diff --git a/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9cd3485ec4b54717f65ace3e117f33ef1d3fb475 --- /dev/null +++ b/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, + 4117.98, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t0_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7475ede5f34be3be825a7a415e3afa76e266dd03 --- /dev/null +++ b/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, + 3572.775, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1445.188, + 3572.775, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1569.12, + 3594.716, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1693.052, + 3616.658, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1816.983, + 3638.6, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1940.915, + 3660.541, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t3_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ea703c4f02d75b83518c8214bdd8558140405e22 --- /dev/null +++ b/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, + 3500.513, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1342.141, + 3500.513, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1404.994, + 3609.554, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1467.848, + 3718.595, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1530.701, + 3827.636, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1593.555, + 3936.677, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1656.408, + 4045.718, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1719.261, + 4154.759, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1782.115, + 4263.8, + 98.621, + 0.0, + 119.96, + -0.0 + ], + [ + -1844.968, + 4372.841, + 98.621, + 0.0, + 119.96, + -0.0 + ], + [ + -1844.968, + 4372.841, + 98.621, + 0.0, + 119.96, + -0.0 + ], + [ + -1798.824, + 4292.788, + 98.621, + 0.0, + 119.96, + -0.0 + ], + [ + -1798.824, + 4292.788, + 98.621, + 0.0, + 144.96, + -0.0 + ], + [ + -1798.824, + 4292.788, + 98.621, + 0.0, + 169.96, + -0.0 + ], + [ + -1798.824, + 4292.788, + 98.621, + 0.0, + -165.04, + 0.0 + ], + [ + -1920.417, + 4260.298, + 98.621, + 0.0, + -165.04, + 0.0 + ], + [ + -2042.01, + 4227.808, + 98.621, + 0.0, + -165.04, + 0.0 + ], + [ + -2163.604, + 4195.318, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2163.604, + 4195.318, + 98.25, + 0.0, + -140.04, + 0.0 + ], + [ + -2260.074, + 4114.485, + 98.25, + 0.0, + -140.04, + 0.0 + ], + [ + -2356.544, + 4033.652, + 98.25, + 0.0, + -140.04, + 0.0 + ], + [ + -2453.014, + 3952.819, + 98.25, + 0.0, + -140.04, + 0.0 + ], + [ + -2549.484, + 3871.985, + 98.25, + 0.0, + -140.04, + 0.0 + ], + [ + -2645.954, + 3791.152, + 98.25, + 0.0, + -140.04, + 0.0 + ], + [ + -2645.954, + 3791.152, + 98.25, + 0.0, + -140.04, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t3_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f94e9e8f3db6bc93c91c7b54eabc87ab405a15d --- /dev/null +++ b/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, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1445.188, + 3572.775, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1445.188, + 3572.775, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1569.12, + 3594.716, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1693.052, + 3616.658, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1816.983, + 3638.6, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1940.915, + 3660.541, + 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 + ], + [ + -2560.573, + 3770.25, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -2560.573, + 3770.25, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -2560.573, + 3770.25, + 98.25, + 0.0, + 94.96, + -0.0 + ], + [ + -2560.573, + 3770.25, + 98.25, + 0.0, + 69.96, + -0.0 + ], + [ + -2560.573, + 3770.25, + 98.25, + 0.0, + 44.96, + -0.0 + ], + [ + -2471.515, + 3859.184, + 98.25, + 0.0, + 44.96, + -0.0 + ], + [ + -2382.457, + 3948.117, + 98.25, + 0.0, + 44.96, + -0.0 + ], + [ + -2382.457, + 3948.117, + 98.25, + 0.0, + 19.96, + -0.0 + ], + [ + -2264.158, + 3991.081, + 98.25, + 0.0, + 19.96, + -0.0 + ], + [ + -2145.86, + 4034.045, + 98.25, + 0.0, + 19.96, + -0.0 + ], + [ + -2145.86, + 4034.045, + 98.25, + 0.0, + 44.96, + -0.0 + ], + [ + -2056.802, + 4122.978, + 98.25, + 0.0, + 44.96, + -0.0 + ], + [ + -2056.802, + 4122.978, + 98.25, + 0.0, + 69.96, + -0.0 + ], + [ + -2013.673, + 4241.217, + 98.579, + 0.0, + 69.96, + -0.0 + ], + [ + -1970.544, + 4359.456, + 98.579, + 0.0, + 69.96, + -0.0 + ], + [ + -1927.415, + 4477.694, + 98.579, + 0.0, + 69.96, + -0.0 + ], + [ + -1927.415, + 4477.694, + 98.579, + 0.0, + 69.96, + -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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t5_a_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x-001342_y003501_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dc8dcf7f7521172f8f336b94f23851746cdfb32c --- /dev/null +++ b/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, + 144.96, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1961.176, + 4232.744, + 38.25, + 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": [ + [ + -1342.141, + 3500.513, + 98.25, + 0, + 144.96, + 0 + ], + [ + -1445.188, + 3572.775, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1548.235, + 3645.036, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1651.283, + 3717.298, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1754.33, + 3789.56, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1754.33, + 3789.56, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1817.183, + 3898.601, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1880.037, + 4007.642, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1942.89, + 4116.683, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1942.89, + 4116.683, + 98.25, + 0.0, + 119.96, + -0.0 + ], + [ + -1942.89, + 4116.683, + 98.25, + 0.0, + 144.96, + -0.0 + ], + [ + -1942.89, + 4116.683, + 98.25, + 0.0, + 169.96, + -0.0 + ], + [ + -1942.89, + 4116.683, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2064.484, + 4084.194, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2186.077, + 4051.704, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2307.67, + 4019.215, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2429.264, + 3986.726, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2550.857, + 3954.237, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2648.178, + 3922.194, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2578.618, + 3940.78, + 98.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2578.618, + 3940.78, + 98.25, + 0.0, + -165.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.176, + 4232.744, + 38.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.086, + 4105.49, + 68.356, + -28.202, + 170.104, + 1.862 + ], + [ + -1955.196, + 4098.06, + 68.629, + -28.189, + -164.884, + 1.872 + ], + [ + -1946.968, + 4094.531, + 67.962, + -28.215, + -139.913, + 1.849 + ], + [ + -1941.32, + 4089.628, + 68.016, + -14.092, + -122.697, + 6.87 + ], + [ + -2058.267, + 4063.75, + 68.582, + -28.198, + -114.895, + 1.865 + ], + [ + -2180.145, + 4031.182, + 68.045, + -28.191, + -114.882, + 1.871 + ], + [ + -2301.863, + 3998.67, + 67.764, + -28.214, + -114.91, + 1.852 + ], + [ + -2423.368, + 3966.197, + 67.974, + -28.203, + -114.899, + 1.856 + ], + [ + -2544.719, + 3933.768, + 68.383, + -28.187, + -114.883, + 1.872 + ], + [ + -2641.681, + 3901.82, + 68.99, + -28.184, + -114.882, + 1.878 + ], + [ + -2646.245, + 3922.71, + 48.25, + 0.0, + -165.04, + 0.0 + ], + [ + -2646.245, + 3922.71, + 48.25, + 0.0, + -165.04, + 0.0 + ] + ], + "PD_Dist_2D": [ + 958.8, + 837.7, + 718.3, + 601.4, + 489.1, + 489.1, + 363.8, + 239.3, + 117.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.3, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..64a6cbfc441ab7376ca6d7b618c7de24e858d4af --- /dev/null +++ b/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, + -63.36, + 0.0 + ], + "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": [ + [ + -1593.315, + -82.524, + 106.284, + 0.0, + -63.36, + 0.0 + ], + [ + -1536.882, + -195.022, + 106.284, + 0.0, + -63.36, + 0.0 + ], + [ + -1536.882, + -195.022, + 106.284, + 0.0, + -88.36, + 0.0 + ], + [ + -1533.28, + -320.829, + 115.435, + 0.0, + -88.36, + 0.0 + ], + [ + -1529.678, + -446.637, + 120.068, + 0.0, + -88.36, + 0.0 + ], + [ + -1526.076, + -572.444, + 102.155, + 0.0, + -88.36, + 0.0 + ], + [ + -1522.474, + -698.252, + 98.632, + 0.0, + -88.36, + 0.0 + ], + [ + -1518.872, + -824.059, + 98.632, + 0.0, + -88.36, + 0.0 + ], + [ + -1515.27, + -949.867, + 98.632, + 0.0, + -88.36, + 0.0 + ], + [ + -1511.668, + -1075.674, + 98.632, + 0.0, + -88.36, + 0.0 + ], + [ + -1508.066, + -1201.482, + 98.632, + 0.0, + -88.36, + 0.0 + ], + [ + -1504.464, + -1327.289, + 98.632, + 0.0, + -88.36, + 0.0 + ], + [ + -1500.862, + -1453.097, + 101.682, + 0.0, + -88.36, + 0.0 + ], + [ + -1497.26, + -1578.904, + 110.505, + 0.0, + -88.36, + 0.0 + ], + [ + -1497.26, + -1578.904, + 110.505, + 0.0, + -88.36, + 0.0 + ], + [ + -1497.26, + -1578.904, + 110.505, + 0.0, + -63.36, + 0.0 + ], + [ + -1497.26, + -1578.904, + 110.505, + 0.0, + -38.36, + 0.0 + ], + [ + -1497.26, + -1578.904, + 110.505, + 0.0, + -13.36, + 0.0 + ], + [ + -1374.807, + -1607.986, + 106.06, + 0.0, + -13.36, + 0.0 + ], + [ + -1252.354, + -1637.068, + 98.632, + 0.0, + -13.36, + 0.0 + ], + [ + -1129.901, + -1666.15, + 98.632, + 0.0, + -13.36, + 0.0 + ], + [ + -1007.994, + -1675.681, + 98.65, + 0.0, + -13.36, + 0.0 + ], + [ + -886.617, + -1675.453, + 98.65, + 0.0, + -13.36, + 0.0 + ], + [ + -886.617, + -1675.453, + 98.65, + 0.0, + -38.36, + 0.0 + ], + [ + -790.171, + -1722.789, + 98.65, + 0.0, + -38.36, + 0.0 + ], + [ + -691.482, + -1800.897, + 102.213, + 0.0, + -38.36, + 0.0 + ], + [ + -691.482, + -1800.897, + 102.213, + 0.0, + -63.36, + 0.0 + ], + [ + -635.049, + -1913.395, + 121.757, + 0.0, + -63.36, + 0.0 + ], + [ + -635.049, + -1913.395, + 121.757, + 0.0, + -88.36, + 0.0 + ], + [ + -631.447, + -2039.203, + 129.094, + 0.0, + -88.36, + 0.0 + ], + [ + -631.447, + -2039.203, + 129.094, + 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 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b2d2a9bc94a9c99242666f4cf9415e1241b8fd29 --- /dev/null +++ b/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": [ + [ + -1593.315, + -82.524, + 106.284, + 0.0, + -63.36, + 0.0 + ], + [ + -1536.882, + -195.022, + 106.284, + 0.0, + -63.36, + 0.0 + ], + [ + -1480.449, + -307.52, + 113.54, + 0.0, + -63.36, + 0.0 + ], + [ + -1480.449, + -307.52, + 113.54, + 0.0, + -38.36, + 0.0 + ], + [ + -1381.759, + -385.628, + 107.703, + 0.0, + -38.36, + 0.0 + ], + [ + -1283.07, + -463.736, + 98.63, + 0.0, + -38.36, + 0.0 + ], + [ + -1184.381, + -541.844, + 98.63, + 0.0, + -38.36, + 0.0 + ], + [ + -1085.691, + -619.953, + 98.63, + 0.0, + -38.36, + 0.0 + ], + [ + -987.002, + -698.061, + 98.63, + 0.0, + -38.36, + 0.0 + ], + [ + -888.312, + -776.169, + 106.206, + 0.0, + -38.36, + 0.0 + ], + [ + -888.312, + -776.169, + 106.206, + 0.0, + -63.36, + 0.0 + ], + [ + -831.879, + -888.667, + 106.206, + 0.0, + -63.36, + 0.0 + ], + [ + -775.446, + -1001.165, + 106.206, + 0.0, + -63.36, + 0.0 + ], + [ + -775.446, + -1001.165, + 106.206, + 0.0, + -63.36, + 0.0 + ], + [ + -775.446, + -1001.165, + 106.206, + 0.0, + -63.36, + 0.0 + ], + [ + -775.446, + -1001.165, + 106.206, + 0.0, + -88.36, + 0.0 + ], + [ + -775.446, + -1001.165, + 106.206, + 0.0, + -113.36, + 0.0 + ], + [ + -825.35, + -1116.708, + 106.206, + 0.0, + -113.36, + 0.0 + ], + [ + -825.35, + -1116.708, + 106.206, + 0.0, + -138.36, + 0.0 + ], + [ + -919.409, + -1200.334, + 98.65, + 0.0, + -138.36, + 0.0 + ], + [ + -1013.468, + -1283.961, + 98.65, + 0.0, + -138.36, + 0.0 + ], + [ + -1107.526, + -1367.588, + 98.65, + 0.0, + -138.36, + 0.0 + ], + [ + -1201.585, + -1451.215, + 98.65, + 0.0, + -138.36, + 0.0 + ], + [ + -1295.644, + -1534.841, + 98.65, + 0.0, + -138.36, + 0.0 + ], + [ + -1389.703, + -1618.468, + 107.569, + 0.0, + -138.36, + 0.0 + ], + [ + -1389.703, + -1618.468, + 107.569, + 0.0, + -113.36, + 0.0 + ], + [ + -1389.703, + -1618.468, + 107.569, + 0.0, + -113.36, + 0.0 + ], + [ + -1389.703, + -1618.468, + 107.569, + 0.0, + -113.36, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_c/infos.json b/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2959eb9d9c62295717fe7c2335e7108bf0db9f37 --- /dev/null +++ b/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": [ + -1593.315, + -82.524, + 106.284, + 0.0, + -63.36, + 0.0 + ], + "Action": [ + "MoveForward", + "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": [ + [ + -1593.315, + -82.524, + 106.284, + 0.0, + -63.36, + 0.0 + ], + [ + -1536.882, + -195.022, + 106.284, + 0.0, + -63.36, + 0.0 + ], + [ + -1480.449, + -307.52, + 113.54, + 0.0, + -63.36, + 0.0 + ], + [ + -1480.449, + -307.52, + 113.54, + 0.0, + -88.36, + 0.0 + ], + [ + -1476.847, + -433.327, + 119.63, + 0.0, + -88.36, + 0.0 + ], + [ + -1473.245, + -559.135, + 104.286, + 0.0, + -88.36, + 0.0 + ], + [ + -1469.643, + -684.942, + 98.479, + 0.0, + -88.36, + 0.0 + ], + [ + -1466.041, + -810.75, + 98.479, + 0.0, + -88.36, + 0.0 + ], + [ + -1462.439, + -936.557, + 98.479, + 0.0, + -88.36, + 0.0 + ], + [ + -1458.837, + -1062.365, + 98.479, + 0.0, + -88.36, + 0.0 + ], + [ + -1455.235, + -1188.172, + 98.479, + 0.0, + -88.36, + 0.0 + ], + [ + -1451.633, + -1313.98, + 98.479, + 0.0, + -88.36, + 0.0 + ], + [ + -1448.031, + -1439.787, + 100.777, + 0.0, + -88.36, + 0.0 + ], + [ + -1444.429, + -1565.595, + 109.037, + 0.0, + -88.36, + 0.0 + ], + [ + -1444.429, + -1565.595, + 109.037, + 0.0, + -88.36, + 0.0 + ], + [ + -1444.429, + -1565.595, + 109.037, + 0.0, + -63.36, + 0.0 + ], + [ + -1444.429, + -1565.595, + 109.037, + 0.0, + -38.36, + 0.0 + ], + [ + -1444.429, + -1565.595, + 109.037, + 0.0, + -13.36, + 0.0 + ], + [ + -1444.429, + -1565.595, + 109.037, + 0.0, + 11.64, + -0.0 + ], + [ + -1444.429, + -1565.595, + 109.037, + 0.0, + 36.64, + -0.0 + ], + [ + -1343.439, + -1490.484, + 101.904, + 0.0, + 36.64, + -0.0 + ], + [ + -1242.45, + -1415.373, + 98.513, + 0.0, + 36.64, + -0.0 + ], + [ + -1141.46, + -1340.262, + 98.513, + 0.0, + 36.64, + -0.0 + ], + [ + -1040.471, + -1265.151, + 98.513, + 0.0, + 36.64, + -0.0 + ], + [ + -939.482, + -1190.041, + 98.513, + 0.0, + 36.64, + -0.0 + ], + [ + -838.492, + -1114.93, + 106.142, + 0.0, + 36.64, + -0.0 + ], + [ + -838.492, + -1114.93, + 106.142, + 0.0, + 11.64, + -0.0 + ], + [ + -838.492, + -1114.93, + 106.142, + 0.0, + 11.64, + -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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t5_a_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7016faaaa7685cb06918b091ee0802ee3e3b7bef --- /dev/null +++ b/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, + -63.36, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1430.885, + -1507.982, + 40.662, + 0, + -30, + 0 + ], + "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": [ + [ + -1593.315, + -82.524, + 106.284, + 0, + -63.36, + 0 + ], + [ + -1536.882, + -195.022, + 106.284, + 0.0, + -63.36, + 0.0 + ], + [ + -1480.449, + -307.52, + 113.54, + 0.0, + -63.36, + 0.0 + ], + [ + -1424.016, + -420.018, + 113.236, + 0.0, + -63.36, + 0.0 + ], + [ + -1424.016, + -420.018, + 113.236, + 0.0, + -88.36, + 0.0 + ], + [ + -1420.414, + -545.825, + 105.945, + 0.0, + -88.36, + 0.0 + ], + [ + -1416.812, + -671.633, + 98.65, + 0.0, + -88.36, + 0.0 + ], + [ + -1413.21, + -797.44, + 98.65, + 0.0, + -88.36, + 0.0 + ], + [ + -1409.608, + -923.248, + 98.65, + 0.0, + -88.36, + 0.0 + ], + [ + -1406.006, + -1049.055, + 98.65, + 0.0, + -88.36, + 0.0 + ], + [ + -1402.404, + -1174.863, + 98.65, 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11.784, + 1.863 + ], + [ + -713.801, + -1738.356, + 69.009, + -28.191, + -13.205, + 1.868 + ], + [ + -656.708, + -1850.064, + 80.922, + -28.197, + -13.212, + 1.865 + ], + [ + -600.261, + -1962.6, + 93.227, + -28.194, + -13.211, + 1.871 + ], + [ + -600.014, + -1963.092, + 92.298, + -28.205, + -13.22, + 1.854 + ], + [ + -619.806, + -1971.261, + 71.145, + 0.0, + -63.36, + 0.0 + ], + [ + -619.806, + -1971.261, + 71.145, + 0.0, + -63.36, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1434.7, + 1317.2, + 1201.5, + 1088.0, + 1088.0, + 962.2, + 836.5, + 710.8, + 585.1, + 459.6, + 334.3, + 209.8, + 89.0, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 22.4, + 21.4, + 21.4, + 21.4, + 20.3, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t5_b_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x-001593_y-000083_z000106_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..14c16c360514ef57423ff1c84be14bbef06b55de --- /dev/null +++ b/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, + 0 + ], + [ + -1536.882, + -195.022, + 106.284, + 0.0, + -63.36, + 0.0 + ], + [ + -1480.449, + -307.52, + 113.54, + 0.0, + -63.36, + 0.0 + ], + [ + -1480.449, + -307.52, + 113.54, + 0.0, + -38.36, + 0.0 + ], + [ + -1381.759, + -385.628, + 107.703, + 0.0, + -38.36, + 0.0 + ], + [ + -1283.07, + -463.736, + 98.63, + 0.0, + -38.36, + 0.0 + ], + [ + -1184.381, + -541.844, + 98.63, + 0.0, + -38.36, + 0.0 + ], + [ + -1085.691, + -619.953, + 98.63, + 0.0, + -38.36, + 0.0 + ], + [ + -987.002, + -698.061, + 98.63, + 0.0, + -38.36, + 0.0 + ], + [ + -888.312, + -776.169, + 106.206, + 0.0, + -38.36, + 0.0 + ], + [ + -888.312, + -776.169, + 106.206, + 0.0, + -63.36, + 0.0 + ], + [ + -888.312, + 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-1015.325, + 68.445, + -28.191, + -63.201, + 1.871 + ], + [ + -1018.303, + -1130.98, + 68.164, + -28.214, + -63.23, + 1.852 + ], + [ + -1068.165, + -1246.443, + 68.374, + -28.203, + -63.219, + 1.856 + ], + [ + -1117.966, + -1361.759, + 68.783, + -28.187, + -63.203, + 1.872 + ], + [ + -1167.762, + -1477.035, + 69.186, + -28.2, + -63.216, + 1.866 + ], + [ + -1173.802, + -1484.822, + 68.215, + -28.201, + -88.213, + 1.862 + ], + [ + -1267.357, + -1568.784, + 68.253, + -28.211, + -88.226, + 1.853 + ], + [ + -1361.252, + -1652.272, + 74.194, + -28.203, + -88.222, + 1.859 + ], + [ + -1374.356, + -1635.35, + 64.848, + 90.0, + -138.36, + 0.0 + ], + [ + -1374.356, + -1635.35, + 64.848, + 90.0, + -138.36, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1106.7, + 984.7, + 863.8, + 863.8, + 739.3, + 615.3, + 492.4, + 371.3, + 254.9, + 154.3, + 154.3, + 20.5, + 19.6, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.8, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001628_y003710_z000098_t1_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-001628_y003710_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b2bd402a0eb7877a23d5be00926532c543e752 --- /dev/null +++ b/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": [ + [ + -1628.098, + 3710.196, + 98.25, + 0.0, + -131.52, + 0.0 + ], + [ + -1628.098, + 3710.196, + 98.25, + 0.0, + -156.52, + 0.0 + ], + [ + -1628.098, + 3710.196, + 98.25, + 0.0, + 178.48, + -0.0 + ], + [ + -1628.098, + 3710.196, + 98.25, + 0.0, + 153.48, + -0.0 + ], + [ + -1628.098, + 3710.196, + 98.25, + 0.0, + 128.48, + -0.0 + ], + [ + -1628.098, + 3710.196, + 98.25, + 0.0, + 103.48, + -0.0 + ], + [ + -1657.436, + 3832.588, + 98.25, + 0.0, + 103.48, + -0.0 + ], + [ + -1686.775, + 3954.98, + 98.25, + 0.0, + 103.48, + -0.0 + ], + [ + -1716.113, + 4077.371, + 98.25, + 0.0, + 103.48, + -0.0 + ], + [ + -1745.452, + 4199.763, + 98.58, + 0.0, + 103.48, + -0.0 + ], + [ + -1774.79, + 4322.155, + 98.58, + 0.0, + 103.48, + -0.0 + ], + [ + -1804.129, + 4444.547, + 98.58, + 0.0, + 103.48, + -0.0 + ], + [ + -1836.94, + 4542.557, + 98.65, + 0.0, + 103.48, + -0.0 + ], + [ + -1836.94, + 4542.557, + 98.65, + 0.0, + 103.48, + -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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8ed2e713a2a33e08e8d2757b582b74bab0ca2207 --- /dev/null +++ b/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": [ + -1669.565, + 307.789, + 106.284, + 0.0, + -77.76, + 0.0 + ], + "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": [ + [ + -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 + ], + [ + -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, + -52.76, + 0.0 + ], + [ + -1326.571, + -1022.388, + 98.7, + 0.0, + -52.76, + 0.0 + ], + [ + -1250.407, + -1122.586, + 98.7, + 0.0, + -52.76, + 0.0 + ], + [ + -1174.242, + -1222.783, + 98.7, + 0.0, + -52.76, + 0.0 + ], + [ + -1098.078, + -1322.98, + 98.7, + 0.0, + -52.76, + 0.0 + ], + [ + -1021.914, + -1423.178, + 98.7, + 0.0, + -52.76, + 0.0 + ], + [ + -945.75, + -1523.375, + 98.7, + 0.0, + -52.76, + 0.0 + ], + [ + -869.585, + -1623.572, + 98.7, + 0.0, + -52.76, + 0.0 + ], + [ + -793.421, + -1723.77, + 98.7, + 0.0, + -52.76, + 0.0 + ], + [ + -717.257, + -1823.967, + 106.432, + 0.0, + -52.76, + 0.0 + ], + [ + -641.093, + -1924.164, + 123.623, + 0.0, + -52.76, + 0.0 + ], + [ + -641.093, + -1924.164, + 123.623, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d44111fd7e6c657385eb8431f1ba9dd553a1dee0 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_c/infos.json b/dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..70beaf607e35c977a8d0f3321fc4c5d9606787fb --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t5_a_p/infos.json b/dataset/trajectory/Brass_Streets/task_x-001670_y000308_z000106_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..94cabf5793131881678054727870d975dd63f3ff --- /dev/null +++ b/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 + ], + [ + -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 + ], + [ + -1589.516, + -61.205, + 106.284, + 0.0, + -52.76, + 0.0 + ], + [ + -1513.352, + -161.402, + 106.284, + 0.0, + -52.76, + 0.0 + ], + [ + -1437.188, + -261.6, + 106.999, + 0.0, + -52.76, + 0.0 + ], + [ + -1361.023, + -361.797, + 105.349, + 0.0, + -52.76, + 0.0 + ], + [ + -1284.859, + -461.994, + 98.592, + 0.0, + -52.76, + 0.0 + ], + [ + -1208.695, + -562.192, + 98.592, + 0.0, + -52.76, + 0.0 + ], + [ + -1132.531, + -662.389, + 98.592, + 0.0, + -52.76, + 0.0 + ], + [ + -1056.366, + -762.586, + 98.592, + 0.0, + -52.76, + 0.0 + ], + [ + -980.202, + -862.784, + 98.592, + 0.0, + -52.76, + 0.0 + ], + [ + -980.202, + -862.784, + 98.592, + 0.0, + -52.76, + 0.0 + ], + [ + -980.202, + -862.784, + 98.592, + 0.0, + -52.76, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -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 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001840_y-000471_z000108_t1_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-001840_y-000471_z000108_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f67605e61433d304f5089a2119ebdd3b388c986 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001840_y-000471_z000108_t1_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-001840_y-000471_z000108_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..41d7993eea8af39eec9a461f98c89c41afaad21f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e8bcacac546d4f638290db9faed1c01b909addb --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t0_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..44aaf6de2039f0151b9a94f7da006aeba50e37f4 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t5_a_p/infos.json b/dataset/trajectory/Brass_Streets/task_x-001855_y000030_z000106_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85c36a24ea751236dea2b68d8d1706558e9fae2e --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..31e7895f6b252c9acb400ef00ff26144d8ab347a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d42231fdd4a5c08a75cc712ac4b5480d0e75947 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_c/infos.json b/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7c9ee25952015400c2689fa1a964ce5d31216d69 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t3_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9bac474265eec1636309e059f68bfe26200aa852 --- /dev/null +++ b/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 + ], + [ + -2096.186, + 3665.471, + 98.25, + 0.0, + 100.8, + -0.0 + ], + [ + -2096.186, + 3665.471, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -2065.312, + 3787.484, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -2034.437, + 3909.498, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -2003.563, + 4031.511, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -1972.689, + 4153.524, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -1941.815, + 4275.538, + 98.577, + 0.0, + 75.8, + -0.0 + ], + [ + -1910.941, + 4397.551, + 98.577, + 0.0, + 75.8, + -0.0 + ], + [ + -1910.941, + 4397.551, + 98.577, + 0.0, + 75.8, + -0.0 + ], + [ + -1933.607, + 4307.975, + 98.577, + 0.0, + 75.8, + -0.0 + ], + [ + -1956.274, + 4218.398, + 98.577, + 0.0, + 75.8, + -0.0 + ], + [ + -1978.94, + 4128.821, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -1978.94, + 4128.821, + 98.25, + 0.0, + 100.8, + -0.0 + ], + [ + -1978.94, + 4128.821, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -1978.94, + 4128.821, + 98.25, + 0.0, + 150.8, + -0.0 + ], + [ + -1978.94, + 4128.821, + 98.25, + 0.0, + 175.8, + -0.0 + ], + [ + -2104.461, + 4138.039, + 98.25, + 0.0, + 175.8, + -0.0 + ], + [ + -2229.982, + 4147.256, + 98.25, + 0.0, + 175.8, + -0.0 + ], + [ + -2355.503, + 4156.474, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t3_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c69c4788630abd9e030328055762749f5f9be80 --- /dev/null +++ b/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, + 3643.921, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2219.846, + 3746.0, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2293.469, + 3848.08, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2367.091, + 3950.16, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2440.713, + 4052.239, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2514.335, + 4154.319, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2587.957, + 4256.399, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2661.58, + 4358.479, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2734.19, + 4450.883, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2734.19, + 4450.883, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2680.14, + 4375.94, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2680.14, + 4375.94, + 98.25, + 0.0, + 100.8, + -0.0 + ], + [ + -2680.14, + 4375.94, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -2680.14, + 4375.94, + 98.25, + 0.0, + 50.8, + -0.0 + ], + [ + -2680.14, + 4375.94, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t5_a_p/infos.json b/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85ffb1348f4a25a93f2e7b98f3bc770cdfaa3a5c --- /dev/null +++ b/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, + 4418.283, + 33.65, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2072.602, + 3541.841, + 98.25, + 0, + 95.04, + 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, + 70.04, + -0.0 + ], + [ + -1922.861, + 4265.781, + 98.649, + 0.0, + 70.04, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1922.105, + 4418.283, + 33.