clear.", + "The doors sit off to my right and the green shrub is pushed almost to the edge of my view, so my heading is drifting past the target. A small turn to the right should bring the entrance and its planting back toward the center of my view.", + "The entrance and the raised planter with the green shrub are now framed ahead of me with clear pavement between us. I will move forward to shorten that remaining gap.", + "The shrub's leaves and its planter edge are close on my right and the doorway step is just ahead, so I am nearly at the corner beside the target. One more forward step should place me alongside the planting.", + "I am now level with the glass doors, but the shrub has slipped to the lower right edge while the building wall dominates my view. Turning right should square me toward the planting beside the entrance.", + "The green shrub in its planter is now plainly in front of me with the glass doors on my immediate left, so only a short step remains. I will move forward to arrive directly beside the shrub.", + "I am standing right at the planter with the glass doors beside me, but the shrub sits low and off to my right of center. A last turn right should face the shrub squarely to confirm I have reached it.", + "The green shrub fills the near foreground beside me, with the glass double doors at my left shoulder. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..827bf5c8dd05ea79b253a77c098ecd61450a1cdc --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search the nearby streets for the parked blue bicycle, then approach it.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -3.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 21.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 46.2, + -0.0 + ], + [ + -4196.825, + -829.244, + 128.27, + 0.0, + 46.2, + -0.0 + ], + [ + -4109.712, + -738.404, + 130.353, + 0.0, + 46.2, + -0.0 + ], + [ + -4052.576, + -649.804, + 144.717, + 0.0, + 46.2, + -0.0 + ], + [ + -4044.556, + -572.901, + 144.795, + 0.0, + 46.2, + -0.0 + ], + [ + -3957.443, + -482.061, + 138.15, + 0.0, + 46.2, + -0.0 + ], + [ + -3870.331, + -391.221, + 138.15, + 0.0, + 46.2, + -0.0 + ], + [ + -3870.331, + -391.221, + 138.15, + 0.0, + 71.2, + -0.0 + ], + [ + -3829.797, + -277.854, + 138.15, + 0.0, + 71.2, + -0.0 + ], + [ + -3829.797, + -277.854, + 138.15, + 0.0, + 71.2, + -0.0 + ] + ], + "Rationale": [ + "My view is filled with a blank building facade, concrete barriers and traffic cones, and no bicycle is anywhere in sight. The open street continues off to my right past the railing, so I will turn right to begin a steady scan toward the more open roadway.", + "This heading still shows only the pale building wall, a guardrail and planting, with no bicycle among them. I will keep turning right in the same direction to bring the brighter street corner ahead into view.", + "A blue bicycle has just come into the right edge of my view, parked by the racks near the shopfronts across the railing. I will continue turning right to center it before committing to an approach.", + "The blue bicycle is now roughly ahead of me beside the bollards and racks on the sidewalk, and the green paved lane in front of me is clear. I will walk forward along this path to close the distance toward it.", + "The blue bicycle sits slightly right of center and appears larger than before, so my heading is carrying me toward it. The walkway ahead remains open, so I will keep stepping forward.", + "The bicycle is clearly closer now, framed between the guardrail on my left and the striped bollard on my right. Nothing blocks the paved strip in front of me, so I will continue advancing toward the parked bike.", + "A bollard head fills the near left of my view, but the blue bicycle is still visible beyond it and slightly right of my heading. The gap to the right of that post is open, so I will keep walking forward to close in.", + "The blue bicycle now stands large and unobstructed just ahead on the tiled plaza beside the rack. I am close but not yet within arm's reach, so I will step forward again to finish closing the gap.", + "The blue bicycle now fills the right side of my view at the bike rack, so the target is confirmed and only a short gap remains. The paved walkway ahead of me is clear of bollards and obstacles, so I will step forward again to close the remaining distance.", + "I am nearly level with the bicycle, but it sits off to my right and is drifting toward the edge of my view while my heading points down the sidewalk past it. Turning right should bring the bicycle back to the center of my view so my final step goes straight toward it.", + "The blue bicycle is now centered in front of me at the rack with nothing blocking the short stretch of pavement between us. One more step forward should bring me within immediate reach of it.", + "The blue bicycle's frame and handlebar are directly in front of me at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..777930924e43a0865ffe504fb8d40d1003c25e40 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Look around for the gray bicycle near a building entrance, then head toward it.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -3.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 21.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 46.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 71.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 96.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 121.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 146.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 171.2, + -0.0 + ], + [ + -4408.314, + -900.829, + 128.149, + 0.0, + 171.2, + -0.0 + ], + [ + -4532.692, + -881.575, + 134.707, + 0.0, + 171.2, + -0.0 + ], + [ + -4657.069, + -862.32, + 138.15, + 0.0, + 171.2, + -0.0 + ], + [ + -4781.447, + -843.065, + 138.15, + 0.0, + 171.2, + -0.0 + ], + [ + -4781.447, + -843.065, + 138.15, + 0.0, + 171.2, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a blank facade, traffic cones, and yellow barriers, with no bicycle and no building entrance in sight. I will turn right to begin a steady scan of the surroundings for a gray bicycle parked near a doorway.", + "This heading still shows only the pale building wall, railing, and planted strip, with no bicycle or doorway. I will keep rotating right in the same direction to open up the street side that is still hidden.", + "The view has opened onto the street and a blue bicycle sits at the bike rack ahead on the right, but that is not the gray bicycle I need and no entrance is beside it. I will continue turning right to inspect more of the sidewalk and shopfronts on that side.", + "The blue rack bicycle is now closer on my left and the road ahead widens into an open crossing with no doorway-parked bicycle. I will keep the scan going to the right, since the buildings on the far side of the road are still unchecked.", + "Looking down the open lane I see trees, barriers, and distant storefronts, but nothing matching a gray bicycle by an entrance. I will turn right again to bring the near building frontage on that side into view.", + "Turning has brought a sidewalk with railings and a gray building frontage into view, and at the far right edge I can just catch a bicycle wheel next to it. I will continue right to bring that promising frontage and its possible entrance fully into view.", + "I can now see a gray bicycle standing on the sidewalk right beside a glass double door entrance on the right side of my view. I will turn right once more to center that bicycle and its doorway before walking toward it.", + "The gray bicycle and the recessed glass entrance are clearly in view, but they still sit slightly right of my heading. One more right turn should line my facing up with the bicycle so I can walk straight to it.", + "My scan to the right has brought a gray bicycle into view, parked against the wall just left of the glass double-door entrance across the sidewalk. Since the target is now clearly visible and roughly ahead of me, I will stop scanning and walk forward to close the distance. The paved sidewalk ahead looks open, so this step should carry me nearer to the bicycle.", + "The bicycle and the recessed entrance doors have grown larger, confirming my heading is taking me toward the target. I am still out on the roadway edge with clear ground between me and the bike, so I will keep walking forward. Another step should bring me onto the sidewalk area beside it.", + "I am now on the sidewalk with the gray bicycle close ahead and slightly left, leaning near the entrance corner. Nothing blocks the remaining stretch, so I will continue forward to finish closing the gap. This should put me right beside the bicycle.", + "The gray bicycle is directly in front of me, its handlebar and basket filling much of my view beside the entrance pillar. One more step forward should bring me fully alongside it at the entrance.", + "The gray bicycle is right in front of me at arm's length beside the building entrance doors. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_c/infos.json b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e865b47fd27ab3185684fb5378fcf7ac9b7ccd4e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_c/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Explore the sidewalks for the green-and-white arched signboard, then approach the pillar closest to the shop entrance.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -3.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 21.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 46.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 71.2, + -0.0 + ], + [ + -4243.377, + -800.94, + 128.164, + 0.0, + 71.2, + -0.0 + ], + [ + -4202.817, + -681.795, + 128.164, + 0.0, + 71.2, + -0.0 + ], + [ + -4162.257, + -562.651, + 128.164, + 0.0, + 71.2, + -0.0 + ], + [ + -4121.697, + -443.507, + 128.164, + 0.0, + 71.2, + -0.0 + ], + [ + -4081.137, + -324.362, + 128.734, + 0.0, + 71.2, + -0.0 + ], + [ + -4040.577, + -205.218, + 128.433, + 0.0, + 71.2, + -0.0 + ], + [ + -4000.017, + -86.074, + 128.15, + 0.0, + 71.2, + -0.0 + ], + [ + -4000.017, + -86.074, + 128.15, + 0.0, + 46.2, + -0.0 + ], + [ + -3912.904, + 4.766, + 128.15, + 0.0, + 46.2, + -0.0 + ], + [ + -3825.792, + 95.606, + 128.15, + 0.0, + 46.2, + -0.0 + ], + [ + -3825.792, + 95.606, + 128.15, + 0.0, + 21.2, + -0.0 + ], + [ + -3708.45, + 141.12, + 128.15, + 0.0, + 21.2, + -0.0 + ], + [ + -3591.109, + 186.634, + 128.15, + 0.0, + 21.2, + -0.0 + ], + [ + -3473.768, + 232.148, + 128.15, + 0.0, + 21.2, + -0.0 + ], + [ + -3356.426, + 277.661, + 128.15, + 0.0, + 21.2, + -0.0 + ], + [ + -3239.085, + 323.175, + 128.15, + 0.0, + 21.2, + -0.0 + ], + [ + -3121.744, + 368.689, + 128.15, + 0.0, + 21.2, + -0.0 + ], + [ + -3004.402, + 414.202, + 129.583, + 0.0, + 21.2, + -0.0 + ], + [ + -2887.061, + 459.716, + 129.583, + 0.0, + 21.2, + -0.0 + ], + [ + -2769.72, + 505.23, + 135.94, + 0.0, + 21.2, + -0.0 + ], + [ + -2695.413, + 495.158, + 133.631, + 0.0, + 21.2, + -0.0 + ], + [ + -2578.072, + 540.672, + 134.705, + 0.0, + 21.2, + -0.0 + ], + [ + -2483.733, + 599.513, + 128.149, + 0.0, + 21.2, + -0.0 + ], + [ + -2366.391, + 645.027, + 128.149, + 0.0, + 21.2, + -0.0 + ], + [ + -2366.391, + 645.027, + 128.149, + 0.0, + 21.2, + -0.0 + ] + ], + "Rationale": [ + "From where I stand the view is filled by a blank pale wall, traffic cones and yellow barriers, with no green-and-white arched signboard anywhere in sight. The sidewalk and green lane appear to continue off to my right, so I will turn right to begin a steady scan along the walkable frontage.", + "The rotation has swept past more of the same facade, railing and planting, and the arched signboard is still not in view. I will keep turning in the same direction to extend the scan toward the brighter, more open part of the street that is appearing at the right side.", + "Toward the right of my view the street opens out and I can now make out a green-and-white arched signboard over a shop front beyond the railing and parked bicycle. I will continue turning right to bring the open roadway and its sidewalk in front of me, since that is the route that should let me walk toward that storefront.", + "The arched signboard now sits to my left above the shop entrance, while the wide green lane and its sidewalk run away ahead and slightly to my right. One more turn in the same direction should square me with that open lane so I can walk down it instead of pressing against the railing.", + "I am now facing straight down the broad green lane, with the green-and-white arched signboard clearly visible on the left side of the street. The way ahead is clear of cones and barriers, so I will walk forward to close distance on that storefront.", + "The bicycle and railing on my left have drawn nearer and the arched sign is growing larger, confirming I am moving along the correct frontage. I will keep walking forward down the open lane toward the shop.", + "The curb corner and bollards are close on my left and the shop with its arched signboard remains well ahead, so I still have distance to cover. I will continue stepping forward along the green lane rather than turning yet.", + "I am rounding past the bollards with the arched signboard still off to my left front and the pedestrian area beyond it not yet reached. Another forward step should carry me farther along the lane toward the shop entrance and its pillars.", + "The green-and-white arched signboard is clearly readable on the shopfront off to my left across this open crossing, so the search part of the task is already settled and I only need to close distance. The teal paved lane ahead of me is clear, with only the parked bicycle and its bollard hugging my left side. I will step forward along this open stretch to bring the signboard's building and its frontage within reach.", + "The bicycle rack has slid to the very edge of my left side, confirming I am moving past the corner planting and into the open plaza. The arched signboard still sits ahead on my left, above a storefront with green railings and benches in front of it. I will keep walking forward on this clear surface to shorten the gap to that frontage.", + "The signboard's shopfront is noticeably larger on my left and the green railings and benches in front of it are now clearly separated, so I am gaining ground steadily. The paved lane in front of me continues open toward the covered walkway and the row of trees. I will take another step forward before adjusting my heading toward that frontage.", + "The arched green-and-white signboard has drifted to the far left edge of my view while a tall pillar and the covered structure now dominate straight ahead of me. Keeping the sign at the periphery would push me past its frontage instead of toward it. I will turn left so the signboard and the sidewalk beneath it come back into the center of my view.", + "The turn has placed the green-and-white arched signboard squarely in front of me above its shopfront, with the open road and manhole cover on the clear ground between us. Nothing blocks the stretch ahead, so distance is the only thing separating me from that storefront. I will walk forward to close in on the signboard's building.", + "The arched signboard and the illuminated shop entrance beneath it are noticeably nearer, and the green railings on my right mark the edge of the walkway. The road surface directly ahead stays open with only the manhole underfoot. I will continue forward to keep reducing the distance to that entrance frontage.", + "From here the signboard's building sits slightly off to my left and the long sidewalk corridor beside it runs away to the left rather than straight ahead of me. Facing my current heading would carry me across the frontage instead of down alongside it. I will turn left to line my heading up with that street corridor so I can walk the sidewalk toward the shop entrance and its pillars.", + "Now the street runs straight ahead with the green-and-white arched signboard raised over the shopfront on my right and its tall pillars lining that sidewalk. The roadway and adjacent walkway ahead are clear of traffic and obstacles. I will walk forward along this corridor to reach the entrance and the pillars beside it.", + "The green-and-white arched signboard is clearly visible ahead on the right side of the street, mounted above the shop frontage, so the search target is already identified. I will keep walking straight along the roadway to close the remaining distance toward that storefront and its row of pillars.", + "The arched signboard on the right is growing larger in view and the shop's angular entrance beneath it is becoming readable. I continue forward because the pillars fronting that entrance are still too far off to pick out the nearest one.", + "The shop entrance under the arched sign is now clearly framed to my right, with several vertical pillars standing along the sidewalk in front of it. Another step forward should bring me nearer to the pillar line so I can judge which one sits closest to the doorway.", + "The signboard's yellow and blue lettering and the recessed entrance are directly to my right, and the pillars now appear distinctly separated. I keep advancing along the street since the nearest pillar to the doorway is still ahead of my position.", + "I am nearly level with the storefront, and the large pillar on the right is now prominent alongside the entrance. Continuing forward should carry me toward the sidewalk area beside that pillar rather than stopping short in the roadway.", + "The entrance with its angled canopy is squarely to my right and the sidewalk paving in front of it is now open ahead. I step forward again to close on the pillar standing nearest that doorway.", + "The shop doors are close on my right and the pillar with the green band is only a short distance ahead on the paved forecourt. I keep walking so I can reach standing distance from that pillar beside the entrance.", + "I am now on the paved area in front of the entrance, with the tall pillar just ahead and slightly right. A further step should bring me right up beside the pillar closest to the shop doorway.", + "The green-and-white arched signboard is right above me and the shop's angular glass entrance sits just ahead on my right, so the sidewalk canopy pillar with the green band is the one I want. The tiled walkway in front of me is clear of bollards along this line, so I will step forward to close the remaining distance toward that pillar.", + "The banded pillar has grown noticeably larger and now stands between me and the shop doors, confirming it is the support nearest the entrance. I still have a few paces of clear tile in front of me, so I will keep walking straight toward it.", + "The pillar now dominates the middle of my view with its green ring clearly visible at eye level, and the entrance recess is immediately beyond it. I am not yet within touching range, so I will advance again to bring myself right up against it.", + "The pillar base and its green stripe fill much of my forward view and the shop doorway is only a step or two past it. One more short step should place me directly beside this entrance-side pillar.", + "I am standing right against the green-banded pillar beside the shop entrance, which fills my view. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_d/infos.json b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6c97a28d83620be10d81159fc3c66cd3f6ed640a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Find the orange building with glass doors, then walk to those doors.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0, + -28.8, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4283.937, + -920.084, + 128.483, + 0, + -28.8, + 0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -53.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -78.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -103.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -128.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -153.8, + 0.0 + ], + [ + -4396.865, + -975.651, + 128.214, + 0.0, + -153.8, + 0.0 + ], + [ + -4396.865, + -975.651, + 128.214, + 0.0, + -178.8, + 0.0 + ], + [ + -4522.696, + -978.287, + 131.877, + 0.0, + -178.8, + 0.0 + ], + [ + -4648.528, + -980.923, + 138.19, + 0.0, + -178.8, + 0.0 + ], + [ + -4774.359, + -983.559, + 138.19, + 0.0, + -178.8, + 0.0 + ], + [ + -4900.191, + -986.195, + 138.19, + 0.0, + -178.8, + 0.0 + ], + [ + -5026.022, + -988.83, + 138.15, + 0.0, + -178.8, + 0.0 + ], + [ + -5151.853, + -991.466, + 138.15, + 0.0, + -178.8, + 0.0 + ], + [ + -5151.853, + -991.466, + 138.15, + 0.0, + -178.8, + 0.0 + ] + ], + "Rationale": [ + "In front of me there is only a pale white facade behind barriers and traffic cones, with no orange building or glass entrance anywhere in view. I will turn left to begin a steady scan of the street for an orange wall with glass doors.", + "The new heading shows more white and blue buildings with a blossoming tree, and the glass doors I can see sit in a pale facade rather than an orange one. Since the target color is still absent, I will continue turning left in the same direction to sweep further along the street.", + "This view still shows light-colored buildings and doorways across the barrier line, none of them on an orange wall. I will keep rotating left with the same consistent sweep to bring more of the block into view.", + "An orange wall has just entered the left edge of my view above the barriers, which is a strong cue for the building I need. I will turn left again to bring that orange facade toward the center and look for glass doors on it.", + "The orange facade now fills the left half of my view and a dark recessed entryway is visible under it on the far left. I will turn left once more to place that recess and its likely glass doors near the center of my heading.", + "The orange building is directly ahead and its recessed entrance with double glass doors is now clearly visible slightly left of center. I will walk forward along the open sidewalk to close distance toward that entrance.", + "After stepping closer, the glass doors sit left of my centerline while my heading points along the orange wall. I will turn left to face the doorway squarely before continuing my approach.", + "The double glass doors of the orange building are now centered in my view at the end of the recessed entryway. I will walk forward to reduce the remaining distance and reach the doors.", + "The orange-walled building's recessed entryway is centered ahead of me, with the pair of glass doors framed at the back of the alcove. Nothing blocks the open pavement between me and that recess, so I will keep walking straight to close the remaining distance to the doors.", + "The entry recess now fills much of my view and the glass doors sit squarely at its far end, confirming my heading is still on the target. I will step forward again to enter the alcove and shorten the gap to the doors.", + "I am inside the shaded entry passage with the glass doors directly in front of me and the side walls flanking my path. Since I am still a few paces short of the doors, I will continue advancing along the passage.", + "The double glass doors now dominate my view, though there is still a stretch of floor between me and their threshold. I will move forward once more to bring myself right up to the doors.", + "The glass panels and their vertical handles are close in front of me, filling nearly the whole view. One more short step should place me directly at the doors, close enough to count as standing at them.", + "I am standing directly at the orange building's glass doors, with their handles within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_e/infos.json b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ce6dc82c25e9b4dea25d596a512e1810792f11f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004284_y-000920_z000128_t1_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Scan the area for the green-leafed tree near a gray bicycle, then make your way to it.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0, + -28.8, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4283.937, + -920.084, + 128.483, + 0, + -28.8, + 0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + -3.8, + 0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 21.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 46.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 71.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 96.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 121.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 146.2, + -0.0 + ], + [ + -4283.937, + -920.084, + 128.483, + 0.0, + 171.2, + -0.0 + ], + [ + -4408.314, + -900.829, + 128.149, + 0.0, + 171.2, + -0.0 + ], + [ + -4532.692, + -881.575, + 134.707, + 0.0, + 171.2, + -0.0 + ], + [ + -4657.069, + -862.32, + 138.15, + 0.0, + 171.2, + -0.0 + ], + [ + -4781.447, + -843.065, + 138.15, + 0.0, + 171.2, + -0.0 + ], + [ + -4781.447, + -843.065, + 138.15, + 0.0, + 171.2, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a pale building wall, traffic cones, yellow barriers and a pink blossoming tree at the far left, with low green vines behind the railing but no green-leafed tree paired with a gray bicycle. Nothing in this narrow forward view matches the target, so I will turn right to begin a consistent scan of the surrounding street.", + "The view has shifted onto more of the same white facade, railing and low green ground planting, still without any parked bicycle or a proper green-leafed tree. Since the scan has not yet reached open street, I will keep turning right in the same direction to widen the search.", + "The open street is now appearing on the right, and I can make out a bicycle at a rack in the distance, but its frame reads blue and the nearby trees are pink blossoms rather than green-leafed. That is not a confident match for the target, so I will continue turning right to reveal more of this street.", + "Now I am looking down the green bike lane with the blue bicycle and rack on my left and rows of pink blossom trees along the far side, none of them matching a green-leafed tree with a gray bicycle. I will keep the scan rotating right to cover the still unseen part of the street.", + "The lane stretches straight ahead between pink blossom trees, and a gray building with railings and planting is starting to enter the right edge. The target still is not in view, so I will continue the same rightward sweep toward that unexplored side.", + "On the right side a full green-leafed tree now rises above the gray building, and I can just catch a bicycle wheel at the far right edge of my view near the sidewalk. That is a strong cue for the target pairing, so I will turn right again to bring the tree and that bicycle fully into view.", + "The green-leafed tree is now clearly in front of me by the building wall, and a gray bicycle is parked on the sidewalk right beside it, which matches the target description. I will turn right once more to bring that pair closer to the center of my heading before walking toward it.", + "The green-leafed tree and the gray bicycle sit just right of my center, near the entrance of the tiled building across the sidewalk. A final short turn to the right should line my heading up with them so I can then step straight across toward the tree.", + "My scan has brought a green-leafed tree into view ahead on the left, standing right beside a gray bicycle parked against the building wall, which matches the pairing described in the task. The tree is still well across the street from me, so I will walk forward along this heading to close the distance. The paved sidewalk in front looks clear, so the step should carry me toward the tree.", + "The tree and the gray bicycle beneath it have grown noticeably larger and are now clearly framed left of the recessed glass entrance, confirming I picked the correct pair. I am still on the roadway side rather than beside them, so I will keep walking straight ahead. Nothing blocks the path, so this step should bring me appreciably closer.", + "The gray bicycle and the trunk of the green-leafed tree now fill much of the left side of my view, so I am close but not yet standing at the tree. I will take another step forward to reach it. The sidewalk ahead remains open, so I expect the gap to shrink further.", + "The gray bicycle is right in front of me with the green-leafed tree's trunk and canopy immediately behind it, so I am nearly at the target. One more step forward should place me at the tree itself rather than just short of it. The ground between us is clear pavement.", + "The green-leafed tree and the gray bicycle beside it are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004290_y002219_z000146_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-004290_y002219_z000146_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16a162d7864a492d5f83197f31dfabf0b266becf --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004290_y002219_z000146_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Approach the orange-red storefront entrance, then head to the green bicycle.", + "Type": 3, + "Start_Pose": [ + -4290.304, + 2219.474, + 146.486, + 0.0, + 169.92, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4290.304, + 2219.474, + 146.486, + 0.0, + 169.92, + -0.0 + ], + [ + -4290.304, + 2219.474, + 146.486, + 0.0, + 144.92, + -0.0 + ], + [ + -4393.301, + 2291.808, + 139.414, + 0.0, + 144.92, + -0.0 + ], + [ + -4496.298, + 2364.141, + 138.915, + 0.0, + 144.92, + -0.0 + ], + [ + -4599.294, + 2436.475, + 138.915, + 0.0, + 144.92, + -0.0 + ], + [ + -4702.291, + 2508.809, + 146.418, + 0.0, + 144.92, + -0.0 + ], + [ + -4799.764, + 2584.399, + 138.15, + 0.0, + 144.92, + -0.0 + ], + [ + -4901.2, + 2658.373, + 138.15, + 0.0, + 144.92, + -0.0 + ], + [ + -5004.197, + 2730.707, + 140.312, + 0.0, + 144.92, + -0.0 + ], + [ + -5004.197, + 2730.707, + 140.312, + 0.0, + 144.92, + -0.0 + ], + [ + -4928.582, + 2677.603, + 138.578, + 0.0, + 144.92, + -0.0 + ], + [ + -4928.582, + 2677.603, + 138.578, + 0.0, + 169.92, + -0.0 + ], + [ + -4928.582, + 2677.603, + 138.578, + 0.0, + -165.08, + 0.0 + ], + [ + -4928.582, + 2677.603, + 138.578, + 0.0, + -140.08, + 0.0 + ], + [ + -5023.332, + 2599.7, + 138.15, + 0.0, + -140.08, + 0.0 + ], + [ + -5115.533, + 2551.449, + 138.948, + 0.0, + -140.08, + 0.0 + ], + [ + -5115.533, + 2551.449, + 138.948, + 0.0, + -140.08, + 0.0 + ] + ], + "Rationale": [ + "The shop with the orange-red awning and its glass double doors sits off to my left, while my body faces down the open lane ahead. I will turn left so the entrance comes near the center of my view before I start walking toward it.", + "The storefront with the orange-red awning now sits squarely ahead across the open pavement, with its doors framed between the yellow bollards. Nothing blocks the stretch in front of me, so I will walk forward to close the distance to that entrance.", + "The awning and the door posters have grown larger, so my heading toward the entrance is holding. The corner pavement ahead is still clear, so I will keep walking to close in on the doors.", + "The doorway and its brick apron now fill much of my view, though I am still out on the road side of the bollards. I will continue forward to reach the entrance itself.", + "The glass doors with their poster panels are directly in front and the paved apron leads right up to them. A few more steps should bring me to the threshold, so I will keep advancing.", + "The entrance doors now dominate my view and the green mat in front of them is only a couple of paces away. I will step forward again to stand right at the storefront.", + "I am nearly at the glass doors, with the poster panels large and the doorframe edge visible to my right. One more step forward should put me squarely at the entrance.", + "The door glass and the poster taped to it are now at arm's reach, filling nearly the whole view. A final short step should place me right up against the entrance of this shop.", + "The blue and white glass door with its posters fills my whole view, so I am standing right at the orange-red shop entrance. I have arrived at this doorway. I mark reaching it and now set off for the green bicycle parked out along the curb.", + "Pressed this close to the entrance glass, I can see nothing but door panels and a poster, which gives me no room to swing my heading toward the bicycle. I will step back from the doorway to open up the sidewalk view. That should let me pick out the parked bicycle again.", + "I have enough clearance from the door now, but I am still facing flat into the shop front. The bicycle stood off to my right along the curb edge, so I will turn right to bring that side of the street into view.", + "The building corner has slid into view and I can already catch the green bicycle and a traffic cone past the pillar on the right. My heading is still angled into the wall, so I will keep turning right to clear the corner and face the open lane.", + "The green bicycle is now clearly in front of me, but the shop wall still blocks the left half of my path and the bike sits slightly to the right. One more turn right should line my heading up with the open green bike lane so I can walk straight at it.", + "The green bicycle with its boxy carrier is ahead and a little to my left along the marked lane, with clear pavement between us. I will walk forward to cut down that gap.", + "The bicycle's green carrier box now looms large on my left, so only a short stretch remains. I will step forward once more to draw level with it.", + "The green bicycle is right beside me, its carrier filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004290_y002219_z000146_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-004290_y002219_z000146_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..463535010acae1af8dd783671ab457a194bc5b9e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004290_y002219_z000146_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the candelabra at the orange-red storefront entrance, then leave it near the green bicycle.", + "Type": 5, + "Start_Pose": [ + -4290.304, + 2219.474, + 146.486, + 0, + 169.92, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4896.792, + 2700.81, + 55.15, + 0, + 30, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4290.304, + 2219.474, + 146.486, + 0, + 169.92, + 0 + ], + [ + -4290.304, + 2219.474, + 146.486, + 0.0, + 144.92, + -0.0 + ], + [ + -4393.301, + 2291.808, + 139.414, + 0.0, + 144.92, + -0.0 + ], + [ + -4496.298, + 2364.141, + 138.915, + 0.0, + 144.92, + -0.0 + ], + [ + -4599.294, + 2436.475, + 138.915, + 0.0, + 144.92, + -0.0 + ], + [ + -4702.291, + 2508.809, + 146.418, + 0.0, + 144.92, + -0.0 + ], + [ + -4799.764, + 2584.399, + 138.15, + 0.0, + 144.92, + -0.0 + ], + [ + -4799.764, + 2584.399, + 138.15, + 0.0, + 144.92, + -0.0 + ], + [ + -4799.764, + 2584.399, + 138.15, + 0.0, + 169.92, + -0.0 + ], + [ + -4912.257, + 2616.865, + 138.15, + 0.0, + 169.92, + -0.0 + ], + [ + -5036.173, + 2638.893, + 138.15, + 0.0, + 169.92, + -0.0 + ], + [ + -5036.173, + 2638.893, + 138.15, + 0.0, + -165.08, + 0.0 + ], + [ + -5036.173, + 2638.893, + 138.15, + 0.0, + -140.08, + 0.0 + ], + [ + -5126.087, + 2561.498, + 138.15, + 0.0, + -140.08, + 0.0 + ], + [ + -5070.867, + 2607.701, + 138.15, + 0.0, + -140.08, + 0.0 + ], + [ + -5070.867, + 2607.701, + 138.15, + 0.0, + -140.08, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4896.792, + 2700.81, + 55.15, + 0.0, + 30.0, + -0.0 + ], + [ + -4896.792, + 2700.81, + 55.15, + 0.0, + 30.0, + -0.0 + ], + [ + -4896.792, + 2700.81, + 55.15, + 0.0, + 30.0, + -0.0 + ], + [ + -4896.792, + 2700.81, + 55.15, + 0.0, + 30.0, + -0.0 + ], + [ + -4896.792, + 2700.81, + 55.15, + 0.0, + 30.0, + -0.0 + ], + [ + -4896.792, + 2700.81, + 55.15, + 0.0, + 30.0, + -0.0 + ], + [ + -4896.792, + 2700.81, + 55.15, + 0.0, + 30.0, + -0.0 + ], + [ + -4811.537, + 2566.573, + 108.257, + -28.202, + -164.935, + 1.862 + ], + [ + -4803.062, + 2562.323, + 108.529, + -28.189, + -139.923, + 1.872 + ], + [ + -4914.969, + 2595.659, + 108.879, + -28.199, + -139.939, + 1.866 + ], + [ + -5038.988, + 2617.707, + 108.763, + -28.21, + -139.943, + 1.852 + ], + [ + -5030.147, + 2617.658, + 108.051, + -28.212, + -114.948, + 1.853 + ], + [ + -5021.405, + 2621.186, + 108.452, + -28.191, + -89.928, + 1.868 + ], + [ + -5112.159, + 2545.314, + 107.667, + -28.208, + -89.945, + 1.858 + ], + [ + -5124.553, + 2562.781, + 108.15, + 0.0, + 149.92, + -0.0 + ], + [ + -5124.553, + 2562.781, + 108.15, + 0.0, + 149.92, + -0.0 + ] + ], + "PD_Dist_2D": [ + 774.3, + 774.3, + 648.7, + 523.2, + 398.0, + 273.3, + 151.5, + 21.4, + 22.3, + 21.4, + 21.4, + 22.1, + 23.1, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The orange-red storefront with its striped awning sits off to my left, angled away from my current heading down the open street. I will turn left to bring that entrance and the small candelabra standing on its paved forecourt into the center of my view. That should give me a straight line to walk toward the pickup target.", + "After the turn, the orange-red corner storefront and its glass doors are now squarely ahead of me, with the candelabra just visible on the pavement in front of them. The distance is still large, so I will walk forward along the open road toward that entrance. Nothing blocks the direct line, so a straight advance should close the gap.", + "The storefront has grown noticeably larger and the candelabra now reads clearly as a small branched stand on the tiled forecourt in front of the doors. I am still several paces short of grabbing range, so I will keep walking straight toward it. The path across the road remains clear of obstacles.", + "The candelabra is now clearly resolved between the striped bollards at the shop entrance, its candles distinct against the tiled ground. I am still outside comfortable reach, so I will continue advancing along the same heading. The gaps between the bollards leave room to walk in without deviating.", + "The entrance now fills much of my view and the candelabra stands just ahead on the paved apron, slightly left of center. It remains a couple of paces beyond reach, so I will step forward again to close in. Walking straight should place me directly over it.", + "I am close to the glass doors now, and the candelabra sits low in front of me on the green apron just short of my feet. One more forward step should bring it directly within reach for grasping. I will advance rather than reach from this distance.", + "The candelabra is now right at my feet, its candles rising into the bottom of my view against the shop's entrance mat. I am standing directly over it at the storefront doorway, so this is the moment to grasp it. I will attempt the pick up and expect the candelabra to come into my hands.", + "The grasp worked, and I am now looking down at the pavement with the carried object held low in front of me instead of the candelabra resting on the ground. I am still facing straight into the shop doors, which is a dead end for carrying it anywhere. I will turn right toward the open side lane where the green bicycle was parked, so I can begin the transport.", + "The candelabra is in my hands and my heading now runs along the narrow sidewalk beside the storefront glass, with a green bicycle parked at the far end on the right. I will walk forward along this open strip of pavement to close the gap toward that bicycle. Nothing blocks the near stretch, so the step should carry me and the carried object further down the alley.", + "The green bicycle and the traffic cone next to it are noticeably larger and closer on my right, so my line of travel is correct. I am still a couple of body lengths short of a comfortable placement spot, so I will step forward again while carrying the candelabra. The sidewalk strip ahead remains clear of obstacles.", + "Walking forward has brought me level with the bicycle area, but my heading now points at the blank tiled wall ahead and the parked bicycle has slipped to the right margin of my view. I will turn right to swing the green bicycle back into the center of my view before placing the candelabra. This should give me a controllable facing toward the intended drop spot.", + "The turn brought the green bicycle into view on my right, but it is still off to the side and partly behind the cone and post. I will turn right once more so the bicycle sits squarely in front of me. A cleaner facing should let me step in and set the candelabra beside it.", + "The green bicycle is now directly ahead of me at the edge of the green cycle lane, with open pavement between us. I will step forward to stand right beside it so the candelabra can be released within its immediate surroundings. The short remaining gap looks clear of the cone and posts.", + "The green bicycle now fills the near foreground, so I am standing directly alongside it. This is close enough that releasing the candelabra here should leave it right next to the bicycle as the task requires. I will drop it now rather than move any closer and risk crowding the frame.", + "The candelabra now stands on the ground right beside the green bicycle. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08a99bcf17b40c0e3bd871d91b625c2568a6551c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the first tree from the left.", + "Type": 2, + "Start_Pose": [ + -4317.283, + 2198.505, + 141.799, + 0, + -5.76, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4317.283, + 2198.505, + 141.799, + 0, + -5.76, + 0 + ], + [ + -4192.06, + 2185.873, + 138.15, + 0.0, + -5.76, + 0.0 + ], + [ + -4066.836, + 2173.242, + 138.15, + 0.0, + -5.76, + 0.0 + ], + [ + -3941.613, + 2160.611, + 138.15, + 0.0, + -5.76, + 0.0 + ], + [ + -3816.389, + 2147.979, + 138.15, + 0.0, + -5.76, + 0.0 + ], + [ + -3816.389, + 2147.979, + 138.15, + 0.0, + -30.76, + 0.0 + ], + [ + -3708.236, + 2083.609, + 139.65, + 0.0, + -30.76, + 0.0 + ], + [ + -3600.083, + 2019.24, + 138.219, + 0.0, + -30.76, + 0.0 + ], + [ + -3600.083, + 2019.24, + 138.219, + 0.0, + -55.76, + 0.0 + ], + [ + -3529.267, + 1915.194, + 138.219, + 0.0, + -55.76, + 0.0 + ], + [ + -3458.452, + 1811.147, + 147.163, + 0.0, + -55.76, + 0.0 + ], + [ + -3458.452, + 1811.147, + 147.163, + 0.0, + -55.76, + 0.0 + ] + ], + "Rationale": [ + "Counting from the left, the first tree is the broad purple-blossom one with the pale leaning trunk rising over the bike racks close on my left, while the others recede down the block behind it. I will hold onto that particular tree rather than the count, and walk forward to close the distance.", + "The blossoming tree with the leaning pale trunk is still ahead on my left, its canopy now spreading across the upper left of my view. The street ahead is clear of anything in my way, so I keep walking forward to draw level with it.", + "The canopy now hangs low over the left sidewalk and its trunk sits closer to my left shoulder. Nothing obstructs the open street in front of me, so another stride forward should bring me nearly alongside the tree.", + "I am almost abreast of the leaning trunk on my left, but I am still out on the open paving rather than beside its planting strip. One more step forward should carry me level with the tree.", + "My heading runs straight down the street while the blossom tree I chose has slid to the very edge of my left view, and more blossom trees now show along the far side, so counting from the left no longer picks out my target. I turn left to bring that pale-trunked tree back in front of me.", + "The pale-trunked blossom tree is back in my view, standing on the planted strip ahead and slightly left. The plaza between us is open paving, so I walk forward toward it.", + "The trunk and the low green bushes around its base read much larger now, so I am closing in. The paving in front of me stays clear, and I step forward again to shorten the remaining gap.", + "The tree is close, but its trunk sits near the left border of my view rather than straight in front of me. I turn left so the tree lines up with my heading before I cover the last short stretch.", + "The pale trunk now rises near the middle of my view with its bushy planting bed just beyond the paving edge. A short walk forward should bring me right up against the grass strip it grows from.", + "The trunk fills much of my view now and the shrubs at its base sit almost at my feet. One more step should put me directly beside the blossom tree I picked out.", + "The pale trunk of the blossom tree stands directly in front of me, close enough to touch. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8d90806cbc9adb374b5ba52053aa47e96c6c33c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the second bench on the right side of the street.", + "Type": 2, + "Start_Pose": [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ], + [ + -4317.283, + 2198.505, + 141.799, + 0.0, + 19.24, + -0.0 + ], + [ + -4198.454, + 2239.979, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -4079.625, + 2281.452, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3960.795, + 2322.926, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3841.966, + 2364.4, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3723.136, + 2405.874, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3604.307, + 2447.348, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3485.478, + 2488.821, + 142.809, + 0.0, + 19.24, + -0.0 + ], + [ + -3485.478, + 2488.821, + 142.809, + 0.0, + 19.24, + -0.0 + ] + ], + "Rationale": [ + "Along the right-hand sidewalk I can pick out two pale benches, and since they look nearly identical I fix the second one by the shopfront with the glass sliding doors it sits in front of. My heading currently runs down the open middle of the street, so I turn right to face that sidewalk and the benches on it.", + "The turn has put the right-hand sidewalk squarely in front of me, with the near bench and, beyond it, the one standing before the shop's glass doors. Nothing blocks the paving between us, so I walk forward to close that distance.", + "Both benches have grown larger and the shopfront with the glass doors is easier to read now, confirming which bench I am aiming for. The route stays open, so I continue walking forward.", + "The nearer bench is now close on my right, and past it the bench in front of the glass doors is still some way off. I keep stepping forward rather than stopping short at the wrong one.", + "The near bench with the blue bicycle behind it is passing at my right shoulder, and the bench by the shop's glass doors sits ahead along the same kerb. I advance again to reach it.", + "The bench in front of the glass sliding doors now sits clearly ahead on the right kerb, still a few paces away. The paving is clear, so I keep walking toward it.", + "The bench I passed has dropped out behind me, leaving only the one before the shop's glass doors in view ahead, which is the one I am going to. I step forward again to draw nearer.", + "The bench in front of the glass doors now fills much of my right foreground, with the parked blue bicycle just past it. One more step should bring me level with it.", + "The bench by the shop's glass sliding doors is right beside me at arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06d36ca5cc5bfebbf7e4aa173070e25f3335636b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Approach the second shop entrance on the right side.", + "Type": 2, + "Start_Pose": [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ], + [ + -4192.06, + 2185.873, + 138.15, + 0.0, + -5.76, + 0.0 + ], + [ + -4066.836, + 2173.242, + 138.15, + 0.0, + -5.76, + 0.0 + ], + [ + -4066.836, + 2173.242, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3948.007, + 2214.716, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3829.177, + 2256.19, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3710.348, + 2297.663, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3591.519, + 2339.137, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3472.689, + 2380.611, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3353.86, + 2422.085, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3235.031, + 2463.559, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3116.201, + 2505.032, + 144.109, + 0.0, + 19.24, + -0.0 + ], + [ + -2997.372, + 2546.506, + 138.293, + 0.0, + 19.24, + -0.0 + ], + [ + -2878.543, + 2587.98, + 138.293, + 0.0, + 19.24, + -0.0 + ], + [ + -2759.713, + 2629.454, + 138.293, + 0.0, + 19.24, + -0.0 + ], + [ + -2640.884, + 2670.928, + 141.907, + 0.0, + 19.24, + -0.0 + ], + [ + -2640.884, + 2670.928, + 141.907, + 0.0, + 44.24, + -0.0 + ], + [ + -2550.716, + 2758.735, + 140.312, + 0.0, + 44.24, + -0.0 + ], + [ + -2550.716, + 2758.735, + 140.312, + 0.0, + 69.24, + -0.0 + ], + [ + -2506.718, + 2862.48, + 140.311, + 0.0, + 69.24, + -0.0 + ], + [ + -2506.718, + 2862.48, + 140.311, + 0.0, + 69.24, + -0.0 + ] + ], + "Rationale": [ + "The right side of this street is a run of near-identical shopfronts: the first entrance sits by the bench and the parked blue bike, and the one I want is the next doorway further down that same frontage. Since the doors look alike, I hold my target by that position in the row. I walk forward along the paving.", + "The right-hand frontage is still well ahead of me and no entrance has come abreast yet. Another straight step down the clear walkway closes distance before I need to angle toward that side.", + "I am tracking down the open middle of the street while the shopfront row I need runs along my right. Turning right should swing my heading onto that side so I can follow the frontage toward the doorway I am after.", + "The turn has put the right-hand shop row squarely in front of me, with the near entrance beside the bench and blue bike a short way off. My target is the doorway beyond that one, so I step forward along this side.", + "The glass door beside the bench and the parked blue bike is growing closer on my right, but that is the near entrance rather than the one I want. I advance again to close on it and carry on past.", + "The near doorway is almost abreast on my right, and more covered frontage opens up beyond it. I keep walking, because my target lies past this entrance.", + "The first entrance with its bench and parked bike is now right at my shoulder, and shutters and further doorways stretch ahead under the awnings. I walk on, aiming for the next entrance along this frontage.", + "That near entrance has slipped past my shoulder, so I can no longer read the row from its front end; what matters now is the next doorway along this frontage. Its glass panels are coming up ahead on the right, so I keep moving toward it.", + "From this close the glazing on my right reads as the same shop I have been walking past, its sliding door already behind my shoulder rather than a fresh way in. Past it the frontage carries on under awnings, so I step forward to reach the next entrance along.", + "That glazed front has slid to my right shoulder and nothing resembling a door has opened up yet beyond it. The paved strip ahead stays clear along the buildings, so another step should carry me deeper along this frontage.", + "The frontage on my right turns to plain wall and roller shutters just past the glazing, so the doorway I want must lie further down. I keep walking beside the green paving strip that traces this shop row.", + "Dark closed units and a brick pier fill the right-hand wall here, with no handle or threshold in sight. Advancing along the walkway should bring me to the next opening in this run.", + "The shuttered stretch continues at my shoulder and the sidewalk bends slightly right ahead, hiding whatever comes next. I walk on to bring that further frontage into view.", + "Further down the right-hand wall I can make out a recessed glass doorway with notices pasted on it, the first proper way in since the shop I passed back by the bench. That matches the entrance I am after, so I move toward it.", + "The doorway with its two paper signs is now clearly picked out on my right, its handle visible between the panels. A further step should bring me level with it instead of leaving it ahead at an angle.", + "I am nearly level with the signed glass entrance, but it sits off to my right while my heading still runs down the street. Turning right should swing my facing onto the doors so I can close the last of the gap straight on.", + "The turn has put the signed glass entrance across most of my view, its handle and the two pasted notices clear at close range. Only a short stretch of the green paved apron separates me from the threshold, so I step ahead to close it.", + "I am right up against the frontage now, but my heading still runs along the wall, so the doors sit skewed across my view rather than facing me. Another right turn should bring me square to the entrance panels before I take the last step in.", + "The glazed doors with the notice and the handle now sit dead ahead, squarely facing me. A single step forward should put me right at this entrance.", + "The signed glass entrance is directly against me, filling my view at arm's length. I have arrived at it, so there is nothing further to close." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb75d9af52aaf7b0caf129b32e6f275bec495b0b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the second orange traffic cone from the left along the street.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ], + [ + -4395.634, + 2350.812, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4451.122, + 2463.779, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4506.611, + 2576.745, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4562.1, + 2689.712, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4617.588, + 2802.679, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4617.588, + 2802.679, + 138.843, + 0.0, + 91.16, + -0.0 + ], + [ + -4620.136, + 2928.512, + 138.843, + 0.0, + 91.16, + -0.0 + ], + [ + -4622.684, + 3054.345, + 138.843, + 0.0, + 91.16, + -0.0 + ], + [ + -4625.232, + 3180.179, + 138.843, + 0.0, + 91.16, + -0.0 + ], + [ + -4625.232, + 3180.179, + 138.843, + 0.0, + 66.16, + -0.0 + ], + [ + -4574.362, + 3295.299, + 139.04, + 0.0, + 66.16, + -0.0 + ], + [ + -4574.362, + 3295.299, + 139.04, + 0.0, + 66.16, + -0.0 + ], + [ + -4574.362, + 3295.299, + 139.04, + 0.0, + 66.16, + -0.0 + ] + ], + "Rationale": [ + "Ahead on the left, a line of small orange cones stands against the teal barriers across the street. They all look alike, so I settle the count now and fix my target as the cone immediately right of the one at the row's left end, set against that barrier run. I start walking forward to close the distance.", + "The cone line is still well down the street, only slightly larger than before. The pavement in front of me stays clear, so I continue straight ahead toward the barriers where my cone stands.", + "The cones and their barriers now read clearly across my left front, with the shop frontage sliding past on my right. Nothing stands between me and them on the open asphalt, so I keep advancing.", + "As I walk along the storefronts the row has swung further to my left, its near end drifting toward the edge of my view. The cone I want is still the one beside that end cone along the barriers, so I press forward to shorten the gap.", + "The barriers and their cones now sit well off to my left while the tiled wall and yellow guardrail crowd my right. I am not yet level with the row, so I take another step forward along this line.", + "Walking beside this wall has pushed the cone row almost off my left side, and the shutters and yellow railing now dominate what lies straight ahead. Turning left should bring the barriers and my cone back in front of me for a direct approach.", + "The turn brought the barrier line and its cones squarely in front of me again. My cone is the second one in from the left end of that run, set against the barriers, and it is still several paces off, so I walk forward toward it.", + "More of the row is opening at my left edge now, so counting from that end here would no longer be trustworthy; I keep following the same cone, the one standing where the barrier sections meet. It is close but still ahead of me, so I step forward again.", + "My cone, the one planted where the two teal barrier sections butt together, is now only a stride or two off my left front and stands nearly at full height in my view. The asphalt between us is open, so I walk forward again to close that last gap.", + "This close in, the cone I am following has slid to the far left of my view while a barrier face fills the space straight ahead of me. Turning left should square my heading onto it so my next step lands beside it rather than into the barrier.", + "The turn has brought my cone back in front of me, low and near, with the barrier it leans against behind it. Only a short step of clear ground separates us, so I move forward to arrive at it.", + "Only the tip of my cone shows at the very bottom edge now, with the barrier joint rising just past it, which means I am practically on top of it. I look down to check that I am standing right at its base and not still short of it.", + "The cone I have been following stands at my feet against the barrier joint. I have arrived at it, so there is nothing left to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fc41befac4833d6f9e768b4ef56e724c29ee8d2f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the second bollard from the right near the store.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ], + [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 141.16, + -0.0 + ], + [ + -4438.177, + 2316.777, + 139.003, + 0.0, + 141.16, + -0.0 + ], + [ + -4536.208, + 2395.709, + 139.003, + 0.0, + 141.16, + -0.0 + ], + [ + -4536.208, + 2395.709, + 139.003, + 0.0, + 166.16, + -0.0 + ], + [ + -4658.413, + 2425.816, + 139.003, + 0.0, + 166.16, + -0.0 + ], + [ + -4780.618, + 2455.923, + 139.003, + 0.0, + 166.16, + -0.0 + ], + [ + -4780.618, + 2455.923, + 139.003, + 0.0, + 141.16, + -0.0 + ], + [ + -4780.618, + 2455.923, + 139.003, + 0.0, + 141.16, + -0.0 + ] + ], + "Rationale": [ + "Counting the posts along the store frontage from the right end, the second one is the plain silver bollard standing just left of the yellow banded post, so that unmarked silver post is what I follow from here. It sits off to my right, ahead of the storefront, so I will turn right to put it and the frontage in front of me.", + "The store entrance and its line of posts now sit squarely ahead of me across the open road. The silver bollard I want is still far off, so I will walk forward to close the gap.", + "The corner of the store and its posts have grown noticeably larger, but I am still out in the road rather than beside the frontage. I will keep walking forward to reach the paved strip where the silver bollard stands.", + "I have come up to the store corner, and the frontage carrying the silver bollard continues away to my right along the side lane. Turning right should swing me onto that line so I can walk straight down it toward the post.", + "The lane beside the store opens ahead with the posts running along its left edge. I will step forward down this stretch to bring the silver bollard within reach.", + "The nearer posts have slipped behind me and the row no longer reads as a countable line from its right end, so I simply hold onto the plain silver bollard by the parked bicycle. One more step forward should put me level with it.", + "I am now level with the store entrance and the silver bollard sits close on my left, near the kerb by the bicycle. I will turn left to face it directly instead of walking past it.", + "The plain silver bollard, with the yellow banded post to its right, stands directly before me at the store frontage. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d2c5c251b3fe8ea60d2e771a89e8f43dbee80c45 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the first bollard from the left near the store.