Add files using upload-large-folder tool

dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t0_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Walk to the doorway on the patterned building.",
+    "Type": 0,
+    "Start_Pose": [
+        -1342.141,
+        3500.513,
+        98.25,
+        0,
+        144.96,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1342.141,
+            3500.513,
+            98.25,
+            0,
+            144.96,
+            0
+        ],
+        [
+            -1445.188,
+            3572.775,
+            98.25,
+            0.0,
+            144.96,
+            -0.0
+        ],
+        [
+            -1445.188,
+            3572.775,
+            98.25,
+            0.0,
+            119.96,
+            -0.0
+        ],
+        [
+            -1508.042,
+            3681.816,
+            98.25,
+            0.0,
+            119.96,
+            -0.0
+        ],
+        [
+            -1570.895,
+            3790.857,
+            98.25,
+            0.0,
+            119.96,
+            -0.0
+        ],
+        [
+            -1633.748,
+            3899.898,
+            98.25,
+            0.0,
+            119.96,
+            -0.0
+        ],
+        [
+            -1696.602,
+            4008.939,
+            98.25,
+            0.0,
+            119.96,
+            -0.0
+        ],
+        [
+            -1759.455,
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+            98.25,
+            0.0,
+            119.96,
+            -0.0
+        ],
+        [
+            -1822.309,
+            4227.021,
+            98.546,
+            0.0,
+            119.96,
+            -0.0
+        ],
+        [
+            -1822.309,
+            4227.021,
+            98.546,
+            0.0,
+            94.96,
+            -0.0
+        ],
+        [
+            -1833.19,
+            4352.408,
+            98.546,
+            0.0,
+            94.96,
+            -0.0
+        ],
+        [
+            -1844.072,
+            4477.796,
+            98.546,
+            0.0,
+            94.96,
+            -0.0
+        ],
+        [
+            -1844.072,
+            4477.796,
+            98.546,
+            0.0,
+            94.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From my starting spot on the open sand I can see the patterned chevron facade to my left, with a dark recessed doorway set beneath its tall gilded frame. The gap between me and that entrance is large, so I will move forward across the sand to begin closing distance before refining my heading.",
+        "After advancing, the patterned building's doorway still sits well to the left of my forward axis while my heading points down the open sand toward the domed structures ahead. I will turn left so the recessed entrance moves toward the center of my view and further forward motion runs straight at it.",
+        "The turn has brought the patterned facade and its dark doorway near the middle of my view, framed by the tall gilded columns. With the path of sand and scattered pale paving stones ahead clear, I will move forward to shorten the remaining distance.",
+        "The doorway opening has grown slightly larger and stays just left of center, and the interior red wall beyond it is becoming clearer. Nothing blocks the sandy approach, so I will keep pressing forward toward the entrance.",
+        "The chevron pillar on my left and the plain wall on my right now frame a narrowing approach, with the doorway and its tiled interior floor clearly ahead. I will continue forward since the gap is still wide enough to walk into.",
+        "The opening is much larger now and the paving stones leading up to the threshold spread across the lower part of my view. Since I am not yet at the doorway itself, I will step forward again to close the last stretch.",
+        "I am now inside the narrow recess before the entrance, with the doorway and the room's tiled floor and red wall directly ahead and slightly left. The way is still clear, so I will advance to bring myself right up to the opening.",
+        "The doorway now fills a large part of my view just left of my heading, and I can see the beamed ceiling and arched windows of the room behind it. I will move forward once more to reduce the small remaining gap to the threshold.",
+        "The dark doorway into the red-walled interior now sits well left of my heading, with a blank stone wall filling the right half of my view. I will turn left to center that opening so my remaining forward steps carry me straight through it.",
+        "After the turn the doorway is centered ahead, framed by the two walls, with the paving slabs leading straight into it. I will move forward along this clear line to close the remaining distance to the opening.",
+        "The doorway frame now fills much of my view and the red interior wall and tiled floor are clearly visible through it, so I am close but not yet at the threshold. One more forward step should bring me right into the doorway.",
+        "The doorway frame now surrounds my view with the patterned interior floor directly ahead. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t0_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Approach the small stone shrine with the red gem emblem.",
+    "Type": 0,
+    "Start_Pose": [
+        -1342.141,
+        3500.513,
+        98.25,
+        0.0,
+        144.96,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1342.141,
+            3500.513,
+            98.25,
+            0.0,
+            144.96,
+            -0.0
+        ],
+        [
+            -1445.188,
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+            98.25,
+            0.0,
+            144.96,
+            -0.0
+        ],
+        [
+            -1445.188,
+            3572.775,
+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -1569.12,
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+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -1693.052,
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+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -1816.983,
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+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -1940.915,
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+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -2064.846,
+            3682.483,
+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -2188.778,
+            3704.425,
+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -2312.71,
+            3726.367,
+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -2436.641,
+            3748.308,
+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -2560.573,
+            3770.25,
+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ],
+        [
+            -2560.573,
+            3770.25,
+            98.25,
+            0.0,
+            169.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this sandy courtyard I can already pick out the small stone shrine ahead on the right, its circular gold emblem with a dark red gem set into the pale block facade. Nothing blocks the open sand between us, so I will step forward to begin closing that distance before refining my heading.",
+        "The shrine and its red gem emblem now sit clearly to the right of my forward direction, so walking straight would carry me past it along the building line. I will turn right by a small amount to bring the emblem toward the middle of my view for a straight approach.",
+        "After the turn the shrine with the gold and red gem emblem is centered in front of me, framed by the arcade wall on the right and the arched facade on the left. The sand lane between us looks clear, so I will move forward along this heading.",
+        "The shrine has grown slightly larger and remains straight ahead, so my heading still leads directly to it. I will continue forward without adjusting direction.",
+        "I can now read the emblem's interlaced gold pattern and the red gem at its center, which confirms this is the shrine named in the task. The distance is still too great to count as arriving, so I will keep stepping forward.",
+        "The shrine's canopy and stone plinth now fill much of the middle of my view, and the sand directly in front of it is open. Another forward step should bring me closer to the emblem while my heading stays on it.",
+        "The shrine wall with the red gem emblem is close enough that its stone blocks and framing pilasters are distinct, but I am not yet standing at its base. I will advance again to tighten the approach.",
+        "The emblem is now large and nearly level with my view, with the shrine's masonry base just a short stretch of sand ahead. I will take another step forward to finish closing on it.",
+        "The stone shrine with the red gem emblem now fills the center of my view, its base and flanking pillars clearly visible ahead. The sand in front of it is still open, so I will keep pressing forward to close the remaining gap.",
+        "The shrine's masonry base and the gem emblem above it now dominate my view, and my heading is still centered on the emblem. A short distance of open sand remains, so I will advance again to stand right at the shrine.",
+        "I am very close now, with the gem emblem large overhead and the stone blocks of the shrine base directly in front of me. One more step forward should place me immediately at the shrine wall.",
+        "The shrine's stone base and its red gem emblem are directly in front of me at arm's length. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t3_a/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Walk to the dark doorway in the patterned wall, then approach the small shrine with red gem.",
+    "Type": 3,
+    "Start_Pose": [
+        -1342.141,
+        3500.513,
+        98.25,
+        0.0,
+        144.96,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1342.141,
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -2042.01,
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+        ],
+        [
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+            98.25,
+            0.0,
+            -165.04,
+            0.0
+        ],
+        [
+            -2163.604,
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+            98.25,
+            0.0,
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+            0.0
+        ],
+        [
+            -2260.074,
+            4114.485,
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+            0.0,
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+            0.0
+        ],
+        [
+            -2356.544,
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+            0.0,
+            -140.04,
+            0.0
+        ],
+        [
+            -2453.014,
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+            98.25,
+            0.0,
+            -140.04,
+            0.0
+        ],
+        [
+            -2549.484,
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+            0.0,
+            -140.04,
+            0.0
+        ],
+        [
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+        ],
+        [
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+            0.0,
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+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The dark opening set into the red and white zigzag wall sits off to my left, while my heading points across the open sand toward the domed structure. I will turn left so that shadowed doorway lines up ahead of me before I start walking.",
+        "The shadowed doorway in the patterned wall now sits close to the middle of my view, with clear rippled sand between me and it. I will walk straight ahead to close that gap.",
+        "The doorway has grown noticeably larger and stays near the center of my path, so my heading is still good. I keep walking forward over the sand toward it.",
+        "The patterned pillar and the gold framed arch now fill much of my view, and the dark passage beyond is still directly in front of me. Another step forward should bring me nearer to that threshold.",
+        "Through the opening I can now make out a reddish interior wall and pale flooring, so the passage is genuinely open. I continue walking straight toward it.",
+        "The flagstones now spread out at my feet and the doorway stands only a short distance ahead and slightly left. Stepping forward again should carry me onto the paved approach at its threshold.",
+        "The gap is close enough that I can see the timbered ceiling and red walls of the chamber inside. I walk forward once more to reach the shadowed entry itself.",
+        "The dark doorway frame now dominates the left of my view with the tiled interior floor plainly visible through it. One more step forward should put me right at that opening.",
+        "The dark opening in the patterned wall is now just ahead on my left, its red inner chamber and tiled floor clearly visible through the gap. I am close but not yet level with the threshold, so I will walk forward one more step to close that last bit of distance.",
+        "The shadowed opening in the patterned wall is right beside me, its red painted hall and tiled floor spread open through the gap. I have arrived at that dark doorway. I mark reaching it and set my sights on the small shrine with the red gem out in the sunlit sand court.",
+        "Standing tight against the threshold, stone presses close on my right and the doorframe on my left, leaving little room to swing around toward the gem shrine in the open court. I will step back from the opening so the wider sand behind me gives me space to reorient.",
+        "With a little clearance from the threshold, the doorway now sits to my left and bright open sand shows past the stone wall on my right. I will turn right to swing my heading away from the opening and back toward the sunlit court where the gem shrine stands.",
+        "The blank stone pier still fills most of my view, with only a narrow strip of bright courtyard and distant rooftops showing past its right edge. I will keep turning right to bring that open ground, and the shrine standing in it, into the front of my view.",
+        "The stone pier has slid to my left and the courtyard is open on my right, where a small stone kiosk carries a golden medallion with a red stone set at its center. It sits off to the right of my heading, so another turn right should place it in front of me.",
+        "The small domed shrine with the red gem in its golden medallion now sits ahead of me across open sand, with a clear stretch of ground between us. I will walk forward to begin closing that distance.",
+        "The shrine has grown larger in front of me and its red gem is plainly set in the gold medallion, but I am still several paces short of its stone base. I will keep walking forward across the sand toward it.",
+        "The small stone shrine with the red gem set in its gilded medallion now stands clearly ahead and slightly to my right across the open sand. Nothing blocks the stretch between us, so I walk forward to keep cutting down the remaining distance.",
+        "I am close enough now that the shrine sits off to my right and my heading would carry me past its corner rather than up to it. I turn right to bring the gem-bearing face square in front of me before continuing.",
+        "The turn has put the shrine's gem panel roughly ahead of me with clear sand at its base. I step forward to close on it.",
+        "The red gem in its gold rosette is noticeably larger and the shrine's block base is now plainly visible, so I am still short of it. I walk forward again to keep closing.",
+        "The gem panel now dominates the left of my view but there is still a stretch of sand before the shrine's stonework. I advance once more to stand right at it.",
+        "The masonry courses and the ornate red and gold border of the gem panel are close enough to read in detail, yet I am not quite against the shrine. I take another step forward to finish the approach.",
+        "The shrine wall now fills most of my view with the gem's gold rosette overhead and the corner pilaster beside me. One more short step forward should bring me right up against the shrine.",
+        "The shrine's stonework and its red and gold gem panel trim are directly against me, filling my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t3_b/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Head toward the red-jeweled emblem on the stone structure, then move to the arched doorway entrance.",
+    "Type": 3,
+    "Start_Pose": [
+        -1342.141,
+        3500.513,
+        98.25,
+        0.0,
+        144.96,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1342.141,
+            3500.513,
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+            0.0,
+            144.96,
+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
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+        ],
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -2145.86,
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+            -0.0
+        ],
+        [
+            -2056.802,
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+            0.0,
+            44.96,
+            -0.0
+        ],
+        [
+            -2056.802,
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+        ],
+        [
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+        ],
+        [
+            -1970.544,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1927.415,
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+        ],
+        [
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+            98.579,
+            0.0,
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+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The round emblem with the red stone at its center sits on the grey stone structure ahead and to my right, across an open stretch of sand. Nothing blocks the sand between us, so I will walk forward to begin closing that gap.",
+        "The jeweled emblem still sits off to my right rather than straight ahead, so walking on this heading would carry me past it along the building facade. I will turn right to bring the emblem toward the middle of my view before continuing.",
+        "The emblem and its stone plinth now sit near the center of my view, with the arcaded wall on my right and the tall facade on my left. The sand ahead is clear, so I will walk straight toward it.",
+        "The emblem has grown noticeably larger and stays centered on my heading, which tells me the previous step closed real distance. I will keep walking forward since no adjustment of direction is needed yet.",
+        "The stone block carrying the jeweled emblem now fills a good part of my view, and the stairway on the right is passing by as I advance. My line to it is still true, so I will step forward again.",
+        "The red jewel at the heart of the golden knotwork is clearly resolved now and sits just left of center in my view. That offset is small enough to ignore for the moment, so I will continue walking straight in.",
+        "The emblem's carved arch surround and the masonry base beneath it now dominate the view, so only a short stretch of sand remains. I will keep advancing to bring myself right up to the structure.",
+        "The wall with the jeweled emblem stands close ahead, its corner pilasters framing the base within a few paces of me. I will step forward again to finish closing on it.",
+        "The gold medallion with its red jewel now sits squarely ahead on the grey stone face, but its plinth is still several paces off. My heading is already lined up with it, so I will keep walking straight to close the remaining gap.",
+        "The interlaced gold ring and the red stone at its centre now dominate my view, yet the block base is still ahead of me. Continuing forward on this same heading should bring me right up under the emblem.",
+        "Only the lower half of the gold ring and the coarse plinth courses remain visible, so I am nearly against the structure. A last step forward should place me directly at the jeweled emblem.",
+        "The red-bordered panel and the base of the jeweled gold ring are right in front of my face, with the plinth blocks within arm's reach. I have reached the red-jeweled emblem on the stone structure. I mark reaching it and now set out for the arched doorway entrance.",
+        "Pressed this close, the emblem's stonework fills my whole view and shows me no walkable route. Turning left should swing my gaze off the wall and back toward the open sand where the arched entrance stands.",
+        "The rotation has exposed the corner pillar and a narrow strip of courtyard with a latticed window beyond it. I will keep turning left to bring more of that open ground into view while I look for the archway.",
+        "More of the pale facade with its arched lattice windows is now on my left, but no entrance opening yet. I will continue rotating left to sweep further across the courtyard.",
+        "The window-lined wall and the gilded edge of the patterned facade fill my view, still without any passage through. Another left turn should bring the recessed archway on that decorated frontage into sight.",
+        "Having marked the emblem wall behind me, I am now scanning the facade for a way in, and a shadowed opening under decorated stonework sits at the left edge of my view. I will turn left again to bring that recessed entrance closer to the center of my heading.",
+        "The turn has opened up the corridor, with a red banner overhead and a dark gap between the gilded pillar and the bright wall ahead of me. Sand and scattered pale slabs run clear in that direction, so I will walk forward to close distance on that entrance.",
+        "The shadowed gap in the wall ahead has grown larger and the scattered paving slabs on the sand now lie just in front of me. I will keep walking forward on this heading to draw nearer to the opening.",
+        "I am close to the corner now, and the bright wall with the gilded pillar crowds most of my forward view, leaving little room to advance straight. I will turn left to open the wider sandy court so I can approach the entrance from a workable angle.",
+        "The wider court is now in front of me, with a pointed archway on the left and the shadowed recess and its paving slabs to the right. I will step forward across the open sand to reach the paved approach.",
+        "The scattered slabs on my right have grown closer and clearer, marking the paved ground in front of the recessed entrance. The sand between me and them is unobstructed, so I will keep walking forward.",
+        "I have come level with the paved apron, and it spreads to my right toward the shadowed recess in the wall rather than straight ahead. I will turn right so my heading points along those slabs into the entrance.",
+        "The turn has brought the tall arched opening into view on the right, with low stone steps leading up into a brick-lined interior. The paving in front of it is clear, so I will walk forward toward that threshold.",
+        "The dark opening with its stone threshold sits off to my right, while my heading still points along the pale wall ahead. Turning right should bring the doorway to the center of my view so I can walk straight in over the flagstones.",
+        "The doorway now sits centered ahead, its recessed frame and stone step clearly in line with my path. I will walk forward across the slabs to close the remaining gap to the entrance.",
+        "The frame has grown taller and the interior brick pier is now visible through the gap, so my line is good. Another step forward should bring me right up to the threshold.",
+        "The passage walls flank me closely and the patterned floor inside lies just past the two paving stones at my feet. I will step forward once more to reach the entrance itself.",
+        "I stand in the arched entrance with the tiled hall and red interior wall open before me. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t5_a_pd/infos.json

@@ -0,0 +1,430 @@
+{
+    "Instruction": "Pick up the jerry can at the dark doorway in the patterned wall, then set it down near the small shrine with the red gem.",
+    "Type": 5,
+    "Start_Pose": [
+        -1342.141,
+        3500.513,
+        98.25,
+        0,
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+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
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+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        ],
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+    ],
+    "PD_Pose_Trajectory": [
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+        ],
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+        ],
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+        ],
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+        ],
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+        ],
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+        ],
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+        ],
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+        ]
+    ],
+    "PD_Dist_2D": [
+        958.8,
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+        21.4,
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+    ],
+    "Rationale": [
+        "I can see the small jerry can far ahead on the left, sitting on the pale stone slabs in front of the dark doorway set in the patterned wall. It is much too distant to reach, so I will walk forward along the open sand to close that gap.",
+        "The jerry can by the shadowed doorway now looks slightly larger and the paved slabs beneath it are clearer, so my heading is carrying me toward it. The sand ahead is still clear of obstacles, so I will keep walking forward.",
+        "From where I stand the doorway in the patterned wall has opened up on my left and the jerry can beside it is clearly resolved, so my current heading is still useful. I am not yet close enough to reach the can, so I will continue walking forward before adjusting my direction.",
+        "The jerry can and its stone slabs are now well to my left while my heading still points down the open lane, so I need more forward ground before turning toward it. I will take another step forward to bring the doorway alcove abreast of me.",
+        "The jerry can sits clearly to my left on the slabs by the dark doorway, while my body still faces down the lane past it. Walking straight would carry me by it, so I will turn left to put the can in front of me.",
+        "The turn has brought the dark doorway and the jerry can into the centre of my view, so my heading is now aimed at the target. The sand and slabs between us are clear, so I will walk forward to close the remaining distance.",
+        "The jerry can stands directly ahead of me on the paving before the doorway and is noticeably nearer now. It is still beyond arm's reach, so I will step forward again rather than attempt a grasp too early.",
+        "The jerry can now fills much of the lower centre of my view, standing just short of a comfortable grasping distance. One more step forward should bring it close enough in front of me to attempt a pick.",
+        "The red jerry can now fills the lower left of my view, right at the dark doorway in the patterned wall, and I am standing directly beside it. Nothing else separates me from it, so I will reach out and attempt the grasp now.",
+        "The grasp worked: the jerry can is in my hands rather than resting where it stood. The shrine with the red gem lies back out in the open courtyard behind my current heading, so I will turn right to begin swinging around toward it.",
+        "The can is still secure in my hands as I rotate. My view now shows only the pale wall and the arcaded facade down the alley, with no sign of the gem shrine yet, so I will keep turning right to bring the courtyard around.",
+        "The gem shrine with its gold star medallion has come into the right side of my view across the sand. It is still off center, so one more turn right should place it straight ahead for a clean walk over with the can.",
+        "The shrine with the red gem now sits centered in my view across the open sand, and I am still carrying the jerry can. With a clear stretch of courtyard ahead, I will walk forward to close that distance.",
+        "The shrine's stone base and medallion have grown larger and remain squarely ahead of me, but I am still several strides out on the sand. Carrying the can, I will step forward again to keep closing on it.",
+        "The gem now reads clearly red inside the gold star, and the shrine's masonry fills more of my view, yet I am not close enough to set the can beside it. My path stays clear, so I will advance once more.",
+        "The shrine wall and its red gem now dominate my view, with the corner pilasters just a couple of paces off. I will step forward again to reach the base so the carried jerry can can be released right next to it.",
+        "The jerry can is still in my hands, and the shrine's stone plinth with the red gem in its golden medallion now fills most of my view just ahead. I will step forward again to close the last of the gap so the can can be set down right beside it.",
+        "The shrine's masonry and the red patterned band beneath the gem now fill nearly the whole view, so I am within a stride of its base. One more short step should place me tight against the plinth, close enough that releasing the jerry can leaves it clearly at the shrine.",
+        "I am pressed right against the shrine base, with its gilded and red inlaid column directly in front of me and the gem medallion just above. This is as near to the small shrine as I can stand, so I will release the jerry can here and expect it to settle at the plinth.",
+        "The jerry can now rests on the ground against the shrine plinth, beneath the gem medallion, and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_a/infos.json

@@ -0,0 +1,356 @@
+{
+    "Instruction": "Walk to the arched window with iron lattice, then approach the red hanging banner.",
+    "Type": 3,
+    "Start_Pose": [
+        -1593.315,
+        -82.524,
+        106.284,
+        0.0,
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+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookUp",
+        "MoveBackward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        [
+            -886.617,
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+        [
+            -886.617,
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+        ],
+        [
+            -790.171,
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+            98.65,
+            0.0,
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+            0.0
+        ],
+        [
+            -691.482,
+            -1800.897,
+            102.213,
+            0.0,
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+            0.0
+        ],
+        [
+            -691.482,
+            -1800.897,
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+        ],
+        [
+            -635.049,
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+        ],
+        [
+            -635.049,
+            -1913.395,
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+        ],
+        [
+            -631.447,
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+            0.0,
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+            0.0
+        ],
+        [
+            -631.447,
+            -2039.203,
+            129.094,
+            0.0,
+            -88.36,
+            0.0
+        ],
+        [
+            -634.091,
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+            125.19,
+            0.0,
+            -88.36,
+            0.0
+        ],
+        [
+            -634.091,
+            -1946.841,
+            125.19,
+            0.0,
+            -88.36,
+            0.0
+        ],
+        [
+            -634.091,
+            -1946.841,
+            125.19,
+            0.0,
+            -88.36,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The arched windows with dark iron latticework sit along the pale wall to my left, well across the sandy courtyard, and a red banner hangs further ahead near the ornate doorway. I walk forward first to get clear of this corner and onto the open ground in front of that wall.",
+        "From here the latticed arched windows lie off to my left while my heading points down the courtyard past them. I turn left so that the tall arched window comes into the middle of my view and I can walk straight at it.",
+        "The wall with its arched iron lattice window now sits squarely ahead of me across the sand and paving stones. Nothing blocks the stretch between us, so I walk forward to close the distance.",
+        "The arched window with its red frame and lattice grille is larger than a moment ago, which tells me this heading is carrying me straight toward it. I keep walking forward along the same line.",
+        "The latticed arch and the two small grilled openings beside it are clearly resolved now, but I am still several strides short of the wall. I advance again to keep closing on that window.",
+        "The arched window fills more of my view and the stone plinth at the base of the wall is coming into reach of my path. I step forward again since the target remains dead ahead.",
+        "The wall now dominates my view, with the red banner still hanging off to the right beyond it, but I am not yet standing at the arched window. I walk forward once more to bring myself right up to it.",
+        "The latticed arch and its sill are close enough that the surrounding brickwork spreads across my whole view, yet a stretch of sand still separates me from the wall's base. I continue forward to stand directly before the window.",
+        "The tall arched window with its red iron lattice now dominates my view, and the sand between me and its stone base is still open. Nothing blocks the straight line, so I will walk forward again to close that remaining gap.",
+        "The lattice window has grown noticeably wider in front of me and its stone sill band is clearly readable, so I am steadily gaining ground. I will keep walking straight ahead to draw right up to the wall beneath it.",
+        "The window's red frame and the neighboring small lattice openings are close enough now that the wall fills nearly the whole view. There is still a stretch of drifted sand before the plinth, so another step forward should bring me nearer still.",
+        "Only the lower part of the arch and the stone ledge below it remain in view, which tells me I am nearly against the facade. A further step should place me right at the window's base.",
+        "The lattice grille and the ledge beneath it fill my view, with only a low mound of sand left in front of the plinth. I will step forward once more to stand directly at the window.",
+        "The red iron lattice and the weathered stone ledge beneath it are directly in front of me, close enough to touch. I have arrived at the arched window with its iron latticework. I mark reaching it and now set off for the red banner hanging along the courtyard wall.",
+        "Standing this close, the blank stonework and lattice block every line of sight, so I cannot pick out the red banner from here. I will turn right to swing my view off this wall and open up the courtyard again.",
+        "The wall corner and a sliver of sandy ground are now creeping into the right of my view, so the rotation is starting to free me from the facade. I will turn right again to bring the open courtyard fully in front of me.",
+        "The latticed arched window has slid to the far left edge and the open courtyard with its row of arcaded facades is opening up on my right. Since I am done at this window and the red banner hangs elsewhere in this quarter, I will turn right once more to bring the sandy lane fully in front of me.",
+        "My heading is now down the sandy lane, with the courtyard and its arched arcade wide open ahead and the stone plinth running along my left. Nothing blocks the scattered paving slabs in front of me, so I will walk forward to leave the window behind and search this open ground for the hanging red banner.",
+        "The arched arcade ahead has grown larger and the plinth wall on my left is sliding past, so my last step carried me properly along this lane. The banner is not yet in view, so I will keep walking forward to open up more of this courtyard.",
+        "The clear stretch of sand between the plinth on my left and the medallion-marked gate on my right still runs straight ahead. Since the red banner has not appeared yet, I will continue forward along this corridor to bring more of the far wall into view.",
+        "The tall arched windows on the right have swung wider as I advance, confirming steady progress down this lane. The wall corner on my left has not yet revealed what hangs beyond it, so I will step forward again.",
+        "A hanging lantern and the ornate cornice overhead show I am well into this passage, and the sand ahead remains open past the ledge on my left. I will keep walking forward so the wall face to my left comes clear of the projecting stonework.",
+        "A strip of red cloth with yellow fringe has just come into view at the upper left, hanging against the pale wall beside me. That is the banner I am after, so I will turn left to put it in front of me instead of at the edge of my sight.",
+        "The red banner with its gold star emblem now hangs plainly ahead on the left wall, well above the stone ledge. It is still some distance off across the sand, so I will walk forward to close on it.",
+        "The red fringed banner hangs on the wall ahead and to my left, still a good stretch of drifted sand away. The ground along the base ledge looks clear, so I will walk forward to cut down that gap before angling in toward it.",
+        "Closing forward has pushed the banner out to the far left edge of my view, nearly clipped by the wall corner. I will turn left so my heading swings onto the wall face where the banner hangs and brings it back in front of me.",
+        "The banner now hangs high in my view with its wall squarely in front of me. A low sand drift and the stone ledge still separate us, so I will step forward to close on the hanging cloth.",
+        "As I closed in, the banner slid toward the left of my view while the plain wall fills the center. Turning left should put the hanging cloth back on my centerline so the last few steps run straight underneath it.",
+        "The banner and its shadow now sit centered above the stone ledge directly in front of me. Only a short strip of sand remains, so I will walk forward to stand right beneath the hanging cloth.",