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1922.105, + 4418.283, + 33.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1922.105, + 4418.283, + 33.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1922.105, + 4418.283, + 33.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1922.105, + 4418.283, + 33.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1922.105, + 4418.283, + 33.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1922.105, + 4418.283, + 33.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1922.105, + 4418.283, + 33.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1943.14, + 4272.497, + 68.756, + -28.202, + 120.185, + 1.862 + ], + [ + -1943.14, + 4272.497, + 68.756, + -28.202, + 120.185, + 1.862 + ] + ], + "PD_Dist_2D": [ + 889.3, + 768.2, + 649.1, + 649.1, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t5_a_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x-002073_y003542_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..885316a76599c0153b24b1b4d57bca1dd219917f --- /dev/null +++ b/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": [ + [ + -2072.602, + 3541.841, + 98.25, + 0, + 100.8, + 0 + ], + [ + -2096.186, + 3665.471, + 98.25, + 0.0, + 100.8, + -0.0 + ], + [ + -2119.769, + 3789.1, + 98.25, + 0.0, + 100.8, + -0.0 + ], + [ + -2119.769, + 3789.1, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -2088.895, + 3911.114, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -2058.021, + 4033.127, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -2058.021, + 4033.127, + 98.25, + 0.0, + 75.8, + -0.0 + ], + [ + -2058.021, + 4033.127, + 98.25, + 0.0, + 100.8, + -0.0 + ], + [ + -2058.021, + 4033.127, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2058.021, + 4033.127, + 98.25, + 0.0, + 150.8, + -0.0 + ], + [ + -2167.886, + 4094.529, + 98.25, + 0.0, + 150.8, + -0.0 + ], + [ + -2277.751, + 4155.93, + 98.25, + 0.0, + 150.8, + -0.0 + ], + [ + -2387.616, + 4217.332, + 98.25, + 0.0, + 150.8, + -0.0 + ], + [ + -2387.616, + 4217.332, + 98.25, + 0.0, + 175.8, + -0.0 + ], + [ + -2513.137, + 4226.55, + 98.25, + 0.0, + 175.8, + -0.0 + ], + [ + -2638.658, + 4235.767, + 98.25, + 0.0, + 175.8, + -0.0 + ], + [ + -2764.179, + 4244.985, + 98.25, + 0.0, + 175.8, + -0.0 + ], + [ + -2764.179, + 4244.985, + 98.25, + 0.0, + 150.8, + -0.0 + ], + [ + -2764.179, + 4244.985, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2837.802, + 4347.065, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2911.424, + 4449.144, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2975.428, + 4450.971, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2933.311, + 4392.574, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2933.311, + 4392.574, + 98.25, + 0.0, + 125.8, + -0.0 + ], + [ + -2933.311, + 4392.574, + 98.25, + 0.0, + 125.8, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1971.889, + 4165.949, + 20.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1971.889, + 4165.949, + 20.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1971.889, + 4165.949, + 20.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1971.889, + 4165.949, + 20.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1971.889, + 4165.949, + 20.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1971.889, + 4165.949, + 20.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2078.872, + 4037.774, + 68.356, + -28.202, + 125.945, + 1.862 + ], + [ + -2079.822, + 4028.34, + 68.629, + -28.189, + 150.957, + 1.872 + ], + [ + -2076.379, + 4020.076, + 67.962, + -28.215, + 175.927, + 1.849 + ], + [ + -2075.743, + 4012.625, + 68.016, + -14.092, + -166.856, + 6.87 + ], + [ + -2177.668, + 4075.532, + 68.582, + -28.198, + -159.055, + 1.865 + ], + [ + -2287.793, + 4137.076, + 68.045, + -28.191, + -159.041, + 1.871 + ], + [ + -2397.763, + 4198.547, + 67.764, + -28.214, + -159.07, + 1.852 + ], + [ + -2388.471, + 4194.833, + 68.989, + -28.191, + -134.05, + 1.872 + ], + [ + -2513.851, + 4205.197, + 68.764, + -28.206, + -134.063, + 1.863 + ], + [ + -2639.66, + 4214.427, + 68.256, + -28.203, + -134.06, + 1.855 + ], + [ + -2765.417, + 4223.664, + 67.815, + -28.201, + -134.053, + 1.862 + ], + [ + -2773.329, + 4226.933, + 68.967, + -28.203, + -159.059, + 1.863 + ], + [ + -2780.827, + 4233.308, + 67.802, + -28.195, + 175.948, + 1.865 + ], + [ + -2854.834, + 4334.179, + 68.107, + -28.208, + 175.936, + 1.854 + ], + [ + -2928.275, + 4436.015, + 68.535, + -28.217, + 175.932, + 1.848 + ], + [ + -2992.381, + 4437.967, + 68.398, + -28.198, + 175.945, + 1.863 + ], + [ + -2974.258, + 4449.349, + 68.25, + 0.0, + 55.8, + -0.0 + ], + [ + -2974.258, + 4449.349, + 68.25, + 0.0, + 55.8, + -0.0 + ], + [ + -2974.258, + 4449.349, + 68.25, + 0.0, + 55.8, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0bde8d845d4905a253f744dbe9344df47645e8ed --- /dev/null +++ b/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": [ + -2134.543, + 1260.224, + 298.648, + 0.0, + -131.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "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 + ], + [ + -2301.402, + 1071.757, + 298.65, + 0.0, + -106.52, + 0.0 + ], + [ + -2337.19, + 951.093, + 298.65, + 0.0, + -106.52, + 0.0 + ], + [ + -2372.978, + 830.429, + 298.65, + 0.0, + -106.52, + 0.0 + ], + [ + -2408.766, + 709.766, + 298.65, + 0.0, + -106.52, + 0.0 + ], + [ + -2444.554, + 589.102, + 298.25, + 0.0, + -106.52, + 0.0 + ], + [ + -2480.342, + 468.439, + 298.25, + 0.0, + -106.52, + 0.0 + ], + [ + -2516.13, + 347.775, + 298.25, + 0.0, + -106.52, + 0.0 + ], + [ + -2551.918, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t0_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c7c8e9ae6b4ba07c12983846c1ffbf8273c36bc2 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t5_a_p/infos.json b/dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24ffbe6ac17ea509fb98b1ff6cf28c8b2d98e658 --- /dev/null +++ b/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 + ], + [ + -2217.973, + 1165.99, + 298.65, + 0.0, + -131.52, + 0.0 + ], + [ + -2217.973, + 1165.99, + 298.65, + 0.0, + -106.52, + 0.0 + ], + [ + -2253.761, + 1045.327, + 298.65, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t5_b_p/infos.json b/dataset/trajectory/Brass_Streets/task_x-002135_y001260_z000299_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..54bf5cb4846a5f98e1c48e80085e990d1dd9f8e0 --- /dev/null +++ b/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, + 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, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002138_y-001220_z000099_t1_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-002138_y-001220_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7ed52432bda636d60fa4de5527702bc83d1462 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da3162291ea933fe2bed3dcc4cd2aa74756576ae --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c24cfb213caf4ad53408763944be99cd7bdcee97 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_c/infos.json b/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7f090e8266468ce1c24967ad38f23010dea015eb --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t3_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c4815223f158363d34868ef19d9ca345422e0a9d --- /dev/null +++ b/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, + 4320.498, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3045.354, + 4320.498, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3106.372, + 4210.419, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3167.389, + 4100.34, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3228.407, + 3990.262, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -3412.971, + 3856.168, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t3_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..101062a279c0118065d7969473b2784eea56af07 --- /dev/null +++ b/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, + 4320.498, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3045.354, + 4320.498, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3106.372, + 4210.419, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3167.389, + 4100.34, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3228.407, + 3990.262, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + -119.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -3289.425, + 3880.183, + 98.25, + 0.0, + 166.0, + -0.0 + ], + [ + -3411.545, + 3910.631, + 98.25, + 0.0, + 166.0, + -0.0 + ], + [ + -3533.666, + 3941.079, + 98.25, + 0.0, + 166.0, + -0.0 + ], + [ + -3655.786, + 3971.527, + 98.25, + 0.0, + 166.0, + -0.0 + ], + [ + -3777.907, + 4001.975, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t5_a_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x-002944_y004394_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b38f800017bd12bdaea83e0b967e97320bc212e --- /dev/null +++ b/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, + 3866.429, + 23.25, + 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 + ], + [ + -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 + ], + [ + -3350.82, + 4098.564, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3452.642, + 4024.586, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3452.642, + 4024.586, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3554.464, + 3950.608, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3656.287, + 3876.63, + 98.25, + 0.0, + -144.0, + 0.0 + ], + [ + -3656.287, + 3876.63, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -3779.833, + 3852.615, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -3903.38, + 3828.6, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -4026.926, + 3804.585, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -4150.473, + 3780.569, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -4274.02, + 3756.554, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -4397.566, + 3732.539, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -4521.113, + 3708.524, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -4644.659, + 3684.509, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -4768.206, + 3660.494, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -4891.753, + 3636.479, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -5015.299, + 3612.464, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -5138.846, + 3588.449, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -5068.169, + 3602.187, + 98.25, + 0.0, + -169.0, + 0.0 + ], + [ + -5068.169, + 3602.187, + 98.25, + 0.0, + -169.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3576.034, + 3866.429, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -3576.034, + 3866.429, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -3576.034, + 3866.429, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -3576.034, + 3866.429, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -3576.034, + 3866.429, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -3576.034, + 3866.429, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -3439.597, + 4007.669, + 68.356, + -28.202, + -93.855, + 1.862 + ], + [ + -3541.625, + 3933.535, + 67.869, + -28.195, + -93.852, + 1.862 + ], + [ + -3643.486, + 3859.539, + 67.813, + -28.209, + -93.862, + 1.855 + ], + [ + -3651.69, + 3856.913, + 68.938, + -28.198, + -118.85, + 1.868 + ], + [ + -3775.049, + 3831.788, + 68.575, + -28.196, + -118.853, + 1.865 + ], + [ + -3898.881, + 3807.717, + 68.037, + -28.193, + -118.844, + 1.869 + ], + [ + -4022.548, + 3783.69, + 67.763, + -28.219, + -118.874, + 1.85 + ], + [ + -4146.007, + 3759.683, + 67.979, + -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, + 20.2, + 21.4, + 21.4, + 21.3, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t3_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f64b99c5db2930f8900fe2064c0b26a942cf553c --- /dev/null +++ b/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, + 3727.756, + 98.25, + 0.0, + 157.44, + -0.0 + ], + [ + -4255.845, + 3727.756, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4381.59, + 3722.398, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4507.335, + 3717.04, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4633.08, + 3711.681, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4758.825, + 3706.323, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4884.57, + 3700.965, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -5010.315, + 3695.607, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -5136.059, + 3690.249, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -5136.059, + 3690.249, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -5136.059, + 3690.249, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -5136.059, + 3690.249, + 98.25, + 0.0, + 157.44, + -0.0 + ], + [ + -5136.059, + 3690.249, + 98.25, + 0.0, + 132.44, + -0.0 + ], + [ + -5136.059, + 3690.249, + 98.25, + 0.0, + 107.44, + -0.0 + ], + [ + -5136.059, + 3690.249, + 98.25, + 0.0, + 82.44, + -0.0 + ], + [ + -5119.501, + 3815.014, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t3_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28e49568e53643e015f4c57aeef0615da032443d --- /dev/null +++ b/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, + 3727.756, + 98.25, + 0.0, + 157.44, + -0.0 + ], + [ + -4372.073, + 3776.042, + 98.25, + 0.0, + 157.44, + -0.0 + ], + [ + -4488.301, + 3824.328, + 98.25, + 0.0, + 157.44, + -0.0 + ], + [ + -4604.529, + 3872.614, + 108.561, + 0.0, + 157.44, + -0.0 + ], + [ + -4720.757, + 3920.9, + 115.436, + 0.0, + 157.44, + -0.0 + ], + [ + -4720.757, + 3920.9, + 115.436, + 0.0, + 132.44, + -0.0 + ], + [ + -4805.689, + 4013.782, + 109.487, + 0.0, + 132.44, + -0.0 + ], + [ + -4890.621, + 4106.664, + 98.851, + 0.0, + 132.44, + -0.0 + ], + [ + -4975.553, + 4199.546, + 105.832, + 0.0, + 132.44, + -0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + 132.44, + -0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + 157.44, + -0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + 157.44, + -0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + 157.44, + -0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + -177.56, + 0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + -152.56, + 0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + -127.56, + 0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + -102.56, + 0.0 + ], + [ + -5060.485, + 4292.428, + 144.048, + 0.0, + -77.56, + 0.0 + ], + [ + -5033.373, + 4169.523, + 108.092, + 0.0, + -77.56, + 0.0 + ], + [ + -5006.261, + 4046.619, + 118.319, + 0.0, + -77.56, + 0.0 + ], + [ + -5006.261, + 4046.619, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t5_a_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x-004256_y003728_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..750764fa7bd2236721753b5a93f1d037c1acc3a4 --- /dev/null +++ b/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, + 98.25, + 0, + 157.44, + 0 + ], + [ + -4372.073, + 3776.042, + 98.25, + 0.0, + 157.44, + -0.0 + ], + [ + -4372.073, + 3776.042, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4497.818, + 3770.684, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4623.563, + 3765.326, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4749.308, + 3759.967, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -4875.053, + 3754.609, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -5000.798, + 3749.251, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -5000.798, + 3749.251, + 98.25, + 0.0, + -177.56, + 0.0 + ], + [ + -5000.798, + 3749.251, + 98.25, + 0.0, + 157.44, + -0.0 + ], + [ + -5000.798, + 3749.251, + 98.25, + 0.0, + 132.44, + -0.0 + ], + [ + -5000.798, + 3749.251, + 98.25, + 0.0, + 107.44, + -0.0 + ], + [ + -5038.519, + 3869.324, + 110.25, + 0.0, + 107.44, + -0.0 + ], + [ + -5076.239, + 3989.398, + 132.14, + 0.0, + 107.44, + -0.0 + ], + [ + -5113.96, + 4109.471, + 135.697, + 0.0, + 107.44, + -0.0 + ], + [ + -5151.681, + 4229.545, + 119.632, + 0.0, + 107.44, + -0.0 + ], + [ + -5175.656, + 4349.151, + 168.718, + 0.0, + 107.44, + -0.0 + ], + [ + -5175.656, + 4349.151, + 168.718, + 0.0, + 132.44, + -0.0 + ], + [ + -5175.656, + 4349.151, + 168.718, + 0.0, + 132.44, + -0.0 + ], + [ + -5127.069, + 4296.016, + 147.044, + 0.0, + 132.44, + -0.0 + ], + [ + -5127.069, + 4296.016, + 147.044, + 0.0, + 132.44, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -5109.608, + 3765.927, + 53.25, + 0.0, + 0.0, + 0.0 + ], + [ + -5109.608, + 3765.927, + 53.25, + 0.0, + 0.0, + 0.0 + ], + [ + -5109.608, + 3765.927, + 53.25, + 0.0, + 0.0, + 0.0 + ], + [ + -5109.608, + 3765.927, + 53.25, + 0.0, + 0.0, + 0.0 + ], + [ + -5109.608, + 3765.927, + 53.25, + 0.0, + 0.0, + 0.0 + ], + [ + -5109.608, + 3765.927, + 53.25, + 0.0, + 0.0, + 0.0 + ], + [ + -5109.608, + 3765.927, + 53.25, + 0.0, + 0.0, + 0.0 + ], + [ + -5109.608, + 3765.927, + 53.25, + 0.0, + 0.0, + 0.0 + ], + [ + -4999.279, + 3727.942, + 68.356, + -28.202, + -127.415, + 1.862 + ], + [ + -5008.057, + 3730.174, + 68.629, + -28.189, + -152.403, + 1.872 + ], + [ + -5015.791, + 3735.753, + 67.962, + -28.215, + -177.433, + 1.849 + ], + [ + -5028.156, + 3746.345, + 68.143, + -14.175, + 149.632, + 6.959 + ], + [ + -5058.673, + 3862.229, + 77.836, + -28.198, + 157.585, + 1.865 + ], + [ + -5096.486, + 3982.584, + 100.131, + -28.191, + 157.599, + 1.871 + ], + [ + -5134.235, + 4102.78, + 102.191, + -28.214, + 157.57, + 1.852 + ], + [ + -5171.935, + 4222.766, + 80.586, + -28.203, + 157.581, + 1.856 + ], + [ + -5195.825, + 4342.082, + 132.178, + -28.189, + 157.598, + 1.869 + ], + [ + -5191.734, + 4333.983, + 131.892, + -28.197, + -177.414, + 1.863 + ], + [ + -5191.696, + 4333.535, + 132.483, + -28.195, + -177.411, + 1.87 + ], + [ + -5174.306, + 4347.675, + 137.044, + 0.0, + 132.44, + -0.0 + ], + [ + -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, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b06886a1d3a9867397ddf68223e42a960f464026 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_b/infos.json b/dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7697fa995c15dade18e8759d13f848c112bb7ffd --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_c/infos.json b/dataset/trajectory/Brass_Streets/task_x-004334_y003370_z000098_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4fe6ee4908ef538b131287073c2d0dfe9595293d --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004424_y002541_z000299_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-004424_y002541_z000299_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6c89791facf813abd49c1760e20eea4a270c69f8 --- /dev/null +++ b/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, + 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 + ], + [ + -5786.092, + 2445.678, + 298.65, + 0.0, + -155.48, + 0.0 + ], + [ + -5900.601, + 2393.445, + 298.65, + 0.0, + -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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004424_y002541_z000299_t5_a_p/infos.json b/dataset/trajectory/Brass_Streets/task_x-004424_y002541_z000299_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1738169a11ca49d1f558662ae2c01f5fef76467 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x-004848_y002445_z000299_t1_a/infos.json b/dataset/trajectory/Brass_Streets/task_x-004848_y002445_z000299_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0c30b7b127abb15b0771d6434bbc877308eebbaa --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..70660d3582e869e78c1db030047794e8bc1c85e7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t0_b/infos.json b/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b0c87100ce129acf4058a832dd78a2e390d3c622 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t5_a_p/infos.json b/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..04fe1a979d46a18a1a291b89e37507f1957c2b1c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t5_b_p/infos.json b/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2396bd513a9877df7e2f2ed78a3b04237199c0b3 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x000024_y000201_z000099_t5_b_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the tomato at the base of the tall pale pillar.", + "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": [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "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 + ], + [ + 147.198, + 174.168, + 98.392, + 0.0, + 12.52, + -0.0 + ], + [ + 270.064, + 201.452, + 98.649, + 0.0, + 12.52, + -0.0 + ], + [ + 392.93, + 228.736, + 98.299, + 0.0, + 12.52, + -0.0 + ], + [ + 515.797, + 256.019, + 98.299, + 0.0, + 12.52, + -0.0 + ], + [ + 638.663, + 283.303, + 98.299, + 0.0, + 12.52, + -0.0 + ], + [ + 761.529, + 310.587, + 98.299, + 0.0, + 12.52, + -0.0 + ], + [ + 761.529, + 310.587, + 98.299, + 0.0, + 37.52, + -0.0 + ], + [ + 861.353, + 387.24, + 98.299, + 0.0, + 37.52, + -0.0 + ], + [ + 961.177, + 463.893, + 98.299, + 0.0, + 37.52, + -0.0 + ], + [ + 961.177, + 463.893, + 98.299, + 0.0, + 37.52, + -0.0 + ], + [ + 961.177, + 463.893, + 98.299, + 0.0, + 37.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 1108.148, + 561.967, + 33.869, + -42.307, + 102.115, + 86.545 + ], + [ + 947.687, + 480.458, + 68.356, + -28.202, + 87.665, + 1.862 + ], + [ + 947.687, + 480.458, + 68.356, + -28.202, + 87.665, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1142.2, + 1036.2, + 1036.2, + 912.3, + 789.0, + 666.7, + 546.0, + 428.2, + 428.2, + 302.4, + 176.7, + 21.4, + 21.4 + ], + "Rationale": [ + "A small red object sits on the sand at the foot of the tall pale pillar far to my right, matching the tomato I need. It is a long way off across the open sand, so I will walk straight ahead first to cut down that distance before refining my heading.", + "The red tomato is still pushed far to the right edge of my view, close to the pale pillar, while my body faces the arched facade ahead. Turning right should swing that pillar and the tomato toward the middle of my view so I can approach in a straight line.", + "The turn has brought the pale pillar and the small red tomato at its base into the middle-right of my view. The sand ahead is open and level, so I will step forward along this heading to close in on the pillar.", + "The tomato at the pillar's base looks slightly larger and remains held near the center-right of my view, confirming my heading is good. Nothing blocks the sand in between, so I keep walking forward toward it.", + "The pillar base and the red tomato beside it are noticeably nearer, and my heading still points at them. I am well outside reach, so another forward step is the simplest way to keep closing the gap.", + "The tomato now sits clearly on the sand against the pale column's foot, roughly ahead of me and to the right of center. It remains beyond arm's length, so I continue advancing rather than reaching yet.", + "The tomato is now large and distinct where the sand meets the pale pillar's base, but still a few paces away. I will step forward again to bring it within reach before attempting anything with my hands.", + "From this close range the tomato has drifted off to the right of my view against the pillar's foot, so walking straight would carry me past it. A right turn should bring it back to the center of my heading before I close the last stretch.", + "The tomato now sits just left of center at the foot of the tall pale pillar, with open sand between us. Nothing blocks the straight line, so I will step forward to close the remaining gap toward grasping range.", + "The tomato has grown noticeably larger and is resting against the pillar's carved base slightly left of my heading. It still looks a stride too far for a reliable grab, so I will advance once more to bring it within reach.", + "The tomato now fills the lower part of my view, pressed against the pillar's base right in front of me, and my hands are empty. This is close enough to reach down and take it, so I will attempt the grasp now.", + "The tomato is now held in my hand instead of resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_a/infos.json b/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1fd172d59ffb3e14815d53efd296fc86ea934e51 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the ornate golden pedestal with the hanging lantern.", + "Type": 0, + "Start_Pose": [ + 2029.388, + 3579.671, + -301.75, + 0.0, + -81.