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0, + 116.16, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4340.145, + 2237.845, + 141.601, + 0, + 116.16, + 0 + ], + [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 91.16, + -0.0 + ], + [ + -4342.693, + 2363.678, + 138.875, + 0.0, + 91.16, + -0.0 + ], + [ + -4345.241, + 2489.511, + 138.875, + 0.0, + 91.16, + -0.0 + ], + [ + -4347.789, + 2615.345, + 138.875, + 0.0, + 91.16, + -0.0 + ], + [ + -4347.789, + 2615.345, + 138.875, + 0.0, + 66.16, + -0.0 + ], + [ + -4347.789, + 2615.345, + 138.875, + 0.0, + 66.16, + -0.0 + ] + ], + "Rationale": [ + "The line of posts beside the store runs along the left sidewalk, and the one at its left end is an orange and white striped bollard standing by the planter, unlike the plain yellow rails. That striped post sits well left of my current heading, so I turn left to put it in front of me.", + "The striped bollard now lies ahead along the left sidewalk, but it is still a long way off. The roadway in front of me is open, so I walk forward to close that distance.", + "The striped bollard has grown noticeably larger on my left, yet I am still short of it. Nothing blocks the lane in front of me, so I keep walking forward toward it.", + "The striped bollard is close now, standing at the near corner of the planter railing on my left. One more step should bring me level with it, so I walk forward again.", + "I am now level with the sidewalk planter, and the striped bollard has slipped past the left edge of my view while the yellow railing fills that side. I turn left so the post should come back squarely in front of me.", + "The orange and white striped bollard stands right in front of me at the store's sidewalk, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004421_y002253_z000139_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-004421_y002253_z000139_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..858232f0ca2a0a1b85d0a9e059452fa9c97cc09f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004421_y002253_z000139_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search around the corner stores for the parked green bicycle, then walk to it.", + "Type": 1, + "Start_Pose": [ + -4421.181, + 2252.809, + 139.002, + 0.0, + -139.2, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4421.181, + 2252.809, + 139.002, + 0.0, + -139.2, + 0.0 + ], + [ + -4421.181, + 2252.809, + 139.002, + 0.0, + -164.2, + 0.0 + ], + [ + -4421.181, + 2252.809, + 139.002, + 0.0, + 170.8, + -0.0 + ], + [ + -4545.421, + 2272.932, + 139.002, + 0.0, + 170.8, + -0.0 + ], + [ + -4669.661, + 2293.054, + 139.002, + 0.0, + 170.8, + -0.0 + ], + [ + -4793.901, + 2313.177, + 139.002, + 0.0, + 170.8, + -0.0 + ], + [ + -4918.141, + 2333.299, + 139.002, + 0.0, + 170.8, + -0.0 + ], + [ + -4918.141, + 2333.299, + 139.002, + 0.0, + 145.8, + -0.0 + ], + [ + -5022.237, + 2404.042, + 139.676, + 0.0, + 145.8, + -0.0 + ], + [ + -5126.332, + 2474.785, + 141.586, + 0.0, + 145.8, + -0.0 + ], + [ + -5126.332, + 2474.785, + 141.586, + 0.0, + 145.8, + -0.0 + ] + ], + "Rationale": [ + "My view is filled by a guardrail, hedge, and a service building frontage, so no bicycle is visible from this heading. The open street continues off to my left past the corner, which is the most promising direction for parked bicycles near the storefronts. I will turn left to scan that side street.", + "Turning has opened up a narrow shopping street, and a green bicycle now appears parked at the left curb near the shopfronts. It sits well off to the left edge of my view, so I am not yet facing it. I will turn left again to bring it toward the center before advancing.", + "The green bicycle is now clearly in view, parked against the shop frontage on the left side of the street ahead. The roadway between us is clear and flat, so no further scanning is needed. I will walk forward to close the distance to it.", + "The green bicycle has grown larger in my view, confirming I am closing on it along the shop side of the street. There is still a fair gap of clear pavement between me and it. I will continue walking forward.", + "The parked green bicycle is clearly resolved now, with its basket and frame distinct against the shuttered storefront to my left. I am still not close enough to count as standing at it. I will keep walking forward along the lane.", + "The bicycle is close on my left, but my heading still carries me down the middle of the street rather than to it. Another step forward should bring me roughly level with where it is parked. I will move forward again.", + "I am nearly beside the green bicycle, but it now sits far to my left while I still face straight down the street. Turning left should center it in my view so I can step directly toward it. I will turn left.", + "The green bicycle is now centered ahead of me against the storefront, with only a short stretch of sidewalk between us. Nothing blocks the approach. I will walk forward to reach it.", + "The green bicycle is parked against the shuttered storefront directly ahead of me, filling much of my view but still a short distance away along the sidewalk. I will step forward once more to close that remaining gap and stand right beside it.", + "The parked green bicycle now fills my view at arm's length beside the storefront. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d904e03fa9ed8ff0ac869f5d989c3f11a81103e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Explore the area for the orange building and locate the gray bicycle parked near it, then approach the bicycle.", + "Type": 1, + "Start_Pose": [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -3.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 21.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 46.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 71.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 96.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 121.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 146.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 171.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -163.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -138.8, + 0.0 + ], + [ + -4552.511, + 13.229, + 144.122, + 0.0, + -138.8, + 0.0 + ], + [ + -4647.209, + -69.673, + 138.311, + 0.0, + -138.8, + 0.0 + ], + [ + -4647.209, + -69.673, + 138.311, + 0.0, + -113.8, + 0.0 + ], + [ + -4697.999, + -184.829, + 138.311, + 0.0, + -113.8, + 0.0 + ], + [ + -4748.789, + -299.985, + 138.311, + 0.0, + -113.8, + 0.0 + ], + [ + -4799.579, + -415.141, + 138.311, + 0.0, + -113.8, + 0.0 + ], + [ + -4850.369, + -530.297, + 138.311, + 0.0, + -113.8, + 0.0 + ], + [ + -4901.158, + -645.453, + 138.311, + 0.0, + -113.8, + 0.0 + ], + [ + -4901.158, + -645.453, + 138.311, + 0.0, + -113.8, + 0.0 + ] + ], + "Rationale": [ + "From this corner I see a pale blue-white building with a blue bicycle at its railing, but the task asks for an orange building with a gray bicycle, so neither target is confirmed here. I will turn right to begin a steady scan of the surrounding streets for any orange facade.", + "The view down this street shows more pale blue and white storefronts with cherry trees, and no orange facade or gray bicycle stands out. I will keep turning right in the same direction to sweep the next sector of the intersection.", + "This side of the street is dominated by blue signage, benches and barriers, still with nothing orange and no gray bicycle in sight. I continue the same rightward scan to cover the area behind those trees and barricades.", + "The yellow barrier line and cherry trees block much of the ground level here, and I still cannot see an orange building or a gray bicycle. I will turn right again to keep the scan consistent and reveal the next stretch of the plaza.", + "Ahead there is only a run of barricades under a pale canopy, with no orange facade and no bicycle parked along it. I keep rotating right in the same direction to inspect the area farther around the corner.", + "A traffic cone and the end of the barrier line mark where this sidewalk turns, and the buildings in view remain pale blue with no gray bicycle nearby. I will turn right once more to look past that corner into the side passage.", + "The opening between the blue building and the barriers looks like a walkable side passage, though from here I still see no orange wall or gray bicycle. I will continue the rightward turn to face that passage more directly.", + "I am now facing the blue tiled storefront wall at close range, which offers no view of the target and blocks further progress in this direction. I will turn right again to bring the open sidewalk alongside the building into view and keep the scan moving.", + "My view is filled by a pale blue tiled facade and its recessed doorways, with no orange building or parked bicycle anywhere in sight. I will keep rotating right in the same consistent direction so the scan continues past this wall and opens onto whatever lies around the corner.", + "At the right edge of my view a warm orange wall has just come into sight, and a gray bicycle frame is partly visible beside it behind the blue building's corner. I will turn right once more to bring that orange facade and the bicycle fully into the center of my view before committing to an approach.", + "The orange building now stands clearly ahead on the right side of the alley, and a gray bicycle is parked on the pavement in front of it. The open walkway between the blue wall and the curb looks clear, so I will step forward to close distance toward that bicycle.", + "The gray bicycle by the orange wall is noticeably larger and nearer than before, and the path along the blue building remains unobstructed. I will keep walking forward to continue closing the gap toward it.", + "The gray bicycle sits noticeably off to the right of my heading, while my current facing points down the blue wall past it. I will turn right to place the bicycle and the orange facade behind it near the center of my view so my next steps head straight at the target.", + "The gray bicycle is now roughly ahead of me against the orange building, with open pavement between us and the planter set off to my right. I will walk forward along this heading to reduce the remaining distance to the bicycle.", + "The bicycle stays centered ahead against the orange facade and grows larger with each step, confirming my heading is good. I will continue moving forward to close the remaining gap.", + "The gray bicycle now fills much of the center of my view, parked right against the orange wall just a short distance away. I will take another step forward to bring myself close enough to count as reaching it.", + "The gray bicycle stands directly ahead of me against the orange building wall, centered in my view with clear paving between us. Since it is still a short distance off, I will keep walking straight toward it to close the remaining gap.", + "The gray bicycle now fills much of my view, its frame and saddle plainly visible against the orange building. One more step forward should bring me right up beside it, close enough to count as reaching the target.", + "The gray bicycle is right in front of me at arm's length, beside the orange building. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..705bab2ed0df71037c0fa65f655bf793feb1add7 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search nearby walls for the green notice posted on a gray block wall, then move toward it.", + "Type": 1, + "Start_Pose": [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -3.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 21.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 46.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 71.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 96.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 121.2, + -0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 146.2, + -0.0 + ], + [ + -4562.4, + 166.146, + 144.675, + 0.0, + 146.2, + -0.0 + ], + [ + -4666.987, + 236.161, + 143.884, + 0.0, + 146.2, + -0.0 + ], + [ + -4771.574, + 306.175, + 140.043, + 0.0, + 146.2, + -0.0 + ], + [ + -4876.161, + 376.19, + 140.043, + 0.0, + 146.2, + -0.0 + ], + [ + -4876.161, + 376.19, + 140.043, + 0.0, + 121.2, + -0.0 + ], + [ + -4941.359, + 483.846, + 146.411, + 0.0, + 121.2, + -0.0 + ], + [ + -5006.557, + 591.501, + 143.848, + 0.0, + 121.2, + -0.0 + ], + [ + -5071.756, + 699.156, + 138.398, + 0.0, + 121.2, + -0.0 + ], + [ + -5071.756, + 699.156, + 138.398, + 0.0, + 96.2, + -0.0 + ], + [ + -5085.348, + 824.279, + 140.27, + 0.0, + 96.2, + -0.0 + ], + [ + -5085.348, + 824.279, + 140.27, + 0.0, + 96.2, + -0.0 + ] + ], + "Rationale": [ + "From this corner I only see a light paneled storefront, a parked bicycle, and the open green roadway, with no gray block wall or green notice anywhere in view. I will turn right to begin a steady scan of the surrounding building faces for a wall that could carry the posted notice.", + "The street now opens down a shopping row with blossom trees and colorful signage, but none of those panels is the green notice on a gray block wall. I will keep rotating right in the same direction so the scan stays consistent and covers the walls further around.", + "Ahead I see storefronts, railings, and a low yellow barrier line, all smooth or glazed surfaces rather than a gray block wall. Continuing the same rightward sweep should bring the next stretch of building facade into view.", + "The barrier line and the covered walkway dominate this view, and I still cannot see any masonry wall bearing a green notice. I will turn right again to sweep past the barriers toward the buildings on that side.", + "Past the barriers and the traffic cone, a darker gray tiled block wall is beginning to appear on the right side of my view, which matches the kind of surface described in the task. I will continue turning right to bring that wall closer to the center of my view and check it for the notice.", + "The gray block wall is now clearly ahead beyond the cone, and I can make out small colored panels on it, one of them greenish. I will turn right once more to line my heading up with the sidewalk that leads toward that wall.", + "The block wall with its small green and red placards sits ahead to my left, while the clear walking surface runs along the building on my right. Turning right a final step should square me with that open sidewalk so I can walk in without clipping the cone or barrier.", + "The sidewalk ahead is clear between the cone on my left and the storefront on my right, and the gray block wall carrying the green notice stands further down on the left. I will walk forward to close distance with that wall.", + "Ahead and slightly to my left I can see a gray tiled block wall carrying a small green placard beside a red one, which matches the notice I was told to find. The open sidewalk in front of me runs straight toward that wall with nothing blocking it, so I will keep walking forward to close the distance.", + "The gray tiled wall and its green notice are noticeably larger in my view now, confirming that this heading is taking me toward the target. The walkway ahead is still clear along the glass storefront, so another step forward should continue shrinking the gap.", + "The green sign and the red one next to it are now clearly readable as posted panels on the gray block wall to my left front. I am still several paces away and the path stays open, so I will advance again before adjusting my heading.", + "My current heading is carrying me past the wall, since the green notice now sits well off to the left while a tall blue column fills the right of my view. Turning left should swing the notice and its wall back toward the center of my path so I can walk straight at it.", + "After the turn the gray block wall with the green notice sits squarely ahead of me across open pavement. With the heading corrected and no obstruction between us, I will step forward to close in on the posting.", + "The tiled wall now dominates my view and the green notice with its neighboring red panel is plainly legible, so I am on the right approach line. There is still open ground before the wall, so I will keep walking toward it.", + "The green notice is large and unmistakable on the gray block wall just ahead of me, though I am not yet standing right in front of it. One more step forward should bring me close enough to be clearly at the posting.", + "I am now close against the tiled wall, but the green notice has drifted to the left portion of my view while the plain tiling and the corner fill the right. Turning left should bring the notice back to the middle of my heading so I can finish the approach facing it directly.", + "The green notice and its red companion sign are now centered ahead of me on the gray tiled block wall, and the pavement in front stays clear. I will step forward once more to close the last bit of distance so the green notice fills my view at close range.", + "The green notice on the gray block wall now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_c/infos.json b/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4d2a70b65a554c0f05e9edfb41e6ea5041846b7 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004458_y000096_z000128_t1_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Look around for the red notice posted on a gray block wall, then make your way to it.", + "Type": 1, + "Start_Pose": [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -53.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -78.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -103.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -128.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -153.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + -178.8, + 0.0 + ], + [ + -4457.813, + 96.131, + 128.149, + 0.0, + 156.2, + -0.0 + ], + [ + -4572.969, + 146.921, + 144.717, + 0.0, + 156.2, + -0.0 + ], + [ + -4688.125, + 197.711, + 146.687, + 0.0, + 156.2, + -0.0 + ], + [ + -4688.125, + 197.711, + 146.687, + 0.0, + 131.2, + -0.0 + ], + [ + -4771.027, + 292.409, + 140.043, + 0.0, + 131.2, + -0.0 + ], + [ + -4853.929, + 387.107, + 140.043, + 0.0, + 131.2, + -0.0 + ], + [ + -4936.831, + 481.805, + 146.522, + 0.0, + 131.2, + -0.0 + ], + [ + -5019.733, + 576.503, + 146.522, + 0.0, + 131.2, + -0.0 + ], + [ + -5019.733, + 576.503, + 146.522, + 0.0, + 106.2, + -0.0 + ], + [ + -5054.846, + 697.365, + 138.15, + 0.0, + 106.2, + -0.0 + ], + [ + -5089.96, + 818.227, + 138.848, + 0.0, + 106.2, + -0.0 + ], + [ + -5089.96, + 818.227, + 138.848, + 0.0, + 106.2, + -0.0 + ] + ], + "Rationale": [ + "I am standing on an open green-surfaced street corner, and the walls I can see are glass storefronts and pale panels rather than the gray block wall named in my task. No red notice is anywhere in my current view, so I will turn left to begin a steady scan of the surroundings in one consistent direction.", + "My new heading shows a narrow side street with barriers and blossoming trees, but I still see no gray block wall carrying a red notice. I will keep turning left to continue the scan smoothly rather than stopping on an uninformative stretch of road.", + "The view now runs down the side street past parked barriers and a leafy sidewalk, and the nearby facades are orange and pale panels instead of the gray block wall I am looking for. I will continue turning left to keep sweeping toward the built-up sidewalk area on that side.", + "A wide sidewalk with a utility box, bicycle racks and a yellow guardrail is now in front of me, which suggests a walkable service area worth checking further left. The target notice is still not visible, so I will turn left again to bring more of that pedestrian zone into view.", + "Directly ahead I see blue tiled walls and a service door, but no red notice posted on them. I will keep turning left to continue the same sweep and reveal the corner of the building beyond this facade.", + "The building corner and a curved curb open up toward a passage alongside the glass entrance, and I can tell more of the pedestrian area lies farther left. The notice is still out of sight, so I will turn left once more to look down that passage.", + "Turning has brought a walkway beside the storefront into view, and beyond it I can make out a gray tiled block wall with small colored panels on it in the distance. That looks like the wall my task describes, so I will turn left once more to line my heading up with that walkway.", + "My heading is now down the clear walkway beside the glass frontage, with the gray block wall and its small red and green panels ahead on the left. The path is unobstructed, so I will walk forward to close the distance and get a better look at that notice.", + "The gray tiled wall on the left carries a pair of small posted signs, one green and one red, which matches the notice I am told to find. I am still well back along this narrow walkway, so I will step forward again to close distance before turning toward the wall.", + "Moving straight has pushed the tiled wall and its posted signs toward the left edge of my view, while the glass storefront now dominates ahead of me. I will turn left to bring the sign wall back into the center of my heading so I can walk straight at it.", + "The turn has opened up the courtyard, and the gray block wall with the red and green notices is now clearly ahead and slightly left. The path across the paving is clear, so I will walk forward to shorten the distance to that wall.", + "The red notice and its green companion on the gray block wall are noticeably larger now, confirming I am closing on the right target. I will keep walking forward since nothing blocks the paved stretch between me and that wall.", + "The red notice is clearly readable against the gray tiled wall just ahead and to my left, so I am on the correct approach line. I will step forward again to get near enough for the posting to fill much of my view.", + "The gray block wall now fills most of the left side of my view with the red notice plainly posted on it. I am still a few paces short of standing at the wall, so I will continue forward to close that remaining gap.", + "I am now close to the gray block wall, but the red notice sits off to my left while my heading points along the wall toward the corner. I will turn left to square up on the posting so it is centered in front of me.", + "The turn has placed the red notice on the gray block wall near the middle of my view, directly along my heading. I will walk forward to stand close in front of the posting.", + "The red notice and the green sign beside it are clearly posted on the gray tiled block wall directly ahead of me, filling much of my view. I am close but still a short distance from the wall, so I will step forward once more to close that remaining gap. This should bring me right up to the notice for a proper arrival.", + "The red notice on the gray block wall fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e7fc164c1cb491570dcd1d51bf4ef7b6b505fee --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the cherry blossom tree trunk, then head toward the glass double doors.", + "Type": 3, + "Start_Pose": [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4643.188, + 993.748, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4643.188, + 993.748, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4855.369, + 869.76, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4947.715, + 784.246, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -5040.062, + 698.732, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -5132.408, + 613.219, + 140.043, + 0.0, + -137.2, + 0.0 + ], + [ + -5224.755, + 527.705, + 140.043, + 0.0, + -137.2, + 0.0 + ], + [ + -5224.755, + 527.705, + 140.043, + 0.0, + -137.2, + 0.0 + ] + ], + "Rationale": [ + "The pale trunk of the cherry blossom tree stands ahead of me in the open courtyard, its petals scattered across the pavement at its base. The way toward it is clear paving, so I will walk forward to close the gap.", + "The trunk now rises just right of center, and my heading points more into the narrow alley beside the buildings than at the tree. I will turn right to bring the trunk squarely in front of me before continuing.", + "The cherry blossom trunk is now centered in my view with clear ground leading up to it. I will step forward to come right up beside the trunk.", + "The cherry blossom trunk fills the middle of my view at arm's length, its bark texture and petal-strewn base right in front of me. I have reached the tree trunk. I mark reaching it and set off for the glass double doors set in the tiled wall to my right.", + "With the tree trunk beside me, the glass double doors sit off to my right against the tiled facade. I will turn right so the doorway lines up ahead of my path.", + "Two glazed doorways now face me across an open stretch of plaza, with the nearer set of glass double doors ahead and slightly left. The pavement is clear, so I will walk forward toward them.", + "The glass double doors are noticeably larger now, with their frame and recessed entry clearly visible ahead of me. I will keep walking to close the remaining distance to the entrance.", + "The glass double doors and their handles now dominate my view, though a low step and a short stretch of pavement still separate me from the threshold. I will advance again to reach the doorway itself.", + "The glass double doors now fill most of my view, squarely ahead within the recessed entry, with their handles at the center. There is still a stretch of pavement between me and the threshold, so I will step forward again to close on them.", + "I am very close now, with the frosted glass panels and the paired handles filling nearly the whole view and the door frame edge just to my right. One more short step should bring me right up against the doors.", + "The glass door panel is directly against me, filling my whole view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f24c64bd05b7377ffd6948bbdefb0fff4a8ef7d2 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Navigate to the glass double doors, then walk to the green bush.", + "Type": 3, + "Start_Pose": [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4518.322, + 977.974, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4638.156, + 939.499, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4757.99, + 901.025, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4757.99, + 901.025, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4850.336, + 815.511, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4942.683, + 729.997, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -5035.029, + 644.484, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + -137.2, + 0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + -137.2, + 0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + -162.2, + 0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + 172.8, + -0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + 147.8, + -0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + 122.8, + -0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + 97.8, + -0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + 72.8, + -0.0 + ], + [ + -5127.376, + 558.97, + 140.043, + 0.0, + 47.8, + -0.0 + ], + [ + -5042.834, + 652.207, + 138.15, + 0.0, + 47.8, + -0.0 + ], + [ + -4958.292, + 745.444, + 138.15, + 0.0, + 47.8, + -0.0 + ], + [ + -4873.75, + 838.681, + 138.15, + 0.0, + 47.8, + -0.0 + ], + [ + -4873.75, + 838.681, + 138.15, + 0.0, + 72.8, + -0.0 + ], + [ + -4825.577, + 941.315, + 138.15, + 0.0, + 72.8, + -0.0 + ], + [ + -4788.359, + 1061.546, + 138.15, + 0.0, + 72.8, + -0.0 + ], + [ + -4788.359, + 1061.546, + 138.15, + 0.0, + 72.8, + -0.0 + ] + ], + "Rationale": [ + "The glass double doors sit along the tiled facade to my right, partly cut off by the edge of my view and the tree trunk ahead. I will turn right to bring that storefront frontage squarely in front of me before advancing.", + "The pair of glass double doors now stands clearly ahead on the right along the tiled wall, with open pavement between me and them. I will walk forward to close the gap toward that entrance.", + "The nearer set of glass doors has grown larger and the paving in front of it remains clear. I will keep walking forward to shorten the remaining distance to that entrance.", + "The glass doors are now close but sitting off to the right of my heading, while the wall and alley take up the left of my view. I will turn right so I face the doorway straight on before stepping closer.", + "Both door recesses are now squarely in front of me across a short stretch of paving. I will walk forward to reach the entrance itself.", + "The left doorway is filling more of my view and its recessed threshold is clearly visible ahead. I will step forward again to get right up to that glass entrance.", + "The glass double doors now dominate my view with their handles and metal frame plainly readable a couple of paces away. I will move forward once more to stand at the doorway.", + "I am nearly at the glass entrance, with one leaf and its handle taking up the left of my view and the blue pillar beside it on the right. I will take one more step to bring me level with the doors.", + "The glass double doors stand directly in front of me, their metal frame and handle within arm's reach and filling my whole view. I have arrived at the glass double doors, so I mark reaching them, and now the green bush is where I am headed.", + "Pressed this close to the doors, my view is filled by glass and dark frame with no open ground or greenery anywhere in it. To find the green bush I need a heading away from this facade, so I will turn left to begin sweeping my gaze across the surroundings.", + "The doors have shifted rightward and a strip of pale pavement now shows at the lower left, but still no plants are in sight. I will keep turning left to swing further off this wall and open up more of the surrounding ground.", + "The recessed doorway has slid to the right and a tiled side wall with a vent panel is coming into view on the left. This corner offers nothing green, so I continue turning left to keep bringing new ground into my field of view.", + "Now I am looking into a shadowed tiled alcove with a curb running along its base, entirely enclosed and bare of plants. I will turn left again to carry my gaze past this dead corner toward wherever the ground opens out.", + "The tiled wall with its red and green signage now spans most of my view, and it still hides whatever lies beyond the corner. Another left turn should carry my heading past this blank surface toward the brighter open area.", + "At the left edge a blossoming tree and a sunlit stretch of plaza with low planting have come into view past the corner of the wall. That open side is where a bush would sit, so I will turn left again to bring it properly into my heading.", + "The plaza is now open ahead and left, with benches, a canopy, and dark green shrubs beneath the blossom tree, while the tiled wall still crowds my right. One more left turn should center that planted area so I can walk straight at the green bush.", + "My heading now opens onto the wide plaza under the blossom trees, with low green planting visible ahead beyond the tiled wall corner. Nothing blocks the paving in front of me, so I will walk forward to close distance on that greenery.", + "The plaza has opened further and I can now pick out a leafy green clump at the base of the rounded kiosk ahead on my right. The route across the paving stays unobstructed, so I will keep walking to bring that bush within reach.", + "The green bush beside the rounded column is now clearly resolved and noticeably larger in my view, though still several paces off. I will step forward again along the open paving to shorten that gap before adjusting my heading.", + "The dense green bush sits to the right of my current heading, spilling around the base of the rounded column, while my centerline points past it toward the benches. A right turn should place that leafy clump squarely in front of me for a straight approach.", + "The turn has brought the green bush into the middle of my view, framed against the column and the shopfronts beyond. With the path toward it clear, I will walk forward to close the remaining distance.", + "The bush now fills much of the lower center of my view, its leaves close enough to show individual sprays. One more step forward should bring me right up alongside the planting.", + "The green bush is directly in front of me, its leaves filling the near foreground at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08cbf074a457ebe43375ee7605d7c31c95a5be92 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t3_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the cherry blossom tree trunk, then approach the green bush.", + "Type": 3, + "Start_Pose": [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4643.188, + 993.748, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4643.188, + 993.748, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + 122.8, + -0.0 + ], + [ + -4763.022, + 955.274, + 138.15, + 0.0, + 97.8, + -0.0 + ], + [ + -4780.103, + 1079.968, + 138.15, + 0.0, + 97.8, + -0.0 + ], + [ + -4780.103, + 1079.968, + 138.15, + 0.0, + 97.8, + -0.0 + ] + ], + "Rationale": [ + "The pale cherry blossom tree stands just ahead on the open pavement, its trunk rising clear of the shadows. I will walk forward along the open ground to close the remaining distance to that trunk.", + "The trunk now sits off to my right side rather than straight ahead, so walking on as I stand would carry me past it into the alley. I will turn right to put the trunk in front of me before continuing.", + "The trunk is now roughly in front of me with clear pavement between us. I will step forward to bring myself right up beside the bark.", + "The rough pale bark of the cherry blossom tree fills the near view, close enough to touch. I have reached the tree trunk, so I mark reaching it and now set off toward the green bush.", + "Standing this close, the trunk blocks most of what lies ahead and I see only the storefront glass and alley, no leafy bush. I will turn left to sweep my view across the open side and look for green foliage.", + "This heading shows only the narrow service alley with its ducts and paving, with no bush in sight. I will keep turning left to bring more of the open street side into view.", + "Leafy green foliage has just appeared at the far left edge of my view, past the white railing. I will continue turning left to bring that bush toward the middle of my view.", + "The broad green bush sits in the planter to my left, still off to the side of my heading. I will turn left once more so it lies straight ahead and I can walk directly at it.", + "The leafy green bush now sits in the planter just ahead of me, a few paces beyond the paving edge. My heading is already lined up with it, so I will walk forward to close the remaining gap and stand beside it.", + "The green bush now fills the foreground right at my feet, within arm's reach. Both destinations are reached, so the task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68b16e24086ceb347e5bbabe451d28eddc743270 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004518_y000978_z000138_t5_a_pd/infos.json @@ -0,0 +1,544 @@ +{ + "Instruction": "Grab the plate from the glass double doors, then drop it near the green bush.", + "Type": 5, + "Start_Pose": [ + -4518.322, + 977.974, + 138.15, + 0, + 172.8, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5256.224, + 616.029, + 90.043, + -90, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4518.322, + 977.974, + 138.15, + 0, + 172.8, + 0 + ], + [ + -4518.322, + 977.974, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4638.156, + 939.499, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4757.99, + 901.025, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -4757.99, + 901.025, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4850.336, + 815.511, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -4942.683, + 729.997, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -5035.029, + 644.484, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -5035.029, + 644.484, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -5154.863, + 606.009, + 140.043, + 0.0, + -162.2, + 0.0 + ], + [ + -5154.863, + 606.009, + 140.043, + 0.0, + -162.2, + 0.0 + ], + [ + -5154.863, + 606.009, + 140.043, + 0.0, + 172.8, + -0.0 + ], + [ + -5154.863, + 606.009, + 140.043, + 0.0, + 147.8, + -0.0 + ], + [ + -5154.863, + 606.009, + 140.043, + 0.0, + 122.8, + -0.0 + ], + [ + -5154.863, + 606.009, + 140.043, + 0.0, + 97.8, + -0.0 + ], + [ + -5154.863, + 606.009, + 140.043, + 0.0, + 72.8, + -0.0 + ], + [ + -5154.863, + 606.009, + 140.043, + 0.0, + 47.8, + -0.0 + ], + [ + -5070.322, + 699.246, + 138.15, + 0.0, + 47.8, + -0.0 + ], + [ + -4985.78, + 792.483, + 138.15, + 0.0, + 47.8, + -0.0 + ], + [ + -4897.853, + 875.47, + 138.15, + 0.0, + 47.8, + -0.0 + ], + [ + -4805.636, + 942.732, + 138.15, + 0.0, + 47.8, + -0.0 + ], + [ + -4805.636, + 942.732, + 138.15, + 0.0, + 72.8, + -0.0 + ], + [ + -4768.419, + 1062.962, + 138.15, + 0.0, + 72.8, + -0.0 + ], + [ + -4768.419, + 1062.962, + 138.15, + 0.0, + 97.8, + -0.0 + ], + [ + -4785.5, + 1187.657, + 148.134, + 0.0, + 97.8, + -0.0 + ], + [ + -4775.728, + 1116.323, + 138.15, + 0.0, + 97.8, + -0.0 + ], + [ + -4775.728, + 1116.323, + 138.15, + 0.0, + 97.8, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5256.224, + 616.029, + 90.043, + -90.0, + 0.0, + 0.0 + ], + [ + -5147.755, + 585.864, + 110.15, + -28.202, + -112.055, + 1.862 + ], + [ + -5156.81, + 585.691, + 110.422, + -28.189, + -137.043, + 1.872 + ], + [ + -5165.746, + 589.021, + 109.755, + -28.215, + -162.072, + 1.849 + ], + [ + -5180.474, + 595.96, + 109.936, + -14.175, + 164.992, + 6.959 + ], + [ + -5175.605, + 602.77, + 109.825, + -28.208, + 147.943, + 1.851 + ], + [ + -5173.948, + 611.575, + 110.493, + -28.198, + 122.946, + 1.867 + ], + [ + -5171.199, + 628.146, + 109.936, + -14.175, + 89.992, + 6.959 + ], + [ + -5086.631, + 713.051, + 108.482, + -28.198, + 97.945, + 1.865 + ], + [ + -5001.892, + 806.509, + 107.945, + -28.191, + 97.959, + 1.871 + ], + [ + -4913.865, + 889.614, + 107.692, + -28.187, + 97.953, + 1.869 + ], + [ + -4821.846, + 956.642, + 108.157, + -28.204, + 97.942, + 1.858 + ], + [ + -4826.995, + 948.868, + 108.315, + -28.196, + 122.946, + 1.864 + ], + [ + -4788.93, + 1068.905, + 107.806, + -28.208, + 122.937, + 1.855 + ], + [ + -4790.565, + 1059.135, + 108.819, + -28.193, + 147.951, + 1.871 + ], + [ + -4806.525, + 1183.783, + 108.858, + -28.191, + 147.948, + 1.872 + ], + [ + -4785.228, + 1185.675, + 108.15, + 90.0, + 97.8, + 0.0 + ], + [ + -4785.228, + 1185.675, + 108.15, + 90.0, + 97.8, + 0.0 + ] + ], + "PD_Dist_2D": [ + 821.9, + 821.9, + 697.6, + 574.0, + 574.0, + 452.3, + 333.6, + 223.0, + 223.0, + 101.9, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 22.2, + 21.4, + 22.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The task points me to a plate at the glass double doors, and from here I can see a white plate leaning near the glazed shopfront on the right side of the courtyard, while the tree trunk and the blue building crowd the center of my view. I will turn right so that the run of glass doors and the plate sit ahead of me instead of off to the side. That should give me a clean heading to start walking toward the target.", + "The glass double doors now fill the right half of my view and the plate is clearly propped at the base of the nearer doorway. The paving in front of me is open, so I will walk forward to cut down the sizeable gap to that doorway. Closing distance first is necessary before any grasp is possible.", + "The doorway and the plate have grown noticeably larger, which confirms my heading is carrying me toward the target rather than past it. I am still well short of reaching distance, so I will keep walking forward along the open apron. The tree trunk stays to my left and does not block this line.", + "Straight ahead of me the corner of the tiled building juts into my path, while the door bay holding the plate sits to the right along the shopfront. I will turn right to square up with that facade so my walking line runs across the open apron in front of the doors. This should keep the plate ahead of me as I continue closing in.", + "I am now facing the pair of glass door bays squarely, with the plate leaning against the left-hand doorway a few paces off. Nothing stands between me and that raised entry apron, so I will step forward to shorten the remaining distance. I still need to be much closer before a grasp is realistic.", + "The near doorway now dominates my view and the plate is plainly resting on the entry apron slightly to my left. I will walk forward again to bring myself onto that apron and within reach of the plate. The path stays clear, so continued forward motion is the simplest way to close the gap.", + "The plate is now large in front of me, propped against the frame of the left door leaf, and only a short stretch of paving remains. I will step forward once more to get within arm's length of it. That should put me close enough to attempt the pick up.", + "I am right up against the door bay, but my last step carried me so close that the plate has slid to the far left edge of my view and is partly out of sight. I will turn left to bring it back in front of me and centered. Having it squarely ahead should make the grasp attempt reliable.", + "The white plate is propped against the glass double doors just ahead and slightly left of my center, but it is still a step or two out of reach. I will walk forward to close that last gap so the plate sits directly in front of me at grasping range. This should put me in a position where a pick attempt can connect.", + "The plate now fills the lower left of my view right against the glass doors, close enough that I am standing over it. This is the target object named in the task, so I will attempt to pick it up now. If the grasp takes, I should be carrying the plate and free to head toward the green bush.", + "The grasp worked: the plate is now held low in front of me with my arm over it instead of resting against the doors. Facing straight into the glass doorway gives me nowhere to walk, so I will turn left to begin swinging away from this recessed entrance. That should start rotating me back toward the open ground where the greenery lies.", + "I am carrying the plate and still boxed in by the door frame and the blue panelling of the entrance recess. Turning left again continues sweeping my heading off this wall face toward a direction I can actually walk. I expect more of the surrounding street to come into view with each step of rotation.", + "The view is now mostly tiled wall and the corner beside the entrance, so there is still no usable path in front of me. I will keep turning left to carry the rotation further around the building corner. A clearer stretch of pavement should appear as I come off this wall.", + "I am facing a flat tiled wall with a sign on it, which is not a direction I can travel with the plate. Continuing to turn left should bring the open side of the block into my view. I keep rotating rather than stepping, since walking into this wall would gain nothing.", + "The wall still dominates my view, but its left edge is opening onto sunlit pavement, greenery, and blossom trees. I will turn left once more to bring that open area toward the center of my heading. That direction looks like where a green bush could be reached with the plate I am carrying.", + "The plaza with its blossom tree, benches, and planted beds is now visible to my left while the building wall still occupies my right. One more left turn should line my heading up with that open walkway instead of the facade. Then I can walk out toward the planted greenery while carrying the plate.", + "The plate is secured in my hands after lifting it from the recessed glass doors, so the remaining job is to carry it to a green bush. Having swung around to face away from the storefront, I now look down an open plaza with a blossoming tree and planting beds further ahead. I will walk forward to leave the narrow doorway alcove and reach that planted area.", + "Still carrying the plate, I have cleared the building corner and the plaza is opening up in front of me. Low green shrubs are now visible around the base of the column on the right side of the walkway. I will keep walking forward to close distance on that greenery.", + "The plaza is fully open ahead with benches, a lawn strip, and leafy bushes growing beside the large cylindrical column to my right. Nothing blocks the paved lane directly in front of me. I will step forward again to bring those bushes within easy reach.", + "The bush bed at the foot of the column is now large in view on my right, so I am nearly alongside the target greenery. Walking straight one more step keeps me on the paved lane while drawing level with that planting. I will advance again before turning toward the bushes.", + "I am now beside the column and the dense green bushes sit off to my right rather than in front of me. Turning right should swing my heading onto that planting bed so I can walk straight at it. I will make that turn to line up with the greenery.", + "The turn has put the leafy bush bed near the center right of my view, just past the column base. With the plate still in hand, I will walk forward to close the last of the gap to that greenery.", + "I am right at the column with the bushes crowding the lower right of my view, slightly off my current heading. A further right turn should place the green bush squarely in front of me so a release lands close to it. I will turn right before taking the final step.", + "The green bush now spreads directly across the front of my view beside the grass strip, with the walkway open past it. One more step forward should place me right at the edge of that foliage, close enough to set the plate down near it. I will advance that last stretch.", + "I am still carrying the plate, and the leafy green bush now fills the lower right of my view right beside me at the edge of the grass strip. This is close enough to the greenery to satisfy the placement target, so I will release the plate here. The drop should leave it resting on the ground next to the bush.", + "The plate is now resting on the ground right against the green bush in front of me. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..17e320df3a818f19abb84e2fda8a5d77171798b4 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the orange and white bollard near the fence.", + "Type": 0, + "Start_Pose": [ + -4638.587, + 2865.651, + 138.843, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4638.587, + 2865.651, + 138.843, + 0.0, + -65.28, + 0.0 + ], + [ + -4585.955, + 2751.325, + 138.843, + 0.0, + -65.28, + 0.0 + ], + [ + -4533.322, + 2637.0, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4480.69, + 2522.674, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4428.058, + 2408.349, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4375.426, + 2294.023, + 141.533, + 0.0, + -65.28, + 0.0 + ], + [ + -4322.793, + 2179.697, + 138.843, + 0.0, + -65.28, + 0.0 + ], + [ + -4322.793, + 2179.697, + 138.843, + 0.0, + -90.28, + 0.0 + ], + [ + -4322.793, + 2179.697, + 138.843, + 0.0, + -90.28, + 0.0 + ], + [ + -4322.793, + 2179.697, + 138.843, + 0.0, + -90.28, + 0.0 + ] + ], + "Rationale": [ + "I can pick out a small orange and white striped post standing just in front of the white fence line, past the bike racks on the far side of this open road. It is well ahead of me and roughly in line with my current heading, so no turn is needed yet. I will step forward to begin closing that distance.", + "The fence and the parked bicycles have grown larger, and the orange and white bollard is now easier to distinguish just left of the racks. My heading still points into the open plaza where it stands, so I keep the same line. Another forward step should bring me noticeably closer.", + "The striped bollard is clearly resolved now, standing on the paving beside the fence and slightly left of center in my view. Nothing blocks the stretch of road between me and the curb ahead. I will continue advancing on this heading to keep shortening the gap.", + "I have reached the edge of the tiled walkway, and the bollard sits just beyond it near the white railing, still ahead and a bit to my left. The distance is short enough that a couple more steps should put me right beside it. I will move forward again rather than turning this early.", + "The bollard now stands close in front of the fence panel on my left, large enough that I can see its individual orange and white bands. I am on the walkway with clear paving between us. One more step forward should bring me nearly level with it.", + "The bollard is very near now, low on the left side of my view beside the fence and the parked bicycles. A short further advance should place me right alongside it instead of stopping a stride short. I will take one more forward step before settling my heading.", + "After that last step the bollard has slipped past the left edge of my view, so I am now standing beside it rather than facing it. Turning left should swing my heading back onto the post next to the fence so I can confirm I am at it. I will rotate left rather than move again.", + "The rounded top of the orange and white bollard has come back into the lower center of my view, right at my feet by the fence and planting bed. Tilting my gaze down should show the whole post and its base so I can verify how close I am standing. I will look down to check that alignment.", + "The orange and white bollard stands directly before me at arm's length beside the railing. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b75cef82d528c245bf109eddc13325550438b0cd --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the candelabra near the orange and white bollard near the fence.", + "Type": 5, + "Start_Pose": [ + -4638.587, + 2865.651, + 138.843, + 0, + -65.28, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + -4294.653, + 2145.296, + 63.876, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4638.587, + 2865.651, + 138.843, + 0, + -65.28, + 0 + ], + [ + -4585.955, + 2751.325, + 138.843, + 0.0, + -65.28, + 0.0 + ], + [ + -4533.322, + 2637.0, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4480.69, + 2522.674, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4428.058, + 2408.349, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4375.426, + 2294.023, + 141.533, + 0.0, + -65.28, + 0.0 + ], + [ + -4375.426, + 2294.023, + 141.533, + 0.0, + -65.28, + 0.0 + ], + [ + -4375.426, + 2294.023, + 141.533, + 0.0, + -65.28, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4294.653, + 2145.296, + 63.876, + 0.0, + 0.0, + 0.0 + ], + [ + -4294.653, + 2145.296, + 63.876, + 0.0, + 0.0, + 0.0 + ], + [ + -4294.653, + 2145.296, + 63.876, + 0.0, + 0.0, + 0.0 + ], + [ + -4294.653, + 2145.296, + 63.876, + 0.0, + 0.0, + 0.0 + ], + [ + -4294.653, + 2145.296, + 63.876, + 0.0, + 0.0, + 0.0 + ], + [ + -4294.653, + 2145.296, + 63.876, + 0.0, + 0.0, + 0.0 + ], + [ + -4356.284, + 2303.507, + 108.95, + -28.202, + -15.136, + 1.862 + ], + [ + -4356.284, + 2303.507, + 108.95, + -28.202, + -15.136, + 1.862 + ] + ], + "PD_Dist_2D": [ + 798.2, + 672.4, + 546.6, + 420.7, + 294.9, + 169.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The task points me to a candelabra beside an orange and white bollard near the white fence, and from here I can only make out the fenced plaza and the bicycle racks far ahead. The target area lies straight along my heading, so I will walk forward to close the large gap. This should bring the bollard and the small object beside it into clearer view.", + "The fence line and the bicycle parking area are noticeably larger now, so my heading is carrying me toward the right part of the plaza. The candelabra and its bollard are still too far to resolve, so I keep walking straight ahead. Continued forward motion should reduce the remaining distance without needing any turn.", + "A slim orange and white striped bollard is now visible near the fence, just left of the bicycle racks, which matches the landmark named in the task. I still cannot clearly see the candelabra at its base, so I will advance again along the same line. Getting closer should confirm the object next to that bollard.", + "The striped bollard is clearly ahead by the fence, and a small dark branched shape sits low beside it that looks like the candelabra. It is still beyond comfortable reach, so I will keep stepping forward on this heading. Closing more distance should put the object within grasping range.", + "The candelabra is now unmistakable, standing on the pavement just right of the orange and white bollard with its candle arms visible. It sits slightly below and ahead of me and still looks a step too far for a reliable grab. I will take one more step forward to bring it directly within reach.", + "The candelabra is right in front of me at the base of the orange and white bollard, with its candles filling the lower center of my view. I am close enough that no further stepping or turning is needed. I will attempt to pick it up now.", + "The candelabra is now held in my hands, visible in front of my body. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004751_y000283_z000140_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-004751_y000283_z000140_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1c5e981f320311822d4c4150ff29109999bf921b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004751_y000283_z000140_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Scan the surrounding walls for the red notice posted on a gray wall, then walk to it.", + "Type": 1, + "Start_Pose": [ + -4751.367, + 283.376, + 140.043, + 0.0, + -147.84, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4751.367, + 283.376, + 140.043, + 0.0, + -147.84, + 0.0 + ], + [ + -4751.367, + 283.376, + 140.043, + 0.0, + -172.84, + 0.0 + ], + [ + -4751.367, + 283.376, + 140.043, + 0.0, + 162.16, + -0.0 + ], + [ + -4751.367, + 283.376, + 140.043, + 0.0, + 137.16, + -0.0 + ], + [ + -4843.654, + 368.954, + 140.043, + 0.0, + 137.16, + -0.0 + ], + [ + -4935.941, + 454.533, + 140.043, + 0.0, + 137.16, + -0.0 + ], + [ + -5028.228, + 540.111, + 142.685, + 0.0, + 137.16, + -0.0 + ], + [ + -5028.228, + 540.111, + 142.685, + 0.0, + 112.16, + -0.0 + ], + [ + -5075.701, + 656.673, + 140.934, + 0.0, + 112.16, + -0.0 + ], + [ + -5123.174, + 773.235, + 138.297, + 0.0, + 112.16, + -0.0 + ], + [ + -5123.174, + 773.235, + 138.297, + 0.0, + 112.16, + -0.0 + ] + ], + "Rationale": [ + "I am standing right up against a set of glass doors, so almost my whole view is blocked by the blue storefront panels and no gray wall or red notice is visible. I will turn left to swing my heading off the doors and start a consistent scan of the surrounding walls.", + "Turning has opened up a bit of the walkway on my left, but the doors and blue metal cladding still take most of my view and the red notice is not in sight. I will keep rotating in the same leftward direction to bring more of the surrounding walls into view.", + "A gray tiled wall is now emerging on the far left with what looks like small colored posters on it, though it sits at the very edge of my view and is hard to read. I will continue the same leftward rotation to bring that gray wall and its notices toward the center of my heading.", + "The gray tiled wall is now clearly ahead of me and I can make out a red panel next to a green one posted on it, which matches the notice I am looking for. I will walk forward along the open walkway to close the distance instead of scanning any further.", + "The red notice on the gray tiled wall has grown larger and is still slightly to my left, and the path ahead stays clear. I will keep walking forward to continue closing on it.", + "I am noticeably closer to the gray tiled wall, with the red and green notices now clearly resolved on its surface. Since there is still open ground between me and the wall, I will step forward again to reduce the remaining gap.", + "The red notice has drifted well over to the left edge of my view as I advanced, so walking straight would carry me past it along the wall. I will turn left to bring the notice back toward the center of my heading before continuing.", + "The red notice and its green companion now sit near the middle of my view on the gray tiled wall, so my heading points straight at the target. I will walk forward to close the last stretch of pavement toward it.", + "The red notice on the gray tiled wall is clearly in view ahead of me, slightly left of center, but the wall still sits a few steps away. I will walk forward again to close the remaining gap so the sign fills my view at arm's reach. This should bring me right up against the wall where the notice is posted.", + "The red notice on the gray tiled wall now fills my view directly in front of me at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004751_y000283_z000140_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x-004751_y000283_z000140_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df1074089069c0354a4e6c16ab9500f33d13f985 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004751_y000283_z000140_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the nearby area for the green notice on a gray wall, then head toward it.", + "Type": 1, + "Start_Pose": [ + -4751.367, + 283.376, + 140.043, + 0.0, + -147.84, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4751.367, + 283.376, + 140.043, + 0.0, + -147.84, + 0.0 + ], + [ + -4751.367, + 283.376, + 140.043, + 0.0, + -172.84, + 0.0 + ], + [ + -4751.367, + 283.376, + 140.043, + 0.0, + 162.16, + -0.0 + ], + [ + -4751.367, + 283.376, + 140.043, + 0.0, + 137.16, + -0.0 + ], + [ + -4843.654, + 368.954, + 140.043, + 0.0, + 137.16, + -0.0 + ], + [ + -4935.941, + 454.533, + 140.043, + 0.0, + 137.16, + -0.0 + ], + [ + -5028.228, + 540.111, + 142.685, + 0.0, + 137.16, + -0.0 + ], + [ + -5028.228, + 540.111, + 142.685, + 0.0, + 112.16, + -0.0 + ], + [ + -5075.701, + 656.673, + 140.934, + 0.0, + 112.16, + -0.0 + ], + [ + -5123.174, + 773.235, + 138.297, + 0.0, + 112.16, + -0.0 + ], + [ + -5123.174, + 773.235, + 138.297, + 0.0, + 87.16, + -0.0 + ], + [ + -5123.174, + 773.235, + 138.297, + 0.0, + 87.16, + -0.0 + ] + ], + "Rationale": [ + "I am standing right up against a pair of glass doors that fill my whole view, so no gray wall or green notice is visible from here. I will turn left to begin a consistent scan of the surrounding area and open up the space beside the entrance.", + "Turning has revealed open pavement and building facades to my left, but the target notice is still not in sight. I will keep rotating in the same direction to extend the scan across the walkway.", + "Further along the walkway I can now make out a tiled wall with small colored markings, one of which looks greenish, though it is distant and partly out of view. I will continue the same leftward rotation to bring that wall fully in front of me.", + "The gray tiled wall ahead on my left clearly carries a green placard next to a red one, which matches the notice I am looking for. I will walk forward along the open pavement to close the distance toward it.", + "The green notice on the gray tiled wall is larger and easier to read now, confirming I am closing in on the right target. The path in front of me stays clear, so I will keep walking forward.", + "The green notice and its red neighbor are now plainly legible on the gray tiled wall to my left, but I am still some distance from it. I will advance again to shorten the remaining gap.", + "The green notice has drifted to the far left edge of my view as I walked forward along the wall. I will turn left to bring the sign back to the center of my heading so I can approach it directly.", + "The green notice and the adjacent red one now sit near the middle of my view on the gray tiled wall, so my heading points straight at the target. I will step forward to close the remaining distance to the wall.", + "The green notice and its red companion are clearly visible on the gray tiled wall ahead and slightly to my left, so the target of the search is confirmed. I will keep walking forward to close the remaining gap to that wall section.", + "I am now close to the gray wall, but the green notice has slid to the far left edge of my view and is partly cut off. Turning left should swing my heading back onto the notice so it sits squarely in front of me.", + "The green notice on the gray tiled wall is centered directly in front of me at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4689a6fa000b6cf3cc40fb5a2a4a681c2eb26316 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the green bicycle parked on the street.", + "Type": 0, + "Start_Pose": [ + -5037.349, + 1474.553, + 138.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5037.349, + 1474.553, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5087.092, + 1590.165, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5130.104, + 1705.652, + 140.73, + 0.0, + 113.28, + -0.0 + ], + [ + -5153.467, + 1820.308, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5203.21, + 1935.92, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5252.953, + 2051.532, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5252.953, + 2051.532, + 138.15, + 0.0, + 88.28, + -0.0 + ], + [ + -5249.175, + 2177.334, + 138.843, + 0.0, + 88.28, + -0.0 + ], + [ + -5245.397, + 2303.136, + 138.843, + 0.0, + 88.28, + -0.0 + ], + [ + -5241.62, + 2428.939, + 139.77, + 0.0, + 88.28, + -0.0 + ], + [ + -5241.62, + 2428.939, + 139.77, + 0.0, + 88.28, + -0.0 + ] + ], + "Rationale": [ + "From the corner of this walkway I can already spot the green bicycle parked ahead near the storefront with the red awning, partly framed by the wall on my right. The path of paving tiles in front of me is clear, so I will move forward to begin closing the gap toward it.", + "The green bicycle sits ahead of me by the shop entrance and appears slightly larger than before, confirming I am heading the right way. The walkway remains unobstructed, so I will continue straight forward.", + "Now that I have cleared the wall on my right, the green bicycle and the yellow rack beside it are fully in view ahead of me. There is still a good distance of open pavement between us, so I will keep pushing forward.", + "The bicycle is clearly visible ahead and a little to my left, standing on the green painted strip by the shop. Nothing blocks the road surface between us, so another step forward should bring me noticeably closer.", + "The bicycle now stands well off to my left front while my heading carries me along the street past the storefront. I will move forward once more to draw level with it before adjusting my facing.", + "I am nearly level with the parked green bicycle, but it now sits off to my left rather than in front of me, so continuing straight would carry me past it. I will turn left to swing my heading onto the bicycle and center it in my view.", + "After the turn the green bicycle is centered in front of me against the shop front and yellow racks. With my heading now on the target, I will move forward to close the remaining distance.", + "The green bicycle is directly ahead and now fills much of my view, so my alignment is good. I will take another step forward to come right up beside it.", + "The green bicycle now fills the center of my view with its frame and handlebar clearly resolved, but there is still a short gap of pavement before its front wheel. I will step forward once more to close that last bit of distance and stand right at the bike. This should place me close enough that no further approach is needed.", + "The green bicycle's frame and handlebar fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10f81ba5735c159f9028a495d3c7442d1e6d94ec --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t0_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the shop with the red striped awning.", + "Type": 0, + "Start_Pose": [ + -5037.349, + 1474.553, + 138.