+        "I am now near enough that only bare plaster and the stone ledge fill my view, with the banner risen above my line of sight. I will look up to lift my gaze onto the cloth hanging over me.",
+        "With my gaze raised I see little but wall texture and the banner's cast shadow, because I am pressed too near for the hanging cloth to fit in view. I will step back to open a little distance so the banner itself can show.",
+        "Backing off restored a usable view of the wall, and only the banner's yellow fringe shows at the very top edge. I will look up again to bring the whole hanging banner into my gaze.",
+        "The red banner with its gold emblem hangs directly overhead, an arm's length in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_b/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Head toward the round decorative emblem on the wall, then reach the arched window with iron lattice.",
+    "Type": 3,
+    "Start_Pose": [
+        -1593.315,
+        -82.524,
+        106.284,
+        0.0,
+        -63.36,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        ],
+        [
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+            0.0,
+            -138.36,
+            0.0
+        ],
+        [
+            -1107.526,
+            -1367.588,
+            98.65,
+            0.0,
+            -138.36,
+            0.0
+        ],
+        [
+            -1201.585,
+            -1451.215,
+            98.65,
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+        ],
+        [
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+            -1534.841,
+            98.65,
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+            -138.36,
+            0.0
+        ],
+        [
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+            -1618.468,
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+            0.0,
+            -138.36,
+            0.0
+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "The round gold and red emblem sits on the small stone shrine across the sandy courtyard, ahead and slightly to my right. Nothing blocks the open sand and paving between us, so I will walk straight ahead to close that distance.",
+        "The emblem on the shrine wall has grown slightly larger, confirming my heading is carrying me toward it. The paved strip ahead stays clear, so another step forward should keep shrinking the gap.",
+        "The emblem now sits noticeably right of my heading, with the banner wall drifting into the centre of my view. A small turn to the right should place the shrine and its round emblem squarely ahead before I continue walking.",
+        "The turn has brought the shrine with its round emblem into the middle of my view, with the pale column standing clear to the right. With the sand and slabs between us unobstructed, I will step forward along this heading.",
+        "The emblem and the dark arched panel around it are noticeably closer and still centred ahead of me. I will keep walking to reduce the remaining distance across the paved sand.",
+        "The shrine now fills more of my view and a second arched panel is emerging beside the emblem, so I am on the correct approach line. The pale column stays off to my right and does not block me, so I continue forward.",
+        "The round emblem with its red centre is clearly resolved on the shrine wall just ahead and slightly left of the column. There is still a stretch of sand between me and the stone base, so I take another step toward it.",
+        "The emblem is large in my view now, and the shrine's stone base is only a short stretch of sand away. I will advance again to stand close beside the wall carrying it.",
+        "The gilded round emblem set into the stone gatehouse is now large and just ahead to my left, with open sand between me and its base. I will keep walking forward to close the last of that gap before I settle my heading on it.",
+        "I am close enough that the projecting corner masonry now blocks the middle of my view and the emblem sits high on the wall to my left. Turning left should swing my heading along that wall face so the emblem and the sandy lane beside it open up in front of me.",
+        "The emblem's carved disc is now clearly on my right along the wall, and the sand strip beside the low stone base runs forward unobstructed. I will step forward along that lane to bring myself level with the emblem.",
+        "The gold and red disc has grown across the right side of my view, so I am nearly abreast of it but not yet beside its center. Another step forward should place me directly under the emblem.",
+        "I am right against the wall now and only the dark lower rim of the emblem clips the top of my view while plain masonry fills the rest. I will look up so the whole disc comes into sight and I can confirm I am standing at it.",
+        "The round gilded emblem with its red stone center now fills the wall directly above me, close enough to touch. I have reached the emblem. I mark that arrival and turn my attention to the arched window with the iron lattice on the courtyard wall.",
+        "The emblem here is behind me now and the wall it sits on gives me nothing more, so I need the open courtyard back in front of me. Turning left should start swinging my heading away from this stonework toward the side where the latticed arched windows stand.",
+        "The courtyard has opened to my left with sand and scattered slabs, and a red framed latticed window edges into the far left of my view. I will turn left again to bring that arched window squarely ahead before walking toward it.",
+        "Now facing across the open sandy court, I can see the pale wall ahead carrying a tall arched window with dark red iron lattice, still a good distance off. Nothing blocks the sand and scattered paving between us, so I walk straight ahead to begin closing on that window.",
+        "The arched window with its red iron lattice now sits left of the center of my view, so walking straight would carry me past it along the wall. I turn left to bring that window onto my heading before continuing.",
+        "The tall arched window with its red lattice is now set squarely ahead of me, with the deep ornamented archway off to my left. The sand between me and the wall base is open, so I step forward to shorten the distance.",
+        "The arched lattice window has grown larger and its red frame is clearer, confirming my heading is carrying me toward it. I continue walking forward across the sand to keep closing.",
+        "The window's lattice pattern is resolving into individual bars and the stone plinth beneath it is now plainly visible, so I am still several paces short of the wall. I walk forward again to keep reducing that gap.",
+        "The arched window fills much more of my view now and the raised stone ledge along its base is close ahead. I step forward again to bring myself right up against that wall.",
+        "I am close enough that the red lattice and the small niches beside it dominate my view, though the stone ledge still separates me from the wall face. One more step forward should place me directly at the window.",
+        "The lattice window is directly above me and only the low stone ledge remains between my feet and the wall. I take a final step forward to stand right at the base of this arched window.",
+        "I am right up against the stone plinth beneath the red iron lattice, and the window sits off to my right rather than squarely ahead. A small turn to the right should square my body with the arched opening before I settle here.",
+        "Standing this close, the stone ledge and masonry take up most of my view and only the lower bars of the lattice show above it. Raising my gaze should bring the whole arched window with its iron latticework into sight.",
+        "The arched window with its red iron lattice fills my view directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_c/infos.json

@@ -0,0 +1,306 @@
+{
+    "Instruction": "Approach the small square lattice window, then move to the round decorative emblem on the wall.",
+    "Type": 3,
+    "Start_Pose": [
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+    "Action": [
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+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+            -0.0
+        ],
+        [
+            -838.492,
+            -1114.93,
+            106.142,
+            0.0,
+            11.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The courtyard opens ahead, and the wall on my left carries the small square lattice openings I want to reach before the round emblem. Nothing blocks the sandy ground in front of me, so I will step forward to close distance across the open space.",
+        "The lattice openings on the left wall are noticeably nearer than before, so my heading is still productive. I will keep walking forward to gain more ground before angling toward that wall.",
+        "The small square lattice openings sit off to my left while my heading still points down the courtyard toward the far archway. Turning left should bring that latticed wall into the center of my view so I can walk straight at it.",
+        "The turn has placed the latticed wall squarely ahead, with the small square openings beside the tall arched window. The sand and stone slabs between us are clear, so I will walk forward toward it.",
+        "The two small square lattice panels beside the arched window are clearer and larger, confirming I am closing on the right part of the wall. I will continue forward along this line.",
+        "The wall's stone base is now filling the lower part of my view and the square lattice openings are distinct. Another step forward should bring me close enough to stand at that window.",
+        "The latticed facade dominates my view and the small square panels sit just left of the arched window at close range. I will step forward again to finish closing the remaining gap of sand.",
+        "Only a short stretch of drifted sand remains between me and the base of the wall carrying the square lattice openings. I will advance once more to bring myself right up against that window.",
+        "The wall with its latticework openings is directly ahead, the tall arched grille centered and the smaller square lattice panels beside it, still a few paces off across the sand. I will keep walking straight to close that remaining distance.",
+        "The lattice panels are noticeably larger now and the stone plinth beneath them is filling the lower part of my view, so my heading is good. Another step forward should bring me nearer the square grille without any turn.",
+        "The window's wooden lattice and its red frame are clearly resolved and the wall is close enough that little else remains in view. I will advance again to stand right at the window.",
+        "Only the grille, its frame and the stone ledge below are left in front of me, so I am nearly at the window. I will step forward once more to finish closing on it.",
+        "The lattice window and the ledge under it now fill nearly the whole view, with only a short strip of sand left between me and the wall. One more step should put me right at the grille.",
+        "The wooden lattice of the square window and its red frame are directly in front of me, an arm's length above the stone ledge. I have reached this lattice window. I mark reaching it and set off for the round emblem on the wall.",
+        "Standing this close, the lattice and its stonework block nearly everything, so I cannot see where the round emblem sits. Turning right should swing my view off the wall toward the open court beyond this corner.",
+        "The turn has brought the building's corner and a sliver of paving into view, but the wall still dominates and the round emblem is not yet visible. I will turn right again to keep sweeping toward the open courtyard.",
+        "The lattice window's wall now runs off to my left and the courtyard has opened on my right, but no round emblem is in view yet. I will keep pivoting right to sweep my gaze across the open square and pick up the medallion on the far wall.",
+        "Circular medallions glint on the stonework at the far right edge of my view, near the arched shrine facing the courtyard. Another turn to the right should bring that round emblem in from the edge toward the middle of my view.",
+        "The gold and red round emblem on the small stone shrine now sits clearly to the right of center, with open sand and flagstones leading toward it. One more turn to the right should set it squarely ahead so I can walk straight at it.",
+        "The round emblem on the shrine wall is now framed near the middle of my view, and the sandy flagstones between us look clear of obstruction. I will step forward to start closing that distance.",
+        "The emblem has grown noticeably larger and stays just left of center, so my heading is carrying me toward it. I will keep walking forward across the courtyard.",
+        "The interlaced gold ring with its red center is clearly resolved now, mounted above the shrine's stone base ahead of me. There is still a stretch of sand to cross, so I continue advancing.",
+        "The emblem and its pointed arch surround now occupy much of the left half of my view, so I am close to the shrine wall. A few more steps forward should bring me right up beneath it.",
+        "The round emblem is large and high on the wall just ahead to my left, with the stone base a short step away. I will move forward once more to stand directly at it.",
+        "The round emblem with its red centre now fills the upper left of my view, its gilded knotwork close enough to read in detail, but the stone plinth below it is still a step away. I will walk forward once more to stand right at the base of the wall bearing it.",
+        "Standing this close, the emblem has slid to the very edge of my view on the left, with only its lower rim and the red inlaid border still showing. Turning left should swing my heading back onto the emblem so it sits squarely in front of me.",
+        "I am now facing the emblem's arched frame head on, but from this close range my gaze sits level with the stone blocks and only the lower arc of the medallion shows across the top. I will look up so the whole round emblem comes into view.",
+        "The round emblem with its red inlaid centre fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t5_a_pd/infos.json

@@ -0,0 +1,601 @@
+{
+    "Instruction": "Grab the jerry can at the arched window with iron lattice, then place it near the red hanging banner.",
+    "Type": 5,
+    "Start_Pose": [
+        -1593.315,
+        -82.524,
+        106.284,
+        0,
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+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
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+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+    ],
+    "PD_Pose_Trajectory": [
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+        [
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+        [
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+        ],
+        [
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+        ],
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+        [
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+        ],
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ]
+    ],
+    "PD_Dist_2D": [
+        1434.7,
+        1317.2,
+        1201.5,
+        1088.0,
+        1088.0,
+        962.2,
+        836.5,
+        710.8,
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+        20.4,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The task points me to a jerry can standing at an arched window with iron lattice, and such latticed arches run along the pale wall ahead on my left, still far across the sand. Nothing can-sized is resolvable at this range, so I will walk forward to close distance and bring those window bases into a readable view.",
+        "The latticed arched windows on the left wall have grown slightly larger, confirming my heading is shortening the gap to that facade. No container is yet visible at the base of any arch, so I will keep walking forward across the paving and sand.",
+        "The stone facade with its iron latticed arches now fills more of my left side, and the paved strip ahead stays clear of obstruction. I will continue forward to reach a position from which I can turn and scan the window bases for the jerry can.",
+        "Straight ahead only the shrine doorway and its round medallions remain, while the wall holding the iron latticed arches has slid off to my left. Turning left should place that facade squarely in front of me so I can advance along it and spot the jerry can at a window base.",
+        "The turn has brought the wall of arched lattice windows into the center of my view, with a small dark shape resting on the sand at the base of the large arch. That matches the jerry can I need, so I will walk forward toward it.",
+        "The arched lattice window and the small object below it are noticeably larger, so my heading is carrying me straight at the target. I will keep walking forward over the open sand to get within reach.",
+        "The object under the arch is resolving into an upright rust colored canister against the stone plinth, which fits the jerry can described in the task. It is still several paces away, so I will continue forward to close in.",
+        "The jerry can is now clearly identifiable sitting in the sand directly beneath the iron latticed arch, slightly right of my centerline but well within my forward path. I will step forward again to bring it close enough for a grasp.",
+        "The rusty jerry can sits on the sand directly beneath the arched window with the iron lattice, still well ahead of me and roughly centered in my view. My heading is already lined up with it, so I keep walking straight to close the remaining gap.",
+        "The can has grown noticeably larger against the window sill, confirming I am closing on the right target. It remains centered in front of me with clear open sand between us, so another straight step is the simplest way to keep shrinking the distance.",
+        "The jerry can now stands out clearly against the stone base of the wall, only a short stretch of sand away. My alignment still holds, so I advance again rather than adjust my heading.",
+        "The can fills a good part of my view now, but it is still a step beyond comfortable reach and sits slightly left of center. One more forward step should bring it close enough in front of me to attempt a grasp.",
+        "The jerry can is right at my feet against the wall base, close enough that only its upper edge and handle show at the near border of my view. My hands are empty and nothing blocks the approach, so I will try to pick it up now.",
+        "The grasp worked, the jerry can is now carried with me instead of resting on the sand by the wall. The red hanging banner lies back toward the open courtyard behind my current heading, so I begin rotating right to swing away from this wall and face that direction.",
+        "I am still looking at the stone plinth and lattice window at close range, with the lit passage only beginning to appear at the right edge. Carrying the can, I continue turning right to bring the open courtyard route fully in front of me.",
+        "The turns have opened the sandy passage ahead of me, with the paving stones leading out past the corner toward the far arcaded wall. Holding the jerry can, I step forward along this clear route to carry it back toward the banner side of the court.",
+        "The jerry can is in my hands and moves with me, so I only need to carry it out of this recess. The stone plinth still blocks my left side while the sandy courtyard opens ahead on the right, so I step forward again to clear the corner.",
+        "I have come level with the end of the plinth, and straight ahead is only its blank stone face. The open sandy corridor with scattered paving slabs runs off to my right, so I turn right to take that route while carrying the can.",
+        "The turn has opened the sandy lane ahead, with the tall arcaded facade at its far end and the plinth now safely along my left shoulder. Carrying the can, I walk forward down this clear corridor to reach the walls where the banner hangs.",
+        "The arched facade ahead has grown larger, so my heading down this lane is good and the can is still in hand. Nothing blocks the sand between me and the wall line, so I keep walking forward.",
+        "A red and yellow banner has just come into the upper left corner of my view, hanging on the wall beside this lane. I am still short of it, so I advance another step to bring myself alongside that wall with the can.",
+        "Walking forward has carried me past the point where the banner sat ahead, and now only the plain wall and sand fill my view. The banner hangs on the wall to my left, so I turn left to bring it back in front of me before setting the can down.",
+        "The turn has put the red banner back in sight at the upper left, hanging above the stone base of this wall. I am still a few paces out on the sand, so I step forward to close on the spot below it with the can in hand.",
+        "The banner and its shadow are still off to the left of my heading while the wall base runs diagonally across my view. I turn left so the ground directly beneath the banner sits squarely in front of me for placing the can.",
+        "The red hanging banner is now directly ahead on the wall above the stone plinth, with only a stretch of sand between me and it. I am still carrying the jerry can, so I step forward to bring the release point within arm's reach of that wall.",
+        "The banner's fringed lower edge is now close overhead and the plinth fills much of my view, so I am nearly at the wall but not yet beside its base. One more step should put me right under the banner, close enough to set the jerry can down there.",
+        "I am now right against the plinth beneath the banner, but the wall and ledge fill my view and the banner itself has slipped above my line of sight. I will look up to reframe the spot under the hanging banner before releasing the can.",
+        "The red and yellow banner is now framed clearly with the paving and wall base right below it, confirming I am standing at the intended placement spot. I still hold the jerry can, so I will release it here so it comes to rest near the banner.",
+        "The jerry can is resting on the ground at the wall directly under the red hanging banner, and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t5_b_pd/infos.json

@@ -0,0 +1,506 @@
+{
+    "Instruction": "Lift the wicker basket by the round decorative emblem on the wall, then leave it near the arched window with iron lattice.",
+    "Type": 5,
+    "Start_Pose": [
+        -1593.315,
+        -82.524,
+        106.284,
+        0,
+        -63.36,
+        0
+    ],
+    "PD_ID": 7,
+    "PD_Size": 2.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -881.858,
+        -930.298,
+        48.65,
+        90,
+        -43.36,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1593.315,
+            -82.524,
+            106.284,
+            0,
+            -63.36,
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+    ],
+    "PD_Dist_2D": [
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+    ],
+    "Rationale": [
+        "The shrine wall with the round gold and red emblem stands well ahead on the right side of the courtyard, and the dark round wicker basket rests on the paving at its base. It is far too distant to reach, so I will walk forward across the sand to close the gap before worrying about fine alignment.",
+        "The emblem and the basket beneath it have grown noticeably larger, confirming my heading is carrying me toward them. Nothing blocks the paved strip ahead, so I will keep walking forward to shorten the remaining distance.",
+        "The emblem panel and the basket now sit noticeably right of my forward direction, so continuing straight would drift me past them toward the banner wall on the left. I will turn right to bring the basket closer to the center of my path.",
+        "With the shrine and the basket now sitting near the middle of my view, my heading points into the open paved corridor between the pale pillar on the right and the banner wall. I will walk forward to keep closing on the basket.",
+        "The dark wicker basket at the foot of the emblem panel is clearly larger and still lies straight along my line of travel. The paving continues unobstructed, so another forward step should bring me meaningfully nearer.",
+        "The twin emblem panels and the basket beside the stone plinth fill more of my view, showing steady progress toward the target. The pale column stays clear of my path on the right, so I will step forward again.",
+        "The basket now reads plainly as a woven wicker vessel resting on the sand at the shrine corner, slightly left of my heading. It remains beyond reach for a grasp, so I will advance once more to get within interaction range.",
+        "The wicker basket is close, sitting low at the corner of the emblem-bearing shrine wall on my left. A little more distance still separates us, so I will keep walking forward before attempting to lift it.",
+        "The wicker basket sits at the lower left corner of the shrine base with its round emblem right above it, and it is still slightly too far off to my left for a reliable grasp. I will step forward once more to close the last of the gap along the stone plinth before turning toward it.",
+        "After the last step the basket has slipped to the very bottom left edge of my view while the emblem wall fills the center, so my heading is past it. I will turn left to bring the basket squarely in front of me for the grasp.",
+        "The wicker basket now stands clearly in front of me at close range on the sand beside the emblem wall, well within reach. I will attempt to pick it up so I can carry it toward the arched lattice window.",
+        "The basket is no longer resting on the sand and is now held with me, so the grasp succeeded. The lattice windows I need lie back along the wall behind my left shoulder, so I will turn left to begin swinging my heading toward that side.",
+        "With the basket in hand, my view has opened onto the pale brick wall and a single arched lattice window far to my left, so I am not yet facing the run of windows. I will turn left again to line my heading up with that wall before walking.",
+        "The wall with its arched iron lattice windows now lies ahead of me across the open sand, with the basket still in hand. I will walk forward along the paving slabs to close the distance toward that window.",
+        "The arched window with its red iron lattice is growing larger ahead, but I am still out in the open sand well short of the wall base. I will keep walking forward, carrying the basket toward that window.",
+        "The latticed arch and the stone ledge beneath it are clearer now, yet several paces of sand still separate me from the wall. Another step forward should bring me near enough to set the basket down beside that window.",
+        "The basket is in my hands and the arched window with its red iron lattice now sits clearly ahead of me in the pale wall. I still stand out on the open sand well short of it, so I walk forward again to close that gap.",
+        "The latticed arch and the stone plinth beneath it fill more of my view than a moment ago, confirming my heading is carrying the basket straight toward the target window. Nothing blocks the sandy ground between me and that base, so I keep walking.",
+        "The wall's stone ledge is close now, with the iron lattice window rising just above and slightly to my left. I take another step forward to bring the basket within easy placing distance of that window base.",
+        "I am right against the plinth, but the arched lattice has drifted to the upper left edge while blank masonry dominates my view. I turn left to swing the window back in front of me so I can set the basket down properly beneath it.",
+        "The turn placed the arched window with its red lattice squarely ahead of me above the stone ledge. I step forward along the sand to reach the spot directly at the window's base before releasing the basket.",
+        "The ledge under the latticed arch now fills much of my view, so I am nearly at the placing spot. One more step forward should put me close enough beside the window for the basket to count as left near it.",
+        "I stand right against the stone ledge with the red iron lattice of the arched window immediately above me, which is exactly the place the basket belongs. I release the basket here so it should come to rest near this window.",
+        "The wicker basket now rests on the ground directly beneath the arched window with iron lattice, and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001628_y003710_z000098_t1_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Search for the open building entrance beneath the zigzag-patterned trim, then approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1628.098,
+        3710.196,
+        98.25,
+        0.0,
+        -131.52,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+            -131.52,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            98.65,
+            0.0,
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+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "My view is filled by a long balustrade wall of red brick and stone arches with no doorway anywhere along it, so I cannot find the entrance from this heading. I will turn left to sweep my view toward the open sand and the buildings on that side, where an entrance beneath a zigzag trim may become visible.",
+        "Turning has brought a shrine-like pillar and a sand-covered lane into view, but the ornate facades ahead still show only sealed panels and no open entrance under a zigzag band. I will keep turning left to bring more of the building frontage on that side into my view.",
+        "The lane between the buildings is now in front of me, with a row of arched windows on the left wall but still no passable opening. Another left turn should swing my view onto the remaining facade in that direction to check for the entrance.",
+        "Pale paving slabs emerging at the lower left hint that a used approach path lies further in that direction, while the arched windows in front are not entrances. I will turn left again to face where those slabs lead.",
+        "A dark recessed doorway is now partly visible on the left, framed by a tall pillar carried with a red and white zigzag pattern, with lit interior floor beyond it. I will make one more left turn to bring that opening to the center of my view before advancing.",
+        "The open entrance now sits centered ahead, flanked by the zigzag-patterned pillar, with an interior chamber visible through it. The target matches the task description, so I will stop searching and step forward along the slabs toward it.",
+        "The doorway and its interior have grown larger in my view, confirming that my heading is carrying me straight toward the opening. I will continue walking forward over the slabs to close the remaining distance.",
+        "I am closer now, with the recessed passage and the lit chamber beyond clearly framed just right of center. Nothing blocks the slab path, so I will keep advancing toward the entrance.",
+        "The open doorway with the red interior wall beyond it sits directly ahead, framed by the pillar carrying the zigzag-patterned trim on my left. Nothing blocks the stone slabs laid across the sand in front of me, so I will keep walking straight to close the remaining distance to that entrance.",
+        "The entrance opening now fills more of my view and the interior floor tiles are clearly visible through it, confirming I am closing in on the correct doorway. The passage between the walls on either side remains clear, so I will step forward again toward the opening.",
+        "The open entrance is close now, with the arched windows and red wall of the inner hall plainly visible through it. I am still short of the threshold, so I will continue advancing to bring myself up to the doorway.",
+        "The doorframe now spans most of my view and the inner courtyard floor lies just beyond the threshold. One more step forward should place me right at the open entrance.",
+        "I stand at the open entrance with its frame on either side and the interior hall directly before me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_a/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Walk to the hanging red banner on the building.",
+    "Type": 0,
+    "Start_Pose": [
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+        307.789,
+        106.284,
+        0.0,
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+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookUp",
+        "TurnLeft",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -614.41,
+            -2047.162,
+            125.638,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -614.41,
+            -2047.162,
+            125.638,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -614.41,
+            -2047.162,
+            125.638,
+            0.0,
+            -102.76,
+            0.0
+        ],
+        [
+            -614.41,
+            -2047.162,
+            125.638,
+            0.0,
+            -102.76,
+            0.0
+        ],
+        [
+            -614.41,
+            -2047.162,
+            125.638,
+            0.0,
+            -102.76,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The hanging red banner is visible ahead on the pale wall, right of center and still far across the sand-covered courtyard. My heading already points down the open stretch of paving toward it, so I will step forward to begin closing the gap.",
+        "The banner sits a little larger in my view now, confirming that my current heading carries me toward it. The ground ahead is still clear sand and flagstones, so another forward step should reduce the distance further.",
+        "The banner and the arched doorway beside it are growing steadily as I advance along the courtyard. Nothing blocks my path, so I keep walking straight rather than adjusting my heading yet.",
+        "The red banner remains a bit right of center and the wall it hangs on is filling more of my view, so I am still on a usable line. I will take another step forward to keep shrinking the distance before I need any turn.",
+        "The banner's gold emblem is now discernible, which tells me the gap has closed noticeably. The paved and sandy ground continues unobstructed, so I press forward on the same heading.",
+        "From here the banner hangs clearly above the wall base ahead and slightly to my right, and the lantern beside it is also distinct. Another forward step should bring me closer without needing to reorient yet.",
+        "The wall with the latticed windows is close on my left while the banner stays ahead and to the right, so continuing straight still shortens the approach. I will walk forward again and hold this line.",
+        "The banner now reads large enough that its fringed lower edge and emblem are plain, so I am within a short walk of it. I will keep stepping forward along the open sand, since the remaining distance is still too great to stop.",
+        "The red banner still hangs high on the pale wall ahead and to my right, past the corner of the stone facade beside me. Nothing blocks the sandy ground in front of me, so I will step forward again to keep shrinking the gap.",
+        "The banner is noticeably bigger now, with its gold medallion clearly showing, but it is still well beyond arm's reach along the wall to my right. The ground ahead remains clear sand and loose slabs, so I will continue straight to close more distance.",
+        "The stone facade on my left now fills much of my view and my current heading would carry me alongside it rather than toward the banner. The banner and the open sandy passage beneath it lie off to my right, so I will turn right to bring that route and the banner into the center of my view.",
+        "After the turn the banner hangs ahead and slightly left, with the hanging lantern and the open sandy corridor now straight in front of me. The path is unobstructed, so I will walk forward along it toward the banner's wall.",
+        "The banner's red cloth and gold disc are larger and hang on the wall just ahead on my left, but I am still several paces short of standing beneath it. The sandy floor ahead is clear, so I will keep advancing.",
+        "The banner now hangs prominently over the low stone plinth to my left front, and the wall behind it is filling more of my view as I close in. I will step forward again to bring myself under the hanging cloth.",
+        "The banner's tassels and gold star are now clearly readable a short way ahead on my left, so I am close but not yet directly below it. Another step forward should place me nearer the base of the wall where it hangs.",
+        "The banner looms large just above and to my left, and the curved plinth beneath it is nearly at my side. Since I am still slightly short of standing under the cloth, I will advance one more step along the open sand.",
+        "The red banner with its yellow star medallion hangs on the pale wall just left of my heading, and it now fills a good part of the upper left of my view. Open sand and scattered paving slabs lie ahead with nothing blocking my path, so I will keep walking forward to close the remaining gap.",
+        "The banner has grown noticeably larger and its fringed lower edge is clearly detailed, confirming I am closing on the wall where it hangs. The stone drum on my left is off to the side and the sand ahead is passable, so another forward step should bring me nearer the banner.",
+        "The banner now hangs high in the upper left, meaning I am nearly beneath the stretch of wall it is fixed to. The sand slope in front of me is still open, so I will continue forward to shorten the remaining distance to the banner's wall.",
+        "Only the banner's fringed tail and its shadow on the plaster remain in the top of my view, which tells me I am very close to the wall beneath it. I will take another forward step to stand right at the base of that wall.",
+        "The banner's lower tip and shadow sit at the top left while the stone skirting of the wall is now directly in front of me. A further short step forward should place me essentially at the wall carrying the banner.",