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2029.388, + 3579.671, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2047.774, + 3455.162, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2066.16, + 3330.653, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2084.546, + 3206.144, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2084.546, + 3206.144, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2153.829, + 3101.071, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2223.111, + 2995.998, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2292.394, + 2890.925, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2361.677, + 2785.852, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2430.96, + 2680.779, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2500.243, + 2575.706, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2566.555, + 2503.252, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2566.555, + 2503.252, + -301.75, + 0.0, + -56.6, + 0.0 + ] + ], + "Rationale": [ + "I can see the ornate golden pedestal with its hanging lantern standing ahead of me against the red banner, a bit right of center in my view. The sandy floor between us looks open, so I will step forward to begin closing the distance to it.", + "The pedestal and its lantern now appear slightly larger, confirming my heading points roughly at the target. Nothing blocks the sand ahead, so I will keep advancing.", + "The stone wall on my left has slid back and the pedestal on the teal base is clearly framed by the arched alcove ahead. I am still several steps away, so I will continue forward to close the gap.", + "The pedestal now sits noticeably right of the center of my view, with steps and a column crowding the left side. I will turn right to bring the pedestal and its lantern onto my straight-ahead line before continuing.", + "After the turn the pedestal with the hanging lantern is centered in front of me and the sand between us is clear. I will walk straight forward to reduce the remaining distance.", + "The pedestal fills more of my view and its teal base is now plainly visible, so my heading is still good. I will take another step forward toward it.", + "The lantern has risen toward the top of my view as I get closer, which tells me I am nearing the pedestal but not yet beside it. I will keep moving forward to shorten the last stretch.", + "The ornate pedestal now dominates the center of my view with its base only a short distance ahead on the sand. I will advance again to stand right at the pedestal.", + "The golden filigree pedestal now fills the middle of my view with its teal base plate clearly visible on the sand ahead, and my heading is centered on it. A short gap of open floor still separates me from it, so I will step forward again to close that remaining distance.", + "The pedestal's carved panels and its teal stepped base dominate my view, confirming I am nearly at it and still aimed straight on. Since a little floor remains between my feet and the base, I will advance once more to stand right beside it.", + "Only the pedestal's gilded leaf scrollwork and the top edge of its teal base are still in front of me, so I am within a step of contact. I will take one last short step forward to settle directly at the pedestal.", + "The pedestal's gilded scrollwork fills my view at arm's length, placing me directly at it. The task is complete, so any further forward motion is unnecessary." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_b/infos.json b/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2edba9950847448620497f35d77ba779ed15700a --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Head toward the red banner hanging on the far wall.", + "Type": 0, + "Start_Pose": [ + 2029.388, + 3579.671, + -301.75, + 0.0, + -81.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2029.388, + 3579.671, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2047.774, + 3455.162, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2066.16, + 3330.653, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2084.546, + 3206.144, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2102.931, + 3081.636, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2121.317, + 2957.127, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2139.703, + 2832.618, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2158.089, + 2708.109, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2176.475, + 2583.6, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2194.861, + 2459.091, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2194.861, + 2459.091, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2264.144, + 2354.018, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2333.427, + 2248.945, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2402.71, + 2143.872, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2471.993, + 2038.799, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2541.276, + 1933.726, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2610.559, + 1828.653, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2610.559, + 1828.653, + -301.75, + 0.0, + -31.6, + 0.0 + ], + [ + 2717.756, + 1762.704, + -301.75, + 0.0, + -31.6, + 0.0 + ], + [ + 2824.954, + 1696.756, + -301.75, + 0.0, + -31.6, + 0.0 + ], + [ + 2824.954, + 1696.756, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2894.236, + 1591.683, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2894.236, + 1591.683, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2894.236, + 1591.683, + -301.75, + 0.0, + -81.6, + 0.0 + ] + ], + "Rationale": [ + "I can already pick out the red banner with its gold emblem hanging on the far wall ahead, slightly right of center and partly blocked by the stone pillar at my left. My heading points down the open sandy floor toward that wall, so no turn is needed yet. I will step forward to begin closing the gap.", + "The banner has grown slightly and stays near the upper center of my view, confirming my heading is aimed at it. The floor ahead remains clear sand with the ornate lantern stand off to the right of my line of travel. I will continue advancing straight.", + "The arched far wall and its red banner now fill more of my view, and a flight of steps has come into sight along the left side without crossing my route. Since my heading still points at the banner, another straight step is the most direct way to close distance.", + "The banner's gold star medallion is clearly resolved now, so I am still well aligned on the target. The tall ornate stand sits to my right and the stairs to my left, leaving a wide sandy corridor straight ahead. I will keep moving forward.", + "The banner keeps growing in my view while its position holds slightly right of center, which tells me the approach is working. There is still plenty of open sand between me and that wall. I will advance again to reduce the remaining distance.", + "The red cloth now hangs high in my view with its fringed lower edge and emblem plainly readable, so I am getting close to the far wall. The ornate stand has slid to the right edge and no longer sits in my path. Another forward step should bring me nearer without any need to reorient.", + "The far wall now dominates my view and the banner hangs just right of center, well within reach of a few more steps. Nothing blocks the sandy floor ahead, so continuing straight keeps closing the gap. I will step forward again.", + "I am close enough that the banner's tattered red fabric and gold ring read in detail against the pale wall directly in front of me. The ornate stand is now behind the right edge of my view, leaving my path clear. I will take another step to bring myself right up to the wall.", + "The red banner with the gold star medallion now hangs large on the wall ahead and slightly to my right, and the open sand floor in front of me is clear of obstacles. I will step forward again to keep closing the remaining distance to that far wall.", + "The banner has drifted toward the right edge of my view, so walking straight ahead would carry me past it along the wall instead of toward it. I will turn right to bring the banner back toward the center of my heading before continuing.", + "After the turn the banner sits much nearer the middle of my view, with the pale column and the ornamented screen off to my right and clear sand between me and the wall. I will walk forward along this corrected heading to shorten the gap.", + "The banner and its gold emblem look noticeably larger than a moment ago, confirming my heading is taking me straight at it. Nothing blocks the floor ahead, so I will keep advancing.", + "The wall panels and the fringed lower edge of the banner are resolving in more detail as the distance shrinks, and the column on my right stays clear of my path. Another forward step should continue reducing the remaining distance.", + "The banner now occupies a large part of my view slightly left of center, so I am well aligned with it and still a few paces short. I will step forward again toward the wall it hangs on.", + "The base of the wall and the stone plinth beneath the banner are close enough to read clearly, indicating I am nearly at the far wall. I will advance once more to finish closing on the banner.", + "The banner's red cloth and gold star now loom directly above me at close range, with only a short strip of sand left before the wall. I will take one more step forward to stand right at the banner.", + "The red banner now looms large above me, but the wall panel just left of it is almost against my face, so I cannot keep pushing straight ahead. Open sand lies to my right along the base of this wall, so I will turn right to take that clear line and keep closing on the banner's wall.", + "With my heading shifted, the sand ahead is unobstructed and the banner's fringed lower edge hangs just to my left. I will step forward along this stretch to reach the corner region where the banner wall meets the pillar.", + "The banner's yellow fringe is now at the left edge of my view and the wall corner is only a couple of steps off. I will advance once more to stand right beside the wall that carries the banner.", + "Moving along the wall has pushed the banner out to the far left, leaving mostly bare masonry and the corner in front of me. I will turn left to bring the red banner back into the middle of my view before making my final step toward it.", + "The red and yellow banner is back in view ahead of me, hanging above a narrow pilaster with clear sand at its base. I will take one more step forward to stand directly beneath it.", + "I am now right up against the wall, and the banner's red and yellow cloth sits at the left side of my view while bare plaster fills the rest. I will turn left to square up on the banner so it is centered in front of me.", + "The red banner hangs directly in front of me, filling my view at arm's reach on this wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_c/infos.json b/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be714b92ca2c70affa9acb5bde733b18f9d2c6df --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t0_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Move to the base of the white stone column.", + "Type": 0, + "Start_Pose": [ + 2029.388, + 3579.671, + -301.75, + 0.0, + -81.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2029.388, + 3579.671, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2047.774, + 3455.162, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2066.16, + 3330.653, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2084.546, + 3206.144, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2084.546, + 3206.144, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2153.829, + 3101.071, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2223.111, + 2995.998, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2223.111, + 2995.998, + -301.75, + 0.0, + -31.6, + 0.0 + ], + [ + 2330.309, + 2930.05, + -301.75, + 0.0, + -31.6, + 0.0 + ], + [ + 2437.506, + 2864.101, + -301.75, + 0.0, + -31.6, + 0.0 + ], + [ + 2544.704, + 2798.153, + -301.75, + 0.0, + -31.6, + 0.0 + ], + [ + 2651.901, + 2732.205, + -301.75, + 0.0, + -31.6, + 0.0 + ], + [ + 2651.901, + 2732.205, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2721.184, + 2627.132, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2790.467, + 2522.059, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2859.75, + 2416.985, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2929.033, + 2311.912, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2998.316, + 2206.839, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 3067.599, + 2101.766, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 3136.882, + 1996.693, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 3136.882, + 1996.693, + -301.75, + 0.0, + -56.6, + 0.0 + ] + ], + "Rationale": [ + "The pale stone wall on my left blocks most of the hall, but past the ornate lantern pillar I can see slender white columns standing under the arched opening on the right. I will step forward along the sandy floor to clear the wall edge and get a better look at those columns and their bases.", + "Advancing has widened the hall ahead and the white columns with the round rosette medallion remain on the right side of my view. Another step forward should keep closing distance on that colonnade before I commit to a heading toward one column base.", + "The stairs and recessed doorway on my left are now clearly separate from my path, and the white columns stay off to the right beyond the ornate lantern pillar. I will keep moving forward on this heading to gain ground into the open hall.", + "My current heading points at the blank wall and the steps rather than at the white colonnade, which sits well to my right beyond the lantern pillar. I will turn right to swing that arched bay with its white columns toward the center of my view.", + "After turning, the arched bay with the pale columns and the round medallion now sits ahead and slightly right of center. With open sand between me and them, I will step forward to close distance on the colonnade.", + "The white columns and their fluted shafts have grown larger, confirming I am closing on them along this heading. I will advance again to bring their bases within a few steps.", + "The ornate lantern pillar is now nearly straight ahead of me while the white columns and the arched bay have drifted to the right edge of my view. I will turn right to point away from the pillar and center the pale colonnade for a clean straight approach.", + "With the turn done, the arched bay and its white columns sit ahead in the open, and the lantern pillar is now off to my left. I will step forward across the sand to reduce the remaining gap to the column bases.", + "The pale stone columns stand ahead of me under the arcade, just right of center past the gilded shrine on my left. The sandy floor between us looks clear, so I will step forward to keep closing on them.", + "The nearer white column now fills much more of my view and its carved base sits low ahead of me, so I am still short of standing at it. I will advance again to shrink the remaining gap.", + "Both column bases are now plainly visible on the sand, the thick one just right of my heading and a slimmer one further left. I still have open ground in front of me, so another step forward should bring me into the column bay.", + "The heavy column directly ahead of me now crowds my path, while the slender white column I want to reach stands off to my left near the hanging red banner. I will turn left to bring that column's base toward the center of my view and open a straight walking line to it.", + "After the turn, the slender white column and its base sit near the middle of my view with the banner on the wall behind it. The sand between us is clear, so I will move forward along this heading.", + "The white column stands squarely ahead with its base resting on the sand, and it is still several paces off. I will keep walking straight to reduce that distance.", + "The column's fluted base is now noticeably larger and centered slightly left of straight ahead, but I am not yet standing beside it. Another forward step should bring me closer to its foot.", + "The column base with its patterned collar now dominates the center of my view against the corner wall, so only a short gap remains. I will step forward again to close in on the base.", + "The white stone column stands just ahead with its carved, flaring base already resting in the sand near the center of my view, and the floor between us is open. I will step forward again to keep closing the remaining gap toward that base.", + "The base of the column now fills much of the lower part of my view and its carved rings are clearly resolved, so I am close but not yet standing at it. Another forward step should bring me right up against the base.", + "The column base and its lower molding now dominate my view at close range, with only a small patch of sand left in front of it. I will take one more short step forward to finish placing myself at the base.", + "The white column's carved base is directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t5_a_p/infos.json b/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4eb2cd35e436a2bb914673f012c437e616bb9ead --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002029_y003580_z-000302_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Lift the green bell pepper at the ornate golden pedestal with the hanging lantern.", + "Type": 5, + "Start_Pose": [ + 2029.388, + 3579.671, + -301.75, + 0, + -81.6, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2445.053, + 2475.17, + -356.75, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2029.388, + 3579.671, + -301.75, + 0, + -81.6, + 0 + ], + [ + 2047.774, + 3455.162, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2066.16, + 3330.653, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2084.546, + 3206.144, + -301.75, + 0.0, + -81.6, + 0.0 + ], + [ + 2084.546, + 3206.144, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2153.829, + 3101.071, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2223.111, + 2995.998, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2292.394, + 2890.925, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2361.677, + 2785.852, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2430.96, + 2680.779, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2430.96, + 2680.779, + -301.75, + 0.0, + -56.6, + 0.0 + ], + [ + 2430.96, + 2680.779, + -301.75, + 0.0, + -56.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2445.053, + 2475.17, + -356.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2448.452, + 2693.043, + -331.644, + -28.202, + -6.456, + 1.862 + ], + [ + 2448.452, + 2693.043, + -331.644, + -28.202, + -6.456, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1180.1, + 1057.5, + 935.6, + 815.0, + 815.0, + 690.3, + 566.1, + 442.9, + 321.7, + 206.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The ornate golden pedestal with the hanging lantern stands across the sandy courtyard ahead, though a stone wall crowds my left side. The green bell pepper should be resting at its base, too far off to make out clearly. I will walk forward to close the gap and open up the view.", + "A small green shape is now discernible on the ground at the foot of the lantern pedestal, matching the bell pepper I was sent for. It remains well beyond reach across the sand. I will keep walking straight toward the pedestal.", + "The pedestal and its hanging lantern have grown larger, and the green pepper sits at its base slightly left of the column. Nothing blocks the sandy stretch between us. Another step forward should bring me meaningfully nearer.", + "The lantern pedestal and the pepper beside it now sit off to the right of my heading, while the stairs and stonework fill the left of my view. Continuing straight would carry me past them. I will turn right to put the pedestal squarely ahead before advancing further.", + "The pedestal with the hanging lantern now sits near the middle of my view and the green pepper rests at its base. My heading points cleanly at it across open sand. I will walk forward along this line.", + "The pepper is clearly resolved as a green bell pepper on the tiled plinth edge, still several strides away. My alignment holds with the pedestal just ahead. I will step forward again to shorten the distance.", + "The pepper and the teal plinth beneath the ornate column now fill a good part of the lower view, but the pepper is still out of arm's reach. Nothing obstructs the last stretch of sand. I will advance again before attempting a grasp.", + "The green bell pepper sits close in front and slightly left, with the pedestal towering directly beside it. I am not yet near enough for a reliable pick. One more step forward should place it within reach.", + "The green bell pepper sits at the base of the ornate golden pedestal, close now but still slightly off to my left and a stride away. One more step forward should close the last of that gap and bring the pepper within grasping range.", + "I am now standing right at the ornate golden pedestal, with the green bell pepper large in the near foreground at my left, well inside reach. I will attempt the grasp now, which should lift the pepper into my hands.", + "The green bell pepper is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002077_y003301_z-000302_t1_a/infos.json b/dataset/trajectory/Brass_Streets/task_x002077_y003301_z-000302_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..98d22dc5e144852e98c20d9d66233344ec490fe3 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002077_y003301_z-000302_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Discover the base of the golden ornate openwork pillar standing on the sandy floor, then approach it.", + "Type": 1, + "Start_Pose": [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 77.76, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 77.76, + -0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 52.76, + -0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 27.76, + -0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 2.76, + -0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + -22.24, + 0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2162.882, + 3208.646, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2248.332, + 3116.24, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2333.781, + 3023.833, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2419.23, + 2931.427, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2419.23, + 2931.427, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2457.621, + 2811.566, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2496.012, + 2691.705, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2534.403, + 2571.845, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2534.403, + 2571.845, + -301.75, + 0.0, + -72.24, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see plastered walls, a shuttered window and the sandy floor ahead, with no sign of a golden openwork pillar. I will turn left to sweep my view across the unseen part of this sandy courtyard, hoping the target comes into sight.", + "The new heading still shows only a blank wall face and rippled sand, so nothing golden has appeared yet. I will keep rotating left to continue scanning the courtyard for the ornate pillar.", + "I am facing a corner of masonry with shadow patterns and sand, which offers no candidate for the golden pillar. Turning left again should carry my view past this wall toward the more open part of the courtyard.", + "At the very left edge of my view a slim column and a round medallion have just come into sight, suggesting an arcaded area rather than more blank wall. I will turn left once more to bring that promising region fully into view.", + "The golden ornate openwork pillar is now visible at the far left, standing on a turquoise base on the sand near the arches. I will turn left once more so it sits nearer the center of my view before I commit to walking toward it.", + "The golden openwork pillar with its turquoise base is now clearly in my view, slightly left of center, with open sand between us. Search is done, so I will walk forward to close that distance.", + "The pillar has grown larger in my view and its turquoise plinth is plainly visible on the sand, so my heading is carrying me toward it. I will keep walking forward to reduce the remaining gap.", + "The gilded pillar continues to fill more of my view and the path across the sand ahead stays clear of the columns on my right. I will step forward again to get close enough for the approach to count.", + "The golden openwork pillar and its turquoise base are clearly visible ahead on the sandy floor, sitting slightly left of my heading with open sand between us. Since the target is already identified, I will keep walking straight to close the remaining distance.", + "The pillar now stands well to the left edge of my view while my heading points toward the arcade columns instead. I will turn left to bring the pillar and its base back to the center of my path before continuing.", + "The pillar is now centered in my view with its turquoise base plainly resting on the sand. With alignment good, I will step forward to commit to the approach and shorten the gap.", + "The pillar now fills much of the frame and its tiled base sits squarely ahead of me, so my heading still leads straight to it. I will continue walking forward to get within close inspection range of the base.", + "The base tiles and the lower scrollwork of the pillar are large and detailed right in front of me, showing I am only a short step away. I will advance once more to stand directly at the pillar's base.", + "The golden openwork pillar fills my view with its turquoise base right at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002077_y003301_z-000302_t1_b/infos.json b/dataset/trajectory/Brass_Streets/task_x002077_y003301_z-000302_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0eeacc2ffdc4a838e350c7dea749d75d5756fc19 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002077_y003301_z-000302_t1_b/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Once