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5037.349, + 1474.553, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5087.092, + 1590.165, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5130.104, + 1705.652, + 140.73, + 0.0, + 113.28, + -0.0 + ], + [ + -5153.467, + 1820.308, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5153.467, + 1820.308, + 138.15, + 0.0, + 88.28, + -0.0 + ], + [ + -5149.69, + 1946.11, + 138.15, + 0.0, + 88.28, + -0.0 + ], + [ + -5145.912, + 2071.912, + 141.423, + 0.0, + 88.28, + -0.0 + ], + [ + -5142.134, + 2197.714, + 138.903, + 0.0, + 88.28, + -0.0 + ], + [ + -5138.357, + 2323.517, + 138.903, + 0.0, + 88.28, + -0.0 + ], + [ + -5134.579, + 2449.319, + 141.47, + 0.0, + 88.28, + -0.0 + ], + [ + -5110.043, + 2547.758, + 141.265, + 0.0, + 88.28, + -0.0 + ], + [ + -5099.703, + 2670.001, + 142.047, + 0.0, + 88.28, + -0.0 + ], + [ + -5099.703, + 2670.001, + 142.047, + 0.0, + 88.28, + -0.0 + ] + ], + "Rationale": [ + "I can see the corner shop ahead on the left with its red and white striped awning over the entrance, which matches my target. A large pale wall crowds the right half of my view, so I will move forward along the tiled walkway to close distance and open up the view of that storefront.", + "The striped awning and the shop's blue glass entrance are still ahead and slightly left, and they have grown larger, so my heading is carrying me toward the target. The walkway in front of me remains clear, so I will continue forward to keep closing the gap.", + "The shop facade with the red striped awning now fills much of the left side of my view, with its parked green bicycle and yellow racks along the frontage. Since nothing blocks the path in front of me, another forward step should bring me nearer to the corner of that shop.", + "The striped awning and the shop entrance now sit well off to the left of my heading, while the wall on my right is pulling my forward path away from them. I will turn left to bring the shop front near the center of my view so that further forward motion heads straight at it.", + "After the turn, the shop with the red striped awning and its blue entrance is centered ahead of me across the open pavement. With the way clear, I will move forward along this heading to close on the storefront.", + "The awning is noticeably closer and the parked green bicycle by the shop frontage is now large in my view, confirming I am on the right line. I will keep moving forward, aiming just left of the bicycle toward the shop entrance.", + "I am nearly at the shop frontage now, with the red striped awning overhanging above and the blue glass door just ahead and slightly left. The parked bicycle sits to my right, so a further forward step should carry me onto the shop's frontage without contacting it.", + "The awning edge and the shop's door with its posters are close in front of me, and the bicycle stays clear on my right side. I will advance once more to finish arriving right at the shop entrance under the striped awning.", + "The striped awning of the target shop now hangs directly over the left of my view and its blue storefront glass is only a couple of paces ahead. I will keep moving forward along the sidewalk, past the parked green bicycle on my right, to close the last of the distance to the shopfront.", + "I am now under the striped awning with the shop's poster-covered glass frontage close on my left and the tiled corner pillar just ahead. Another forward step should bring me level with the storefront entrance area rather than stopping short of it.", + "The shop's window panels and advertising poster now dominate my view at arm's length, so I am essentially at the frontage of the red striped awning shop. I will take one more short step forward to settle right at the storefront before considering the approach done.", + "I am standing directly at the frontage of the shop under the red striped awning, its window and poster within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f738edf9e18e9066db6d2b62a799077e06d02981 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005037_y001475_z000138_t5_a_p/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the green bell pepper near the shop with the red striped awning.", + "Type": 5, + "Start_Pose": [ + -5037.349, + 1474.553, + 138.15, + 0, + 113.28, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4966.242, + 2735.925, + 94.434, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5037.349, + 1474.553, + 138.15, + 0, + 113.28, + 0 + ], + [ + -5087.092, + 1590.165, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -5130.104, + 1705.652, + 140.73, + 0.0, + 113.28, + -0.0 + ], + [ + -5130.104, + 1705.652, + 140.73, + 0.0, + 88.28, + -0.0 + ], + [ + -5126.326, + 1831.455, + 138.15, + 0.0, + 88.28, + -0.0 + ], + [ + -5122.548, + 1957.257, + 138.15, + 0.0, + 88.28, + -0.0 + ], + [ + -5118.771, + 2083.059, + 145.604, + 0.0, + 88.28, + -0.0 + ], + [ + -5118.771, + 2083.059, + 145.604, + 0.0, + 63.28, + -0.0 + ], + [ + -5062.181, + 2195.478, + 138.843, + 0.0, + 63.28, + -0.0 + ], + [ + -5005.591, + 2307.897, + 138.843, + 0.0, + 63.28, + -0.0 + ], + [ + -4949.001, + 2420.316, + 139.663, + 0.0, + 63.28, + -0.0 + ], + [ + -4949.001, + 2420.316, + 139.663, + 0.0, + 88.28, + -0.0 + ], + [ + -4945.223, + 2546.119, + 142.133, + 0.0, + 88.28, + -0.0 + ], + [ + -4945.223, + 2546.119, + 142.133, + 0.0, + 88.28, + -0.0 + ], + [ + -4945.223, + 2546.119, + 142.133, + 0.0, + 88.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.242, + 2735.925, + 94.434, + 0.0, + 0.0, + 0.0 + ], + [ + -4966.585, + 2546.15, + 108.257, + -28.202, + 138.425, + 1.862 + ], + [ + -4966.585, + 2546.15, + 108.257, + -28.202, + 138.425, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1263.4, + 1152.1, + 1043.2, + 1043.2, + 918.5, + 794.2, + 670.4, + 670.4, + 548.9, + 429.8, + 316.1, + 316.1, + 191.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The corner shop with the red and white striped awning is visible ahead on the left side of the street, but a tall pale wall crowds the right half of my view and I am still far from the storefront. I do not yet see the green bell pepper at this distance, so I will walk forward along the paved sidewalk to close the gap and open up the shop frontage.", + "The striped awning and the blue shopfront have grown noticeably larger, confirming that continuing straight is carrying me toward the right building. The wall on my right still hides part of the frontage where a small target could sit, so another step forward should bring more of the shop's ground area into view.", + "The shop with the striped awning now sits toward the left of my view, while the blank wall on my right takes up space I do not need. Turning left should center the storefront and its sidewalk in front of me so I can approach it directly and scan for the green pepper.", + "The corner shop with the striped awning is now squarely ahead with an open crossing and roadway between us. I will step forward to cover that open ground and get near enough to pick out a small green item on the shop's frontage.", + "The awning, the shop doors, and the green bicycle parked at the frontage are all clearly larger, so my heading is taking me straight at the building. A small rounded green object is visible on the ground near the entrance, and moving forward again should let me confirm whether it is the bell pepper.", + "I am close to the striped awning now, with the parked green bicycle and the shop entrance directly across the street from me. Another step forward should bring me onto the shop side of the road, where the small green item sits near the doorway.", + "The shop wall and its parked bicycle now fill the right of my view, while the walkway that runs past the entrance under the striped awning extends off to my left. Turning left should put that frontage walkway ahead of me so I can advance along it toward the small green item near the doors.", + "The turn has lined me up with the tiled walkway running along the shop front under the striped awning, and a rounded green object rests on the pavement beside the blue doors ahead. I will walk forward along this walkway to close in on it and get within reach.", + "The shopfront with the red striped awning is now on my right, and a small round green object sits on the raised tiled base beside its glass doors. That matches the bell pepper I need, so I will keep walking straight along this sidewalk to close the remaining distance.", + "The green pepper has grown noticeably larger on the raised ledge beside the shop's blue doors, confirming I am closing in on it. The paved walkway between the bollards is still clear, so another step forward should bring me within reach range.", + "The pepper now sits well off to the right edge of my view, close against the shop's glass doors, while my heading points down the open street. Turning right should swing the pepper toward the center of my view so I can walk straight at it.", + "The green bell pepper is now roughly centered ahead of me on the tiled ledge under the striped awning. It is still a short distance off, so I will step forward to bring it within grasping range.", + "The green bell pepper fills the lower center of my view, close enough that its stem and ridges are clearly detailed right in front of me at the shop's ledge. Nothing blocks my hands, so I will attempt to grasp it now.", + "The green bell pepper is now held in my hands in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..12c8ace5ecbf7ccf65e7d1ef7f87fd2d5b78bc04 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the leftmost traffic cone in the row.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5834.434, + 2252.143, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5960.254, + 2255.306, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5960.254, + 2255.306, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6072.948, + 2311.346, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6185.642, + 2367.386, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6298.337, + 2423.426, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6298.337, + 2423.426, + 138.843, + 0.0, + 128.56, + -0.0 + ], + [ + -6376.789, + 2521.842, + 146.508, + 0.0, + 128.56, + -0.0 + ], + [ + -6376.789, + 2521.842, + 146.508, + 0.0, + 128.56, + -0.0 + ] + ], + "Rationale": [ + "A line of traffic cones spans the alley ahead, and the one at the far left end sits apart from the barriers, hard against the left building wall. The cones themselves look alike, so I hold my target by that wall-side end position. I walk forward to close the distance before committing to a heading.", + "The row has grown larger and the cone at the left end, tucked beside the wall and separate from the barrier line, is now clearly resolvable. Nothing blocks the open pavement between me and it. I step forward again to keep shrinking the gap.", + "From here the wall-side cone sits well off to the left of my heading, near the edge of my view, while my current facing points down the middle of the alley. Walking straight would carry me past it. I turn left to bring that cone in front of me.", + "The turn placed the cone by the left wall more toward the center-left of my view, with open ground leading to it. My heading now points along that line rather than down the alley. I walk forward to advance on it.", + "The wall-side cone and its barrier neighbors are noticeably nearer, and the cone I want still stands alone left of the first barrier. My heading remains aimed at it. I continue forward to keep closing.", + "I am close enough now that the cones no longer read as a countable row, but the one I chose is still the isolated cone standing on the tiled strip beside the left wall. It sits ahead and slightly left. I step forward once more to draw alongside it.", + "At this range the cone beside the left wall has slid to the far left edge of my view while my facing runs along the barrier fronts. A straight step would slip past it. I turn left to square up on that cone.", + "The cone standing on the tiles against the left wall is now centered in front of me with clear ground between us. One short advance should bring me right up beside it. I move forward to finish the approach.", + "The cone I chose stands directly in front of me at arm's length. I have reached it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6774984a6d4641b59ac4c6b7fa40c49c54015811 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the third green barrier from the right.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5834.434, + 2252.143, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5960.254, + 2255.306, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6086.073, + 2258.469, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6211.892, + 2261.631, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6337.712, + 2264.794, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6463.531, + 2267.957, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6589.35, + 2271.12, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6589.35, + 2271.12, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6683.053, + 2316.32, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6683.053, + 2316.32, + 138.843, + 0.0, + 153.56, + -0.0 + ] + ], + "Rationale": [ + "A row of teal barriers with cones blocks the far end of this alley, and counting from the right end where the row meets the right curb, my target is the third one, the barrier standing closest to the round manhole cover in the road. They all look alike, so I hold that anchor and walk straight toward the row.", + "The barrier line is still far down the alley and the individual panels only now separate from one another. I keep walking forward along the open roadway to close that distance.", + "The panels and their orange cones are clearly resolved now, with the row still ending at the right beside the curb. My target barrier by the manhole is well ahead of me, so I continue straight forward.", + "The row now spans most of my view and the manhole cover in the road sits just in front of the barrier I chose. Several strides of open asphalt remain between me and it, so I walk on.", + "The barriers loom larger and the right end of the line still reaches the sidewalk near the shop entrance, which keeps my chosen panel identified. I advance again to shorten the remaining gap.", + "From this near angle the line is beginning to lose its shape as a countable row, but the manhole cover ahead still marks the barrier I am going to. I step forward once more toward it.", + "The nearest barriers now fill the lower half of my view, so I no longer read the line as a row and simply hold onto the panel beside the manhole. A short distance of pavement still separates me from it, so I keep walking.", + "I am right up against the barrier line, and the panel I want sits slightly to my left of my current heading while my view is dominated by the cone directly ahead. I turn left to bring that barrier square in front of me before the last step in.", + "The turn worked: the barrier I want now sits centered ahead between its two cones, with only a short strip of asphalt left before its panel. One more step should bring me flush against it.", + "The green barrier panel fills the bottom of my view at arm's length. I have arrived at it, so the approach is complete and stopping here is right." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d558d5eb0841d621326afbf2033fc0c57ef929c5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the second green barrier from the right.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5834.434, + 2252.143, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5960.254, + 2255.306, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6086.073, + 2258.469, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6211.892, + 2261.631, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6211.892, + 2261.631, + 138.843, + 0.0, + -156.44, + 0.0 + ], + [ + -6327.26, + 2211.324, + 138.843, + 0.0, + -156.44, + 0.0 + ], + [ + -6442.628, + 2161.017, + 138.843, + 0.0, + -156.44, + 0.0 + ], + [ + -6442.628, + 2161.017, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6568.447, + 2164.18, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6694.266, + 2167.343, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6774.866, + 2157.642, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6774.866, + 2157.642, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6774.866, + 2157.642, + 138.843, + 0.0, + 153.56, + -0.0 + ] + ], + "Rationale": [ + "From here the teal barrier panels line the left side of the alley, and their row ends on the right where it meets the pavement near the storefront corner. The panels are identical, so I fix my target as the one standing just left of that right-hand end and will keep following it rather than recounting. It is far off, so I step forward down the middle of the lane.", + "The barrier panels have grown noticeably and the right end of the row is clearer beside the shopfront, so my heading down the lane is good. Nothing blocks the roadway in front of me, so I keep walking to close the remaining distance to my target panel.", + "I am now close enough to read individual panels and the cones set in front of them, but my target still sits well ahead on the left. The lane stays open, so another step forward should bring me nearer without needing to change heading yet.", + "The barrier line now fills much of my view to the left, and its right-hand end lies ahead near the shop entrance. I step forward once more to draw level with that end of the row before adjusting my heading toward my target panel.", + "Straight ahead the cones sit tight against the panels, so pressing forward on this heading would drive me into them rather than alongside the row. I turn right to swing onto the open roadway that runs past the shopfront corner, keeping my target panel on my left where I can approach it cleanly.", + "With my heading now onto the open roadway, the barrier panels and their cones sit clear on my left and the pavement in front of me is empty. I walk forward along this lane to come abreast of my target panel.", + "The remaining panels on my left have slid further back as I advance, and the manhole cover and shop corner show I am still short of the position I want. I take another step along the open road to line up beside my target panel.", + "I have come far enough along the road that the barrier panels now lie off to my left rather than ahead, with the corner of the shop on my right. I turn left to face back into the row so my target panel comes into the center of my view for the final approach.", + "The row stands square in front of me now, with the shop corner off to my right and the panel I have been tracking sitting just inboard of the last one at that end. Only the cones stand on the open asphalt between us, so I walk in toward it.", + "Two cones now frame the stretch of barrier straight ahead, and my panel is the section standing between them. It is still a couple of strides off, so I keep walking into that gap to close on its face.", + "The barrier now fills the bottom of my view with one cone leaning against its face, so I am nearly on top of it. A short step forward should place me right at the panel without crowding into the concrete.", + "I am up against the panel, but its face runs across my view at a slant with the near corner off to my right. I turn left so I am standing head on to it, which should settle the approach squarely.", + "The chosen green panel now stands squarely across my view at arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da3e50906d6434963aaa6b149655df07efa95fcf --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the green bell pepper near the second green barrier from the left.", + "Type": 5, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0, + 178.56, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6510.324, + 2422.77, + 88.303, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5708.615, + 2248.98, + 138.843, + 0, + 178.56, + 0 + ], + [ + -5834.434, + 2252.143, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5960.254, + 2255.306, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6086.073, + 2258.469, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6086.073, + 2258.469, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6198.767, + 2314.509, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6311.462, + 2370.549, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6311.462, + 2370.549, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6311.462, + 2370.549, + 138.843, + 0.0, + 153.56, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -6510.324, + 2422.77, + 88.303, + 0.0, + 0.0, + 0.0 + ], + [ + -6510.324, + 2422.77, + 88.303, + 0.0, + 0.0, + 0.0 + ], + [ + -6510.324, + 2422.77, + 88.303, + 0.0, + 0.0, + 0.0 + ], + [ + -6510.324, + 2422.77, + 88.303, + 0.0, + 0.0, + 0.0 + ], + [ + -6510.324, + 2422.77, + 88.303, + 0.0, + 0.0, + 0.0 + ], + [ + -6510.324, + 2422.77, + 88.303, + 0.0, + 0.0, + 0.0 + ], + [ + -6510.324, + 2422.77, + 88.303, + 0.0, + 0.0, + 0.0 + ], + [ + -6320.423, + 2351.157, + 108.95, + -28.202, + -156.296, + 1.862 + ], + [ + -6320.423, + 2351.157, + 108.95, + -28.202, + -156.296, + 1.862 + ] + ], + "PD_Dist_2D": [ + 820.3, + 697.1, + 575.0, + 455.0, + 455.0, + 329.8, + 205.6, + 21.4, + 21.4 + ], + "Rationale": [ + "Down the alley I can see a row of teal barriers on the left side with a green bell pepper resting on the ground near them, but it is still far away. I will walk forward along the open lane to close that distance before I can judge which barrier it sits beside.", + "The green pepper by the left-hand barriers is now larger and clearer, so my heading down the alley is good. I will keep walking forward since the pavement ahead is unobstructed and the target is still well beyond arm's reach.", + "The barrier row and the green pepper beside it are noticeably closer, with the pepper sitting to the left of my path. I will continue advancing to shorten the remaining gap before adjusting my heading.", + "The green pepper now sits low and off to the left side of my view, next to the barriers, so walking straight would carry me past it. I will turn left to bring the pepper closer to the center of my heading before approaching further.", + "After the turn the green pepper sits near the middle of my view, in front of the second barrier from the left along the row. I will step forward on this heading to close the remaining distance toward it.", + "The pepper is centered and much larger, but it still looks a step or two beyond comfortable reach. I will walk forward once more to get close enough for a grasp attempt.", + "The green bell pepper now fills the lower center of my view, right beside the second teal barrier from the left, and it is within arm's reach. I will attempt to pick it up from this position, which should place it in my grasp.", + "The green bell pepper is held in my gloved hand, lifted off the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f0013b1c9b08cca17ea954c94f3c185ce5e290 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the orange metal bollard.", + "Type": 0, + "Start_Pose": [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6010.305, + 589.711, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6010.305, + 589.711, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -6130.139, + 551.237, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -6238.937, + 513.221, + 138.15, + 0.0, + -162.2, + 0.0 + ], + [ + -6238.937, + 513.221, + 138.15, + 0.0, + -162.2, + 0.0 + ] + ], + "Rationale": [ + "I can see the orange metal bollard ahead on the right, standing at the edge of the raised concrete pad near the tiled entrance. It is still several paces away, so I will move forward along the open pavement to close that gap.", + "The bollard is now noticeably larger but sits off to the right of my heading, so straight travel would carry me past it. I will turn right to bring the orange post closer to the center of my view before continuing.", + "After the turn the orange bollard sits ahead and slightly left of center, with clear tiled ground between us. I will move forward along this heading to keep reducing the remaining distance.", + "The bollard now fills a tall portion of the left foreground, so I am close but not yet standing beside it. One more step forward should bring me right up next to the orange post.", + "The orange metal bollard is immediately beside me at the left edge of my view, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..71f5fd19415df8d7351e689f5c93ee8086517081 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Proceed to the blue sign on the gray building.", + "Type": 0, + "Start_Pose": [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6010.305, + 589.711, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6135.171, + 605.486, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6260.038, + 621.26, + 144.747, + 0.0, + 172.8, + -0.0 + ], + [ + -6384.904, + 637.034, + 138.843, + 0.0, + 172.8, + -0.0 + ], + [ + -6509.771, + 652.809, + 138.843, + 0.0, + 172.8, + -0.0 + ], + [ + -6634.637, + 668.583, + 138.843, + 0.0, + 172.8, + -0.0 + ], + [ + -6634.637, + 668.583, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6741.138, + 735.65, + 139.49, + 0.0, + 147.8, + -0.0 + ], + [ + -6750.162, + 794.955, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -6750.162, + 794.955, + 138.15, + 0.0, + 147.8, + -0.0 + ] + ], + "Rationale": [ + "Ahead on the gray building's shuttered wall I can pick out a small blue sign panel beside a purple one, roughly straight down the alley from me. My heading already points into that alley, so I will move forward to close distance and get a clearer read on the sign.", + "The blue sign on the gray wall has grown slightly larger and stays near the center-left of my view, confirming I am tracking the right target. Nothing blocks the paving between me and it, so I continue forward.", + "I am now close enough that the blue sign's lettering is legible against the gray corrugated wall, but the panel still occupies only a small part of my view. I will keep advancing along the alley to shorten the remaining gap.", + "The gray building's wall, bench and blue sign fill more of my forward view, so the approach line is good. Since the sign remains a few steps off to my left front, I press forward rather than turning yet.", + "The blue sign and the neighboring purple banner are now large and clearly on the gray building's facade slightly left of my heading. I will step forward again to bring myself within the sign's immediate vicinity.", + "The wall with the shutter and the bench is close in front of me, with the blue sign drifting to the far left edge of my view. One more forward step should bring me level with the sign's position on the facade.", + "I am right up against the shuttered wall and the blue sign has slipped to the left margin of my view, where I can barely frame it. I will turn left to swing my heading back onto the sign so it sits centered in front of me.", + "The turn brought the blue sign and the purple banner back into clear view on the gray building's facade ahead of me. With the heading now aimed at the panel, I will move forward to finish closing the short remaining distance.", + "The blue sign on the gray wall now fills the upper left of my view, but I am still slightly short of it and viewing it at a steep angle. I will edge forward a short step to close the last bit of distance and bring the sign squarely in front of me.", + "The blue sign on the gray building is directly before me, filling my view at arm's length. The task is complete, so I stop here rather than move closer." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa5a4ead62edcddfc332ce14fe5ec2046f6b0480 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t0_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Proceed to the pink sign on the gray building.", + "Type": 0, + "Start_Pose": [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6010.305, + 589.711, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6135.171, + 605.486, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6135.171, + 605.486, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -6241.672, + 672.553, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -6348.173, + 739.62, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6454.674, + 806.687, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6561.175, + 873.755, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6667.676, + 940.822, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6667.676, + 940.822, + 138.843, + 0.0, + 172.8, + -0.0 + ], + [ + -6783.825, + 966.203, + 138.582, + 0.0, + 172.8, + -0.0 + ], + [ + -6783.825, + 966.203, + 138.582, + 0.0, + 172.8, + -0.0 + ] + ], + "Rationale": [ + "From the open paving I can see a gray building ahead on the left side of the alley, with a purple and pink sign panel mounted on its wall beside the shutters. The path in front of me is clear apart from the orange railing off to the right, so I will move forward to begin closing the distance to that sign.", + "The sign panel on the gray wall now reads larger and the bench and air-conditioning units beside it are clearer, confirming I am closing in on the right facade. The ground ahead over the manhole cover is still unobstructed, so another forward step should bring me nearer.", + "The pink and purple sign sits slightly left of my heading, while my current facing points more toward the railing and the shutter wall on the right. I will turn left to bring the signed gray facade and the street running alongside it into the center of my view before continuing.", + "The turn has lined me up with the street that runs along the gray building, and the pink and purple sign is now clearly in front of me above the sidewalk. The roadway ahead is open, so I will move forward along it to shorten the gap.", + "The sign lettering is becoming legible and the awning and bollards along the storefront are passing to my left, so my heading down this street is still good. I will keep moving forward to close more distance to the sign.", + "The gray wall with the sign now fills a large part of my view and I can make out both the pink and the blue panels beside each other. Nothing blocks the road ahead, so another forward step should put me close enough for a final alignment.", + "The pink and purple sign is now large and slightly to my right, mounted on the gray pillar just a short distance ahead. I will advance again to get within a close stopping distance of it.", + "The sign is very close now, occupying the right portion of my view on the gray pillar, with the glass doors and bollard to my left. I will take one more step forward along the sidewalk to bring myself directly beneath it before turning to face it.", + "The pink and purple sign panels on the gray building wall have drifted to the right edge of my view while the storefront glass fills the center. I will turn right to bring those signs back into the middle of my heading so I can approach them straight on.", + "The pink sign and its purple neighbor are now centered ahead on the gray paneled wall, with clear paving between me and the base of that wall. I will move forward to close the last bit of distance to the sign.", + "The pink sign on the gray building wall now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5de1c6b5fc2a6b729d9fbe4b9bfd9de73967ad07 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005885_y000574_z000138_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Lift the green bell pepper near the pink sign on the gray building.", + "Type": 5, + "Start_Pose": [ + -5885.438, + 573.937, + 138.15, + 0, + 172.8, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6782.178, + 971.627, + 91.568, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.438, + 573.937, + 138.15, + 0, + 172.8, + 0 + ], + [ + -6010.305, + 589.711, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6135.171, + 605.486, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -6135.171, + 605.486, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -6241.672, + 672.553, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -6348.173, + 739.62, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6454.674, + 806.687, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6561.175, + 873.755, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6561.175, + 873.755, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6667.676, + 940.822, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6667.676, + 940.822, + 138.843, + 0.0, + 147.8, + -0.0 + ], + [ + -6667.676, + 940.822, + 138.843, + 0.0, + 147.8, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6782.178, + 971.627, + 91.568, + 0.0, + 0.0, + 0.0 + ], + [ + -6678.539, + 922.427, + 108.95, + -28.202, + -162.055, + 1.862 + ], + [ + -6678.539, + 922.427, + 108.95, + -28.202, + -162.055, + 1.862 + ] + ], + "PD_Dist_2D": [ + 981.0, + 861.2, + 743.4, + 743.4, + 617.7, + 492.1, + 366.7, + 241.7, + 241.7, + 118.6, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the small green bell pepper sitting on the sidewalk far ahead, beside the gray building with the bright pink and purple sign next to the shop doors. It is well beyond arm's reach, so I will walk straight forward along the open pavement to close that distance. The path ahead looks clear of the railing and planters, so this step should bring me meaningfully nearer.", + "The pepper and the pink sign have grown slightly larger, confirming that walking straight is closing the gap. It is still far off across the open road surface, so I will take another forward step on the same heading. The orange guard rail stays to my right and does not obstruct this line of travel.", + "From here the green pepper sits well left of my heading, near the shop front, while my current facing points more toward the brick wall and railing on the right. Continuing straight would carry me past the target rather than toward it. I will turn left to bring the pepper and its pink sign closer to the center of my view before advancing again.", + "After the turn, the green pepper now sits near the middle of my view on the sidewalk under the awning, with the pink sign panel just to its right. My heading looks usable, so I will walk forward across the road toward it. The road surface ahead appears clear of barriers.", + "The pepper is noticeably bigger now and sits just ahead beside the bollard on the raised sidewalk, with the pink sign above it. I am still too far away to reach it, so I will keep walking forward on this heading. The bollards and bench are offset from my line, so the approach should stay clear.", + "The green bell pepper sits on the sidewalk ahead of me, right beside the gray building wall under the pink and purple sign, so my heading is already correct. It is still several strides away and too small in view to reach, so I will keep walking straight to close the gap.", + "The pepper is noticeably larger now and centered slightly right of my path, with the pink sign clearly on the gray wall just behind it, confirming this is the intended target. I am still short of grasping range, so I will take another step forward along the same line.", + "The green bell pepper now fills a large part of my view just ahead and to the right, resting on the pavement under the pink sign on the gray wall. It looks close enough to be within arm's reach, so I will attempt to grasp and lift it from here.", + "My grasp attempt did not take hold, since nothing is in my hands. It seems I reached from slightly too far away. I will step forward once more to bring the pepper properly within reach.", + "The green bell pepper is now right at the lower edge of my view, close beside the gray wall under the pink sign, much nearer than during my earlier unsuccessful reach. From this tighter position the object should be within grasping range, so I will try to pick it up again.", + "The green bell pepper is now held in my hands, lifted off the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005903_y000689_z000138_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-005903_y000689_z000138_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..933ba9a63845c322e44fbad4458ff8df1dfb4ac4 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005903_y000689_z000138_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Look around for the white stone bench near a wall, then walk to it.", + "Type": 1, + "Start_Pose": [ + -5903.235, + 689.246, + 138.15, + 0.0, + 18.24, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5903.235, + 689.246, + 138.15, + 0.0, + 18.24, + -0.0 + ], + [ + -5903.235, + 689.246, + 138.15, + 0.0, + -6.76, + 0.0 + ], + [ + -5903.235, + 689.246, + 138.15, + 0.0, + -31.76, + 0.0 + ], + [ + -5903.235, + 689.246, + 138.15, + 0.0, + -56.76, + 0.0 + ], + [ + -5903.235, + 689.246, + 138.15, + 0.0, + -81.76, + 0.0 + ], + [ + -5903.235, + 689.246, + 138.15, + 0.0, + -106.76, + 0.0 + ], + [ + -5903.235, + 689.246, + 138.15, + 0.0, + -131.76, + 0.0 + ], + [ + -5903.235, + 689.246, + 138.15, + 0.0, + -156.76, + 0.0 + ], + [ + -5903.235, + 689.246, + 138.15, + 0.0, + 178.24, + -0.0 + ], + [ + -6029.034, + 693.111, + 138.15, + 0.0, + 178.24, + -0.0 + ], + [ + -6154.834, + 696.977, + 138.15, + 0.0, + 178.24, + -0.0 + ], + [ + -6280.634, + 700.842, + 146.429, + 0.0, + 178.24, + -0.0 + ], + [ + -6406.433, + 704.708, + 138.843, + 0.0, + 178.24, + -0.0 + ], + [ + -6532.233, + 708.573, + 138.843, + 0.0, + 178.24, + -0.0 + ], + [ + -6658.033, + 712.439, + 138.843, + 0.0, + 178.24, + -0.0 + ], + [ + -6750.147, + 716.037, + 138.15, + 0.0, + 178.24, + -0.0 + ], + [ + -6750.147, + 716.037, + 138.15, + 0.0, + 178.24, + -0.0 + ], + [ + -6750.147, + 716.037, + 138.15, + 0.0, + 178.24, + -0.0 + ] + ], + "Rationale": [ + "I am boxed into a narrow tiled corner with a bare tree, a parked bicycle, and a teal barrier, and no white bench is anywhere in this view. Since the surrounding walls block most of my sight lines here, I will turn left to begin a steady scan of the rest of this space.", + "The new heading only brings more of the same tiled wall and the teal barriers into view, with no white bench along it. I will keep rotating left in the same direction to sweep further around this enclosed area.", + "Straight ahead the wall and the pair of teal barriers fill almost everything, and a blue door edge is appearing at the far left. I will continue turning left to open up that side of the space and look for the bench.", + "I now face a blue service door set in the wall with a mat in front of it, but there is still no white bench along this stretch. Continuing the same leftward sweep should reveal whatever lies past the corner of this building.", + "Past the air conditioning unit and railing I can see the space opening toward a recessed entrance, which suggests a wider walkway rather than this cramped corner. I will keep turning left to bring that opening more fully in front of me.", + "The glass double doors and a broad paved forecourt are now ahead, but no white bench sits against any of these walls yet. I will continue the leftward scan toward the more open street side where seating is more likely to be placed.", + "Ahead I see the entrance alcove, orange guard rails, and open pavement, still without any white bench against a wall. Turning left again should swing my view toward the alley side of the block that I have not inspected yet.", + "Looking down the alley I can now make out a pale low bench standing against the shuttered wall beyond the orange guard rails and the manhole. One more left turn should place that bench near the center of my heading so I can walk straight to it.", + "Scanning around the courtyard has brought a pale bench into view straight ahead, set against the shuttered wall beyond the open paving. It is still far off, so I will walk forward along the clear paved lane toward it.", + "The bench against the corrugated wall is centered in my view and has grown slightly larger, confirming I am heading the right way. The ground ahead is flat and unobstructed, so I will keep walking toward it.", + "The white bench sits directly ahead beneath the signs and air conditioning unit, still several paces away. My heading needs no correction, so I will continue walking straight toward it.", + "The bench now fills a noticeably larger part of the view, showing that my straight approach is closing the gap. I will step forward again to shorten the remaining distance.", + "The white bench against the shuttered wall is close and well centered, but I am not yet standing at it. Another forward step should bring me within touching distance.", + "The bench is now large in front of me with the wall right behind it, so only a small gap remains. I will take one more step forward to arrive directly at it.", + "The bench top spans the bottom of my view and the wall is close ahead, so I am nearly at the target. I will make a short final step to close the last bit of distance.", + "I am standing right at the wall and my level gaze only shows the shutter panel, with the bench below my line of sight. I will tilt my view down to confirm the white bench is directly in front of me.", + "The pale stone bench top fills the lower view directly against the shuttered wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005924_y002285_z000139_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-005924_y002285_z000139_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b4bfd6a140dcaaf43f4836e19d70ee1f75b43751 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005924_y002285_z000139_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Explore the nearby sidewalks for the parked green bicycle, then go to it.", + "Type": 1, + "Start_Pose": [ + -5923.776, + 2285.435, + 139.081, + 0.0, + 101.76, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5923.776, + 2285.435, + 139.081, + 0.0, + 101.76, + -0.0 + ], + [ + -5923.776, + 2285.435, + 139.081, + 0.0, + 76.76, + -0.0 + ], + [ + -5923.776, + 2285.435, + 139.081, + 0.0, + 51.76, + -0.0 + ], + [ + -5923.776, + 2285.435, + 139.081, + 0.0, + 26.76, + -0.0 + ], + [ + -5811.396, + 2342.104, + 139.081, + 0.0, + 26.76, + -0.0 + ], + [ + -5699.017, + 2398.772, + 139.634, + 0.0, + 26.76, + -0.0 + ], + [ + -5586.637, + 2455.441, + 139.634, + 0.0, + 26.76, + -0.0 + ], + [ + -5474.747, + 2497.773, + 145.423, + 0.0, + 26.76, + -0.0 + ], + [ + -5474.747, + 2497.773, + 145.423, + 0.0, + 26.76, + -0.0 + ] + ], + "Rationale": [ + "I am facing a shopfront wall and shuttered windows, with only a narrow strip of sidewalk visible at the bottom of my view and no bicycle anywhere in it. Turning left should swing my view along the sidewalk line where parked bikes would plausibly stand.", + "The sidewalk now opens up ahead with benches and yellow guard rails, but I still see no parked bicycle in this stretch. I will keep rotating left in the same direction to bring more of the walkway and the street edge into view.", + "A green bicycle is now parked at the far end of the sidewalk on the left side of my view, beyond the benches and railings. I will continue turning left to bring it closer to the center of my heading before walking toward it.", + "The green bicycle is now visible ahead along the sidewalk, standing near the curb past the bench and yellow railings. The path in front of me looks clear, so I will walk forward to close the distance toward it.", + "The green bicycle has grown larger and remains slightly left of my heading beside the bench and rails. I will keep stepping forward along this clear stretch to reduce the remaining distance.", + "The bicycle is now clearly framed just ahead on the left, parked against the curb near the pillar. Another step forward should bring me close enough to be at it.", + "The green bicycle now fills much of the left side of my view, only a short distance away beside the pillar. I will take one more step forward to stand directly at it.", + "The green bicycle stands immediately beside me, filling the near left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006012_y002220_z000139_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-006012_y002220_z000139_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..114c2bcf63a2717e27dbc5f9c2c35de523e2e539 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006012_y002220_z000139_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Scan the surrounding sidewalks for the parked green bicycle, then approach it.", + "Type": 1, + "Start_Pose": [ + -6011.975, + 2220.369, + 138.857, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + -154.56, + 0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + -179.56, + 0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 155.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 130.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 105.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 80.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 55.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 30.44, + -0.0 + ], + [ + -5903.464, + 2284.134, + 138.857, + 0.0, + 30.44, + -0.0 + ], + [ + -5794.954, + 2347.898, + 138.857, + 0.0, + 30.44, + -0.0 + ], + [ + -5686.443, + 2411.663, + 139.694, + 0.0, + 30.44, + -0.0 + ], + [ + -5577.933, + 2475.428, + 139.694, + 0.0, + 30.44, + -0.0 + ], + [ + -5577.933, + 2475.428, + 139.694, + 0.0, + 5.44, + -0.0 + ], + [ + -5452.64, + 2487.359, + 141.577, + 0.0, + 5.44, + -0.0 + ], + [ + -5369.814, + 2465.767, + 139.816, + 0.0, + 5.44, + -0.0 + ], + [ + -5369.814, + 2465.767, + 139.816, + 0.0, + 5.44, + -0.0 + ] + ], + "Rationale": [ + "A large building wall fills the right half of my view and blocks most of the sidewalk there, so I have very little usable ground to inspect from this heading. I will turn left to sweep toward the open street and the barrier-lined sidewalk, where a parked bicycle is more likely to sit.", + "The road ahead is lined with teal barriers and cones, but I see no green bicycle along this stretch of sidewalk. I will keep turning left in the same direction to continue a consistent scan over the sidewalk edges I have not checked yet.", + "This heading shows the same row of barriers and a shuttered storefront frontage, with no bicycle parked against the curb. I will continue the leftward sweep so the scan stays in one direction and covers the next section of sidewalk.", + "Ahead of me there is only a blank glass and panel facade with a lamp post, and the narrow strip of pavement below it is empty. I will keep rotating left to bring the sidewalk further along this building line into view.", + "The sidewalk in front of me holds only an air conditioner unit, a single cone and a tree trunk, so the target is still not in sight. I will continue the same leftward rotation to open up the street corridor beyond this facade.", + "Yellow guardrails and a bench edge are now appearing at the left of my view, which suggests a public sidewalk area where bikes are typically parked. I will turn left once more to bring that promising stretch of pavement fully into view.", + "I can now see a green bicycle parked at the curb beyond the yellow guardrail on the left side of my view. I will turn left again to place it closer to the center of my heading before moving toward it.", + "The green bicycle is now near the middle of my view, parked along the curb ahead beside the guardrail. The sidewalk between us looks clear, so I will walk forward to close the distance to it.", + "The green bicycle is clearly parked ahead along the sidewalk, just left of the yellow railings and the bench. It is still several steps away, so I will keep walking straight down this clear stretch of pavement to close the gap.", + "The green bicycle has grown noticeably larger and now sits close to the left edge of the shop frontage. The path between the bench and the curb is still clear, so I will continue advancing toward it.", + "The bicycle's frame and wheel are now distinct just ahead on my left, so the target is confirmed and only a short distance remains. I will step forward again to bring myself alongside it.", + "The green bicycle has slid to the far left edge of my view and is partly hidden behind the post and railing, since my heading is angled toward the shop wall. I will turn left to bring the bicycle back into the center of my view and face it directly.", + "The turn has centered my view on the open sidewalk with the green bicycle standing just ahead on the right side of the walkway. I will walk forward to close the last part of the distance to it.", + "The green bicycle is now very close, filling the right portion of my view with its handlebar and frame in detail. One more short step forward should place me directly beside it.", + "The parked green bicycle stands directly beside me, filling the near right of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c4fb1b705e5c4a8da93ed70ba7885d81009e9a5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the second door in front near the bush.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + [ + -6343.604, + 2430.444, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6343.604, + 2430.444, + 138.843, + 0.0, + -96.92, + 0.0 + ], + [ + -6358.768, + 2305.502, + 138.843, + 0.0, + -96.92, + 0.0 + ], + [ + -6373.932, + 2180.56, + 138.843, + 0.0, + -96.92, + 0.0 + ], + [ + -6389.096, + 2055.618, + 138.843, + 0.0, + -96.92, + 0.0 + ], + [ + -6404.26, + 1930.676, + 138.843, + 0.0, + -96.92, + 0.0 + ], + [ + -6419.424, + 1805.734, + 138.843, + 0.0, + -96.92, + 0.0 + ], + [ + -6434.588, + 1680.791, + 138.843, + 0.0, + -96.92, + 0.0 + ], + [ + -6449.752, + 1555.849, + 138.843, + 0.0, + -96.92, + 0.0 + ], + [ + -6449.752, + 1555.849, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6516.298, + 1449.022, + 140.306, + 0.0, + -121.92, + 0.0 + ], + [ + -6516.298, + 1449.022, + 140.306, + 0.0, + -146.92, + 0.0 + ], + [ + -6621.756, + 1380.327, + 138.843, + 0.0, + -146.92, + 0.0 + ], + [ + -6727.214, + 1311.632, + 145.512, + 0.0, + -146.92, + 0.0 + ], + [ + -6816.828, + 1243.881, + 140.043, + 0.0, + -146.92, + 0.0 + ], + [ + -6816.828, + 1243.881, + 140.043, + 0.0, + -146.92, + 0.0 + ] + ], + "Rationale": [ + "Along the frontage ahead on my left I can pick out two entrances: the nearer glass door under the awning, and past it a second one standing beside the leafy bush at the curb, which is the one I want. The roadway in front of me is clear of the cones stacked at the left barrier, so I step forward to close on that frontage.", + "From this spot the street opens toward my right, where the lane continues past the shopfronts, while my current heading points at the corner of the near building. I turn right so the passage running alongside the frontage lies in front of me and the door beside the bush stays reachable on my left.", + "The alley now runs straight ahead of me with the shopfronts lining the left side and the bush still marking the entrance I am heading for. The asphalt between the curb and the guardrail posts is unobstructed, so I walk forward.", + "The awning and the bush on my left have grown noticeably larger, confirming I am closing on the entrance beside the greenery. Nothing blocks the lane, so I keep walking forward rather than turning in this early.", + "I am still short of the shrub at the curb, and the doorway I want sits just past it along the frontage on my left. The straight lane ahead stays clear, so I continue forward to draw level with that entrance.", + "More shop openings and signage are now showing along this left frontage, so counting from here would be misleading; I keep following the entrance that sits beside the leafy bush at the curb. The lane ahead remains open, so I step forward again.", + "The bush and the awning are now close on my left, but I am not yet level with the glass doors set behind them. I walk forward to bring myself alongside that entrance before turning toward it.", + "The greenery has slipped past my left shoulder and the doors beside it are almost abreast of me, so a little more forward travel should put me at the right point to face them. The lane ahead is still open, so I advance once more.", + "The frontage on my left has slid mostly behind me and the awning edge is now at the limit of my view, so I can no longer read this run as a row from where I stand. The entrance I chose beside the bush sits just off my left shoulder, and the lane ahead stays clear, so one more step forward gives me room to swing toward it.", + "I have carried far enough along the lane that the doorway I want lies to my left rather than ahead. I turn left to bring that frontage back into the middle of my view so I can walk straight in at it.", + "The glass doors under the awning are back in front of me now, with the leafy shrub at the curb just to their left confirming this is the entrance I picked. The sidewalk between me and the step is open, so I walk forward to close the gap.", + "Closer in, the doors have drifted toward my left side while my heading still points down the lane past them. Another left turn should square me up with the entrance beside the bush before I walk the last stretch.", + "The paired glass doors now sit squarely ahead with the shrub at the curb on my left, so my heading is right. Nothing stands between me and the tiled step, so I move forward to reach them.", + "The doorframe and its handles fill most of my view, though I am still out on the paving rather than at the threshold. I step forward again to bring myself right up to the entrance.", + "The two door leaves and their vertical handles are close enough that the frontage no longer fits my view. A short final step should put me directly at the threshold of this entrance.", + "The door handle and glass of the entrance beside the bush are within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..155ba51f3e36fe5c3ebf842aa8cd9451f8dda52a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the rightmost traffic cone along the blue barriers.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + [ + -6343.604, + 2430.444, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6410.15, + 2323.617, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6410.15, + 2323.617, + 138.843, + 0.0, + -146.92, + 0.0 + ], + [ + -6515.609, + 2254.922, + 138.843, + 0.0, + -146.92, + 0.0 + ], + [ + -6621.067, + 2186.227, + 138.843, + 0.0, + -146.92, + 0.0 + ], + [ + -6726.098, + 2123.553, + 142.282, + 0.0, + -146.92, + 0.0 + ], + [ + -6726.098, + 2123.553, + 142.282, + 0.0, + -171.92, + 0.0 + ], + [ + -6726.098, + 2123.553, + 142.282, + 0.0, + -171.92, + 0.0 + ] + ], + "Rationale": [ + "A line of orange cones stands along the blue barriers to my left, and the one at the right end of that run sits closest to the building corner, so that is the cone I am going to. It is still well ahead of me across open pavement. I step forward to close the gap.", + "The barrier line and its cones have grown larger on my left, confirming I am closing on the row. The cone by the building corner is still my goal, and nothing blocks the pavement in front of me. I take another step forward.", + "I have come nearly level with the building corner, and the barriers with their cones now run off to my left rather than ahead of me. Holding this heading would carry me past them down the street. I turn left to put the barrier run in front of me.", + "Facing along the barriers now, the cones stand ahead of me and the one nearest the building corner is the one I am walking to. The lane beside the barriers is clear. I step forward along it.", + "The barriers and cones fill more of my view, so my heading along this row is good. The cone beside the building corner is still a couple of paces off. I keep walking forward.", + "The cone I am heading for now stands close against the barriers just left of the building wall, large in my view. A short step should bring me right up beside it. I move forward once more.", + "I have drawn level with the barriers and the cone I came for has slid to the very edge of my view, with the building wall filling most of the frame. Turning left should square me up on the cone standing against the barrier. I turn.", + "The orange cone at the end of the blue barrier run stands directly in front of me, an arm's length away. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..881721de1158a59bba96dfd1cb6b425eecb3ff69 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the first cone from the right by the barriers.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + [ + -6343.604, + 2430.444, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6410.15, + 2323.617, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6476.696, + 2216.789, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6476.696, + 2216.789, + 138.843, + 0.0, + -146.92, + 0.0 + ], + [ + -6476.696, + 2216.789, + 138.843, + 0.0, + -171.92, + 0.0 + ], + [ + -6601.306, + 2199.099, + 138.843, + 0.0, + -171.92, + 0.0 + ], + [ + -6725.915, + 2181.409, + 138.843, + 0.0, + -171.92, + 0.0 + ], + [ + -6725.915, + 2181.409, + 138.843, + 0.0, + -171.92, + 0.0 + ] + ], + "Rationale": [ + "A line of barriers stands along the left side of the street with several orange cones in front of it, and the one at the right end of that row, standing closest to the blue building's corner, is the one I want. It is still some distance away, so I step forward to close the gap.", + "The barriers and their cones have grown larger on my left, but the cone beside the building corner is still off to the side rather than within reach. I keep walking forward to bring myself level with that end of the row.", + "Only the near edge of the barrier row and a single cone remain at my left margin as the storefront fills the middle of my view. One more step forward should put me alongside the corner where my cone stands, giving me a better angle to turn onto it.", + "Facing straight down the street I now see mostly the shopfront, with the barriers pushed out to my left edge and the cone I want no longer clearly in front of me. Continuing forward would only carry me past it, so I turn left to bring that end of the barrier row back into view.", + "The turn has swung the barriers and their cones into my view, but they sit off in the left half while I am still angled along the storefront. I turn left again to square my heading onto the cone standing by the building corner.", + "I now face the barrier line head on, with the cone beside the building corner ahead on my right and the others further along to the left. The gap is still several strides, so I walk forward toward that corner cone.", + "The corner cone is close on my right against the barrier, though still a step or so beyond comfortable reach. I move forward once more to draw right up beside it.", + "The cone at the corner end of the barrier row now stands directly before me at arm's length. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f80b5137d9e598bda11e6a1eaf7da6ed5aa7e92c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the first door in front near the bush.