+        "The banner has slid to the very top left corner of my view and is nearly out of sight because my heading points along the wall rather than at the hanging itself. Turning left should swing my facing back toward the banner and bring it into the center of my view.",
+        "The turn brought the banner's red and yellow tail back above the center of my view, so I am now facing the wall it hangs from. I will take one more step forward to stand directly beneath the banner.",
+        "I am pressed close to the wall now, and only bare plaster and the skirting course fill my view because the banner hangs above my line of sight. Tilting my gaze upward should bring the hanging banner back into view so I can confirm I am standing at it.",
+        "I am standing right against the building wall beneath the banner, and its dark fringed shadow falls across the upper left of my raised view rather than straight ahead. Turning left by a small step should swing my heading toward the banner's hanging position so it sits centered in front of and above me.",
+        "With my heading now squared onto the banner's stretch of wall, only bare stone and the base course fill my view while the banner's shadow still lies above the top edge. Tilting my gaze further up should bring the hanging red banner itself into view and confirm I am standing directly beneath it.",
+        "The red banner's fringed lower edge hangs directly overhead on the building wall right in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_b/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Head toward the round medallion emblem on the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -1669.565,
+        307.789,
+        106.284,
+        0.0,
+        -77.76,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1669.565,
+            307.789,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1642.882,
+            184.791,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1616.199,
+            61.793,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1589.516,
+            -61.205,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1562.833,
+            -184.203,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1536.15,
+            -307.201,
+            113.495,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1536.15,
+            -307.201,
+            113.495,
+            0.0,
+            -52.76,
+            0.0
+        ],
+        [
+            -1459.986,
+            -407.398,
+            117.74,
+            0.0,
+            -52.76,
+            0.0
+        ],
+        [
+            -1383.822,
+            -507.596,
+            108.202,
+            0.0,
+            -52.76,
+            0.0
+        ],
+        [
+            -1307.657,
+            -607.793,
+            98.571,
+            0.0,
+            -52.76,
+            0.0
+        ],
+        [
+            -1231.493,
+            -707.99,
+            98.571,
+            0.0,
+            -52.76,
+            0.0
+        ],
+        [
+            -1231.493,
+            -707.99,
+            98.571,
+            0.0,
+            -27.76,
+            0.0
+        ],
+        [
+            -1120.12,
+            -766.611,
+            98.571,
+            0.0,
+            -27.76,
+            0.0
+        ],
+        [
+            -1008.746,
+            -825.233,
+            98.571,
+            0.0,
+            -27.76,
+            0.0
+        ],
+        [
+            -897.373,
+            -883.854,
+            106.113,
+            0.0,
+            -27.76,
+            0.0
+        ],
+        [
+            -785.999,
+            -942.475,
+            106.113,
+            0.0,
+            -27.76,
+            0.0
+        ],
+        [
+            -785.999,
+            -942.475,
+            106.113,
+            0.0,
+            -27.76,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can pick out the round medallion emblem on the dark shrine wall ahead to my right, small and partly shaded beneath the tiled canopy. The sandy courtyard between me and it looks open, so I will move forward to begin closing that distance.",
+        "The medallion has grown slightly larger and its gold ring is now clearer against the shrine facade to my right. The path ahead is still clear sand, so another step forward should keep shrinking the gap.",
+        "The emblem is clearly resolving now, a gold-rimmed disc with a red center set in a pointed stone arch on the right side of the courtyard. My heading still carries me generally toward it, so I continue forward rather than turning yet.",
+        "The shrine block with the medallion is noticeably nearer and the paved stones lead in that direction across the sand. I will step forward again to keep reducing the range before I refine my heading.",
+        "The medallion now sits fairly large on the shrine wall to my right, and the courtyard floor ahead of me is still unobstructed. One more forward step should bring me close enough that a small heading correction is worthwhile.",
+        "From here the medallion has drifted well to the right of my view while my heading still points down the courtyard past it. I will turn right to bring the emblem closer to the center of my view so further forward motion runs straight at it.",
+        "The turn has put the medallion and its arched stone housing nearer the middle of my view, with the light paved ground running toward it. I will move forward along this improved heading to close the remaining distance.",
+        "The gold medallion with its red center is larger and well placed in my view, and the second emblem beside it confirms I am facing the shrine face. The paved ground ahead stays clear, so I will keep advancing toward the wall.",
+        "The round medallion emblem is clearly visible on the stone shrine wall ahead and slightly right of my heading, and the sandy paved ground between us looks open. I will keep moving forward to close that gap before making any fine heading correction.",
+        "The medallion now reads larger and higher in my view, confirming that my straight advance is steadily shortening the distance to the emblem wall. Another forward step should bring me close enough that a small rightward correction is all that remains.",
+        "From this close range the medallion sits right of my view center while the banner wall and sand fill the left side, so a straight advance would carry me past it. I will turn right to bring the emblem toward the middle of my heading before continuing.",
+        "The turn has placed the medallion near the center of my view on the shrine's front face, with clear sand and paving leading straight to it. I will move forward along this corrected heading to close the remaining distance.",
+        "The emblem and its pointed stone frame now dominate the upper middle of my view, so my heading is holding well on the target. I will continue forward to draw right up to the medallion wall.",
+        "The medallion is very large and slightly left of center now, with the stone base wall just ahead of me. One more forward step should place me directly at the emblem rather than short of it.",
+        "I am nearly against the shrine, with the medallion's gold ring and red center looming at the top of my view above the block wall. A final short advance should bring me flush to the emblem's position.",
+        "The medallion's gold rim and red center fill the upper left of my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_c/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Navigate to the large arched window with grating near the ground.",
+    "Type": 0,
+    "Start_Pose": [
+        -1669.565,
+        307.789,
+        106.284,
+        0,
+        -77.76,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1669.565,
+            307.789,
+            106.284,
+            0,
+            -77.76,
+            0
+        ],
+        [
+            -1642.882,
+            184.791,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1616.199,
+            61.793,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1589.516,
+            -61.205,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1562.833,
+            -184.203,
+            106.284,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1536.15,
+            -307.201,
+            113.495,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1509.467,
+            -430.199,
+            122.603,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1482.784,
+            -553.197,
+            105.087,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1456.101,
+            -676.195,
+            98.7,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1429.418,
+            -799.193,
+            98.7,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1402.735,
+            -922.191,
+            98.7,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1402.735,
+            -922.191,
+            98.7,
+            0.0,
+            -102.76,
+            0.0
+        ],
+        [
+            -1430.533,
+            -1044.942,
+            98.7,
+            0.0,
+            -102.76,
+            0.0
+        ],
+        [
+            -1458.331,
+            -1167.692,
+            98.7,
+            0.0,
+            -102.76,
+            0.0
+        ],
+        [
+            -1486.13,
+            -1290.443,
+            98.7,
+            0.0,
+            -102.76,
+            0.0
+        ],
+        [
+            -1513.928,
+            -1413.194,
+            98.48,
+            0.0,
+            -102.76,
+            0.0
+        ],
+        [
+            -1541.726,
+            -1535.945,
+            108.987,
+            0.0,
+            -102.76,
+            0.0
+        ],
+        [
+            -1541.726,
+            -1535.945,
+            108.987,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1515.41,
+            -1655.245,
+            112.808,
+            0.0,
+            -77.76,
+            0.0
+        ],
+        [
+            -1515.41,
+            -1655.245,
+            112.808,
+            0.0,
+            -77.76,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the sandy courtyard I can see the tall arched window with reddish lattice grating set low in the pale stone wall ahead, roughly aligned with the center of my view. The open sand and stone paving between us looks clear, so I will step forward to begin closing that distance.",
+        "The arched window with its grating has grown slightly and stays near the center-left of my view, confirming my heading is still pointed at it. Nothing blocks the sandy ground ahead, so I will keep advancing.",
+        "The wall with the low arched grated window is noticeably nearer now, and the paved strip crossing the sand leads in the same direction I am facing. I will continue forward since no correction of heading seems needed yet.",
+        "The arched window and the smaller latticed openings beside it are clearly resolved on the wall to my front-left, so the target is well localized. The sand between us is still open, and another step forward should cut the remaining distance.",
+        "I am now close enough that the window's stone base and the low plinth running along the wall are visible, which matches the grating near the ground described in the task. I will keep walking forward toward that wall.",
+        "The arched latticed window sits a bit left of my straight-ahead direction while the shadowed doorway structure passes on my right, so my line of travel still brings me nearer the target. I will advance again before judging any turn.",
+        "The grated arch and its stone surround now fill a large part of the upper left of my view, and the base of the wall is close ahead. I will continue forward to shorten the gap further while the target remains in sight.",
+        "The window's red lattice and the drifted sand piled against the plinth below it are close and clearly detailed, but I am still short of standing directly at the arch. Another forward step should bring me nearer, and the target has drifted toward my left, which I may need to correct soon.",
+        "The large arched window with its ornate lattice grating stands out on the stone wall ahead and slightly to my left, and it has grown steadily as I advance across the sand. Nothing blocks the open sandy ground between me and that wall, so I will keep stepping forward to close the remaining distance.",
+        "The arched grated window now occupies much of the left half of my view, and the stone plinth running along the base of the wall is clearly resolved. Since the gap is still several paces, I will advance again toward the wall.",
+        "My heading is carrying me past the target: the arched grated window sits well to the left of center while the lit archway and lantern fill the right side of my view. I will turn left to bring the arched window into the middle of my view so my remaining approach heads straight at it.",
+        "After the turn the tall arched window with its red lattice grating is centered in my view, with the smaller grated openings beside it on the same wall. With the heading now pointing at the target, I will step forward to shorten the distance.",
+        "The arched window and its stone surround are noticeably larger and still held near the center of my view, confirming the heading is good. I will continue forward since the sandy ground before the wall base is still wide.",
+        "The latticework of the arch is now detailed enough to see individual openings, and the low stone ledge beneath the window spans the lower part of my view. A few more steps should bring me right up to the wall, so I will advance again.",
+        "The arched grating now fills the upper portion of my view and the wall's stone base sits just beyond a short stretch of piled sand. I will step forward once more to stand close to the window rather than stopping short of it.",
+        "I am very near the wall now, with the red lattice of the arched window overhead and the broad stone plinth immediately in front of me. One more forward step should place me directly at the window's base.",
+        "The red lattice grating of the arched window now sits high toward the right side of my view while the plain plaster wall fills the left, so my heading is biased off the target. I will turn right by a small step to bring the grated arch and the stone base beneath it toward the center of my view before closing the last of the gap.",
+        "The arched window with its red lattice grating is now centered ahead of me, with the stone plinth and sand at its foot just below. Only a short gap remains, so I will step forward to stand directly at the base of the window.",
+        "The grated arched window's lower bars and its stone base fill my view directly in front of me at arm's reach. The navigation goal is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t5_a_p/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Lift the trash bag beside the round medallion emblem on the wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -1669.565,
+        307.789,
+        106.284,
+        0,
+        -77.76,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -912.701,
+        -958.87,
+        28.697,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1669.565,
+            307.789,
+            106.284,
+            0,
+            -77.76,
+            0
+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -912.701,
+            -958.87,
+            28.697,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -963.572,
+            -849.375,
+            68.756,
+            -28.202,
+            -2.615,
+            1.862
+        ],
+        [
+            -963.572,
+            -849.375,
+            68.756,
+            -28.202,
+            -2.615,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1475.6,
+        1356.9,
+        1239.6,
+        1124.2,
+        1124.2,
+        998.4,
+        872.5,
+        746.7,
+        620.8,
+        494.9,
+        369.1,
+        243.2,
+        117.4,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The round medallion emblem is visible ahead on the right-hand structure, with a small dark shape sitting at its base that likely is the trash bag. It is far across the sandy courtyard, so I will walk forward to close that distance before judging alignment.",
+        "The medallion wall and the dark shape beneath it have grown slightly larger, confirming my heading is carrying me toward the target. Nothing blocks the open sand ahead, so I will keep walking forward.",
+        "The emblem on the right-hand facade is clearer now and the small bag beside it stays in view, so my current heading remains useful. I will continue walking to shorten the remaining courtyard gap.",
+        "The medallion and the bag beneath it now sit noticeably right of my heading, while straight ahead only leads toward the plain stone wall on the left. I will turn right to bring the emblem alcove into the center of my view before advancing again.",
+        "The turn has centered the emblem and the small dark bag at the base of the stone alcove in my view. With the path across the flagstones open, I will walk forward to close in on it.",
+        "The alcove with the medallion is dead ahead and the bag beside its base is holding its position in my view. I will keep advancing along the flagstones to get within reach.",
+        "The medallion is now large and detailed, and the trash bag sits clearly at the foot of the stonework just left of it. It remains several strides away, so I will continue forward.",
+        "A second emblem has come into view on the adjacent face, and the bag I want stays fixed at the base beneath the nearer medallion. I will step forward again to bring it close enough to attempt a lift.",
+        "The dark trash bag sits at the base of the stone pier directly under the round medallion emblem, slightly left of my heading and still several paces off. My path over the flagstones toward it is clear, so I will keep walking forward to close that gap.",
+        "The bag now reads clearly as a black sack resting against the wall beside the medallion, and it holds near the center of my view. Since my heading already points at it, another step forward should shorten the remaining distance without any turn.",
+        "The trash bag beside the medallion emblem is noticeably larger and lower in my view, meaning I am getting close but am not yet within grabbing range. I will advance again along the same line to bring it near my feet.",
+        "The bag now fills much of the lower center of my view, just short of arm's reach at the corner of the stonework under the emblem. One more step should place me right over it so a grasp becomes possible.",
+        "The trash bag is now immediately in front of me at the foot of the wall carrying the round medallion emblem, close enough that its knotted top is within reach. My hands are empty, so I will attempt to lift it now.",
+        "The trash bag from beside the medallion emblem is now in my hands and off the ground. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001840_y-000471_z000108_t1_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Search for the large arched window with an ornate lattice pattern that has three smaller lattice windows arranged around it on the stone wall; after locating it, head over to that window.",
+    "Type": 1,
+    "Start_Pose": [
+        -1840.045,
+        -470.87,
+        107.575,
+        0.0,
+        156.48,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            156.48,
+            -0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -178.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -153.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -128.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -103.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1814.996,
+            -594.211,
+            101.806,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1789.947,
+            -717.552,
+            127.278,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1764.897,
+            -840.893,
+            119.276,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1739.848,
+            -964.234,
+            108.045,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1714.799,
+            -1087.576,
+            98.65,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1689.75,
+            -1210.917,
+            98.65,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1664.701,
+            -1334.258,
+            98.65,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1639.652,
+            -1457.599,
+            102.502,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1614.602,
+            -1580.94,
+            109.763,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1591.198,
+            -1655.355,
+            112.811,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1591.198,
+            -1655.355,
+            112.811,
+            0.0,
+            -78.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "My view is almost entirely filled by a close stone pier and blank masonry, so I cannot see any arched lattice window from here. I will turn right to sweep my heading off this blocking surface and open up more of the stone facade.",
+        "The new heading still shows only flat plaster and a plain string course with sand below, with no window openings anywhere. I will keep rotating right to continue scanning the wall for the arched lattice window.",
+        "This part of the wall is still featureless, just banded stonework above drifted sand, so the target is not in this sector. I will continue turning right, since the sweep has been steadily revealing new wall surface and should bring an opening into view.",
+        "At the right edge of my view I can now catch a red arched lattice window with two smaller lattice squares beside it on the pale brick wall. I will turn right again to swing that facade away from the frame edge and see the full window group.",
+        "The wall now clearly shows the large arched lattice window with smaller lattice openings around it, but the whole group sits right of my heading and a near wall still crowds the left of my view. One more turn to the right should place that window group near the center so I can walk straight at it.",
+        "The target is now unmistakable ahead of me: the tall arched window with ornate lattice, with three smaller lattice windows set around it on the stone wall. Searching is done, so I will walk forward across the sand toward it.",
+        "The arched lattice window and its smaller companions have grown larger and stay near the middle of my view, confirming my heading is good. I will keep walking forward over the sand and paving stones to close the remaining distance.",
+        "The ornate arched window and the smaller lattice openings are noticeably closer, and the base ledge of the wall is now visible beneath them. Nothing blocks the sandy ground in front of me, so I will continue advancing straight toward the window.",
+        "The tall arched lattice window is clearly ahead of me with the three smaller lattice openings set around it on the stone wall, so the target is confirmed and no further searching is needed. The sandy floor in front of me looks open and level, so I will keep walking straight to close the remaining distance.",
+        "The arched window and its companion lattice openings now fill more of my view, confirming my heading is still on the target. Since the wall base is still some distance away, I will step forward again to continue the approach.",
+        "The ornate arch and the smaller lattice squares to its left are directly in front of me, so my line of travel remains correct. There is still a stretch of sand before the wall's stone base, so I will walk forward once more.",
+        "The lattice detail of the arched window is now large and sharp, showing I am getting close to the wall. A short gap of sand remains, so I will advance again to stand right at the window.",
+        "The arched window's frame now dominates the view and the stone ledge below it is only a couple of paces away. I will step forward again to finish closing on the target window.",
+        "I am nearly at the wall, with only the window's lower lattice and the stone sill still in frame. One more step forward should place me directly at the base of the arched window.",
+        "The ledge beneath the arched lattice window is right in front of me and the lattice bars fill the upper part of my view, so I am essentially at the target. I will take one last short step to settle fully against the window.",
+        "The ornate lattice of the large arched window is directly before me at arm's length above its stone sill. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001840_y-000471_z000108_t1_b/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Identify the red banner, then proceed toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1840.045,
+        -470.87,
+        107.575,
+        0,
+        156.48,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0,
+            156.48,
+            0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -178.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -153.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -128.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -103.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -1840.045,
+            -470.87,
+            107.575,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -1765.217,
+            -572.069,
+            100.44,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -1690.388,
+            -673.268,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -1615.56,
+            -774.466,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -1540.731,
+            -875.665,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -1465.903,
+            -976.864,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -1391.074,
+            -1078.063,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -1391.074,
+            -1078.063,
+            98.65,
+            0.0,
+            -28.52,
+            0.0
+        ],
+        [
+            -1280.488,
+            -1138.156,
+            98.65,
+            0.0,
+            -28.52,
+            0.0
+        ],
+        [
+            -1169.902,
+            -1198.249,
+            98.65,
+            0.0,
+            -28.52,
+            0.0
+        ],
+        [
+            -1059.316,
+            -1258.343,
+            98.65,
+            0.0,
+            -28.52,
+            0.0
+        ],
+        [
+            -1059.316,
+            -1258.343,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -984.488,
+            -1359.541,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -909.659,
+            -1460.74,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -834.831,
+            -1561.939,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -760.002,
+            -1663.138,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -685.174,
+            -1764.336,
+            98.65,
+            0.0,
+            -53.52,
+            0.0
+        ],
+        [
+            -685.174,
+            -1764.336,
+            98.65,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -660.124,
+            -1887.677,
+            117.581,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -635.075,
+            -2011.019,
+            129.033,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -635.075,
+            -2011.019,
+            129.033,
+            0.0,
+            -78.52,
+            0.0
+        ],
+        [
+            -635.075,
+            -2011.019,
+            129.033,
+            0.0,
+            -78.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "My view is almost entirely filled by a pale stone pillar and the wall behind it, so I cannot see any red banner from this heading. I will turn right to sweep my view off this blocking masonry and start searching the surrounding courtyard.",
+        "The rotation has only brought a flat, dim stone wall and its molding into view, with no banner and no open space to head toward. I will keep turning right to continue scanning past this near wall.",
+        "I now see the base of the wall and a mound of sand at the lower right, which suggests the space opens further around in that direction. Since no red banner has appeared yet, I will turn right again to keep widening my search.",
+        "The view has opened onto a sandy courtyard with a lattice window wall, but the only red elements are the window frames, not a hanging banner. I will continue turning right to bring more of the courtyard into view.",
+        "Ahead I can see the arched lattice windows and a paved path running off toward the right side of the courtyard, but no banner is in view yet. I will turn right once more to inspect that brighter opening where the path leads.",
+        "A tall red cloth banner is now visible at the right edge of my view, hanging on the wall beside a lantern. I will turn right once more to bring that banner nearer to the center of my view before committing to an approach.",
+        "The red banner is now clearly in my view, hanging from the pale wall ahead and just left of the domed shrine structure. With the target identified and open sand and paving stones between me and it, I will walk forward to close the distance.",
+        "The banner has grown slightly larger and stays in the upper part of my view, confirming that my last step carried me toward it. The path ahead across the pavers remains clear, so I will keep walking forward to close more distance.",
+        "The tall red banner hanging on the pale wall ahead is clearly the target, and it sits near the center of my view beyond the sand and stone slabs. The sandy courtyard in front of me looks open and walkable, so I will keep walking straight to close the distance.",
+        "The banner has grown noticeably larger and the lantern and gold medallion beside it are sharper, confirming that my straight heading is closing on the target. The ground ahead is still flat sand with scattered slabs, so another step forward should continue the approach without any change of direction.",
+        "The red banner still hangs ahead on the light wall, and the passage between the latticed wall on my left and the medallion block on my right stays open. Since nothing obstructs my current line, I will keep advancing toward it.",
+        "I am now close enough that the banner's fabric folds and the lantern hanging beside it are distinct, so the committed approach is working. The slab covered sand ahead remains passable, and one more step forward should bring me further into this corridor toward the banner.",
+        "The banner is close on the wall to my left, but a raised stone plinth and wall base sit directly along my current line, while the open sand runs to the right of it toward the far archway. I will turn right to point down that clear stretch instead of into the wall base, keeping the banner just off my left shoulder.",
+        "After the turn, the lane of sand and slabs between the left wall and the medallion block is open in front of me, with the red banner still hanging high on the left. I will step forward along this clear lane to keep closing on the banner.",
+        "The banner has swung further into the left of my view and its gold emblem is now visible, so I am drawing alongside it. The corridor floor ahead is still open sand, so I will continue walking forward.",
+        "The red banner with its yellow star now fills much of the left side of my view, showing I am nearly beside the wall it hangs from. The way ahead along the sand remains clear, so another forward step should bring me level with it.",
+        "The red banner with its gold star emblem hangs on the left wall ahead, sitting well off to the left edge of my view while my heading points down the corridor. I will turn left to bring the banner nearer the center of my view so my forward walking line points at it. This should give me a cleaner committed approach across the sandy floor.",
+        "The red banner now hangs clearly in the upper left of my view with open sand and scattered paving slabs between me and the wall it hangs on. Nothing blocks the path, so I will walk forward to close the distance to the banner.",
+        "The banner has grown larger and its star emblem is now easy to read, confirming I am closing on the correct target. The floor ahead is still clear sand with flat slabs, so I will keep walking forward toward it.",
+        "The red banner continues to fill more of my upper left view as the wall it hangs from draws closer. I remain on a clear line with no obstacle in the sand ahead, so I will continue advancing toward the banner.",
+        "The banner is now large and close on the left wall, its fringed lower edge and emblem clearly resolved. Since I am still a few paces short of standing beneath it, I will step forward again to shorten the remaining gap.",
+        "Only the lower fringe of the banner and its shadow remain in my upper left view, showing I am nearly under the hanging cloth. I will keep walking forward to bring myself right up to the wall beneath it.",
+        "The banner's fringed edge has drifted to the far upper left corner of my view while my heading is angled along the wall rather than at it. I will turn left so the banner sits squarely in front of me for a final direct approach.",
+        "With the turn done, the red banner and its shadow now sit centered above the wall directly ahead of me. I will step forward to close the last of the distance and stand right at the banner.",
+        "The red and gold banner hangs directly ahead on the wall in front of me, with only its lower fringe still inside my view because I am already close and looking level. The sand and base molding below it are clear of obstruction, so I will step forward once more to close the last of the distance to the banner.",
+        "I am now right up against the wall, and my level gaze shows only stone facing and the banner's shadow, with the banner itself above the top edge of my view. Tilting my gaze upward should bring the red banner back into sight so I can confirm I am standing at it.",
+        "The red banner with its gold trim hangs directly overhead, right in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t0_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Walk to the arched window with lattice grillwork near the ground.",
+    "Type": 0,
+    "Start_Pose": [
+        -1855.332,
+        29.534,
+        106.282,
+        0.0,
+        23.04,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1855.332,
+            29.534,
+            106.282,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1739.513,
+            78.792,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1623.693,
+            128.05,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1507.874,
+            177.308,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1507.874,
+            177.308,
+            106.284,
+            0.0,
+            -1.96,
+            0.0
+        ],
+        [
+            -1382.088,
+            173.003,
+            106.284,
+            0.0,
+            -1.96,
+            0.0
+        ],
+        [
+            -1256.303,
+            168.699,
+            106.284,
+            0.0,
+            -1.96,
+            0.0
+        ],
+        [
+            -1130.518,
+            164.394,
+            106.284,
+            0.0,
+            -1.96,
+            0.0
+        ],
+        [
+            -1130.518,
+            164.394,
+            106.284,
+            0.0,
+            -1.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The arched window with lattice grillwork sits low in the sand-filled courtyard wall ahead and slightly left of my heading. Nothing blocks the open sand between me and that wall, so I will move forward to start closing the gap.",
+        "The latticed arch has grown larger and its lower sill is now clearly near the sand line, confirming this is the target window. I will continue straight since the approach lane remains clear.",
+        "The grillwork pattern is now readable and the window occupies much more of my view, but I am still several strides short of it. Another forward step should keep reducing that distance along the wall face.",
+        "The latticed arch has drifted toward the left edge of my view as I closed in, so my heading is now skewed past it toward the wall on the right. I will turn left to bring the window back to the center of my view before advancing further.",
+        "The window with its lattice grill is now centered in front of me with clear sand between us. I will move forward straight at it to close the remaining distance.",
+        "The grillwork now fills the upper center of my view and the base of the wall is close, but I am not yet within arm's reach. One more forward step should bring me right up to the window.",
+        "Only the window's lower frame and the neighboring red brick pilaster remain in view, so I am nearly against the wall. A final short advance should place me directly at the window.",
+        "I am standing directly at the wall with the arched lattice grillwork window immediately above me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t0_b/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Head toward the corner where there is a small window.",
+    "Type": 0,
+    "Start_Pose": [
+        -1855.332,
+        29.534,
+        106.282,
+        0.0,
+        23.04,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1855.332,
+            29.534,
+            106.282,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1739.513,
+            78.792,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1623.693,
+            128.05,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1623.693,
+            128.05,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ],
+        [
+            -1539.542,
+            221.64,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ],
+        [
+            -1455.392,
+            315.23,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ],
+        [
+            -1371.241,
+            408.821,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ],
+        [
+            -1287.09,
+            502.411,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ],
+        [
+            -1202.939,
+            596.001,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ],
+        [
+            -1118.788,
+            689.591,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ],
+        [
+            -1054.923,
+            782.788,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ],