you locate the bottom edge of the long red banner hanging against the stone wall, navigate to reach it.", + "Type": 1, + "Start_Pose": [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 77.76, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 77.76, + -0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 52.76, + -0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 27.76, + -0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + 2.76, + -0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + -22.24, + 0.0 + ], + [ + 2077.433, + 3301.052, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2162.882, + 3208.646, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2248.332, + 3116.24, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2333.781, + 3023.833, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2419.23, + 2931.427, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2504.68, + 2839.021, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2590.129, + 2746.615, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2675.578, + 2654.209, + -301.75, + 0.0, + -47.24, + 0.0 + ], + [ + 2675.578, + 2654.209, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2713.969, + 2534.348, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2752.36, + 2414.487, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2790.751, + 2294.626, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2829.142, + 2174.765, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2867.533, + 2054.904, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2905.923, + 1935.043, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2905.923, + 1935.043, + -301.75, + 0.0, + -97.24, + 0.0 + ], + [ + 2890.062, + 1810.188, + -301.75, + 0.0, + -97.24, + 0.0 + ], + [ + 2874.2, + 1685.332, + -301.75, + 0.0, + -97.24, + 0.0 + ], + [ + 2858.339, + 1560.477, + -301.75, + 0.0, + -97.24, + 0.0 + ], + [ + 2858.339, + 1560.477, + -301.75, + 0.0, + -72.24, + 0.0 + ], + [ + 2858.339, + 1560.477, + -301.75, + 0.0, + -72.24, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a plain plastered facade with small lattice windows and wooden beams, with no red banner anywhere in view. I will turn left to sweep a new part of the courtyard and look for the hanging banner.", + "The rotation only brought more blank wall and a corner buttress into view, still with no sign of a red banner. I will keep turning left to continue scanning around this courtyard.", + "I am now facing a flat sunlit wall section with a shadowed pilaster and nothing that resembles hanging red cloth. Continuing the left sweep should bring the unseen part of the courtyard into view.", + "At the left edge of my view a slim column and a round medallion have just appeared, hinting that an arcade opens in that direction. I will turn left again to bring that architecture fully into view, since a hanging banner is more likely along such a colonnade.", + "A long red banner with a golden star emblem is now visible on the left against the arcade wall, which matches the target. I will turn left once more to place it closer to the center of my heading before advancing.", + "The red banner now hangs clearly ahead on the left side of the arcade, so the search is over and I can commit to closing distance. I will walk forward across the open sand toward that wall.", + "The banner and the ornate standing panel in front of it have grown larger, confirming that this heading closes distance on the target. I will keep walking forward toward the wall where the banner hangs.", + "The columns and the decorated screen are noticeably closer, and the red cloth remains visible behind them on the left. I will continue advancing, since the banner's lower end is still some distance away.", + "The tall ornate metal screen stands close on my left and a strip of the red banner shows behind its upper edge, so the hanging cloth is in this bay of the arcade. The sand ahead between the screen and the round pillars is clear, so I will keep walking forward to close distance and open up a view past the screen.", + "The screen has grown larger on my left, which confirms I am gaining ground toward the wall where the banner hangs. The floor in front of me is still unobstructed, so I will take another step forward along the same heading.", + "The screen now fills much of the left side and only a narrow gap of the banner wall shows past it, meaning I am nearly level with the panel. Continuing straight should carry me past it so the banner and its lower edge come into full view.", + "The long red banner with its gold star emblem is now clearly exposed to the left of the screen edge, hanging against the pale stone wall. I will step forward again to clear the panel completely and shorten the distance to that wall.", + "The banner is fully in sight but sits off toward the left side of my view, while my current heading points at the columns and the far wall. I will turn left to bring the hanging cloth toward the middle of my path before advancing further.", + "After the turn the red banner sits ahead of me between the screen edge and the slender column, so my heading is now committed to it. The sand floor between us looks open, so I will walk forward to close on the wall it hangs from.", + "The banner has grown larger and its ragged lower fringe is clearly visible above the sand, confirming I am closing on the target. I will keep stepping forward along this heading to reach the wall beneath it.", + "The banner now dominates the left of my view and its dripping bottom edge hangs just above the wall base a short way ahead. Nothing blocks the sandy stretch in front of me, so I will advance again to get right up under that lower edge.", + "The long red banner with the gold star is clearly hanging on the stone wall ahead of me and slightly to the left, and its frayed lower fringe is already well inside my view. Open sand lies between me and that wall with no obstruction on my line, so I will keep walking straight to close the remaining distance.", + "The banner now fills more of the upper left of my view and the ragged bottom edge is easier to read against the stone, confirming I am still closing on it. The floor directly ahead remains clear, so another forward step should bring me nearer the wall beneath it.", + "I am close enough now that the banner's gold emblem and dripping lower hem dominate the left side of my view, while the wall behind it is still some paces away. Continuing straight ahead is the most direct way to reach the ground beneath that hanging edge.", + "My forward walking has pushed the banner up and out toward the left edge of my view, so its hanging bottom is no longer in front of my heading. I will turn left to swing the banner back toward the center of my view before continuing to close in.", + "The banner is centered in my view again with its jagged red and gold lower edge hanging above the sand, so my heading now points at the target. I will step forward to reduce the last stretch of open floor between me and the wall it hangs on.", + "The torn lower fringe of the banner now hangs large and near across the top of my view and the wall's stone blocks are distinctly detailed. Another step forward should place me directly beneath that bottom edge.", + "I am nearly at the wall, with the banner's red cloth and yellow trim hanging just above me and the stone pilaster right in front. A final short step should bring me flush to the position under the banner's bottom edge.", + "I am now right up against the stone, so close that only blank wall and a pillar edge fill my view and the banner has slipped past the right side of my field of view. I will turn right to bring the banner's hanging bottom edge back into sight and confirm I am standing at it.", + "The banner's frayed red and yellow bottom edge hangs directly in front of me against the stone wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_a/infos.json b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a84f83354ad34f0f10e3fd2d6e960d68cbb4e59b --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the ornate golden pillar base, then approach the stone steps.", + "Type": 3, + "Start_Pose": [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2209.27, + 3420.24, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2267.658, + 3308.744, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2326.046, + 3197.248, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2384.433, + 3085.752, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2442.821, + 2974.256, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2501.209, + 2862.76, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2559.597, + 2751.264, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2559.597, + 2751.264, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2565.394, + 2625.539, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2565.394, + 2625.539, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2565.394, + 2625.539, + -301.75, + 0.0, + -112.36, + 0.0 + ], + [ + 2565.394, + 2625.539, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 2565.394, + 2625.539, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 2445.453, + 2587.399, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 2325.512, + 2549.259, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 2205.571, + 2511.12, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 2205.571, + 2511.12, + -301.75, + 0.0, + 172.64, + -0.0 + ], + [ + 2080.749, + 2527.243, + -301.75, + 0.0, + 172.64, + -0.0 + ], + [ + 1955.927, + 2543.366, + -301.75, + 0.0, + 172.64, + -0.0 + ], + [ + 1955.927, + 2543.366, + -301.75, + 0.0, + 172.64, + -0.0 + ] + ], + "Rationale": [ + "The ornate golden pillar on its turquoise base stands off to my right, partly screened by the pale column edge on that side of the hall. I will turn right to bring that gilded shaft into the middle of my view before walking. That should give me a straight sand-floored line toward it.", + "The gilded pillar and its turquoise base now sit near the middle of my view with open sand between us. Nothing blocks the floor ahead, so I will walk forward to begin closing the distance to it.", + "The ornate pillar has grown larger and its turquoise base plate is now clearly visible on the sand. My heading still points straight at it, so another step forward should keep shortening the gap.", + "The golden filigree on the pillar is resolving into detail and the red banner behind it is closer, yet I am still several paces short of its base. The floor between us remains clear sand, so I will keep walking straight ahead.", + "The pillar now rises taller than my view's midline and the rounded column base on my right is sliding past me, confirming steady progress. The gilded shaft stays just left of center, close enough to my heading that no turn is needed. I will step forward again.", + "The ornate pillar dominates my view and its turquoise base tiles are plainly readable a few paces off. Nothing stands between me and that base, so I will continue walking toward it.", + "I am close now, with the pillar's foliage scrollwork filling the left half of my view and the turquoise base low in front of me. I am not yet standing at that base, so I will take another step forward.", + "The turquoise tiles of the pillar's base sit just ahead and slightly left, close enough that I can pick out individual blocks. One more stride should bring me right up beside the ornate base rather than leaving me short of it.", + "The gilded pillar and its turquoise tiled base now sit off to my left, drifting toward the edge of my view as I close in. I will turn left to bring the base squarely in front of me so my remaining steps run straight at it.", + "The gilded pillar is centered ahead and its turquoise base is fully visible just beyond my feet, so my heading is right. I will step forward to close the last bit of distance and stand at the base itself.", + "The ornate golden pillar fills my whole view and its turquoise tiled base sits directly under me, close enough to touch. I have arrived at the pillar base. I mark reaching it and now turn my attention toward the stone steps.", + "The pillar face blocks nearly everything ahead, so I cannot pick out the stone steps from this heading. I will turn left to swing my view off the pillar and start scanning the hall on that side for the stairway.", + "The pillar has slid to my right and open sand with a plain wall is opening up, but the steps are still beyond the left edge of my view. I will turn left again to keep sweeping that side until the stairway comes into sight.", + "The broad stone staircase has come into view on my left, with a low round plinth beside it. I will turn left once more to bring the steps toward the middle of my view so I can walk straight at them.", + "The stone steps now sit centered ahead with the arched wall above them, and the sand between us is clear. I will walk forward toward the stairway to begin closing that distance.", + "The steps have grown larger and the individual treads are now distinct, so my forward line is carrying me straight to them. I will keep walking to bring myself right up to the foot of the stairway.", + "The broad stone staircase now fills the left and center of my view, with the rounded column plinth close on my right. There is still a stretch of open sand between me and the lowest step, so I will walk forward to keep closing that gap.", + "From here the steps are pushed toward my left while the pillar plinth crowds the right edge of my view. Turning left should swing the stair front into the middle of my view so my remaining approach runs straight at it.", + "The staircase is now centered ahead of me, its lowest tread running level across my view with only a band of sand in front of it. I will step forward to close the last of that distance.", + "The steps rise directly ahead and the bottom tread now spans the whole lower part of my view, with the sand nearly gone. One more stride forward should bring me right up against the stone.", + "The lowest stone tread lies immediately in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_b/infos.json b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..75b5677d76c03c11b862ba7316c4376e98bffad1 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_b/infos.json @@ -0,0 +1,406 @@ +{ + "Instruction": "Head toward the red hanging banner, then move to the stone steps.", + "Type": 3, + "Start_Pose": [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2156.679, + 3406.011, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2162.476, + 3280.285, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2168.273, + 3154.56, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2174.071, + 3028.834, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2179.868, + 2903.109, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2179.868, + 2903.109, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2238.255, + 2791.613, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2296.643, + 2680.117, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2355.031, + 2568.621, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2413.419, + 2457.125, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2471.807, + 2345.629, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2530.195, + 2234.133, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2588.582, + 2122.637, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2646.97, + 2011.141, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2705.358, + 1899.645, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2763.746, + 1788.149, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2822.134, + 1676.653, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2880.522, + 1565.157, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2880.522, + 1565.157, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2880.522, + 1565.157, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2880.522, + 1565.157, + -301.75, + 0.0, + -112.36, + 0.0 + ], + [ + 2880.522, + 1565.157, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 2880.522, + 1565.157, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 2880.522, + 1565.157, + -301.75, + 0.0, + 172.64, + -0.0 + ], + [ + 2880.522, + 1565.157, + -301.75, + 0.0, + 147.64, + -0.0 + ], + [ + 2774.208, + 1632.522, + -301.75, + 0.0, + 147.64, + -0.0 + ], + [ + 2667.895, + 1699.886, + -301.75, + 0.0, + 147.64, + -0.0 + ], + [ + 2561.582, + 1767.251, + -301.75, + 0.0, + 147.64, + -0.0 + ], + [ + 2561.582, + 1767.251, + -301.75, + 0.0, + 122.64, + -0.0 + ], + [ + 2493.698, + 1873.233, + -301.75, + 0.0, + 122.64, + -0.0 + ], + [ + 2425.815, + 1979.216, + -301.75, + 0.0, + 122.64, + -0.0 + ], + [ + 2357.932, + 2085.199, + -301.75, + 0.0, + 122.64, + -0.0 + ], + [ + 2290.049, + 2191.182, + -301.75, + 0.0, + 122.64, + -0.0 + ], + [ + 2290.049, + 2191.182, + -301.75, + 0.0, + 147.64, + -0.0 + ], + [ + 2183.736, + 2258.546, + -301.75, + 0.0, + 147.64, + -0.0 + ], + [ + 2077.422, + 2325.911, + -301.75, + 0.0, + 147.64, + -0.0 + ], + [ + 1971.109, + 2393.275, + -301.75, + 0.0, + 147.64, + -0.0 + ], + [ + 1971.109, + 2393.275, + -301.75, + 0.0, + 147.64, + -0.0 + ] + ], + "Rationale": [ + "The red hanging banner is visible ahead on the far wall, partly screened by the ornate lantern column standing on its green base. Open sand stretches between me and that wall, so I will walk straight ahead to close the distance.", + "The banner and the lantern column have grown slightly larger, confirming my heading is carrying me toward the red cloth. Nothing blocks the sand in front of me, so I will keep walking forward.", + "The stone stairway on my left and the ornate column on my right are both widening in view, so I am steadily gaining ground on the far wall. The red banner still hangs ahead of me, and I will continue advancing toward it.", + "The banner's yellow star medallion is now clearly readable, meaning I am much closer to the wall it hangs on. The path between the stairs and the lantern column remains open, so I will step forward again.", + "The ornate lantern column now fills the right of my view and the banner is close to my right side, so I am nearly level with it. I will take another step forward to draw alongside that wall.", + "The red banner has slid to the right edge of my view and my heading now points at the blank wall and the steps on my left instead. I will turn right to bring the banner back in front of me before continuing toward it.", + "The turn has re-centred the scene so the red banner and the lantern column now sit ahead of me with open sand between. I will walk forward to close on the banner.", + "The banner's star emblem and fringed hem are larger and the lantern column has swelled beside it, so my last step gained real ground. The way ahead is still clear sand, so I will keep advancing toward the hanging cloth.", + "The red hanging banner is still ahead on the wall, left of the tall openwork lantern case that now crowds the right side of my view. My path along the sand stays clear on that left side, so I keep walking forward to close the gap toward the banner.", + "The banner has grown noticeably and its gold emblem is now plainly readable, confirming my heading is right. The lantern case is sliding past my right shoulder rather than blocking me, so another step forward should bring me closer to the hanging cloth.", + "The banner hangs almost dead ahead now, with its fringed lower edge clearly in view above the sand. Nothing stands between me and that stretch of wall, so I continue advancing toward it.", + "The ornate case is behind me and only a pale column stands at my right, well clear of my line. The red banner is directly ahead and filling more of the wall, so I walk on to keep shrinking the distance.", + "The banner's star medallion is now large and detailed, and its tattered hem hangs well above the sand ahead of me. I am not yet close enough to stand at it, so I take another step forward.", + "The banner now dominates the upper part of my view and the wall's stone base is coming into reach at the bottom of the sand. Still a short gap remains, so I keep walking straight at the hanging cloth.", + "The red cloth and its gold star are close enough that I can see the fabric's frayed lower points and the shadow it casts on the plaster. A couple more steps should put me right beneath it, so I advance again.", + "The banner now overflows the top of my view and the wall behind it is only a short stretch of sand away. I step forward once more to bring myself right up under the hanging cloth.", + "The red banner with its yellow star now hangs directly ahead and its fringed hem fills the upper part of my view, so I am nearly beneath it. I will walk forward again to close the last stretch of sand between me and the wall it hangs on.", + "Only the red and yellow lower edge of the hanging banner is still in front of me, with the plain wall and its slender column filling the rest of the view. One more step forward should bring me right up under the banner.", + "The red banner's cloth and the wall behind it fill my whole view at arm's length, so I am standing right beneath it. I have reached the red hanging banner, and I mark reaching it before turning away toward the stone steps across the hall.", + "Pressed against the banner wall, I can see nothing but cloth and stone, so I cannot pick a route from here. I will turn left to swing my view off the wall and back into the open hall where the stone steps stand.", + "The rotation has moved the banner off to one side, but pale wall and a column edge still block most of what I can see. I will keep turning left to bring the open floor and the steps into view.", + "My view is now a flat expanse of close stone piers with no floor or opening in sight. Turning left again should carry my heading further around toward the open part of the hall.", + "A sliver of sandy floor and a row of columns has appeared at the left edge, so the hall is opening up as I rotate. I will turn left once more to bring that open ground fully in front of me.", + "More of the sanded floor and the column line is visible now, but the stone stairway I want is still hidden beyond the near pier. Another left turn should clear that pier and put the steps in my path.", + "Swinging away from the wall has opened the hall again, and a flight of pale stone steps is now visible far to my left beneath the pointed arch. One more turn in that direction should bring the stairway closer to the center of my view so I can walk straight at it.", + "The stone stairway now sits ahead of me under the arched opening, with clear sand between us. I will walk forward to close that distance.", + "The steps and their flanking arch are growing larger as I advance, confirming my heading is good. I keep walking to eat up the remaining stretch of sand.", + "The lower treads of the stairway are clearly resolved now and the way to them is still open floor. Another stride forward should bring me nearer the base of the steps.", + "The stairway has drifted toward the left side of my view as I closed in, so walking straight on would carry me past it along the wall. I will turn left to bring the steps back in front of me.", + "With the turn done, the flight of steps sits ahead and slightly right, and the sand between us is open. I will step forward to keep closing on the stairway.", + "The treads and the round plinth beside them are noticeably nearer, so my heading is carrying me onto the stairway. I continue walking forward.", + "I am close enough now to see the sand thinning where it meets the lowest tread. I will keep moving forward to reach the foot of the steps.", + "The broad flight of stone steps now fills the right half of my view, its lowest treads emerging from the sand a short walk ahead. I will keep walking forward to close the remaining gap to the foot of the stairs.", + "I am close to the steps, but they sit off to my right and my heading points along the wall rather than at the stairway. Turning right should put the stair front squarely ahead so my next strides land straight at its base.", + "The stairway is now centered in front of me, its lowest tread clearly framed between the round stone bases on either side. I will step forward along this heading to reach the foot of the steps.", + "The steps have grown much larger and the bottom tread is only a couple of paces away across the sand. Another forward stride should bring me right up against the stone stair.", + "The stone treads now dominate my view and the sand has almost disappeared at their edge. One more step forward should place me at the stairs themselves.", + "I stand right at the foot of the stone steps, with the treads rising directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_c/infos.json b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..026415b55ea9b2e6eb6bd1f600bb93ca536f1bdb --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_c/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Approach the ornate golden pillar base, then reach the white pillar.", + "Type": 3, + "Start_Pose": [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2156.679, + 3406.011, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2162.476, + 3280.285, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2162.476, + 3280.285, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2220.864, + 3168.789, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2279.252, + 3057.293, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2337.64, + 2945.797, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2396.028, + 2834.301, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2454.415, + 2722.805, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2512.803, + 