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + [ + -6343.604, + 2430.444, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6410.15, + 2323.617, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6476.696, + 2216.789, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6543.242, + 2109.962, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6609.788, + 2003.134, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6676.334, + 1896.307, + 140.823, + 0.0, + -121.92, + 0.0 + ], + [ + -6742.88, + 1789.479, + 145.551, + 0.0, + -121.92, + 0.0 + ], + [ + -6742.88, + 1789.479, + 145.551, + 0.0, + -146.92, + 0.0 + ], + [ + -6816.909, + 1723.751, + 140.043, + 0.0, + -146.92, + 0.0 + ], + [ + -6816.909, + 1723.751, + 140.043, + 0.0, + -146.92, + 0.0 + ] + ], + "Rationale": [ + "Along the building front on my left runs a row of dark glass entrances, and the nearest of them has a low green shrub planted right at its step. I fix on that shrub-flanked door as my target so I can follow it by that planting rather than by counting. The street ahead is open, so I walk forward toward it.", + "The glass double door with the shrub beside it is still some distance ahead on my left, its awning only partly filling my view. The pavement between us is clear of cones and barriers. I keep walking forward to close that gap.", + "The awning and the shrub-side entrance are noticeably larger now, sitting ahead and slightly to my left. Nothing on the roadway interrupts my line toward them. I continue forward.", + "I can now make out the handles and the bollard standing in front of the shrub-flanked entrance a short way ahead on my left. The remaining cone and the bicycle rack sit against the wall and do not cross my route. Another stride forward should bring me close to that doorway.", + "The dark glass panels of the entrance now occupy much of my left side, with the green shrub just beyond them on the sidewalk. I am not yet level with the doorway. I step forward again to draw alongside it.", + "The shrub sits only a few paces ahead at the edge of the walkway, with the tall glass doors immediately to its left, while the further entrances have slid out of my view behind the awning. That leafy planter is what marks my door, so I keep following it. I move forward once more.", + "The planter with its bush is now almost beside me and the entrance glass fills my whole left side. I still stand a little short of the door leaves themselves. One more step forward should put me level with the doorway.", + "I am now level with the bush, and the entrance it marks lies off to my left rather than in front of me, so walking straight would carry me past it along the wall. I turn left to bring the double doors squarely ahead before making the final step in.", + "The paired handles of the glass double doors now sit centered in front of me, with the leafy planter just off my right shoulder confirming this is the entrance I chose. Only a short stretch of paving separates me from the threshold. I step forward to close it and stand at the door.", + "The door glass fills my view at arm's length. I have arrived at the shrub-side entrance, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b5dd18a81b98b5f2bd777800bb8aa08f13763b8c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the cherry blossom tree with the thick trunk.", + "Type": 0, + "Start_Pose": [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6204.582, + 2152.359, + 141.466, + 0.0, + 21.12, + -0.0 + ], + [ + -6204.582, + 2152.359, + 141.466, + 0.0, + 46.12, + -0.0 + ], + [ + -6117.343, + 2243.077, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6030.104, + 2333.795, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -5942.864, + 2424.514, + 139.66, + 0.0, + 46.12, + -0.0 + ], + [ + -5942.864, + 2424.514, + 139.66, + 0.0, + 46.12, + -0.0 + ] + ], + "Rationale": [ + "The cherry blossom tree with the thick pale trunk stands on the right side of the street, rising out of the sidewalk beside the yellow barriers. It is still well ahead of me, so I will move forward along the road to close that distance before adjusting my heading.", + "After advancing, the thick trunk of the blossom tree now sits well off to my right, near the edge of my view beside the yellow barriers. I will turn right to bring the trunk toward the center of my heading so I can approach it directly.", + "The heavy pale trunk is now roughly centered ahead of me, framed by the yellow barriers and the bench on the sidewalk. With the path across the road clear, I will move forward to close the remaining gap.", + "The trunk has grown noticeably larger and its bark texture is clearer, but I am still out on the roadway short of the sidewalk. Another forward step should bring me close enough to stand at the tree.", + "The thick trunk now fills a tall band just right of my center and the brick sidewalk with its barriers is directly in front of me. One more forward step should place me right beside the tree.", + "The thick cherry blossom trunk is directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cce9c2d6294cbf33ae06a35fca5982d07e490df5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the green bicycle parked by the yellow barriers.", + "Type": 0, + "Start_Pose": [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6204.582, + 2152.359, + 141.466, + 0.0, + 21.12, + -0.0 + ], + [ + -6087.177, + 2197.709, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -5969.772, + 2243.059, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -5852.368, + 2288.408, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -5734.963, + 2333.758, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -5617.558, + 2379.108, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -5500.153, + 2424.458, + 139.789, + 0.0, + 21.12, + -0.0 + ], + [ + -5383.643, + 2468.052, + 139.789, + 0.0, + 21.12, + -0.0 + ], + [ + -5383.643, + 2468.052, + 139.789, + 0.0, + 21.12, + -0.0 + ] + ], + "Rationale": [ + "Far down this narrow street I can pick out a small green bicycle standing against the sidewalk right beside the row of yellow barriers on the right. My heading already points straight along the open lane toward it, so no turn is needed yet. I will move forward to begin closing the long distance.", + "The bicycle and the yellow barrier rails are slightly larger now, confirming that my straight heading is carrying me toward the target. The lane ahead remains empty of obstacles. I will keep advancing forward without adjusting direction.", + "I can now clearly see the green bicycle parked next to the bench and the yellow hoop barriers on the right side of the street. It is still well beyond reach, and the roadway between us is clear. Another forward step should continue reducing the gap.", + "The barrier hoops on my right are now close and detailed, while the bicycle sits just past them along the same sidewalk edge. My current heading keeps the target comfortably in view without any turn. I will continue moving forward.", + "The bicycle remains a few steps ahead alongside the curb, and the barriers and bench pass by on my right without blocking my path. Distance is still too great to call the approach complete. I will step forward again.", + "The green bicycle now fills a good part of the right side of my view, propped beside the shutter wall next to the yellow rail. I am close but not yet immediately beside it. Moving forward should bring me within arm's reach of the target.", + "The bicycle is directly ahead and slightly right, its wheels and green frame filling much of the near view beside the yellow barrier. One more forward step should place me right alongside it rather than a stride short. I will advance.", + "The bicycle is now very near on my right, with its wheel and frame close enough that only a small remaining gap separates us. A final short forward step should settle me directly beside the parked bicycle and its yellow barrier. I will move forward once more.", + "The green bicycle fills my view at arm's length beside the yellow barrier. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bd9ef3a5dde0d53150cf5f70d3256f60cba314bf --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the bench near the yellow metal barrier on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6204.582, + 2152.359, + 141.466, + 0.0, + 21.12, + -0.0 + ], + [ + -6087.177, + 2197.709, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -5969.772, + 2243.059, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -5852.368, + 2288.408, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -5852.368, + 2288.408, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -5765.128, + 2379.127, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -5677.889, + 2469.845, + 139.813, + 0.0, + 46.12, + -0.0 + ], + [ + -5677.889, + 2469.845, + 139.813, + 0.0, + 46.12, + -0.0 + ] + ], + "Rationale": [ + "Down the street on my right I can already pick out the yellow metal barrier railings along the sidewalk, with a pale bench set beside them near a parked scooter. The street ahead of me is clear, so I will move forward along it to close the gap toward that bench.", + "The bench beside the yellow barrier is now larger and clearer on the right side of the street, confirming I am headed the right way. The roadway ahead remains unobstructed, so I will keep moving forward to shorten the distance.", + "The bench and the yellow barrier posts are noticeably nearer on the right, and the second yellow barrier on the left edge shows I am still advancing along the street. Nothing blocks my path, so another forward step should bring me almost level with the bench.", + "The bench and its yellow guard rails now fill much of the right side of my view, close to the shop shutters. I will take one more forward step so the bench sits beside me rather than well ahead.", + "I am now roughly alongside the bench, but it and the yellow barrier are pushed toward the right edge of my view while my heading still points down the street. Turning right should bring the bench and the barrier squarely in front of me for a direct final approach.", + "After the turn the bench sits centrally in view with the yellow barrier rails right behind it against the storefront. The sidewalk between us is open, so I will move forward to close the remaining short gap.", + "The bench is very close now, its metal seat filling the lower center of my view beside the yellow rails. One more short forward step should place me right at the bench for a proper stopping position.", + "The bench and the yellow metal barrier are directly at my side, filling the near sidewalk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_d/infos.json b/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f664699789826dfc923d301c52f0cf5eadc966 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006322_y002107_z000139_t0_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Make your way to the white air conditioning unit on the ground.", + "Type": 0, + "Start_Pose": [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6234.748, + 2197.727, + 141.546, + 0.0, + 46.12, + -0.0 + ], + [ + -6147.508, + 2288.446, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6060.269, + 2379.164, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6060.269, + 2379.164, + 138.843, + 0.0, + 71.12, + -0.0 + ], + [ + -6019.543, + 2498.252, + 145.646, + 0.0, + 71.12, + -0.0 + ], + [ + -5978.816, + 2617.339, + 138.15, + 0.0, + 71.12, + -0.0 + ], + [ + -5978.816, + 2617.339, + 138.15, + 0.0, + 71.12, + -0.0 + ] + ], + "Rationale": [ + "Looking down the narrow street, the shop fronts on my right side have utility boxes and equipment set along the ground near the yellow barriers and the blossom tree. Since the white ground-standing air conditioning unit should be in that recessed area on the right, I will turn right to bring that frontage into the center of my view.", + "My heading now points along the right-hand shopfront, and I can see a boxy pale unit standing on the paving beyond the yellow barriers next to the tree. The distance is still large, so I will move forward along the open roadway to close on that corner.", + "The tiled building corner and the equipment resting on the pavement have grown noticeably larger, confirming I am tracking the right target. The path in front of me stays clear, so I will continue forward to keep shrinking the gap.", + "The white unit on the ground is now clearly visible in the recess beside the tiled corner, just past the yellow barrier and the tree trunk. Another forward step should bring me close to the sidewalk edge in front of it.", + "I am now level with the building corner, and the white unit sits in the tiled alcove off to my right rather than straight ahead. I will turn right so my heading points directly into that recess and centers the unit.", + "The white air conditioning unit is now centered ahead of me, standing on its grated base against the tiled wall. The alcove floor between us is clear, so I will step forward to close the remaining distance.", + "The unit now fills much of my view with its vent panel and piping plainly readable, but I am still a short step from it. One more forward move should place me right in front of it.", + "The white air conditioning unit stands directly in front of me at arm's length, filling my view on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..09c99737fef48b6104791234445540ad0456c604 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the green bush on the sidewalk, then head to the purple sign.", + "Type": 3, + "Start_Pose": [ + -6331.831, + 1780.412, + 138.843, + 0.0, + -127.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6331.831, + 1780.412, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6408.762, + 1680.803, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6485.694, + 1581.193, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6485.694, + 1581.193, + 138.843, + 0.0, + -152.68, + 0.0 + ], + [ + -6597.514, + 1523.429, + 138.843, + 0.0, + -152.68, + 0.0 + ], + [ + -6597.514, + 1523.429, + 138.843, + 0.0, + -177.68, + 0.0 + ], + [ + -6720.73, + 1512.865, + 146.565, + 0.0, + -177.68, + 0.0 + ], + [ + -6720.73, + 1512.865, + 146.565, + 0.0, + -177.68, + 0.0 + ], + [ + -6628.406, + 1516.606, + 138.843, + 0.0, + -177.68, + 0.0 + ], + [ + -6628.406, + 1516.606, + 138.843, + 0.0, + -152.68, + 0.0 + ], + [ + -6628.406, + 1516.606, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6680.071, + 1432.495, + 142.768, + 0.0, + -127.68, + 0.0 + ], + [ + -6680.071, + 1432.495, + 142.768, + 0.0, + -102.68, + 0.0 + ], + [ + -6698.07, + 1311.936, + 146.532, + 0.0, + -102.68, + 0.0 + ], + [ + -6725.697, + 1189.146, + 145.903, + 0.0, + -102.68, + 0.0 + ], + [ + -6754.583, + 1069.947, + 146.24, + 0.0, + -102.68, + 0.0 + ], + [ + -6754.583, + 1069.947, + 146.24, + 0.0, + -127.68, + 0.0 + ], + [ + -6754.583, + 1069.947, + 146.24, + 0.0, + -127.68, + 0.0 + ] + ], + "Rationale": [ + "A leafy green bush sits in a planter along the sidewalk ahead on the left, in front of the awninged storefront. Since the way along the street is open, I will walk forward to close that distance before dealing with the purple sign further down.", + "The bush has grown larger and shifted toward my left as I came nearer, so I am still short of it. Another step forward along the roadway should bring me alongside the planter.", + "The bush now hangs at the far left edge of my view while my heading still points down the street past it. I will turn left to swing the planter back toward the center of my view so I can walk straight at it.", + "The turn brought the bush and its bollards back into view left of center, with the storefront doors beside them. The sidewalk between us is clear, so I will step forward to shorten the remaining gap.", + "From this close range the bush fills the lower left of my view while I am still angled toward the glass doors. Turning left should put the planter squarely in front of me for a final short walk in.", + "The bush now sits centered in its planter directly ahead, flanked by two bollards. I will walk forward the last stretch to stand right at it.", + "The green bush's leaves crowd the bottom of my view against the tiled wall, so close that nothing but foliage and brickwork remains ahead. I have reached the bush on the sidewalk. I mark reaching it, and now I turn my attention to the purple sign hanging further along the storefront.", + "Pressed up against the planter, the wall and leaves block almost my whole view, leaving no room to pick out the purple sign along the shopfront. Backing straight up should reopen the sidewalk view without needing a full turn here in the tight space.", + "The leafy bush in its planter is right in front of me, so with that stop made I need to swing off it and back onto the open walkway. The shopfront and its hanging signboards lie around to my right, so I will turn right to bring that stretch of sidewalk into view.", + "The turn has opened up the shop's dark glass doors, and the purple and pink signboard is only just clipping the right edge of my view. A second right turn should carry that sign toward the middle of my view and line me up with the sidewalk running past the storefront.", + "The purple sign now hangs ahead beyond the shop doors, with clear paving and a single bollard between me and it. I will walk forward along the frontage to cut that distance down.", + "Walking on has brought me close alongside the shop's glass frontage, and the purple sign now sits off toward the right where the paved strip continues. I will turn right so my heading follows that walkway with the sign ahead of me.", + "The narrow sidewalk now runs straight ahead past the bollard and pole, with the purple and cyan boards mounted on the wall to my left. I will step forward along it to close on the sign.", + "The purple signboard is noticeably larger on the wall to my left, so I am gaining on it, but I am not yet beside it. The tiled strip ahead stays open past the pole, so another step forward should bring me level with the sign.", + "The purple and cyan boards now hang high and close on my left, though my path still carries me just short of directly beneath them. I will take one more step along the walkway to draw fully alongside the sign.", + "The purple sign is now pressed against the left edge of my view, which tells me I have drawn even with it. I will turn left to square up and put the sign directly in front of me.", + "The purple sign hangs directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..632f2c75f2eff068a517e91d236faa57fe79eeae --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Approach the double door under the orange awning, then proceed to the orange guardrail.", + "Type": 3, + "Start_Pose": [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ], + [ + -6408.762, + 1680.803, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6485.694, + 1581.193, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6562.625, + 1481.584, + 139.025, + 0.0, + -127.68, + 0.0 + ], + [ + -6639.557, + 1381.974, + 139.004, + 0.0, + -127.68, + 0.0 + ], + [ + -6639.557, + 1381.974, + 139.004, + 0.0, + -152.68, + 0.0 + ], + [ + -6751.377, + 1324.21, + 146.663, + 0.0, + -152.68, + 0.0 + ], + [ + -6751.377, + 1324.21, + 146.663, + 0.0, + -152.68, + 0.0 + ], + [ + -6751.377, + 1324.21, + 146.663, + 0.0, + -127.68, + 0.0 + ], + [ + -6751.377, + 1324.21, + 146.663, + 0.0, + -102.68, + 0.0 + ], + [ + -6751.377, + 1324.21, + 146.663, + 0.0, + -77.68, + 0.0 + ], + [ + -6724.522, + 1201.249, + 145.881, + 0.0, + -77.68, + 0.0 + ], + [ + -6724.522, + 1201.249, + 145.881, + 0.0, + -52.68, + 0.0 + ], + [ + -6648.218, + 1101.158, + 138.843, + 0.0, + -52.68, + 0.0 + ], + [ + -6571.914, + 1001.068, + 138.843, + 0.0, + -52.68, + 0.0 + ], + [ + -6571.914, + 1001.068, + 138.843, + 0.0, + -77.68, + 0.0 + ], + [ + -6545.06, + 878.107, + 138.843, + 0.0, + -77.68, + 0.0 + ], + [ + -6518.205, + 755.146, + 138.843, + 0.0, + -77.68, + 0.0 + ], + [ + -6491.35, + 632.186, + 138.843, + 0.0, + -77.68, + 0.0 + ], + [ + -6491.35, + 632.186, + 138.843, + 0.0, + -77.68, + 0.0 + ] + ], + "Rationale": [ + "The dark double door sits ahead on my left beneath the tan awning, with the orange guardrail farther off along the right side of the street. Since the door is my first destination, I will walk forward along the roadway to close the gap toward it.", + "The awning and its double door now fill more of my left-forward view, so my heading is carrying me toward them. The pavement ahead is clear of the bollards and planting, so I will keep walking forward.", + "The dark door frame and the pink and white signs beside it are noticeably closer on my left, but I am still short of standing at the entrance. I will advance again along the open street to shorten that remaining distance.", + "The glass door now dominates my left side and the raised entrance step runs alongside me, so I am nearly level with the entrance. One more step forward should bring me abreast of the door panels before I turn toward them.", + "I am now standing level with the entrance, but the double door lies off to my left rather than in front of me. Turning left should swing my heading onto the door panels so I can step straight up to them.", + "The two glass panels and their handles are now squarely centered in front of me, so my heading is on the entrance. A short step forward should put me right at the doorway under the awning.", + "The paired glass panels and their vertical handles fill my view at arm's length beneath the awning edge. I have reached the double door. I mark reaching it, and now I turn toward the orange guardrail along the street.", + "Facing the doorway leaves the whole street behind my right shoulder, and the orange guardrail stands over there on the far side of the road. Turning right should begin swinging my heading off the door and back toward that open roadway.", + "The dark glass doors still fill most of my view, but swinging right has already opened up the sidewalk and the street beyond them. I can just make out orange railing tubing far off to the right, so I will turn right again to bring that side of the alley properly in front of me.", + "The alley is now open in front of me and I can see orange guardrail hoops standing on the far side of the roadway to my right. My heading is still angled into the shop wall on the left, so I will turn right once more to point along the street toward that railing.", + "I am now facing down the alley with the orange guardrail hoops ahead of me across the pavement. The lane between the curb and the parked equipment is clear, so I will walk forward to close the distance to that railing.", + "A utility pole and the raised sidewalk edge sit directly in my forward path, while the open roadway runs off to my right. I will turn right to take that clear lane, which should keep the orange railing accessible as I advance.", + "From this heading the road ahead is wide and unobstructed, with the orange guardrail hoops standing along the tiled walkway to my left front. I will step forward down the open lane to draw level with them.", + "The orange railing has grown noticeably larger on my left as the courtyard opens up in front of me. I am still several paces short of it, so I will keep walking forward across the open pavement.", + "The orange railing has slid to the very left edge of my view and would fall out of sight if I continued straight. I will turn left to bring those hoops back to the center of my heading before closing the last of the distance.", + "The two orange guardrail hoops now sit squarely in front of me against the tiled walkway. Only a short stretch of open pavement remains, so I will walk forward to reach them.", + "The orange guardrail bars now sit squarely ahead of me along the tiled strip, though still a short walk off across the open pavement. My heading is clean with no obstruction between me and them, so I will step forward to close the remaining gap.", + "The guardrail has grown to span the lower half of my view, so I am nearly beside it but not yet at its edge. One more step forward should bring me right up against the rail.", + "The orange guardrail is directly in front of me, filling the near foreground within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c4b3a5fd4baf7bebc7ffefe35b32ced06cfafdc6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Grab the jerry can from the pink sign, then drop it near the orange guardrail.", + "Type": 5, + "Start_Pose": [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -6734.398, + 1097.693, + 55.161, + 0, + 70, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ], + [ + -6408.762, + 1680.803, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6485.694, + 1581.193, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6562.625, + 1481.584, + 139.025, + 0.0, + -127.68, + 0.0 + ], + [ + -6639.557, + 1381.974, + 139.004, + 0.0, + -127.68, + 0.0 + ], + [ + -6639.557, + 1381.974, + 139.004, + 0.0, + -102.68, + 0.0 + ], + [ + -6667.184, + 1259.185, + 139.004, + 0.0, + -102.68, + 0.0 + ], + [ + -6667.184, + 1259.185, + 139.004, + 0.0, + -102.681, + 0.0 + ], + [ + -6667.184, + 1259.185, + 139.004, + 0.0, + -77.681, + 0.0 + ], + [ + -6640.33, + 1136.224, + 139.004, + 0.0, + -77.681, + 0.0 + ], + [ + -6613.477, + 1013.263, + 139.004, + 0.0, + -77.681, + 0.0 + ], + [ + -6586.624, + 890.302, + 139.004, + 0.0, + -77.681, + 0.0 + ], + [ + -6559.77, + 767.341, + 139.004, + 0.0, + -77.681, + 0.0 + ], + [ + -6532.917, + 644.38, + 139.004, + 0.0, + -77.681, + 0.0 + ], + [ + -6507.802, + 566.7, + 138.843, + 0.0, + -77.681, + 0.0 + ], + [ + -6507.802, + 566.7, + 138.843, + 0.0, + -77.681, + 0.0 + ], + [ + -6523.164, + 637.042, + 138.843, + 0.0, + -77.681, + 0.0 + ], + [ + -6523.164, + 637.042, + 138.843, + 0.0, + -77.681, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -6734.398, + 1097.693, + 55.161, + 0.0, + 70.0, + -0.0 + ], + [ + -6734.398, + 1097.693, + 55.161, + 0.0, + 70.0, + -0.0 + ], + [ + -6734.398, + 1097.693, + 55.161, + 0.0, + 70.0, + -0.0 + ], + [ + -6734.398, + 1097.693, + 55.161, + 0.0, + 70.0, + -0.0 + ], + [ + -6734.398, + 1097.693, + 55.161, + 0.0, + 70.0, + -0.0 + ], + [ + -6734.398, + 1097.693, + 55.161, + 0.0, + 70.0, + -0.0 + ], + [ + -6734.398, + 1097.693, + 55.161, + 0.0, + 70.0, + -0.0 + ], + [ + -6646.217, + 1255.092, + 108.95, + -28.202, + -52.536, + 1.862 + ], + [ + -6645.517, + 1264.548, + 109.222, + -28.189, + -27.524, + 1.872 + ], + [ + -6619.683, + 1141.774, + 109.533, + -28.193, + -27.532, + 1.872 + ], + [ + -6592.823, + 1018.769, + 109.531, + -28.198, + -27.531, + 1.868 + ], + [ + -6565.913, + 895.564, + 109.168, + -28.196, + -27.534, + 1.865 + ], + [ + -6538.997, + 772.319, + 108.63, + -28.193, + -27.525, + 1.869 + ], + [ + -6512.129, + 649.239, + 108.356, + -28.219, + -27.555, + 1.85 + ], + [ + -6487.115, + 572.065, + 109.229, + -28.193, + -27.529, + 1.868 + ], + [ + -6487.035, + 571.667, + 108.547, + -28.214, + -27.552, + 1.849 + ], + [ + -6508.229, + 568.654, + 88.843, + 0.0, + -77.681, + 0.0 + ], + [ + -6508.229, + 568.654, + 88.843, + 0.0, + -77.681, + 0.0 + ] + ], + "PD_Dist_2D": [ + 792.6, + 667.9, + 543.7, + 420.6, + 299.7, + 299.7, + 174.9, + 21.4, + 22.3, + 21.4, + 21.4, + 21.4, + 21.4, + 21.3, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the street I can see the pink jerry can sitting on the sidewalk ahead beside the storefront, just under the pink and blue signs. It is still far away, so I will walk forward along the road to close the distance toward it.", + "The jerry can beside the shop entrance is noticeably larger in view now, so my heading down this sidewalk is correct. I will keep walking forward to shorten the remaining gap before I try to grasp it.", + "The pink sign and the jerry can under it are clearly ahead on my right side, still a few paces out of reach. I will continue walking forward since the pavement stays open and nothing blocks this line.", + "The jerry can is now large in view on the sidewalk near the signs, but my heading is drifting along the shop windows rather than straight at it. I will advance once more to bring myself alongside the can before adjusting my facing.", + "The jerry can sits low and off to the right edge of my view, close to the curb under the pink sign, while my body faces along the building wall. I will turn right to put the can nearer the center of my view so I can walk straight into grasping range.", + "After the turn the jerry can and the pink sign above it are lined up ahead of me on the sidewalk. It is still a couple of paces off, so I will step forward to bring it within reach for a grasp.", + "The jerry can is right at my feet in the lower part of my view, close beside the curb under the pink sign, so I am within grasping distance. I will attempt to pick it up now, which should place it in my hands for carrying.", + "The grasp worked, since the pink jerry can is now held in front of me. The orange guardrail I need to reach lies off to my right across the small yard, so I will turn right to face that direction before carrying it over.", + "The jerry can is held and moving with me, so the grasp from the sidewalk sign succeeded. Ahead and slightly left I can see the pair of orange guardrails standing against the tiled building, which is where the can needs to go. I will walk forward to close the remaining distance to that guardrail area.", + "The two orange guardrails are now larger and more centered ahead of me, confirming my heading is good. There is clear pavement between me and them with no obstruction in the way. I will keep walking forward to bring the carried can closer to the drop area.", + "The orange guardrails fill more of the view and the pale door behind them is clearly readable, so I am closing in steadily. I am still several paces short of a position where dropping the can would leave it right beside the rails. I will advance again along the same line.", + "The nearer guardrail now spans much of the lower view, showing I am close to the intended drop zone. A little more distance would put the can within arm's reach of the rail rather than out on the open pavement. I will step forward once more.", + "Both orange rails are now directly in front of me at waist height, with the tiled corner just beyond. I want to be right at the rail line so the released can settles beside it. I will take another step forward to finish closing that gap.", + "I am practically against the guardrails, with their curved tops crossing the bottom of my view and the tiled corner filling the left side. One short step should place me squarely at the rail so the drop lands next to it rather than short of it. I will move forward a final time.", + "I am standing right at the orange guardrails, but my gaze is angled up at the wall and doorway so the ground beside the rails is out of sight. Before releasing the can I need to see the paving where it will land. I will tilt my head down to bring that spot into view.", + "With my gaze lowered I can now see the two orange rails right in front of my feet and the clear tiled paving between them and the wall corner. This spot is immediately beside the guardrail, which matches where the can is supposed to go. I will release the jerry can here and it should come to rest next to the rail.", + "The jerry can now rests on the pavement beside the orange guardrail, no longer in my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006444_y000131_z000144_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-006444_y000131_z000144_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..256b5075c56010e9301390f05643d0ef452d0f08 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006444_y000131_z000144_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Look around the nearby buildings for the blue door with a handle, then approach it.", + "Type": 1, + "Start_Pose": [ + -6444.132, + 131.123, + 143.602, + 0.0, + -73.92, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6444.132, + 131.123, + 143.602, + 0.0, + -73.92, + 0.0 + ], + [ + -6444.132, + 131.123, + 143.602, + 0.0, + -48.92, + 0.0 + ], + [ + -6444.132, + 131.123, + 143.602, + 0.0, + -23.92, + 0.0 + ], + [ + -6444.132, + 131.123, + 143.602, + 0.0, + 1.08, + -0.0 + ], + [ + -6444.132, + 131.123, + 143.602, + 0.0, + 26.08, + -0.0 + ], + [ + -6331.088, + 186.454, + 143.602, + 0.0, + 26.08, + -0.0 + ], + [ + -6218.043, + 241.785, + 138.15, + 0.0, + 26.08, + -0.0 + ], + [ + -6104.999, + 297.116, + 138.15, + 0.0, + 26.08, + -0.0 + ], + [ + -5997.159, + 356.459, + 144.375, + 0.0, + 26.08, + -0.0 + ], + [ + -5884.114, + 411.79, + 138.15, + 0.0, + 26.08, + -0.0 + ], + [ + -5884.114, + 411.79, + 138.15, + 0.0, + 1.08, + -0.0 + ], + [ + -5884.114, + 411.79, + 138.15, + 0.0, + 1.08, + -0.0 + ] + ], + "Rationale": [ + "I am wedged in a narrow corner with a tiled wall filling the right side and a dark shuttered facade on the left, so no blue door is visible from here. I will turn right to begin a steady scan of the surrounding building faces for the blue door with a handle.", + "The turn has only brought more of the same white tiled wall in front of me, with the dark shuttered panel now sliding off to my left edge. Since nothing resembling a blue door is visible, I will keep rotating in the same direction to uncover the next stretch of building.", + "The scan is starting to pay off: past the tiled corner on the left, an open sunlit area with a glass block window and railing is appearing on my right. That opening is the most promising place to find a door, so I will continue turning right to bring it fully into view.", + "I can now see a courtyard with a blue door set into the wall ahead and to my right, beside a bench and some green containers. One more turn in the same direction should center that door and the clear paved path leading to it before I start walking.", + "The courtyard is now open in front of me with the blue door on the left-hand wall and unobstructed paving between us. I will walk forward to close the distance toward that door.", + "The blue door has grown larger and clearer as I advance along the wall, confirming it is the target I am heading for. I will keep stepping forward since the ground ahead remains clear.", + "I am closer now and the blue door stands out plainly on the wall to my left, with the bench and containers off to the sides rather than in my way. Another step forward should bring me near enough to make out its handle.", + "The blue door now fills much of the left side of my view and I can see a pale handle on it, which matches the door I was told to find. I will continue forward to draw right up beside it.", + "The blue door with its metal lever handle now fills the left side of my view, so the target is confirmed and close. I am still slightly short of it and offset to its side, so I will step forward once more to close the remaining gap along the wall.", + "I am now right beside the blue door, but it sits at the far left edge of my view with the tiled wall dominating ahead. I will turn left to bring the door and its handle squarely in front of me for a proper facing approach.", + "The blue door with its metal lever handle is directly in front of me at arm's length. The task is complete, so I stop here rather than moving further." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..430fdeaec4238c1ccbf5ec546441310418a65eb4 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Walk to the cherry blossom tree, then head toward the red traffic cone.", + "Type": 3, + "Start_Pose": [ + -6490.242, + 2017.278, + 138.843, + 0.0, + 50.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6490.242, + 2017.278, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6410.832, + 2114.923, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6331.422, + 2212.567, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6252.011, + 2310.212, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6172.601, + 2407.857, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6172.601, + 2407.857, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -6059.364, + 2462.793, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -5946.128, + 2517.729, + 146.374, + 0.0, + 25.88, + -0.0 + ], + [ + -5946.128, + 2517.729, + 146.374, + 0.0, + 25.88, + -0.0 + ], + [ + -6029.261, + 2477.397, + 139.816, + 0.0, + 25.88, + -0.0 + ], + [ + -6029.261, + 2477.397, + 139.816, + 0.0, + 50.88, + -0.0 + ], + [ + -6029.261, + 2477.397, + 139.816, + 0.0, + 75.88, + -0.0 + ], + [ + -6029.261, + 2477.397, + 139.816, + 0.0, + 100.88, + -0.0 + ], + [ + -6029.261, + 2477.397, + 139.816, + 0.0, + 125.88, + -0.0 + ], + [ + -6029.261, + 2477.397, + 139.816, + 0.0, + 150.88, + -0.0 + ], + [ + -6029.261, + 2477.397, + 139.816, + 0.0, + 175.88, + -0.0 + ], + [ + -6029.261, + 2477.397, + 139.816, + 0.0, + -159.12, + 0.0 + ], + [ + -6146.855, + 2432.54, + 138.843, + 0.0, + -159.12, + 0.0 + ], + [ + -6146.855, + 2432.54, + 138.843, + 0.0, + 175.88, + -0.0 + ], + [ + -6146.855, + 2432.54, + 138.843, + 0.0, + 150.88, + -0.0 + ], + [ + -6256.805, + 2493.788, + 144.424, + 0.0, + 150.88, + -0.0 + ], + [ + -6256.805, + 2493.788, + 144.424, + 0.0, + 125.88, + -0.0 + ], + [ + -6330.57, + 2595.764, + 138.295, + 0.0, + 125.88, + -0.0 + ], + [ + -6330.57, + 2595.764, + 138.295, + 0.0, + 125.88, + -0.0 + ] + ], + "Rationale": [ + "The pink cherry blossom tree stands ahead on the far side of this street, rising above the shuttered storefront. The pavement in front of me is clear, so I will walk straight ahead to close the distance toward it.", + "The blossoming tree now fills more of the view ahead and its trunk is clearer beside the yellow railings, confirming I am gaining on it. Nothing blocks the walkway, so I keep walking forward.", + "The trunk of the flowering tree is now distinctly to my left front, with its canopy overhead near the corner of the building. I still have several strides of open ground, so I advance again.", + "The pale trunk and its low blossoms sit close on my left while the tiled frontage runs along my right. One more step forward should bring me level with the tree rather than leaving it behind me.", + "My heading has drifted into the building wall, and the flowering tree's trunk is off at the left edge with most of my view filled by shutters and windows. I will turn left to face back along the street and put the tree squarely in front of me.", + "The turn opened the street ahead again, with the cherry blossom trunk rising just to my right and petals scattered on the pavement below it. I will walk forward to draw level with the base of that tree.", + "The trunk is now large and near on my right, with the yellow guardrail and bench passing beside me. A final step forward should place me right alongside the tree.", + "The cherry blossom tree's pale trunk stands immediately at my shoulder, close enough to touch, with its roots in the tiled strip beside me. I have reached the blossoming tree, so I mark arriving here before setting off toward the red traffic cone.", + "The pale trunk of the blossom tree stands right against me and blocks most of my view, so I have no room to swing around here. I will step straight back to open some clearance before I turn to look for the red traffic cone.", + "With a little space behind the blossom tree, the trunk and the shuttered storefront still fill everything ahead of me and no cone is anywhere in sight. I will start swinging to my right, away from the tree, to sweep the other side of the street into view.", + "My heading now faces tiled wall, an air conditioner and a service unit tucked in the recess, with nothing red in front of me. I will keep rotating to the right to continue the sweep for the traffic cone.", + "The turn has brought only more of the dark tiled corner and a frosted shopfront window into view, still no sign of the cone. I will turn right again to carry the sweep further around this building face.", + "I am looking at a run of frosted window panels and a wall vent, a blank facade that gives me nothing to head toward. Another right turn should keep carrying my view around toward the open street.", + "The window run is finally ending at a dark pillar, and past its edge I can just catch open air and a hint of pink blossom. I will turn right once more to bring that opening properly into view.", + "Past the pillar I can now see the street beyond, with red and white traffic cones standing along the low barriers. I will keep turning right so those cones come out from behind the pillar and sit clearly ahead of me.", + "A whole row of red cones now lines the barriers ahead of me, but they sit off toward the left of my heading with the wall still crowding my right shoulder. One more turn to the right should square me with the open roadway so I can walk out toward them.", + "The open street ahead is lined with a row of red and white traffic cones standing against the teal barriers on my left. Nothing blocks the roadway between me and them, so I will walk forward to close the gap toward that cone line.", + "The cones now sit off to my left along the barriers while my heading points down the open street past them. I will turn left to swing my facing toward the cone row instead of drifting by it.", + "The cone line has shifted toward the center, but the nearest cone against the brick sidewalk still sits left of where I am facing. Another left turn should put that near cone squarely in front of me before I advance.", + "The cones now stand ahead of me along the barriers, with the closest one on the brick sidewalk just left of center. The paved strip in front is clear, so I will step forward to shorten the distance to them.", + "The nearest cone with its glowing stripe sits on the brick paving to my left, while my facing runs along the barrier wall. I will turn left so that cone comes into the center of my path.", + "The red and white cone is now centered ahead beside the teal barrier, only a short stretch of brick paving away. I will walk forward to bring myself right up beside it.", + "The red and white traffic cone stands directly beside me, filling the near foreground at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20d7741a898f3d1c74008dfb2913b5056a8dd017 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t3_b/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Navigate to the green bicycle, then go to the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -6490.242, + 2017.278, + 138.843, + 0.0, + 50.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6490.242, + 2017.278, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6410.832, + 2114.923, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6331.422, + 2212.567, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6331.422, + 2212.567, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -6218.185, + 2267.503, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -6104.948, + 2322.439, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -6104.948, + 2322.439, + 138.843, + 0.0, + 0.88, + -0.0 + ], + [ + -5979.104, + 2324.372, + 138.843, + 0.0, + 0.88, + -0.0 + ], + [ + -5853.26, + 2326.305, + 138.843, + 0.0, + 0.88, + -0.0 + ], + [ + -5727.416, + 2328.238, + 138.843, + 0.0, + 0.88, + -0.0 + ], + [ + -5601.572, + 2330.171, + 138.843, + 0.0, + 0.88, + -0.0 + ], + [ + -5601.572, + 2330.171, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -5488.335, + 2385.107, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -5375.098, + 2440.043, + 139.737, + 0.0, + 25.88, + -0.0 + ], + [ + -5375.098, + 2440.043, + 139.737, + 0.0, + 25.88, + -0.0 + ], + [ + -5375.098, + 2440.043, + 139.737, + 0.0, + 50.88, + -0.0 + ], + [ + -5375.098, + 2440.043, + 139.737, + 0.0, + 75.88, + -0.0 + ], + [ + -5375.098, + 2440.043, + 139.737, + 0.0, + 100.88, + -0.0 + ], + [ + -5375.098, + 2440.043, + 139.737, + 0.0, + 125.88, + -0.0 + ], + [ + -5375.098, + 2440.043, + 139.737, + 0.0, + 150.88, + -0.0 + ], + [ + -5375.098, + 2440.043, + 139.737, + 0.0, + 175.88, + -0.0 + ], + [ + -5500.632, + 2449.085, + 139.737, + 0.0, + 175.88, + -0.0 + ], + [ + -5626.166, + 2458.128, + 139.737, + 0.0, + 175.88, + -0.0 + ], + [ + -5751.7, + 2467.17, + 141.542, + 0.0, + 175.88, + -0.0 + ], + [ + -5751.7, + 2467.17, + 141.542, + 0.0, + 150.88, + -0.0 + ], + [ + -5751.7, + 2467.17, + 141.542, + 0.0, + 150.88, + -0.0 + ] + ], + "Rationale": [ + "A green bicycle is parked far down the left side of the street, against the shuttered storefront beyond the yellow rails. It is much too distant to count as reached, so I walk straight ahead along the open road to cut that gap.", + "The green bicycle has grown slightly and now sits clearly past the yellow barrier rails on the left. The lane in front of me is still unobstructed, so another step forward should keep shrinking the distance to it.", + "The green bicycle has drifted to the far left edge of my view while my heading points into the building corner on the right. I turn left to swing the long street corridor and the bicycle back toward the middle of my view before continuing.", + "The turn opened up the straight street, with the green bicycle standing beside the curb ahead of me. With the roadway clear between us, I walk forward to close on it.", + "The green bicycle is noticeably nearer, propped just past the yellow rails on the sidewalk ahead. Nothing blocks the lane I am walking in, so I take another step toward it.", + "The bench and the yellow rails now crowd the pavement directly on my heading, with the green bicycle set behind them. Turning left should put me square with the open roadway so I can keep advancing along the street rather than into the barriers.", + "The street now runs straight in front of me, with the green bicycle standing on the right beside the yellow rails. The lane is empty, so I walk forward to bring myself alongside it.", + "The green bicycle on my right has grown as I close in, though it is still several paces up the street. I continue walking forward along the clear lane to reach it.", + "The green bicycle now stands out clearly ahead on the right, parked against the shuttered frontage beside the yellow railings. The street between us is clear, so I walk forward again to cut down that gap.", + "The bicycle has grown noticeably larger on my right and its frame and wheels are now distinct. I am still short of it, so another step forward should bring me alongside the parking rail where it stands.", + "The green bicycle is now very close but sits off to my right, almost past my shoulder, while my heading still points straight down the street. Turning right should swing it into the centre of my view so I can close on it directly.", + "The turn has put the green bicycle roughly ahead of me against the shutter and railings. A short step forward should bring me right up beside it.", + "The bicycle now fills much of my view, its frame and handlebars close enough to make out every tube. One more step should place me level with it at the rack.", + "The green bicycle stands directly beside me at the rail, close enough to touch its saddle and handlebars. I have reached it. I mark arriving here before setting off down the street for the cherry blossom tree.", + "Standing at the bicycle, my view is boxed in by the shutter and the parking rails, so this heading gives me no route onward. I begin swinging right to rotate my facing away from this frontage and bring the open street and its blossom trees back into view.", + "The rotation so far has only brought more shutter, railing and the bicycle's frame in front of me, with no open street yet. I keep turning right to carry the sweep further around toward the direction of the blossom trees.", + "My view is filled by the shuttered storefront and the yellow guard rails at the bike parking, so nothing here helps me head for the blossom tree. I will keep rotating right to swing my heading off this wall and back toward the open street.", + "The frontage and barrier rails still occupy the whole view, with no pink canopy in sight yet. Another right turn should carry my heading further along the sidewalk and bring the blossom tree into view.", + "Pink blossoms and a slender trunk have just appeared at the right edge past the bench, which tells me the flowering tree lies further around in that direction. I will turn right again to bring it toward the middle of my view.", + "The blossom tree now stands clearly to the right of center with the open roadway beyond it. One more right turn should line my heading up with the tree so I can walk straight at it.", + "The flowering tree is now ahead of me along the sidewalk with petals scattered on the pavement and a clear lane past the bench. I will walk forward to close the remaining distance to it.", + "The trunk of the blossom tree has grown much larger on my left and the petal-strewn walkway continues clear in front of me. Another step forward should bring me up beside the tree.", + "I am nearly level with the pale trunk on my left, and the way ahead along the curb stays open past the cones. I will step forward once more to settle right at the base of the blossom tree.", + "The broad pale trunk is now at the far left edge of my view, meaning I have drawn level with the blossom tree rather than facing it. I will turn left to square up on it and confirm I am standing at the tree.", + "The pale trunk of the cherry blossom tree stands directly beside me with its pink canopy overhead. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6871d7da11a621a8277f3c6f99b3a0ae37159636 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the orange metal barrier.", + "Type": 0, + "Start_Pose": [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ], + [ + -6521.91, + 1371.196, + 139.152, + 0.0, + -97.92, + 0.0 + ], + [ + -6539.252, + 1246.537, + 138.867, + 0.0, + -97.92, + 0.0 + ], + [ + -6556.594, + 1121.879, + 139.15, + 0.0, + -97.92, + 0.0 + ], + [ + -6573.936, + 997.22, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6591.279, + 872.562, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6608.621, + 747.903, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6625.963, + 623.245, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6625.963, + 623.245, + 138.843, + 0.0, + -97.92, + 0.0 + ] + ], + "Rationale": [ + "Far down this narrow alley I can see two orange metal barriers standing on the pavement near the pale blue door, roughly straight ahead of me. My heading already lines up with them, so I will step forward along the road to begin closing the gap.", + "The orange barriers now appear slightly larger and remain near the center of my view, confirming my heading is good. I will keep walking forward since nothing blocks the pavement between me and them.", + "The pair of orange barriers is clearly closer, with the rails now filling more of the middle of my view. Distance is still too great to count as arriving, so I will continue straight ahead.", + "The nearer orange barrier now sits well within reach of a few more steps, centered just ahead of the tiled wall and door. I will advance again to keep reducing the remaining distance.", + "The closest orange barrier is now large in front of me, though a short stretch of pavement still separates us. I will take another step forward to come right up to it.", + "The orange barrier now spans much of the lower part of my view, with its rail just a step or two away. I will move forward once more to stand directly at it.", + "I am nearly touching the orange barrier, its curved rail dominating the bottom of my view against the tiled wall. One more short step forward should place me right beside it.", + "The orange metal barrier's rail is directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..854a478110bb6f0065cd9487214de12acee9bcb6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the white door near the orange metal barrier.", + "Type": 0, + "Start_Pose": [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ], + [ + -6521.91, + 1371.196, + 139.152, + 0.0, + -97.92, + 0.0 + ], + [ + -6539.252, + 1246.537, + 138.867, + 0.0, + -97.92, + 0.0 + ], + [ + -6556.594, + 1121.879, + 139.15, + 0.0, + -97.92, + 0.0 + ], + [ + -6573.936, + 997.22, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6591.279, + 872.562, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6608.621, + 747.903, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6625.963, + 623.245, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6625.963, + 623.245, + 138.843, + 0.0, + -122.92, + 0.0 + ], + [ + -6689.595, + 566.609, + 145.456, + 0.0, + -122.92, + 0.0 + ], + [ + -6761.573, + 511.667, + 138.356, + 0.0, + -122.92, + 0.0 + ], + [ + -6761.573, + 511.667, + 138.356, + 0.0, + -97.92, + 0.0 + ], + [ + -6761.573, + 511.667, + 138.356, + 0.0, + -97.92, + 0.0 + ] + ], + "Rationale": [ + "Down the alley ahead I can see a pale white door set into the tan tiled wall, with the orange tubular barriers standing right in front of it. That matches the target described in my task, so I will move forward along the open roadway to begin closing the distance.", + "The white door and the pair of orange barriers are slightly larger in view now, confirming my heading is carrying me toward them. The lane ahead is still clear of obstructions, so I will keep moving forward.", + "The door sits a little left of my forward axis while the orange barriers now span much of the middle ground, so I still have distance to cover. Continuing straight should bring me nearer before I need any heading correction.", + "I can now make out the door frame and the seam between its panels, but I am still out on the roadway rather than near it. Another forward step should shorten the remaining gap toward the barriers and the door behind them.", + "The white door and the nearest orange barrier fill a large part of my view, so I am getting close but not yet within stopping range. I will move forward again to keep closing on the doorway.", + "The barrier rail is right in front of me at the curb line and the door handle is clearly visible just beyond it on the left. I will advance again to reach the paved area directly in front of the door.", + "I am now on the tiled area beside the orange barrier, with the white door close on the left side of my view. One more forward step should bring me right up in front of the door face.", + "At this close range the door has slid to the left edge of my view while the plain tiled wall dominates the center, so my heading is off the target. I will turn left to bring the white door back into the middle of my view before closing the last bit of distance.", + "After shifting my heading slightly left, the pale white double door now sits centered ahead of me with the orange metal barrier curving across the lower right of my view. With the path over the tiled apron clear, I will move forward to close the remaining gap to the door.", + "The door panel and its handle now fill most of my view, so my heading is holding well on the target. I will advance once more to bring myself within immediate reach of the door face.", + "I am now right at the wall beside the door, and the door surface has slid off to the right edge while the tiled wall and shutter occupy the left of my view. Turning right should swing my facing back squarely onto the white door instead of the adjacent wall.", + "The white door fills my view directly ahead with its handle within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e2f164c4a76e23d5e0ccbd92b6000cb95939ce72 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t0_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the tall gray outdoor air-conditioning unit beside the brick archway.", + "Type": 0, + "Start_Pose": [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ], + [ + -6521.91, + 1371.196, + 139.152, + 0.0, + -97.92, + 0.0 + ], + [ + -6539.252, + 1246.537, + 138.867, + 0.0, + -97.92, + 0.0 + ], + [ + -6539.252, + 1246.537, + 138.867, + 0.0, + -72.92, + 0.0 + ], + [ + -6502.287, + 1126.229, + 140.174, + 0.0, + -72.92, + 0.0 + ], + [ + -6465.321, + 1005.921, + 139.676, + 0.0, + -72.92, + 0.0 + ], + [ + -6428.355, + 885.613, + 138.885, + 0.0, + -72.92, + 0.0 + ], + [ + -6428.355, + 885.613, + 138.885, + 0.0, + -47.92, + 0.0 + ], + [ + -6344.009, + 792.199, + 138.885, + 0.0, + -47.92, + 0.0 + ], + [ + -6259.662, + 698.785, + 144.63, + 0.0, + -47.92, + 0.0 + ], + [ + -6175.315, + 605.371, + 138.15, + 0.0, + -47.92, + 0.0 + ], + [ + -6090.969, + 511.958, + 138.15, + 0.0, + -47.92, + 0.0 + ], + [ + -6090.969, + 511.958, + 138.15, + 0.0, + -72.92, + 0.0 + ], + [ + -6054.003, + 391.65, + 141.753, + 0.0, + -72.92, + 0.0 + ], + [ + -6026.59, + 329.267, + 144.379, + 0.0, + -72.92, + 0.0 + ], + [ + -6026.59, + 329.267, + 144.379, + 0.0, + -72.92, + 0.0 + ] + ], + "Rationale": [ + "From the mouth of this narrow alley I can see a tall gray outdoor air-conditioning unit standing far ahead on the right, near the recessed opening in the tiled facade. It is well beyond the orange barrier rails, so I will move forward along the open roadway to begin closing that distance.", + "The gray unit and the recessed archway on the right have grown slightly larger, confirming I am heading down the correct alley. The lane in front of me is still clear, so I will take another step forward to keep reducing the range.", + "The gray air-conditioning unit sits off to the right side of my view, beside the recessed opening, while my heading points straight down the alley past it. I will turn right to bring the unit and its archway closer to the center of my view before advancing further.", + "After the turn the tall gray unit and the archway beside it now sit near the middle of my view, so my heading is usable. I will move forward to close distance along this open stretch of pavement.", + "The stacked gray unit ahead is clearly larger now and the blue door and archway beside it are resolving in detail. The route stays clear to the right of the orange rails, so I will keep pushing forward.", + "I am now close enough that the tall unit fills a good part of the right-center of my view, but there is still several steps of open paving between us. I will advance again to shorten that remaining gap.", + "At this shorter range the tall gray unit has drifted toward the right edge of my view while my heading still runs along the building face. I will turn right to swing the unit and the tiled wall behind it back into the middle of my view for a straight final approach.", + "The tall gray air-conditioning unit now stands ahead of me against the tiled wall with the blue door beside it, and the paved court between us is clear. I will move forward to close the last of the distance toward it.", + "The tall gray outdoor air-conditioning unit is clearly visible ahead and slightly left of center, standing against the tiled wall next to the recessed archway passage. The paved courtyard between me and it is open, so I will move forward to close that gap.", + "The unit now fills more of the left half of my view, confirming the previous step reduced the distance. I still have several meters of open pavement in front of me, so I will continue straight toward it.", + "The gray unit and its guard rail are close on my left, and the wall with the blue door is dead ahead. Another forward step should bring me alongside the unit rather than stopping short in the middle of the yard.", + "The air-conditioning unit has drifted to the left edge of my view while the blue door dominates the center, so my heading is off the target. I will turn left to bring the tall gray unit back into the middle of my view before advancing further.", + "The turn worked, and the tall gray unit with its metal guard rail now sits centered in front of me. I will step forward to close the last part of the distance to it.", + "The unit's white casing and handles now dominate my view with the rail just below, so I am nearly at it. One more short forward step should put me directly beside the unit.", + "The tall gray unit's paneling and handles fill my view at arm's length beside the archway wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..914838e5584eb6834ef7aa38c478faf202fa982e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006505_y001496_z000139_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the plate near the white door near the orange metal barrier.", + "Type": 5, + "Start_Pose": [ + -6504.568, + 1495.854, + 139.043, + 0, + -97.92, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6626.635, + 618.414, + 88.843, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6504.568, + 1495.854, + 139.043, + 0, + -97.92, + 0 + ], + [ + -6521.91, + 1371.196, + 139.152, + 0.0, + -97.92, + 0.0 + ], + [ + -6539.252, + 1246.537, + 138.867, + 0.0, + -97.92, + 0.0 + ], + [ + -6556.594, + 1121.879, + 139.15, + 0.0, + -97.92, + 0.0 + ], + [ + -6573.936, + 997.22, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6591.279, + 872.562, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6608.621, + 747.903, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6608.621, + 747.903, + 138.843, + 0.0, + -97.92, + 0.0 + ], + [ + -6608.621, + 747.903, + 138.843, + 0.0, + -97.92, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -6626.635, + 618.414, + 88.843, + 90.0, + 90.0, + 0.0 + ], + [ + -6626.635, + 618.414, + 88.843, + 90.0, + 90.0, + 0.0 + ], + [ + -6626.635, + 618.414, + 88.843, + 90.0, + 90.0, + 0.0 + ], + [ + -6626.635, + 618.414, + 88.843, + 90.0, + 90.0, + 0.0 + ], + [ + -6626.635, + 618.414, + 88.843, + 90.0, + 90.0, + 0.0 + ], + [ + -6626.635, + 618.414, + 88.843, + 90.0, + 90.0, + 0.0 + ], + [ + -6626.635, + 618.414, + 88.843, + 90.0, + 90.0, + 0.0 + ], + [ + -6587.386, + 745.565, + 108.95, + -28.202, + -47.775, + 1.862 + ], + [ + -6587.386, + 745.565, + 108.95, + -28.202, + -47.775, + 1.862 + ] + ], + "PD_Dist_2D": [ + 885.9, + 760.0, + 634.2, + 508.3, + 382.5, + 256.6, + 130.7, + 21.4, + 21.4 + ], + "Rationale": [ + "Down the alley ahead I can see a pale blue door on the tan brick wall with an orange metal barrier beside it, which matches the landmarks named in my task. The large white plate is resting on the pavement just in front of that door, still far away. I will walk forward along the open lane to close that distance.", + "The white door and the orange barrier now fill more of my view, so my heading down the alley is correct. The plate sitting on the ground beside the door is still several strides away and too distant to reach. I will keep walking straight toward it.", + "The pale blue door is squarely ahead and the orange barrier stands to its right, with the round white plate leaning on the ground just before them. I am closer now but still outside comfortable reach of the plate. Continuing straight should bring me within grasping range.", + "The plate is clearly resolved now as a large white disc resting on the pavement at the foot of the white door, with the orange barrier just to its right. My heading points directly at it, so no turn is needed. I will step forward again to shorten the remaining gap.", + "The plate now dominates the lower center of my view, propped near the curb in front of the pale blue door. It is close but likely still a step or two beyond my grasp. I will advance once more to get right up beside it.", + "I am nearly on top of the plate, with the white door and orange barrier framing it just ahead. A final short step should place the plate directly at my feet where a grasp is practical. I will move forward to that position.", + "The plate is now directly at my feet, filling the bottom of my view against the tiled ground beneath the white door and orange barrier. This is the closest reachable position, so a grasp should be able to engage it. I will attempt to pick up the plate.", + "The plate is now held in my hand, lifted off the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..98a067d0bf03952f105f40c47a7b3c181b2d2c0a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_a/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Walk to the white door on the tan building, then head to the blue door.", + "Type": 3, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -93.16, + 0.0 + ], + [ + -6591.319, + 904.924, + 138.843, + 0.0, + -93.16, + 0.0 + ], + [ + -6591.319, + 904.924, + 138.843, + 0.0, + -118.16, + 0.0 + ], + [ + -6650.717, + 793.962, + 141.883, + 0.0, + -118.16, + 0.0 + ], + [ + -6710.114, + 683.001, + 146.44, + 0.0, + -118.16, + 0.0 + ], + [ + -6769.511, + 572.039, + 138.153, + 0.0, + -118.16, + 0.0 + ], + [ + -6769.511, + 572.039, + 138.153, + 0.0, + -93.16, + 0.0 + ], + [ + -6776.354, + 458.283, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6776.354, + 458.283, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6771.261, + 550.543, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6749.851, + 631.245, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6749.851, + 631.245, + 138.15, + 0.0, + -68.16, + 0.0 + ], + [ + -6749.851, + 631.245, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6749.851, + 631.245, + 138.15, + 0.0, + -18.16, + 0.0 + ], + [ + -6630.261, + 592.019, + 138.843, + 0.0, + -18.16, + 0.0 + ], + [ + -6630.261, + 592.019, + 138.843, + 0.0, + 6.84, + -0.0 + ], + [ + -6505.298, + 607.008, + 138.843, + 0.0, + 6.84, + -0.0 + ], + [ + -6380.335, + 621.997, + 138.843, + 0.0, + 6.84, + -0.0 + ], + [ + -6380.335, + 621.997, + 138.843, + 0.0, + -18.16, + 0.0 + ], + [ + -6260.745, + 582.771, + 144.753, + 0.0, + -18.16, + 0.0 + ], + [ + -6141.155, + 543.544, + 138.345, + 0.0, + -18.16, + 0.0 + ], + [ + -6021.565, + 504.317, + 138.345, + 0.0, + -18.16, + 0.0 + ], + [ + -5901.975, + 465.091, + 138.345, + 0.0, + -18.16, + 0.0 + ], + [ + -5901.975, + 465.091, + 138.345, + 0.0, + -43.16, + 0.0 + ], + [ + -5901.975, + 465.091, + 138.345, + 0.0, + -43.16, + 0.0 + ] + ], + "Rationale": [ + "The pale white door sits on the tan tiled building ahead to my left, behind the orange barriers, and the blue door is further off on the grey wall to the right. I need the white door first, so I walk forward into the open paved area to shorten the distance before turning.", + "From here the white door on the tan building lies off to my left, while my heading points across the open pavement toward the far grey wall. I turn left to bring that pale door toward the middle of my view so my next steps carry me straight at it.", + "The pale door on the tan tiled wall now sits near the centre of my view with clear pavement leading toward it. I walk forward to close on it, keeping the orange barriers to my right side.", + "The white door has drifted a little left of my heading as I closed in, with the barrier rails filling the right of my view. A small left turn should square me up with the door so I can walk directly onto the tiled step in front of it.", + "The pale double door on the tan brickwork is now clearly ahead of me with the bench and shutter wall to my left. I step forward along the tiled walkway to keep closing the remaining gap.", + "The door and its handle are much larger now, sitting just right of centre with an unobstructed strip of tile between us. I keep walking forward to reach the doorway itself.", + "I am nearly at the pale door, its panels and handle filling the right half of my view with only a short stretch of tile remaining. One more step forward should bring me right up against it.", + "Standing this close, the door has slid to the right edge of my view while the shutter wall and window dominate the left. I turn right to face the pale door squarely before finishing my approach to it.", + "The pale white door on the tan tiled building now fills my view squarely ahead, with its handle at eye level. Only a short gap of pavement remains, so I will step forward to stand right at it.", + "The pale white door panel and the tan tile beside it are directly in front of me, close enough to touch. I have arrived at the white door on the tan building. I mark reaching it, and now I am heading for the blue door across the way.", + "Pressed this close, the white door leaves me nothing but its panel and the tile beside it, so I cannot see the alley I need. Backing up should open the space around me before I swing toward the blue door.", + "The whole white door and its frame are visible again, but the tiled wall still crowds both sides of me in this narrow recess. One more step back should give me enough clearance to turn without scraping the building.", + "I have enough room now, with the white door standing clear in front of me and open pavement off to my right. Turning right starts swinging my heading away from this doorway and out toward the alley where the blue door sits.", + "The white door has slid to the edge of my view and the tan tile wall still blocks most of what lies ahead, with the open alley and railings only just appearing on the right. I will keep turning right to bring that opening in front of me.", + "The blue door is now in sight across the courtyard, but it sits well off to the right of my heading while the tan wall still takes up my left side. Another turn right should put that blue door closer to the center of my path.", + "The blue door now stands ahead across the open courtyard, past the railings and the green bins. The pavement between us is clear, so I will walk forward to close that distance.", + "The blue door stands across the courtyard on the far wall, but the orange guardrails and the raised walkway cut straight across the line I am facing. I will turn right to face the open pavement of the courtyard so I can travel toward that door unobstructed.", + "The railing no longer sits across my heading, and the open courtyard with the flowering tree now spreads ahead of me. The blue door is visible along the left-hand wall, so I will walk forward onto the open pavement to close the distance to it.", + "I am out on the open paving now and the blue door on the left wall has grown larger with each step. The way ahead past the bins and the tree is clear, so I will keep walking forward to draw level with that corner of the courtyard.", + "The blue door now sits well off to my left beside the green bins, so holding this heading would carry me past it toward the bench and shrubs. I will turn left to swing the door toward the middle of my view before advancing further.", + "The blue door is now roughly centered ahead of me with the two green bins alongside it. The paving between us is open, so I will walk forward to close the remaining distance.", + "The blue door sits squarely ahead and its pale handle is becoming distinct against the panel. Nothing stands between me and the doorway, so I will keep walking straight toward it.", + "The blue door now takes up a large part of my view, with the bins pushed off to its right and the small step visible at its base. I will walk forward again to bring myself close in front of the doorway.", + "The blue door and its frame dominate my view now and the lever handle is clearly in reach height ahead of me. The paving runs unbroken up to the threshold, so I will step forward once more to stand right at the door.", + "I am right up against the blue door, but it fills only the left half of my view while the tiled wall beside it takes the rest. A small turn to the left should bring the door and its handle squarely in front of me.", + "The blue door stands directly in front of me, its frame and handle centered at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..02ebe3b2ff117849c7f9c8b7be9cd82e59253ad5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_c/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Head toward the blue door, then move to the white door.", + "Type": 3, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6492.574, + 944.499, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6400.767, + 858.407, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6308.959, + 772.314, + 143.253, + 0.0, + -43.16, + 0.0 + ], + [ + -6217.152, + 686.222, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6125.345, + 600.13, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -43.