+        [
+            -1054.923,
+            782.788,
+            106.284,
+            0.0,
+            48.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I see a long sandy courtyard bounded by a tall plastered wall with large latticed windows on my left, and on the right the wall breaks into a projecting balconied block where the surfaces meet in a recessed corner. The small window I want should sit in that narrower corner, so I will move forward to close the open stretch of sand ahead. Nothing blocks the ground in front of me, so a straight step should be safe.",
+        "The facade details have grown larger and the balustraded ledge on the right is nearer, confirming my heading is carrying me deeper into the courtyard. The corner where the walls meet is still some distance off, so I will continue straight to close more of that gap.",
+        "Straight ahead I am now facing mostly the flat wall with its wide lattice screens, while the recessed corner with the bracketed ledge and a narrow slot-like opening lies off to my right. I will turn right a small amount so that corner sits ahead of me instead of at the edge of my view.",
+        "After the small turn, the recessed corner with the bracketed ledge and stairway beyond is now centered in my view, and a narrow latticed opening is visible where the two walls meet. With the heading set, I will move forward along the sand to close the remaining distance.",
+        "The bracketed ledge and the pale wall on my left are filling more of my view, so my heading is still carrying me into the narrowing corner. I am not yet close enough to the small window, so I will keep stepping forward.",
+        "The two masonry surfaces are visibly converging around me and the arched bracket under the balustrade is now large and close on the right. The small latticed opening beside it is still a few steps away, so I will continue forward into the corner.",
+        "I am well inside the recess now, with plaster wall filling my left side and the brick ledge with its lattice railing on my right. The small latticed window set into the wall near the junction is close but still not directly in front of me, so I will take another step forward.",
+        "The corner is tight around me now and the small latticed window beside the bracket is only a short distance ahead on my right. One more forward step should bring me right up to it, so I will advance again.",
+        "The narrow corner where the plastered wall meets the projecting red stone balcony is now directly ahead, and the small latticed window opening sits just above that junction. I still have a bit of open sand between me and that corner, so I will move forward again to close the remaining gap toward the window.",
+        "The small latticed window is now large in front of me, framed between the pale wall on the left and the brick corbel on the right, with only a sliver of sand left at my feet. I will take one more short step forward to settle right into this corner beneath the window.",
+        "I am standing in the wall corner with the small latticed window filling the view right in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t5_a_p/infos.json

@@ -0,0 +1,183 @@
+{
+    "Instruction": "Lift the candelabra beside the ground-level arched window with lattice grillwork.",
+    "Type": 5,
+    "Start_Pose": [
+        -1855.332,
+        29.534,
+        106.282,
+        0,
+        23.04,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -1121.259,
+        315.718,
+        31.284,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1855.332,
+            29.534,
+            106.282,
+            0,
+            23.04,
+            0
+        ],
+        [
+            -1739.513,
+            78.792,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1623.693,
+            128.05,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1507.874,
+            177.308,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1392.054,
+            226.566,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1276.235,
+            275.824,
+            106.284,
+            0.0,
+            23.04,
+            -0.0
+        ],
+        [
+            -1276.235,
+            275.824,
+            106.284,
+            0.0,
+            23.041,
+            -0.0
+        ],
+        [
+            -1276.235,
+            275.824,
+            106.284,
+            0.0,
+            23.041,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -1121.259,
+            315.718,
+            31.284,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1121.259,
+            315.718,
+            31.284,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1121.259,
+            315.718,
+            31.284,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1121.259,
+            315.718,
+            31.284,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1121.259,
+            315.718,
+            31.284,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1121.259,
+            315.718,
+            31.284,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1285.154,
+            295.235,
+            76.39,
+            -28.202,
+            73.185,
+            1.862
+        ],
+        [
+            -1285.154,
+            295.235,
+            76.39,
+            -28.202,
+            73.185,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        787.9,
+        662.1,
+        536.3,
+        410.6,
+        285.1,
+        160.0,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The small dark candelabra stands on the sand at the foot of the wall, just beside the arched window with the lattice grillwork. It is still far off and centered ahead of me, so no turning is needed. I will walk straight forward to close that distance.",
+        "The latticed arched window and the candelabra at its base have grown larger, confirming my heading is correct. The target still sits well beyond arm's reach near the middle of my view. I will continue straight ahead.",
+        "The candelabra's three candle arms are now clearly resolved against the shaded wall beneath the lattice window. It remains a few paces away and slightly left of center, which straight walking will naturally close. I will keep advancing.",
+        "The candelabra is close enough now that its base and candle stems are distinct against the sand by the arched window. Still, it is not yet within grasping range from where I stand. I will step forward again to reach it.",
+        "The candelabra now fills much of the lower view right beside the lattice window, but it sits a bit low and left of my footing. One more step should bring it directly under my hands for a reliable grasp. I will advance.",
+        "The candelabra is immediately in front of me at the base of the wall under the latticed arched window, its candles rising within reach. This is the object named in the task and nothing blocks my hands. I will attempt to lift it now.",
+        "The candelabra is now held in my hands, lifted clear of the sand where it stood. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Walk to the dark doorway beneath the zigzag-patterned wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -2072.602,
+        3541.841,
+        98.25,
+        0.0,
+        95.04,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2072.602,
+            3541.841,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2083.659,
+            3667.213,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2094.716,
+            3792.586,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2094.716,
+            3792.586,
+            98.25,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -2051.752,
+            3910.885,
+            98.25,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -2008.788,
+            4029.183,
+            98.25,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -1965.825,
+            4147.482,
+            98.25,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -1922.861,
+            4265.781,
+            98.649,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -1922.861,
+            4265.781,
+            98.649,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1933.918,
+            4391.153,
+            98.649,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1944.975,
+            4516.526,
+            98.649,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1944.975,
+            4516.526,
+            98.649,
+            0.0,
+            95.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The dark doorway is recessed in the alcove ahead, set back beneath the red zigzag-patterned band on the wall above it. My heading already points down that sandy corridor toward it, so I will move forward to begin closing the gap.",
+        "The alcove and its dark opening now fill more of my view, so the previous step clearly reduced the distance. The route ahead is still clear sand and scattered paving slabs, so I will continue straight forward.",
+        "The dark doorway now sits noticeably left of my view center, with the tall patterned pier crowding the right side of my heading. I will turn left to swing my facing onto the opening so the remaining approach can be a straight run.",
+        "After the turn the dark doorway sits much closer to the middle of my view, framed by the alcove walls and the zigzag band above. With the heading now lined up, I will move forward along the slab-covered sand toward it.",
+        "The opening has grown larger and I can now make out tiled flooring and a column inside it, confirming this is the dark doorway I am heading for. I will keep advancing straight since the passage between the walls stays clear.",
+        "I am now inside the narrow recess, with the sunlit wall close on my left and the doorway ahead showing the reddish interior wall beyond. Another forward step should bring me nearly to the threshold slabs.",
+        "The doorway is only a short step away now, with its frame edges visible and stone slabs laid across the threshold. I will move forward once more to reach the entrance itself.",
+        "Standing right at the recess, the dark opening has drifted to the right of my view while the bright wall blocks my left. I will turn right to square my facing with the passage before stepping through.",
+        "The dark doorway now sits squarely in the middle of my view after the slight rightward heading correction, with its jambs framing the lit floor beyond. The narrow sand and slab corridor ahead looks clear, so I will step forward to close the remaining gap to the threshold.",
+        "The doorway's dark frame now fills much of my view and the tiled interior floor is visible just past the opening, so only a short distance remains. I will move forward once more to bring myself right up beneath that zigzag-patterned wall at the doorway itself.",
+        "I am standing in the dark doorway itself, its jamb beside me and the interior courtyard open ahead. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_b/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Approach the ground-floor broken arched window with lattice screens.",
+    "Type": 0,
+    "Start_Pose": [
+        -2072.602,
+        3541.841,
+        98.25,
+        0.0,
+        95.04,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2072.602,
+            3541.841,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2083.659,
+            3667.213,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2083.659,
+            3667.213,
+            98.25,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -2146.665,
+            3776.167,
+            98.25,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -2209.67,
+            3885.12,
+            98.25,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -2272.676,
+            3994.073,
+            98.25,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -2272.676,
+            3994.073,
+            98.25,
+            0.0,
+            145.04,
+            -0.0
+        ],
+        [
+            -2375.824,
+            4066.191,
+            98.25,
+            0.0,
+            145.04,
+            -0.0
+        ],
+        [
+            -2478.972,
+            4138.308,
+            98.25,
+            0.0,
+            145.04,
+            -0.0
+        ],
+        [
+            -2582.12,
+            4210.426,
+            98.25,
+            0.0,
+            145.04,
+            -0.0
+        ],
+        [
+            -2685.268,
+            4282.544,
+            98.25,
+            0.0,
+            145.04,
+            -0.0
+        ],
+        [
+            -2788.416,
+            4354.662,
+            98.25,
+            0.0,
+            145.04,
+            -0.0
+        ],
+        [
+            -2891.564,
+            4426.779,
+            98.25,
+            0.0,
+            145.04,
+            -0.0
+        ],
+        [
+            -2991.6,
+            4450.995,
+            98.25,
+            0.0,
+            145.04,
+            -0.0
+        ],
+        [
+            -2991.6,
+            4450.995,
+            98.25,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -2991.6,
+            4450.995,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2991.6,
+            4450.995,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2991.6,
+            4450.995,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From under this shaded passage I can already see the target facade off to my right, a run of arched openings filled with pierced lattice screens at ground level. I will step forward onto the open sand to clear the columns and paving slabs that crowd my view. That should give me room to swing my heading toward that wall.",
+        "Now out on the sand, the lattice-screened arches still sit toward the right edge of my view while the passage interior fills the left. I will turn right to bring that arched facade nearer the center of my heading. That should let me walk straight at it instead of drifting past.",
+        "The row of arched windows with lattice screens is now well inside my view ahead and slightly left, with open rippled sand between me and it. I will walk forward to begin closing that gap. Nothing blocks the ground in front of me.",
+        "The arched openings and their lattice screens have grown larger and the stone plinth beneath them is now readable, so my heading is carrying me toward the facade. I will keep walking forward to shorten the remaining distance. The sand ahead stays clear of obstructions.",
+        "The lattice-screened arches now fill much of the upper left of my view, but I am still several paces short of standing at them. I will advance again to continue closing on the wall. The ground in front remains open sand.",
+        "I am close to the facade but nearly facing its wall face, and the arched openings continue away to my right along a sandy lane. I will turn right to line up with that lane so I can keep approaching the ground-floor arches instead of walking into the wall. This should also keep the lattice screens in view as I move.",
+        "With the lane now open ahead and the ground-floor arches with their lattice screens running along my left, I have a clear path beside the facade. I will walk forward along this lane to reach the arches at close range. The sand ahead is unobstructed.",
+        "The nearest arched openings and their broken lattice work are noticeably closer and more detailed on my left, so this heading is working. I will step forward once more to draw level with the ground-floor arches. The lane stays clear in front of me.",
+        "The row of arched openings with pierced lattice screens runs along the wall to my left, and the nearest ones are still ahead of me down the sandy lane. The path beside the wall is open, so I will step forward to keep closing on the lowest arched window at ground level.",
+        "The lattice screens on my left now fill more of my view, showing the broken, gapped woodwork above their brick sills. I am still a few paces short of standing beside a ground-floor opening, so I will advance again along the wall.",
+        "The stone sill course and the base of the nearest arched opening are now close on my left, with the damaged lattice visible above it. Continuing forward should bring me level with that ground-floor window rather than leave it behind my shoulder.",
+        "I am walking very near the facade now, with the pilaster between two openings passing along my left side. One more step forward should place me squarely in front of the broken lattice arch instead of slightly short of it.",
+        "The brick panel beneath the lattice screen fills the left of my view and the wall is only an arm's length away, so my remaining forward room is small. I will take one more short step to settle directly beside the ground-floor arched opening.",
+        "I have reached the facade, and the arched opening with its broken lattice screen sits off to my left rather than in front of me. Turning left should swing my heading toward that window so it centers in my view.",
+        "My view is now dominated by the sandstone panel of the window bay, but the arch and its pierced screen still sit toward the upper left rather than dead ahead. A second left turn should bring me square with the ground-floor opening.",
+        "I am standing squarely against the ground-floor bay, but at this close range only the plain brick beneath the sill is in front of me, with just a sliver of the lattice at the top of my view. Raising my gaze should bring the broken arched screen itself into full view to confirm I am at the intended window.",
+        "The broken lattice screen of the ground-floor arched window fills my view at arm's length, its stone sill just below. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_c/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Approach the tall orange-and-white zigzag-patterned wall panel beside the row of arched lattice windows.",
+    "Type": 0,
+    "Start_Pose": [
+        -2072.602,
+        3541.841,
+        98.25,
+        0.0,
+        95.04,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2072.602,
+            3541.841,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2083.659,
+            3667.213,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2094.716,
+            3792.586,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2105.773,
+            3917.958,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2116.83,
+            4043.331,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2127.886,
+            4168.703,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -2127.886,
+            4168.703,
+            98.25,
+            0.0,
+            95.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the tall orange-and-white zigzag-patterned panel ahead on the pillar face just left of center, with the row of arched lattice windows to its right. It sits well back across the sand, so I will move forward along my current heading to begin closing that distance.",
+        "The zigzag panel has grown slightly larger and stays near the center of my view, so my heading is still good. I will keep moving forward to shorten the remaining gap.",
+        "The patterned panel is now clearly resolved on the pillar just right of the dark passage opening, and the arched lattice window is visible farther right. It is still several steps away, so I continue straight forward.",
+        "The tall zigzag panel now fills a large part of the right half of my view, confirming I am nearly upon it. One or two more forward steps should bring me close enough to count as reaching it.",
+        "The panel dominates the near right of my view but I am still slightly off to its side rather than directly beside it. I will take one more forward step to settle right alongside the patterned surface.",
+        "The tall orange-and-white zigzag panel now fills my view at arm's length beside the arched lattice window passage. The approach goal is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t3_a/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Walk to the dark wooden doorway, then approach the broken arched lattice window.",
+    "Type": 3,
+    "Start_Pose": [
+        -2072.602,
+        3541.841,
+        98.25,
+        0.0,
+        100.8,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2072.602,
+            3541.841,
+            98.25,
+            0.0,
+            100.8,
+            -0.0
+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -1941.815,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1910.941,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1910.941,
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+            0.0,
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+        ],
+        [
+            -1933.607,
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+        ],
+        [
+            -1956.274,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1978.94,
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+        ],
+        [
+            -1978.94,
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+            0.0,
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+        ],
+        [
+            -1978.94,
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+            -0.0
+        ],
+        [
+            -1978.94,
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+            0.0,
+            150.8,
+            -0.0
+        ],
+        [
+            -1978.94,
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+            98.25,
+            0.0,
+            175.8,
+            -0.0
+        ],
+        [
+            -2104.461,
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+            98.25,
+            0.0,
+            175.8,
+            -0.0
+        ],
+        [
+            -2229.982,
+            4147.256,
+            98.25,
+            0.0,
+            175.8,
+            -0.0
+        ],
+        [
+            -2355.503,
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+            98.25,
+            0.0,
+            175.8,
+            -0.0
+        ],
+        [
+            -2481.024,
+            4165.692,
+            98.25,
+            0.0,
+            175.8,
+            -0.0
+        ],
+        [
+            -2606.545,
+            4174.909,
+            98.25,
+            0.0,
+            175.8,
+            -0.0
+        ],
+        [
+            -2732.066,
+            4184.127,
+            98.25,
+            0.0,
+            175.8,
+            -0.0
+        ],
+        [
+            -2732.066,
+            4184.127,
+            98.25,
+            0.0,
+            150.8,
+            -0.0
+        ],
+        [
+            -2841.931,
+            4245.529,
+            98.25,
+            0.0,
+            150.8,
+            -0.0
+        ],
+        [
+            -2841.931,
+            4245.529,
+            98.25,
+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2915.553,
+            4347.608,
+            98.25,
+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2989.176,
+            4449.688,
+            98.25,
+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2989.176,
+            4449.688,
+            98.25,
+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2989.176,
+            4449.688,
+            98.25,
+            0.0,
+            125.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The dark wooden doorway sits recessed under the painted lintel ahead of me, beyond a stretch of open sand and scattered pale slabs. Nothing blocks that straight line, so I will walk forward to close the gap toward it.",
+        "After stepping closer, the dark doorway has drifted to the left half of my view while the arcaded wall crowds the right. I will turn left to bring the opening back to the center of my heading before continuing.",
+        "The turn has squared the recessed entry ahead of me, with its dark inner door framed between the two decorated jambs. The slabbed sand in front is clear, so I will walk straight ahead toward that opening.",
+        "The dark doorway is larger now and still centered between the ornamented pillars, with pale flagstones leading into the shaded recess. I keep my heading and step forward again to shorten the remaining distance.",
+        "I am now inside the narrowing passage, its plain walls close on both sides and the dark wooden door frame standing directly ahead. The route stays unobstructed, so another forward step should bring me nearer that entry.",
+        "Through the dark frame ahead I can now make out a tiled floor and a red wall in the space beyond. The doorway is still a few paces off, so I continue walking straight toward it.",
+        "The dark wooden jambs now fill much of my view and stone slabs lead right up to the threshold. I step forward again to stand close in front of that entry.",
+        "The dark wooden frame is close on both sides and the courtyard with its red wall and latticed arches opens straight through it. One more short step should place me right at the doorway itself.",
+        "The dark wooden door frame now rises directly on either side of me, its threshold at my feet and the sunlit courtyard opening beyond it. I am standing at the dark wooden doorway, so I mark reaching it, and then I set out for the broken arched lattice window I glimpsed across the open sand.",
+        "I am pressed right up against the dark wooden door frame, with stone walls close on both sides and no room to swing around here. The lattice windows I want lie back out along the sandy street behind me, so I will step backward to pull clear of this threshold.",
+        "The doorway has receded a little and the paving slabs and side walls of the passage are back in view, but I am still boxed between them. I will keep backing up to gain enough clearance before I turn toward the open sand.",
+        "The wooden doorway sits well ahead of me now and the sandy corridor has widened around my feet. One more step backward should put me where I can pivot freely toward the open street and its arched lattice facade.",
+        "I have room to rotate now, and the dark doorway is no longer where I need to go. I will turn to the right to begin swinging my heading away from this passage and back toward the sunlit street outside.",
+        "The wooden doorway has slid to my left edge while a carved pilaster and bright sand fill the right of my view. I will turn right again to keep bringing the open exterior wall in front of me.",
+        "Past the corner pillar on my right I can see the pale facade with its row of arched lattice openings above the sand. Another turn to the right should place that arcade in front of me instead of at the view's edge.",
+        "The lattice-windowed wall now runs off to my left while the open sandy lane stretches ahead past a domed building. I will turn right once more so my heading follows that lane, giving me a clear walking line along the arcade.",
+        "With the dark doorway now behind me, my heading runs straight down the open sand lane, and the tall arched openings with pierced lattice screens line the wall to my left. I will walk forward along this lane to bring those lattice windows within reach.",
+        "The lane stays clear of sand drifts and obstacles, and the row of arched lattice windows on my left is growing larger as I advance. Another step forward should close more of the gap toward them.",
+        "The nearest lattice arches are still set back along the wall to my left, so I am not yet beside them. I will keep walking down the lane to draw level with that arcade.",
+        "The pierced woodwork in the arches on my left is now resolving into individual slats, which tells me the distance is dropping. Continuing forward should put me alongside the arcade before I turn toward it.",
+        "I am running parallel to the arcade rather than facing it, and the arches directly to my left are still slightly ahead of me. One more step forward should bring me abreast of the lattice screens.",
+        "The lane ahead opens into a small sandy square, so my useful line of travel along this wall is nearly used up. I will take one more step forward to sit squarely beside the arched lattice openings.",
+        "I am now level with the arcade, but the arched lattice windows sit off to my left while I face down the empty lane. Turning left should swing that broken latticework in front of me so I can walk straight at it.",
+        "The turn has brought the arched openings with their cracked, gap-toothed lattice screens into the middle of my view. I will step forward across the sand to close the remaining distance to that wall.",
+        "The row of arched lattice windows now runs along the wall to my left, seen at a sharp glancing angle rather than head on. I will turn left so the arched openings sit squarely ahead of me, giving a straight line in toward the one with broken latticework.",
+        "The facade of arched openings is now centered in front of me, with the pierced lattice panels above their brick bases clearly visible. I will walk forward to close the remaining gap to the wall and get near enough to inspect the damaged lattice.",
+        "I am close to the facade now, and the nearest arch shows lattice slats that are cracked and missing pieces where the pattern breaks apart. One more step forward should bring me right up against that damaged window.",
+        "Standing this close, my view is filled by the brick base of the wall, with only a sliver of the broken lattice at the top edge. I will look up to bring the damaged arched lattice fully into view.",
+        "The broken arched lattice window fills my view at arm's length, its cracked slats plainly visible. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t3_b/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Approach the arched lattice window, then move to the dark wooden doorway.",
+    "Type": 3,
+    "Start_Pose": [
+        -2072.602,
+        3541.841,
+        98.25,
+        0.0,
+        100.8,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2072.602,
+            3541.841,
+            98.25,
+            0.0,
+            100.8,
+            -0.0
+        ],
+        [
+            -2072.602,
+            3541.841,
+            98.25,
+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2146.224,
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+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2219.846,
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+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2293.469,
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+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2367.091,
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+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2440.713,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -2514.335,
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+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2587.957,
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+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2661.58,
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+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
+            -2734.19,
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+            -0.0
+        ],
+        [
+            -2734.19,
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+            0.0,
+            125.8,
+            -0.0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            0.0,
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+        ],
+        [
+            -2680.14,
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+            0.0,
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+        ],
+        [
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+            0.0,
+            50.8,
+            -0.0
+        ],
+        [
+            -2680.14,
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+            98.25,
+            0.0,
+            25.8,
+            -0.0
+        ],
+        [
+            -2680.14,
+            4375.94,
+            98.25,
+            0.0,
+            0.8,
+            -0.0
+        ],
+        [
+            -2680.14,
+            4375.94,
+            98.25,
+            0.0,
+            -24.2,
+            0.0
+        ],
+        [
+            -2565.342,
+            4324.348,
+            98.25,
+            0.0,
+            -24.2,
+            0.0
+        ],
+        [
+            -2450.543,
+            4272.755,
+            98.25,
+            0.0,
+            -24.2,
+            0.0
+        ],
+        [
+            -2335.745,
+            4221.163,
+            98.25,
+            0.0,
+            -24.2,
+            0.0
+        ],
+        [
+            -2335.745,
+            4221.163,
+            98.25,
+            0.0,
+            0.8,
+            -0.0
+        ],
+        [
+            -2209.898,
+            4222.92,
+            98.25,
+            0.0,
+            0.8,
+            -0.0
+        ],
+        [
+            -2209.898,
+            4222.92,
+            98.25,
+            0.0,
+            25.8,
+            -0.0
+        ],
+        [
+            -2096.585,
+            4277.698,
+            98.553,
+            0.0,
+            25.8,
+            -0.0
+        ],
+        [
+            -2096.585,
+            4277.698,
+            98.553,
+            0.0,
+            50.8,
+            -0.0
+        ],
+        [
+            -2017.038,
+            4375.232,
+            98.553,
+            0.0,
+            50.8,
+            -0.0
+        ],
+        [
+            -1937.491,
+            4472.765,
+            98.553,
+            0.0,
+            50.8,
+            -0.0
+        ],
+        [
+            -1937.491,
+            4472.765,
+            98.553,
+            0.0,
+            50.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The row of arched lattice windows sits off to my right along the sunlit facade, while my current heading points into the shadowed passage ahead. I will turn right so that the window bay lies more squarely in front of me before I start walking.",
+        "With the turn done, the arched lattice windows now sit across the open sand ahead of me on the left side of my view. The ground between us is clear, so I will walk forward to begin closing that distance.",
+        "The arched windows have grown noticeably larger and the stone pier on my right is sliding past, so my heading is carrying me toward them. I will keep walking forward along this open stretch of sand.",
+        "The lattice arches are still ahead and slightly left, and I am not yet close enough to count them as reached. Another step forward should keep shrinking the gap without any need to change heading.",
+        "The window bay now fills much more of my view and the brickwork under the arches is becoming legible, which tells me the approach is working. I will continue straight ahead rather than adjust my heading.",
+        "The arched lattice openings are close enough that their carved screens read clearly, but I am still out on the sand rather than at the wall. Walking forward again should bring me right up alongside them.",
+        "The facade now dominates my view and the nearest arch is nearly beside me, so only a short remaining gap separates me from the window wall. I will step forward once more to close on it.",
+        "I am now practically at the wall, with the lattice screens and their brick surrounds filling most of my view at close range. One more step forward should place me directly at the arched window bay.",
+        "The arched lattice screens now fill most of my view and their carved openings are close enough to read individually. I am still a stride or two off the wall, so I keep walking forward to stand right at the arched lattice window.",
+        "The lattice panel and its sandstone sill are directly ahead and almost within reach, with only a narrow band of sand left at the base of the wall. One more short step forward should bring me right up against the arched lattice window.",
+        "The carved lattice screen and its stone sill are right in front of my face, close enough that the masonry blocks fill my whole view. I have arrived at the arched lattice window, so I mark reaching it and now set off for the dark wooden doorway.",
+        "Standing pressed against the window wall, the masonry blocks my view and leaves me no room to swing around. I step back from the facade to open space so I can turn freely toward the dark wooden doorway.",
+        "With a little clearance from the window wall, the lattice arches still stretch away ahead of me and the open courtyard lies behind my left shoulder. I turn left to begin swinging my heading away from this facade and back toward the passage where the dark wooden doorway stands.",
+        "My view is still filled with the stone pier and lattice panel of this wall, so I have not yet come around far enough to see open ground. I continue turning left to keep rotating away from the window facade.",
+        "Only blank masonry and a pilaster edge are in front of me, giving no line toward the dark wooden doorway. I keep turning left to bring the open court back into view.",
+        "A sliver of sunlit sand now shows at the bottom left as the wall corner slides across my view, so open ground is close to my heading. I turn left again to bring that clear route fully in front of me.",
+        "Rotating away from the latticed window wall has finally opened a gap on my left where sunlit sand and a far facade appear past the corner. The wall block still fills most of my view, so I will keep turning left to swing that open ground in front of me.",
+        "The open courtyard with its arcaded facade and pale steps now fills the left half of my view, while the pale wall corner still blocks the center. One more left turn should put that open sand squarely ahead so I can walk it toward the doorway I need.",
+        "My heading now points down the open sandy courtyard, with the tall wall safely off to my right and clear ground stretching ahead. Nothing blocks the path, so I will walk forward to cover distance toward the far side where a way through should lie.",
+        "The courtyard has opened wider and scattered pale paving slabs are now visible ahead on the right, suggesting a walked route across the sand. I will keep advancing along this heading to reach them.",
+        "A tall pointed archway and the slab path on my right are both closer now, and the ground between me and them is still open sand. Another step forward should bring me level with that paved stretch.",