2611.309, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2512.803, + 2611.309, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2512.803, + 2611.309, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2512.803, + 2611.309, + -301.75, + 0.0, + -12.36, + 0.0 + ], + [ + 2635.745, + 2584.369, + -301.75, + 0.0, + -12.36, + 0.0 + ], + [ + 2635.745, + 2584.369, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2735.783, + 2507.995, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2835.82, + 2431.621, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2835.82, + 2431.621, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2894.208, + 2320.125, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2952.596, + 2208.629, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2952.596, + 2208.629, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 3052.634, + 2132.255, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 3052.634, + 2132.255, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 3111.021, + 2020.759, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 3111.021, + 2020.759, + -301.75, + 0.0, + -62.36, + 0.0 + ] + ], + "Rationale": [ + "The gold filigree column standing on its turquoise base is visible ahead across the sandy hall, slightly right of my heading. Nothing blocks the open floor between us, so I will walk forward to begin closing that distance.", + "The gilded column has grown larger and the hanging lamp above it is clearer, confirming my heading is carrying me toward it. The sand ahead is still clear, so I will keep walking to close more of the gap.", + "The gilded column sits noticeably right of my forward direction, near the edge of my view, so walking straight would carry me past it toward the stairs on the left. I will turn right to bring it closer to the center of my heading.", + "The gilded column with its turquoise base now sits near the middle of my view, so my heading points at it. The sand between us is open, and I will walk forward to shorten the distance.", + "The gilded column keeps growing in front of me and stays roughly centered, so this heading is good. I will continue walking toward it.", + "The filigree work on the column is now readable in detail and its turquoise plinth fills more of the floor ahead, so I am getting close but not yet beside it. I will step forward again to tighten the approach.", + "The gilded column now towers over the center of my view with its base plate a short stretch of sand away. I will walk forward again to stand right at that base.", + "The ornate base and its turquoise plate are close in front of me, though there is still a little sand between my feet and the plinth edge. I will step forward once more to come right up to it.", + "The gilded lattice pillar now fills most of my view and its turquoise tiled plinth sits just ahead on the sand. One more step should bring me right up against that ornate base rather than leaving me a stride short.", + "The gilded filigree pillar towers directly in front of me with its turquoise tiled plinth at my feet, close enough to touch. I have reached the ornate golden pillar base. I mark reaching it, and now I turn my attention to the white pillar standing in the arcade nearby.", + "The golden pillar blocks nearly everything ahead of me, so I cannot judge a route while facing it. The pale arcade lies off to my right, so I swing that way to bring the white columns into view.", + "The gilded panel has slid to my left and a white column with a banded shaft now stands at the right of my view beside the jewelled medallion. Another turn to the right should place that pale column closer to the centre of my heading.", + "The white columns are now ahead of me with open sand between us and nothing in the way. I step forward to begin closing the distance to the pale pillar.", + "The nearest white column now sits to my right and my heading runs toward the shadowed wall behind it. Turning left should bring the slimmer white column standing further back into the middle of my view and open a straight line of sand toward it.", + "A slender white column with a carved petal base now stands ahead of me beside the tattered red banner. The sand between us is clear, so I walk forward to close on it.", + "The white column has grown noticeably larger and its ringed base is now plainly visible against the corner wall. I am still a few paces short, so I keep walking toward it.", + "The pale stone column I am heading for has drifted to the left edge of my view while the blank plaster wall fills the centre. I will turn left to bring its carved base back in front of me before advancing further.", + "The white column now stands roughly centred ahead with its ringed base clearly visible above the sand. With the heading corrected, I will walk forward to close the remaining gap.", + "The column has grown noticeably larger and its fluted base now sits just ahead of me, with clear sand between us. I will keep walking forward to draw right up to it.", + "At this range the column base has slipped slightly left of centre and the banner wall crowds my left side. A small turn to the right should square my heading onto the base for the final steps.", + "The pale column base now fills the left half of my view and I am facing it squarely enough to advance. I will step forward to bring myself right beside the white pillar.", + "The column has shifted toward the left edge as I closed in, and the corner wall now takes up the middle of my view. A left turn should recentre the white shaft directly in front of me.", + "The white pillar is centred again with its carved base close in front of me. One more step forward should place me right at its foot.", + "The white pillar's carved shaft fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_d/infos.json b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d25a093de71f53bed86779e6e1f435b5f10b0295 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_d/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Navigate to the stone steps, then proceed to the red hanging banner.", + "Type": 3, + "Start_Pose": [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2156.679, + 3406.011, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2162.476, + 3280.285, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2168.273, + 3154.56, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2168.273, + 3154.56, + -301.75, + 0.0, + -112.36, + 0.0 + ], + [ + 2120.394, + 3038.164, + -301.75, + 0.0, + -112.36, + 0.0 + ], + [ + 2120.394, + 3038.164, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 2027.809, + 2952.908, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 1938.793, + 2864.463, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 1938.793, + 2864.463, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 1938.793, + 2864.463, + -301.75, + 0.0, + -112.36, + 0.0 + ], + [ + 1938.793, + 2864.463, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 1938.793, + 2864.463, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 1997.18, + 2752.967, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2055.568, + 2641.471, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2113.956, + 2529.976, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2172.344, + 2418.48, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2230.732, + 2306.984, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2289.12, + 2195.488, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2289.12, + 2195.488, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2389.157, + 2119.114, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2489.195, + 2042.74, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2589.232, + 1966.366, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2689.27, + 1889.992, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2689.27, + 1889.992, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2747.658, + 1778.496, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2806.046, + 1667.0, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2863.631, + 1559.086, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2863.631, + 1559.086, + -301.75, + 0.0, + -62.36, + 0.0 + ] + ], + "Rationale": [ + "From this sandy hall I can pick out a flight of stone steps rising in the shadow to my left, past the heavy pillar. The red hanging cloth is visible further ahead beyond the standing lantern, so the steps come first. I will walk forward to close the open floor between us.", + "The staircase on my left has grown larger and its lower treads are now clearly separated, confirming I am closing on it. Nothing blocks the sand between me and that side of the hall. I will keep walking forward to gain more ground before turning toward the steps.", + "The stone stairway now occupies much of my left side and its bottom step is close to the sand in front of me. Continuing straight brings me level with the foot of the flight before I swing toward it. I will step forward again.", + "I am now abreast of the stone flight, but it sits off to my left while my heading still points along the wall with the hanging cloth. To walk onto the steps I need my body facing them. I will turn left to bring the stairway in front of me.", + "The turn has brought the stone steps into the left half of my view with their treads climbing toward the recessed doorway. The sand between me and the base is open. I will advance to reach the foot of the flight.", + "The staircase is close, but it still runs off to my left edge and I am angled across its width rather than facing it squarely. A further left turn should center the rising treads in front of me. I will turn left again.", + "The flight of stone steps now sits centered ahead, sweeping up toward the wall with the small lattice windows. Only a short stretch of sand separates me from the lowest tread. I will walk forward to reach it.", + "The steps fill nearly my whole view now and the sand has almost run out at their base. One more stride forward should put me right at the stone stairway. I will step forward.", + "The wide stone steps now fill my view, their lowest tread directly at my feet and the risers climbing away toward the upper doorway. I have arrived at the stone steps. I mark reaching them and now turn my attention toward the red hanging banner across the sandy hall.", + "Facing straight into the risers leaves nothing but stonework ahead, and the red banner hangs somewhere back across the open hall to my right. I will turn right to swing my heading off the stairway and toward that open sandy floor.", + "The turn has pushed the stairway to my left and opened a strip of sand and pale wall on the right, but the red banner is still outside my view. I will turn right again to keep sweeping toward the open part of the hall.", + "The red banner with its yellow star medallion has come into view hanging on the far wall, but it sits well off to my right edge. One more turn right should bring it near the center of my view so I can walk straight at it.", + "The red banner now hangs ahead of me on the far wall, with clear rippled sand between us and the ornate lantern pillar standing well off to the right. My heading is good enough to close distance, so I will walk forward.", + "The banner has grown larger and stays ahead of me, and the ornate lantern pillar has slid further to my right without blocking the path. I will keep walking forward to shorten the gap to the far wall.", + "The red cloth and its star medallion are noticeably nearer and still centered enough in my view that no correction is needed. The sand ahead is open, so I will continue walking toward it.", + "The banner hangs directly ahead and its frayed lower edge is now clearly readable, with only a slim column standing to my right. I will step forward again to close the remaining distance to it.", + "The red banner with the gold star hangs high on the panelled wall ahead of me, still a fair stretch of open sand away. Nothing blocks the ground between us, so I walk forward to close that gap.", + "The banner now fills more of my view and its fringed lower edge sits lower in the frame, so my line toward it is working. I step forward again to keep shrinking the distance across the open sand.", + "I am close enough that the flat wall panels ahead of me would meet me before the banner does, since it hangs off to the side of my straight line. I turn right to swing my heading into the open bay beside the pillar, where the floor still runs clear toward the banner's wall.", + "From this heading the banner sits ahead on my left with the pillar and open sand to my right, giving me a clear lane. I walk forward along that lane to draw level with the banner's wall.", + "The banner has grown noticeably and its ragged hem is now well down the wall in my view, so I am gaining on it. The sand ahead remains open, so I step forward again.", + "The star emblem on the banner is close enough now that I can read its inner rings clearly. I keep walking forward to bring myself right up beneath the hanging cloth.", + "The banner now dominates the left of my view and the pillar has slid past on my right, so only a short stretch of sand remains. I advance once more to reach the wall it hangs on.", + "At this range the banner has drifted to the left edge of my view while my heading points at the corner beside it. I turn left to bring the red and gold cloth back to the center of my view before finishing the approach.", + "The red banner with its yellow star now hangs almost straight ahead on the wall in front of me, its fringed lower edge filling the upper view. There is still open sand between me and that wall, so I will step forward to close the remaining gap.", + "The banner's tattered hem and the pilaster it hangs against now dominate my view, so only a short stretch of floor still separates me from the wall. I will keep walking forward to stand directly beneath it.", + "The red cloth and its yellow border now spread across nearly the whole view with the wall stones close beneath, meaning I am within a pace of the hanging. One more forward step should bring me right up under the banner.", + "The red banner's cloth fills my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_e/infos.json b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5ac03be7a0244164c5671ba2e0e899d868db7acf --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t3_e/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Move to the ornate golden pillar, then head toward the red banner.", + "Type": 3, + "Start_Pose": [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2156.679, + 3406.011, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2162.476, + 3280.285, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2168.273, + 3154.56, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2174.071, + 3028.834, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2179.868, + 2903.109, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2179.868, + 2903.109, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2238.255, + 2791.613, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2296.643, + 2680.117, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2296.643, + 2680.117, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2396.681, + 2603.743, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2496.718, + 2527.369, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2496.718, + 2527.369, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2591.738, + 2503.214, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2591.738, + 2503.214, + -301.75, + 0.0, + -12.36, + 0.0 + ], + [ + 2713.942, + 2494.585, + -301.75, + 0.0, + -12.36, + 0.0 + ], + [ + 2713.942, + 2494.585, + -301.75, + 0.0, + -37.36, + 0.0 + ], + [ + 2713.942, + 2494.585, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2772.33, + 2383.089, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2830.718, + 2271.593, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2830.718, + 2271.593, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2836.515, + 2145.868, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2842.312, + 2020.142, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2848.109, + 1894.417, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2853.907, + 1768.692, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2859.704, + 1642.966, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2859.704, + 1642.966, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2917.289, + 1559.09, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2917.289, + 1559.09, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2917.289, + 1559.09, + -301.75, + 0.0, + -87.36, + 0.0 + ] + ], + "Rationale": [ + "The ornate golden pillar stands ahead of me across the sandy hall, slightly right of my heading, with the red banner hanging behind it. Nothing blocks the open floor between us, so I will walk straight forward to close the gap toward the pillar.", + "The gilded pillar has grown larger in front of me, which tells me my heading is carrying me toward it. The sand between us is still clear, so I will keep walking forward rather than adjusting my facing yet.", + "The golden pillar and the red banner behind it now fill more of the right side of my view as I gain ground. The stone stairs on my left are off my path, so I will continue straight ahead toward the pillar.", + "The pillar's filigree and its teal base are clearly resolved now, so I am well within the open bay that holds it. The floor in front of me stays unobstructed, so another step forward should bring me closer.", + "The golden pillar now looms tall at my right, and the red banner hangs on the wall just past it. I still have open sand between me and its base, so I will step forward again to shorten that remaining distance.", + "My forward walking has pushed the golden pillar out to the far right edge of my view, where I can barely judge my distance to its base. I will turn right to bring the pillar back in front of me before advancing further.", + "The turn has set the ornate golden pillar squarely ahead of me, with its teal base plainly in view on the open sand. With my heading now pointed straight at it, I will walk forward to close in.", + "The golden pillar fills more of my view and its base sits just ahead and slightly right, so I am nearly upon it. The sand in front of me remains clear, so I will take another step forward to reach it.", + "The ornate golden pillar now towers close ahead but sits off to the right of my heading, with its turquoise base slipping toward the frame edge. I turn right to bring the pillar squarely in front of me so my remaining steps close on it directly.", + "The golden pillar is now centered in front of me, its base plate clearly visible on the sand. Since my heading is aimed straight at it, I walk forward to shorten the remaining gap.", + "The filigree pillar fills most of my view now and its turquoise base sits just a short stretch of sand away. I step forward again to stand right at it.", + "The gilded scrollwork of the ornate pillar fills my view at arm's length, its turquoise base right at my feet. I have arrived at the golden pillar. I mark reaching it and now set off for the red banner hanging on the wall.", + "Standing this close, the pillar's gilded face blocks nearly everything in front of me, so I cannot yet see a line toward the red banner. I step forward to edge past its near corner and open up the space beyond.", + "The pillar's metalwork still crowds the left half of my view and there is no walkable line straight ahead. I turn right toward the open sand and columns to get clear of the pillar before working around to the banner.", + "The pillar has dropped to the left edge and open sandy floor now stretches ahead between the white columns. I walk forward to move out of the pillar's shadow into that clear bay.", + "Now clear of the pillar, I face only pale columns and blank wall, with no sign of the red banner in front of me. The banner hangs off to my left, so I turn left to swing my heading back toward it.", + "The red banner hanging on the far wall has just edged into view at the extreme left, mostly cut off by the frame. Turning left again should swing it toward the middle of my view so I can walk straight at it instead of drifting past the columns.", + "The red banner now hangs clearly ahead of me on the left half of the view, with open sand between us and the column standing off to its right. My heading points into that gap, so I will walk forward to close distance on the banner.", + "The banner and its gold star emblem have grown larger, confirming my heading is carrying me toward it. Nothing blocks the sand ahead, so another step forward should keep shrinking the gap to the wall where it hangs.", + "The banner sits well to the left of my heading while the thick column now fills the center-right of my view. A left turn should bring the banner back in front of me and keep my path clear of that column.", + "The red banner with its gold star now hangs squarely ahead of me and the column has moved off to the right side. With the sand in front open, I will step forward straight toward the wall it drapes.", + "The banner is centered and noticeably wider in my view, so my line of travel is good. I will keep walking forward to bring myself in close to it.", + "The banner's ragged hem and gold emblem now dominate the upper part of my view, and the wall behind it is close enough to read its stonework. Another forward step should put me right beneath the hanging cloth.", + "Only the lower half of the red banner remains in frame because I am nearly under it, and the wall is a short stretch of sand away. I will advance once more to stand directly at the banner.", + "The red banner with its gold fringe now fills the upper part of my view and its lower hem hangs just above the sand ahead of me. A short step more should bring me right under it, so I walk forward again.", + "I am very close to the wall now, and a narrow stone pier juts out directly in front of me between the hanging banner and my path. Turning right should swing my heading off that projecting stone toward the open floor beside it.", + "With the pier now off to my left, the sandy floor beside the wall is clear ahead of me and the banner's red and gold hem still hangs close on that side. I step forward to draw level with it.", + "Standing this close, only bare plaster and shadow fill my view and the banner has slipped out of sight past my left shoulder. I turn left so the red cloth should come back in front of me.", + "The red banner with its gold border hangs directly beside me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t5_a_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..430e274fba90bd9eb740a494f5b02c16d7a3bdbd --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002151_y003532_z-000302_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Grab the ceramic pot at the ornate golden pillar base, then place it near the stone steps.", + "Type": 5, + "Start_Pose": [ + 2150.882, + 3531.736, + -301.75, + 0, + -87.36, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2457.184, + 2791.049, + -376.75, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2150.882, + 3531.736, + -301.75, + 0, + -87.36, + 0 + ], + [ + 2150.882, + 3531.736, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2209.27, + 3420.24, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2267.658, + 3308.744, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2326.046, + 3197.248, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2384.433, + 3085.752, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2442.821, + 2974.256, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2442.821, + 2974.256, + -301.75, + 0.0, + -62.36, + 0.0 + ], + [ + 2442.821, + 2974.256, + -301.75, + 0.0, + -87.36, + 0.0 + ], + [ + 2442.821, + 2974.256, + -301.75, + 0.0, + -112.36, + 0.0 + ], + [ + 2442.821, + 2974.256, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 2350.236, + 2889.001, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 2257.65, + 2803.746, + -301.75, + 0.0, + -137.36, + 0.0 + ], + [ + 2257.65, + 2803.746, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 2137.709, + 2765.607, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 2017.768, + 2727.468, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 1897.826, + 2689.329, + -275.513, + 0.0, + -162.36, + 0.0 + ], + [ + 1966.441, + 2711.148, + -301.75, + 0.0, + -162.36, + 0.0 + ], + [ + 1966.441, + 2711.148, + -301.75, + 0.0, + -162.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2457.184, + 2791.049, + -376.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.184, + 2791.049, + -376.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.184, + 2791.049, + -376.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.184, + 2791.049, + -376.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.184, + 2791.049, + -376.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.184, + 2791.049, + -376.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.184, + 2791.049, + -376.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2461.455, + 2984.703, + -331.644, + -28.202, + -12.216, + 1.862 + ], + [ + 2463.173, + 2975.811, + -331.371, + -28.189, + -37.204, + 1.872 + ], + [ + 2461.419, + 2966.437, + -332.038, + -28.215, + -62.233, + 1.849 + ], + [ + 2457.099, + 2950.739, + -331.857, + -14.175, + -95.168, + 6.959 + ], + [ + 2365.238, + 2873.786, + -331.418, + -28.198, + -87.215, + 1.865 + ], + [ + 2272.436, + 2788.328, + -331.955, + -28.191, + -87.202, + 1.871 + ], + [ + 2264.522, + 2784.64, + -331.164, + -28.205, + -112.225, + 1.859 + ], + [ + 2145.153, + 2745.562, + -331.011, + -28.191, + -112.211, + 1.872 + ], + [ + 2025.049, + 2707.382, + -331.236, + -28.206, + -112.223, + 1.863 + ], + [ + 1904.836, + 2669.149, + -331.744, + -28.203, + -112.221, + 1.855 + ], + [ + 1899.732, + 2689.936, + -321.75, + 0.0, + -162.36, + 0.0 + ], + [ + 1899.732, + 2689.936, + -321.75, + 0.0, + -162.36, + 0.0 + ] + ], + "PD_Dist_2D": [ + 801.5, + 801.5, + 676.3, + 551.3, + 426.8, + 303.5, + 183.