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -43.16, + 0.0 + ], + [ + -6009.131, + 491.15, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6009.131, + 491.15, + 138.15, + 0.0, + -68.16, + 0.0 + ], + [ + -6009.131, + 491.15, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6009.131, + 491.15, + 138.15, + 0.0, + -118.16, + 0.0 + ], + [ + -6009.131, + 491.15, + 138.15, + 0.0, + -143.16, + 0.0 + ], + [ + -6009.131, + 491.15, + 138.15, + 0.0, + -168.16, + 0.0 + ], + [ + -6009.131, + 491.15, + 138.15, + 0.0, + 166.84, + -0.0 + ], + [ + -6131.684, + 519.804, + 138.15, + 0.0, + 166.84, + -0.0 + ], + [ + -6251.603, + 550.391, + 140.817, + 0.0, + 166.84, + -0.0 + ], + [ + -6365.773, + 587.827, + 138.843, + 0.0, + 166.84, + -0.0 + ], + [ + -6488.326, + 616.481, + 138.843, + 0.0, + 166.84, + -0.0 + ], + [ + -6488.326, + 616.481, + 138.843, + 0.0, + -168.16, + 0.0 + ], + [ + -6611.508, + 590.658, + 138.843, + 0.0, + -168.16, + 0.0 + ], + [ + -6611.508, + 590.658, + 138.843, + 0.0, + -143.16, + 0.0 + ], + [ + -6709.239, + 565.221, + 146.47, + 0.0, + -143.16, + 0.0 + ], + [ + -6709.239, + 565.221, + 146.47, + 0.0, + -118.16, + 0.0 + ], + [ + -6709.239, + 565.221, + 146.47, + 0.0, + -93.16, + 0.0 + ], + [ + -6748.995, + 503.966, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6748.995, + 503.966, + 138.15, + 0.0, + -93.16, + 0.0 + ] + ], + "Rationale": [ + "From here I can pick out the blue door set into the grey tiled wall across the open yard on my right, well beyond the orange barriers. Since I need to reach that door before anything else, I will walk straight ahead to cross the open pavement and cut down the distance.", + "After stepping out into the yard the blue door now sits well off to my right, near the edge of what I can see, while my heading still points down the building face on the left. Turning right should swing that door toward the middle of my view so I can walk straight at it.", + "The turn has brought the blue door into the middle of my view, with the green dumpsters beside it and the flowering tree overhead. The paved yard between us is clear, so I will walk forward to close on it.", + "The blue door has grown noticeably and holds steady near the centre of my view, so my heading is still good. Several paces of open tile remain in front of it, so I will keep walking forward.", + "The blue door and the dumpsters to its right are noticeably nearer now, and the door still sits in the middle of my path. No correction is needed, so another step forward should keep shrinking the gap.", + "The blue door now fills a good part of the wall ahead, its handle clearly visible, but I am still a few strides short of standing at it. I will advance again along the same line.", + "I am close enough now to see the door's hinges and the grating on the ground beside it, and the door remains squarely in front of me. Another step forward should bring me right up against it.", + "The blue door now dominates my view, its frame and lever handle just a stride or so away. One more step forward should put me directly at it.", + "The blue door now fills most of my view, its lever handle clearly within reach height and centered slightly right of me. One more step should bring me right up against its threshold, close enough to count as standing at it.", + "The blue panel and its lever handle fill my view at arm's length, with the door frame edge just beside me. I am standing at the blue door. I mark reaching it, and now I turn my attention to the white door.", + "I am pressed so close to the blue door that only its panel and frame are visible, leaving me no view of the surrounding yard. Backing off a step should give me the clearance and the wider outlook I need before swinging around toward the white door.", + "With a little distance recovered, the blue door sits squarely ahead and the tiled wall blocks everything beyond it. Since the white door is nowhere along this wall, I will turn left to sweep my view off the door and toward the open side of the yard.", + "The blue door has slid to the right edge and a pale utility box with handrails now fills the near foreground. Nothing resembling the white door is in sight yet, so I will keep rotating left to bring more of the passage into view.", + "Swinging further has opened the tiled walkway on the left, where a recessed entrance with pale framed doors is just appearing at the edge. I will continue turning left to bring that entrance fully in front of me.", + "The recessed entrance with its light framed double doors now sits on my left, still offset from my heading. Another left turn should place that alcove and the walkway leading to it near the center of my view.", + "The alcove doors ahead are dark glass in a light frame rather than the plain white door I am after, and the walkway continues off to my left. I will turn left again to reveal that route and look for the right door along it.", + "The recessed glass double doors filling my right side are not the plain white door I need, and the open street continues off to my left. I will keep swinging left to bring that roadway and its frontages into view where a white door is more likely to appear.", + "My heading now looks down the open paved corner past the orange bollard, with shop fronts and a shuttered building lining the way ahead. Nothing blocks the tiled walkway, so I will step forward to advance along this street and get a clearer look at the doors on either side.", + "The shuttered frontage and bench are drawing nearer while a beige brick wall opens along my right. The route stays clear, so I will keep walking forward to bring the right-hand frontages close enough to pick out a white door.", + "A pale door has come into view on the beige brick wall to my right, just beyond the orange railing. I am still some distance off, so I will walk forward to close the gap before turning toward it.", + "The pale door on the brick wall now sits at the right edge of my view, meaning I am nearly level with it but not yet alongside. I will take another step forward so it lies squarely off my shoulder before I turn.", + "Straight ahead I only see shutters, posters and a bench, while the pale door has slipped past the right border of my view. I will turn right to swing my heading back onto that door and put it in front of me.", + "The white door on the beige brick wall is back in view to my right, with its handle clearly visible above the orange railing. Open tiling lies between us, so I will step forward to shorten the distance to it.", + "I have come alongside the wall, and the white door now sits at the right margin of my view while the shutter fills the front. Turning right should bring the door face directly ahead of me for a straight final approach.", + "The pale white door with its lever handle now stands clearly ahead of me on the brick wall, just right of my heading, with open pavement between us. Walking forward should cut most of that remaining gap so I can stand at the door itself.", + "I am close in now, but the white door has slid to the far right edge of my view while the utility box and shutter fill the front. Turning right should swing the door back toward the middle of my view so I can face it properly.", + "The white door and its handle are now visible but still sit off to the right side of my view, so I am not squarely facing it. Another turn to the right should center the door panel in front of me.", + "The white door is centered in front of me now, its lever handle at chest height and the brick jambs framing it on both sides. A short step forward should bring me right up against it.", + "The white door fills my view at arm's length, its handle directly before me. My destination is reached, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_d/infos.json b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4421ed77fe7c4de8ef859c5575cdf412efd3d9 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_d/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the blue door, then reach the orange barrier.", + "Type": 3, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6492.574, + 944.499, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6400.767, + 858.407, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6308.959, + 772.314, + 143.253, + 0.0, + -43.16, + 0.0 + ], + [ + -6217.152, + 686.222, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6125.345, + 600.13, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -43.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -43.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -68.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -93.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -118.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -143.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + -168.16, + 0.0 + ], + [ + -5941.73, + 427.945, + 144.511, + 0.0, + 166.84, + -0.0 + ], + [ + -6064.284, + 456.599, + 138.317, + 0.0, + 166.84, + -0.0 + ], + [ + -6186.837, + 485.254, + 138.317, + 0.0, + 166.84, + -0.0 + ], + [ + -6186.837, + 485.254, + 138.317, + 0.0, + 166.84, + -0.0 + ] + ], + "Rationale": [ + "The blue door sits across the open yard on the right side of my view, well ahead of me. Nothing blocks the paved ground between us, so I will walk forward to cut down that distance before fine-tuning my heading.", + "After closing some distance, the blue door still lies off to my right rather than straight ahead, while my heading points at the beige building and its orange barriers. I will turn right to bring the door toward the centre of my view before advancing again.", + "The turn has swung the blue door into the middle of my view, framed between the air units and the green planting. With that heading looking right, I will step forward across the open pavement toward it.", + "The door has grown noticeably larger and stays centred as the tiled wall and teal bins come into clearer detail. The path remains clear, so I will keep walking straight toward it.", + "I am now inside the small courtyard with the blue door dead ahead and the shaded paving open in front of me. Another stride forward should keep shrinking the gap without needing any turn.", + "The door frame and its handle are clearly readable now, and my heading is still square on it. I will advance again to draw close enough to count as standing at it.", + "The blue door fills much more of my view, with the metal railing to my left and the teal bins to my right leaving a clear lane straight to it. I will keep stepping forward along that lane.", + "Only a short stretch of tiled ground and the doormat separate me from the blue door, which now dominates my view. One more step forward should place me right up against it.", + "The blue door now fills the wall directly ahead, its handle clearly visible and squarely centered on my heading. A short step forward should bring me right up against it, close enough to count as standing at that door.", + "The blue door panel and its lever handle fill my view at arm's length, with the tiled wall crowding both sides. I am standing at the blue door, so I mark reaching it and turn my attention to the orange barrier out in the open lane behind me.", + "Pressed this close to the blue door, my view is nothing but its panel and the neighboring tile, so I have no line of sight to the orange barrier. Turning left should begin swinging my heading off the wall and back toward the open paving.", + "The door edge has slid to the right and I am now facing tiled wall and a metal railing, still with no open lane in sight. Another left turn should carry my heading further around toward the space where the orange barrier stands.", + "A white utility cabinet and handrail dominate the near view, though brighter paving is opening on the left edge. Continuing to turn left should bring that open ground fully in front of me so I can pick out the orange barrier.", + "The wide tiled plaza and a glass storefront are now visible on the left while the cabinet still blocks the right half. One more left turn should clear that obstruction from my heading and expose more of the lane where the orange barrier should be.", + "I am looking across open paving at a recessed entrance, with the cabinet and railing reduced to the right edge. Since the orange barrier has not yet come into view, I keep rotating left toward the unseen part of the street.", + "The orange barrier rail has appeared on the left side of my view, standing at the curb beside the roadway. Turning left once more should bring it near the center of my heading so I can walk straight at it.", + "The orange barrier rail now sits ahead of me at the edge of the raised walkway, roughly centered in my view. Nothing blocks the tiled pavement between us, so I will walk forward to close the remaining gap.", + "The orange barrier has grown larger and sits just ahead and slightly left along the curb. I am still a stride or two short of standing beside it, so another step forward should bring me right up to it.", + "The orange barrier rail is directly in front of me, filling the near foreground within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19593dbfde7fb8dc90b64f326e122348ecaf1229 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the ceramic vase at the blue door, then leave it near the orange barrier.", + "Type": 5, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0, + -68.16, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5936.899, + 479.101, + 68.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6631.203, + 1147.417, + 138.843, + 0, + -68.16, + 0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6492.574, + 944.499, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6400.767, + 858.407, + 138.843, + 0.0, + -43.16, + 0.0 + ], + [ + -6308.959, + 772.314, + 143.253, + 0.0, + -43.16, + 0.0 + ], + [ + -6217.152, + 686.222, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6125.345, + 600.13, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -68.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -118.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -143.16, + 0.0 + ], + [ + -6033.537, + 514.037, + 138.15, + 0.0, + -168.16, + 0.0 + ], + [ + -6156.718, + 488.213, + 138.15, + 0.0, + -168.16, + 0.0 + ], + [ + -6156.718, + 488.213, + 138.15, + 0.0, + 166.84, + -0.0 + ], + [ + -6239.377, + 509.73, + 138.15, + 0.0, + 166.84, + -0.0 + ], + [ + -6169.268, + 493.338, + 138.15, + 0.0, + 166.84, + -0.0 + ], + [ + -6169.268, + 493.338, + 138.15, + 0.0, + 166.84, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -5936.899, + 479.101, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -6019.376, + 530.031, + 108.257, + -28.202, + 6.985, + 1.862 + ], + [ + -6014.829, + 522.198, + 108.529, + -28.189, + -18.003, + 1.872 + ], + [ + -6013.403, + 512.769, + 107.862, + -28.215, + -43.032, + 1.849 + ], + [ + -6012.32, + 496.524, + 108.043, + -14.175, + -75.968, + 6.959 + ], + [ + -6020.637, + 497.476, + 107.932, + -28.208, + -93.017, + 1.851 + ], + [ + -6029.14, + 494.651, + 108.6, + -28.198, + -118.014, + 1.867 + ], + [ + -6151.835, + 467.416, + 108.07, + -28.198, + -118.014, + 1.862 + ], + [ + -6160.669, + 468.253, + 108.657, + -28.195, + -143.01, + 1.87 + ], + [ + -6243.551, + 488.771, + 108.457, + -28.192, + -143.009, + 1.867 + ], + [ + -6237.43, + 509.275, + 78.15, + 0.0, + 166.84, + -0.0 + ], + [ + -6237.43, + 509.275, + 78.15, + 0.0, + 166.84, + -0.0 + ] + ], + "PD_Dist_2D": [ + 963.7, + 850.5, + 850.5, + 724.8, + 599.2, + 473.7, + 348.5, + 224.0, + 102.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 20.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the open courtyard I can see a blue door on the far right side of the yard, past the orange barriers and the teal containers, which matches the pickup location named in the task. The vase is still too far away to make out clearly, so I will walk forward to close distance and get a better view of that corner. This straight advance keeps the whole yard in sight while I commit to the right-hand side.", + "After stepping ahead, the blue door and the teal containers sit noticeably to my right while my heading points down the yard toward the beige building. Turning right should swing my facing onto the door alcove so my next steps carry me straight toward it. This keeps the approach direct instead of drifting along the left wall.", + "The turn has put the blue door near the middle of my view, with the teal containers and a tall pale cylindrical vessel just to its right. With the path across the tiled yard clear of obstacles, I will walk forward to shorten the gap to that alcove. Getting closer should let me confirm which object by the door is the ceramic vase.", + "The blue door is holding steady near the center of my view and the pale cylindrical object in front of it is becoming clearer as a standing vase. My heading is already good, so another step forward is the simplest way to keep closing in. No barrier or planter blocks the tiled route ahead.", + "I can now clearly see the tall pale ceramic vase standing on the pavement just in front of the blue door, slightly right of my center line. Since the alignment is still workable, I will keep walking forward to reach grabbing range. The remaining ground between me and the wall is flat and unobstructed.", + "The vase and the blue door now fill a large part of my view, but I am still several paces short of a reliable grasp distance. Walking forward again should bring me close enough that the vase sits directly within reach. The air-conditioning units and railing stay well to my left, so the lane forward remains clear.", + "The ceramic vase now stands prominently ahead of me with its patterned body visible, and it is nearly at arm's-length scale in my view. Another step forward should place me right beside it so a pick attempt has a good chance of connecting. I keep my heading steady rather than turning, since the vase is already close to my center line.", + "I am now very close to the blue door, and the vase looms large just right of center at the edge of my reach. One more short step forward should settle me into a stable position immediately beside the vase before I try to lift it. The wall ahead means this is the last advance I need on this approach.", + "The blue door fills the wall directly ahead and the pale ceramic vase now stands close on my right, well within arm's reach. Nothing blocks the space between me and it, so this is the moment to grasp it. I will attempt the pick and expect the vase to come into my hands.", + "The grasp worked, since the vase rim and body now hang right in front of me and my view tips down onto the tiled ground and my own feet. With the vase carried, I no longer need to face the door, and the drop site by the orange barrier lies back out toward the open street. I will turn left to begin swinging my heading away from this wall.", + "I am still holding the vase, and my view has cleared enough to show the blue door edge on my right with the utility cabinet and rail ahead. This heading still points into the recessed corner rather than out toward the open ground where the orange barrier stands. I will keep turning left to continue rotating away from this wall.", + "The rotation has brought the guard rail and the recessed glass doorway on the left into view, but the ground here is still enclosed by the building faces. The route back toward the open street and the orange barrier lies further around to my left. I will turn left again to keep opening up that direction.", + "Now the pair of glass doors sits ahead and the rail has slid to my right, so I am facing across the enclosed area rather than out of it. The open passage I need is still further left. I will continue turning left to bring that exit into the center of my view.", + "An orange barrier rail has just come into view at the far left edge, beyond the glass entrance that is now centered ahead. That is the kind of drop reference the task points to, so my heading needs to swing further toward it. I will turn left once more to bring that barrier area in front of me.", + "The orange post and the open paved lane are now clearly on my left front, with a clear stretch of tile between me and them. Carrying the vase, I need to close that remaining gap before I can set it down nearby. I will step forward along this open path toward the barrier area.", + "The orange barrier rail now runs close along my left side while my heading still points down the sidewalk past it. To place the vase beside the barrier, I should face that rail more directly. I will turn left so the barrier sits in front of me.", + "I am still carrying the ceramic vase, and the orange barrier rail now runs along the right edge of my view at the curb. I will step forward along the walkway to bring myself level with that barrier so the vase can be set down close to it.", + "The orange barrier is now immediately beside me, filling the lower right of my view at arm's reach, and I still hold the ceramic vase. This is the intended release spot, so I will drop the vase here and it should come to rest right next to the barrier.", + "The ceramic vase now stands on the pavement directly beside the orange barrier. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..966355a1d2096bdd6f88b2cbe9b269207f409563 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the blue door, then head toward the green bushes.", + "Type": 3, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6750.217, + 634.821, + 138.15, + 0.0, + -3.88, + 0.0 + ], + [ + -6624.646, + 626.304, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6499.076, + 617.788, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6373.505, + 609.271, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6247.935, + 600.755, + 138.592, + 0.0, + -3.88, + 0.0 + ], + [ + -6247.935, + 600.755, + 138.592, + 0.0, + -28.88, + 0.0 + ], + [ + -6137.728, + 539.968, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -6027.522, + 479.181, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5917.316, + 418.394, + 143.478, + 0.0, + -28.88, + 0.0 + ], + [ + -5917.316, + 418.394, + 143.478, + 0.0, + -28.88, + 0.0 + ], + [ + -5917.316, + 418.394, + 143.478, + 0.0, + -3.88, + 0.0 + ], + [ + -5917.316, + 418.394, + 143.478, + 0.0, + 21.12, + -0.0 + ], + [ + -5917.316, + 418.394, + 143.478, + 0.0, + 46.12, + -0.0 + ], + [ + -5917.316, + 418.394, + 143.478, + 0.0, + 71.12, + -0.0 + ], + [ + -5917.316, + 418.394, + 143.478, + 0.0, + 96.12, + -0.0 + ], + [ + -5917.316, + 418.394, + 143.478, + 0.0, + 121.12, + -0.0 + ], + [ + -5982.364, + 526.14, + 138.15, + 0.0, + 121.12, + -0.0 + ], + [ + -6047.412, + 633.887, + 138.15, + 0.0, + 121.12, + -0.0 + ], + [ + -6112.46, + 741.633, + 138.15, + 0.0, + 121.12, + -0.0 + ], + [ + -6112.46, + 741.633, + 138.15, + 0.0, + 121.12, + -0.0 + ] + ], + "Rationale": [ + "The blue door sits far off to my left, tucked against the tiled wall at the end of the open courtyard, while my body faces the road ahead. I will turn left so that the door and the paved approach to it line up in front of me before I start walking.", + "The turn has brought the courtyard into view, with the blue door set in the wall ahead and slightly left, past the railing and the blossoming tree. The paving in front of me is clear, so I will walk forward to cut down the distance to that door.", + "The blue door and the two teal bins beside it have grown noticeably larger, confirming my heading feeds straight into the courtyard. Nothing blocks the walkway between me and that wall, so another step forward should keep closing the gap.", + "I am now inside the courtyard proper, with the blue door clearly ahead on the left wall and the bins to its right. The tiled ground stays open in that direction, so I keep walking to bring the door within reach.", + "The blue door now fills a good part of my view, its handle and frame clearly readable, though it still sits toward my left. I will step forward again since more distance can be cut before I bother refining my heading.", + "I am close to the wall now, but the blue door has drifted well over to my left while the bins and the tree take the center of my view. Turning left should swing the door toward the middle of my view so the last few steps run straight at it.", + "The turn has centered the blue door in front of me, with the bins to its right and clear tiling between us. I will walk forward to close the remaining distance to the door.", + "The blue door is directly ahead and much taller in my view, its handle now clearly at my level. A couple of steps of ground remain before I am truly standing at it, so I will keep advancing.", + "The blue door now fills most of my view, with its handle and frame clearly resolved and only a short stretch of paving left in front of it. One more step should bring me right up against it, close enough to count as standing at the door.", + "The blue door fills my whole view, its handle and hinges an arm's length away with no ground left between us. I have arrived at the blue door. I mark reaching it and now set off for the green bushes in the courtyard.", + "Standing this close, the blue door blocks everything and I cannot see any greenery from here. I will turn right to swing my view off the door panel and back toward the open courtyard where leafy planting should be.", + "My view has slid off the door edge onto blank tiled wall, so there is still nothing green in sight. Another turn right should carry my heading further along the wall toward the open part of the courtyard.", + "The wall is opening up on the right, showing the green bin, the blossom tree trunk and a yellow bicycle beyond it. No low bushes are in view yet, so I will keep turning right to sweep further across the courtyard.", + "Now I see the bicycle under the blossom tree and the corner wall, but the only foliage here is pink blossom overhead rather than the leafy bushes I want. I will turn right again to bring more of the courtyard's far side into view.", + "The bicycle and a metal bench sit against plain tiled wall ahead, still with no green planting in front of me. Continuing to turn right should reveal the stretch of the courtyard beyond the bench where bushes are likely to be.", + "A clump of green bushes has come into view on the right, growing in a raised planter just past the bench near the shopfront. I will turn right once more to bring that greenery in front of me so I can walk straight at it.", + "The leafy green bushes in their planter now sit ahead of me, slightly left of center along the tiled walkway. My heading is clear of the wall and the bench, so I will step forward to close the remaining distance to them.", + "The bushes have grown noticeably larger and are still a few paces off, centered just ahead of me. Another step forward should bring me closer to the planter without drifting into the tiled wall on my left.", + "The green bushes now fill the lower middle of my view and their planter rim is close in front of me. One more step should put me right at the edge of the greenery.", + "The green bushes are directly in front of me, filling the near view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53814b058104b509086ca507e848dd0ea29f64c5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the cherry blossom tree, then proceed to the orange guardrail.", + "Type": 3, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.812, + 680.171, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.407, + 725.521, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6398.002, + 770.87, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6280.598, + 816.22, + 149.79, + 0.0, + 21.12, + -0.0 + ], + [ + -6280.598, + 816.22, + 149.79, + 0.0, + -3.88, + 0.0 + ], + [ + -6155.027, + 807.704, + 150.318, + 0.0, + -3.88, + 0.0 + ], + [ + -6029.457, + 799.187, + 138.15, + 0.0, + -3.88, + 0.0 + ], + [ + -5903.886, + 790.671, + 138.15, + 0.0, + -3.88, + 0.0 + ], + [ + -5778.316, + 782.154, + 138.15, + 0.0, + -3.88, + 0.0 + ], + [ + -5778.316, + 782.154, + 138.15, + 0.0, + -3.88, + 0.0 + ], + [ + -5778.316, + 782.154, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5778.316, + 782.154, + 138.15, + 0.0, + -53.88, + 0.0 + ], + [ + -5778.316, + 782.154, + 138.15, + 0.0, + -78.88, + 0.0 + ], + [ + -5778.316, + 782.154, + 138.15, + 0.0, + -103.88, + 0.0 + ], + [ + -5778.316, + 782.154, + 138.15, + 0.0, + -128.88, + 0.0 + ], + [ + -5778.316, + 782.154, + 138.15, + 0.0, + -153.88, + 0.0 + ], + [ + -5891.321, + 726.745, + 138.15, + 0.0, + -153.88, + 0.0 + ], + [ + -6004.327, + 671.335, + 138.15, + 0.0, + -153.88, + 0.0 + ], + [ + -6117.332, + 615.925, + 138.15, + 0.0, + -153.88, + 0.0 + ], + [ + -6230.338, + 560.515, + 138.15, + 0.0, + -153.88, + 0.0 + ], + [ + -6230.338, + 560.515, + 138.15, + 0.0, + -153.88, + 0.0 + ] + ], + "Rationale": [ + "The blossoming pink tree stands ahead and slightly left, rooted in the paved corner between the tiled walls. Nothing blocks the open pavement in front of me, so I will walk straight ahead to cut down that distance.", + "The blossoming canopy now fills more of my upper view, confirming I am closing on the tree. The pavement ahead past the manhole cover remains clear, so I will keep walking forward.", + "The pale trunk and the green planter bed are noticeably nearer, with the tiled building corner sliding past on my right. I still have open ground between me and the tree, so I will continue advancing.", + "The trunk is close on my left with the bench and the yellow bicycle beside it, while the wall on my right keeps the lane narrow but passable. I will step forward again to draw level with the tree.", + "My heading has drifted along the right-hand wall while the blossoming tree sits off to my left, near the teal barriers. Turning left should swing my facing back onto the trunk so I can walk straight in to it.", + "The turn worked, and the trunk with its pink canopy now sits near the middle of my view with clear paving leading to it. I will walk forward along that line to close the remaining gap.", + "The trunk stands directly ahead with the teal barriers to my left and the yellow bicycle propped against the wall on my right. The path between them is still open, so I will keep stepping toward the tree.", + "The trunk now looms large and the blossoms have risen above my view, showing I am nearly under the tree. A short step forward should bring me right up to its base.", + "The pale trunk of the blossom tree now rises directly ahead of me, with the teal barriers on my left and the yellow bicycle propped against the tiled wall on my right. A short step still separates me from the base of the trunk, so I walk forward once more to stand right at it.", + "The blossom tree's trunk fills my view at arm's length, its roots and fallen petals spread over the paving at my feet. I have reached the cherry blossom tree. I mark reaching it and now set off toward the orange guardrail.", + "Standing this close to the trunk, the wall and the tree block everything ahead of me, so there is nothing to walk toward on this heading. The open paving lies back to my left, so I turn left to begin swinging my view away from this corner in search of the orange guardrail.", + "My view has swung onto blank tiled wall with the teal barrier at the lower left, so I still have no clear line out of this corner. No orange railing is in sight yet, so I keep turning left to bring the open courtyard into view.", + "The teal barriers and the wall behind them still take up my whole view, and the blue door at the left edge tells me the open side is further around. I turn left again to keep sweeping toward the open ground.", + "The blue door and the line of barriers are now off to my right, and clear paving with a walkway opens on the left of my view. No orange rail is visible yet, so I turn left once more to look further into that open area.", + "Glass entrance doors and a broad stretch of tiled paving now sit on the left of my view, which is the open direction I want. The orange guardrail still has not come into sight, so I continue turning left.", + "The orange guardrail has come into view on the left side of the courtyard, standing at the edge of the grey parking bay. It sits too far to my left to walk straight at, so I turn left once more to bring it in front of me.", + "The orange guardrail is now visible ahead of me, standing at the edge of the paved driveway beside the glass entrance doors. My heading points straight down the open walkway toward it, so I will step forward to cut the remaining distance.", + "The orange rail has grown larger just left of center, confirming my line is good. Nothing blocks the tiled ground between us, so another step forward should bring me appreciably nearer.", + "The curved orange rail and its post now stand out clearly a short way ahead on my left, with the bench and shutters beyond it. I am still a few paces short of it, so I will keep walking forward.", + "The orange guardrail now fills much of the near left of my view, its rail curving toward me at close range. One more step should place me right alongside it.", + "The orange guardrail runs directly beside me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_d/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c4e4c7321a5e749491867ca69060b52fc13f2512 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Navigate to the green bushes, then approach the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.812, + 680.171, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.407, + 725.521, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6398.002, + 770.87, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6398.002, + 770.87, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6398.002, + 770.87, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6272.432, + 762.354, + 146.54, + 0.0, + -3.88, + 0.0 + ], + [ + -6146.861, + 753.837, + 138.15, + 0.0, + -3.88, + 0.0 + ], + [ + -6021.291, + 745.321, + 138.15, + 0.0, + -3.88, + 0.0 + ], + [ + -6021.291, + 745.321, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -5903.886, + 790.671, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -5786.481, + 836.021, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -5786.481, + 836.021, + 138.15, + 0.0, + 21.12, + -0.0 + ] + ], + "Rationale": [ + "The leafy green bushes sit in a raised planter ahead of me, beside the corner of the tiled building, with the pink blossom tree further back on the left. The open pavement between us is clear, so I will walk straight ahead to close that gap.", + "The bushes have grown noticeably larger in front of me and the manhole cover has slid down out of view, so my heading is carrying me straight at them. Nothing blocks the paved stretch ahead, so I will keep walking forward.", + "The green foliage now fills much of the lower centre of my view and the planter rim is close, so only a short stretch of paving remains. I will step forward once more to come right up beside the bushes.", + "The thick green bushes are right beside me now, their leaves spilling over the planter edge within arm's reach. I have reached the bushes. I mark reaching them and turn my attention to the blossom-covered tree standing ahead on my left.", + "The pink blossom canopy and its slender trunk sit off to my left, while my body still faces the wall and planter. I will turn left to bring that tree into the centre of my path before advancing.", + "The blossom tree now stands ahead of me with its trunk rising from the paved corner, and the open tiled ground in between is clear. I will walk forward to close on it.", + "The trunk and the blossom canopy overhead have grown larger and the petals on the paving are more distinct, confirming I am closing on the tree. The route past the bins and bench stays open, so I will keep walking forward.", + "The trunk is close ahead with the canopy now cut off at the top of my view, and the parked yellow bike sits to its right. A few more steps should bring me right up to the base of the tree, so I will move forward again.", + "The cherry blossom canopy now hangs directly over me and the pale trunk rises just right of my heading, deep in the corner beyond the parked bike. A small right turn should place the trunk's base and the clear paving beside it straight ahead. I turn right before stepping in.", + "The trunk of the blossom tree now stands ahead in the narrow corner, with the paving between me and it clear apart from the leaning bike on the right. Walking forward should close most of that remaining gap.", + "The trunk is now only a couple of paces ahead on my left, its bark filling a large part of the view beside the bike. One more step forward should bring me right up beside the tree.", + "The cherry blossom tree's trunk stands directly beside me, close enough to touch. Both destinations have been reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5da5cd0f5745f3bcbe80b4ab582e769a8f26bc4e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Lift the ceramic pot by the green bushes, then place it by the cherry blossom tree.", + "Type": 5, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0, + 21.12, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -6321.565, + 781.77, + 55.843, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.217, + 634.821, + 138.15, + 0, + 21.12, + 0 + ], + [ + -6632.812, + 680.171, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.407, + 725.521, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6398.002, + 770.87, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6398.002, + 770.87, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6398.002, + 770.87, + 138.843, + 0.0, + 21.119, + -0.0 + ], + [ + -6280.597, + 816.219, + 149.79, + 0.0, + 21.119, + -0.0 + ], + [ + -6280.597, + 816.219, + 149.79, + 0.0, + -3.881, + 0.0 + ], + [ + -6155.027, + 807.701, + 150.317, + 0.0, + -3.881, + 0.0 + ], + [ + -6029.456, + 799.183, + 138.15, + 0.0, + -3.881, + 0.0 + ], + [ + -5903.886, + 790.665, + 138.15, + 0.0, + -3.881, + 0.0 + ], + [ + -5778.315, + 782.147, + 138.15, + 0.0, + -3.881, + 0.0 + ], + [ + -5778.315, + 782.147, + 138.15, + 0.0, + 21.119, + -0.0 + ], + [ + -5690.628, + 810.113, + 138.15, + 0.0, + 21.119, + -0.0 + ], + [ + -5757.791, + 784.171, + 138.15, + 0.0, + 21.119, + -0.0 + ], + [ + -5757.791, + 784.171, + 138.15, + 0.0, + 21.119, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -6321.565, + 781.77, + 55.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6321.565, + 781.77, + 55.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6321.565, + 781.77, + 55.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6321.565, + 781.77, + 55.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6321.565, + 781.77, + 55.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6406.266, + 790.57, + 108.95, + -28.202, + 71.264, + 1.862 + ], + [ + -6288.622, + 836.016, + 116.204, + -28.195, + 71.267, + 1.862 + ], + [ + -6280.021, + 836.468, + 117.275, + -28.193, + 46.268, + 1.872 + ], + [ + -6154.553, + 829.071, + 108.838, + -28.198, + 46.269, + 1.868 + ], + [ + -6028.732, + 820.54, + 108.475, + -28.196, + 46.266, + 1.865 + ], + [ + -5902.871, + 812.003, + 107.937, + -28.193, + 46.275, + 1.869 + ], + [ + -5777.182, + 803.465, + 107.663, + -28.219, + 46.245, + 1.85 + ], + [ + -5787.164, + 802.85, + 108.889, + -28.192, + 71.268, + 1.872 + ], + [ + -5698.753, + 829.872, + 107.998, + -28.19, + 71.279, + 1.87 + ], + [ + -5692.493, + 809.392, + 118.15, + 0.0, + 21.119, + -0.0 + ], + [ + -5692.493, + 809.392, + 118.15, + 0.0, + 21.119, + -0.0 + ] + ], + "PD_Dist_2D": [ + 453.1, + 327.4, + 201.8, + 77.2, + 77.2, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 21.4, + 21.3, + 22.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From here I can see the dark ceramic pot sitting on the pavement beside the green bushes in the planter, with the cherry blossom tree further left along the alley. The pot is still far off, well beyond arm's reach, so I need to close that gap before I can lift anything. I will walk straight ahead to bring the pot and its bushes nearer.", + "The pot by the green bushes has grown noticeably larger and sits slightly left of my heading, so my straight approach is working. It is still several paces away and too distant to grasp. I will keep walking forward to close the remaining gap.", + "The ceramic pot now fills a large part of the lower view right beside the leafy bushes, but it still sits ahead of my feet rather than directly under me. A short additional step should place me right over it for a reliable grasp. I will move forward once more.", + "I am standing right at the planter with the bushes filling the view, but the pot has dropped out of the lower edge because my gaze is too high. Tilting my head down should put the pot squarely in front of me so I can judge the grasp. I will look down.", + "With my gaze lowered, the ceramic pot is directly below me at the edge of the planter holding the green bushes, well within reach. This is the target object named in the task, and nothing blocks my hands. I will attempt to pick it up so I can carry it to the cherry blossom tree.", + "The grasp worked, since the pot is now lifted in my hands and moves with me instead of resting on the pavement. With the object secured, the remaining job is to carry it to the cherry blossom tree standing further along the alley. I will step forward to begin transporting it.", + "Carrying the pot, my heading is skewed toward the tiled wall on my right while the cherry blossom tree with its pink canopy sits off to the left ahead. Walking on like this would take me along the wall instead of toward the tree. I will turn left to line my path up with the tree trunk.", + "The turn has brought the cherry blossom tree and its trunk into the middle of my view, with clear paved ground between me and it. The pot is still in my hands, so I only need to close the distance to the trunk. I will walk forward along this heading.", + "The ceramic pot is secure in my hands and the cherry blossom tree stands straight ahead at the end of this narrow alley, its trunk rising between the teal barriers on my left and the parked bicycle on my right. The path along the tiled wall is still clear, so I will keep walking forward to carry the pot closer to the tree.", + "The trunk of the cherry blossom tree now fills much more of my view and the fallen petals on the tiles are close underfoot, so I am nearly at the planting area. I still have several paces of clear ground before the corner, so I will step forward again while carrying the pot.", + "The tree trunk and the wall corner behind it dominate my view, with the bicycle close on my right and the barrier on my left. I am almost at the base of the cherry blossom tree, so I will advance once more to reach ground where the pot can sit beside it.", + "I am right up against the cherry blossom trunk with the tiled wall filling most of my view, so continuing straight ahead offers no space to set the pot down. Turning right should swing my heading toward the open floor at the tree base near the bicycle, where the pot can be placed.", + "After turning, the trunk sits to my left and the bicycle frame is to my right, with a small stretch of petal-strewn tile between them. I will step forward a short way to stand at that spot beside the tree so the pot can be released in the right place.", + "I am standing tight against the tiled corner right beside the cherry blossom trunk, with the bicycle just off my right, so I have reached the intended placement spot. The pot is still in my hands, so I will release it here and it should come to rest on the ground by the tree.", + "The ceramic pot now rests on the ground at the base of the cherry blossom tree. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..881676baf1e136c95c34b698443144d6f4f1a805 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the blue door on the wall.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + [ + -6750.216, + 677.158, + 138.351, + 0.0, + -3.88, + 0.0 + ], + [ + -6624.645, + 668.642, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6499.075, + 660.125, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6373.504, + 651.609, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6247.934, + 643.092, + 138.775, + 0.0, + -3.88, + 0.0 + ], + [ + -6247.934, + 643.092, + 138.775, + 0.0, + -28.88, + 0.0 + ], + [ + -6137.727, + 582.305, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -6027.521, + 521.518, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5917.315, + 460.731, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5917.315, + 460.731, + 138.15, + 0.0, + -28.88, + 0.0 + ] + ], + "Rationale": [ + "I can see the blue door set into the tiled wall far off on my left edge, while my heading points across the open roadway instead. I will turn left to bring that door toward the middle of my view so a straight approach becomes possible.", + "The blue door now sits well within my view on the left side of the courtyard wall, with clear paving between me and it. I will move forward to start closing the distance across this open ground.", + "The blue door and the bins beside it look noticeably larger than a moment ago, so my heading is carrying me toward the target. I will continue forward since the paving ahead stays clear.", + "The door frame and handle are becoming distinct, and the tiled wall now fills much of my view. There is still a good gap of paving to cover, so I will keep advancing.", + "The blue door is clearly ahead and slightly left, and the teal bins to its right are close enough to read in detail. I will move forward again to shorten the remaining gap before fine alignment.", + "At this closer range the blue door has drifted to the left portion of my view while I am aimed more at the bins ahead. I will turn left to put the door squarely in front of me before advancing further.", + "The blue door is now centered in front of me with its handle and threshold mat plainly visible. I will move forward along this heading to close the last stretch of paving.", + "The door fills more of my view and the mat in front of its threshold is only a short step away. I will advance once more to bring myself right up to the wall.", + "The blue door now fills the center of my view with its frame and handle clearly visible, and the paved ground ahead of it is clear. I am still a short step back from the threshold, so I will move forward once more to close that last bit of distance and stand directly at the door.", + "The blue door's surface and handle fill my view at arm's length on the wall ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c794f38c221756f29d89477d7244311875c51ab9 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.811, + 722.508, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.406, + 767.858, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.406, + 767.858, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6389.836, + 759.341, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6264.265, + 750.825, + 145.804, + 0.0, + -3.88, + 0.0 + ], + [ + -6138.695, + 742.308, + 138.317, + 0.0, + -3.88, + 0.0 + ], + [ + -6013.124, + 733.792, + 138.317, + 0.0, + -3.88, + 0.0 + ], + [ + -5887.554, + 725.275, + 138.317, + 0.0, + -3.88, + 0.0 + ], + [ + -5887.554, + 725.275, + 138.317, + 0.0, + 21.12, + -0.0 + ], + [ + -5770.149, + 770.625, + 138.317, + 0.0, + 21.12, + -0.0 + ], + [ + -5770.149, + 770.625, + 138.317, + 0.0, + 21.12, + -0.0 + ] + ], + "Rationale": [ + "The cherry blossom tree with its pink canopy stands ahead to my left, rising above a low grey wall on the far side of this open paved area. Nothing blocks the pavement directly in front of me, so I will move forward to begin closing the gap toward it.", + "The blossoming canopy now fills more of the upper left of my view and the manhole cover and planter have slid closer, confirming I am gaining ground on the tree. The path ahead is still clear, so I will keep moving forward.", + "The tree and its trunk now sit well off to my left, while my heading points at the tiled building corner and the bicycle alcove on the right. I will turn left so the trunk moves toward the center of my view and my path leads into the paved bay where the tree grows.", + "After reorienting, the cherry tree's trunk and blossoms are now near the middle of my view with the open paved bay leading straight to it. The route between the teal bins on the left and the planter on the right is clear, so I will advance forward.", + "The trunk is still centered ahead and the canopy has grown larger overhead, so my heading remains good and distance is still shrinking. I will continue forward toward the base of the tree.", + "Fallen petals now cover the paving right in front of me and the trunk stands close in the middle of my view, but I am not yet at its base. I will keep advancing along this clear stretch of paving.", + "The trunk is close and slightly right of center, with the yellow bicycle parked beside it and open petal-strewn paving still between us. I will move forward again to reduce the last of the distance.", + "The bare trunk now dominates the middle of my view with petals thick on the ground just ahead, so I am nearly beside the tree. I will take another step forward to bring myself right up to its base.", + "The cherry blossom trunk now sits off to the right of my view center, with the tiled wall and the teal bins filling the left side. I will turn right to bring the trunk onto my forward axis so the last bit of approach runs straight at it.", + "With the trunk now roughly centered ahead and fallen petals covering the pavement at its base, my heading points straight at the tree. I will move forward one more step to close the small remaining gap and stand right beside it.", + "The cherry blossom trunk stands directly in front of me, filling the view with petals scattered at my feet. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1c510d754f6c56178bf6dc98ea00b37704eb63 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the pair of turquoise barriers against the wall.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.811, + 722.508, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.406, + 767.858, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.406, + 767.858, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6389.836, + 759.341, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6264.265, + 750.825, + 145.804, + 0.0, + -3.88, + 0.0 + ], + [ + -6138.695, + 742.308, + 138.317, + 0.0, + -3.88, + 0.0 + ], + [ + -6013.124, + 733.792, + 138.317, + 0.0, + -3.88, + 0.0 + ], + [ + -6013.124, + 733.792, + 138.317, + 0.0, + -28.88, + 0.0 + ], + [ + -5902.918, + 673.005, + 138.317, + 0.0, + -28.88, + 0.0 + ], + [ + -5792.711, + 612.218, + 138.317, + 0.0, + -28.88, + 0.0 + ], + [ + -5792.711, + 612.218, + 138.317, + 0.0, + -28.88, + 0.0 + ] + ], + "Rationale": [ + "I can see the pair of turquoise barriers set against the tiled wall to my left, beyond the blossoming tree and the paved walkway. They are still far off across the open road, so I will step forward to begin closing that gap.", + "The turquoise barrier pair is noticeably larger now and still sits to the left ahead of me, near the base of the blossom tree. The ground in front is clear pavement, so another forward step should keep shrinking the distance.", + "My heading has carried me alongside the corner of the grey building, and the barrier pair has slipped toward the far left of my view behind the planter and tree. I will turn left so the barriers move toward the center of my view and my path leads straight into that recessed courtyard.", + "After turning, the two turquoise barriers are now clearly in view ahead against the wall beside the blue door, with the tree just to their right. The walkway between me and them looks open, so I will advance toward them.", + "The barrier pair is bigger and their raised turquoise panels are now distinct, so my heading is carrying me into the courtyard as intended. I will keep stepping forward to close the remaining distance.", + "I am inside the enclosed courtyard now, with the two turquoise barriers standing against the wall to my left front and the bench to my right. There is still open floor between us, so another forward step should bring me nearer.", + "The barriers now fill much of the left side of my view, and the scooter and bench sit clear to the right of my line. I will advance once more to shorten the last stretch before I stand at the pair.", + "I am close to the wall, but the barrier pair has drifted to the left edge of my view while the tree trunk and scooter dominate straight ahead. Turning left should square me up on both barriers so I can step directly to them.", + "The pair of turquoise barriers now sits squarely in the center of my view, set flat against the tiled wall beside the blue door. My heading looks well aligned with them, so I will step forward to close the remaining gap.", + "The two barriers now fill the lower portion of my view and the wall behind them is close, so only a short distance remains. I will advance one more step to stand directly at the pair.", + "The two turquoise barriers are directly in front of me at arm's reach against the tiled wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0e620793150013659c033c16aa6c40e9f59990e4 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_b/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Approach the cherry blossom tree, then proceed to the green iron fence.