+        "My current heading carries me past the paved slabs, which now sit to my right beside the arched gateway and the wall beyond. Turning right should line me up with that paving so I can follow it toward a way indoors.",
+        "The turn has put the paved slabs and the corner of the pale wall ahead of me instead of off to the side. I will step forward along the paving to close on that corner, where the passage seems to continue.",
+        "I am now beside the bright wall, and the paving runs off to my right where the facade recesses into shadow rather than straight ahead. Turning right should let me see into that recess and check whether the doorway I want opens there.",
+        "Past the pale wall on my right I can now see a recessed opening with a dark wooden door leaf standing ajar. I am still short of the paved threshold in front of it, so I will walk forward along the flagstones to close that remaining gap.",
+        "The dark wooden door now sits clearly to my right, with its interior floor and arched brick alcove showing through the gap, while my heading still points down the sandy passage ahead. Turning right should swing the opening into the center of my view so I can walk straight in.",
+        "The dark wooden doorway is now framed directly ahead, its leaf swung inward and the tiled interior with the brick arch visible beyond. Several paces of sand and slabs still separate me from the frame, so I will step forward toward it.",
+        "The wooden jamb and the swung leaf now fill much of my view, and the patterned interior floor is close ahead. One more step forward should bring me right up to the dark wooden doorway.",
+        "I stand at the dark wooden doorway, its open leaf and jamb immediately beside me with the interior hall in view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t5_a_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Grab the metal bucket near the dark doorway beneath the zigzag-patterned wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -2072.602,
+        3541.841,
+        98.25,
+        0,
+        95.04,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -1922.105,
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+        33.65,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2072.602,
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+            0,
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+        ],
+        [
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+        [
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+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -1943.14,
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+            68.756,
+            -28.202,
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+        ]
+    ],
+    "PD_Dist_2D": [
+        889.3,
+        768.2,
+        649.1,
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+        523.7,
+        398.6,
+        274.3,
+        152.5,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The metal bucket is visible far ahead, sitting in the shadowed doorway recess beneath the zigzag-patterned wall. It is far too distant to reach from here, so I will walk straight forward across the sand to close that gap.",
+        "The bucket in the dark doorway now sits slightly larger in view, confirming my heading is bringing me nearer. Still, a long stretch of sand and paving slabs separates us, so I continue walking forward.",
+        "The bucket and its doorway have drifted to the left side of my view while my path is carrying me past the right-hand wall pier. A modest turn to the left should re-center the recess and the bucket ahead of me before I advance again.",
+        "After the turn the doorway with the bucket sits near the middle of my view, so my heading now points down the narrow recess. I will walk forward along the slabs to shorten the remaining distance.",
+        "The bucket is clearly resolved now at the threshold of the shaded doorway, still several strides away. The slab-covered ground between us looks unobstructed, so I keep walking straight toward it.",
+        "The bucket fills a good part of the doorway opening ahead, but it is still beyond arm's reach. Another step forward should bring me close enough to attempt a grasp.",
+        "The metal bucket now stands prominently just inside the passage, close but not yet within grabbing range. I will step forward once more to stand right beside it before reaching for it.",
+        "The metal bucket is now directly beside me, filling the lower right of my view with its rim and handle within arm's reach. Nothing blocks my hands, so I will attempt to pick it up.",
+        "The metal bucket is now held in my hands, no longer resting on the stones. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t5_a_pd/infos.json

@@ -0,0 +1,506 @@
+{
+    "Instruction": "Pick up the candelabra at the dark wooden doorway, then set it down near the broken arched lattice window.",
+    "Type": 5,
+    "Start_Pose": [
+        -2072.602,
+        3541.841,
+        98.25,
+        0,
+        100.8,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -1971.889,
+        4165.949,
+        20.25,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+            0,
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+        ],
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+        [
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+        [
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+        ],
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        ],
+        [
+            -2854.834,
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+        ],
+        [
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+        [
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+        [
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+        [
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+        [
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+        ]
+    ],
+    "PD_Dist_2D": [
+        632.2,
+        515.7,
+        404.8,
+        404.8,
+        280.4,
+        158.3,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.4,
+        21.4,
+        21.4,
+        22.5,
+        21.4,
+        21.4,
+        21.4,
+        20.2,
+        20.3,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The candelabra stands on the pale slabs ahead of me, in front of the dark wooden doorway set back in the shadowed passage. It is still far off across the sand, so I will walk forward to close that gap before I can reach for it.",
+        "The candelabra has grown noticeably larger and the dark doorway behind it is clearer, so my heading is good. It remains well beyond arm's reach, so another step forward should continue shrinking the distance.",
+        "The candelabra now sits well to the left of my heading, with the doorway opening drifting off toward that side too. I will turn left to bring the candelabra near the centre of my view so my remaining steps run straight at it.",
+        "After the turn, the candelabra and the dark doorway behind it are lined up ahead of me. With the path over the slabs clear, I will walk forward to reduce the remaining distance for a grasp.",
+        "The candelabra is closer and still centred, but its candles sit low in my view rather than at hand height, meaning I am not yet standing over it. One more step forward should bring it into grasping range.",
+        "The candelabra is now directly in front of me at the foot of the dark wooden doorway, its candles filling the lower part of my view. This is close enough to attempt the grasp, so I will pick it up and try to take it into my hands.",
+        "The grasp worked: the candelabra is in my hands, its candles held out in front of me, and it is no longer resting on the slabs. The arched lattice windows lie back out in the open street behind me, so I will turn right to begin swinging away from this doorway.",
+        "With the candelabra secure in my hands, I still face the doorway wall and the narrow passage rather than the open street. I will keep turning right to swing my heading further toward the facade with the arched lattice windows.",
+        "The candelabra is in my hands, so the doorway pickup is done and I now need the street with the broken arched lattice windows. From here a striped corner pier still blocks most of my heading, with the arcade of lattice windows only edging into view on the right. I will turn right once more to bring that facade and the open sand lane in front of me.",
+        "My heading now runs straight down the sandy lane, with the arched lattice windows lining the wall on my left and no obstruction ahead. Carrying the candelabra, I will walk forward to close distance along that facade toward the damaged window.",
+        "The arcade of lattice windows keeps sliding past on my left and the lane ahead is still clear sand. The candelabra stays with me, so I will keep walking forward to reach the section of the facade further along.",
+        "I am close alongside the window wall, and the passage continues toward the buildings at the far end. Nothing blocks my path, so another step forward should carry the candelabra further down this arcade.",
+        "My heading has drifted toward the near wall on the left, and the open sand of the street now runs off to my right past the round-medallion building. I will turn right to follow the widening lane rather than crowd the facade.",
+        "The turn has put the open street squarely ahead, with the lattice-window facade running along my left and the medallion wall on my right. Still holding the candelabra, I will step forward through this gap.",
+        "The passage between the window wall and the stone building stays open, and the courtyard beyond is coming nearer. I will continue walking forward to reach the stretch of arcade where the damaged lattice sits.",
+        "I am nearly level with the last of the arched lattice openings on my left, and the ground ahead is still clear sand. One more step forward should place me beside that window wall, close enough to set the candelabra down there.",
+        "I am still carrying the candelabra along the open sand lane, and the arcade of arched lattice windows runs down the wall on my left rather than ahead of me. I will turn left to bring that window facade into the front of my view so I can pick a placement spot beneath it.",
+        "The lattice windows now fill much of my view but the wall still runs off obliquely to my left, so I am not squarely facing it. Another left turn should put the broken arched lattice window directly in front of me for a straight approach.",
+        "I am now facing the lattice window wall almost head on, with a strip of sand still separating me from its stone sill. Carrying the candelabra, I will walk forward to close that gap and reach a spot right beneath the window.",
+        "The banded stonework and lattice openings are noticeably larger now, but the sill line is still a step or two away at the right edge of my view. I will keep walking forward so the candelabra can be set down close against the window base.",
+        "The ochre blockwork beneath the lattice now fills nearly my whole view, so I am almost against the wall. One more short step forward should place me right at the base of the broken arched window, close enough to release the candelabra there.",
+        "I am standing directly against the stone base of the broken arched lattice window, with the pierced openings just above me. This is the intended placement spot, so I will release the candelabra here and expect it to settle on the ground beside the wall.",
+        "The release worked: my hands are empty and the candelabra now stands upright on the ledge against the wall, its three candles clearly in view. I will look up to confirm it is sitting directly under the broken arched lattice window rather than at some unrelated stretch of wall.",
+        "The candelabra stands at the base of the broken arched lattice window, framed right beneath its pierced opening. The task condition is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t0_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Walk to the base of the red banner with gold emblem.",
+    "Type": 0,
+    "Start_Pose": [
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+        298.648,
+        0.0,
+        -131.52,
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+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        [
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+        [
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+            227.111,
+            298.25,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2551.918,
+            227.111,
+            298.25,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -2533.359,
+            102.628,
+            298.25,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -2533.359,
+            102.628,
+            298.25,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -2533.359,
+            102.628,
+            298.25,
+            0.0,
+            -81.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The red banner with the gold star emblem hangs on the wall ahead and to my right, well beyond the low stone ledge running along the left wall. The sandy floor in front of me is open, so I will move forward to begin closing the distance toward its base.",
+        "The banner appears slightly larger and its emblem is clearer, confirming I am on a heading that brings me nearer to it. The path along the ledge is still unobstructed, so I will take another step forward.",
+        "The banner has drifted to the far right edge of my view and is partly cut off, meaning my current heading would carry me past it rather than to it. I will turn right to bring the banner back toward the center of my view before continuing.",
+        "The banner now hangs near the middle of my view with the pillared wall behind it and open sand between us. With the heading corrected, I will move forward to shorten the gap to its base.",
+        "The gold emblem is noticeably bigger and the wall recess it hangs in is more distinct, so my approach is working. I will continue straight ahead since nothing blocks the sand between me and that wall.",
+        "The banner fills more of the upper center of my view and its lower fringe is clearly resolved, but I am still several strides from the wall beneath it. I will keep moving forward to close that remaining distance.",
+        "The banner is now large and directly ahead, though the stretch of wall below it is still some distance off. I will advance again to reach the floor at its base.",
+        "The emblem now dominates the top of my view and the banner's dripping gold fringe is close overhead of the wall panel ahead. Since I am not yet standing at the wall itself, I will step forward once more.",
+        "The red banner with the gold emblem now hangs high in front of me, its fringed lower edge filling the upper part of my view, so I am still short of the wall it hangs on. I will step forward again to keep closing the remaining gap toward its base.",
+        "Only the banner's dripping lower fringe is still visible near the top right, which means I am close under the hanging cloth but the wall base below it is still a step away. I will move forward once more to reach the floor directly beneath it.",
+        "The banner has slid off to the upper right corner while the pilaster and blank wall dominate ahead of me, so my heading is drifting left of the target. I will turn right to bring the banner back over the center of my view before advancing further.",
+        "With the turn done, the banner's fringed edge sits centered above me and the recessed wall panel it hangs on is directly ahead. I will take one more step forward to plant myself right at the wall base under the emblem.",
+        "I am now pressed up against the wall panel, and only a small patch of red and gold shows at the very top edge because the banner hangs above my level line. I will tilt my view upward to confirm the emblem is directly overhead at this spot.",
+        "The red banner's gold emblem hangs directly overhead against the wall right in front of me. The task is complete, so I stop here at its base."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t0_b/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Approach the small square window opening in the stone wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -2134.543,
+        1260.224,
+        298.648,
+        0.0,
+        -131.52,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2134.543,
+            1260.224,
+            298.648,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2217.973,
+            1165.99,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2301.402,
+            1071.757,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2384.832,
+            977.523,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2468.261,
+            883.289,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2551.691,
+            789.055,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2635.121,
+            694.822,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2718.55,
+            600.588,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2718.55,
+            600.588,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2718.55,
+            600.588,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the small square window opening with a red lattice set low in the pale stone wall ahead and slightly left of my heading. The sandy courtyard between me and that wall looks clear, so I will move forward to begin closing the distance.",
+        "The square window and the stone base course now sit larger in my view, confirming my heading is carrying me toward the target. I will continue forward since the path across the sand remains unobstructed.",
+        "The small window with its red grille stays roughly centered-left as the wall grows in front of me, so no turn is needed yet. Another forward step should bring me meaningfully nearer the opening.",
+        "The wall surface and its second recessed opening are now clearly resolved, and the target window sits just above the projecting ledge. I will keep advancing along this straight heading to shorten the remaining gap.",
+        "The stone facade now dominates most of my field of view and the lattice window is close enough to see its individual bars. A few more steps forward should place me directly beneath the opening.",
+        "I am very near the wall now, with the window sill high in my view and the base ledge running close along my left. I will take another forward step to bring myself right up against the wall below the opening.",
+        "The masonry is close enough that only the bottom of the red grille shows at the top of my view, so I am nearly at the wall face. One final forward step should settle me at a close standing position beneath the opening.",
+        "I am now standing right at the stone wall, but my forward gaze falls mostly on the base ledge and lower blocks with the window pushed out of sight above. I will look up to raise my view onto the small square opening and confirm I have reached it.",
+        "The small square window with its red lattice fills my view at arm's length in the stone wall. The approach goal is met, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t5_a_p/infos.json

@@ -0,0 +1,373 @@
+{
+    "Instruction": "Pick up the jerry can at the base of the red banner with the gold emblem.",
+    "Type": 5,
+    "Start_Pose": [
+        -2134.543,
+        1260.224,
+        298.648,
+        0,
+        -131.52,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -2481.918,
+        -11.887,
+        206.25,
+        0,
+        50,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "Pick",
+        "MoveForward",
+        "LookDown",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2134.543,
+            1260.224,
+            298.648,
+            0,
+            -131.52,
+            0
+        ],
+        [
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+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2289.549,
+            924.663,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2325.337,
+            803.999,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2361.125,
+            683.336,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2396.913,
+            562.672,
+            298.372,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2432.701,
+            442.009,
+            298.372,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2468.489,
+            321.345,
+            298.372,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2504.277,
+            200.681,
+            298.372,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2504.277,
+            200.681,
+            298.372,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2504.277,
+            200.681,
+            298.372,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -2504.277,
+            200.681,
+            298.372,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -2485.717,
+            76.198,
+            298.372,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -2485.717,
+            76.198,
+            298.372,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -2485.717,
+            76.198,
+            298.372,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -2485.717,
+            76.198,
+            298.372,
+            0.0,
+            -81.52,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2481.918,
+            -11.887,
+            206.25,
+            0.0,
+            50.0,
+            -0.0
+        ],
+        [
+            -2464.687,
+            79.951,
+            268.356,
+            -28.202,
+            -31.375,
+            1.862
+        ],
+        [
+            -2464.687,
+            79.951,
+            268.356,
+            -28.202,
+            -31.375,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1318.7,
+        1207.1,
+        1207.1,
+        1081.6,
+        956.1,
+        830.8,
+        705.6,
+        580.8,
+        456.6,
+        333.5,
+        213.7,
+        213.7,
+        213.7,
+        213.7,
+        88.2,
+        88.2,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The red banner with the gold star emblem hangs far ahead on the right side of this sandy hall, and a small dark jerry can sits on the ground at its base. It is much too distant to reach, so I will walk forward to close the gap before refining my heading.",
+        "After stepping forward, the banner and the small can beneath it sit off to my right, near the edge of my view, while my heading points along the blank wall. I will turn right so the target sits ahead of me and the remaining approach can be a straight walk.",
+        "The turn has brought the banner and the little jerry can at its base into the middle of my view, with open sand between me and them. Nothing blocks the path, so I will walk straight ahead to shorten the distance to the can.",
+        "The jerry can is still a small shape against the wall under the emblem, so I am not yet within reach. My heading stays true with clear floor in front, so I will keep walking forward.",
+        "The banner fills more of my view and the red can beneath it has grown, confirming my line of travel is correct. It remains several paces away, so I will advance again to get close enough for a grasp attempt.",
+        "The red banner with the gold star emblem hangs directly ahead, and the small jerry can sits on the sand at its base, still well out of reach. My heading already lines up with it, so no turn is needed. I will keep walking straight to close the remaining distance.",
+        "The can has grown noticeably larger under the banner, confirming that straight-ahead walking is closing the gap. The sand between me and the wall is open with nothing blocking the path. I will step forward again along the same heading.",
+        "The jerry can now reads clearly as a ribbed red container resting against the wall beneath the emblem banner, but it is still several paces off and too far to grasp. My heading keeps it near the middle of my view. Another forward step should bring me into reaching range.",
+        "The banner now fills the top of my view and the red can stands plainly at its base, slightly right of center and closer than before. There is nothing between me and it on the sand. I will advance again to shorten the remaining gap.",
+        "The jerry can is now large in front of me at the foot of the emblem banner, but it still sits a step or two beyond comfortable arm's reach. Staying on this heading keeps it in view. I will take one more step forward before attempting the grasp.",
+        "The red jerry can now stands close in front of me at the foot of the banner wall, filling the lower right of my view. This looks near enough to reach, so I will try to grasp it rather than step closer and risk bumping the wall.",
+        "My hands are still empty and the can was not taken, so that reach did not connect. The can sat off to my right rather than straight ahead, so I will turn right to bring it back in front of me for a cleaner attempt.",
+        "The jerry can is now centered ahead of me against the wall beneath the banner, which corrects the offset that spoiled my earlier reach. With it squarely in front, I will attempt the grasp again from here.",
+        "That second attempt also came up empty in my hands. Centering the can clearly was not the problem, so the remaining gap must be too large. I will walk one step closer before trying again.",
+        "From this closer position only the very top of the jerry can peeks into the bottom edge of my view, with the wall filling everything else. I will look down so the can sits properly in front of me before reaching for it again.",
+        "Earlier grasp attempts left the red jerry can still standing in the sand, so I closed the remaining distance and angled my view down onto it. Now the can fills the near foreground directly ahead, well within arm's reach. I will attempt the pick again, and this framing should let my hands close on its handle.",
+        "The red jerry can is now held in my hands instead of resting on the sand. The task objective is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t5_b_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Grab the ceramic pot near the small square window opening in the stone wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -2134.543,
+        1260.224,
+        298.648,
+        0,
+        -131.52,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -2563.364,
+        447.052,
+        223.372,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2134.543,
+            1260.224,
+            298.648,
+            0,
+            -131.52,
+            0
+        ],
+        [
+            -2217.973,
+            1165.99,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2301.402,
+            1071.757,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2384.832,
+            977.523,
+            298.65,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -2384.832,
+            977.523,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2420.62,
+            856.859,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2456.408,
+            736.196,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2492.196,
+            615.532,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2492.196,
+            615.532,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -2492.196,
+            615.532,
+            298.65,
+            0.0,
+            -106.52,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -2563.364,
+            447.052,
+            223.372,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2563.364,
+            447.052,
+            223.372,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2563.364,
+            447.052,
+            223.372,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2563.364,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2563.364,
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+            223.372,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2563.364,
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+            223.372,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2563.364,
+            447.052,
+            223.372,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2563.364,
+            447.052,
+            223.372,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2471.55,
+            610.045,
+            268.756,
+            -28.202,
+            -56.376,
+            1.862
+        ],
+        [
+            -2471.55,
+            610.045,
+            268.756,
+            -28.202,
+            -56.376,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        919.3,
+        797.6,
+        677.4,
+        559.7,
+        559.7,
+        434.0,
+        308.3,
+        182.9,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the small dark ceramic pot resting on the sand beside the stone wall that holds the little square window opening. It is still far off across the open sand, so I will walk forward to close that distance while it stays roughly ahead of me.",
+        "The pot beside the low stone ledge now appears slightly larger and nearer, confirming my heading is carrying me toward it. Nothing blocks the sand between us, so I will keep walking straight ahead.",
+        "The pot is still well beyond arm's reach near the wall base under the banner, though its rounded shape is clearer now. I will take another step forward to keep shrinking the gap before I worry about fine alignment.",
+        "The pot has drifted toward the right side of my view as I closed in, so walking straight would carry me past it along the wall. I will turn a little to the right to bring the pot back toward the center of my heading.",
+        "With the pot now sitting near the middle of my view on the open sand, my heading points straight at it. I will walk forward to close the remaining distance.",
+        "The ceramic pot is noticeably bigger and lower in my view, but still a couple of paces away from reaching distance. I will step forward again, keeping it centered ahead of me.",
+        "The pot now stands clearly ahead of me in the sand, close but probably still just outside grabbing range. One more step forward should place it directly at my feet for a reliable grasp.",
+        "The ceramic pot fills the lower center of my view, its open mouth right in front of me and well within reach beside the stone wall with the small square window. My hands are empty, so I will attempt to pick it up now.",
+        "The ceramic pot is now in my hands rather than resting on the sand. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002138_y-001220_z000099_t1_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Locate the stone pedestal base of the large jewel-encrusted golden dome structure, then navigate to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -2138.02,
+        -1220.425,
+        98.529,
+        0.0,
+        -112.32,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2138.02,
+            -1220.425,
+            98.529,
+            0.0,
+            -112.32,
+            0.0
+        ],
+        [
+            -2138.02,
+            -1220.425,
+            98.65,
+            0.0,
+            -87.32,
+            0.0
+        ],
+        [
+            -2138.02,
+            -1220.425,
+            98.65,
+            0.0,
+            -62.32,
+            0.0
+        ],
+        [
+            -2138.02,
+            -1220.425,
+            98.65,
+            0.0,
+            -37.32,
+            0.0
+        ],
+        [
+            -2138.02,
+            -1220.425,
+            98.65,
+            0.0,
+            -12.32,
+            0.0
+        ],
+        [
+            -2138.02,
+            -1220.425,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -2015.231,
+            -1192.798,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -1892.441,
+            -1165.172,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -1769.652,
+            -1137.545,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -1646.862,
+            -1109.918,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -1524.073,
+            -1082.291,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -1401.283,
+            -1054.664,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -1278.494,
+            -1027.038,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -1155.704,
+            -999.411,
+            98.65,
+            0.0,
+            12.68,
+            -0.0
+        ],
+        [
+            -1155.704,
+            -999.411,
+            98.65,
+            0.0,
+            -12.32,
+            0.0
+        ],
+        [
+            -1032.744,
+            -1026.266,
+            98.65,
+            0.0,
+            -12.32,
+            0.0
+        ],
+        [
+            -909.783,
+            -1053.12,
+            103.64,
+            0.0,
+            -12.32,
+            0.0
+        ],
+        [
+            -786.822,
+            -1079.975,
+            106.261,
+            0.0,
+            -12.32,
+            0.0
+        ],
+        [
+            -786.822,
+            -1079.975,
+            106.261,
+            0.0,
+            -12.32,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, my view is filled by a shadowed plaster wall, a stone stair, and a lattice window, with no sign of a golden domed structure or its stone base. I need a wider survey of this courtyard before I can pick a direction to walk. I will turn right to sweep new ground into view.",
+        "The new heading only shows more of the same sand-drifted wall with two small lattice windows, so the target is still not in sight. Nothing here suggests an approach route toward a jeweled dome. I will keep rotating right to continue the sweep.",
+        "A tall arched window and a hanging lantern have come into view, and at the right edge the wall breaks open toward a brighter, sunlit space. That opening is the most promising direction for finding the domed structure. I will turn right again to bring that open area into the center of my view.",
+        "The courtyard has opened up and I can now see golden domes above a shrine-like structure on the right, with a stone block base carrying a jeweled medallion. It is still off to my right rather than in front of me, so I cannot walk straight at it yet. I will turn right to swing my heading toward that structure.",
+        "The golden-domed shrine and its jeweled stone base are clearly visible ahead but still sit right of my facing direction, with open sand and paving stones between us. One more small rotation should place the pedestal near the middle of my path. I will turn right to finish lining up before walking.",
+        "The jewel-encrusted golden dome and the stone pedestal beneath it now sit close to the center of my view, with an unobstructed run of sand and flagstones leading to it. The search is over and I can commit to closing the distance. I will step forward along this heading.",
+        "The shrine has grown larger in my view and its stone base with the golden medallion stays roughly ahead of me, confirming my heading is good. The courtyard floor in front remains clear. I will keep walking forward to close more of the gap.",
+        "The stone pedestal with its jeweled golden emblem is now clearly framed ahead and the masonry courses of its base are becoming distinct. I am still several paces short of standing at it. I will continue forward toward the base.",
+        "The golden-domed shrine with its jeweled medallion stands ahead of me, and its stone block base sits clearly above the paving slabs. The way across the sand and flagstones toward it looks open, so I will keep walking straight to close the remaining gap.",
+        "The pedestal masonry now fills more of my view and the medallion is noticeably larger, confirming I am closing on the right structure. Nothing blocks the flagstone path in front of me, so I will continue advancing toward the base.",
+        "The stone base of the domed shrine is close now, its block courses and the flanking pilasters plainly readable just left of my heading. I am still several paces short of standing at it, so I will step forward again.",
+        "The pedestal wall dominates the left half of my view while the sunlit courtyard wall passes on my right, so I am nearly alongside the target. I will keep walking forward to bring myself right up to the stone base.",
+        "The jeweled medallion and the stone blocks beneath it are very near, though the structure has slid toward the left side of my view as I advance. A short additional step forward should place me at the foot of the base before I adjust my heading.",
+        "My straight-ahead heading is now pointed into the shadowed gap and the bright wall on my right, while the pedestal and its medallion have slipped to the left edge of my view. I will turn left to face the stone base squarely again before making the final approach.",
+        "The turn has brought the domed shrine back to the center of my view, with its stone block base and flanking pilasters directly in front of me. With the heading corrected, I will walk forward to reach the base itself.",
+        "The stone masonry of the pedestal now fills the lower half of my view and the medallion looms just above it, so I am only a step or two away. I will move forward once more to stand right at the base.",
+        "The stone block base of the golden dome shrine now fills most of my view, with its masonry courses and flanking corner posts directly ahead. I am close but still a short stride away from standing right at the pedestal, so I will step forward once more to close that final gap.",
+        "The shrine's stone pedestal blocks fill my view at arm's reach. The target is reached, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_a/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Walk to the large arched lattice window directly below the projecting square window.",
+    "Type": 0,
+    "Start_Pose": [
+        -2943.532,
+        4394.476,
+        98.25,
+        0.0,
+        -144.0,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2943.532,
+            4394.476,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3045.354,
+            4320.498,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3147.176,
+            4246.52,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3248.998,
+            4172.542,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3248.998,
+            4172.542,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3372.545,