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ornate golden pillar with the small ceramic pot at its base sits well right of my current heading, across a stretch of sandy floor. I will turn right to bring that pillar and the pot toward the center of my view before advancing. That should give me a straight approach line.", + "The golden pillar is now roughly centered ahead of me, with the dark ceramic pot resting at its base. The open sand between us is clear, so I will walk forward to close the distance. Nothing blocks this line yet.", + "The pillar and the pot at its foot have grown noticeably larger, confirming my heading is correct. I am still far outside grabbing range, so I will keep walking straight toward the pillar base.", + "The ceramic pot is now clearly distinguishable on the teal mat at the pillar's base, just left of center ahead. The floor between us remains open, so another step forward should keep shrinking the gap. I hold my heading rather than adjusting it.", + "The pot sits ahead and slightly to my left, still a few strides away from arm's reach. I will advance again to bring it into the near foreground where a grab becomes plausible.", + "The pot now fills a good portion of the lower left of my view, close to the pillar's mat, but it is not yet directly at my feet. One more step forward should place me right beside it for the grab. The path stays clear of the pillar itself.", + "The ceramic pot is now immediately in front of me at the pillar's base, close enough that it dominates the lower part of my view. This is the target named in the task, so I will attempt to pick it up. If the grasp registers, the pot should come into my hands.", + "The grasp worked: the ceramic pot is in my hands and no longer sitting on the ground at the pillar. The stone steps lie off to my left rather than in front of me, so I will turn left to begin heading toward them. Further turning may be needed to face them squarely.", + "The ceramic pot is in my hands and the ornate golden pillar now stands ahead of me, so the pickup site no longer matters. The stone steps lie further around to my left, outside the current view. I will turn left again to bring that stairway into sight.", + "The stone stairway has appeared at the far left edge of my view while the golden pillar has slid to my right. With the pot still held, I need the steps squarely in front before walking. Another left turn should center that staircase.", + "The stone steps now sit ahead of me with open sandy floor between us, and the pot is still in my hands. Nothing blocks a straight walk toward the stairway. I will step forward to close the distance.", + "The staircase fills more of my view and its lowest treads are clearly nearer, confirming my heading is good. I am still carrying the pot and remain too far to set it down beside the steps. Another step forward should bring me closer.", + "From here the stairway has drifted toward my left while the plain wall and column base occupy the right of my view. To place the pot near the steps I want the treads directly in front of me. I will turn left to square up with the stairs.", + "The stairway is now centered ahead with its bottom step framed straight in front of me. The pot is still in my hands and the sand between us is clear. I will walk forward toward the base of the steps.", + "The lowest treads are close enough that they dominate my view, but I am still standing on sand short of the stone. Carrying the pot, I want to be right at the step edge before releasing it. One more step forward should place me there.", + "The stone treads now rise directly before me and the sand has nearly disappeared from the foreground. The pot is still in my hands and I want it resting right at the foot of these steps. I will advance one last step to reach that spot.", + "The ceramic pot is still in my hands and I am now standing right at the foot of the stone steps, with the lowest tread directly ahead of me. This is the intended destination for the pot, so I will release it here and expect it to settle on the ground beside the steps.", + "The ceramic pot now rests on the ground at the base of the stone steps. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002262_y003542_z-000302_t1_a/infos.json b/dataset/trajectory/Brass_Streets/task_x002262_y003542_z-000302_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e0d09f123a63d3a3159c94407186b28fa0b013e --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002262_y003542_z-000302_t1_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Discover the two square windows with wooden lattice grilles set into the stone wall, then navigate toward them.", + "Type": 1, + "Start_Pose": [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -24.0, + 0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -49.0, + 0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -74.0, + 0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -99.0, + 0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -124.0, + 0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -149.0, + 0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -174.0, + 0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 161.0, + -0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 136.0, + -0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 111.0, + -0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 86.0, + -0.0 + ], + [ + 2270.459, + 3667.285, + -301.75, + 0.0, + 86.0, + -0.0 + ], + [ + 2279.239, + 3792.838, + -301.75, + 0.0, + 86.0, + -0.0 + ], + [ + 2288.018, + 3918.39, + -301.75, + 0.0, + 86.0, + -0.0 + ], + [ + 2296.798, + 4043.943, + -301.75, + 0.0, + 86.0, + -0.0 + ], + [ + 2305.577, + 4169.495, + -301.75, + 0.0, + 86.0, + -0.0 + ], + [ + 2314.357, + 4295.047, + -301.75, + 0.0, + 86.0, + -0.0 + ], + [ + 2314.357, + 4295.047, + -301.75, + 0.0, + 61.0, + -0.0 + ], + [ + 2375.374, + 4405.126, + -301.75, + 0.0, + 61.0, + -0.0 + ], + [ + 2375.374, + 4405.126, + -301.75, + 0.0, + 61.0, + -0.0 + ], + [ + 2375.374, + 4405.126, + -301.75, + 0.0, + 61.0, + -0.0 + ] + ], + "Rationale": [ + "My view is filled almost entirely by a blank plastered wall and its stone base, with no window openings anywhere in sight. The only hint of open space is the arcade and columns at the far left edge, so I will turn left to swing my heading toward that opening and begin scanning for the latticed windows.", + "Turning has opened up a courtyard on my left with columns, an arch and a banner-hung lantern pillar, but still no square lattice windows. Continuing to rotate left should sweep more of this open space into view and reveal the stone wall that carries the windows.", + "The interior hall is now more fully in front of me, with tall arched panels, a stair on the left and the lantern pillar centered, yet none of these walls carry the square wooden grilles I am looking for. I will keep turning left to bring the still unseen portion of the room around into my field of view.", + "The rotation has brought me around toward a plain corner where broad piers and blank panels dominate, and the small windows are still nowhere in sight. Another left turn should carry my gaze past this corner toward whatever lies beyond it.", + "Now a wide pier and shadowed masonry block most of my view, so this heading offers no useful sightline for finding the windows. I will continue rotating left to clear this obstruction from my field of view and keep the search moving.", + "I am facing a close, dim stone surface with a half column, and there is nothing here resembling a wooden lattice grille. Turning left again should pull my heading off this flat wall and toward more open ground.", + "As the wall slides past, a bright opening appears at the far left where I can make out an arched opening with a reddish wooden lattice screen. That is the first sign of the grille work I am searching for, so I will turn left again to bring that sunlit wall into the center of my view.", + "An arched window with a reddish wooden lattice now stands clearly on the left side of my view, confirming that this sunlit wall carries grille work. A column still hides part of that wall, so I will turn left once more to expose the full face and check for the pair of square lattice windows.", + "A tall arched opening with a wooden lattice grille has come into view on the left, but a thick pillar still crowds the right half of my view and hides much of the stone facade. Since the task names two square lattice windows rather than an arch, I will keep pivoting left to sweep more of that wall into view.", + "The sweep has now uncovered two small square openings with wooden lattice grilles low on the pale stone wall to my left, beside the taller arched windows. They sit near the edge of my view, so I will turn left once more to bring that pair closer to the centre before committing to any approach.", + "The pair of square windows with wooden lattice grilles is now clearly framed on the stone wall ahead of me, left of centre and well clear of the corner pillar. The sandy floor between me and that wall looks open, so I will step forward and begin closing the distance to them.", + "The two grilled square windows have grown slightly larger and the stone base course below them is more distinct, confirming that my heading is carrying me toward the right part of the wall. I will keep walking straight ahead to shorten the gap.", + "The paired square lattice windows and the sunlit bars they cast on the plaster keep expanding in my view, so the approach is working. Nothing blocks the sand ahead, and I will take another step toward the wall.", + "I am now close enough that the wooden lattice pattern inside both square openings is readable, and the stone plinth of the wall fills the lower part of my view. I will continue straight forward to draw nearer to the two windows.", + "The two grilled square windows now sit high in my view as the wall looms closer, which means only a short stretch of sand remains. I will step forward again to finish closing on them.", + "Both lattice-grilled square windows are directly above me at the top left of my view and the wall's stone base is close at hand. I will advance one more step to stand right at the wall beneath the two windows.", + "I am now close to the stone wall, and the pair of square lattice windows has slid to the extreme upper left corner of my view, with only bare masonry ahead of me. Turning left should swing my heading back toward that window pair so they sit in front of me rather than at the edge.", + "The two grilled square windows are now framed in the upper part of my view, directly along my heading above the stone ledge. With the target clearly centered, I will step forward to close the remaining gap to the wall beneath them.", + "I am now right up against the stone wall, and my forward view shows only the masonry course and ledge because the windows sit above my current line of sight. Tilting my gaze upward should bring the two lattice windows back into view and confirm I have reached them.", + "Both square windows with wooden lattice grilles fill my view at close range in the stone wall above me. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002262_y003542_z-000302_t1_b/infos.json b/dataset/trajectory/Brass_Streets/task_x002262_y003542_z-000302_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd45f3c197aefcd5e226cc1302bf441c98e3d97 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002262_y003542_z-000302_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Once you locate the single arched window fitted with a carved wooden lattice screen near ground level, approach it.", + "Type": 1, + "Start_Pose": [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + -24.0, + 0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 1.0, + -0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 26.0, + -0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 51.0, + -0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 76.0, + -0.0 + ], + [ + 2261.68, + 3541.733, + -301.75, + 0.0, + 101.0, + -0.0 + ], + [ + 2237.665, + 3665.28, + -301.75, + 0.0, + 101.0, + -0.0 + ], + [ + 2237.665, + 3665.28, + -301.75, + 0.0, + 126.0, + -0.0 + ], + [ + 2163.687, + 3767.102, + -301.75, + 0.0, + 126.0, + -0.0 + ], + [ + 2089.709, + 3868.924, + -301.75, + 0.0, + 126.0, + -0.0 + ], + [ + 2015.731, + 3970.746, + -301.75, + 0.0, + 126.0, + -0.0 + ], + [ + 1941.753, + 4072.568, + -301.75, + 0.0, + 126.0, + -0.0 + ], + [ + 1867.775, + 4174.39, + -301.75, + 0.0, + 126.0, + -0.0 + ], + [ + 1793.797, + 4276.212, + -301.75, + 0.0, + 126.0, + -0.0 + ], + [ + 1793.797, + 4276.212, + -301.75, + 0.0, + 101.0, + -0.0 + ], + [ + 1769.781, + 4399.759, + -301.75, + 0.0, + 101.0, + -0.0 + ], + [ + 1769.781, + 4399.759, + -301.75, + 0.0, + 101.0, + -0.0 + ] + ], + "Rationale": [ + "I am facing a blank plastered wall with only a stone base course in front of me, and no arched window or lattice screen is anywhere in this view. I will turn right to sweep my heading along the facade and look for an opening.", + "The new heading still shows only bare masonry and the low stone plinth, so nothing here matches the arched lattice window. I will keep rotating right to continue scanning the wall line for an opening.", + "A corner of the building and a sandy courtyard floor have come into view on the right, but still no window fitted with a carved screen. Turning further right should bring more of that adjacent facade into my field of view.", + "Latticework openings have just appeared on the sunlit wall across the courtyard to my right, which is promising for the target. I will turn right again to bring that facade toward the center of my view and judge which opening is the arched one near ground level.", + "I can now see several screened openings on the far wall, including a tall one with a pointed arch further to my right, though the pair near me sit high above the plinth. One more turn right should center that arched, ground level opening ahead of me.", + "The single arched opening with its carved wooden lattice now stands clearly ahead on the far wall, its sill just above the low stone base, which matches the target near ground level. With it identified, I will stop scanning and walk forward to close the distance across the courtyard.", + "After stepping forward the arched lattice window sits off to the right side of my view rather than straight ahead, so my heading is drifting past it. I will turn right to line my path up with the window before continuing.", + "The arched window with its carved lattice screen is now framed ahead of me with clear sand between us and the round column standing clear to my right. I will walk forward to keep closing on it.", + "The arched window with its red carved wooden lattice screen is clearly visible ahead on the left wall, sitting just above the stone plinth at ground level. The sandy courtyard between me and that wall is open, so I will keep walking forward to close the distance on the target.", + "The lattice screen has grown noticeably larger and its woodwork is now easier to read, confirming I am closing on the correct arched window. Nothing blocks the sand ahead, so I will continue advancing rather than adjusting my heading yet.", + "I am committed to this single arched window and it now fills a large part of the left side of my view, with its stone sill and plinth clearly defined. The path in front of me is still clear sand, so another step forward should bring me closer to the facade.", + "The window's wooden grille is close enough now that individual lattice bars are distinct, but I am still standing out in the open courtyard rather than beside the wall. I will step forward again to keep reducing the remaining gap.", + "The lattice screen now dominates the upper left of my view and the stone base course is very near, so only a short gap remains. I will advance once more to bring myself right up against the window's wall.", + "I am now practically at the wall, but the arched window has drifted to the far left edge of my view and is partly cut off by my heading. Turning left should swing the lattice screen back to the center so I face it squarely.", + "The carved lattice screen is now centered in front of me with the stone sill and plinth directly below it. One more short step should place me immediately at the window as the task requires.", + "The carved wooden lattice of the arched window fills my view directly above the stone sill at arm's reach. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_a/infos.json b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e5b027d530608a48be56639988d9bb6c578f213 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the ornate golden lattice pillar, then approach the white stone column.", + "Type": 3, + "Start_Pose": [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2819.054, + 1723.98, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2819.054, + 1723.98, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2763.487, + 1836.909, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2707.919, + 1949.837, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2652.352, + 2062.765, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2596.784, + 2175.693, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2596.784, + 2175.693, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2596.784, + 2175.693, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2596.784, + 2175.693, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2596.784, + 2175.693, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 2691.482, + 2258.595, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 2786.181, + 2341.497, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 2880.879, + 2424.399, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 2975.577, + 2507.301, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 2975.577, + 2507.301, + -301.75, + 0.0, + 16.2, + -0.0 + ], + [ + 3096.439, + 2542.414, + -301.75, + 0.0, + 16.2, + -0.0 + ], + [ + 3096.439, + 2542.414, + -301.75, + 0.0, + 16.2, + -0.0 + ] + ], + "Rationale": [ + "The tall golden lattice screen stands ahead of me across the sandy floor, slightly right of my heading, and the pale stone columns line the wall to my left. I will walk forward to close the open ground toward that gilded pillar first.", + "After advancing, the gilded lattice pillar still sits right of my center of view rather than straight ahead. I will turn right so my heading lines up with it and the remaining approach can be a straight walk.", + "The golden lattice pillar on its green base now sits close to the middle of my view with clear sand between us. I will step forward along this heading to shorten the distance to it.", + "The carved gold screen has grown larger and its scrollwork detail is clearer, so my heading is carrying me straight onto it. I will keep walking forward to close the remaining gap.", + "The gilded pillar now towers past the top of my view and its turquoise base is only a short stretch of sand away. Another step forward should bring me right up beside it.", + "The golden latticework fills the left portion of my view and its green plinth is nearly underfoot, so I am almost against it. I will take one more step forward to stand at the pillar itself.", + "The gilded scrollwork is close enough that I can see each individual curl of metal and the turquoise plinth lies right at my feet. I have arrived at the ornate golden lattice pillar. I mark reaching it before setting off toward the white stone column.", + "Standing at the gilded pillar, my view is blocked on the left by its metalwork and shows only the stairs and far wall on the right. The pale stone columns lie back around to my left, so I will turn left to begin swinging my heading toward them.", + "The gilded openwork screen still fills my view at arm's length, so the pale stone column I want next is somewhere off to my left, out of sight. I will keep swinging left to bring that side of the hall into view.", + "A ribbed white column with a banded base has just entered the left edge of my view while the golden screen still crowds the right. Another left turn should bring that pale column nearer the middle of my heading before I walk.", + "The white stone column now stands roughly ahead of me with open sandy floor between us, and the golden screen has slipped to the right margin. With the path clear, I will step forward to begin closing that distance.", + "The pale column and its scalloped base have grown noticeably larger and sit near the middle of my view. Nothing blocks the sand between us, so I will keep walking straight toward it.", + "The column's shaft and patterned base now dominate the left of center and the wall behind it is close. I am still short of standing beside it, so another step forward should tighten the gap.", + "The carved base of the white column fills the lower left of my view, so I am nearly upon it but a little short and offset. One more step forward should bring me right up alongside the stone.", + "My advance has carried the white column off to the left edge, leaving mostly blank wall straight ahead of me. I will turn left to put the column back squarely in front before closing the last bit of distance.", + "The white stone column is now centered in front of me, its banded collar and scalloped base clearly framed, with only a short stretch of sand remaining. I will take one more step forward to stand directly at it.", + "The pale stone column fills my view at arm's length, its carved surface directly before me. I am standing at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_b/infos.json b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a290cad9bd9e08bac5550816bf95084e135d2807 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Head toward the base of the white column, then reach the staircase steps.", + "Type": 3, + "Start_Pose": [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2819.054, + 1723.98, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2816.418, + 1849.812, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2813.783, + 1975.643, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2813.783, + 1975.643, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2864.572, + 2090.799, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2915.362, + 2205.955, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2966.152, + 2321.111, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3016.942, + 2436.267, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3016.942, + 2436.267, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3016.942, + 2436.267, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 3016.942, + 2436.267, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 3016.942, + 2436.267, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 3016.942, + 2436.267, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2894.716, + 2466.288, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2772.49, + 2496.31, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2650.264, + 2526.332, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2528.038, + 2556.353, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2528.038, + 2556.353, + -301.75, + 0.0, + -168.8, + 0.0 + ], + [ + 2404.576, + 2531.907, + -301.75, + 0.0, + -168.8, + 0.0 + ], + [ + 2281.114, + 2507.461, + -301.75, + 0.0, + -168.8, + 0.0 + ], + [ + 2157.652, + 2483.015, + -301.75, + 0.0, + -168.8, + 0.0 + ], + [ + 2034.19, + 2458.569, + -301.75, + 0.0, + -168.8, + 0.0 + ], + [ + 1910.728, + 2434.123, + -282.156, + 0.0, + -168.8, + 0.0 + ], + [ + 1910.728, + 2434.123, + -282.156, + 0.0, + -168.8, + 0.0 + ] + ], + "Rationale": [ + "The pale carved column stands well ahead on my left, its base still far across the open sand. Nothing blocks the ground between us, so I will walk forward to begin closing that distance.", + "The column's shaft and base have grown noticeably larger on my left, confirming the previous step carried me toward it. The floor ahead remains clear beside the ornate gilded screen, so I will keep walking forward.", + "The column's fluted base now sits close on my left, though my heading still carries me past it rather than to it. A further step should bring me level with it before I swing my facing over, so I will advance again.", + "The carved column base has drifted to the far left margin of my view while my body still faces the gilded screen ahead. Turning left should place the column squarely in front of me so the remaining approach is a straight walk.", + "The column now sits centered ahead with its petal-carved base plainly in view against the wall. The strip of sand between us is clear, so I will step forward toward that base.", + "The column's base has swelled in front of me and its carved rim is now clearly readable, so my heading is good. A few paces of sand still separate me from it, so I will continue walking forward.", + "The base now fills much of the left side of my view and its diamond carving is close enough to count. I am nearly at the foot of the column, so I will take another step in.", + "The column shaft and its flared foot loom directly beside me, with only a narrow band of sand left at its edge. One more step should put me right at the base rather than short of it.", + "The carved white column now fills the left of my view, its scalloped foot right beside me on the sand. I have reached the base of that column. I mark reaching it, and now I set off for the flight of stone steps further along the hall.", + "Standing this close, the column and the plain wall block almost everything ahead, so I cannot see the steps I want next. I will turn right to swing my view off the column and back into the open hall where the stairs should lie.", + "The column has cleared my view, but I still face flat wall panels with only a pedestal showing at the right edge. The open hall lies further around, so I will keep turning right to bring the stairway side into view.", + "The arcade is opening up on my right now, with pointed arches and pillar plinths receding along the sandy floor. The steps should sit further round in that direction, so I will continue turning right.", + "The stone flight is now in sight down the arcade, but it sits over toward the right side of my view with the ornate screen at the edge. One more turn right should place that stairway closer to straight ahead before I walk.", + "The stairway is now visible down the arcade, just left of the tall ornate screen beside me. The sand between us is clear, so I will walk forward to close that distance.", + "The steps have grown wider and brighter ahead of me as the screen slides past on my right. Nothing stands between me and them, so I keep walking forward.", + "The full width of the stair now spreads ahead under the arch, with its lowest treads clearly across the sand. I am still several paces short, so I advance again toward the foot of the flight.", + "The broad stone staircase now fills the middle of my view, its lowest steps rising just beyond the open sand ahead. Nothing blocks the stretch between me and them, so I will keep walking forward to shorten the gap.", + "The steps have grown close, but their run sits slightly left of my heading while the flight itself continues off to the right side of the arch. A small turn to the right should square my approach with the center of the stair so my next strides land straight onto it.", + "With the staircase now sitting squarely ahead, the lowest tread lies only a short stretch of sand away. I will walk forward to close that remaining distance.", + "The bottom tread and the rounded stone base beside it are noticeably nearer, filling more of my view. My path is still clear, so I keep advancing toward the foot of the stair.", + "The stair now spreads wide across my view and the lowest step is only a stride or two off, with sand still running right up to it. Another step forward should bring me to its edge.", + "The treads tower directly in front of me and the sand line has almost vanished beneath the first step. I will move forward once more to reach the stone itself.", + "I am right at the stair, with the lowest tread stretching across the bottom of my view and its worn stone surface within reach. One more step forward should place me onto the steps.", + "The stone treads rise immediately in front of me and I stand on the stair itself. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_c/infos.json b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b6005199c86dee6d31eb905d6580a682422731 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the carved golden pillar, then move to the staircase steps.", + "Type": 3, + "Start_Pose": [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2819.054, + 1723.98, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2816.418, + 1849.812, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2816.418, + 1849.812, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2760.851, + 1962.74, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2705.283, + 2075.668, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2649.716, + 2188.596, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2649.716, + 2188.596, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2649.716, + 2188.596, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2649.716, + 2188.596, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2527.49, + 2218.618, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2405.264, + 2248.639, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2405.264, + 2248.639, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2307.177, + 2327.503, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2209.091, + 2406.367, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2111.004, + 2485.23, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2111.004, + 2485.23, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 1988.778, + 2515.252, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 1988.778, + 2515.252, + -301.75, + 0.0, + 166.2, + -0.0 + ] + ], + "Rationale": [ + "The carved golden pillar on its green base stands ahead of me across the sandy floor, well beyond arm's reach. I will walk forward over the open sand to close that gap before worrying about the stone steps further right.", + "The gilded pillar has grown larger in front of me, so my heading is carrying me toward it. There is still open sand between us, so I will keep walking straight ahead.", + "The pillar now sits off to my right side rather than straight in front of me, so walking on would carry me past it toward the pale column on the left. I will turn right to put the carved shaft back on my line of travel.", + "The carved golden pillar is now centered ahead with clear sand in between, and the stone stairway shows in the archway to my right. With my heading fixed on the pillar, I will step forward to close the remaining distance.", + "The pillar's foliage carving and teal base fill much more of my view, confirming I am closing on it steadily. I will keep advancing to bring myself right up beside the golden shaft.", + "The gilded pillar towers directly ahead and its base slab is nearly under my feet, so only a short step remains. I will move forward once more to stand at the carved shaft.", + "The golden vine carving fills my view at arm's length and its teal base lies right at my feet, so I am standing at the carved golden pillar. I have reached it. I mark reaching it before setting off for the stone staircase visible off to my right.", + "Standing right against the carved pillar, my view is blocked by its gilded face, while the stone steps under the arch lie away to my right. I will turn right to swing my heading off the pillar and toward that staircase.", + "The carved golden panel has slid to the far left edge of my view and the broad stone steps under the pointed arch now sit ahead and to my right. I will turn right again to bring that staircase closer to the center of my heading before walking toward it.", + "The flight of stone steps under the arched opening is now framed ahead of me with open sand between us. I will walk forward to close that gap toward the staircase.", + "The steps have grown larger and their treads are clearer, so I am still some distance short of them. I will keep walking straight ahead to shorten the remaining stretch of sand.", + "The staircase has drifted toward the left side of my view while a thick round column base crowds the right. I will turn left to swing the steps back into the middle of my path.", + "The wide stone flight now runs across the middle of my view with clear sand leading to its lowest tread. I will step forward along that open line toward the staircase.", + "The lowest treads are noticeably nearer and their edges now read individually, but I am still standing out on the sand. I will continue walking forward to reach the foot of the steps.", + "The staircase now fills much of the right and center of my view, with only a short strip of sand left before the bottom tread. One more step forward should bring me right up against the stairs.", + "I am standing at the foot of the stone flight, but the steps run off to my right while a wall and a round basin sit ahead on my left. I will turn right to square my heading with the ascending treads.", + "The broad stone stairs now fill my view squarely ahead, with the lowest tread just short of my feet. One more step forward should bring me right up against the bottom step of the staircase.", + "The bottom step of the staircase is directly at my feet, filling the near view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_d/infos.json b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a107918559d6a7bea0f3f6702fa2fbf1171b1968 --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_d/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Navigate to the stone staircase, then proceed to the golden lattice pillar.", + "Type": 3, + "Start_Pose": [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2766.122, + 1711.077, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2710.555, + 1824.005, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2654.987, + 1936.933, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2654.987, + 1936.933, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2556.901, + 2015.797, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2458.814, + 2094.661, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2360.727, + 2173.524, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2262.641, + 2252.388, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2164.554, + 2331.252, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2066.467, + 2410.116, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 1968.381, + 2488.979, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 1968.381, + 2488.979, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 1968.381, + 2488.979, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 1968.381, + 2488.979, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 1968.381, + 2488.979, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 1968.381, + 2488.979, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 1968.381, + 2488.979, + -301.75, + 0.0, + 16.2, + -0.0 + ], + [ + 1968.381, + 2488.979, + -301.75, + 0.0, + -8.8, + 0.0 + ], + [ + 2092.758, + 2469.725, + -301.75, + 0.0, + -8.8, + 0.0 + ], + [ + 2217.135, + 2450.47, + -301.75, + 0.0, + -8.8, + 0.0 + ], + [ + 2341.513, + 2431.215, + -301.75, + 0.0, + -8.8, + 0.0 + ], + [ + 2465.89, + 2411.961, + -301.75, + 0.0, + -8.8, + 0.0 + ], + [ + 2465.89, + 2411.961, + -301.75, + 0.0, + -8.8, + 0.0 + ] + ], + "Rationale": [ + "My first destination is the stone staircase, and from here it sits far off at the right edge of the sandy hall while the golden lattice pillar stands closer in front of me. Turning right should swing that flight of steps into a workable part of my view so I can head for it.", + "The stone staircase is now clearly in the right half of my view, set back beyond the arched bays, and the open sand between us looks clear. I will walk forward to cut down that distance.", + "The steps have grown larger on my right and the golden lattice screen has slid toward my left as I close in. Nothing blocks the sand ahead, so I keep walking forward toward the staircase.", + "The staircase is noticeably closer, its individual treads and the low round pedestal beside them now distinct. I still have open floor in front of me, so another step forward should keep shrinking the gap.", + "The lattice screen has swung to the far left of my view and the staircase now lies well off to my right, so walking straight would carry me past it. I will turn right to put the steps ahead of me before continuing.", + "The flight of stone steps now sits squarely in front of me with its landing and the arched bay above it in line with my heading. The sand between us is open, so I walk forward toward the stairs.", + "The steps fill more of my view and the round column base on their right is drawing near, confirming I am closing on the staircase. I keep walking straight ahead to reach its foot.", + "The lowest treads and the sand line where they begin are clearly visible just ahead of me now. I advance again to bring myself right up to the stone staircase.", + "The broad stone staircase now spans the middle of my view, its lowest step still several paces off across the sandy floor. My heading runs cleanly toward it with no obstruction between me and the steps, so I will walk forward to close that gap.", + "The staircase has grown noticeably wider in my view and its lower treads are clearly resolved, confirming my line of travel is bringing me in. Nothing blocks the sand between me and the bottom step, so I will keep walking straight ahead.", + "The steps now rise across nearly the whole right side of my view and my own shadow falls on the sand just short of the lowest tread. A few more paces should put me right at the foot of the stone staircase, so I will advance again.", + "The lowest stone tread sits directly before me and the flight fills my view from edge to edge. One more step forward should bring me flush against the staircase itself.", + "The worn stone treads rise directly at my feet and fill my whole view, with the sand behind me and no gap left to cross. I have reached the stone staircase. I mark arriving here, and now I turn back toward the golden lattice pillar standing out in the open hall.", + "Standing at the foot of the steps, everything ahead is stone risers, and the golden lattice pillar lies back across the open hall behind my left shoulder. I will turn left to begin swinging my heading away from the staircase and toward that open floor.", + "The rotation has brought the sandy floor and a squat stone base into view, but the golden lattice pillar is still outside my field of view to the left. I will turn left again to continue bringing that side of the hall around.", + "More open sand and the arched bays across the hall are now swinging into view, yet the golden lattice pillar has not appeared. I will keep turning left to carry my heading further around toward the open floor where it stands.", + "From the foot of the steps I am now facing across the sanded hall, but the ornate golden screen I want is not yet in view ahead. I will keep rotating left to swing my heading further along the arcade where it should come into sight.", + "A sliver of the teal plinth has appeared at the very left edge of my view, so the golden lattice pillar sits just outside my heading on that side. Another left rotation should bring the whole pillar into the middle of my view.", + "The gilded lattice pillar on its teal base is now clearly in view, but it stands off to my left rather than straight ahead. One more left rotation should center it so I can walk directly at it.", + "The golden lattice pillar is now squarely in front of me with clear sanded floor between us. I will walk straight ahead to close the distance.", + "The lattice work has grown noticeably larger and stays centered, confirming my heading is true. I will keep walking forward toward it.", + "The pillar now dominates my view and its teal plinth is close ahead on the sand. A further step forward should bring me right up to it.", + "I am nearly against the gilded screen, with only a short stretch of sand and the teal step remaining. One more stride should put me directly at the pillar.", + "The golden lattice fills my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_e/infos.json b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9d87847b8e3a9864f64c0b55f8dcfdca4953589a --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t3_e/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Move to the white column, then walk to the ornate golden pillar.", + "Type": 3, + "Start_Pose": [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2821.69, + 1598.149, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2819.054, + 1723.98, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2819.054, + 1723.98, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2869.844, + 1839.136, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2920.634, + 1954.292, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2971.424, + 2069.448, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3022.213, + 2184.604, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3073.003, + 2299.76, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3123.793, + 2414.916, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3123.793, + 2414.916, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3123.793, + 2414.916, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 3123.793, + 2414.916, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 3123.793, + 2414.916, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 3123.793, + 2414.916, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 3001.567, + 2444.938, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 3001.567, + 2444.938, + -301.75, + 0.0, + -168.8, + 0.0 + ], + [ + 2878.105, + 2420.491, + -301.75, + 0.0, + -168.8, + 0.0 + ], + [ + 2754.643, + 2396.045, + -301.75, + 0.0, + -168.8, + 0.0 + ], + [ + 2754.643, + 2396.045, + -301.75, + 0.0, + -168.8, + 0.0 + ] + ], + "Rationale": [ + "The pale stone column stands off to my left along the wall, and the sand floor between us is open. I will walk straight ahead to cut down that distance before angling toward it.", + "Walking straight has kept the white column sitting at the left edge of my view rather than in front of me. I will turn left so my heading points at that column and I can advance directly toward it.", + "The slender white column now sits near the middle of my view with its ringed shaft and carved base clearly framed. With my heading set on it, I will step forward across the sand to close in.", + "The white column has grown larger and its base is filling more of my view, so my line toward it is holding. I will keep walking forward to shorten the remaining gap.", + "The fluted white shaft and its collar band now dominate the middle of my view, meaning I am steadily closing. Another step forward should bring me nearer to standing at its base.", + "The scalloped base of the white column is now plainly visible just ahead and slightly left of center. I will advance again to bring myself right up beside it.", + "The column's petal-carved base and banded shaft nearly fill my view, so only a short stretch of sand remains. I will step forward once more to draw level with it.", + "The white column's carved base and rings now span most of my view, leaving only a step or so of sand in front of me. I will take that last stride to stand at the column itself.", + "The pale carved base of the white column fills my view from arm's length, its banded shaft rising directly ahead. I have reached the white column. I mark reaching it, then set off for the ornate golden pillar standing back across the sandy floor.", + "With the white column right against me, its stone blocks nearly everything ahead and the golden pillar lies somewhere behind my shoulder. I will turn right to swing my view off the column and begin sweeping the hall for that gilded screen.", + "The turn has peeled the white column back to my left edge and opened a strip of sandy floor and pale walls, but no gilded pillar yet. I will keep turning right to bring more of the hall into view.", + "Arched bays and distant piers are coming into view along the hall, yet the ornate golden pillar is still outside my field. I will continue turning right, since the gilded screen should lie further around toward the arcade.", + "The gilded lattice panel has just edged into view at the far right of my field, close beside the arch. One more turn right should place that ornate golden pillar squarely ahead so I can walk straight at it.", + "The ornate golden pillar now stands centered ahead on its green tiled base, with open sand between us. I will walk forward to close that distance.", + "Stepping closer has pushed the golden pillar toward the right of my view, so my heading now runs past it rather than into it. I will turn right to recenter the gilded panel before advancing again.", + "The ornate golden pillar sits centered again, its scrollwork and tiled plinth clear ahead of me. I will step forward to close the remaining gap.", + "The gilded latticework pillar on its green tiled base now fills most of my view and sits squarely ahead of me, but a short stretch of sand still separates us. One more step forward should bring me right up against it, so I walk ahead without changing heading.", + "The ornate golden pillar's scrollwork fills my view at arm's length, showing I stand at it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t5_a_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f8ed4612a51103070b1f86ae6430d7166a0f2a8d --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Lift the plate at the ornate golden lattice pillar, then leave it near the white stone column.", + "Type": 5, + "Start_Pose": [ + 2821.69, + 1598.149, + -301.75, + 0, + 91.2, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2682.577, + 2131.76, + -351.75, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2821.69, + 1598.149, + -301.75, + 0, + 91.2, + 0 + ], + [ + 2819.054, + 1723.98, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2816.418, + 1849.812, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2816.418, + 1849.812, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2760.851, + 1962.74, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2705.283, + 2075.668, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2705.283, + 2075.668, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 2705.283, + 2075.668, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2705.283, + 2075.668, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2705.283, + 2075.668, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 2799.981, + 2158.57, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 2894.679, + 2241.473, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 2989.377, + 2324.375, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 3084.074, + 2407.278, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 3029.901, + 2359.852, + -301.75, + 0.0, + 41.2, + -0.0 + ], + [ + 3029.901, + 2359.852, + -301.75, + 0.0, + 41.2, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2682.577, + 2131.76, + -351.75, + 90.0, + 90.0, + 0.0 + ], + [ + 2682.577, + 2131.76, + -351.75, + 90.0, + 90.0, + 0.0 + ], + [ + 2682.577, + 2131.76, + -351.75, + 90.0, + 90.0, + 0.0 + ], + [ + 2682.577, + 2131.76, + -351.75, + 90.0, + 90.0, + 0.0 + ], + [ + 2682.577, + 2131.76, + -351.75, + 90.0, + 90.0, + 0.0 + ], + [ + 2682.577, + 2131.76, + -351.75, + 90.0, + 90.0, + 0.0 + ], + [ + 2686.393, + 2065.692, + -331.644, + -28.202, + 166.345, + 1.862 + ], + [ + 2684.899, + 2074.625, + -331.371, + -28.189, + 141.357, + 1.872 + ], + [ + 2686.888, + 2083.952, + -332.038, + -28.215, + 116.328, + 1.849 + ], + [ + 2691.601, + 2099.536, + -331.857, + -14.175, + 83.393, + 6.959 + ], + [ + 2785.366, + 2174.158, + -331.418, + -28.198, + 91.346, + 1.865 + ], + [ + 2880.285, + 2257.258, + -331.955, + -28.191, + 91.359, + 1.871 + ], + [ + 2975.084, + 2340.236, + -332.236, + -28.214, + 91.33, + 1.852 + ], + [ + 3069.71, + 2423.084, + -332.026, + -28.203, + 91.341, + 1.856 + ], + [ + 3082.57, + 2405.96, + -331.75, + 90.0, + 41.2, + 0.0 + ], + [ + 3082.57, + 2405.96, + -331.75, + 90.0, + 41.2, + 0.0 + ] + ], + "PD_Dist_2D": [ + 551.4, + 430.0, + 312.1, + 312.1, + 186.3, + 60.