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.857, + 739.54, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.453, + 784.89, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.453, + 784.89, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6389.882, + 776.373, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6264.312, + 767.857, + 145.813, + 0.0, + -3.88, + 0.0 + ], + [ + -6138.741, + 759.34, + 138.351, + 0.0, + -3.88, + 0.0 + ], + [ + -6013.171, + 750.824, + 138.351, + 0.0, + -3.88, + 0.0 + ], + [ + -6013.171, + 750.824, + 138.351, + 0.0, + 21.12, + -0.0 + ], + [ + -5895.766, + 796.173, + 138.351, + 0.0, + 21.12, + -0.0 + ], + [ + -5779.186, + 839.227, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -5779.186, + 839.227, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -5865.379, + 805.933, + 138.201, + 0.0, + 21.12, + -0.0 + ], + [ + -5951.573, + 772.639, + 138.201, + 0.0, + 21.12, + -0.0 + ], + [ + -5951.573, + 772.639, + 138.201, + 0.0, + 46.12, + -0.0 + ], + [ + -5951.573, + 772.639, + 138.201, + 0.0, + 71.12, + -0.0 + ], + [ + -5951.573, + 772.639, + 138.201, + 0.0, + 96.12, + -0.0 + ], + [ + -5951.573, + 772.639, + 138.201, + 0.0, + 121.12, + -0.0 + ], + [ + -5951.573, + 772.639, + 138.201, + 0.0, + 146.12, + -0.0 + ], + [ + -5951.573, + 772.639, + 138.201, + 0.0, + 171.12, + -0.0 + ], + [ + -6075.923, + 792.067, + 138.201, + 0.0, + 171.12, + -0.0 + ], + [ + -6200.274, + 811.496, + 151.262, + 0.0, + 171.12, + -0.0 + ], + [ + -6324.624, + 830.924, + 138.843, + 0.0, + 171.12, + -0.0 + ], + [ + -6324.624, + 830.924, + 138.843, + 0.0, + 146.12, + -0.0 + ], + [ + -6324.624, + 830.924, + 138.843, + 0.0, + 121.12, + -0.0 + ], + [ + -6324.624, + 830.924, + 138.843, + 0.0, + 96.12, + -0.0 + ], + [ + -6338.042, + 956.066, + 138.843, + 0.0, + 96.12, + -0.0 + ], + [ + -6351.46, + 1081.207, + 138.843, + 0.0, + 96.12, + -0.0 + ], + [ + -6364.878, + 1206.349, + 138.843, + 0.0, + 96.12, + -0.0 + ], + [ + -6364.878, + 1206.349, + 138.843, + 0.0, + 71.12, + -0.0 + ], + [ + -6325.615, + 1324.297, + 141.639, + 0.0, + 71.12, + -0.0 + ], + [ + -6325.615, + 1324.297, + 141.639, + 0.0, + 71.12, + -0.0 + ] + ], + "Rationale": [ + "The pink blossoming tree stands ahead and off to my left, rising above the low wall behind the green bins. The open pavement in front of me runs straight toward that corner, so I walk forward to cut the distance before deciding where to turn.", + "The blossoming canopy has grown larger and its trunk is now visible near the bins, confirming my heading is bringing me closer. The pavement ahead is still unobstructed, so I keep walking forward toward the corner of the building.", + "The tree and its trunk now sit well off to my left, while straight ahead of me is only the tiled corner wall and the bicycle recess. I turn left to swing my heading onto the tree so the open alley beside the bins lines up in front of me.", + "With the turn done, the blossoming tree now sits near the middle of my view at the end of the paved alley, its trunk rising past the green bins. The lane between the wall and the planter is clear, so I walk forward toward it.", + "The trunk and canopy have grown noticeably, and fallen petals now mark the paving in front of me. Nothing blocks the lane between the bins and the bench, so I keep advancing on the tree.", + "The blossoms now fill the upper part of my view and the trunk stands only a short way ahead beside the yellow bicycle. The paving between me and it stays clear, so I step forward again to close on the base of the tree.", + "The trunk is close now, with the canopy overhead and the bins passing on my left. A few more paces should bring me right up beside the tree, so I walk forward again.", + "I am nearly at the trunk, but my heading is drifting toward the tiled wall on my left while the open floor continues to my right past the parked bicycle. I turn right to face that clear strip so I can step in beside the tree without walking into the wall.", + "The pale trunk of the cherry blossom tree now stands just ahead on my left, with the yellow bicycle parked against the tiled wall to my right. There is still a clear strip of paving between them, so I will walk forward to close the last of the distance to the trunk.", + "The trunk has grown to fill the left side of my view and the bicycle crowds in from the right, but the gap between them is still walkable. One more step forward should put me right at the base of the blossom tree.", + "The bark of the cherry blossom trunk is directly beside me at arm's length, with fallen petals scattered over the paving at its base. I have reached the blossom tree. I mark reaching it, and now I turn my attention to the green iron fence.", + "I am wedged against the trunk with tiled wall close in front and the bicycle beside me, so there is no room here to swing around toward the green iron fence. Backing straight out of this tight corner should give me the clearance I need to reorient.", + "The trunk and bicycle have pulled back a little, yet I am still deep inside this narrow recess between the walls. Another step backward should open enough space to rotate freely before heading out toward the green iron fence.", + "I now have room to move, and the blossom tree behind the bicycle is no longer where I need to go. Turning right begins swinging my heading away from this enclosed corner so I can find the open route toward the green iron fence.", + "My view is still filled by the bicycle and the tiled wall of this alcove, with no way through in that direction. I will keep rotating right to bring the open passage back into sight.", + "Only blank tiled wall lies ahead now, with the bicycle sliding off my left edge. I will continue turning right until the open street beyond this recess comes into view and I can set off toward the green iron fence.", + "My view is filled edge to edge with the tiled wall of this narrow recess, so there is nothing here to steer by after reaching the blossoming tree. I will keep pivoting right to swing my heading off the wall and pick up the open side of the passage, since the green iron fence is nowhere in this pocket.", + "The pivot has started to pay off: an awning, a lit shop window and greenery are now edging into the right of my view past the tiled wall. Another turn right should bring that open frontage squarely ahead so I can walk out and hunt for the green iron fence.", + "The shopfront, signboards and a paved walkway are opening up on my right while the tiled wall slides away to the left. One more step of rotation should line my heading down that walkway, giving me a clear route out to look for the green iron fence.", + "I am now facing straight down the open passage, with the bench, manhole cover and clear pavement stretching ahead of me and no wall blocking the way. The only railing in sight is orange, not the green iron fence I want, so I will walk forward to reach the wider street beyond.", + "The shop entrance and its awning have grown noticeably larger and the road surface is opening out ahead of me. Still no green iron fence in this frame, so I will keep walking forward to reach the street where I can see further along it.", + "I have come out onto the road, with painted markings under my feet and the shop frontage and bench lining the near side. The green iron fence is not yet in view from here, so another step forward should carry me further into the street and widen what I can see.", + "Straight ahead I only have the shop facade, its awning and the signboards at close range, which is a dead end for my search. The roadway runs off to my left, so I will turn left to swing my view along that open street where a green iron fence could be standing.", + "The turn has brought the street into frame, with the road curving away to the left past parked scooters and a blossoming tree at the far corner. I will keep rotating left to bring that open stretch of road centred ahead, since the green iron fence is not yet visible along the shop side.", + "The shopfront awnings have swung off to my right and the narrow service lane now opens away to my left, with red cones and pale railing posts lining its far end. One more turn to the left should put that corridor squarely down my centre line before I commit to walking it.", + "The lane now runs straight ahead of me between the pale wall on my left and the shopfront on my right, and I can pick out low railing posts against the left-hand wall further in. Walking forward should carry me down that corridor and closer to the metal railing.", + "The railing posts along the left wall have grown noticeably and I can start to make out coloured panels between them. The lane is still clear underfoot, so another stride forward should bring that fencing into reach.", + "The panels on the left wall now read clearly as a run of green iron fencing on white posts, and I am nearly level with its near end. I will keep walking so that I draw alongside the barrier rather than stopping short of it.", + "The green iron fence runs along the wall on my left, off to the side of my heading rather than in front of me. Turning left should bring the barrier into the centre of my view so I can close the last bit of distance to it directly.", + "The green iron fence with its white posts now fills the left and centre of my view, only a short gap of pavement away. One step forward should put me right up against the barrier.", + "The green iron fence stands immediately in front of me, its posts and painted panels within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f82517d1a44a13fd9a906ceab105a022d4130a9 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_c/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Head to the blue bicycle, then move to the orange bicycle.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6750.262, + 694.19, + 138.15, + 0.0, + 46.12, + -0.0 + ], + [ + -6663.023, + 784.908, + 141.751, + 0.0, + 46.12, + -0.0 + ], + [ + -6575.784, + 875.627, + 139.036, + 0.0, + 46.12, + -0.0 + ], + [ + -6488.545, + 966.345, + 139.036, + 0.0, + 46.12, + -0.0 + ], + [ + -6488.545, + 966.345, + 139.036, + 0.0, + 21.12, + -0.0 + ], + [ + -6371.14, + 1011.695, + 139.036, + 0.0, + 21.12, + -0.0 + ], + [ + -6253.735, + 1057.045, + 142.234, + 0.0, + 21.12, + -0.0 + ], + [ + -6136.33, + 1102.394, + 138.363, + 0.0, + 21.12, + -0.0 + ], + [ + -6136.33, + 1102.394, + 138.363, + 0.0, + 21.12, + -0.0 + ], + [ + -6222.524, + 1069.101, + 138.363, + 0.0, + 21.12, + -0.0 + ], + [ + -6308.717, + 1035.807, + 143.355, + 0.0, + 21.12, + -0.0 + ], + [ + -6308.717, + 1035.807, + 143.355, + 0.0, + -3.88, + 0.0 + ], + [ + -6400.905, + 1042.059, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6400.905, + 1042.059, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6400.905, + 1042.059, + 138.843, + 0.0, + -53.88, + 0.0 + ], + [ + -6400.905, + 1042.059, + 138.843, + 0.0, + -78.88, + 0.0 + ], + [ + -6376.631, + 918.563, + 138.843, + 0.0, + -78.88, + 0.0 + ], + [ + -6376.631, + 918.563, + 138.843, + 0.0, + -53.88, + 0.0 + ], + [ + -6302.44, + 816.896, + 145.408, + 0.0, + -53.88, + 0.0 + ], + [ + -6302.44, + 816.896, + 145.408, + 0.0, + -28.88, + 0.0 + ], + [ + -6302.44, + 816.896, + 145.408, + 0.0, + -3.88, + 0.0 + ], + [ + -6176.87, + 808.38, + 150.534, + 0.0, + -3.88, + 0.0 + ], + [ + -6051.299, + 799.863, + 138.32, + 0.0, + -3.88, + 0.0 + ], + [ + -6051.299, + 799.863, + 138.32, + 0.0, + 21.12, + -0.0 + ], + [ + -5935.771, + 805.985, + 138.32, + 0.0, + 21.12, + -0.0 + ], + [ + -5935.771, + 805.985, + 138.32, + 0.0, + 46.12, + -0.0 + ], + [ + -5850.421, + 857.284, + 140.638, + 0.0, + 46.12, + -0.0 + ], + [ + -5850.421, + 857.284, + 140.638, + 0.0, + 46.12, + -0.0 + ] + ], + "Rationale": [ + "The blue bicycle stands under the sheltered passage on the far side of this open lot, sitting right of my current heading. Turning right should put that passage opening squarely ahead so I can walk straight at it instead of drifting toward the wall on my left.", + "The covered passage with the blue bicycle in it now sits ahead and slightly left, with clear open pavement between me and it. I will walk forward to cut that distance since nothing blocks the road surface in front of me.", + "The blue bicycle has grown noticeably larger against the doorway, so the previous step closed real ground. The pavement ahead is still clear, so I will keep walking straight to bring the alcove entrance within reach.", + "The alcove now fills much of my left-forward view and the blue bicycle is clearly parked inside it against the door. Another step forward should carry me up to the mouth of that passage before I need to change heading.", + "I am level with the passage now, and the blue bicycle sits inside it off to my left while my heading still points down the street. Turning left should line me up with the covered walkway so I can walk straight in toward the bicycle.", + "The covered walkway now runs straight away from me with the blue bicycle leaning against the right-hand wall partway down it. The tiled floor between us is clear, so I will step forward along the passage to close on it.", + "The blue bicycle is much closer on my right, its frame and front wheel now clearly separated from the door behind it. The lane ahead stays open past the grey unit, so I will keep walking to draw level with the bicycle.", + "The blue bicycle is only a short stretch ahead on my right, handlebars and saddle now plainly detailed. One more step should bring me alongside it rather than leaving me short of it in the passage.", + "The blue bicycle stands right beside me against the shutter wall, its frame and handlebar filling the near side of my view. I have reached it. I mark arriving at the blue bicycle and now turn my attention to finding the orange bicycle.", + "I am standing almost against the blue bicycle, wedged between it and the tiled alley wall, with no room to swing around here. Stepping back along the passage should open distance from the bike and the compressor unit so I can reorient toward the orange bicycle.", + "The bicycle has dropped back a little but I am still boxed between the wall and the bulky machine housing in the alley. Another backward step should give me the clearance I need before I swing my heading toward the way out.", + "With a little space behind me now, I can start changing my heading away from the shutter the blue bicycle leans against. Turning left should begin bringing the wider part of the alley around into my view for the walk toward the orange bicycle.", + "Angled as I am, the bicycle and the tall unit still sit close on my right and the tiled wall crowds my left. Backing up one more step should give me enough room to keep rotating without scraping past them.", + "I have room behind me now, and the bicycle has slipped to the far right of my view. Continuing to turn left should keep swinging my heading away from this narrow dead end and toward the brighter opening of the alley.", + "A gap has opened on my left onto a paved court with railings, greenery and a blue door, which looks like a way out of this cramped passage. Another left turn should bring that open ground in front of me as I look for the orange bicycle.", + "The open court with its railings and manhole cover now sits across the left half of my view, while the alley wall still blocks the right. One more left turn should square me with that open ground so I can walk out and search for the orange bicycle.", + "The narrow passage has opened into a paved yard with orange guard rails, service units and a blue door, and no orange bicycle stands anywhere in this view. With the blue bicycle already behind me, I need distance from the wall to see the rest of this yard. I will walk forward to open up the space ahead.", + "From here the left side is only a brick facade and a recessed doorway, while the yard continues to my right past the air-conditioning stack and the blue door. Nothing orange shows in the part I can see. I will turn right to sweep that unseen side of the yard.", + "Turning has brought the far corner of the yard into view, with the teal bins, the cherry tree and shaded ground beyond the blue door. That corner is still too distant to make out anything parked against its wall. I will step forward to close the gap and get a clearer look.", + "I am now well inside the yard, but my heading points at the blank tiled wall and the blue door rather than the corner past the bins. The tree and the space to my right are cut off at the edge of view. I will turn right to bring that corner in front of me.", + "Past the bins and the tree, something yellow-orange with a pale wheel is just appearing at the right margin against the tiled wall. It sits too far off my centre line to approach directly. I will turn right again to place it in front of me.", + "The orange bicycle with its boxy front carrier is now visible leaning against the tiled wall beyond the tree, roughly ahead of me. The ground between us is clear paving and fallen blossom. I will walk forward to close on it.", + "The orange bicycle is larger in view now, but the tree trunk and the bench still separate me from it. I am not yet close enough to count myself at it. I will keep walking forward to shorten the remaining distance.", + "The orange bicycle now sits clearly against the wall, but it has drifted to the right of my centre line while the tree and bins fill the middle of my view. Walking straight on would carry me past its side. I will turn right to face it squarely.", + "The orange bicycle with its boxy front basket stands just ahead against the tiled wall at the end of this narrow corner, and nothing blocks the paved strip between us. I will step forward to close the remaining gap toward it.", + "The orange bicycle is now within a couple of paces, but it sits toward the right side of my view, angled against the wall rather than squarely in front of me. Turning right should bring it centered ahead before I close the last of the distance.", + "The orange bicycle and its basket now sit directly along my heading, only a short step away beside the tiled wall. I will walk forward to bring myself right up beside it.", + "The orange bicycle's basket and frame fill my view at arm's length. Both named destinations are reached, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_d/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f1961681a517c6de2ae8d5589271372c842505b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_d/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the blue door, then navigate to the orange bike.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0, + 21.12, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.262, + 694.19, + 138.15, + 0, + 21.12, + 0 + ], + [ + -6632.857, + 739.54, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.857, + 739.54, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6632.857, + 739.54, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6522.651, + 678.753, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6412.445, + 617.966, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6302.429, + 566.724, + 145.33, + 0.0, + -28.88, + 0.0 + ], + [ + -6193.026, + 523.753, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -6082.82, + 462.966, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + -28.88, + 0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + -28.88, + 0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + -3.88, + 0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 21.12, + -0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 46.12, + -0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 71.12, + -0.0 + ], + [ + -5931.887, + 521.266, + 138.15, + 0.0, + 71.12, + -0.0 + ], + [ + -5891.161, + 640.354, + 138.15, + 0.0, + 71.12, + -0.0 + ], + [ + -5850.434, + 759.441, + 138.15, + 0.0, + 71.12, + -0.0 + ], + [ + -5850.434, + 759.441, + 138.15, + 0.0, + 71.12, + -0.0 + ] + ], + "Rationale": [ + "The blue door sits far off to my left along the wall beyond the bins, while the building corner ahead of me crowds that side of my view. I will walk forward into the open paving so I have clear room and a better line before swinging toward the door.", + "From this spot the blue door lies well to my left, near the edge of what I can see, and my body still faces the open street. I will turn left to bring that doorway toward the middle of my view before advancing.", + "The blue door is now in sight across the paved yard, but it still sits left of straight ahead with the green bins beside it. One more turn left should put it near the center of my heading so I can walk a direct line to it.", + "The blue door now stands roughly ahead of me across the open tiled yard, with the railings safely off to my left. My heading looks good, so I will step forward to close the distance.", + "The blue door has grown larger and remains slightly ahead of me, and nothing blocks the open paving in between. I will keep walking straight toward it.", + "I can now make out the door's handle and the bins standing to its right, so my line is still good. Another step forward should bring me appreciably nearer the doorway.", + "The blue door fills much more of my view and the metal grate at its threshold is visible, yet I am still several paces short of standing at it. I will continue forward along the same heading.", + "The blue door is close now, its frame and handle sharp just ahead and slightly right of my line. One more step should bring me right up against it.", + "The blue door now fills the middle of my view with its handle clearly visible, but there is still a short stretch of tiled pavement between me and its threshold. One more step forward should bring me right up against the door.", + "The blue door fills my view from frame to frame, its handle an arm's length away, so I am standing right at it. I have reached the blue door. I mark reaching it before turning away toward the orange bike parked in this yard.", + "Pressed this close, the blue door blocks nearly everything I can see, so I cannot pick out the orange bike from here. Turning right should swing my view off the door panel and back toward the open yard where the bike stands.", + "The turn has already peeled part of the tiled wall and a green bin into view on the right, but the blue door still takes up the left half of my sight. Another turn right should carry my heading further into the open yard where the bike should be.", + "Swinging further right has opened the yard, and I can now see a yellow orange bike leaning near the blossom tree at the far right edge. Turning right once more should bring that bike closer to the center of my heading.", + "The orange bike now stands clearly ahead to the right of the tree, but it still sits off my center line with the wall filling the left side. One more turn right should line my heading up with the bike for a straight walk toward it.", + "The orange bike is now squarely ahead against the tiled wall, with clear paving between us. I will walk forward to close that gap.", + "The orange bike has grown noticeably larger and stays centered ahead of me, though a few paces of paving still separate us. I will keep walking forward to reach it.", + "The orange bike now fills much of my view against the tiled wall just ahead and slightly to my left, but a short gap of paving still separates us. One more step forward should bring me right up beside it.", + "The orange bike's frame and seat are directly in front of me at arm's length. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_e/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd3a6c85e14599fd3bfaa8107996a3a5b19dd9f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_e/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Make your way to the blue bicycle, then approach the blue door.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6750.262, + 694.19, + 138.15, + 0.0, + 46.12, + -0.0 + ], + [ + -6663.023, + 784.908, + 141.751, + 0.0, + 46.12, + -0.0 + ], + [ + -6575.784, + 875.627, + 139.036, + 0.0, + 46.12, + -0.0 + ], + [ + -6488.545, + 966.345, + 139.036, + 0.0, + 46.12, + -0.0 + ], + [ + -6401.305, + 1057.063, + 139.07, + 0.0, + 46.12, + -0.0 + ], + [ + -6401.305, + 1057.063, + 139.07, + 0.0, + 21.12, + -0.0 + ], + [ + -6283.901, + 1102.413, + 146.513, + 0.0, + 21.12, + -0.0 + ], + [ + -6166.496, + 1147.763, + 139.112, + 0.0, + 21.12, + -0.0 + ], + [ + -6166.496, + 1147.763, + 139.112, + 0.0, + 21.12, + -0.0 + ], + [ + -6252.689, + 1114.469, + 141.698, + 0.0, + 21.12, + -0.0 + ], + [ + -6338.882, + 1081.175, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6425.076, + 1047.881, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6425.076, + 1047.881, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6425.076, + 1047.881, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6425.076, + 1047.881, + 138.843, + 0.0, + -53.88, + 0.0 + ], + [ + -6425.076, + 1047.881, + 138.843, + 0.0, + -78.88, + 0.0 + ], + [ + -6400.802, + 924.385, + 138.843, + 0.0, + -78.88, + 0.0 + ], + [ + -6400.802, + 924.385, + 138.843, + 0.0, + -53.88, + 0.0 + ], + [ + -6326.611, + 822.719, + 138.843, + 0.0, + -53.88, + 0.0 + ], + [ + -6252.42, + 721.052, + 141.567, + 0.0, + -53.88, + 0.0 + ], + [ + -6252.42, + 721.052, + 141.567, + 0.0, + -28.88, + 0.0 + ], + [ + -6142.213, + 660.265, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -6032.007, + 599.478, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5921.801, + 538.691, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5921.801, + 538.691, + 138.15, + 0.0, + -28.88, + 0.0 + ] + ], + "Rationale": [ + "From the open street I can already pick out the blue bicycle parked in the sheltered recess ahead and slightly to my right, past the corner of the tiled building. My current heading points too far left, toward the tree and bins. Turning right should bring that recess and the bicycle into line with my path.", + "The recess holding the blue bicycle now sits ahead of me across the open roadway, with clear paving between us. Nothing blocks the direct line, so I will walk forward to cut down that distance.", + "The bicycle and the doorway beside it are noticeably larger now, so my heading is carrying me correctly across the road. The way ahead over the asphalt is still unobstructed. I will keep walking forward toward the sheltered passage.", + "I am close enough now to see the bicycle's blue frame and basket clearly under the canopy, with the tiled kerb just short of me. Another step forward should put me at the mouth of that passage.", + "The passage entrance is right in front of me and the blue bicycle stands against the wall on my left within it. Stepping forward again should carry me in past the corner rather than stopping outside it.", + "The blue bicycle sits off to my left against the inner wall, while my heading runs into the blank tiled corner on my right. Turning left should swing the covered walkway and the bicycle straight in front of me so I can walk directly up to it.", + "The covered walkway now runs straight ahead of me, with the blue bicycle propped beside the recessed door partway along it. The tiled floor is clear of obstructions on that line. I will walk forward to close the last of the gap.", + "The blue bicycle is only a short stretch of paving away now, its frame and handlebar filling much of the right side of the walkway. One more step forward should bring me alongside it.", + "The blue bicycle fills my view, its frame and handlebar right at arm's length against the wall. I have arrived at it, so I mark reaching the blue bicycle here before setting off for the blue door.", + "I am pressed right against the bicycle and the recessed doorway, with no room to swing around without clipping the bike. The alley behind me is open, so I will step straight back to gain clearance before changing heading toward the blue door.", + "The bicycle has separated from my immediate foreground but still sits close on my right along the wall. Another step back should put the whole alley width in front of me, giving room to reorient toward the blue door.", + "I am clear of the bicycle now, though the compressor unit and the wall still crowd my right side. One more step back along the open alley should leave me space to turn freely and pick a route out toward the blue door.", + "I now have clear alley on both sides of me, enough room to change heading. The bright opening of the passage lies off to my left, so I will turn that way to start facing the route out of this narrow corridor toward the blue door.", + "My heading has swung partway around and the corridor wall still fills most of what I face. Continuing to turn left should bring the open side street, where a blue door may stand, into the front of my view.", + "A blue door is now visible across the small open area to my left, set in the tiled facade beyond the planting. I will keep turning left to bring that door and the walkable ground leading to it in front of me.", + "The blue door sits across the courtyard, but a planter and the corner wall block the ground straight ahead of me. Turning further left should face me down the clear paved opening so I can walk out toward that door.", + "A blue door sits on the tiled wall across the small courtyard to my right, past the guardrails and the air conditioning units. It is still too far to reach from here, so I will walk forward into the open paved area to close the gap before squaring up on it.", + "The blue door now stands clearly on the right edge of my view while my heading still points across the courtyard toward the recessed entrance ahead. I will turn right so the door moves toward the middle of my view and I can walk straight at it.", + "The blue door with its pale handle is now roughly ahead of me, framed between the stacked units and the teal bins. The paving between us is clear, so I will step forward to shorten the remaining distance.", + "The blue door has grown larger and its handle is easy to make out, but I am still several paces short of it. I will keep walking forward across the open tiles to bring myself nearer.", + "The blue door has drifted to the right of my heading as I closed in, with the tall units filling the left of my view. I will turn right to bring the door back toward the centre so my remaining steps carry me straight to it.", + "The blue door now sits comfortably in front of me with the teal bins beside it, and the tiled ground between us is open. I will walk forward to close on the doorway.", + "The door and its lever handle are clearly resolved just ahead and slightly left, and the bins stay off to the side of my path. A further step forward should bring me within arm's reach of the door.", + "The blue door now fills much of my view with the doormat right at its base, so only a short gap remains. I will take one more step forward to stand directly at it.", + "The blue door fills my view at arm's length, its handle right in front of me. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c662f556b128b423d997aa07b5b65128ec16750 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the blue bicycle parked under the covered walkway.", + "Type": 0, + "Start_Pose": [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + -6641.276, + 1004.776, + 138.843, + 0.0, + 24.0, + -0.0 + ], + [ + -6526.298, + 1055.967, + 138.843, + 0.0, + 24.0, + -0.0 + ], + [ + -6411.32, + 1107.159, + 138.843, + 0.0, + 24.0, + -0.0 + ], + [ + -6296.342, + 1158.35, + 146.242, + 0.0, + 24.0, + -0.0 + ], + [ + -6181.029, + 1199.54, + 140.73, + 0.0, + 24.0, + -0.0 + ], + [ + -6133.179, + 1199.54, + 140.73, + 0.0, + 24.0, + -0.0 + ], + [ + -6133.179, + 1199.54, + 140.73, + 0.0, + 24.0, + -0.0 + ] + ], + "Rationale": [ + "I can see the blue bicycle leaning against the wall inside the covered walkway ahead, just past the archway opening. My heading already points into that passage, so I will move forward to close the gap without turning.", + "The archway is now much closer and the bicycle remains centered slightly right of my path under the canopy. The route stays clear, so I will continue straight to keep closing distance.", + "I have entered the covered walkway, with the tiled passage running ahead and the blue bicycle parked against the wall to my front right. Nothing blocks the lane, so another forward step should bring me nearer the target.", + "The bicycle and the air conditioning unit next to it are noticeably larger now, so I am well inside the walkway. My heading still lines up with the passage, so I will keep advancing toward the bike.", + "The blue bicycle now fills the left side of my view at close range, parked beside the dark doorway. A short further advance should place me right alongside it, so I will step forward again.", + "I am nearly beside the bicycle, with its frame and handlebars filling the left of my view and the wall very close on my right. A small final step should bring me level with the bike, so I will nudge forward.", + "The blue bicycle stands directly beside me under the covered walkway, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..521d086ef59f6cc5694844ee4c323cc0ac91155d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Navigate to the turquoise bin near the green bushes.", + "Type": 0, + "Start_Pose": [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + -6755.526, + 962.918, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + -6629.686, + 960.721, + 138.843, + 0.0, + -1.0, + 0.0 + ], + [ + -6503.846, + 958.525, + 138.843, + 0.0, + -1.0, + 0.0 + ], + [ + -6503.846, + 958.525, + 138.843, + 0.0, + -26.0, + 0.0 + ], + [ + -6390.725, + 903.352, + 138.843, + 0.0, + -26.0, + 0.0 + ], + [ + -6277.604, + 848.179, + 151.934, + 0.0, + -26.0, + 0.0 + ], + [ + -6164.482, + 793.006, + 141.475, + 0.0, + -26.0, + 0.0 + ], + [ + -6051.361, + 737.833, + 138.15, + 0.0, + -26.0, + 0.0 + ], + [ + -5938.24, + 682.66, + 138.15, + 0.0, + -26.0, + 0.0 + ], + [ + -5938.24, + 682.66, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + -5812.4, + 680.464, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + -5812.4, + 680.464, + 138.15, + 0.0, + -1.0, + 0.0 + ] + ], + "Rationale": [ + "From the street I can just catch a turquoise container and a patch of green foliage at the far left edge of my view, while my heading points at the building archway ahead. Turning left should swing that turquoise bin and its bushes toward the center of my view so I can line up a straight approach.", + "Now the turquoise bins are clearly in view on the left side of the open paved area, sitting right beside the leafy green bush under the blossom tree. The path across the road ahead of me looks clear, so I will move forward to start closing the distance to them.", + "The bins and the bush have grown noticeably larger on the left, confirming my forward motion is closing on the target. The ground ahead is still open pavement, so another step forward should bring me nearer before I refine my heading.", + "I am close enough now that the turquoise bins and the green bush sit well off to my left, with a support pillar cutting across the middle of my view. Turning left should place the bins near the center of my heading so I can walk straight in without brushing the pillar.", + "The two turquoise bins are now ahead of me against the wall beside the blue door, with the green bush right in front of them. The courtyard floor between us is clear, so I will move forward to keep shrinking the gap.", + "The bins are larger and more centered than before, so my heading is holding well onto the target. I will step forward again since nothing blocks the paved stretch between me and the bins.", + "The turquoise bins now fill a good part of the middle of my view against the tiled wall, but there is still a few steps of open ground before I am beside them. I will continue forward to reduce that remaining distance.", + "The pair of turquoise bins is close ahead and slightly left, with the blue door and wall directly behind them. Another forward step should bring me right up to the bins without overshooting past them.", + "The pair of turquoise bins now fills much of the view ahead against the tiled wall, with clear paving between me and them. I will step forward again to close the last of that gap and get within arm's reach of the bins.", + "I am now very close, with the bins spanning the lower left of my view and the blank tiled wall filling the space straight ahead. Turning right should swing my heading off the wall and onto the open paving beside the bins, so a final step can bring me right up next to them.", + "After the turn the turquoise bins sit on my left with the tree trunk and open paving ahead, so my path is clear. One short step forward should place me directly alongside the nearer bin at stopping distance.", + "The turquoise bin fills the lower left of my view at arm's length. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91b7f0f1bf4ca2fb566aeda496c14a163ecbd716 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006756_y000963_z000138_t0_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Proceed to the door on the brick-paved entrance of the covered alleyway.", + "Type": 0, + "Start_Pose": [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + -6641.276, + 1004.776, + 138.843, + 0.0, + 24.0, + -0.0 + ], + [ + -6526.298, + 1055.967, + 138.843, + 0.0, + 24.0, + -0.0 + ], + [ + -6411.32, + 1107.159, + 138.843, + 0.0, + 24.0, + -0.0 + ], + [ + -6296.342, + 1158.35, + 146.242, + 0.0, + 24.0, + -0.0 + ], + [ + -6181.029, + 1199.54, + 140.73, + 0.0, + 24.0, + -0.0 + ], + [ + -6133.179, + 1199.54, + 140.73, + 0.0, + 24.0, + -0.0 + ], + [ + -6133.179, + 1199.54, + 140.73, + 0.0, + 24.0, + -0.0 + ] + ], + "Rationale": [ + "From the street I can see the covered alleyway ahead through the concrete arch, with its brick-paved floor and a dark doorway set into the right-hand wall beside a parked bicycle. My heading already points into that opening, so I will move forward to close the gap from the roadway.", + "The archway now fills more of my view and the brick paving and the dark door on the right side of the alley are clearer. Nothing blocks the entry lane, so I continue straight forward to enter the covered passage.", + "I am now under the canopy with the tiled wall on my left and the brick paving underfoot, and the recessed dark door with the bicycle sits ahead on my right. The distance is still too large for arrival, so I keep advancing along the passage.", + "The door frame and its handle plate are becoming distinguishable a short way ahead on my right, past the air-conditioning unit and bicycle. I continue forward to bring myself level with that doorway.", + "The dark doorway now dominates the right portion of my view and its lever handle is close and clearly visible. I move forward once more to finish closing the remaining short distance to it.", + "I am nearly at the door, with its handle just off to my front right and only a small gap of brick paving left. A short final advance should place me directly at the doorway on the brick entrance.", + "The door's lever handle and panel fill my view at arm's length on the brick-paved alley entrance. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006776_y001966_z000138_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-006776_y001966_z000138_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f9bc5f34b1c601bdb5f681e558cce9c38a16b171 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006776_y001966_z000138_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the trash bag by the orange traffic bollard, then place it by the cherry blossom tree.", + "Type": 5, + "Start_Pose": [ + -6775.617, + 1966.156, + 138.15, + 0, + 21.12, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -6291.267, + 2153.802, + 58.843, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6775.617, + 1966.156, + 138.15, + 0, + 21.12, + 0 + ], + [ + -6670.708, + 2021.183, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6553.304, + 2066.533, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6435.899, + 2111.883, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6435.899, + 2111.883, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6318.494, + 2157.233, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6318.494, + 2157.233, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6231.255, + 2247.952, + 138.864, + 0.0, + 46.12, + -0.0 + ], + [ + -6144.016, + 2338.67, + 138.864, + 0.0, + 46.12, + -0.0 + ], + [ + -6056.777, + 2429.389, + 138.864, + 0.0, + 46.12, + -0.0 + ], + [ + -5969.539, + 2520.108, + 146.483, + 0.0, + 46.12, + -0.0 + ], + [ + -6019.445, + 2468.21, + 139.816, + 0.0, + 46.12, + -0.0 + ], + [ + -6019.445, + 2468.21, + 139.816, + 0.0, + 46.12, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -6291.267, + 2153.802, + 58.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6291.267, + 2153.802, + 58.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6291.267, + 2153.802, + 58.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6291.267, + 2153.802, + 58.843, + 0.0, + 0.0, + 0.0 + ], + [ + -6444.162, + 2131.583, + 108.95, + -28.202, + 71.265, + 1.862 + ], + [ + -6326.519, + 2177.031, + 108.462, + -28.195, + 71.268, + 1.862 + ], + [ + -6335.243, + 2172.234, + 109.533, + -28.193, + 96.269, + 1.872 + ], + [ + -6247.321, + 2262.051, + 109.531, + -28.198, + 96.27, + 1.868 + ], + [ + -6159.911, + 2352.953, + 109.168, + -28.196, + 96.267, + 1.865 + ], + [ + -6072.471, + 2443.882, + 108.63, + -28.193, + 96.276, + 1.869 + ], + [ + -5985.14, + 2534.679, + 109.333, + -28.219, + 96.246, + 1.85 + ], + [ + -5970.924, + 2518.666, + 99.816, + 0.0, + 46.12, + -0.0 + ], + [ + -5970.924, + 2518.666, + 99.816, + 0.0, + 46.12, + -0.0 + ] + ], + "PD_Dist_2D": [ + 519.4, + 401.9, + 276.2, + 150.6, + 21.4, + 21.4, + 22.5, + 21.4, + 21.4, + 21.4, + 21.3, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the dark trash bag sitting in the street ahead, close to the orange and white bollard on the left side, with the cherry blossom tree further down on the right. It is still well beyond grasping range, so I will walk straight ahead along the open roadway toward it. This should close a good part of the gap without needing any turn.", + "The trash bag now appears noticeably larger and lower in my view, confirming I am closing on it along a straight line. Nothing blocks the roadway between me and the bag, so I will keep walking forward. A couple more steps should bring it within reach.", + "The bag now fills a large part of the lower view with the striped bollard right beside it, so I am nearly on top of the target. I still seem slightly short of a comfortable grasping distance, so I will take one more step forward. That should place the bag directly at my feet for a pick attempt.", + "The trash bag is now immediately in front of me at the base of my view, right beside the orange and white bollard named in the task. This is the closest I can stand without stepping over it, so I will reach down and attempt to pick it up. If the grasp registers, I should be carrying the bag and free to head toward the cherry blossom tree.", + "The grasp worked, since the bag is no longer lying on the pavement and my view is now clear down the street while it stays with me. The cherry blossom tree stands ahead on the right side of the road, past the yellow railings. I will walk forward along the street to begin carrying the bag toward it.", + "Carrying the bag, I can see the cherry blossom tree standing on the right side of the street near the yellow railings, offset from my current straight heading. Continuing forward as I am would carry me past it down the road. I will turn right to bring the tree and its sidewalk area into the center of my path.", + "After the turn, the cherry blossom tree and the yellow barriers beside it now sit ahead of me rather than off to one side. The tree base is still several paces away across the road and sidewalk. I will walk forward to close that distance while carrying the bag.", + "The cherry blossom tree trunk is clearly closer now, with the yellow barriers and brick paving at its base coming into view. I am still out on the roadway rather than beside the trunk where the bag should be set down. I will keep walking forward to reach the tree's base.", + "I am still carrying the trash bag along the sidewalk, and the pale trunk of the cherry blossom tree now stands close ahead of me with the yellow barriers and bench off to my left. The bag is not yet next to that trunk, so I will keep walking forward to close the remaining gap. This step should bring the tree base within easy placing range.", + "The cherry blossom trunk is now very close on my left, with the tiled building wall and outdoor unit filling the right side of my view. I am nearly beside the tree base but not quite level with it, so I will advance one more short step. That should put me right at the trunk where the bag belongs.", + "I am now standing directly beside the cherry blossom trunk, which rises immediately at my left within arm's reach, and the paved area in front of me is clear. This matches the requested placement spot for the trash bag I am carrying. I will release the bag here so it settles at the base of the tree.", + "The trash bag is now resting on the ground right at the base of the cherry blossom tree. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a95f74149dfd26ec271b4ba33e49495320da231e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search around the buildings for the blue bicycle near a wall, then head toward it.", + "Type": 1, + "Start_Pose": [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -46.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -6682.403, + 606.056, + 143.762, + 0.0, + 28.96, + -0.0 + ], + [ + -6572.281, + 666.997, + 139.008, + 0.0, + 28.96, + -0.0 + ], + [ + -6572.281, + 666.997, + 139.008, + 0.0, + 53.96, + -0.0 + ], + [ + -6498.232, + 768.767, + 139.008, + 0.0, + 53.96, + -0.0 + ], + [ + -6424.183, + 870.537, + 139.008, + 0.0, + 53.96, + -0.0 + ], + [ + -6350.134, + 972.308, + 139.008, + 0.0, + 53.96, + -0.0 + ], + [ + -6276.085, + 1074.078, + 146.339, + 0.0, + 53.96, + -0.0 + ], + [ + -6276.085, + 1074.078, + 146.339, + 0.0, + 28.96, + -0.0 + ], + [ + -6165.963, + 1135.019, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -6087.552, + 1149.121, + 138.9, + 0.0, + 28.96, + -0.0 + ], + [ + -6087.552, + 1149.121, + 138.9, + 0.0, + 28.96, + -0.0 + ] + ], + "Rationale": [ + "My view is completely filled by a pale metal door set in a tiled wall, so there is no bicycle and no usable path information here. I will turn right to start a steady scan of the surroundings and open up the space beside this building.", + "Turning has revealed a paved yard on my right with another building and a blue door, but no bicycle is in sight yet. I will keep rotating in the same direction to sweep more of this yard and the walls around it.", + "The yard is opening further with a blossoming tree, bins and a blue door along the far wall, yet nothing resembling the blue bicycle appears here. I will continue the same rightward scan to bring the still hidden portion of the block into view.", + "At the right edge of my view I can just make out a blue bicycle standing in a recess against a grey building wall. I will turn right once more to bring that recess toward the center of my view before committing to an approach.", + "The blue bicycle is now clearly visible ahead on my right, parked against the wall inside the recessed opening of the grey building. The road in front of me is clear, so I will walk forward to close the distance toward it.", + "The bicycle against the wall has grown larger and stays in the recess to my right front, confirming I am closing on the right target. I will keep walking forward along this open stretch to get nearer to that alcove.", + "I am now close to the grey building, and the blue bicycle sits inside the alcove slightly to the right of my heading, partly masked by the corner. I will turn right to line my heading up with that alcove so the approach stays direct.", + "The turn has put the alcove and the blue bicycle beside the wall roughly ahead of me, with clear pavement leading in. I will step forward to continue closing on the bicycle.", + "The blue bicycle is clearly visible ahead, leaning against the wall in the recessed alcove of the grey building. It is still several body lengths away, so I will keep walking straight along the alley to close the gap.", + "The bicycle now fills more of my view against the wall beside the door, confirming I am on the right line toward it. The tiled ground in front of it is still open, so I will step forward again to shorten the remaining distance.", + "I can see the bicycle's frame and wheels in detail now, parked flush against the wall next to the doorway. There is still a short stretch of pavement before I stand beside it, so I will continue advancing.", + "My heading has drifted so the bicycle sits toward the left edge of my view while the blank wall and glass block panel dominate the center. I will turn left to put the bicycle back in front of me before closing the last of the distance.", + "The turn brought the blue bicycle back near the center of my view, standing against the wall beside the door. A couple of steps of tiled walkway remain, so I will move forward to come up close to it.", + "I am nearly beside the bicycle, with its handlebars and frame filling much of my view against the wall. One more short step should place me directly at it.", + "The blue bicycle stands directly in front of me against the wall, within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_c/infos.json b/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..643ff5b3e6d4665081ab85141c825bdb4cd8213a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Scan the surrounding area for a blooming cherry blossom tree, then walk to it.", + "Type": 1, + "Start_Pose": [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -46.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -6682.222, + 570.193, + 143.538, + 0.0, + 3.96, + -0.0 + ], + [ + -6556.663, + 578.884, + 139.001, + 0.0, + 3.96, + -0.0 + ], + [ + -6431.105, + 587.576, + 139.001, + 0.0, + 3.96, + -0.0 + ], + [ + -6305.546, + 596.268, + 144.457, + 0.0, + 3.96, + -0.0 + ], + [ + -6179.988, + 604.96, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -6054.429, + 613.652, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -5928.871, + 622.343, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -5928.871, + 622.343, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -5818.749, + 683.284, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -5708.628, + 744.225, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -5708.628, + 744.225, + 138.15, + 0.0, + 28.96, + -0.0 + ] + ], + "Rationale": [ + "I am standing right up against a pale metal door flanked by tiled wall, so nothing of the surrounding area is visible from this heading. To begin scanning for a blooming cherry blossom tree, I will turn right and start a consistent sweep away from this blank facade.", + "The rotation has opened up a paved courtyard on my right with pipework and a blue door, but the tiled wall corner still blocks much of that area and no blossoming tree is in sight yet. I will keep turning right in the same direction to bring more of that open courtyard into sight.", + "A tree covered in pink blossoms has appeared at the far right edge of my view, beyond the railing and the teal bins in the courtyard. I will continue turning right to center that blooming cherry tree before committing to an approach.", + "The blooming cherry blossom tree is now roughly centered ahead of me at the end of the open courtyard, so the scan has found its target. The paved ground in front is clear, so I will walk forward to close the distance toward the tree.", + "The blossoming canopy has grown noticeably larger and the courtyard walls are widening around me, confirming that my heading leads straight to the tree. The path over the paving stones stays open, so I will keep walking forward.", + "The pink canopy now spreads across the upper part of my view and the trunk is clearly visible ahead against the tiled wall. Nothing blocks the paved stretch in front of me, so I will continue advancing toward the tree.", + "I am well inside the courtyard now, with the teal bins to the left and the yellow bicycle to the right of the trunk, and the blossoming tree still directly ahead. I am not yet close enough to stand at its base, so I will keep walking forward.", + "The trunk is close enough that the blossoms fill the top of my view and fallen petals cover the paving near its base. A short additional advance should place me right beside the tree, so I will step forward again.", + "The blossoming tree is now close, its pale trunk rising just right of center with pink flowers spreading overhead. The tiled ground between me and its base is clear of obstructions, so I will keep walking straight to close the remaining gap.", + "The trunk is much larger now and scattered petals cover the paving near its base, confirming I am nearly at the blooming tree. A few more steps should bring me right up against it, so I will continue advancing.", + "At this short range the trunk has drifted toward the right edge of what I can see, with the wall filling the left side straight ahead. Turning right should bring the tree back to the center of my heading before I take the last steps.", + "The turn has placed the pale trunk near the middle of my heading, with petal-strewn ground leading straight to its base. I will step forward to close the last short distance to the tree.", + "The trunk now stands tall and centered only a step or two away, with petals thick on the ground at its foot. One more forward step should place me right beside the blooming tree.", + "The cherry tree's trunk stands directly in front of me at arm's length, with petals on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_d/infos.json b/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1bb9de6ca3a889487a4641143e308e536a0373eb --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Find the gray building with a blue door, then approach that door.", + "Type": 1, + "Start_Pose": [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -46.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6745.0, + 506.774, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6660.046, + 458.31, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6544.962, + 458.259, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6433.936, + 432.161, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6316.468, + 386.975, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6316.468, + 386.975, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -6190.909, + 395.667, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -6065.351, + 404.359, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -5939.792, + 413.051, + 144.459, + 0.0, + 3.96, + -0.0 + ], + [ + -5939.792, + 413.051, + 144.459, + 0.0, + -21.04, + 0.0 + ], + [ + -5856.857, + 393.771, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -5856.857, + 393.771, + 138.15, + 0.0, + -21.04, + 0.0 + ] + ], + "Rationale": [ + "My view is almost entirely filled by a pale door panel and a tan tiled wall directly in front of me, so no gray building with a blue door is visible from this pose. I will turn right to begin a consistent scan away from this blocked frontage and open up the surrounding area. This should reveal whether the target facade lies to that side.", + "Turning has opened the scene, and near the right edge I can now make out a blue door set into a gray tiled building across an open paved yard. I will continue turning right in the same direction to bring that candidate target closer to the center of my view. Holding the same scan direction should keep the sighting stable rather than losing it again.", + "The gray tiled building with its blue door is now clearly in view ahead and slightly right, matching the described target. The paved walkway between the tan wall on my left and the railing on my right is clear, so I will step forward to close distance. Committing to this sighting is better than continuing to scan.", + "The blue door on the gray building has grown larger and sits ahead on my right, confirming I am closing on it. The lane beside the tiled wall remains unobstructed ahead of me. I will keep walking forward to shorten the remaining distance.", + "The target door and the green bins beside it are noticeably nearer, and the tan wall on my left is beginning to fall away as the yard opens up. Nothing blocks the paving in front of me. I will advance again to continue the approach.", + "I have emerged into the open courtyard and the gray tiled facade with the blue door stands ahead of me past a bench and equipment housing on the left. The direct paved route toward the door is still clear. I will step forward again to reduce the remaining gap.", + "The blue door now fills a good part of the view with its threshold step visible, so I am within a short walk of it. The paving between me and the door is free of obstacles, with the bench safely off to my left. I will move forward once more to keep closing in.", + "The blue door sits right of center in my view, while the bench and the building corner crowd the left side of my path. I will turn right to point my heading along the open paving that leads toward the door rather than into that structure. This should give me a cleaner line for the final approach.", + "The blue door set into the gray tiled wall now sits ahead of me and slightly left after my heading adjustment, with open paving between us. I will walk forward to close the remaining distance toward that door.", + "The blue door is noticeably larger and its handle is now discernible, so my heading is still carrying me toward it. I will keep walking forward since a few more steps should bring me close to the doorway.", + "The gray building's blue door now fills much of the left side of my view, but I am still a short distance short of standing at it. I will step forward again to reduce that remaining gap.", + "I am now right beside the blue door, but it has slid to the left edge of my view and my heading points along the wall rather than at it. I will turn left to bring the door and its handle back to the center of my view before the final step.", + "The blue door of the gray building is now centered directly in front of me with its handle plainly in reach range. I will take one more step forward to stand at the door itself.", + "The gray building's blue door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c508b0365f3e74ca97f593bf0ffb9dc3c99c0790 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the leftmost turquoise barrier near the crosswalk.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 5.211, + -57.03, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 67.149, + -166.594, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 129.086, + -276.157, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 191.024, + -385.721, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 252.962, + -495.285, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 314.899, + -604.849, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 376.837, + -714.412, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 376.837, + -714.412, + 128.15, + 0.0, + -85.52, + 0.0 + ], + [ + 386.668, + -839.887, + 128.15, + 0.0, + -85.52, + 0.0 + ], + [ + 386.668, + -839.887, + 128.15, + 0.0, + -85.52, + 0.0 + ] + ], + "Rationale": [ + "A line of turquoise barriers runs along the far edge of the crosswalk, and its left end sits well off to my left, beside the trees at the corner. That end barrier is my goal, so I will turn left to bring it and the crosswalk ahead of me before walking.", + "The barrier at the left end of the row, next to the corner trees, is now in front of me across the striped crosswalk. Nothing blocks the painted lanes between us, so I will step forward to close that distance.", + "The barriers have grown larger and the cones between them are clearer, confirming I am headed at the left end of the line rather than the middle. The crosswalk stays open ahead, so I keep walking forward.", + "My target barrier at the end of the line still sits ahead and slightly left, with the trees behind it as a fixed marker. There is still open pavement between us, so another step forward is the direct way in.", + "The barrier beside the corner trees now fills much more of my left foreground, so the gap is shrinking steadily. I am still short of it, so I will advance again.", + "As I come close, more barriers spread across my right and the far end of the line has slid out of my view, but the one I am walking to is the near-left unit beside the trees. It is still a few paces off, so I step forward.", + "The barrier I am aiming for now looms large at my left front with its cone beside it. One more forward step should bring me right up against it.", + "My target barrier has drifted to the left edge of my view and is partly cut off, while my heading now points along the row toward the units on the right. I will turn left to square up on that barrier before the last step.", + "The barrier by the corner trees now sits squarely in the middle of my view with its cone just in front of it, so my heading is right. A short step should put me directly against it.", + "The turquoise barrier beside the corner trees fills my view at arm's length, its cone right below me. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96aeb9775e7eef766a9a9b87f2269e43b5214b3a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the third orange cone from the left.