+            4148.527,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3496.091,
+            4124.512,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3619.638,
+            4100.497,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3743.185,
+            4076.482,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3866.731,
+            4052.467,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3990.278,
+            4028.452,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4113.825,
+            4004.437,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4237.371,
+            3980.422,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4360.918,
+            3956.407,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4360.918,
+            3956.407,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -4462.74,
+            3882.429,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -4564.562,
+            3808.45,
+            99.271,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -4666.384,
+            3734.472,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -4666.384,
+            3734.472,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4789.931,
+            3710.457,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4913.477,
+            3686.442,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -5037.024,
+            3662.427,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -5160.571,
+            3638.412,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -5160.571,
+            3638.412,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -5160.571,
+            3638.412,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the open sand I can see the tall pale facade on my left, with the boxy projecting window jutting out on the upper storey and an arched lattice window set in the wall beneath it. That is my target, but it sits well ahead and off to my left, so I will first move forward into the courtyard to close some of the gap before committing to a heading. The sand in front of me looks flat and unobstructed.",
+        "The step gained ground, and the left facade with its overhanging square window is now noticeably larger in my view. The arched lattice openings below it are still at a distance, so I will continue straight across the sand rather than turning yet.",
+        "I am now well into the courtyard, with the wide stone stairway passing on my right and the target building filling more of my left field of view. Another forward step should bring me roughly abreast of the facade so a left turn will point me straight at the arched window beneath the projecting square one.",
+        "The projecting square window and the arched lattice window under it are now off to my left rather than in front of me, so continuing straight would carry me past them. I will turn left to swing my heading onto that facade and bring the arched window into the middle of my view for a direct approach.",
+        "The turn worked, and the facade with the overhanging square window now sits ahead of me with the tall arched lattice window in the wall below it. A long stretch of open sand separates me from the wall, so I will step forward to start closing that distance.",
+        "The arched lattice window is growing in my view and stays near the centre of my heading, which tells me my alignment is good. I will keep moving forward over the flat sand to shorten the remaining distance to the wall.",
+        "The wall base and its stone plinth are becoming visible below the arched lattice window, so I am getting closer but still several steps away. The drifted sand mounds lie against the wall off to my left and not on my line of travel, so I will continue straight forward.",
+        "The facade now dominates my view, with the projecting square window overhead and the arched lattice window ahead and slightly right of centre. I am not yet close enough to count as standing at the window, so I will take another forward step toward its base.",
+        "The tall arched lattice window sits in the pale facade ahead on my left, with the projecting square box window jutting out directly above it, so this is the window named in the task. My heading already points into the open sand lane running along that wall, so I will move forward to keep closing the remaining gap.",
+        "The arched lattice window and the boxed oriel above it have grown noticeably in my view, confirming that this heading is carrying me toward the target rather than past it. The sand ahead is still clear of the wall base and the drifted mound, so another forward step should shorten the distance further.",
+        "I am now close enough that the stone plinth under the arched lattice window is clearly readable and the projecting square window above is starting to leave the top of my view. Since the target stays on my left front and the ground ahead is passable, I will continue forward to reduce the remaining distance.",
+        "The lattice pattern of the arched window is resolving into individual bars, so I still have some ground to cover before I am standing at it. The lane between the sand ridge on my left and the courtyard balustrade on my right remains open, so I will step forward again.",
+        "The arched lattice window now dominates the left half of my view and its ledge is only a short distance ahead, but I am not yet in front of it. I will move forward once more to bring myself nearer to the facade before adjusting my heading.",
+        "My current heading runs obliquely into the wall base and the drifted sand banked against it, which would crowd me against the plinth rather than bring me in front of the window. A small turn to the right puts the open courtyard sand back ahead of me so I can continue along the facade toward the window's frontal position.",
+        "With the courtyard sand now clear ahead and the arched lattice window standing on my left, I have room to advance along the facade. I will move forward to draw level with the window instead of stopping short of it.",
+        "The arched window has shifted further toward the left edge as I pass along the wall, showing I am nearly abreast of it, and the gate pier ahead on the right still leaves the sand clear. I will take another forward step to reach the point directly out from the window.",
+        "The tall arched lattice window sits in the pale wall on my left and is still a few paces ahead of my current position along this sandy lane. I will continue forward to close the remaining gap before I swing to face it squarely.",
+        "I am now nearly level with the arched lattice window, but it lies off to my left edge while my heading still points down the lane toward the ornate gateway. Turning left should bring the window and its stone plinth into the center of my view for a straight final approach.",
+        "The arched lattice window with its red grille is now centered in front of me above the low stone base. I will step forward to reduce the remaining distance to the wall beneath it.",
+        "The lattice grille and the stone ledge below it now fill much of my forward view, so I am closing in but not yet standing at the wall. Another step forward should bring me right up against the base beneath the window.",
+        "The wall's molded ledge now spans the bottom of my view and the lattice window rises just above it, so I am only a short step from the facade. I will advance once more to stand directly beneath the arched window.",
+        "I am practically at the wall now, with the red lattice panel filling the upper view and the stone courses close in front of me. A final short step should place me right at the window's base without more heading change.",
+        "Standing this close to the wall, my view is filled by the stone ledge and the lattice window has slipped above my line of sight. I will tilt my gaze upward to bring the arched grille back into view and confirm I am directly under it.",
+        "The red arched lattice grille fills my raised view directly overhead at the wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_b/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Approach the pair of small connected windows on the stone wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -2943.532,
+        4394.476,
+        98.25,
+        0.0,
+        -144.0,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2943.532,
+            4394.476,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3045.354,
+            4320.498,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3045.354,
+            4320.498,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3168.901,
+            4296.483,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3292.447,
+            4272.468,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3415.994,
+            4248.453,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3539.541,
+            4224.438,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3663.087,
+            4200.423,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3786.634,
+            4176.408,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3910.18,
+            4152.393,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4033.727,
+            4128.378,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4157.274,
+            4104.363,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4280.82,
+            4080.348,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4404.367,
+            4056.333,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4527.914,
+            4032.318,
+            103.486,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4651.46,
+            4008.303,
+            123.93,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4651.46,
+            4008.303,
+            123.93,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4773.581,
+            4038.751,
+            113.536,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4895.701,
+            4069.199,
+            98.244,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4895.701,
+            4069.199,
+            98.244,
+            0.0,
+            141.0,
+            -0.0
+        ],
+        [
+            -4993.512,
+            4148.404,
+            111.106,
+            0.0,
+            141.0,
+            -0.0
+        ],
+        [
+            -5091.323,
+            4227.61,
+            118.643,
+            0.0,
+            141.0,
+            -0.0
+        ],
+        [
+            -5175.501,
+            4306.247,
+            152.051,
+            0.0,
+            141.0,
+            -0.0
+        ],
+        [
+            -5175.501,
+            4306.247,
+            152.051,
+            0.0,
+            141.0,
+            -0.0
+        ],
+        [
+            -5175.501,
+            4306.247,
+            152.051,
+            0.0,
+            141.0,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open sandy courtyard I can see a tall stone building on my left whose wall carries several lattice openings, but the small paired windows named in the task are still too far off to pick out clearly. I will step forward across the sand to close some distance and get a better read on that wall.",
+        "The stone facade with the lattice openings sits off to my left while my heading points into the open plaza and the stairs on the right. I will turn left so that wall comes into the center of my view and my path leads along it toward the small windows.",
+        "The turn has brought the pale stone facade with its arched and lattice openings into the middle of my view, with clear rippled sand between me and it. I will advance along this heading to close the gap and resolve which openings form the small connected pair.",
+        "The wall ahead has grown larger and I can now make out small square lattice openings set low on it, beside the tall arched window. Another step forward should keep shrinking the distance to those small windows.",
+        "Two small lattice openings sit side by side on the stone wall ahead, matching the pair described in the task. I will keep walking straight toward them since my heading already points at that part of the wall.",
+        "The paired small windows on the stone wall are clearer now, sitting low near the drifted sand along the base of the building. I am still several paces short of them, so I will continue straight ahead.",
+        "The stone wall now fills much of my view and the small paired openings remain slightly left of center at my heading. I will step forward again to keep closing on them.",
+        "I am noticeably nearer the facade, with the small twin lattice openings and the tall arched window both plainly visible on the stone surface. Since nothing blocks the sand in front of me, I will keep advancing toward that pair of windows.",
+        "The two small latticed openings sit close together low on the stone wall ahead and slightly left of my heading, beside the taller arched window. Open sand still separates me from that wall, so I will step forward to keep closing the gap.",
+        "The paired small windows have grown noticeably larger on the stone facade ahead, confirming my heading is carrying me toward them. The sand in front is flat and clear, so another forward step is the direct way to close distance.",
+        "The stone wall now fills much of my view and the two connected windows remain to the left of the arched window, still some way off. I will advance again since nothing blocks the ground in front of me.",
+        "The two small openings are clearly resolved now, their lattice detail readable, but I am still short of a close standing position at the wall. The low sand mound ahead is walkable, so I keep pressing forward.",
+        "The wall base and its stone ledge are close, and the paired windows have shifted further toward the left side of my view as I come alongside them. I will step forward once more to shorten the remaining distance to that stretch of wall.",
+        "I am nearly at the wall, with the two small connected windows now near the left edge of my view above the drifted sand. Another forward step should bring me level with them before I adjust my heading.",
+        "The stone masonry is right in front of me and the pair of small openings sits high on the wall off to my left. I will take one more step forward to finish closing on this section of wall.",
+        "I am now up against the stone wall, but the small connected windows have slipped to the far left edge while blank wall and the larger arched window dominate straight ahead. Turning left should swing my heading back onto the paired openings so they sit centered in front of me.",
+        "The pair of small connected lattice windows now sits high on the stone wall ahead of me, slightly left of center, with an open sand slope between us. I will step forward to keep closing that gap while they stay in view.",
+        "The paired windows have grown larger and drifted toward the upper left as I near the wall, confirming I am closing on the right target. Another forward step should bring me nearer to the base of that wall section.",
+        "The two connected windows have shifted to the far upper left corner of my view while the blank wall fills the rest, so my heading is drifting past them. I will turn left to bring the pair back toward the center of my view before advancing further.",
+        "After the turn the two small windows sit near the top center of my view, so my heading now points at them. I will advance up the sand slope to shorten the remaining distance to that wall face.",
+        "The windows are close enough that they ride at the upper edge of my view above the stone ledge. One more step forward should place me almost against the wall directly below them.",
+        "Only a sliver of the nearer window remains visible at the top left as the wall and ledge now fill most of my view, so I am nearly at the target. I will take a final short step forward to stand right beneath the pair.",
+        "I am now pressed close against the stone wall and only its rough surface and the ledge fill my view, with the windows sitting above my current line of sight. I will look up to raise my gaze onto the paired openings and confirm I am standing at them.",
+        "Looking up, I am directly against the stone wall holding the pair of small connected windows. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_c/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Head toward the bottom of the wide stone staircase.",
+    "Type": 0,
+    "Start_Pose": [
+        -2943.532,
+        4394.476,
+        98.25,
+        0.0,
+        -144.0,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2943.532,
+            4394.476,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3045.354,
+            4320.498,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3147.176,
+            4246.52,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3248.998,
+            4172.542,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3248.998,
+            4172.542,
+            98.25,
+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3310.016,
+            4062.463,
+            98.25,
+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3371.034,
+            3952.384,
+            98.25,
+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3432.051,
+            3842.306,
+            98.25,
+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3432.051,
+            3842.306,
+            98.25,
+            0.0,
+            -119.0,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The wide stone staircase is clearly visible ahead on my right, rising toward the decorated terrace, and open sand lies between me and its lowest steps. I will move forward across the courtyard to begin closing that distance before refining my heading.",
+        "The staircase now fills more of my right-hand view and its bottom steps look larger, so my forward heading is bringing me nearer to it. I will continue straight since the sand ahead is clear of obstacles.",
+        "The lowest tier of the staircase is now close on my right, but my heading still points past it toward the ornate archway ahead. Another step forward should carry me alongside the base of the stairs before I turn in toward them.",
+        "The staircase sits off to my right while my body faces the courtyard and archway, so a straight approach would slide past its base. I will turn right to swing the wide flight of steps into the center of my view and square up my heading on it.",
+        "The whole flight of steps is now centered in front of me with its lowest tier squarely ahead across open sand. I will move forward to close the remaining gap to the bottom of the staircase.",
+        "The bottom steps have grown noticeably wider and lower in my view, confirming the approach is working. I will step forward again to bring myself right up to the foot of the stairs.",
+        "Only a narrow band of sand remains between me and the first stone step, which now dominates the foreground. One more forward step should place me directly at the bottom of the wide staircase.",
+        "The lowest step of the wide stone staircase is directly at my feet, filling the near foreground. The task is complete, so I stop here rather than climbing."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t3_a/infos.json

@@ -0,0 +1,286 @@
+{
+    "Instruction": "Walk to the base of the stairs, then approach the arched wooden window on the ground-level.",
+    "Type": 3,
+    "Start_Pose": [
+        -2943.532,
+        4394.476,
+        98.25,
+        0.0,
+        -144.0,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2943.532,
+            4394.476,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3045.354,
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+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3045.354,
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+            0.0,
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+            0.0
+        ],
+        [
+            -3106.372,
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+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3167.389,
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+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3228.407,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
+            -3289.425,
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+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3289.425,
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+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3289.425,
+            3880.183,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3412.971,
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+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3536.518,
+            3832.153,
+            102.154,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3660.065,
+            3808.138,
+            117.113,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3783.611,
+            3784.123,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -3907.158,
+            3760.108,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4030.704,
+            3736.093,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4154.251,
+            3712.078,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4277.798,
+            3688.063,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4401.344,
+            3664.048,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4524.891,
+            3640.033,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4648.438,
+            3616.018,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4771.984,
+            3592.003,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -4895.531,
+            3567.988,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -5019.077,
+            3543.973,
+            98.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -5019.077,
+            3543.973,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -5141.198,
+            3574.421,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -5141.198,
+            3574.421,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The broad flight of stone steps rises across the sandy courtyard ahead and to my right, so that is where I must go first. The open sand between us is clear, so I will walk forward to cut down the distance before fixing my heading.",
+        "The staircase sits off to my right rather than straight ahead, with empty sand filling the middle of my view. A turn to the right should swing the bottom steps toward the center of my path so I can walk straight at them.",
+        "The stairway now sits near the middle of my view with its lowest steps meeting the sand. The route across the courtyard is open, so I will walk forward to close on the foot of the flight.",
+        "The steps have grown larger in front of me but the bottom tread is still several strides off. I will keep walking forward along the same line to reach the base of the flight.",
+        "The lowest steps now spread across the lower part of my view, though sand still lies between my feet and the first tread. Another stride forward should bring me right up against the foot of the stairs.",
+        "The staircase towers directly in front of me and its lowest tread is nearly at my feet, with only a short patch of sand left. I will step forward once more to stand at the base of the flight.",
+        "The lowest tread of the great stone staircase lies immediately in front of me, with the flight climbing away and filling my whole view. I am standing at the base of the stairs. I mark reaching it before setting off toward the arched wooden window down at ground level.",
+        "Stone treads block nearly everything ahead of me, while the ground-level walls of the courtyard lie off to my left. Turning left should sweep those low facades into view so I can pick out the arched wooden window and head for it.",
+        "The stone steps still occupy most of my view to the right, while the sandy courtyard and the pale facade with its arched lattice windows lie further to my left. One more turn in that direction should put the ground level arched wooden window and the open sand leading to it in front of me.",
+        "My heading now clears the staircase, which sits at the right edge, and the pale building with the arched wooden window stands across the open sand ahead of me. With an unobstructed stretch of courtyard in front, I will walk forward to begin closing that distance.",
+        "The arched wooden window on the ground level of the pale facade has grown larger and sits just left of my center of view. The sand ahead is clear of any obstruction, so another step forward should keep shortening the gap.",
+        "The lowest steps have slipped to my right edge and the courtyard opens straight toward the building carrying the arched wooden window. Nothing blocks the sand between us, so I keep walking forward on this line.",
+        "The stairs have dropped out of my path entirely, leaving the railing wall at my right and the arched wooden window ahead on the pale wall. My heading still points at it, so I advance again over the drifted sand.",
+        "The arched wooden window and the stone base beneath it are clearly resolved now, its lattice detail readable from here. I am still short of it, so I continue walking straight ahead across the sand.",
+        "The window's dark red frame fills more of my view and the ledge below it is close enough to see its joints. The remaining sand is level and open, so another forward step should bring me nearer to the facade.",
+        "The arched wooden window now sits close on my left with its stone sill sweeping across the lower part of my view. I am not yet up against the wall, so I take another step forward toward it.",
+        "The arched wooden window with its red lattice screen sits in the pale wall ahead and slightly left, still several strides off across the sand. My heading already points into the open sand in front of it, so I will keep walking straight to close the gap.",
+        "The arched window and the stone plinth beneath it have grown larger and drifted a little further to my left, confirming I am gaining on the wall. Nothing blocks the sand ahead, so another step forward should keep shortening the distance.",
+        "The wooden lattice of the arched window is now clear enough to read pane by pane, and the low stone ledge under it is close on my left. I am still short of the wall itself, so I will continue walking forward.",
+        "The arched window fills more of my left-forward view and its ledge runs across the sand ahead of me. A few more strides should bring me right up against the base of that wall, so I keep moving.",
+        "The stone base beneath the arched window now stretches across the lower left of my view and the red lattice stands well above it. I am close but not yet at the wall, so I advance again.",
+        "Only a short band of rippled sand separates me from the plinth under the arched window, whose latticework now looms above eye level to my left. Another step forward should bring me within arm's reach of the window wall.",
+        "The carved stone base of the arched window now dominates my view and the dark red lattice sits just above it. I am nearly against the wall, so one more step forward should close the last of the distance.",
+        "Standing right at the stone base, the arched wooden window has slid to the upper left of my view while my heading points along the wall rather than at it. I will turn left to bring the window squarely in front of me.",
+        "The red lattice of the arched wooden window and its stone sill now sit squarely ahead of me after squaring up. Only a short gap of sand remains between me and that wall, so I will step forward to close it and stand right at the window.",
+        "The arched wooden window's lattice and its stone base fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t3_b/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Head toward the bottom step of the stone staircase, then reach the double square windows.",
+    "Type": 3,
+    "Start_Pose": [
+        -2943.532,
+        4394.476,
+        98.25,
+        0.0,
+        -144.0,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2943.532,
+            4394.476,
+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3045.354,
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+            98.25,
+            0.0,
+            -144.0,
+            0.0
+        ],
+        [
+            -3045.354,
+            4320.498,
+            98.25,
+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3106.372,
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+            98.25,
+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3167.389,
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+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3228.407,
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+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3289.425,
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+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3289.425,
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+            0.0,
+            -119.0,
+            0.0
+        ],
+        [
+            -3289.425,
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+            98.25,
+            0.0,
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+        ],
+        [
+            -3289.425,
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+            0.0,
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+            0.0
+        ],
+        [
+            -3289.425,
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+        ],
+        [
+            -3411.545,
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+            -0.0
+        ],
+        [
+            -3533.666,
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+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -3655.786,
+            3971.527,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -3777.907,
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+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -3900.027,
+            4032.423,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4022.147,
+            4062.871,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4144.268,
+            4093.319,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4266.388,
+            4123.767,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4388.509,
+            4154.215,
+            98.25,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4510.629,
+            4184.663,
+            100.139,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4632.75,
+            4215.111,
+            96.079,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4754.87,
+            4245.56,
+            98.968,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4876.991,
+            4276.008,
+            98.707,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -4999.111,
+            4306.456,
+            140.627,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -5121.232,
+            4336.904,
+            162.136,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -5121.232,
+            4336.904,
+            162.136,
+            0.0,
+            166.0,
+            -0.0
+        ],
+        [
+            -5121.232,
+            4336.904,
+            162.136,
+            0.0,
+            166.0,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The wide stone staircase rises ahead on my right, its lowest step meeting the sand well across the courtyard. Nothing blocks the open sand between me and it, so I will walk straight ahead to cut down that distance before adjusting my heading.",
+        "After closing some distance, the staircase and its bottom step sit off to my right while my heading still points at the sand and the far archway. I will turn right to bring the lowest steps into the center of my view before continuing.",
+        "The staircase now sits squarely ahead, with its lowest step clearly visible across the sand. My path toward it is clear, so I will walk forward to close on that bottom step.",
+        "The steps have grown larger and the lowest one is easier to pick out at the base of the flight. I am still several strides short of it, so I will keep walking forward.",
+        "The bottom step now spreads across the lower part of my view, though a stretch of sand still separates me from its edge. I will advance again to bring myself right up to it.",
+        "The lowest tread is close enough that the flight now towers above my line of sight. One more step forward should put me right at the foot of the staircase.",
+        "The lowest tread of the stone staircase is directly at my feet, with the flight rising steeply away in front of me. I have reached the bottom step of the staircase. I mark reaching it and now set off for the pair of square windows set in the wall.",
+        "Standing at the foot of the stairs, my view is filled by treads and the balustrade, with no small square windows anywhere in front of me. I will turn left to sweep my heading away from the staircase and search the walls flanking the courtyard.",
+        "The stone steps have swung to my right and the open sand court with its pale facades is opening on my left, but my heading still favours the staircase. I turn left again to carry the sweep further toward those courtyard walls where the small paired openings should sit.",
+        "Only the lowest steps remain at the far right now, and the shaded wall carrying a pair of small square openings sits toward my left rather than dead ahead. Another left turn should bring that wall into the middle of my view so I can walk straight at it.",
+        "The turning has left the plastered wall with its two small square openings centred ahead across the sand, with clear ground between me and it. With the heading settled I step forward to begin closing that distance.",
+        "The facade has grown noticeably and the two small square openings above the drift are easier to pick out, yet they are still far off across open sand. Nothing blocks the way, so I keep walking straight toward them.",
+        "The paired square openings sit above the low stone ledge slightly left of my centre, and the arched lattice window beside them is filling more of the wall. The gap is still several strides, so I advance again on the same line.",
+        "I am into the shaded corner now, with the two small square openings clear against the plaster and a sand drift heaped below the ledge. The wall is still ahead of me rather than at arm's reach, so I take another step toward it.",
+        "The plastered wall now dominates my view and the two square openings sit just left of centre above the drift. They remain too far up and away for me to be standing at them, so I continue forward.",
+        "The two small square openings with their lattice grilles are close and centred, the drift of sand rising toward the ledge beneath them. A few more strides should place me right beneath the pair, so I keep moving in.",
+        "The pair of small square lattice windows sits ahead on the pale wall, still distant and set well above the sand. My heading holds them near the middle of my view, so walking straight on should shrink the gap without any turn.",
+        "The twin square windows have grown slightly and their lattice patterns are now distinct against the wall. Nothing but drifted sand lies between me and that wall, so I keep advancing on the same line.",
+        "The two square openings continue to fill more of my view as the wall closes in ahead. The drift piled at the corner stays to my left of the line I am walking, so another step forward should keep the pair squarely in front of me.",
+        "Both square windows now read clearly with their carved lattice, sitting above the stone ledge that runs along the base of the wall. I am still several strides short of the wall, so I press forward on the same bearing.",
+        "The square pair has risen higher in my view, a sign the wall is getting near. The ground between remains passable sand, so I take another step to close in on the windows.",
+        "The two lattice squares are close enough now that their frames and the weathered plaster around them are plain. A little more distance remains before I stand under them, so I keep walking straight ahead.",
+        "The window pair now occupies the upper part of my view, close above the sloping drift against the wall. Stepping forward again should bring me right up beneath the two squares.",
+        "I am nearly at the wall, with the two square lattice windows pushed to the top edge of my view and the ledge just ahead. One more step should place me directly at them.",
+        "The two lattice windows sit high on the wall just ahead, with the stone ledge below them filling much of my view. One more step should bring me right up against the wall beneath them.",
+        "I am now close against the plastered wall, and my forward gaze catches only the ledge and bare stone, with the windows pushed out of sight above. I will look up to bring the paired lattice windows back into view.",
+        "The two square lattice windows are directly above me, filling my raised view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t5_a_pd/infos.json

@@ -0,0 +1,487 @@
+{
+    "Instruction": "Lift the metal bucket at the base of the stairs, then leave it by the ground-level arched wooden window.",
+    "Type": 5,
+    "Start_Pose": [
+        -2943.532,
+        4394.476,
+        98.25,
+        0,
+        -144,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -3576.034,
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+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2943.532,
+            4394.476,
+            98.25,
+            0,
+            -144,
+            0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -5138.846,
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+        ],
+        [
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+        ],
+        [
+            -5068.169,
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+            0.0,
+            -169.0,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
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+            0.0,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+        ],
+        [
+            -3576.034,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -4022.548,
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+            -118.874,
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+        ],