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 107.649, + -130.152, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 210.088, + -203.275, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 312.526, + -276.397, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 312.526, + -276.397, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 374.463, + -385.961, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 436.401, + -495.525, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 498.339, + -605.089, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 560.277, + -714.652, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 622.214, + -824.216, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 622.214, + -824.216, + 128.15, + 0.0, + -60.52, + 0.0 + ] + ], + "Rationale": [ + "Ahead across the crosswalk a line of teal barriers carries a series of orange cones, and counting from the left end I settle on the third one, the cone tucked against the barrier just where the raised curb begins. The cones look alike, so I will hold it by that barrier and curb rather than recount. I step forward to close the distance.", + "The barrier line and its cones are noticeably nearer and the crosswalk stripes now fill the lower part of my view. My chosen cone, the one seated at the barrier where the curb starts, is still well beyond reach. I keep walking straight to shorten the gap.", + "I am now stepping onto the crosswalk, and the cone I am after sits on the far side beside its barrier, still several paces off. Nothing blocks the straight line between us. Another forward step should bring it within a comfortable approach range.", + "The barrier line with my cone has drifted into the left portion of my view while my heading points at the empty pavement and building corner on the right. Walking on as I am aimed would carry me past it. I turn left to swing the cone and its barrier back toward the center of my path.", + "The turn has put the barrier line and its row of cones squarely across my forward path. The cone I chose still stands where the barriers meet the raised curb, clearly identifiable. I walk forward along this corrected heading.", + "More barriers and cones have opened up along the left edge of my view, so counting from the left end here would no longer land on the same object. I stay with the cone I picked, the one against the barrier at the start of the raised curb, and keep advancing toward it.", + "The cones are large now and I can pick out mine standing at the barrier where the curb rises, slightly ahead and to my left. The pavement between us is clear. I continue forward to close the remaining distance.", + "My cone is only a step or two away, leaning against the teal barrier at the near end of the curb, filling much of my lower left view. One more forward step should place me right at it. I walk on.", + "My cone now stands directly in front of me at the corner of its teal barrier, close enough that its base and the crosswalk stripe beneath it fill my lower view. A single short step should bring me level with it rather than short of it. I walk forward.", + "The cone I chose stands right beside me at the barrier edge, within arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d97030e5dd5602a0905beaefdf1886b5b3fd74a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the second turquoise barrier from the left.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 107.649, + -130.152, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 210.088, + -203.275, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 210.088, + -203.275, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 272.025, + -312.839, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 333.963, + -422.402, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 395.901, + -531.966, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 457.838, + -641.53, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 519.776, + -751.094, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + 519.776, + -751.094, + 128.15, + 0.0, + -85.52, + 0.0 + ], + [ + 529.607, + -876.568, + 128.15, + 0.0, + -85.52, + 0.0 + ], + [ + 529.607, + -876.568, + 128.15, + 0.0, + -85.52, + 0.0 + ] + ], + "Rationale": [ + "A row of turquoise barriers lines the far curb ahead and to my left, and they are all the same shape and colour, so I pin my target as the second one in from the left end of that row, the one standing beside the crosswalk. I will step forward across the open road to close the distance toward that end of the row.", + "The barrier line is noticeably nearer and its left end now sits well to my left, but I am still out on the roadway. Another straight stride forward should bring me close enough to swing toward the barrier I chose without cutting the corner.", + "Straight ahead of me now is the sidewalk under the overpass, while the left end of the barrier row, where my chosen barrier stands, lies off to my left. I will turn left so that stretch of the row moves into the middle of my view and I can walk directly at it.", + "The turn has brought the left stretch of the barrier row into the middle of my view, with the trees and the far building behind it. I will walk forward along the crossing to close on the barrier I picked out.", + "The barriers on the left are visibly wider and taller than a moment ago, so my heading is carrying me straight at that end of the row. I will keep walking forward to shorten the remaining gap.", + "My target barrier and its neighbour now sit low and large in the left half of my view, with cones standing between them. Another step forward should put me nearly alongside them.", + "The far left end of the row is now cut off by the edge of my view, so instead of recounting I simply keep following the barrier I fixed on, the one next to the crossing with the trees beyond it. I will step forward again to draw level with it.", + "I am close enough that the nearest barriers fill much of the left foreground and I can read their moulded panels. One more forward stride should bring me right up beside the barrier I have been tracking.", + "The barrier I have been tracking now lies across the left of my view with a cone at its near corner, while my heading points past it toward the columns. I will turn left to bring it square in front of me before the last step.", + "The turn has set my barrier squarely ahead, flanked by cones and with the street and trees framed beyond it. A single stride forward should bring me right up against its face.", + "The turquoise barrier I chose fills the near foreground directly in front of me, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..276e082d0eb5a638afe88a18a625636a7ce01b7e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move to the second turquoise barrier from the right.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 107.649, + -130.152, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 210.088, + -203.275, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 312.526, + -276.397, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 414.964, + -349.52, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 517.402, + -422.642, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 619.841, + -495.765, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 722.279, + -568.887, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 824.717, + -642.01, + 144.259, + 0.0, + -35.52, + 0.0 + ], + [ + 927.155, + -715.132, + 138.291, + 0.0, + -35.52, + 0.0 + ], + [ + 1029.594, + -788.255, + 138.291, + 0.0, + -35.52, + 0.0 + ], + [ + 1132.032, + -861.377, + 138.291, + 0.0, + -35.52, + 0.0 + ], + [ + 1226.849, + -907.221, + 138.291, + 0.0, + -35.52, + 0.0 + ], + [ + 1226.849, + -907.221, + 138.291, + 0.0, + -35.52, + 0.0 + ] + ], + "Rationale": [ + "A line of turquoise barriers runs along the raised walkway ahead of me, and counting from the right end of that line, my target is the barrier one place inward from the last one. They all look alike, so I hold it by that position beside the final barrier at the near end of the row. It is still far off, so I walk straight ahead.", + "The barriers have grown slightly and remain spread across the walkway ahead, with the barrier I want sitting just inside the row's right end. My heading already points at that part of the row, so no turn is needed. I keep stepping forward to close the gap.", + "I am on the crosswalk with the barrier row still directly ahead across the open pavement. The barrier I am going to remains the one just inside the near end of that row, and my current line of travel leads toward it. Another step forward keeps closing distance.", + "The barriers and their cones now read individually, and the end of the row nearest me is clearly visible on the right side of the pavement. My target sits one barrier inward from that end, still well beyond arm's reach. I continue walking straight toward it.", + "The row fills more of my view and the pavement in front of me is clear, so I can keep the same straight line. The barrier I want is still the one set just inside the row's right end. I step forward again to shorten the remaining distance.", + "I am now level with the curb and the barriers stand close along the walkway, with the end of the row visible off to my right near the building frontage. My target is the barrier immediately inside that end. I keep advancing rather than turning, since it lies almost straight ahead.", + "The barriers now loom at eye level, and the far end of the row is still readable on the right where the white bench sits by the windows. The barrier I am heading for is the one standing next to that last barrier. A few more steps forward should bring me alongside it.", + "Up close the barriers are beginning to lose their look of a single row, with the nearest one crowding my left, so I keep tracking the barrier that stands next to the last one over by the bench. My path across the open paving remains clear. I walk forward to reach it.", + "The barrier next to the last one by the bench is still ahead and to my right, with clear paving between us. Nothing blocks the line I am on, so a turn would only cost me alignment. I step forward again.", + "The barrier I want now sits just right of center with its cone standing in front of it, and the bench beyond it is still in view to confirm which one it is. It remains a few paces off. Walking straight on should bring me level with it.", + "From this close the barriers no longer read as a countable row, but the one I chose fills the right of my view with its cone at my feet level. I am nearly beside it. One more stride forward should close the last of the gap.", + "The chosen barrier now looms directly in front of me, its ribbed face and white stripe filling much of my view. Only a short remainder separates me from standing at it. I take one last step forward.", + "The chosen barrier is right at my feet, filling the near view. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e69e001e895bb26d3bd84d683b4bfedbc55c7dd --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Walk to the second cherry blossom tree on the left side.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + 18.144, + 237.16, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + 18.144, + 237.16, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -107.504, + 229.871, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -233.152, + 222.582, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -358.799, + 215.294, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -484.447, + 208.005, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -610.095, + 200.716, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -610.095, + 200.716, + 128.149, + 0.0, + 158.32, + -0.0 + ], + [ + -727.051, + 247.211, + 128.149, + 0.0, + 158.32, + -0.0 + ], + [ + -844.007, + 293.706, + 128.149, + 0.0, + 158.32, + -0.0 + ], + [ + -844.007, + 293.706, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -969.655, + 286.417, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -1095.302, + 279.128, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -1220.95, + 271.84, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -1220.95, + 271.84, + 128.149, + 0.0, + 158.32, + -0.0 + ], + [ + -1220.95, + 271.84, + 128.149, + 0.0, + 133.32, + -0.0 + ], + [ + -1295.079, + 350.75, + 144.032, + 0.0, + 133.32, + -0.0 + ], + [ + -1295.079, + 350.75, + 144.032, + 0.0, + 133.32, + -0.0 + ] + ], + "Rationale": [ + "From this corner the left sidewalk carries a receding row of blossoming trees, and counting from the near end I fix on the second one, standing just past the nearest trunk beside the shopfronts; they all look alike, so I hold it by that place in the row. I am still out on the roadway, so I step forward to close on the row and read it better.", + "My heading is still skewed toward the yellow and blue corner building on the right, which pushes the tree-lined sidewalk to the edge of my view. Turning left should swing me onto the street's axis so the left-hand row lies cleanly ahead of me.", + "The street now runs straight ahead with the blossom canopy overhanging both curbs, and my chosen tree lies further down the left-hand row. With the lane clear of obstacles, I walk forward to shorten that distance.", + "The road stays open and the left sidewalk with its guardrail and trunks keeps unrolling ahead of me. My tree is still not abreast of me, so I keep walking forward along the same line.", + "The blue building at the far end of the street is growing, which tells me I am gaining ground down this block. The tree I am after still sits ahead on the left, so another forward step is the direct move.", + "The nearest trunks have slipped behind me, so the row can no longer be counted from its near end; I simply keep following the tree I picked, which is still up the left side. The lane ahead is clear apart from a cone at the curb, so I walk on.", + "The green-awninged shopfront on the left is now close beside me and the parked bicycles on the right mark my progress down the block. My tree is still a little further along the left sidewalk, so I advance again.", + "Walking down the middle of the road keeps my tree off to the left rather than in front of me. I turn left to angle my heading toward that sidewalk so my next steps can carry me in along the row instead of past it.", + "My heading now runs along the left curb, with the cone on the walkway and the trunks lining the strip ahead of me. The tree I am tracking still stands further down that line, so I walk forward to draw closer to it.", + "The shop's glass doors and posters are sliding past close on my left, so I am moving along the walkway rather than out in the lane. My tree is still ahead beyond the cone, and nothing blocks the strip, so I keep stepping forward.", + "The shop wall now fills most of what I can see, which means my angle is carrying me into the frontage instead of along it, and the trunks I want are crowded to one side. I turn right to bring my heading back parallel with the curb so I can continue down the row.", + "The street opens ahead again with the curbside trunks running down my left and the cone just beside them. That line still leads to my tree, so I walk forward along it.", + "The cone has come almost abreast of me at the left curb and the nearer trunk is close enough to show its bark. My tree lies just beyond it, so another forward step should bring me level with it.", + "Up this close the trunks no longer read as a countable row; I simply keep to the one I chose, now standing just off my left front by the yellow barrier. One more step forward should put me even with its base.", + "The tree I have been following is now level with my left shoulder rather than in front of me, with the parked bicycle across the street marking how far I have come. I turn left so my heading swings off the roadway and toward its trunk.", + "That swing brought the walkway into view but my tree still sits toward the left of center rather than straight ahead. A second left turn should square me onto its trunk so a single step can close the remaining gap.", + "The trunk I have been following now stands squarely in the middle of my view, rooted in its paving square just a stride or two away across the walkway. One step forward should bring me right up against its base.", + "The blossom tree's trunk fills my view directly in front of me, close enough to touch. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..232b16c62edd86e2de92eadd6a1eb0cd20b49ca8 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the third tree from the right along the street.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + 18.144, + 237.16, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -92.651, + 177.453, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -203.446, + 117.746, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -314.242, + 58.039, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -425.037, + -1.668, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -535.832, + -61.375, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -535.832, + -61.375, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -661.48, + -68.664, + 128.149, + 0.0, + -176.68, + 0.0 + ], + [ + -787.128, + -75.952, + 128.383, + 0.0, + -176.68, + 0.0 + ], + [ + -912.775, + -83.241, + 128.383, + 0.0, + -176.68, + 0.0 + ], + [ + -1038.423, + -90.53, + 128.383, + 0.0, + -176.68, + 0.0 + ], + [ + -1038.423, + -90.53, + 128.383, + 0.0, + -151.68, + 0.0 + ], + [ + -1149.218, + -150.237, + 144.757, + 0.0, + -151.68, + 0.0 + ], + [ + -1260.013, + -209.944, + 138.15, + 0.0, + -151.68, + 0.0 + ], + [ + -1260.013, + -209.944, + 138.15, + 0.0, + -151.68, + 0.0 + ] + ], + "Rationale": [ + "The blossoming trees line the shop side of this street, and counting from the right end of that row, my goal is the third trunk. They all look alike, so I fix it as the trunk standing well down the block past the awninged storefronts. I will start walking straight along the street toward it.", + "The trunk I picked is still far down the block, beyond the yellow corner building and the awnings on my right. Nothing blocks the roadway in front of me, so I will keep walking forward to close the gap.", + "The yellow corner building has drawn alongside me and the shopfronts on my right are getting closer, but the tree I am heading for is still further down the street. The lane stays open, so I continue forward.", + "A grey railing and planting bed now run beside me on the right, marking the sidewalk I am following toward my tree. The path ahead remains unobstructed, so I keep advancing.", + "The railing and shop windows fill more of my right side as I draw level with them, while the street continues open to my left. My tree is still ahead, so I take another step forward.", + "I am close beside the railing now, with the shopfront wall crowding my right and the road visible off my left. The tree I want is still further down the block, so I keep walking forward.", + "My heading has drifted toward the railing, so the shopfront fills most of my view and the street with its trees is squeezed to the far left. Turning left should square me back onto the street and put the run of trunks ahead of me again.", + "The turn opened the street back up in front of me, with the sidewalk and its trunks running away to my right. More trees have come into view further down the block, so counting from here would mislead me; I stay with the same trunk I chose. I will walk forward along the street.", + "A blue scooter is parked at the curb well down on my right, and the trunk I am heading for rises just past it where the railing ends. The lane in front of me is empty, so I press on with another stride.", + "The shopfront with the red sign is drawing level on my right, and my tree stands at the curb beside it, still several strides off. Nothing interrupts the pavement between us, so I keep walking.", + "My tree now looms large at the right edge of my view, close to the scooter at the kerb, but I am not yet abreast of it. One more step forward should bring me level with its base.", + "I have come alongside the tree and it now sits off to my right, so continuing straight would carry me past it down the road. Turning right should face me squarely at the trunk and the sidewalk it stands on.", + "The turn has put the trunk near the middle of my view with the paved walkway running to it. A short step forward should close the last of the gap.", + "The trunk now fills much of my view with its bark detail plain and the low hedge at its foot visible. A final step should bring me right up beside it.", + "The trunk stands directly beside me, filling my view at arm's reach. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f06824dfc3dcbb68f716fd6b68adb1243a0bb801 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the first cherry blossom tree on the right side.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0, + -151.68, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 128.939, + 296.867, + 128.149, + 0, + -151.68, + 0 + ], + [ + 18.144, + 237.16, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + 18.144, + 237.16, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + -57.037, + 136.223, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + -132.219, + 35.286, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + -207.4, + -65.651, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + -282.581, + -166.588, + 144.705, + 0.0, + -126.68, + 0.0 + ], + [ + -282.581, + -166.588, + 144.705, + 0.0, + -151.68, + 0.0 + ], + [ + -393.376, + -226.295, + 138.15, + 0.0, + -151.68, + 0.0 + ], + [ + -393.376, + -226.295, + 138.15, + 0.0, + -151.68, + 0.0 + ] + ], + "Rationale": [ + "The blossom trees on the right side of the street begin at the yellow corner building, and the nearest of them rises from a curbside planter just ahead of the shopfronts. I lock onto that one and step forward along the street to close the distance.", + "My heading still runs straight down the roadway, while the tree I want stands off to my right on the sidewalk beside the yellow building. Turning right should swing my path toward that sidewalk so I can walk in on the trunk directly.", + "The turn has put the yellow corner building and the planted strip in front of me, with the blossom canopy hanging over the sidewalk to my left. Walking forward should carry me off the road and toward the trunk in the planter.", + "The planter with the trunk and its overhanging blossoms is closer now, sitting along the raised sidewalk to my left front. Nothing blocks the paved strip between us, so I keep stepping forward.", + "The trunk and the railing beside it have grown large at my left, and the barriers by the building leave the walkway open. I continue forward to draw level with the planter.", + "I am now on the wide paving beside the building, with the trunk and its shaded planter close on my left. One more step forward should bring me alongside the base of that tree.", + "Advancing along the building has pushed the trunk I am after out to the far left edge of my view, leaving only barriers and blank wall in front of me. Turning left should bring that tree back squarely ahead so I can face it.", + "The turn has put the thick trunk and its blossom canopy directly in front of me, with the dark bollard and green planting at its base. A short step forward should place me right beside the tree.", + "The trunk fills my left side at arm's length, with its blossoms overhead. I am beside the tree, so the approach is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..629166520c59c42425e725e5ca4e3362ad094e17 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Proceed to the rightmost yellow barrier near the silver building.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + 128.939, + 296.867, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + 53.758, + 195.93, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + -21.424, + 94.993, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + -96.605, + -5.944, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + -171.786, + -106.881, + 128.149, + 0.0, + -126.68, + 0.0 + ], + [ + -246.967, + -207.818, + 144.714, + 0.0, + -126.68, + 0.0 + ], + [ + -322.149, + -308.755, + 138.15, + 0.0, + -126.68, + 0.0 + ], + [ + -397.33, + -409.692, + 138.15, + 0.0, + -126.68, + 0.0 + ], + [ + -472.511, + -510.629, + 138.15, + 0.0, + -126.68, + 0.0 + ], + [ + -472.511, + -510.629, + 138.15, + 0.0, + -126.68, + 0.0 + ] + ], + "Rationale": [ + "Off to my right the pale silver building's frontage carries a yellow barrier low at its base, the farthest right along that run, so that block is my target. My present heading points down the tree-lined street well to the left of it. I turn right to bring that barrier and its approach onto my line.", + "My heading now runs toward the silver building corner, where the yellow barrier sits low against the wall beside the teal bins. The open roadway and crossing ahead are clear of traffic and obstacles. I step forward to start closing that distance.", + "The yellow barrier at the foot of the silver corner has grown slightly but remains well ahead across the road. The curb line sweeps in on my right without cutting into my path. I keep walking straight at it.", + "A second, scuffed dark barrier has come into view resting to the left of the clean yellow one, which confirms the bright yellow block on the right is what I am heading for. It still lies several paces off along the building's paved frontage. I continue forward toward it.", + "The yellow barrier and the low bench beside it now resolve clearly on the paved forecourt at the building corner. The tiled walkway between us is open apart from a signpost well clear of my line. I advance again to shorten the gap.", + "The yellow barrier reads plainly against the silver panelling, with the weathered barrier to its left and the bench to its right. I am close now but not yet standing beside it. I take another step forward.", + "The bright yellow barrier now fills a large part of my view, set flat against the silver panelled wall just a few paces ahead. The tiled ground between us is empty. I keep walking toward it.", + "The yellow barrier is almost within arm's reach, its front face and the paving directly beneath it fully visible. One more step should bring me right alongside it at the silver wall.", + "The yellow barrier's top edge and its white lower face now sit low and large in front of me, with the bench just past it and clear tiling underfoot. A single short step should place me right at its side against the silver panelling rather than a pace short. I move forward once more.", + "The yellow barrier is right at my side, pressed against the silver panelled wall within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000152_y002665_z000129_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x000152_y002665_z000129_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3905257747732f283ac044cf08f43cb625a00254 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000152_y002665_z000129_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the rightmost orange traffic cone.", + "Type": 2, + "Start_Pose": [ + 152.145, + 2665.387, + 128.77, + 0.0, + -157.44, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 152.145, + 2665.387, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + 35.917, + 2617.101, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + 35.917, + 2617.101, + 128.77, + 0.0, + -132.44, + 0.0 + ], + [ + -49.015, + 2524.219, + 128.77, + 0.0, + -132.44, + 0.0 + ], + [ + -133.947, + 2431.337, + 128.77, + 0.0, + -132.44, + 0.0 + ], + [ + -218.879, + 2338.455, + 128.77, + 0.0, + -132.44, + 0.0 + ], + [ + -303.811, + 2245.573, + 128.77, + 0.0, + -132.44, + 0.0 + ], + [ + -388.743, + 2152.691, + 131.87, + 0.0, + -132.44, + 0.0 + ], + [ + -388.743, + 2152.691, + 131.87, + 0.0, + -132.44, + 0.0 + ] + ], + "Rationale": [ + "Scanning the plaza ahead, I count several small orange cones scattered near the shopfronts, and the one furthest to the right stands alone beside the blue-awninged store entrance, apart from the cluster to its left. That isolated cone by the store is my target. I will walk forward to close the distance and see it more clearly.", + "The lone cone by the blue-awninged store now sits noticeably right of my heading, while a pillar and the curb line take up the center of my view. Turning right should swing that cone toward the middle of my path so I can walk straight at it.", + "The turn has brought the cone in front of the blue storefront near the center of my view, with open sidewalk and the red lane between us. Nothing blocks the line, so I will step forward to shorten the gap.", + "The cone in front of the store doors is larger now and still centered between two grey bollards, with the other cones staying well off to my left. The path stays clear, so I keep walking toward it.", + "I am close enough to see the cone's reflective band clearly as it sits on the sidewalk edge below the blue awning. There is still a stretch of pavement between us, so another step forward is the direct continuation.", + "The cone by the store entrance now dominates the lower center of my view and the shop's glass doors fill the frame behind it. I am nearly there, so I advance again to draw right up beside it.", + "The cone stands just a stride away on the raised sidewalk, its base and stripe plainly visible in front of me. One more step forward should place me right at it.", + "The orange cone by the store entrance stands directly in front of me, filling the bottom of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000152_y002665_z000129_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x000152_y002665_z000129_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c1116bf283b48ae9b9865805b95303ecf54fd843 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000152_y002665_z000129_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the first cherry blossom tree on the left.", + "Type": 2, + "Start_Pose": [ + 152.145, + 2665.387, + 128.77, + 0, + -157.44, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 152.145, + 2665.387, + 128.77, + 0, + -157.44, + 0 + ], + [ + 35.917, + 2617.101, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + 35.917, + 2617.101, + 128.77, + 0.0, + 177.56, + -0.0 + ], + [ + -89.828, + 2622.459, + 128.77, + 0.0, + 177.56, + -0.0 + ], + [ + -215.573, + 2627.818, + 138.542, + 0.0, + 177.56, + -0.0 + ], + [ + -215.573, + 2627.818, + 138.542, + 0.0, + 152.56, + -0.0 + ], + [ + -327.272, + 2685.816, + 138.15, + 0.0, + 152.56, + -0.0 + ], + [ + -438.971, + 2743.814, + 138.15, + 0.0, + 152.56, + -0.0 + ], + [ + -438.971, + 2743.814, + 138.15, + 0.0, + 152.56, + -0.0 + ] + ], + "Rationale": [ + "Blossoming trees line the left side of this street, and the nearest one, whose pale trunk rises over the sidewalk at the near corner, is the one I want. I am still out on the red roadway, so I will walk forward to close some distance before swinging toward it.", + "My heading still runs along the red roadway, while the blossoming tree I picked sits off to my left behind the grey pillar. I will turn left so my facing lines up with the sidewalk that leads to it.", + "The turn has brought the pink canopy into the upper left of my view, with clear paved sidewalk running toward it. I will walk forward along this open stretch to close the gap.", + "The tree's trunk and blossoms now dominate the left side of my view, yet I am still a few strides out on open pavement. Another step forward should bring me level with its base.", + "The tree stands close on my left now, its trunk set against the shop wall, but my facing still runs down the street past it. Turning left should place it squarely ahead for the final approach.", + "The tree is now centered in front of me, its trunk rising from the petal-covered pavement beside the teal shop doors. I will step forward to close the last of the distance.", + "Only a short stretch of blossom-strewn pavement still lies between me and the trunk ahead. One more step forward should bring me right up to the base of the tree.", + "The blossoming tree's trunk fills the view directly ahead, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000217_y002692_z000129_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x000217_y002692_z000129_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a67c6e9c259575e53f3ec71fa02bae8060f3bc41 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000217_y002692_z000129_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Make your way to the leftmost bollard near the curb.", + "Type": 2, + "Start_Pose": [ + 217.318, + 2692.463, + 128.77, + 0.0, + -157.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 217.318, + 2692.463, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + 101.09, + 2644.177, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -15.138, + 2595.891, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -131.366, + 2547.605, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -247.594, + 2499.319, + 136.063, + 0.0, + -157.44, + 0.0 + ], + [ + -247.594, + 2499.319, + 136.063, + 0.0, + -157.44, + 0.0 + ] + ], + "Rationale": [ + "A line of silver bollards runs along the curb ahead of me, and since they all look alike I fix on the one at the near left end, standing closest to the tall green banded pillar at the corner. The paved way toward it is open, so I step forward.", + "The bollard I chose beside the corner pillar now reads larger and slightly left of my heading, so I am closing on it correctly. Nothing blocks the sidewalk between us, and I keep walking straight ahead.", + "My bollard by the corner pillar is still several paces off, sitting just right of the pillar in my view, with the curb line running past it. The way stays clear, so another step forward should bring me nearer.", + "The pillar now fills much of my left side and my bollard stands just beyond it, close enough that I can see the shadow it casts on the paving. More posts have appeared further down the walk, but the one I am going to is this near post by the pillar. A last step should put me beside it.", + "The bollard at the left end of the curb row stands directly beside me, filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000348_y002747_z000129_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x000348_y002747_z000129_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..80b40ccdd61182216a16564f65ba1b26c82e60df --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000348_y002747_z000129_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the second pillar from the right.", + "Type": 2, + "Start_Pose": [ + 347.664, + 2746.614, + 128.77, + 0.0, + -157.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 347.664, + 2746.614, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + 231.436, + 2698.328, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + 115.208, + 2650.042, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -1.02, + 2601.756, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -117.248, + 2553.47, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -117.248, + 2553.47, + 128.77, + 0.0, + 177.56, + -0.0 + ], + [ + -242.993, + 2558.829, + 144.782, + 0.0, + 177.56, + -0.0 + ], + [ + -242.993, + 2558.829, + 144.782, + 0.0, + 177.56, + -0.0 + ] + ], + "Rationale": [ + "Counting the columns along this covered walkway from the right, the last one stands beside the blue shop front, so my target is the next one in, the tall grey column with a green band at the corner curb. It lies ahead and a little left, so I walk forward to close the distance.", + "The green banded column I chose is still well ahead, across the red roadway and near the raised sidewalk edge. The route in front of me is open, so I keep stepping forward to shorten the gap.", + "The banded column is noticeably larger now, standing just past the curved curb ahead of me. Several body lengths still separate us, so I continue walking straight toward it.", + "The green banded column now dominates the left of my view and the pavement in front of me is clear of the traffic cones. More columns of the same kind are opening up along the street, but I stay with the one I picked and advance again.", + "From this spot near the curb, the green banded column sits off to my left rather than straight ahead, so walking forward would carry me past its side. I turn left to bring it in front of me before covering the last short stretch.", + "The green banded column is now squarely centered in my view with only a short span of clear pavement between us. One more step forward should place me right at its base.", + "The green banded column fills my view directly ahead, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..029f3804c24d0f86097b72108757f0fa84294b4e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t0_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the storefront beneath the green awning at the corner of the building with the large red vertical sign.", + "Type": 0, + "Start_Pose": [ + 351.35, + 295.847, + 128.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 351.35, + 295.847, + 128.15, + 0.0, + 143.04, + -0.0 + ], + [ + 351.35, + 295.847, + 128.15, + 0.0, + 168.04, + -0.0 + ], + [ + 228.223, + 321.929, + 128.15, + 0.0, + 168.04, + -0.0 + ], + [ + 228.223, + 321.929, + 128.15, + 0.0, + -166.96, + 0.0 + ], + [ + 105.61, + 293.531, + 128.15, + 0.0, + -166.96, + 0.0 + ], + [ + -17.004, + 265.133, + 128.15, + 0.0, + -166.96, + 0.0 + ], + [ + -17.004, + 265.133, + 128.15, + 0.0, + 168.04, + -0.0 + ], + [ + -140.131, + 291.215, + 128.15, + 0.0, + 168.04, + -0.0 + ], + [ + -263.258, + 317.296, + 128.15, + 0.0, + 168.04, + -0.0 + ], + [ + -263.258, + 317.296, + 128.15, + 0.0, + 143.04, + -0.0 + ], + [ + -363.826, + 392.97, + 138.15, + 0.0, + 143.04, + -0.0 + ], + [ + -464.394, + 468.644, + 138.15, + 0.0, + 143.04, + -0.0 + ], + [ + -464.394, + 468.644, + 138.15, + 0.0, + 168.04, + -0.0 + ], + [ + -587.521, + 494.725, + 138.15, + 0.0, + 168.04, + -0.0 + ], + [ + -710.648, + 520.807, + 138.15, + 0.0, + 168.04, + -0.0 + ], + [ + -833.775, + 546.889, + 138.271, + 0.0, + 168.04, + -0.0 + ], + [ + -956.902, + 572.97, + 138.271, + 0.0, + 168.04, + -0.0 + ], + [ + -1071.911, + 573.065, + 138.15, + 0.0, + 168.04, + -0.0 + ], + [ + -1071.911, + 573.065, + 138.15, + 0.0, + 168.04, + -0.0 + ] + ], + "Rationale": [ + "From this crosswalk I can see the corner building with the large red vertical sign directly ahead of me, and the side street with its row of storefronts opens away to my right. Turning right should bring that side street and the awnings along it into the center of my view so I can head toward the corner storefront.", + "My heading now looks along the tree-lined side street, with the red signed corner building on my left and a green awning visible partway down the block. Moving forward should carry me across the roadway toward that corner so I can continue along the storefronts.", + "I have closed on the corner and the building with the red sign now fills the left of my view, while the sidewalk running down the side street is only partly visible. A further right turn should square my heading with that street so I can travel straight along the shopfronts.", + "The side street is now open straight ahead, lined with trees and shop awnings on both sides. I will move forward to enter the block and shorten the distance to the awninged storefronts.", + "The storefronts along the left side are becoming larger and more distinct as I advance down this block. Another forward step should keep closing on the run of awnings where the green one sits at the corner.", + "My current heading is drifting toward the middle of the street while the storefronts I need are set back on my left behind the sidewalk edge. Turning left should point me at that left-hand frontage so I can walk directly toward the awning entrance.", + "Now the tiled corner facade with its awning line sits ahead and slightly left, with clear sidewalk between me and it. I will move forward to close that remaining gap along the shopfronts.", + "The wall of the corner shop is close on my left and the green awning is just beyond it further down the sidewalk. Continuing forward should bring me level with that awning-covered entrance.", + "The tiled corner of the red-topped building is passing on my left, and the teal awning over the shopfront sits just past that corner, off my current heading. I will turn left so the awning and its entrance come into the center of my view before I continue closing in.", + "Now the corner of the building with its pink-trimmed doors is centered ahead, and the green awning is visible along the facade to the right of that corner. Moving forward should carry me across the open sidewalk and shorten the gap to the awning frontage.", + "The tiled wall and yellow guard rail are noticeably larger now, so I am closing on the corner as intended. Another step forward should bring me level with the corner where the green awning begins.", + "I am right at the corner now, with the tiled wall filling my left side and the green awning extending along the sidewalk to my right. I will turn right to face down that frontage so the awning-covered entrance lies straight ahead.", + "My heading now runs along the sidewalk with the green awning ahead on the left side of the walkway and the tree strip on the right. Moving forward should bring me under that awning toward the storefront entrance.", + "The awning is much larger overhead ahead of me and the pink-and-dark shopfront panels beneath it are becoming visible. I will keep stepping forward along the clear sidewalk to reach the frontage under it.", + "I am nearly beneath the green awning, with the storefront glazing running along my left. One more step forward should place me directly at the shop frontage under the awning.", + "The shop signage and window display are now right beside me and the awning is directly overhead, so I am at the edge of the target frontage. I will move forward a little more to stand squarely at the entrance beneath the awning.", + "The green awning now overhangs the walkway just to my left and the shopfront glazing runs beside me, but the entrance doors are still slightly ahead of my shoulder. I will step forward one more time to draw level with that doorway beneath the awning. This short advance should place me directly at the storefront rather than beside its window panels.", + "I am standing right at the double glass doors under the green awning on the corner storefront. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c9ca584f13620eedbd0db0b21c3836cec67aae7c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t0_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the orange bicycle parked in front of the storefront.", + "Type": 0, + "Start_Pose": [ + 351.35, + 295.847, + 128.15, + 0, + 143.04, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 351.35, + 295.847, + 128.15, + 0, + 143.04, + 0 + ], + [ + 250.782, + 371.521, + 128.15, + 0.0, + 143.04, + -0.0 + ], + [ + 150.213, + 447.194, + 128.15, + 0.0, + 143.04, + -0.0 + ], + [ + 49.645, + 522.868, + 128.15, + 0.0, + 143.04, + -0.0 + ], + [ + 49.645, + 522.868, + 128.15, + 0.0, + 118.04, + -0.0 + ], + [ + -9.52, + 633.954, + 128.15, + 0.0, + 118.04, + -0.0 + ], + [ + -68.685, + 745.039, + 128.15, + 0.0, + 118.04, + -0.0 + ], + [ + -127.849, + 856.125, + 129.819, + 0.0, + 118.04, + -0.0 + ], + [ + -127.849, + 856.125, + 129.819, + 0.0, + 143.04, + -0.0 + ], + [ + -228.418, + 931.799, + 138.207, + 0.0, + 143.04, + -0.0 + ], + [ + -228.418, + 931.799, + 138.207, + 0.0, + 118.04, + -0.0 + ], + [ + -287.582, + 1042.884, + 138.207, + 0.0, + 118.04, + -0.0 + ], + [ + -346.747, + 1153.97, + 138.207, + 0.0, + 118.04, + -0.0 + ], + [ + -405.912, + 1265.055, + 138.207, + 0.0, + 118.04, + -0.0 + ], + [ + -405.912, + 1265.055, + 138.207, + 0.0, + 118.04, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the storefront with glass doors across the crosswalk, and a small orange bicycle is parked against the wall to the left of those doors. My heading already points across the striped crossing toward that frontage, so I will move forward to begin closing the long gap. The road ahead looks clear of traffic and obstacles.", + "The storefront and its doors have grown larger and the orange bicycle beside the entrance is now easier to pick out, so my heading is still useful. I will move forward again to keep shrinking the distance across the crossing. The lane in front of me remains open.", + "I am now close to the far curb, with the storefront filling much of my view and the orange bicycle leaning against the wall beyond the sidewalk edge. Another forward step should bring me up onto the sidewalk level with the shop front. Nothing blocks the last stretch of crossing.", + "Standing at the shop frontage, the orange bicycle sits well to the left of my view, beside the recessed side door, while my heading points at the main glass doors. I will turn left to bring the bicycle nearer the center of my view before advancing further. That should give me a straighter approach line along the sidewalk.", + "After the turn the orange bicycle is now in the middle-left of my view, propped against the wall next to the darker doorway. The sidewalk ahead of me is wide and unobstructed, so I will move forward to close the remaining distance. This should also make the bicycle's frame clearer for final alignment.", + "The bicycle has grown noticeably and I can now make out its orange frame and wheels beside the doorway. There is still several steps of clear pavement between me and it, so I will continue forward. I expect the target to keep growing near the center of my view.", + "The bicycle is clearly resolved against the shop wall, though a tall sign post and bollards stand along the sidewalk edge to my left. My path straight ahead is still open, so I will move forward once more to shorten the gap. That should place me close enough to fine tune my heading.", + "The thick sign pillar and a bollard now sit immediately ahead on my left, close enough to crowd the line I was following toward the bicycle. I will turn right to swing my heading onto the wide open pavement in front of the storefront and pass clear of that pillar. The bicycle should stay in view on my left as I move along the shop face.", + "The orange bicycle is now clearly visible ahead on the left, leaning against the wall beside the storefront doors. The sidewalk in front of me is open and flat, so I will move forward to close the remaining gap toward it.", + "The bicycle sits noticeably to the left of my heading while my view is dominated by the storefront wall and doors on the right. I will turn left to bring the bicycle nearer the center of my view so my approach line points straight at it.", + "After the turn the orange bicycle sits ahead of me along the storefront wall, with clear pavement between us. I will move forward to keep reducing the distance to it.", + "The bicycle now appears larger and slightly right of center, its frame and wheels clearly resolved against the brick wall. I am still a few steps short of standing beside it, so I will continue forward.", + "The orange bicycle now fills much of the right side of my view, close enough that I can see its handlebars and pedal detail. One more step forward should place me directly alongside it in front of the storefront.", + "The orange bicycle stands right beside me at arm's length in front of the storefront wall. The task is complete, so I stop here rather than move past the target." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24376976c9d91bb27ce0bdcf3e630e2b7488d2f4 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000351_y000296_z000128_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the wicker basket near the orange bicycle parked on the street.", + "Type": 5, + "Start_Pose": [ + 351.35, + 295.847, + 128.15, + 0, + 143.04, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -460.118, + 1110.915, + 83.15, + 90, + 123.04, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 351.35, + 295.847, + 128.15, + 0, + 143.04, + 0 + ], + [ + 250.782, + 371.521, + 128.15, + 0.0, + 143.04, + -0.0 + ], + [ + 150.213, + 447.194, + 128.15, + 0.0, + 143.04, + -0.0 + ], + [ + 49.645, + 522.868, + 128.15, + 0.0, + 143.04, + -0.0 + ], + [ + 49.645, + 522.868, + 128.15, + 0.0, + 118.04, + -0.0 + ], + [ + -9.52, + 633.954, + 128.15, + 0.0, + 118.04, + -0.0 + ], + [ + -68.685, + 745.039, + 128.15, + 0.0, + 118.04, + -0.0 + ], + [ + -127.849, + 856.125, + 129.819, + 0.0, + 118.04, + -0.0 + ], + [ + -127.849, + 856.125, + 129.819, + 0.0, + 143.04, + -0.0 + ], + [ + -228.418, + 931.799, + 138.207, + 0.0, + 143.04, + -0.0 + ], + [ + -328.986, + 1007.472, + 138.207, + 0.0, + 143.04, + -0.0 + ], + [ + -328.986, + 1007.472, + 138.207, + 0.0, + 143.04, + -0.0 + ], + [ + -328.986, + 1007.472, + 138.207, + 0.0, + 143.04, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -460.118, + 1110.915, + 83.15, + 90.0, + 123.04, + 0.0 + ], + [ + -341.337, + 990.042, + 108.256, + -28.202, + -166.815, + 1.862 + ], + [ + -341.337, + 990.042, + 108.256, + -28.202, + -166.815, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1150.1, + 1025.7, + 901.7, + 778.2, + 778.2, + 656.1, + 535.8, + 418.7, + 418.7, + 292.9, + 167.0, + 21.4, + 21.4 + ], + "Rationale": [ + "From the road I can see the crosswalk stretching ahead and, on the far sidewalk in front of the corner shop, an orange bicycle with something bundled on its frame. The wicker basket I need is over there, well beyond reach, so I will walk forward along the crossing to close that gap. This straight advance should bring the storefront and the parked bicycle into clearer view.", + "The building corner and the orange bicycle beside it have grown noticeably larger, so my forward heading is carrying me correctly across the street. Nothing blocks the crossing lane in front of me. I will keep walking straight to keep shortening the distance to the bicycle and its basket.", + "The curb and the raised sidewalk are now close ahead, and the orange bicycle is clearly parked against the tiled wall to the left of the glass doors. I am still too far to reach anything on it. Another step forward should put me onto the sidewalk near the shop front.", + "Standing at the sidewalk edge, the orange bicycle sits off to the left of my current heading while I am facing mostly at the shop doors. Walking straight now would carry me past it along the storefront. I will turn left to point my heading toward the bicycle before continuing.", + "With the turn done, the parked bicycle now lies ahead of me along the covered sidewalk beside the shop. The way in front is open pavement. I will step forward to reduce the remaining distance to it.", + "The bicycle and the round grey sign leaning next to it are noticeably nearer, confirming my heading is good. I am still several paces short of a comfortable reach. I will continue walking forward along the sidewalk.", + "The orange bicycle now stands out plainly against the shop shutter just ahead on the sidewalk. I still cannot make out its basket well enough to reach for it. One more step forward should bring me close enough to work with the bicycle.", + "My current heading runs along the tall pole and the line of bollards at the sidewalk edge on my left, which crowds the lane I am walking in. The bicycle sits by the wall on the inner side of the walkway, closer to the building. I will turn right to swing onto the open inner pavement so my next steps can bring me alongside it.", + "After the turn my heading now points down the sidewalk toward the parked bicycle standing against the shopfront on the left. The bicycle and its basket are still several paces away, too far to reach from here, so I will walk forward along the clear pavement to close that gap.", + "The bicycle is much larger in view now, and I can make out the pale wicker basket mounted over its front wheel. I am still a step or two short of grasping range, so I will keep walking forward to bring the basket close to my hands.", + "The bicycle is right beside me now and the wicker basket sits on its front rack within easy arm's reach. Nothing blocks the space between me and the basket, so I will reach out and attempt to grab it.", + "The wicker basket is now held in my hands, lifted off the bicycle. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f80d4bf1f12f55e8474cd56bd2620870a4313d2 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search the nearby storefronts for the green notice on an orange door, then walk to it.", + "Type": 1, + "Start_Pose": [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -89.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -114.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -139.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -164.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + 286.42, + 865.579, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + 162.223, + 885.961, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + 38.025, + 906.344, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + -86.172, + 926.727, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + -210.37, + 947.109, + 138.15, + 0.0, + 170.68, + -0.0 + ], + [ + -210.37, + 947.109, + 138.15, + 0.0, + -164.32, + 0.0 + ], + [ + -331.545, + 913.094, + 138.15, + 0.0, + -164.32, + 0.0 + ], + [ + -452.72, + 879.079, + 138.15, + 0.0, + -164.32, + 0.0 + ], + [ + -452.72, + 879.079, + 138.15, + 0.0, + 170.68, + -0.0 + ], + [ + -452.72, + 879.079, + 138.15, + 0.0, + 170.68, + -0.0 + ], + [ + -452.72, + 879.079, + 138.15, + 0.0, + 170.68, + -0.0 + ] + ], + "Rationale": [ + "From this spot at the crossing I only see open roadway, glass office facades and planters, with no orange door or green notice anywhere in front of me. I will turn left to begin a steady scan of the storefronts lining the sidewalks around this intersection.", + "The rotation has brought a low commercial block with a yellow facade and awnings into the left edge of my view, which looks like the kind of small shopfront row the notice could be posted on. Nothing orange with a green sign is legible yet, so I will keep turning left in the same direction to bring that row fully in front of me.", + "Now I can see a street of small shops under blossoming trees, but the trees and signage hide most of the entrances on that side. Continuing the same leftward scan should expose the doorways further along the block.", + "A red and grey corner building has come into view on the left, and its ground floor carries glass doors with salmon orange panels that match the target description. I will turn left once more to bring that entrance closer to the center of my view and check for a green notice on it.", + "The double doors with orange panels are now clearly in view, and a small green placard is mounted on the glass beside them, which matches the green notice I am looking for. A final small left turn should place that doorway squarely ahead so I can walk straight to it.", + "The orange doors with the green notice are now roughly centered ahead of me across the crosswalk, with clear pavement between us. I will step forward to close the distance toward that entrance.", + "The storefront has grown larger and the green placard on the glass beside the orange panelled doors is easier to make out, confirming I am heading at the right entrance. I will keep walking forward since nothing blocks the path across the remaining stretch of crossing.", + "I am nearly at the kerb and the orange doors with their green notice fill much of my view slightly to the right. Another step forward should bring me onto the sidewalk directly in front of that entrance.", + "The storefront ahead now clearly shows the pink-orange double door with a green notice posted on its left glass panel, so the search target is confirmed. I will keep walking straight to close the remaining distance across the sidewalk toward that entrance.", + "The orange-paneled doors and the green notice above them now fill much of my forward field, but I am still standing off on the pavement rather than at the entrance. Another step forward should bring me nearer to the door itself.", + "I am close to the storefront, but the orange door with the green notice sits toward my right while the plain frosted door occupies the left of my heading. Turning right should square my facing onto the target door before I step in.", + "The orange-paneled door with the green notice is now roughly centered ahead of me after the small heading correction. I will walk forward to bring myself right up to that entrance.", + "The door with its pink-orange panels and the green notice now dominates what is in front of me, yet a short gap of pavement still separates me from it. One more step forward should place me directly at the doorway.", + "Standing this close, the door handles and orange panels dominate straight ahead while the green notice has slipped out past my left side. I will turn left so the notice comes back in front of me and I finish facing it directly.", + "The turn brought the posted sign back in front of me, but only the lower white placard is fully visible while the green notice sits above my current pitch. Tilting my gaze upward should reveal the whole green notice on this orange door.", + "The green notice on the orange-paneled door is fully in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1939ce30866c86d21e99ce0c896a818d122bac46 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_b/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Look around for the pink cherry blossom tree near a green awning, then approach it.", + "Type": 1, + "Start_Pose": [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -89.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -114.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -139.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -164.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 145.68, + -0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 120.68, + -0.0 + ], + [ + 346.399, + 953.439, + 128.15, + 0.0, + 120.68, + -0.0 + ], + [ + 282.181, + 1061.681, + 128.15, + 0.0, + 120.68, + -0.0 + ], + [ + 217.962, + 1169.924, + 128.765, + 0.0, + 120.68, + -0.0 + ], + [ + 153.743, + 1278.166, + 128.765, + 0.0, + 120.68, + -0.0 + ], + [ + 89.525, + 1386.409, + 128.765, + 0.0, + 120.68, + -0.0 + ], + [ + 25.306, + 1494.651, + 128.765, + 0.0, + 120.68, + -0.0 + ], + [ + -38.913, + 1602.894, + 128.765, + 0.0, + 120.68, + -0.0 + ], + [ + -103.131, + 1711.137, + 128.765, + 0.0, + 120.68, + -0.0 + ], + [ + -167.35, + 1819.379, + 144.779, + 0.0, + 120.68, + -0.0 + ], + [ + -231.568, + 1927.622, + 144.779, + 0.0, + 120.68, + -0.0 + ], + [ + -295.787, + 2035.864, + 128.77, + 0.0, + 120.68, + -0.0 + ], + [ + -360.006, + 2144.107, + 132.418, + 0.0, + 120.68, + -0.0 + ], + [ + -411.988, + 2183.501, + 128.149, + 0.0, + 120.68, + -0.0 + ], + [ + -411.988, + 2183.501, + 128.149, + 0.0, + 95.68, + -0.0 + ], + [ + -454.649, + 2239.286, + 128.149, + 0.0, + 95.68, + -0.0 + ], + [ + -467.106, + 2364.527, + 128.149, + 0.0, + 95.68, + -0.0 + ], + [ + -479.562, + 2489.768, + 143.53, + 0.0, + 95.68, + -0.0 + ], + [ + -465.277, + 2587.689, + 138.15, + 0.0, + 95.68, + -0.0 + ], + [ + -465.277, + 2587.689, + 138.15, + 0.0, + 120.68, + -0.0 + ], + [ + -529.495, + 2695.931, + 138.15, + 0.0, + 120.68, + -0.0 + ], + [ + -529.495, + 2695.931, + 138.15, + 0.0, + 120.68, + -0.0 + ] + ], + "Rationale": [ + "From this crossing I only see broad-leafed green street trees, glass office towers and a raised guideway, with no pink blossoms and no green awning anywhere ahead. I will turn left to begin a steady scan of the surrounding blocks for that specific tree and awning pairing.", + "A tree with pale pink and lilac blossoms has just entered the far left edge of my view, above a shopfront row, but it is clipped and I cannot yet see whether an awning sits beside it. Continuing the same leftward turn should bring that blossoming tree and its storefront fully into view.", + "The blossom trees now stand clearly in the left half of my view over a row of small shops, which supports this side of the intersection as the right area. I will keep turning left so the storefront frontage under and beyond those trees comes into the center where I can check for a green awning.", + "The blossom trees sit near the middle of my view, but the shops directly beneath them show pale and reddish frontage rather than a green awning. I will continue the same leftward scan to inspect the rest of this block for the awning that should mark the correct tree.", + "Turning has pushed the blossoms to the right side and put a red and grey shopfront with pink double doors in front of me, still with no green awning in sight. I will keep rotating left in the same direction to reveal the next stretch of storefronts along this street.", + "Ahead I mostly see a crosswalk, bollards and shop signage, with green foliage opening up on the left side of the block. I will continue the consistent leftward scan toward that opening to check whether a blossoming tree there is paired with a green awning.", + "I can now see a shopfront with a green awning on the left, and pale pink blossoms hanging just beside it, which matches the description I am looking for. I will turn left once more so that corner and the red-surfaced path leading toward it sit ahead of me.", + "The green awning shop with the pink blossoms beside it is now roughly ahead of me, and the red-surfaced lane runs in that direction with only a cone and barriers off to the left. I will walk forward along this open path to close the distance to that tree.", + "The pink blossoms are visible ahead beside the storefront with the green awning, still small and partly hidden behind the leafy green tree and signage. The red-paved lane in front of me runs straight toward that corner with no obstruction, so I will keep walking forward to close the distance.", + "The pink tree and the green awning below it have grown slightly larger in view, confirming I am on the right heading. The lane ahead remains clear of barriers and railings, so I will continue advancing along it.", + "The blossoming tree stays roughly centered ahead, just left of the leafy green tree and above the green shop awning. I am still some distance away, so I will step forward again along this open stretch.", + "From here the pink canopy sits a bit left of my heading, but the walkway continues straight toward that block, so no turn is needed yet. I will keep moving forward to shorten the gap before making any heading adjustment.", + "The pink tree and the green awning beneath it are clearly larger now, and the curb and green bin on my right stay off my line of travel. I will advance again to keep closing on that corner.", + "The blossoming tree is holding steady in the left half of my view with the pale green awning right beside it, matching the target description. The lane ahead is still unobstructed, so I will continue walking toward it.", + "I can now see the pink tree standing on the raised sidewalk next to the green awning, still several strides off. Since my path stays clear past the pole and curb, I will keep moving forward rather than turning this early.", + "The pink cherry blossom tree is distinctly closer and its trunk and the green awning behind it are clearly separated from the surrounding building. I will step forward again to continue closing in on it.", + "The pink blossom tree stands ahead on the left side of the sidewalk, still separated from me by a stretch of red-paved path and a line of bollards. Nothing blocks the lane directly in front of me, so I will keep walking forward to close the remaining distance to it.", + "The blossom tree has grown larger in view and now sits ahead and slightly left, with a small green awning over the shopfront just beneath it. The paved corridor in front of me remains open, so I will continue advancing toward that tree and awning.", + "The cherry blossom canopy and the greenish awning beside it are clearly the target described in my task, and they are still several paces ahead on my left. I will step forward again to keep shrinking that gap along the open sidewalk.", + "The blossom canopy now fills the upper left of my view and the green-trimmed awning under it is close by. I will take another step forward to bring myself alongside the tree rather than stopping short of it.", + "The tree and the shop awning beneath it now sit off to my left while my heading continues straight past them along the building face. Turning left should point me directly at the trunk and awning so I can walk in rather than drift by.", + "The turn brought the pink blossom tree and the green awning below it near the center of my view, with clear sidewalk leading to them. I will walk forward along this line to close in on the tree.", + "The tree is directly ahead now, its trunk rising past the green awning of the shop entrance, and I can see the walkway continues open toward it. Another step forward should place me noticeably nearer the trunk.", + "Fallen pink petals are now scattered on the pavement right in front of me, showing I am nearly under the blossom canopy beside the awning. I will continue forward to reach the base of the tree.", + "The pink cherry blossom tree stands just ahead on the right, its trunk rising beside the storefront under the green awning, with fallen petals scattered across the pavement at its base. The walkway between the planter and the shopfront is clear, so I will step forward again to close the last of the distance to the trunk.", + "I am now level with the blossom tree, but its trunk sits off to my right against the building wall while my heading points down the open sidewalk. I will turn right to face the trunk directly so my approach finishes squarely on the target.", + "The turn has put the cherry blossom trunk near the middle of my view with the green awning immediately to its left and the yellow guard rails beside it. A short step forward should bring me right up beside the tree at the intended stopping distance.", + "The cherry blossom trunk fills my view at arm's length, with the green awning beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_c/infos.json b/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2a395c7220f91aec578ae8d884da28edeacb07d3 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_c/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Explore the nearby storefronts for the green awning, then approach it.", + "Type": 1, + "Start_Pose": [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -39.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -14.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 10.68, + -0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 35.68, + -0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 60.68, + -0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 85.68, + -0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 110.68, + -0.0 + ], + [ + 366.171, + 962.946, + 128.15, + 0.0, + 110.68, + -0.0 + ], + [ + 321.724, + 1080.695, + 128.15, + 0.0, + 110.68, + -0.0 + ], + [ + 269.146, + 1106.444, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + 219.347, + 1219.055, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + 174.9, + 1336.804, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + 130.453, + 1454.554, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + 86.006, + 1572.303, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + 41.559, + 1690.053, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + -2.888, + 1807.802, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + -47.334, + 1925.552, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + -91.781, + 2043.302, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + -136.228, + 2161.051, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + -180.675, + 2278.801, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + -225.122, + 2396.55, + 128.77, + 0.0, + 110.68, + -0.0 + ], + [ + -269.569, + 2514.3, + 144.524, + 0.0, + 110.68, + -0.0 + ], + [ + -314.016, + 2632.05, + 138.15, + 0.0, + 110.68, + -0.0 + ], + [ + -358.463, + 2749.799, + 138.15, + 0.0, + 110.68, + -0.0 + ], + [ + -358.463, + 2749.799, + 138.15, + 0.0, + 135.68, + -0.0 + ], + [ + -448.508, + 2837.732, + 138.15, + 0.0, + 135.68, + -0.0 + ], + [ + -508.348, + 2924.326, + 138.15, + 0.0, + 135.68, + -0.0 + ], + [ + -554.168, + 2978.279, + 145.343, + 0.0, + 135.68, + -0.0 + ], + [ + -554.168, + 2978.279, + 145.343, + 0.0, + 135.68, + -0.0 + ] + ], + "Rationale": [ + "From this spot on the crosswalk I see a wide road, an elevated walkway, and pale blue office facades, but no storefront with a green awning anywhere in view. I will turn right to begin a steady scan of the surrounding frontages in one consistent direction.", + "The new heading shows a long office wall with tinted windows, a plain recessed doorway and street trees, none of which is a shop with a green awning. I will keep turning right to continue the scan without breaking its direction.", + "This part of the frontage is still blank office glass with guardrails and planting, without any canopy or storefront sign. I will continue the rightward scan to reach the part of the block I have not inspected yet.", + "Ahead I now see a corner with a curved tower and more railings, but still no retail frontage with a green awning. Turning right again should swing my view toward the open area beyond this corner where shops are more likely.", + "The view is opening onto a wider street with barriers, lamp posts and a large signed building, which looks more like a commercial stretch than the blank office walls behind me. I will turn right once more to bring that shopping frontage into the center of my view.", + "Down the street to my right I can pick out shopfronts under a green-toned sign and canopy structure, which is the strongest lead so far for the green awning. I will turn right again to line my heading up with that row of storefronts.", + "The green-fronted shop row is now clearly ahead and slightly right, along the red-paved lane past the cone and barriers. One more right turn should place that frontage squarely in front of me so I can walk straight toward it.", + "My heading now runs down the red lane straight toward the storefronts with the green canopy and signage on the right side of the street. The way ahead is clear of the barriers and cone, so I will step forward to close the distance to that awning.", + "The scan along this side of the street has brought a row of storefronts into view ahead on the right, and one of them carries a green canopy over its entrance beneath the tall signboards. The red-paved lane in front of me runs straight toward that frontage with nothing blocking it, so I will keep walking forward. Closing distance should let me confirm the awning's color and shape more clearly.", + "The green shopfront canopy is still ahead and slightly to my right, and the barrier line on my left keeps the lane clearly defined. Since my heading already points along this corridor toward that storefront, another step forward is the most direct progress. I expect the awning to grow larger and easier to distinguish from the neighboring shops.", + "The storefront row on the right is noticeably nearer now, with the green awning and its bright green signage standing out above the sidewalk. My heading is still lined up with the lane leading toward it, so no turn is needed yet. I will continue walking to shorten the remaining distance.", + "The green awning over the shop entrance is now clearly resolved on the right side, sitting under the large green storefront sign and beside the flowering tree. The lane ahead remains open, with the barriers only along the left edge. Stepping forward again should keep drawing me toward that entrance frontage.", + "The green awning ahead on the right is holding steady in my view as I advance along the open lane. Nothing on the roadway or the curb line ahead blocks a straight approach, so continuing forward is the efficient choice. I should be able to hold this heading for several more steps before needing any adjustment.", + "I can now see the green canopy and the shop's storefront glass clearly on the right, well ahead of my current position. The lane continues straight with the raised sidewalk on my right, so I keep the same heading and walk on. Closing more ground should bring me level with the awning's frontage.", + "The green awning is closer and now occupies a larger part of the right side of my view, with its entrance area becoming visible beneath it. My path along the lane is still clear, so no reorientation is warranted at this distance. I will keep advancing toward the shopfront.", + "The green awning over the shop entrance is plainly the target and it is now only a short stretch ahead along the right-hand frontage. The lane in front of me stays open past the manhole cover and the bollard line, so continued forward movement keeps closing the gap. I will step forward again rather than turn while the awning is still ahead of me.", + "The pale green awning over the shopfront on the right side of the street is now clearly identifiable ahead, so I have committed to it as the target rather than scanning further. I will keep walking straight along the open red-paved lane to close the remaining distance.", + "The green awning and the flowering tree beside it are growing larger and shifting toward my right, confirming I am closing on the correct storefront. The lane in front of me stays clear of bollards and railings, so another forward step should keep the approach efficient.", + "The awning's green canopy and the shop entrance beneath it are clearly resolved just ahead on my right, past the curb line. Continuing straight keeps me on the open lane and shortens the gap before I need to angle toward the frontage.", + "The corner curb with the green awning storefront is close on my right, and the awning now fills a large part of the view. I will step forward again to reach the point beside the shop before adjusting my heading.", + "I am nearly level with the corner, with the green awning and its green-banded support column immediately ahead on my right. Another forward step should bring me onto the paving directly in front of the awning.", + "The green awning is right above the shop entrance a short distance ahead, with the wide sidewalk open in front of me. I will continue walking to move under and alongside the awning rather than stopping out at the corner.", + "The green-awninged storefront with its glass doors is now directly ahead of me on the sidewalk, only a few paces away. Stepping forward again should bring me close enough to stand right at the shop front.", + "The shop entrance under the green awning is close on my right, with only a short stretch of paving and a small bollard between me and it. I will take another step forward to draw level with the doorway itself.", + "The green awning storefront is right beside me now, with its glass doors and teal panels filling the right half of my view while I am still walking parallel to the shopfront. I will turn right so my heading points squarely at the entrance under that awning rather than continuing past it along the sidewalk.", + "The turn has put the awning and its glass doors centered ahead of me, with clear paving between me and the shop front. I will step forward to close the remaining distance to the storefront under the green awning.", + "The awning now hangs across the top of my view and the teal door panels have grown noticeably larger, so I am close but not yet at the shopfront. I will keep walking forward to bring myself right up to the entrance.", + "The doorway and its teal panels now fill most of my view and the awning is directly overhead, leaving only a short gap of pavement. I will take one more step forward to stand immediately at the storefront beneath the green awning.", + "I am standing directly against the green awning storefront, its glazing and teal trim filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000413_y002774_z000128_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x000413_y002774_z000128_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..41e5b2eadec4784a7cf80ea2e9b4af6437387949 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000413_y002774_z000128_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the second pillar from the left.", + "Type": 2, + "Start_Pose": [ + 412.837, + 2773.689, + 128.396, + 0.0, + -157.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 412.837, + 2773.689, + 128.396, + 0.0, + -157.44, + 0.0 + ], + [ + 296.609, + 2725.403, + 128.737, + 0.0, + -157.44, + 0.0 + ], + [ + 180.381, + 2677.117, + 128.737, + 0.0, + -157.44, + 0.0 + ], + [ + 64.153, + 2628.831, + 128.737, + 0.0, + -157.44, + 0.0 + ], + [ + -52.075, + 2580.545, + 128.737, + 0.0, + -157.44, + 0.0 + ], + [ + -168.303, + 2532.26, + 128.737, + 0.0, + -157.44, + 0.0 + ], + [ + -168.303, + 2532.26, + 128.737, + 0.0, + 177.56, + -0.0 + ], + [ + -294.048, + 2537.618, + 144.268, + 0.0, + 177.56, + -0.0 + ], + [ + -294.048, + 2537.618, + 144.268, + 0.0, + 177.56, + -0.0 + ] + ], + "Rationale": [ + "Counting the arcade support pillars from the left, my target is the second one, standing where the walkway corner curves ahead. They all share the same grey shaft and green band, so I hold it by that curb corner near the blossom tree. I will walk forward to close the distance.", + "The pillar I am heading for still stands well ahead of me at the sidewalk corner, and the roadway in front is clear of obstacles. Another step forward should shorten the gap before I need to angle toward its base.", + "The pillar I chose now looms larger at the curved curb on my left, its green band clearly readable. Nothing blocks the lane between us, so I keep walking forward since I am still short of it.", + "My pillar now rises just left of my line of travel, close enough that its banded base is distinct from the smaller bollards on the pavement. The way remains open, so another stride forward should bring me nearly level with it.", + "The pillar dominates the left side of my view now, but I am still a couple of paces short of standing at it. I will step forward again to draw alongside its base.", + "As I came up level, the pillar slid to the far left edge of my view, so continuing straight would take me past it. Turning left should swing it back in front of me and give a heading straight at its base.", + "The pillar now sits centered ahead of me, its green base band squarely in my path. A single step forward should bring me right up against it.", + "The green-banded pillar fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1be5336d3f9ce6cbbe221876c45c613273fcc027 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the yellow bollard on the sidewalk.", + "Type": 0, + "Start_Pose": [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + 293.788, + 230.227, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + 293.788, + 230.227, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + 178.42, + 280.534, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + 63.052, + 330.841, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + -52.315, + 381.148, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + -167.093, + 431.108, + 141.216, + 0.0, + 156.44, + -0.0 + ], + [ + -167.093, + 431.108, + 141.216, + 0.0, + 131.44, + -0.0 + ], + [ + -167.093, + 431.108, + 141.216, + 0.0, + 131.44, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the sidewalk ahead on the left, where a short bollard with yellow banding stands near the corner of the red and grey building. Nothing blocks the lane in front of me, so I will move forward to close the gap toward that side of the street.", + "The yellow bollard sits well off to the left of my heading, near the base of the corner building, while my current facing points straight down the tree-lined street past it. I will turn left to bring that bollard and its stretch of sidewalk into the center of my view before advancing further.", + "After the turn, the corner sidewalk with the yellow and grey bollard now lies ahead of me, slightly left of center. The crossing surface in between is clear, so I will move forward to reduce the remaining distance.", + "The bollard is noticeably larger now and the curb line of the corner sidewalk is close in front of me. I will keep moving forward along the same heading to continue closing on it.", + "I am nearly at the corner, with the yellow-banded bollard clearly visible just left of the pale building column ahead. Another step forward should put me onto the sidewalk right beside it.", + "The bollard now stands close on the sidewalk to my left front, and the walkway ahead of me is open. I will advance once more to bring myself alongside it.", + "I am now up on the sidewalk, but the broad building column fills much of my view and the bollard I approached has slipped out of the center of my field. I will turn left to face along the sidewalk and bring the yellow bollard back clearly in front of me.", + "The yellow-banded bollard stands directly in front of me at close range on the sidewalk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..14c9f0cf511772ad77f36d4e6cd8467a9660b072 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the red-framed double door on the building.", + "Type": 0, + "Start_Pose": [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + 293.788, + 230.227, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + 293.788, + 230.227, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + 178.42, + 280.534, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + 63.052, + 330.841, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + 63.052, + 330.841, + 128.149, + 0.0, + 131.44, + -0.0 + ], + [ + -20.246, + 425.191, + 128.149, + 0.0, + 131.44, + -0.0 + ], + [ + -103.543, + 519.541, + 128.149, + 0.0, + 131.44, + -0.0 + ], + [ + -186.841, + 613.891, + 144.234, + 0.0, + 131.44, + -0.0 + ], + [ + -270.139, + 708.242, + 138.2, + 0.0, + 131.44, + -0.0 + ], + [ + -270.139, + 708.242, + 138.2, + 0.0, + 156.44, + -0.0 + ], + [ + -385.507, + 758.549, + 138.2, + 0.0, + 156.44, + -0.0 + ], + [ + -497.581, + 808.164, + 138.2, + 0.0, + 156.44, + -0.0 + ], + [ + -497.581, + 808.164, + 138.2, + 0.0, + 156.44, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can already pick out the glass double door with the red framing band on the corner building to my left, past the crosswalk. Nothing blocks the open street ahead, so I will move forward to close some of that gap before committing to a heading change.", + "The red-framed double door sits well off to my left while my heading still points straight down the tree-lined street, which would carry me past it. I will turn left to swing that facade toward the middle of my view and line up my approach.", + "After the turn the corner building with the red-banded glass doors is now clearly in the left half of my view, with clear pavement and crosswalk between us. I will move forward along this heading to shorten the distance to that entrance.", + "The doorway with its pink-red panel band is growing larger ahead on my left and the sidewalk in front of it is clear apart from a low bollard well off my line. Another step forward should bring me close enough to the corner to refine my heading.", + "I am close to the corner now, but the red-framed double door still lies to the left of my heading and the building column partly cuts across my view of it. Turning left should bring the entrance into the center of my view for a straight approach.", + "The glass double door with the red framing band is now centered ahead of me across the sidewalk, with only an open pavement stretch between us. I will move forward to keep closing that remaining distance.", + "The entrance is noticeably nearer, its pink panels and the green sign beside the frame now clearly readable, and the striped bollard is passing off to my side rather than blocking me. I will keep advancing along the sidewalk toward the door.", + "The red-framed double door now fills much of the right side of my view along the tiled building wall, but I am still a few paces short of standing in front of it. I will move forward again to reduce that remaining gap.", + "The double door with its red panels and green sign is now clearly visible along the building facade slightly to my right, and the sidewalk ahead of me is open and level. I will keep moving forward to close the remaining lateral distance before squaring up to the door.", + "I am now roughly level with the red-framed double door, but it sits off to my right and my heading still runs parallel to the building wall. I will turn right to bring the doorway into the center of my view so a straight approach becomes possible.", + "The red-framed double door is now centered in front of me with both handles and the green sign plainly visible. I will move forward along this heading to close the remaining gap to the entrance.", + "The door now fills most of my view and the paired handles are directly ahead, so only a short gap remains. I will take one more step forward to reach a position right at the doorway.", + "The red-framed double door's handles are directly in front of me at arm's reach. The approach task is complete, so no further movement is warranted." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000484_y002458_z000128_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x000484_y002458_z000128_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..957b97fd8dd6ad5546871dde76eff67be83d04ab --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000484_y002458_z000128_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the storefront with blue lower panels and a blue awning.", + "Type": 0, + "Start_Pose": [ + 483.844, + 2458.238, + 128.23, + 0.0, + -157.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 483.844, + 2458.238, + 128.23, + 0.0, + -157.44, + 0.0 + ], + [ + 367.616, + 2409.952, + 128.23, + 0.0, + -157.44, + 0.0 + ], + [ + 251.388, + 2361.666, + 128.723, + 0.0, + -157.44, + 0.0 + ], + [ + 135.16, + 2313.38, + 128.723, + 0.0, + -157.44, + 0.0 + ], + [ + 18.932, + 2265.094, + 130.044, + 0.0, + -157.44, + 0.0 + ], + [ + -97.296, + 2216.809, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -213.524, + 2168.523, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -329.752, + 2120.237, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -442.295, + 2091.379, + 128.149, + 0.0, + -157.44, + 0.0 + ], + [ + -536.008, + 2090.961, + 128.149, + 0.0, + -157.44, + 0.0 + ], + [ + -536.008, + 2090.961, + 128.149, + 0.0, + -132.44, + 0.0 + ], + [ + -626.532, + 2012.343, + 129.59, + 0.0, + -132.44, + 0.0 + ], + [ + -626.532, + 2012.343, + 129.59, + 0.0, + -107.44, + 0.0 + ], + [ + -664.253, + 1892.27, + 138.15, + 0.0, + -107.44, + 0.0 + ], + [ + -664.253, + 1892.27, + 138.15, + 0.0, + -107.44, + 0.0 + ] + ], + "Rationale": [ + "Ahead and slightly right, past the green arch, I can pick out a shopfront with a dark blue awning and blue panelling below its windows, which matches the storefront I need. Nothing blocks the red-paved street between me and it, so I will walk straight forward to begin closing the gap.", + "The blue-awninged shop on the right has grown larger and its blue lower panels are now clearly readable, confirming I am headed the right way. My current heading still points along the street toward it, so another step forward keeps shrinking the distance without any turn.", + "The target shop with its blue canopy and blue window panels sits ahead on my right, still some distance along the sidewalk. The road surface in front of me is clear apart from bollards well off to the side, so I will keep walking straight to close in.", + "The blue awning and the blue base panels of the shopfront are now distinct off to my right, and its entrance is coming into reach. Since my heading still carries me toward that frontage, I will advance again rather than turn this early.", + "I am now level with the near end of the blue-panelled storefront, though its doors still lie ahead of me along the sidewalk. Traffic cones and a bollard sit to the side of my line of travel, so walking straight forward remains the direct way to reach the entrance.", + "The blue awning stretches overhead to my right and the bright blue lower panels of the glass front are close beside me. I am not yet squarely at the doors, so I will step forward again along the sidewalk to draw level with them.", + "The shop's glass doors with their blue panels and the poster are now just off my right shoulder, under the blue awning. A cone stands ahead but sits to the left of my line, so one more step forward should bring me alongside the entrance.", + "I am walking right alongside the blue-panelled glass frontage, with the awning above and the poster panel beside me. The doorway is still slightly ahead rather than square to my side, so I will take another step forward before turning in toward it.", + "The storefront with the bright blue lower panels and the blue awning is now close on my right, its glass doors and poster clearly readable. I am still slightly short of being level with its entrance, so I walk forward again along the sidewalk to close the last of that gap.", + "I have drawn level with the blue-panelled shopfront, which now sits off to my right rather than ahead of me. I turn right to swing my heading toward its doors so I can approach them squarely.", + "The turn has brought the blue lower panels and the awning above the entrance into the centre of my view. With the doors now ahead of me, I step forward across the sidewalk to close the remaining distance to the storefront.", + "I am close to the glass frontage, but the doors and their blue panels still sit toward the right half of my view while the shuttered wall fills the left. A further right turn should square me up with the entrance itself.", + "The paired glass doors with their vivid blue lower panels and the poster now sit directly in front of me. I take one more step forward to stand right at this storefront.", + "The blue lower panels of this awninged storefront fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..70cb7b5195209eb417772e31bef5b784e14e335b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the glass door on the white building.", + "Type": 0, + "Start_Pose": [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ], + [ + 799.268, + -847.239, + 131.423, + 0.0, + 24.0, + -0.0 + ], + [ + 799.268, + -847.239, + 131.423, + 0.0, + 49.0, + -0.0 + ], + [ + 881.839, + -752.252, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 964.41, + -657.265, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1046.981, + -562.278, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1129.552, + -467.291, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1129.552, + -467.291, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1164.243, + -346.307, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1198.935, + -225.324, + 150.516, + 0.0, + 74.0, + -0.0 + ], + [ + 1233.626, + -104.34, + 148.3, + 0.0, + 74.0, + -0.0 + ], + [ + 1268.317, + 16.643, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1268.317, + 16.643, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1350.888, + 111.63, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1433.459, + 206.617, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1433.459, + 206.617, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1548.437, + 257.809, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1548.437, + 257.809, + 138.15, + 0.0, + 24.0, + -0.0 + ] + ], + "Rationale": [ + "From the open plaza I can see the white building's facade ahead with a recessed glass door set to the right of the frosted window bank. The paving in front of me is clear of the traffic cones stacked on my left, so I will move forward to start closing the gap toward that entrance.", + "After advancing, the glass entrance now sits well to the right of my heading while the blank window wall fills the center of my view. I will turn right to bring the door side of the building into my forward path before continuing.", + "The turn has swung the dark glass doorway into the middle-right of my view, with the tree planter and street railings beyond it. The walkway between me and that entrance is unobstructed, so I will move forward to shorten the distance.", + "The doorway ahead is noticeably larger now and its metal frame is easier to pick out against the pale wall. Nothing blocks the paved stretch in front of me, so I will keep moving forward along the facade toward it.", + "I am still short of the entrance, though the recessed glass door is now clearly framed just left of the raised planter. I will advance again to continue closing on it while staying clear of the planter edge on my right.", + "The glass door panels and their vertical handles are becoming distinct as the facade fills more of my view. The tiled walkway ahead remains open, so another step forward should bring me closer to the entrance.", + "My heading has drifted so that the building wall crowds the left of my view while the door sits near the center left and the walkway continues to the right. I will turn right to square onto the open tiled path leading along the facade toward the entrance.", + "With my heading adjusted, the glass doors sit ahead on the left and the wide tiled walkway between the wall and the tree planter is clear. I will move forward along this lane to keep reducing the distance to the entrance.", + "The white building's glass double door is visible ahead on my left along the paved walkway, still some distance off. The planted tree sits to my right and leaves the walkway clear, so I will continue straight to close the gap toward the door.", + "The glass door on the white wall now reads larger and its frame and handle are clearer, confirming I am closing on the correct target. The tiled ground in front of me stays unobstructed, so another step forward should shorten the remaining distance.", + "I am now alongside the recessed entrance area with the glass door filling much of the left side of my view. Since it still lies slightly ahead of me rather than beside me, I will keep moving forward before committing to a turn.", + "The glass door is now clearly off to my left while my heading points down the walkway past it. Turning left should swing the doorway toward the center of my view so I can approach it head on.", + "After the turn the glass double door with its vertical handles sits more centrally in front of me. The tiled ground between me and the entrance is clear, so I will advance to reduce the remaining distance.", + "The door panels now dominate the left half of my view and the handle detail is sharp, so I am only a short distance from the entrance. Another forward step should bring me close enough to stand right at the doorway.", + "At this close range the door has drifted to my left and I am facing more along the wall than at the entrance itself. A left turn should square my heading onto the glass doors before the final step.", + "The two glass panels and their central handles are now centered directly in front of me with only a narrow strip of paving left. I will step forward once more to stand immediately at the glass door.", + "The glass door's frosted panel and metal handles fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..803134b91578d4a8acdb881acfd62f3f4ca3e677 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the green shrub near the trunk.", + "Type": 0, + "Start_Pose": [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ], + [ + 799.268, + -847.239, + 131.423, + 0.0, + 24.0, + -0.0 + ], + [ + 799.268, + -847.239, + 131.423, + 0.0, + 49.0, + -0.0 + ], + [ + 881.839, + -752.252, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 964.41, + -657.265, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 964.41, + -657.265, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 999.101, + -536.281, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1033.793, + -415.298, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1068.484, + -294.314, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1068.484, + -294.314, + 138.15, + 0.0, + 74.0, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the leafy tree on the right side of the plaza with low green shrubs planted around its base, which matches the target described in the task. The open paved area in front of me is clear of cones and benches, so I will move forward to begin closing the gap toward that planter.", + "The shrub bed at the base of the tree now sits far over at the right edge of my view, while my heading points along the building's window wall. I will turn right to bring the tree and its green shrubs closer to the center of my view before advancing further.", + "After the turn the tree trunk and the green shrubs in the raised planter are ahead and slightly right, no longer at the edge of my view. The tiled walkway between me and the planter is unobstructed, so I will move forward to shorten the distance.", + "The green shrub bed beside the trunk has grown noticeably larger in my view, but it is still several paces away across the plaza. I will keep moving forward on this heading to continue closing the remaining distance.", + "I am now close to the planter, but its low kerb and the shrubs sit toward the right of my view while my heading runs into the wall and doorway ahead. I will turn right to line up along the planter so my remaining forward steps carry me to the shrubs beside the trunk.", + "The turn opened up the walkway running alongside the planter, with the tree trunk and its surrounding green shrubs just ahead on my left. I will move forward along this clear sidewalk to draw level with the shrubs at the trunk.", + "The green shrubs and the planter kerb now fill the lower left of my view, so I am nearly beside the target but not yet alongside the trunk itself. Another forward step should bring me directly next to the shrub growing at the base of the tree.", + "The leafy green shrubs spill over the planter edge close on my left and the tree trunk rises just ahead of me. One more short step forward should place me right at the shrub beside the trunk, close enough to consider the approach complete.", + "The green shrub beside the tree trunk fills the near left of my view, within arm's reach at the planter edge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6020c994854e32cfd7881ee467e15c642e5524b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the plate near the green shrub near the trunk.", + "Type": 5, + "Start_Pose": [ + 684.29, + -898.43, + 128.149, + 0, + 24, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1104.564, + -446.117, + 88.15, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 684.29, + -898.43, + 128.149, + 0, + 24, + 0 + ], + [ + 799.268, + -847.239, + 131.423, + 0.0, + 24.0, + -0.0 + ], + [ + 799.268, + -847.239, + 131.423, + 0.0, + 49.0, + -0.0 + ], + [ + 881.839, + -752.252, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 964.41, + -657.265, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1046.981, + -562.278, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1046.981, + -562.278, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1046.981, + -562.278, + 138.15, + 0.0, + 49.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1104.564, + -446.117, + 88.15, + 90.0, + 0.0, + 0.0 + ], + [ + 1104.564, + -446.117, + 88.15, + 90.0, + 0.0, + 0.0 + ], + [ + 1104.564, + -446.117, + 88.15, + 90.0, + 0.0, + 0.0 + ], + [ + 1104.564, + -446.117, + 88.15, + 90.0, + 0.0, + 0.0 + ], + [ + 1104.564, + -446.117, + 88.15, + 90.0, + 0.0, + 0.0 + ], + [ + 1104.564, + -446.117, + 88.15, + 90.0, + 0.0, + 0.0 + ], + [ + 1030.464, + -548.729, + 108.256, + -28.202, + 99.144, + 1.862 + ], + [ + 1030.464, + -548.729, + 108.256, + -28.202, + 99.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 617.4, + 504.1, + 504.1, + 378.6, + 253.4, + 129.7, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see a white plate standing upright on the plaza ahead, near the leafy shrubs at the base of the tree by the building entrance. It is still far across the open pavement, so I will walk forward to close that gap. The paving ahead is clear, so this step should bring the plate noticeably nearer.", + "The plate and the green shrubs beside the tree trunk now sit to the right of my heading, while my current facing points more toward the blank wall and window bay. A modest rotation to the right should place the plate closer to the center of my path. I will turn right to line up my approach before continuing.", + "After the turn, the plate sits near the middle of my view with the shrub bed and tree trunk just behind it. The walkway between us is flat and unobstructed, so a straight step is the direct way to close distance. I will move forward to keep approaching the plate.", + "The plate has grown larger ahead of me and the green shrubs beside the trunk are clearly resolved, but it is still beyond arm's reach. My heading remains lined up with it and nothing blocks the paving in between. I will keep walking forward to shorten the remaining gap.", + "The plate now fills a large part of my forward view, low and slightly left of center against the planter with the green shrubs. It is close but likely still a step outside comfortable grasping range. I will advance once more to stand directly over it before attempting a pick.", + "The plate is now immediately in front of me at the edge of the shrub planter, occupying the lower part of my view at close range. This is the target described in the task, resting near the green shrubs by the trunk. I will attempt to pick it up from here.", + "The plate is now held in my hand directly below me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..44bb5352294634404d0d4baf954fb3184f15fe08 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the second window from the left on the building.", + "Type": 2, + "Start_Pose": [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ], + [ + 919.769, + -808.752, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1034.747, + -757.56, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1149.725, + -706.369, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1264.703, + -655.177, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1379.681, + -603.986, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1379.681, + -603.986, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + 1505.52, + -606.182, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + 1505.52, + -606.182, + 138.15, + 0.0, + -1.0, + 0.0 + ] + ], + "Rationale": [ + "The facade ahead carries a run of frosted glass panels, and counting from the left end of that run gives me my target as the panel immediately right of the leftmost one. The panels are near identical, so I hold its place by the row's left end, which starts just past the cones and teal barriers. I walk forward to close on the wall.", + "The glazed panels are noticeably larger now, so my heading toward the wall is good. My chosen window still lies ahead and to my left, well short of reach. I continue walking forward.", + "The panel I picked out sits to the left of my heading, with the benches and the wall base now clearly closer. There is still open paving between me and the facade, so no reorientation is needed yet. I keep walking forward.", + "At this range the left end of the run has slipped off the edge of my view, so I can no longer count the panels from it and simply keep following the one I already singled out, off to my left. The wall is still several strides away. I advance again.", + "The benches and the wall base are close ahead, and my window stands to my left, taller than the frame allows. A little more ground remains before I am properly at the wall. I step forward once more.", + "Closing in along the facade has pushed my window well over to my left, near the edge of what I can see. Turning left should swing it back to the middle of my view so I can walk straight at it. I rotate left.", + "My window now sits squarely ahead of me, with only a bench and a short stretch of paving between us. One more step forward should bring me right up to it.", + "The frosted window I chose now fills my view at arm's length above the wall base. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..353955de42174f9f287e96ec49f16e856c6c5fc5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the second bench from the left near the building.", + "Type": 2, + "Start_Pose": [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ], + [ + 804.791, + -859.943, + 136.389, + 0.0, + 49.0, + -0.0 + ], + [ + 887.362, + -764.956, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 969.933, + -669.969, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1052.504, + -574.982, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1135.075, + -479.995, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1217.646, + -385.008, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1217.646, + -385.008, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1332.624, + -333.817, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1447.602, + -282.625, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1447.602, + -282.625, + 138.15, + 0.0, + 24.0, + -0.0 + ] + ], + "Rationale": [ + "Two benches stand against the building wall ahead of me, and the one I want is the second from the left, the one sitting right beside the glass entrance doors. My body faces across the open plaza instead of along the facade, so I will turn right to line up with the walkway that runs past them.", + "The paved walkway now runs straight ahead alongside the facade, with the benches set back to my left. The bench next to the glass entrance doors is still a long way off, so I will walk forward along this clear stretch to close the distance.", + "The benches along the wall have grown larger to my left, but the one beside the entrance doors is still several strides away. The pavement between the planter and the facade stays open, so I keep walking forward.", + "The nearer bench has slid to the far edge of my view while the bench by the glass doors sits ahead on my left. I am still too far off to count as having arrived, so I continue walking forward along the facade.", + "The bench beside the entrance doors is clearly resolved now, low against the window band on my left. Nothing blocks the paving between me and it, so I take another step forward.", + "The other bench of the pair has passed out of my view behind me, so I hold onto the bench standing right beside the glass entrance doors as my target. It remains ahead and off to my left, so I walk forward again to shorten the gap.", + "The bench by the entrance doors now sits well over on my left, while other seating shows up further down the plaza on my right. I will turn left to bring the door-side bench squarely in front of me before I close in.", + "The bench is now centered in front of me against the glazing, with the entrance doors just to its right. A short stretch of paving still separates us, so I step forward to come right up beside it.", + "The bench fills much of my view against the glazing, with the dark entrance opening just past its right end. A last stride of paving still lies between my feet and its front edge, so I walk forward once more to stand right at it.", + "The bench beside the entrance doors is directly at my feet, filling the lower view against the glazing. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e20e80b5839e8a4f95cabd6d1eed32e8d83b4cb6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the bench near the door.", + "Type": 0, + "Start_Pose": [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1065.035, + 28.42, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1139.439, + 129.932, + 150.313, + 0.0, + 53.76, + -0.0 + ], + [ + 1213.843, + 231.443, + 138.706, + 0.0, + 53.76, + -0.0 + ], + [ + 1288.247, + 332.954, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1362.651, + 434.466, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1437.055, + 535.977, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1511.459, + 637.488, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1511.459, + 637.488, + 138.15, + 0.0, + 53.76, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the glass double doors set into the building facade on my left, and the paved walkway ahead runs past them along the wall. The bench should sit somewhere along that stretch near the doors, so I will move forward down the open pavement to bring that area into view.", + "The doorway wall is now closer on my left and the pavement continues clear ahead past the planter with the tree. I will keep moving forward to reach the section of wall beyond the doors where a bench is likely placed.", + "Ahead along the base of the wall I can now make out a low grey bench near the yellow barriers, close to the building's door line. My heading already points down that walkway, so continuing forward closes the gap without any turn.", + "The bench against the wall is clearly resolved now, sitting slightly left of my forward direction with unobstructed paving between us. I will continue straight to keep shrinking that distance.", + "The bench has grown noticeably larger and is centered near the wall just ahead of me, with the door glazing running along my left. Another step forward should bring me into the immediate vicinity of the bench.", + "I am now close to the bench, which stands against the wall panels only a short distance ahead and slightly left. I will advance again to stand right beside it rather than stopping short.", + "The bench fills much of the lower center of my view, so I am nearly alongside it beside the building's door wall. One more forward step should place me directly at the bench.", + "The bench along the door wall is directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x001211_y001952_z000139_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x001211_y001952_z000139_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6349786495b65e35a896761bc30e69dfce638706 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x001211_y001952_z000139_t0_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the pink cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + 1211.091, + 1952.032, + 138.554, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1211.091, + 1952.032, + 138.554, + 0.0, + 113.28, + -0.0 + ], + [ + 1211.091, + 1952.032, + 138.554, + 0.0, + 138.28, + -0.0 + ], + [ + 1117.149, + 2035.79, + 128.77, + 0.0, + 138.28, + -0.0 + ], + [ + 1023.207, + 2119.548, + 128.77, + 0.0, + 138.28, + -0.0 + ], + [ + 1023.207, + 2119.548, + 128.77, + 0.0, + 163.28, + -0.0 + ], + [ + 902.669, + 2155.757, + 128.77, + 0.0, + 163.28, + -0.0 + ], + [ + 782.131, + 2191.966, + 128.149, + 0.0, + 163.28, + -0.0 + ], + [ + 661.593, + 2228.175, + 128.149, + 0.0, + 163.28, + -0.0 + ], + [ + 541.055, + 2264.384, + 128.149, + 0.0, + 163.28, + -0.0 + ], + [ + 420.517, + 2300.593, + 128.149, + 0.0, + 163.28, + -0.0 + ], + [ + 299.979, + 2336.802, + 128.768, + 0.0, + 163.28, + -0.0 + ], + [ + 179.441, + 2373.011, + 128.768, + 0.0, + 163.28, + -0.0 + ], + [ + 58.903, + 2409.22, + 129.393, + 0.0, + 163.28, + -0.0 + ], + [ + -61.634, + 2445.429, + 128.77, + 0.0, + 163.28, + -0.0 + ], + [ + -61.634, + 2445.429, + 128.77, + 0.0, + 138.28, + -0.0 + ], + [ + -155.576, + 2529.187, + 128.77, + 0.0, + 138.28, + -0.0 + ], + [ + -249.518, + 2612.945, + 138.15, + 0.0, + 138.28, + -0.0 + ], + [ + -343.46, + 2696.703, + 138.15, + 0.0, + 138.28, + -0.0 + ], + [ + -437.402, + 2780.461, + 138.15, + 0.0, + 138.28, + -0.0 + ], + [ + -437.402, + 2780.461, + 138.15, + 0.0, + 138.28, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead I only see the green leafy tree and the blue office block, but at the far right edge of my view there is a hint of pale pink blossom beside the shop with the green awning. I will turn right to bring that pink cherry blossom tree properly into my forward view before committing to any travel.", + "Now the pink blossom tree is in view ahead and slightly right, standing near the green arched arcade entrance across the road. The painted lane in front of me is open, so I will move forward to start closing the gap toward it.", + "The pink cherry blossom canopy beside the arcade arch has grown a little larger and the arch itself now reads clearly on my right, confirming I am gaining ground on the target. The road ahead stays clear of traffic and barriers, so I will keep pushing forward.", + "My current heading points along the road past the target, while the pink blossom tree and the arcade entrance it stands beside now sit off to my right. I will turn right so my facing lines up with that arcade street and the blossoming tree is centered in front of me.", + "After the turn the arcade gateway is squarely ahead with the pink cherry blossom tree just left of its arch, so my heading is now pointed at the target. I will move forward across the roadway to close that remaining distance.", + "The red-paved crossing strip is coming up under my view and the pink blossoms beneath the arch are noticeably nearer and more detailed. Nothing blocks the lane, so I will continue straight toward the tree.", + "I am now onto the red pavement with the arcade arch filling the upper view and the pink blossom tree standing clearly to the left of the entrance. My path remains clear of the cones on the far side, so I will keep advancing toward the tree.", + "The pink cherry blossom tree is now large and distinct ahead-left, its branches spreading over the sidewalk beside the green-awning shopfront. I still have several paces of open pavement between me and its trunk, so I will move forward again to shorten that distance.", + "The pink blossom tree stands ahead on the left side of the shopping street, near the green awning, with a second blossom canopy further down the arcade. The red paved crossing in front of me is clear, so I will keep moving forward to close the remaining distance.", + "The pink blossoms have grown noticeably larger and are now clearly to my left front, confirming my heading still leads toward them. Nothing blocks the open pavement, so another step forward should shorten the gap.", + "The blossom tree's trunk and lower branches are now visible past the utility pole, showing I am close to the sidewalk where it stands. I will continue forward since the lane ahead remains unobstructed.", + "The blossom canopy now fills the upper left of my view and its trunk rises just beyond the curb, so I am nearly alongside it. Advancing again should bring me right up to the corner where it grows.", + "I am at the rounded corner curb with the pink tree immediately to my left front, partly hidden behind the wide grey pillar. One more forward step should carry me onto the sidewalk beside it.", + "The pink blossom tree now sits to the left of my heading, close to the shopfront with the green awning, while my current facing points down the arcade past it. Turning left should place the tree near the center of my view for a straight final approach.", + "After the turn the pink blossom crown sits high and centered above the storefront just ahead of me, so my heading is aligned with it. I will step forward onto the sidewalk to close the last short distance.", + "The tree's trunk and pink petals scattered on the pavement are now only a couple of steps in front of me, with the canopy overhead. Another forward step should bring me right up beside the trunk.", + "The pink cherry blossom tree now stands just ahead on the sidewalk, its trunk and pink canopy filling the upper center of my view with fallen petals scattered across the pavement in front of me. The walkway between me and its base is clear, so I will keep moving forward to close the remaining short gap.", + "The trunk of the blossom tree is now very close, rising through the right of my view with its flowers cut off above the top edge, which tells me I am nearly at its base. One more forward step should bring me right up beside the tree, so I will advance again.", + "The cherry blossom tree's trunk stands directly beside me, filling the right of my view at arm's length. The task is complete, so further movement is unnecessary." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x001211_y001952_z000139_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x001211_y001952_z000139_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..859f996a59a403c7e1804cbd1820854b66bb2f00 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x001211_y001952_z000139_t0_b/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Approach the shop with the green awning.", + "Type": 0, + "Start_Pose": [ + 1211.091, + 1952.032, + 138.554, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1211.091, + 1952.032, + 138.554, + 0.0, + 113.28, + -0.0 + ], + [ + 1211.091, + 1952.032, + 138.554, + 0.0, + 138.28, + -0.0 + ], + [ + 1117.149, + 2035.79, + 128.77, + 0.0, + 138.28, + -0.0 + ], + [ + 1023.207, + 2119.548, + 128.77, + 0.0, + 138.28, + -0.0 + ], + [ + 929.265, + 2203.306, + 128.77, + 0.0, + 138.28, + -0.0 + ], + [ + 835.323, + 2287.064, + 128.77, + 0.0, + 138.28, + -0.0 + ], + [ + 741.381, + 2370.822, + 128.15, + 0.0, + 138.28, + -0.0 + ], + [ + 647.44, + 2454.58, + 128.15, + 0.0, + 138.28, + -0.0 + ], + [ + 647.44, + 2454.58, + 128.15, + 0.0, + 163.28, + -0.0 + ], + [ + 526.902, + 2490.789, + 128.15, + 0.0, + 163.28, + -0.0 + ], + [ + 406.364, + 2526.998, + 128.15, + 0.0, + 163.28, + -0.0 + ], + [ + 406.364, + 2526.998, + 128.15, + 0.0, + -171.72, + 0.0 + ], + [ + 281.817, + 2508.873, + 128.573, + 0.0, + -171.72, + 0.0 + ], + [ + 157.269, + 2490.748, + 128.573, + 0.0, + -171.72, + 0.0 + ], + [ + 32.722, + 2472.623, + 129.81, + 0.0, + -171.72, + 0.0 + ], + [ + 32.722, + 2472.623, + 129.81, + 0.0, + 163.28, + -0.0 + ], + [ + -87.816, + 2508.832, + 128.854, + 0.0, + 163.28, + -0.0 + ], + [ + -208.354, + 2545.041, + 143.589, + 0.0, + 163.28, + -0.0 + ], + [ + -208.354, + 2545.041, + 143.589, + 0.0, + 138.28, + -0.0 + ], + [ + -302.295, + 2628.799, + 138.15, + 0.0, + 138.28, + -0.0 + ], + [ + -396.237, + 2712.557, + 138.15, + 0.0, + 138.28, + -0.0 + ], + [ + -396.237, + 2712.557, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -445.98, + 2828.169, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -495.723, + 2943.781, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -545.465, + 3059.393, + 140.415, + 0.0, + 113.28, + -0.0 + ], + [ + -545.465, + 3059.393, + 140.415, + 0.0, + 138.28, + -0.0 + ], + [ + -545.465, + 3059.393, + 140.415, + 0.0, + 138.28, + -0.0 + ] + ], + "Rationale": [ + "From this crossing I can pick out the shop with the pale green awning set back on the far side of the street, well to the right of my current heading. I will turn right so that storefront and the open roadway leading toward it sit closer to the center of my view before I start moving.", + "The green awning shop now sits ahead of me across the road, with the arcade entrance and its signage just to its right. The pavement in front of me is clear, so I will move forward to begin closing that distance.", + "The awning and the shop's glass frontage have grown slightly larger and the arcade gate to its right is more legible, which tells me my heading is still good. I will keep moving forward along this open stretch of road.", + "I can now see the green awning clearly ahead with the flowering tree beside it, and the red-paved crossing lies between me and that frontage. Since nothing blocks my path, I will continue forward to shorten the remaining gap.", + "The awning sits slightly right of my forward axis and is still some distance off across the wide road. I will push forward again to keep closing on it before making any heading adjustment.", + "The shop with the green awning is noticeably nearer now, its window frames and door starting to resolve. The road ahead remains clear of barriers, so I will advance again toward it.", + "I am close enough that the green awning fills a good portion of the upper right of my view, but I am still out in the roadway rather than at the frontage. I will move forward once more to reach the paved area in front of the shops.", + "Straight ahead my path runs into the corner wall beneath the awning, while the open pedestrian route into the shopping street lies off to my right past the tall pillar. I will turn right to face that walkable approach so I can continue closing on the shop frontage rather than walking into the building face.", + "The shop with the green awning is visible ahead on the left side of the corner, set back behind a low railing, and the pedestrian street opening lies slightly to my right. I am still out on the red roadway surface, so I will move forward to close distance toward that corner area.", + "The awning frontage has grown larger and shifted further to my left, confirming I am gaining ground on the corner. The road ahead is clear of traffic and obstacles, so another forward step should bring me closer to the sidewalk in front of the shop.", + "The corner building with the green awning is now close on my left, but its frontage is fenced off from where I stand and a large support column blocks the direct line. Turning right should point me down the open pedestrian street beside it, which is the passable route toward the shop entrance.", + "I am now facing down the covered pedestrian street, with the green awning shop just off my left shoulder at the corner. Moving forward should carry me along this clear walkway and past the barrier that separates me from the shop frontage.", + "The walkway ahead remains clear apart from bollards well off to the sides, and the awning corner is sliding rearward on my left. I will continue forward to reach the point where the sidewalk in front of the shop opens up.", + "I am nearly level with the corner column, and the sidewalk on my left that fronts the awning is now reachable rather than fenced. One more forward step should place me beside that frontage before I turn in.", + "I have drawn level with the corner, and the green awning storefront is now off to my left rather than ahead. Turning left should bring that shop front into the center of my view so I can walk straight at it.", + "The green awning and its glass doors are now clearly on my left front, with the paved sidewalk running toward them. I will move forward to close the remaining distance to that storefront.", + "The storefront with the pale green awning and its glazed doors is clearly visible off to my left, and the paved sidewalk ahead of me is open. I will keep moving forward to close the remaining distance before I commit to a final heading onto the frontage.", + "A thick utility pole now fills the center of my view while the awning shop sits off to my left, so my current heading no longer points at the target. Turning left should swing the awning and the shop entrance back toward the middle of my view and give me a clean line of approach past the pole.", + "The green awning and the shop's twin glass doors are now framed ahead of me with clear pavement in between. I will move forward to shorten the gap to the storefront.", + "The awning now spans the upper left of my view and the doorway with its posted notices is close, so I am nearly at the frontage. Another step forward should bring me alongside the entrance area.", + "My heading is now running along the building's blank side wall with the awning and glass doors sitting off to my left. I will turn left so the shop frontage and its entrance come back in front of me instead of sliding out of view.", + "The green awning now runs overhead ahead of me and the shop's glazed front is on my right along the walkway. I will step forward down this frontage to bring myself directly to the entrance.", + "I am beside the shop's glass windows with the awning directly above me, and the door frame lies just a little further along. One more forward step should put me right at the entrance of this green awning shop.", + "The door handle and the posted notices beside the glass are now close on my right under the green awning. I will take a final short step forward to stand immediately at this entrance.", + "The green awninged shopfront now fills the right side of my view at arm's length, with its glass door and handle just off my heading. I will turn right so I am squarely facing that entrance rather than looking along the storefront. This should leave the shop centered ahead and confirm I am standing at it.", + "The green awninged shop's glass entrance fills my view directly ahead at arm's length. The approach task is complete, so I stop here." + ] +}