+        [
+            -4146.007,
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+            -28.202,
+            -118.86,
+            1.857
+        ],
+        [
+            -4269.307,
+            3735.711,
+            68.39,
+            -28.186,
+            -118.842,
+            1.873
+        ],
+        [
+            -4392.571,
+            3711.759,
+            68.791,
+            -28.201,
+            -118.857,
+            1.865
+        ],
+        [
+            -4516.041,
+            3687.75,
+            68.99,
+            -28.183,
+            -118.84,
+            1.882
+        ],
+        [
+            -4639.706,
+            3663.724,
+            68.816,
+            -28.209,
+            -118.866,
+            1.857
+        ],
+        [
+            -4763.551,
+            3639.644,
+            68.337,
+            -28.195,
+            -118.852,
+            1.868
+        ],
+        [
+            -4887.344,
+            3615.573,
+            67.857,
+            -28.189,
+            -118.848,
+            1.865
+        ],
+        [
+            -5010.917,
+            3591.565,
+            67.82,
+            -28.209,
+            -118.862,
+            1.854
+        ],
+        [
+            -5134.262,
+            3567.593,
+            68.146,
+            -28.213,
+            -118.868,
+            1.854
+        ],
+        [
+            -5136.883,
+            3588.83,
+            58.25,
+            0.0,
+            -169.0,
+            0.0
+        ],
+        [
+            -5136.883,
+            3588.83,
+            58.25,
+            0.0,
+            -169.0,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        823.9,
+        698.4,
+        573.1,
+        447.9,
+        323.4,
+        200.6,
+        21.4,
+        21.4,
+        21.4,
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+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The dark metal bucket sits far ahead on the sand at the foot of the wide stone staircase, roughly straight along my heading. Nothing blocks the open courtyard between us, so I will walk forward to close that distance before any grasp is possible.",
+        "The bucket has grown slightly larger and stays near the center of my view, confirming my heading is good. It is still well out of reach, so I will keep walking straight toward it.",
+        "The staircase and the bucket beside it continue to fill more of my view as I advance. Since the target remains squarely ahead on flat sand, another forward step is the simplest way to shorten the gap.",
+        "The bucket now reads clearly as a ridged metal pail sitting on the sand just left of the bottom steps, still a few paces off. I will move forward again to bring it within grasping range.",
+        "The bucket is large and low in my view now, close to the lower stairs but not yet at my feet. One more step forward should place me directly over it so a grasp can be attempted.",
+        "The metal bucket is right in front of me at the base of the stairs, filling the lower right of my view within arm's reach. I will attempt to lift it now so I can carry it toward the arched wooden window at ground level.",
+        "The grasp worked, the bucket is in my hands and no longer resting on the sand. The ground-level arched wooden window lies off across the courtyard to my left front, so I will start walking forward to carry the bucket away from the stairs.",
+        "I am still carrying the bucket as I move away from the stair base, with the stone balustrade and stairs sliding past on my right. The pale wall with the arched wooden windows is ahead on the left, so I will keep walking forward to close in on it.",
+        "The bucket is in my hands and moves with me, so the lift is secure and I only need to carry it to the drop site. The arched wooden window at ground level sits on the pale building off to my left, while my heading still points at the stair balustrade ahead. I will turn left to bring that window into my path.",
+        "After the turn the arched wooden window on the pale stone wall now lies ahead and slightly left, with open sand between me and it. The bucket is still carried with me, so I can transport it directly. I will step forward along this clear line toward the window.",
+        "The lower arched window and its stone base ledge are noticeably larger than a moment ago, confirming my heading closes the gap. Nothing blocks the flat sand between me and that wall. I keep walking forward with the bucket.",
+        "The target window and the plinth beneath it fill more of my forward view, so my line of travel remains correct. The drifted sand ahead is shallow and passable while carrying the bucket. Another step forward should shorten the remaining distance.",
+        "I am now close enough to read the lattice detail of the arched wooden window ahead on my left. The stone ledge at its base is the ground-level spot where the bucket belongs. I continue forward to reach it.",
+        "The window and its low stone base dominate the left of my view, so only a short stretch of sand remains. I still hold the bucket and no obstruction stands in that gap. I step forward again to close in on the drop position.",
+        "The arched wooden window is close ahead with its stone sill and plinth clearly in reach of a few more paces. Placing the bucket needs me right against that ground-level wall base. I advance once more.",
+        "The window now fills the upper left of my view and the sand slopes gently up to the wall base beneath it. I am nearly at the spot where the bucket should be set down, but not yet flush with the ledge. I keep stepping forward.",
+        "The arched wooden lattice window sits directly ahead at ground level with its stone sill still a few paces off, and the bucket stays with me as I move. I will keep walking straight toward it to close the remaining gap.",
+        "The window and its stone base now fill more of my view, so the approach is working and the sand ahead is clear of obstruction. I will step forward again to bring the sill within placing range.",
+        "The stone plinth beneath the arched window is close now and my heading is still centered on it. Another step forward should place me right against the ground-level window where the bucket belongs.",
+        "The window's stone ledge now spans most of my view, so I am nearly at the drop spot but not yet flush with the wall. I will advance once more to stand right beside it.",
+        "Only a narrow band of sand remains between me and the stone base under the arched window. One more short step should put me tight against the ledge so the bucket can be set down right at the window.",
+        "I am pressed right up against the stone base of the arched wooden window, with its red lattice visible just above the ledge. This is the ground-level spot the task names, so I will release the bucket here and expect it to settle against the wall.",
+        "The metal bucket now rests on the ground beneath the arched wooden window and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t3_a/infos.json

@@ -0,0 +1,246 @@
+{
+    "Instruction": "Walk to the large arched window with red lattice, then approach the two small square vents.",
+    "Type": 3,
+    "Start_Pose": [
+        -4255.845,
+        3727.756,
+        98.25,
+        0.0,
+        157.44,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4255.845,
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        [
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+        [
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+        ],
+        [
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+            0.0,
+            -177.56,
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -5136.059,
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+        ],
+        [
+            -5119.501,
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+            95.626,
+            0.0,
+            82.44,
+            -0.0
+        ],
+        [
+            -5102.942,
+            3939.779,
+            129.825,
+            0.0,
+            82.44,
+            -0.0
+        ],
+        [
+            -5086.384,
+            4064.544,
+            133.06,
+            0.0,
+            82.44,
+            -0.0
+        ],
+        [
+            -5086.384,
+            4064.544,
+            133.06,
+            0.0,
+            107.44,
+            -0.0
+        ],
+        [
+            -5124.105,
+            4184.617,
+            103.977,
+            0.0,
+            107.44,
+            -0.0
+        ],
+        [
+            -5161.825,
+            4304.69,
+            151.006,
+            0.0,
+            107.44,
+            -0.0
+        ],
+        [
+            -5161.825,
+            4304.69,
+            151.006,
+            0.0,
+            107.44,
+            -0.0
+        ],
+        [
+            -5161.825,
+            4304.69,
+            151.006,
+            0.0,
+            107.44,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The tall arched window with the red lattice sits far over on the right side of my view, while the pair of small square vents is set into the wall to its left. I want the big window first, so I will turn right to bring it toward the middle of my heading before walking.",
+        "The arched window with its red lattice now sits ahead of me rather than off at the edge, with open sand between us. I will walk forward to start closing that gap.",
+        "The lattice window has grown larger and its pointed arch is clearer, but I am still well out on the sand. Another step forward should keep shrinking the distance to it.",
+        "The red lattice panels and the low stone ledge beneath the window are now distinct, and the window sits slightly left of my path. I will continue walking straight in toward it.",
+        "The arched window now dominates the wall in front of me and its stone sill runs across my view, yet a stretch of sand still separates me from the base. I will step forward again to draw right up to it.",
+        "Only the lower half of the arched window and the long stone ledge fit in front of me now, so I am close to the wall. A further step should bring me right against the window.",
+        "The red lattice is close enough that individual bars and their shadows stand out above the ledge in front of me. I will advance once more to stand directly at the base of this window.",
+        "The stone ledge and the red lattice above it now fill nearly everything ahead, so I am almost touching the wall. One last short step should place me right up against the arched window.",
+        "I am now pressed right up against the stone ledge, and my view is filled with its weathered coping, with only a narrow band of red lattice showing at the top. To confirm I am standing at the tall arched window rather than some blank stretch of wall, I will raise my gaze so the latticework comes fully into view.",
+        "The great arched opening with its red lattice grille now fills the view directly above the ledge, close enough that individual bars of the woodwork stand out. I have reached the large arched window. I mark arriving here before heading along the wall to the two small square vents.",
+        "I am facing straight into the arched window's lattice, so nothing ahead of me leads anywhere new. The pair of small square vents sits back along this facade to my left, so I will begin swinging my heading that way.",
+        "The turn has brought the ledge and plain stonework across my view, but the small vents are still outside it. I will keep rotating left to bring the open sand beside the wall into my heading.",
+        "The ledge now runs away diagonally and a strip of sand is opening at the far left edge of my view. Another left turn should line me up with that open ground running along the base of the wall.",
+        "Sand and the corner of the building now occupy the left half of my view while the ledge runs off to the right. One more turn to the left should put the walkable sand squarely ahead so I can move along the facade toward the small square vents.",
+        "I am now facing down the open sandy stretch with the ledge and wall running along my right side. Walking forward here should carry me along that facade toward the pair of small square vents set into it.",
+        "A small dark square opening has come into view high in the wall on my right, which matches the vents I am heading for. The sand ahead is still clear, so I will keep walking to close the remaining distance.",
+        "Two dark square openings are set into the wall ahead on my right, still well beyond reach, with open sand between me and that stretch of wall. I will keep walking forward along this face to shorten the gap to them.",
+        "The pair of small square vents now sits off to my right, at the edge of my view rather than in front of me. Turning right should place them squarely ahead so my next steps carry me straight toward them.",
+        "The turn has brought the recessed square vents into the upper part of my view, set into the wall above the sloping sand. They are still several paces off, so I will walk forward to close on them.",
+        "The wall with the small square openings now fills much of my view, but I am not yet standing right beneath them. Another step forward should bring me close enough to count as arriving at them.",
+        "I am now right up against the wall, and the small square vents have risen above my line of sight so only bare stone and sand remain in view. I will look up to bring the openings back into view and check that I am standing directly at them.",
+        "The small square lattice vents are in the wall directly above me, within arm's reach. Both destinations have been reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t3_b/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Head toward the two small square vents, then reach the large arched window with red lattice.",
+    "Type": 3,
+    "Start_Pose": [
+        -4255.845,
+        3727.756,
+        98.25,
+        0.0,
+        157.44,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "LookUp",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4255.845,
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -102.56,
+            0.0
+        ],
+        [
+            -5060.485,
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+            144.048,
+            0.0,
+            -77.56,
+            0.0
+        ],
+        [
+            -5033.373,
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+            0.0,
+            -77.56,
+            0.0
+        ],
+        [
+            -5006.261,
+            4046.619,
+            118.319,
+            0.0,
+            -77.56,
+            0.0
+        ],
+        [
+            -5006.261,
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+            118.319,
+            0.0,
+            -102.56,
+            0.0
+        ],
+        [
+            -5033.63,
+            3923.772,
+            119.816,
+            0.0,
+            -102.56,
+            0.0
+        ],
+        [
+            -5061.0,
+            3800.925,
+            98.247,
+            0.0,
+            -102.56,
+            0.0
+        ],
+        [
+            -5088.369,
+            3678.078,
+            98.247,
+            0.0,
+            -102.56,
+            0.0
+        ],
+        [
+            -5088.369,
+            3678.078,
+            98.247,
+            0.0,
+            -127.56,
+            0.0
+        ],
+        [
+            -5088.369,
+            3678.078,
+            98.247,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -5088.369,
+            3678.078,
+            98.247,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -5088.369,
+            3678.078,
+            98.247,
+            0.0,
+            -152.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Ahead on the sand-choked wall I can pick out the pair of small square vents low in the plaster, with the tall arched window and its red lattice further right. The vents are the closer of my two destinations, so I walk straight ahead across the open sand to cut the distance.",
+        "The two square vents have grown noticeably and the wall base is closer, so my heading is carrying me toward them. Nothing blocks the sand in front of me, so I keep walking forward.",
+        "The vents sit slightly left of my center now and the drifted dune below them is much nearer. Since the gap is still large, I advance again to close on them.",
+        "The wall now fills much of my view and the two square vents are clearly resolved with their reddish grillwork. I step forward once more to shorten the remaining stretch of sand.",
+        "The two square vents have drifted toward the left edge of my view as I closed in, and continuing straight would carry me past them along the wall. I turn left to bring them back in front of me before advancing further.",
+        "The turn has set the pair of square vents ahead of me, above the sand slope banked against the corner. With them squarely in view, I walk forward to close the last stretch toward them.",
+        "The two vents are noticeably larger and their lattice patterns are distinct, so my heading is good. I keep moving forward up the drifted sand to stand beneath them.",
+        "The vents now sit high and close in my view, with the wall dominating the frame and the sand ramping up beneath them. A further step forward should place me right at the base of the wall under the pair.",
+        "The pair of small square vents now sits high on the wall just ahead of me, near the corner where the sand piles up. I am close but still a stride short of standing beneath them, so I will walk forward once more to close that last gap.",
+        "I am now right up against the base of the wall, but the vents have slid to the upper right edge of my view and the plain stonework dominates ahead. Turning right should square my heading onto the wall face that carries the two small square vents.",
+        "Facing the wall this closely, the two small square vents are cut off at the top edge of my view while the blank stone and ledge fill everything below. I will look up to bring both openings fully into sight and confirm I am standing at them.",
+        "Both small square vents with their red lattice grilles are directly above me, close enough that their stone frames and chipped sills fill my upward view. I have reached them. I mark arriving here before setting off for the large arched window with red lattice.",
+        "Standing tight against this vent wall leaves me looking at nothing but stone, which gives me no route onward. I will turn right to swing my heading off the wall and begin looking for the open ground that leads to the large arched window with red lattice.",
+        "The sweep so far has only brought more blank plaster and the long stone ledge into view, with no passage yet. I will keep rotating right to carry my heading further off this wall toward the open side of the court.",
+        "The wall still runs across my whole view, though sand now shows at the lower right where the ground opens away from the building. Another right turn should bring that open stretch into the centre of my view so I can set a course along it.",
+        "The court has opened on my right with sunlit sand, a red banner and the arcaded terrace, while the tall arched window with red lattice stands on the wall to my left. One more turn right should line me up with the clear sand lane running past it.",
+        "Swinging right has opened the sunlit courtyard beyond the corner, with sand running clear ahead past the plastered wall on my left. One more step of rotation should place that open route straight in front of me so I can set off toward the tall arched window with red lattice.",
+        "The courtyard now lies straight ahead with unobstructed sand between me and the balustrade, and the tall red lattice window sits along the wall to my left. I will walk forward to close distance on that window.",
+        "The arched lattice window on my left has grown noticeably and the open sand still runs clear in front of me. Another stride forward should carry me alongside it rather than stopping short.",
+        "Walking straight has pushed the arched window with red lattice out to the far left edge, while my heading now points at the balustrade across the courtyard. Turning left should swing my path back along the wall and put that window in front of me.",
+        "The turn has brought the red lattice window back into view on the left wall with the sand strip beside the stone plinth open ahead. I will step forward along that strip to draw level with the window.",
+        "The lattice frame has widened across the left of my view and the stone base below it is close now. Continuing forward should bring me nearly beside the window rather than viewing it from an angle.",
+        "The window's red lattice is now at the near left edge and the ledge beneath it runs right past my shoulder. One more step along the sand should place me directly under the arch.",
+        "I am standing right beside the stone base of the arched window, but my gaze is aimed down the courtyard so only the lattice edge shows at the left. Turning left should square me up with the red latticework directly above me.",
+        "The red lattice of the tall arched window sits high in the left edge of my view, still clipped by the frame while the sunlit courtyard fills the right. I will turn left again so the window comes into the center of my view rather than hanging off to the side.",
+        "I am now standing right beside the wall with the lattice directly ahead, but my level gaze catches mostly the stone plinth and only the bottom of the red woodwork. Looking up should raise my view to the arched opening itself.",
+        "The large arched window with its red lattice fills my view from close range. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t5_a_pd/infos.json

@@ -0,0 +1,430 @@
+{
+    "Instruction": "Pick up the green bell pepper at the large arched window with red lattice, then set it down near the two small square vents.",
+    "Type": 5,
+    "Start_Pose": [
+        -4255.845,
+        3727.756,
+        98.25,
+        0,
+        157.44,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -5109.608,
+        3765.927,
+        53.25,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "LookUp",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4255.845,
+            3727.756,
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+            0,
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+            0
+        ],
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            132.178,
+            -28.189,
+            157.598,
+            1.869
+        ],
+        [
+            -5191.734,
+            4333.983,
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+            -177.414,
+            1.863
+        ],
+        [
+            -5191.696,
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+        ],
+        [
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+        ],
+        [
+            -5174.306,
+            4347.675,
+            137.044,
+            0.0,
+            132.44,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        854.6,
+        737.6,
+        737.6,
+        611.8,
+        486.0,
+        360.3,
+        234.8,
+        110.1,
+        21.4,
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+        20.2,
+        27.5,
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+        21.4,
+        22.1,
+        22.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The green bell pepper is visible far ahead, resting on the sand against the stone base below the large arched window with red lattice. It is well out of reach, so I will walk forward along the open sand to cut down that distance before worrying about fine alignment.",
+        "I am closer now, but the pepper sits right of my heading, and walking straight ahead would carry me past it toward the corner of the facade. I will turn right so my path points at the target and the arched window above it.",
+        "The turn brought the arched window with red lattice and the pepper below it into the middle of my view. With the heading now pointing at the target, I will step forward to close the remaining gap along the wall.",
+        "The pepper has grown noticeably larger and stays near the center of my view, confirming my heading is good. It is still several paces off against the stone ledge, so I will keep walking straight toward it.",
+        "The pepper now shows its stem clearly against the base of the wall, so I am closing well but remain outside grasping range. I will advance again without changing heading, since the target holds its place in front of me.",
+        "The pepper fills a good part of the lower view and the arched lattice window looms directly above it, so my approach line is correct. A grasp still looks too far, so I will take another step forward.",
+        "The pepper is now large and just below center, with the stone ledge close ahead. One more step should put it directly at my feet and within reach for a grasp.",
+        "The pepper is right at the bottom edge of my view, pressed against the sand at the foot of the stone ledge beneath the red lattice window. This is as close as I can get on foot, so I will attempt to pick it up now.",
+        "The green bell pepper is now in my hands, so the grasp at the arched window succeeded. The two small square vents sit further left along this facade, away from the large lattice window I am facing. I will turn left to begin swinging my heading toward that stretch of wall.",
+        "I am carrying the pepper and now face plain wall and stone plinth, with no vents yet in view. The small paired vents lie further around to the left, so one turn was not enough. I will turn left again to bring that section of wall into view.",
+        "The two small square vents have just come into the upper left of my view, set high on the wall past the sand drift. My heading is still too far right of them for a straight walk. I will turn left once more to line my path up with that recess.",
+        "The two small vents are now ahead of me on the wall, roughly along my heading, and the pepper is still held. The corner where they sit is well beyond comfortable dropping range. I will walk forward along the sand toward that wall.",
+        "The vent recess has grown larger and shifted slightly right as I close on the wall, and I am still carrying the pepper. There is still open sand between me and the base of that wall. I will keep walking forward to shorten the remaining gap.",
+        "The vents are now clearly visible high on the wall with the red lattice behind them, and the ledge below is close. I am still short of the corner where I want to release the pepper. I will step forward again along the sand.",
+        "The wall now fills much of my view and the vent opening is near the top edge, so I am nearly under it. A little more distance remains before I stand right at the base beneath the vents. I will advance one more step while holding the pepper.",
+        "I am tight against the corner beneath the vents, with sand and stone crowding both sides and the pepper still in hand. A final short step should place me directly at the wall base below the two small openings. I will move forward once more.",
+        "I am carrying the pepper and standing close under the wall, but my view is filled with the sand ridge and the corner masonry, so the small square vents are not framed. I will turn right to swing my heading back toward the wall face where those vents sit above the ledge.",
+        "Facing the wall now, my view is dominated by the low stone ledge and sand, and the vents are set higher than my current gaze. I will look up to bring the wall section with the two small square vents into view before releasing the pepper.",
+        "Raising my gaze brings the latticed opening and the recessed wall panel above the ledge into view, confirming I am at the vent section of the wall. The pepper is still in my hands and I am within arm's reach of this spot, so I will drop it here to place it near the small square vents.",
+        "The pepper now rests on the sand at the base of the vent wall and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_a/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Walk to the leftmost ground-floor arched window.",
+    "Type": 2,
+    "Start_Pose": [
+        -4334.336,
+        3370.254,
+        98.25,
+        0.0,
+        68.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4334.336,
+            3370.254,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4287.514,
+            3487.08,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4287.514,
+            3487.08,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -4195.707,
+            3573.172,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -4103.9,
+            3659.264,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -4012.092,
+            3745.357,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3920.285,
+            3831.449,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3828.477,
+            3917.541,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3736.67,
+            4003.634,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3644.863,
+            4089.726,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3553.055,
+            4175.818,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3553.055,
+            4175.818,
+            98.25,
+            0.0,
+            18.16,
+            -0.0
+        ],
+        [
+            -3433.465,
+            4215.045,
+            98.25,
+            0.0,
+            18.16,
+            -0.0
+        ],
+        [
+            -3313.875,
+            4254.272,
+            98.25,
+            0.0,
+            18.16,
+            -0.0
+        ],
+        [
+            -3194.285,
+            4293.498,
+            98.25,
+            0.0,
+            18.16,
+            -0.0
+        ],
+        [
+            -3074.695,
+            4332.725,
+            98.25,
+            0.0,
+            18.16,
+            -0.0
+        ],
+        [
+            -2955.106,
+            4371.952,
+            98.25,
+            0.0,
+            18.16,
+            -0.0
+        ],
+        [
+            -2955.106,
+            4371.952,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -2863.713,
+            4450.885,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -2863.713,
+            4450.885,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -2863.713,
+            4450.885,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "A row of latticed arched windows runs along the ground floor ahead of me, and its left end stands beside the pale stone steps at the far corner. The windows look alike, so I fix my target as that stair-end one rather than a count. I step forward across the open sand.",
+        "Walking straight on keeps carrying me toward the middle of the facade, while the stair end of the window run lies off to my left. I turn left so my heading follows the wall toward that end.",
+        "The turn brought the domed structure and its stone steps into view on my left, with the window run stretching away on my right. My heading now runs along the wall toward the window at that stair end. I walk forward over the sand.",
+        "The ornate medallion portal and its steps are growing larger on my left, which tells me I am closing on the end of the facade. The window I want still sits ahead where the wall meets that corner. I keep walking forward.",
+        "My path along the sand stays clear and the wall of latticed windows keeps sliding past on my right. The end window beside the stepped corner is still further ahead, so I advance again.",
+        "The nearest windows now loom large at my right shoulder, but the wall still runs on past them. I have not yet reached the window at the end of this stretch, so I take another step forward.",
+        "The stepped portal has slipped behind me on the left and the shaded far end of the facade is opening up ahead. I keep moving forward along the wall toward the window at that end.",
+        "A shaded archway with a red banner has appeared ahead on the left, and more identical latticed windows show further along, so counting from here would not be reliable. I stay with the window at the end of this stretch of wall and step forward again.",
+        "The wall keeps running past my right shoulder, and beyond its last openings it meets the shadowed gateway hung with the red banner. I am still short of that end of the facade, so I walk on across the sand.",
+        "This close to the stonework the openings have flattened into a steep foreshortened line, so counting them from here would mislead me and I hold my aim on the window at the end of the wall instead. The sand ahead stays clear, and I advance again.",
+        "My heading has crept in toward the stonework, with the wall now filling almost the whole right side of my view and the open ground squeezed to a narrow strip on the left. Turning left should swing me back parallel to the facade so I can carry on toward its end window.",
+        "The lane between the facade and the domed building has opened up in front of me, with the pointed gateway further along and the latticed wall still at my right. With a clear run of sand, I stride forward down it.",
+        "Sunlit sand runs unbroken down the lane and the openings slip past my right one by one as the far corner of this wall grows nearer. I keep walking toward that corner.",
+        "The pale pier where this stretch of wall finishes is plainly ahead now, with only a short run of openings left before it. I keep going to close that remaining gap.",
+        "A broad shadow from the opposite building crosses the lane, but the ground stays flat and open. The end of the facade is very close, so I step forward again toward the window beside it.",
+        "Just one latticed opening now stands between me and the corner where this wall stops, so that is the window I have been walking toward all along. Another step should bring me level with it.",
+        "The final latticed opening before the corner pier now sits just off my right shoulder, while my heading still runs on down the lane past it. I turn right to square myself up with that end window instead of walking beyond it.",
+        "The turn has put the latticed panel and its sandstone base squarely in front of me, with only a short strip of shaded sand between us. I walk forward to close that last gap and stand right at the window.",
+        "I am now near enough that the sandstone blocks below the sill crowd my view and only the bottom edge of the lattice shows. I look up so the arched opening itself comes into view and I can confirm I am standing at it.",
+        "The latticed arch of the end window fills my view at arm's length. I am standing at it, so the task is complete and I stop."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Head toward the second arched window from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -4334.336,
+        3370.254,
+        98.25,
+        0.0,
+        68.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4334.336,
+            3370.254,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4287.514,
+            3487.08,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4240.693,
+            3603.905,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4193.871,
+            3720.731,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4147.05,
+            3837.556,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4100.228,
+            3954.382,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4053.407,
+            4071.208,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4006.585,
+            4188.033,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -3959.764,
+            4304.859,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -3912.942,
+            4421.685,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -3912.942,
+            4421.685,
+            98.25,
+            0.0,
+            93.16,
+            -0.0
+        ],
+        [
+            -3912.942,
+            4421.685,
+            98.25,
+            0.0,
+            93.16,
+            -0.0
+        ],
+        [
+            -3912.942,
+            4421.685,
+            98.25,
+            0.0,
+            93.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The arched lattice windows along this facade all share the same pattern, so counting in from the right I fix my target as the arch immediately left of the rightmost one, right beside the shadowed corner pier. With open sand between me and the wall, I step forward to begin closing on it.",
+        "The facade has grown slightly, but the wall is still well across the sand. My chosen arch, the one next to the shadowed pier, sits ahead and a little to my right, so another stride straight forward should keep shrinking the gap without any turn yet.",
+        "The arches are noticeably larger now and their orange stone bases are becoming distinct. My window still lies ahead and slightly right, with nothing on the sand in the way, so I keep walking straight at it.",
+        "As I close in, the narrow arches at the far left of the facade are sliding toward the edge of my view, but the window I settled on beside the corner pier is still plainly ahead of me. I continue forward across the sand.",
+        "Only a few arches now fill my view, so the facade no longer reads as a full countable row from here. I keep following the same window, the one beside the pier, and step forward again to shorten the remaining distance.",
+        "I am close enough that the lattice screens and the banded orange masonry beneath them are sharp. My window sits just right of straight ahead, and the sand runs clear up to the wall base, so I advance again.",
+        "The stone plinth and sill line at the foot of the wall are now visible, showing how little ground is left. My target arch stands slightly to the right of my heading, so a few more steps should bring me right up beneath it.",
+        "Only two arches and their orange bases still fill my view, and the one I have been following is the right of that pair. I take another step forward to stand directly at its base.",
+        "The wall now fills my view, with the orange sill panel of my window on the right and its neighbouring arch cut off to the left by the pier. A short stride is all that remains to bring me flush against its base.",
+        "I am right up against the stonework, and the pale pier now splits my view, with my window's orange masonry pushed off to the right. Turning right should swing my heading off the pier and centre me on the arch itself.",
+        "Facing the wall squarely, my view is mostly the orange block courses, with only a sliver of the pink lattice showing along the top edge. Raising my gaze should put the arch and its screen properly in front of me for confirmation.",
+        "The arched lattice window beside the corner pier stands directly before me, filling my view at arm's reach. I have arrived at it, so nothing further is needed."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_c/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Move to the third arched window from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -4334.336,
+        3370.254,
+        98.25,
+        0.0,
+        68.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4334.336,
+            3370.254,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4287.514,
+            3487.08,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4240.693,
+            3603.905,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -4240.693,
+            3603.905,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -4148.885,
+            3689.998,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -4057.078,
+            3776.09,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3965.271,
+            3862.182,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3873.463,
+            3948.275,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3781.656,
+            4034.367,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3689.849,
+            4120.459,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3598.041,
+            4206.552,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3506.234,
+            4292.644,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3414.426,
+            4378.736,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3323.034,
+            4450.887,
+            98.25,
+            0.0,
+            43.16,
+            -0.0
+        ],
+        [
+            -3323.034,
+            4450.887,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -3323.034,
+            4450.887,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ],
+        [
+            -3323.034,
+            4450.887,
+            98.25,
+            0.0,
+            68.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The ground-level arches read as one clean row along this façade, and counting from the left, the third is the rightmost of the three slim arches standing beside the stepped porch at the far end. That trio is a long way down the wall, so I step forward across the sand to begin closing the gap.",
+        "The slim arches beside the porch still sit far off toward my left along the wall, while the nearer, wider windows fill the right of my view. I take another stride forward to gain ground before I change heading.",
+        "My heading points squarely at the wide arches directly ahead, but the arch I want lies with the slim trio off to my left. I turn left to line my path up with the run of the façade so I can walk straight down it.",
+        "The turn has opened up the domed gateway and its steps at the end of the wall, with the arched windows now running away along my right. I walk forward down this line toward the trio standing near that porch.",
+        "The porch with its golden dome sits closer on my left, and the arches slide past on my right as I advance. My target arch is still further along, so I keep stepping forward.",
+        "The arches I have already walked past have dropped out behind me, so I hold to the porch and its steps ahead on the left as the marker for where my slim arch stands. Another step forward should carry me further along the wall.",
+        "This close, the wall on my right is steeply foreshortened and no longer reads as a countable row, so I simply keep following the narrow arches near the porch. The porch with its hanging banner is still ahead on the left, telling me I have more ground to cover.",
+        "The archway and steps by the porch are clearly nearer now, and the cluster of slim arched windows on my right is the group I have been walking toward. I step forward again to draw level with them.",
+        "The slim group of arches now stands just ahead along the wall on my right, with the banner and the porch mouth off to my left. I am still a few paces short of the one I have been heading for, so I keep walking.",
+        "The lattice and the plain sill bands of the narrow openings are sharp now, which tells me I am close but not yet abreast of my arch. I stride on along the sand to close the last of that gap.",
+        "The façade fills most of my view at this range, and the openings pass very near on my left front rather than laid out in a row. I keep moving so the arch I am after ends up level with me.",
+        "Only a short stretch of masonry still separates me from the arch I have been walking toward, its jamb edging into the left of my view. Another step along the wall should carry me the rest of the way.",
+        "I am almost abreast of the target arch, with its stone frame and blocky lower panel filling the near edge of my view. One more short step should set me directly at it.",
+        "Standing at the arch, my heading still runs along the façade, so I only see it edge-on as a receding surface. Turning right should swing me square to the wall and put the window's face in front of me.",
+        "Squared to the wall, my eyes fall on the plain stone panel beneath the opening, with only a sliver of red latticework at the top of my view. I look up to bring the arch itself fully into sight and confirm I am at it.",
+        "The latticed arch I set out for now stands directly in front of me at arm's length. I have arrived at it, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004424_y002541_z000299_t0_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Walk to the golden door beneath the ornate archway.",
+    "Type": 0,
+    "Start_Pose": [
+        -4424.384,
+        2540.654,
+        298.65,
+        0.0,
+        179.52,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4424.384,
+            2540.654,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -4550.238,
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+            -0.0
+        ],
+        [
+            -4676.093,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -4801.948,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -4927.802,
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
+            -5431.221,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -5557.075,
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+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -5557.075,
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+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            -5671.584,
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+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            -5786.092,
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+            298.65,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            -5900.601,
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+            -155.48,
+            0.0
+        ],
+        [
+            -5900.601,
+            2393.445,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -6026.455,
+            2394.499,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -6026.455,
+            2394.499,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The golden double door sits directly ahead beneath the ornate archway with the medallion above it, centered in my view at the end of the sand-covered walkway. My heading already lines up with that recess, so I will move forward to begin closing the distance.",
+        "The archway and its door have grown slightly larger and remain near the middle of my view, confirming my previous step carried me along the walkway. The route ahead is still clear sand between the stone railings, so I continue forward.",
+        "The lanterns on the side walls are now closer and the golden door is more distinct at the end of the passage. Since my heading still points into that doorway recess, another forward step should keep shrinking the gap.",
+        "The patterned arch now fills the upper part of my view and the door panels are becoming readable, so I am steadily nearing the target. The walkway continues unobstructed, which lets me keep advancing without adjusting heading yet.",
+        "The doorway recess is close enough that I can see the stone jambs set back around the golden panels, and it sits just right of center in my view. There is still ample distance to cover, so I press forward before considering any turn.",
+        "The golden door now dominates the far end of this narrowing passage, and the balustrade on my left keeps me on the walkway. I will advance again to bring myself within a step or two of the archway threshold.",
+        "The arch surround is very close on both sides and the door's carved diamond pattern is clearly lit ahead of me, still slightly to the right of my heading. Another forward step should place me at the mouth of the recess before I fine-tune my alignment.",
+        "I am now inside the shadowed alcove with the door filling much of the view, though it remains offset to the right of straight ahead. I will keep moving forward to close the last of the distance before correcting that small lateral offset.",
+        "The golden door under the ornate archway now dominates the end of this narrowing sand covered passage, sitting just right of my heading. The floor ahead is clear of the stone balustrade on my left, so I will step forward again to keep closing the remaining gap.",
+        "From this close range the door frame sits noticeably right of my center line, with the recess wall filling the middle of my view. A turn to the right should bring the golden panels back onto my heading before I advance further.",
+        "The turn has brought the golden door into my forward path, framed by the archway recess with clear sand between us. I will move forward to shorten that remaining distance.",
+        "The door panels have grown considerably and their carved diamond pattern is clearly readable, so I still have a short stretch of floor to cover. Another forward step should place me almost at the threshold.",
+        "I am nearly at the archway now, with the door occupying the left and center of my view and the recess wall close on my right. One more forward step should bring me within touching distance of the golden panels.",
+        "At this range the door has slid to the left edge of my view while the side wall of the recess takes up the right half. Turning left should square me onto the center of the golden door before the final step.",
+        "The golden double door is now centered and fills my entire view, its seam directly ahead of me. A final short step forward should bring me right up to the threshold beneath the archway.",
+        "The golden door's central seam fills my view at arm's length beneath the archway. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004424_y002541_z000299_t5_a_p/infos.json

@@ -0,0 +1,297 @@
+{
+    "Instruction": "Grab the trash bag at the golden door beneath the ornate archway.",
+    "Type": 5,
+    "Start_Pose": [
+        -4424.384,
+        2540.654,
+        298.65,
+        0,
+        179.52,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -5763.464,
+        2439.462,
+        205.06,
+        -0.138,
+        -101.609,
+        -21.174
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4424.384,
+            2540.654,
+            298.65,
+            0,
+            179.52,
+            0
+        ],
+        [
+            -4550.238,
+            2541.708,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -4676.093,
+            2542.763,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -4801.948,
+            2543.817,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -4927.802,
+            2544.872,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -5053.657,
+            2545.926,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -5179.511,
+            2546.98,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -5305.366,
+            2548.035,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -5431.221,
+            2549.089,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -5557.075,
+            2550.143,
+            298.65,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -5557.075,
+            2550.143,
+            298.65,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            -5671.584,
+            2497.911,
+            298.65,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            -5671.584,
+            2497.911,
+            298.65,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            -5671.584,
+            2497.911,
+            298.65,
+            0.0,
+            -155.48,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5763.464,
+            2439.462,
+            205.06,
+            -0.138,
+            -101.609,
+            -21.174
+        ],
+        [
+            -5662.166,
+            2478.736,
+            268.756,
+            -28.202,
+            -105.336,
+            1.862
+        ],
+        [
+            -5662.166,
+            2478.736,
+            268.756,
+            -28.202,
+            -105.336,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1342.9,
+        1217.5,
+        1092.3,
+        967.2,
+        842.3,
+        717.7,
+        593.8,
+        470.8,
+        349.9,
+        234.2,
+        234.2,
+        108.9,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The golden double door sits far down this sand-filled corridor beneath the ornate archway, and a small dark shape rests on the sand just in front of it. That shape is likely the trash bag I need, so I will walk straight ahead along the open lane between the railings to close the long gap.",
+        "The archway and golden door have grown slightly larger, confirming my heading down the corridor is correct. The dark bundle before the door is still small and distant, so I will keep stepping forward along the same straight lane.",
+        "The corridor walls are widening around me and the golden door under the arch is more clearly framed ahead. The dark object at its base remains too far to reach, so another forward stride is the direct way to shorten the distance.",
+        "I am now well inside the passage, with the ornamented arch above and the golden door directly ahead. The rounded dark object in front of the door is beginning to read as a sack, so I continue straight toward it.",
+        "The golden door now fills much more of my view and the dark sack at its foot is clearly a bag sitting on the sand. It is still several strides away, so I keep walking forward rather than stopping short.",
+        "The trash bag is now distinct as a dark rounded sack resting on the sand right below the golden door. My heading still points at it, so I advance again to bring it into reachable range.",
+        "The bag's ribbed dark surface is plainly visible just in front of the golden door, slightly right of my straight line. It remains a couple of strides off, so I step forward again to close in before considering any grab.",
+        "The trash bag is large in view now, sitting on the sand at the threshold of the golden door, but it lies to the right of my current heading. Another forward step should bring me alongside it before I fine-tune my facing for the grab.",
+        "The black trash bag is clearly visible on the sand right in front of the golden double door under the ornate archway, but it is still a couple of paces beyond my reach. The corridor between the stone balustrade and the wall is clear, so I will step forward again to close that remaining gap.",
+        "Now that I am close, the trash bag sits low in the right part of my view while my heading points more at the door frame and the wall beside it. A small turn to the right should bring the bag into the center of my view so a straight step should land me beside it.",
+        "The trash bag now sits centered ahead of me on the sand in front of the golden door, but it is still slightly beyond arm's reach. One more step forward should place me directly over it so I can attempt the grab.",
+        "The trash bag is right at my feet at the base of the golden door, filling the near part of my view with nothing between us. My hands are empty and this is the target the task names, so I will try to pick it up now.",
+        "The trash bag is now held in my hands rather than resting on the sand. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x-004848_y002445_z000299_t1_a/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Search for the golden double door with ornate panels; after locating it, proceed toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -4848.238,
+        2444.662,
+        298.65,
+        0.0,
+        59.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            59.52,
+            -0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            34.52,
+            -0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            9.52,
+            -0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            -15.48,
+            0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            -40.48,
+            0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            -65.48,
+            0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            -90.48,
+            0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            -115.48,
+            0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            -140.48,
+            0.0
+        ],
+        [
+            -4848.238,
+            2444.662,
+            298.65,
+            0.0,
+            -165.48,
+            0.0
+        ],
+        [
+            -4970.077,
+            2413.107,
+            298.65,
+            0.0,
+            -165.48,
+            0.0
+        ],
+        [
+            -5091.916,
+            2381.552,
+            298.65,
+            0.0,
+            -165.48,
+            0.0
+        ],
+        [
+            -5213.755,
+            2349.997,
+            298.65,
+            0.0,
+            -165.48,
+            0.0
+        ],
+        [
+            -5335.594,
+            2318.442,
+            298.65,
+            0.0,
+            -165.48,
+            0.0
+        ],
+        [
+            -5457.433,
+            2286.887,
+            298.65,
+            0.0,
+            -165.48,
+            0.0
+        ],
+        [
+            -5579.272,
+            2255.331,
+            298.65,
+            0.0,
+            -165.48,
+            0.0
+        ],
+        [
+            -5579.272,
+            2255.331,
+            298.65,
+            0.0,
+            169.52,
+            -0.0
+        ],
+        [
+            -5703.032,
+            2278.224,
+            298.65,
+            0.0,
+            169.52,
+            -0.0
+        ],
+        [
+            -5826.791,
+            2301.117,
+            298.65,
+            0.0,
+            169.52,
+            -0.0
+        ],
+        [
+            -5950.551,
+            2324.01,
+            298.65,
+            0.0,
+            169.52,
+            -0.0
+        ],
+        [
+            -5950.551,
+            2324.01,
+            298.65,
+            0.0,
+            169.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot I only see a sandy courtyard bordered by pale stone facades with arched, lattice-filled windows, and no golden double door anywhere in front of me. Since nothing here matches the ornate paneled door I am looking for, I will turn left to swing my view onto the part of the courtyard I cannot currently see.",
+        "The new heading brings more of the same decorated wall into view, with a recessed arch and a stone stairway edge at the left, but still no golden double door. Continuing the same leftward sweep is the cheapest way to keep uncovering fresh sections of the courtyard, so I will turn left again.",
+        "Ahead of me now is a raised pavilion with a wide staircase and tall arched openings, none of which is the golden double door with ornate panels. Because the scan is still returning only windows and niches, I will keep rotating left to reveal the courtyard side that remains hidden.",
+        "A hanging red banner and a shadowed stone wall have come into view on the left, together with a paved strip running away from the sand, but no golden door yet. I will continue turning left to follow that paved area and check the darker recess beyond it.",
+        "The view is now dominated by tall banners, a lit lantern and a low latticed railing over flagstones, which looks like an interior corridor rather than open courtyard. There is still no ornate double door in sight, so I will turn left again to bring more of this sheltered passage in front of me.",
+        "The banner wall and railing fill most of my view and the passage clearly continues past the left edge of what I can see. Since the target has not appeared yet, I will keep the sweep going with another left turn to look further down that corridor.",
+        "I am now facing a plain whitewashed brick wall with lanterns and the latticed balustrade in front of it, and no door is visible on it. The passage still opens toward my left, so I will turn left again to inspect that end.",
+        "The wall directly ahead is still bare brick with a lantern and banner, but the corridor and its sandy floor clearly extend past my left edge where the light falls. I will make one more left turn to bring that unseen end of the passage into view, since it is the most likely place for the ornate double door.",
+        "Sweeping my view leftward has finally brought a tall double door with ornate golden panels into the far left edge of my view, set in the wall beyond the stone balustrade. It is still at the very margin of what I can see, so I will turn left once more to bring it toward the center of my heading. That should confirm the target and give me a clean line to walk along the sandy passage.",
+        "The golden double door with its ornate panels now sits centered at the end of the sunken sandy passage, framed by the low railings on both sides. Searching is done, so I will commit to walking straight ahead along this clear stretch of sand. Each step should shrink the distance to the door without needing further rotation.",
+        "The ornate golden door is noticeably larger in front of me, so my previous step closed distance as intended. The sand between the railings remains unobstructed straight ahead. I will keep walking forward on this same heading.",
+        "The doorway's recessed frame and the patterned band above it are now clearly resolved ahead of me, confirming this is the ornate golden double door. The passage floor stays open, with the balustrade only bordering my right side. Another forward step should carry me deeper into the alcove toward the door.",
+        "The door has drifted a little toward the left of my view as I advance, but the sandy floor in front of me is still clear and leads into the same alcove. Distance matters more than a small heading offset at this range. I will take another step forward to keep closing on the door.",
+        "The panelled golden door now fills a large part of the left side of my view and the alcove walls are close around it. I still have open sand ahead of me, so continuing forward should bring me nearly level with the doorway. I will advance again before worrying about the final heading.",
+        "I am close enough now to see the raised diamond motifs and metal trim on the double door to my left. There is still a short stretch of clear sand ahead, so one more forward step should bring me alongside the doorway recess. I will keep advancing on this heading.",
+        "My forward motion has pushed the golden double door well over to the left edge, with the stone parapet now dominating the right of my view. To finish approaching it head on I need to rotate my body toward it rather than step further along the passage. Turning left should place the doorway squarely in front of me.",
+        "The golden double door with its ornate diamond panels now sits centered in my view at the end of this narrow recess. With the heading corrected, I will walk straight ahead to close the remaining gap to it.",
+        "The double door now fills most of my view, its carved panels and metal banding clearly visible directly in front of me. I am still a couple of paces short, so I will keep stepping forward along this centered line.",
+        "The ornate golden leaves are very close now, with the stone jambs pressing in on both sides. One more step forward should bring me right up against the door as the task requires.",
+        "The ornate golden double door fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t0_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Walk to the red column between the arched windows.",
+    "Type": 0,
+    "Start_Pose": [
+        24.313,
+        201.366,
+        98.615,
+        0.0,
+        -12.48,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            24.313,
+            201.366,
+            98.615,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            147.198,
+            174.168,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            270.083,
+            146.97,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            392.968,
+            119.772,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            515.854,
+            92.574,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            638.739,
+            65.376,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            761.624,
+            38.178,
+            98.649,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            884.509,
+            10.98,
+            98.649,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            1007.394,
+            -16.218,
+            98.649,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            1130.279,
+            -43.416,
+            108.252,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            1253.164,
+            -70.614,
+            143.686,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            1253.164,
+            -70.614,
+            143.686,
+            0.0,
+            -12.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the slender red marble column standing against the pale wall just right of the row of arched windows, which matches the target described in my task. It sits well ahead of me across the sand, and my heading already points at it, so I will step forward to begin closing the gap.",
+        "The red column is a little larger in my view now and still sits near the center-right of what I can see, so my heading remains good. The sand between us is open with no obstruction, so I will keep advancing straight toward it.",
+        "I see the red column and its capital more clearly now, with the arched windows spread to my left and the scattered paving slabs coming closer under me. I am still too far away to count as standing at the column, so I will continue straight ahead on my current line.",
+        "The red column now rises high in front of me and its base above the stone plinth is visible, confirming I am on the correct line. There is still several steps of sand between me and it, so I will move forward again.",
+        "The column is clearly closer, and the mound of drifted sand at its foot is filling more of the ground ahead of me. I will step forward again to keep reducing the distance toward the column.",
+        "The red shaft and its white collar now dominate the upper part of my view, and the arched windows have shifted toward my left edge as I close in. I am not yet at the column, so I will advance again along the same heading.",
+        "The column base sits just beyond the crest of the sand drift directly ahead of me, so only a short stretch remains. I will step forward to bring myself right up against the column.",
+        "I am very close now, with the red shaft, its carved collar, and the pale base filling most of what I can see. One more step forward should place me directly at the column between the arched windows.",
+        "The red column now fills the upper center of my view with its white base and carved ring clearly visible just behind the sand mound, and it stays aligned with my heading. I am still a couple of steps short of standing right at it, so I will keep walking straight ahead without any turn.",
+        "The column's decorated collar and base now dominate my view, showing I am very close, though the sand slope still separates me from its foot. One more forward step should place me directly at the column between the arched windows.",
+        "The red column's base and carved collar fill my view at arm's reach, flanked by the arched window recess. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t0_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Navigate to the base of the tall pale pillar.",
+    "Type": 0,
+    "Start_Pose": [
+        24.313,
+        201.366,
+        98.615,
+        0.0,
+        -12.48,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            24.313,
+            201.366,
+            98.615,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            24.313,
+            201.366,
+            98.65,
+            0.0,
+            12.52,
+            -0.0
+        ],
+        [
+            147.179,
+            228.65,
+            98.65,
+            0.0,
+            12.52,
+            -0.0
+        ],
+        [
+            270.045,
+            255.934,
+            98.65,
+            0.0,
+            12.52,
+            -0.0
+        ],
+        [
+            392.911,
+            283.217,
+            98.302,
+            0.0,
+            12.52,
+            -0.0
+        ],
+        [
+            515.778,
+            310.501,
+            98.302,
+            0.0,
+            12.52,
+            -0.0
+        ],
+        [
+            638.644,
+            337.785,
+            98.302,
+            0.0,
+            12.52,
+            -0.0
+        ],
+        [
+            761.51,
+            365.069,
+            98.302,
+            0.0,
+            12.52,
+            -0.0
+        ],
+        [
+            761.51,
+            365.069,
+            98.302,
+            0.0,
+            37.52,
+            -0.0
+        ],
+        [
+            861.334,
+            441.722,
+            98.302,
+            0.0,
+            37.52,
+            -0.0
+        ],
+        [
+            961.158,
+            518.375,
+            98.302,
+            0.0,
+            37.52,
+            -0.0
+        ],
+        [
+            1060.982,
+            595.027,
+            98.302,
+            0.0,
+            37.52,
+            -0.0
+        ],
+        [
+            1060.982,
+            595.027,
+            98.302,
+            0.0,
+            37.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The tall pale pillar with the smooth light shaft sits at the far right edge of my view, mostly cut off, while the sand courtyard ahead of me is open. I will turn right to bring that pillar and its base into the center of my heading before committing to any forward travel.",
+        "The pale pillar now stands ahead of me beside the arched wall with the round medallion, and the sand between us looks flat and unobstructed. I will move forward to start closing the distance toward its base.",
+        "The pillar and the medallion above it have grown noticeably larger, confirming my heading is carrying me toward the target. I continue forward since the sand ahead remains open and level.",
+        "The pale shaft is still slightly right of center but well within my forward path, and its base is not yet reachable. Another forward step should reduce the remaining gap across the sand.",
+        "The pillar now fills much more of my view and I can make out its ringed footing above the drifted sand. I keep advancing to bring that footing within close range.",
+        "The decorated base of the pale pillar is clearly in front of me, though still a couple of steps off with sand drift piled to its left. I will step forward again to close on the base itself.",
+        "The pillar's flared, patterned footing dominates the right of my view and the ground in front of it is clear sand. One more forward step should place me right against the base area.",
+        "I am close now, but the pillar's base has drifted to the right side of my view while the blank brick wall occupies the center of my heading. I will turn right to square up on the base so my remaining steps lead straight to it.",
+        "After the slight rightward heading adjustment, the tall pale pillar's carved base now sits just left of center with open sand between me and it. I will move forward to close the remaining gap along this clear line.",
+        "The pillar's decorated base has grown noticeably larger and is centered in my view, so my heading is still good. I will advance again to keep shrinking the distance to its foot.",
+        "The lotus-carved plinth now dominates the lower center of my view, yet a short stretch of sand still separates me from it. One more forward step should bring me right up against the base.",
+        "The tall pale pillar's carved base fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t5_a_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Pick up the tomato near the red column between the arched windows.",
+    "Type": 5,
+    "Start_Pose": [
+        24.313,
+        201.366,
+        98.615,
+        0,
+        -12.48,
+        0
+    ],
+    "PD_ID": 0,
+    "PD_Size": 8.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        1000.52,
+        -14.696,
+        68.65,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            24.313,
+            201.366,
+            98.615,
+            0,
+            -12.48,
+            0
+        ],
+        [
+            147.198,
+            174.168,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            270.083,
+            146.97,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            392.968,
+            119.772,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            515.854,
+            92.574,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            638.739,
+            65.376,
+            98.392,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            761.624,
+            38.178,
+            98.649,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            884.509,
+            10.98,
+            98.649,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            884.509,
+            10.98,
+            98.649,
+            0.0,
+            -12.48,
+            0.0
+        ],
+        [
+            884.509,
+            10.98,
+            98.649,
+            0.0,
+            -12.48,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            1000.52,
+            -14.696,
+            68.65,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1000.52,
+            -14.696,
+            68.65,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1000.52,
+            -14.696,
+            68.65,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1000.52,
+            -14.696,
+            68.65,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1000.52,
+            -14.696,
+            68.65,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1000.52,
+            -14.696,
+            68.65,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1000.52,
+            -14.696,
+            68.65,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1000.52,
+            -14.696,
+            68.65,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            888.528,
+            31.961,
+            68.756,
+            -28.202,
+            37.664,
+            1.862
+        ],
+        [
+            888.528,
+            31.961,
+            68.756,
+            -28.202,
+            37.664,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        999.8,
+        874.0,
+        748.1,
+        622.3,
+        496.4,
+        370.5,
+        244.7,
+        118.8,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the small red tomato resting on the sand at the foot of the pinkish column that stands between the arched windows, but it is far across the open courtyard. It sits almost straight ahead of my heading, so no turn is needed yet. I will walk forward to close that distance.",
+        "The tomato and the red column are noticeably larger now, confirming my heading is carrying me toward the target. It remains centered ahead with clear sand in between, so no correction is warranted. I continue walking forward.",
+        "The tomato is clearly resolved against the pale sand mound beside the red column and stays slightly right of center, still well within reach of a straight approach. Nothing blocks the flagstones and sand ahead. I keep advancing.",
+        "The target keeps growing in view and remains near the center of my path, so my current heading needs no adjustment. I am still too far away to reach down and grasp it. Another step forward should bring me closer.",
+        "The tomato now shows its stem clearly and sits just ahead on the sand at the base of the red column, but it is still a couple of paces off. My heading is already lined up with it. I will step forward again to close the gap.",
+        "The tomato fills a good part of the lower view and the column base is close, so I am nearly within grasping range. It sits slightly left of center but still directly on my line of travel. One more forward step should bring it right in front of me.",
+        "The tomato is very large and low in my view now, sitting just at the edge of my footing near the column, yet still marginally ahead of a comfortable grasp position. A final short step should place it directly beneath my hands. I move forward once more.",
+        "The tomato is now immediately in front of me, its leafy crown at the very bottom of my view, which means it is within arm's reach beside the red column. There is nothing else to approach or align. I will attempt to pick it up.",
+        "The tomato is now held in my hand rather than resting on the sand. The task goal is satisfied, so I stop here."
+    ]
+}