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The plate sits on the sand at the foot of the ornate golden lattice pillar, well ahead of me and roughly in line with my heading. Nothing blocks the open sandy floor between us, so I will walk forward to close that gap before any grasp is possible.", + "The plate and the gilded lattice pillar now appear noticeably larger, confirming my heading is carrying me toward the target. It is still far out of arm's reach, so I will keep walking forward across the open sand.", + "As I have closed in, the plate has drifted toward the right side of my view rather than staying centred ahead of me. I will turn right to bring it back in front of my heading so further forward steps land me directly at it.", + "The plate now sits near the centre of my view with the lattice pillar squarely behind it, so my heading is good. It remains several paces away, so I will walk forward to shorten the distance.", + "The plate now fills a large part of the lower view, but it is still slightly ahead of where I could reach it. One more forward step should place me right over it for a grasp.", + "The plate's rim now crowds the bottom edge of my view, directly beneath me at the foot of the golden lattice pillar. This is close enough to attempt the grasp, so I will try to pick it up.", + "The grasp worked and the plate is now held with me rather than resting on the sand. The pale stone columns of the hall lie off to my left, away from this gilded lattice pillar, so I will turn left to begin swinging my heading toward them.", + "The gilded lattice pillar has swung over to the right side of my view, but the white stone column I need to reach is still outside my field of view to the left. I will turn left again to keep rotating until that pale column comes into sight.", + "The plate is in my hands and the golden lattice pillar has slid to the right edge of my view, while the pale stone column with its ringed shaft stands off to my left. I will turn left once more so that column sits squarely ahead of me. That should give me a clean straight path for carrying the plate to it.", + "The white stone column is now centered ahead with open sandy floor between us, and the plate is still in my hands. I will step forward along this heading to close the gap toward the drop location.", + "The column base has grown larger and stays centered, so my heading is still good but I am not yet beside it. I will keep walking forward to bring the plate closer to the column.", + "The carved base of the white column now fills much of my view, meaning I am close but the floor immediately in front of it is still ahead of me. I will advance again to reach a position where releasing the plate leaves it right next to the column.", + "I am nearly at the column, with its patterned base and shaft dominating my view, though a small band of sand still separates me from it. One more step forward should place me close enough that the plate can be set down right at the column.", + "The white stone column is directly in front of me at arm's length, its carved shaft filling my view with no gap left to cross. This is the spot the task asks for, so I will release the plate here and it should come to rest beside the column.", + "The plate now rests on the ground at the foot of the white stone column, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t5_b_pd/infos.json b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..62fe133ec044aeb219b6d8c99ad72c50d6fe0aec --- /dev/null +++ b/dataset/trajectory/Brass_Streets/task_x002822_y001598_z-000302_t5_b_pd/infos.json @@ -0,0 +1,487 @@ +{ + "Instruction": "Pick up the ceramic vase at the base of the white column, then set it down near the staircase steps.", + "Type": 5, + "Start_Pose": [ + 2821.69, + 1598.149, + -301.75, + 0, + 91.2, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3063.741, + 2412.752, + -371.75, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2821.69, + 1598.149, + -301.75, + 0, + 91.2, + 0 + ], + [ + 2819.054, + 1723.98, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2816.418, + 1849.812, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 2816.418, + 1849.812, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2867.208, + 1964.968, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2917.998, + 2080.124, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 2968.788, + 2195.28, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3019.578, + 2310.436, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3019.578, + 2310.436, + -301.75, + 0.0, + 66.2, + -0.0 + ], + [ + 3019.578, + 2310.436, + -301.75, + 0.0, + 91.2, + -0.0 + ], + [ + 3019.578, + 2310.436, + -301.75, + 0.0, + 116.2, + -0.0 + ], + [ + 3019.578, + 2310.436, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2921.491, + 2389.3, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2823.405, + 2468.164, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2725.318, + 2547.028, + -301.75, + 0.0, + 141.2, + -0.0 + ], + [ + 2725.318, + 2547.028, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2603.093, + 2577.05, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2480.867, + 2607.072, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2358.641, + 2637.094, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2236.415, + 2667.116, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2114.189, + 2697.138, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 1991.963, + 2727.16, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2061.885, + 2709.985, + -301.75, + 0.0, + 166.2, + -0.0 + ], + [ + 2061.885, + 2709.985, + -301.75, + 0.0, + 166.2, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3063.741, + 2412.752, + -371.75, + 0.0, + 0.0, + 0.0 + ], + [ + 3063.741, + 2412.752, + -371.75, + 0.0, + 0.0, + 0.0 + ], + [ + 3063.741, + 2412.752, + -371.75, + 0.0, + 0.0, + 0.0 + ], + [ + 3063.741, + 2412.752, + -371.75, + 0.0, + 0.0, + 0.0 + ], + [ + 3063.741, + 2412.752, + -371.75, + 0.0, + 0.0, + 0.0 + ], + [ + 3063.741, + 2412.752, + -371.75, + 0.0, + 0.0, + 0.0 + ], + [ + 3063.741, + 2412.752, + -371.75, + 0.0, + 0.0, + 0.0 + ], + [ + 3063.741, + 2412.752, + -371.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2999.793, + 2318.494, + -331.644, + -28.202, + 116.344, + 1.862 + ], + [ + 2997.283, + 2309.351, + -331.371, + -28.189, + 141.357, + 1.872 + ], + [ + 2999.301, + 2300.629, + -332.038, + -28.215, + 166.327, + 1.849 + ], + [ + 2998.685, + 2293.175, + -331.984, + -14.092, + -176.457, + 6.87 + ], + [ + 2908.678, + 2372.2, + -331.418, + -28.198, + -168.655, + 1.865 + ], + [ + 2810.359, + 2451.248, + -331.955, + -28.191, + -168.642, + 1.871 + ], + [ + 2712.181, + 2530.198, + -332.236, + -28.214, + -168.67, + 1.852 + ], + [ + 2720.724, + 2524.987, + -331.011, + -28.191, + -143.651, + 1.872 + ], + [ + 2598.828, + 2556.115, + -331.236, + -28.206, + -143.663, + 1.863 + ], + [ + 2476.32, + 2586.198, + -331.744, + -28.203, + -143.661, + 1.855 + ], + [ + 2353.865, + 2616.278, + -332.185, + -28.201, + -143.653, + 1.862 + ], + [ + 2231.648, + 2646.303, + -332.147, + -28.211, + -143.666, + 1.853 + ], + [ + 2109.63, + 2676.27, + -331.793, + -28.203, + -143.663, + 1.859 + ], + [ + 1987.673, + 2706.223, + -331.363, + -28.194, + -143.649, + 1.868 + ], + [ + 1993.906, + 2726.682, + -361.75, + 0.0, + 166.2, + -0.0 + ], + [ + 1993.906, + 2726.682, + -361.75, + 0.0, + 166.2, + -0.0 + ] + ], + "PD_Dist_2D": [ + 849.8, + 730.9, + 614.9, + 614.9, + 489.0, + 363.2, + 237.3, + 111.4, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic vase shows as a small pale shape at the foot of the white column on the left side of this sandy hall, well beyond reach. Nothing blocks the open sand ahead of me, so I will walk forward to cut down that distance before worrying about heading.", + "The column and the slim vase at its base have grown slightly larger, confirming my heading is carrying me into the hall rather than past it. The vase still sits far to my left front, too distant to grasp. I will keep walking forward to close more of the gap.", + "The vase at the column base now sits clearly off to my left edge while my heading points at the ornate screen ahead of me. Continuing straight would carry me past the target. I will turn left so the column and its vase come into the center of my view.", + "The white column and the pale vase resting at its base are now framed near the middle of my view, so my heading points at the target. The remaining sand between us is clear. I will step forward to shorten the approach.", + "The vase is clearly recognizable now, standing upright just right of the column plinth, but it is still several paces off. My line to it stays open. I will continue walking straight toward it.", + "The floral pattern on the ceramic vase is now visible, so I am close, yet it is not near enough for my hands. It remains slightly right of the column base and centered enough in my path. Another step forward should bring it within grasping range.", + "The vase fills a good part of my view beside the carved column base, but it still stands a short step beyond comfortable reach. The sand in front of it is flat and clear. I will take one more step forward to stand right over it before attempting a grasp.", + "The ceramic vase now stands directly in front of me, its rim close and unobstructed at the foot of the white column. Nothing separates my hands from it. I will attempt to pick it up so I can carry it toward the staircase.", + "The grasp worked, since the ceramic vase is now in my hands and no longer standing at the column base. The staircase lies well behind my current heading, so I turn right to begin swinging around toward it.", + "With the vase secured, my view still shows the column and blank wall rather than the open hall. I keep rotating right to bring the stepped area of the hall into view.", + "The open hall is opening up and the stair treads are appearing at the far right edge of my view. Another right rotation should place that stepped area closer to the center of my heading before I start walking.", + "I am now facing down the hall with the staircase treads ahead on the right side, and the vase is still in my hands. I walk forward to close the long gap toward the steps.", + "The ornate screen has slid past my right shoulder and the stairs remain ahead in the same direction. I continue walking forward to carry the vase nearer the steps.", + "The staircase is clearly visible ahead on the right and its lowest treads are still some distance away. I step forward again along this open stretch of floor while holding the vase.", + "The stairs now sit noticeably to the right of my straight-ahead heading, so continuing forward would carry me past them. I turn right to point directly at the lower steps before advancing further with the vase.", + "The staircase is now centered in front of me with its bottom treads clearly ahead. I walk forward to bring the carried vase close enough to the steps for setting it down.", + "The vase is secure in my hands and the wide staircase is now centred ahead, though its lowest step is still several paces away across the sand. I will keep walking forward to close that remaining gap before setting the vase down.", + "The steps and the low round plinth beside them have grown noticeably larger, confirming my heading into the stairwell is correct. The bottom tread is still beyond a comfortable placing distance, so I take another step forward.", + "I am carrying the vase and the staircase now fills much of the view, with the sandy floor narrowing toward the first tread. Another stride forward should bring me close enough to place the vase right by the steps.", + "Only a short band of sand remains between me and the lowest tread, and the vase is still held firmly. I advance again so the drop point falls immediately at the base of the steps rather than out on the open floor.", + "The stone treads now rise directly in front of me and almost no sand is left in view. I take one last step forward to stand right against the stairs before releasing the vase there.", + "I am standing right at the foot of the staircase with the treads immediately ahead and the vase still in my hands. This is the placement spot the task asks for, so I will release the vase here and expect it to settle beside the bottom steps.", + "The ceramic vase now rests upright on its own at the foot of the staircase steps, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b9f42494a396e6992397cf96c0a8ae43645e98a8 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Move to the rightmost elevator with open doors.", + "Type": 2, + "Start_Pose": [ + -10.273, + -1443.974, + 100.292, + 0.0, + -96.96, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10.273, + -1443.974, + 100.292, + 0.0, + -96.96, + 0.0 + ], + [ + -10.273, + -1443.974, + 100.291, + 0.0, + -71.96, + 0.0 + ], + [ + 28.703, + -1563.646, + 101.776, + 0.0, + -71.96, + 0.0 + ], + [ + 67.679, + -1683.318, + 101.776, + 0.0, + -71.96, + 0.0 + ], + [ + 106.655, + -1802.99, + 101.776, + 0.0, + -71.96, + 0.0 + ], + [ + 145.632, + -1922.661, + 101.776, + 0.0, + -71.96, + 0.0 + ], + [ + 145.632, + -1922.661, + 101.776, + 0.0, + -71.96, + 0.0 + ] + ], + "Rationale": [ + "Two elevator bays face me across the red carpet, and only the farther one to the right stands open, showing a lit wood-panelled cab inside; that open cab is what I am heading for. My body is angled at the closed bay instead, so I will turn right to bring the open cab into the middle of my view before walking.", + "The open wood-panelled cab now sits just right of my heading with a clear stretch of carpet between us. Nothing blocks the floor, so I will walk forward to close that distance.", + "Another closed bay has slid into view along my left as I near the wall, but the open wood-panelled cab is still the one directly ahead of me. I will keep walking toward that open doorway.", + "The open doorway with its call panel and lit cab now fills much of my view, and I can see the metal sill at its threshold. I am close but still out on the lobby floor, so I will step forward again toward the entrance.", + "I am standing right at the open doorway, with the cab's wood panels, handrails and floor mat directly in front of me. One more step forward should carry me over the threshold and into the cab itself.", + "I am standing inside the open wood-panelled cab, its handrails and mirrored wall surrounding me. The task is complete, so there is nothing further to move toward." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..de57077aa85c5e8ac8feaeded976d459c7404e65 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Proceed to the red fire alarm on the left wall.", + "Type": 2, + "Start_Pose": [ + -10.273, + -1443.974, + 100.292, + 0.0, + -96.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10.273, + -1443.974, + 100.292, + 0.0, + -96.96, + 0.0 + ], + [ + -25.524, + -1568.906, + 101.755, + 0.0, + -96.96, + 0.0 + ], + [ + -40.775, + -1693.837, + 101.755, + 0.0, + -96.96, + 0.0 + ], + [ + -40.775, + -1693.837, + 101.755, + 0.0, + -121.96, + 0.0 + ], + [ + -107.396, + -1800.618, + 101.755, + 0.0, + -121.96, + 0.0 + ], + [ + -174.016, + -1907.399, + 101.755, + 0.0, + -121.96, + 0.0 + ], + [ + -174.016, + -1907.399, + 101.755, + 0.0, + -146.96, + 0.0 + ], + [ + -247.447, + -1927.817, + 101.824, + 0.0, + -146.96, + 0.0 + ], + [ + -247.447, + -1927.817, + 101.824, + 0.0, + -146.96, + 0.0 + ] + ], + "Rationale": [ + "From the open carpet I can see two small red alarm boxes in this lobby, one on the pale wall panel to the left of the elevators and another far over on the right wall. Mine is the left one, mounted beside the left elevator bay, so I will walk forward to close that distance.", + "The red alarm on the left wall panel is larger now but still several strides away across the tiled floor. Nothing blocks the straight path ahead, so I will keep walking forward toward it.", + "Advancing has pushed the elevator doors into the middle of my view and driven the red alarm box out to the very edge on my left. I will turn left to swing my heading back onto it so I can keep approaching straight.", + "The turn brought the red alarm back into view on the wall panel left of the elevator bay, with open floor and the waste bin well clear of my line. I will step forward to shorten the gap.", + "The red alarm is clearly readable now on the pale wall ahead and left, and I am still a stride or two short of standing at it. The route past the column stays open, so I will keep walking forward.", + "I am close enough that the alarm has slid to the far left of my view while the column and elevator door dominate the front. Turning left should put the red box squarely ahead of me for the final approach.", + "The red alarm now sits ahead of me on the wall with only a short stretch of floor and the standing bin off to the side. I will take one measured step forward to bring myself right up to it.", + "The red fire alarm on the left wall is directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d01b76ce8b627dc77899043540da102ebfb516 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the small table lamp on the wooden side table.", + "Type": 0, + "Start_Pose": [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + [ + -94.858, + -1612.626, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -161.404, + -1719.454, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -161.404, + -1719.454, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -266.862, + -1788.149, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -372.321, + -1856.844, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -477.779, + -1925.539, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -477.779, + -1925.539, + 101.76, + 0.0, + -171.92, + 0.0 + ], + [ + -477.779, + -1925.539, + 101.76, + 0.0, + -171.92, + 0.0 + ] + ], + "Rationale": [ + "From this lobby entrance I can see the small table lamp glowing on the wooden side table at the far left, beside the grey sofa, well ahead of me. Since it sits far across the carpet, I will move forward to start closing that distance before refining my heading.", + "The lamp and its side table are now noticeably larger on the left side of my view, so my heading is still generally useful for approaching. I will take another step forward to keep shortening the gap before turning toward the lamp.", + "Continuing straight would carry me past the seating area toward the elevator doors, since the lamp has drifted far to the left edge of my view. I will turn left to bring the side table and its lamp back toward the center of my heading.", + "After the turn the sofa, side table, and lit lamp sit clearly ahead of me in the left half of the view, with clear carpet in between. I will move forward to close the remaining distance to the lamp.", + "The side table and lamp are much nearer now, with the lamp shade and gold base clearly resolved just left of center. I will step forward again to bring myself close enough for a final heading adjustment.", + "I am nearly at the side table, with the lamp large in the left part of my view and the panelled wall filling the right. One more short forward step should place me directly beside the table lamp.", + "I am now right up against the side table, but the wall panelling has swung across most of my view and the lamp is clipped at the left edge. I will turn left to bring the lamp squarely into view at this close standing position.", + "The small table lamp stands centered and within arm's reach on the wooden side table. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f39bba7a5ad97e99609bce9f7c114dd7487ecfce --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the trash bin next to the elevator doors.", + "Type": 0, + "Start_Pose": [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + [ + -94.858, + -1612.626, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -161.404, + -1719.454, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -227.95, + -1826.281, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -227.95, + -1826.281, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -333.408, + -1894.977, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -333.408, + -1894.977, + 101.76, + 0.0, + -146.92, + 0.0 + ] + ], + "Rationale": [ + "I can see the elevator doors ahead on the right side of the lobby, and the slim cylindrical trash bin with its metal ash top stands against the wall just left of them. It is still far across the patterned carpet, so I will walk straight forward to begin closing that gap.", + "The elevator doors and the trash bin beside them now appear noticeably larger, confirming my heading is carrying me toward the target. The path across the carpet remains clear, so I will keep advancing.", + "The bin is clearly resolved now, standing on the tiled strip beside the elevator with its ash bowl and side opening in view, but it sits a bit left of my straight-ahead direction. There is still open tile between us, so I will continue forward to shorten the remaining distance before refining my heading.", + "From this close position the elevator door surface dominates the right of my view and the trash bin has drifted to the left, off my heading. I will turn left to bring the bin toward the center of my view so my next step goes straight at it.", + "After turning, the trash bin is centered in my view with its base on the tile and clear floor between us. One more step forward should bring me right beside it.", + "The trash bin's ash bowl is directly in front of me at arm's reach beside the elevator wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t5_a_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..460f393b7fdb71d30aa063ca0cb27ce6ba307b43 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the ceramic vase at the closed elevator doors, then leave it near the table lamp near the sofa.", + "Type": 5, + "Start_Pose": [ + -62.635, + -1422.179, + 99.838, + 0, + -74.88, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -100.032, + -1885.708, + 25.826, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -62.635, + -1422.179, + 99.838, + 0, + -74.88, + 0 + ], + [ + -24.081, + -1539.197, + 101.814, + 0.0, + -74.88, + 0.0 + ], + [ + -24.081, + -1539.197, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -45.676, + -1663.189, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -67.272, + -1787.181, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -67.272, + -1787.181, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -67.272, + -1787.181, + 101.814, + 0.0, + -74.88, + 0.0 + ], + [ + -67.272, + -1787.181, + 101.814, + 0.0, + -49.88, + 0.0 + ], + [ + -67.272, + -1787.181, + 101.814, + 0.0, + -24.88, + 0.0 + ], + [ + 46.906, + -1840.133, + 101.814, + 0.0, + -24.88, + 0.0 + ], + [ + 46.906, + -1840.133, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 172.765, + -1839.869, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 298.624, + -1839.606, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 424.482, + -1839.342, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 507.985, + -1840.06, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 507.985, + -1840.06, + 101.814, + 0.0, + -24.88, + 0.0 + ], + [ + 442.667, + -1809.768, + 101.814, + 0.0, + -24.88, + 0.0 + ], + [ + 442.667, + -1809.768, + 101.814, + 0.0, + -24.88, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -100.032, + -1885.708, + 25.826, + 0.0, + 0.0, + 0.0 + ], + [ + -100.032, + -1885.708, + 25.826, + 0.0, + 0.0, + 0.0 + ], + [ + -100.032, + -1885.708, + 25.826, + 0.0, + 0.0, + 0.0 + ], + [ + -100.032, + -1885.708, + 25.826, + 0.0, + 0.0, + 0.0 + ], + [ + -100.032, + -1885.708, + 25.826, + 0.0, + 0.0, + 0.0 + ], + [ + -46.13, + -1790.244, + 71.933, + -28.202, + -49.735, + 1.862 + ], + [ + -45.893, + -1780.766, + 72.206, + -28.189, + -24.723, + 1.872 + ], + [ + -49.95, + -1772.785, + 71.538, + -28.215, + 0.247, + 1.849 + ], + [ + -51.145, + -1765.402, + 71.592, + -14.092, + 17.464, + 6.87 + ], + [ + 55.229, + -1820.453, + 72.159, + -28.198, + 25.265, + 1.865 + ], + [ + 46.349, + -1817.906, + 72.03, + -28.189, + 50.278, + 1.869 + ], + [ + 171.746, + -1818.521, + 72.412, + -28.205, + 50.255, + 1.859 + ], + [ + 297.559, + -1818.249, + 72.566, + -28.191, + 50.27, + 1.872 + ], + [ + 423.586, + -1817.996, + 72.34, + -28.206, + 50.257, + 1.863 + ], + [ + 507.653, + -1818.703, + 71.378, + -28.193, + 50.269, + 1.866 + ], + [ + 515.809, + -1821.392, + 72.527, + -28.193, + 25.269, + 1.871 + ], + [ + 506.17, + -1839.218, + 41.814, + 0.0, + -24.88, + 0.0 + ], + [ + 506.17, + -1839.218, + 41.814, + 0.0, + -24.88, + 0.0 + ] + ], + "PD_Dist_2D": [ + 465.0, + 354.7, + 354.7, + 229.1, + 103.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 22.2, + 21.4, + 21.4, + 21.4, + 21.4, + 20.2, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic vase stands on the carpet in front of the closed elevator doors ahead of me, still far across the open lobby floor. Nothing blocks the direct line, so I will walk forward to close that distance before attempting any grasp.", + "I am closer now, but the vase sits left of my heading, offset toward the elevator bay rather than centered in front of me. A small left turn should put it on my forward axis so further walking carries me straight to it.", + "The vase now sits near the middle of my view with clear carpet between us. I will step forward along this corrected heading to keep shrinking the gap to the elevator doors.", + "The vase is directly ahead against the closed elevator doors and now fills much of my view, but it still looks slightly out of arm's reach. One more forward step should bring me close enough to attempt the pick.", + "The ceramic vase is right in front of me, filling the lower center of my view against the closed elevator doors, with nothing between us. This is the closest useful standing position, so I will try to grasp and lift it now.", + "The grasp worked: the ceramic vase is now in my hands and no longer resting on the lobby carpet. The lamp and sofa lounge lie back toward my right, away from these elevator doors, so I will begin turning right to face that direction.", + "I am still facing the elevator panel and closed doors, with only wall and call buttons ahead of me. Another right turn should keep swinging my heading toward the open side of the lobby where the sofa and lamp sit.", + "The corridor is opening up on my right, where a side table with a lit lamp and part of the seating area are just entering the edge of my view. I will turn right once more to bring that lounge in front of me before walking the vase over.", + "The vase is in my hands, so the remaining job is transport to the lamp beside the sofa. From here the corridor past the elevator opens onto the seating alcove, where the sofa and its side table with a lamp sit ahead on the right. I will walk forward to close that distance.", + "Carrying the vase, I am now level with the elevator opening, and the sofa with its glowing table lamp lies off to my right rather than straight ahead. Continuing on this heading would carry me past the alcove. I will turn right to put the seating area in front of me.", + "The turn has centered the sofa with a lamp on each side table directly ahead of me. The vase is still in my hands and the carpeted floor between us is clear. I will step forward to reach the lamp area.", + "The sofa and the two side tables have grown noticeably larger, so my heading into the alcove is correct but I am still too far to set anything down beside a lamp. Nothing blocks the carpet in front of me. I will keep walking forward.", + "The left side table and its lamp now fill much of my view, which tells me I am nearly at the drop area but not yet beside the table. The vase remains in my hands. I will advance again to bring the lamp within placing range.", + "The lamp on the near side table is close on my left and the sofa arm is just ahead, so one more short step should put me right at the corner where the vase belongs. The path onto the tiled strip beside the table is still open. I will move forward.", + "I am now beside the sofa, but the table lamp has slid to the far left edge of my view while cushions dominate the center. To release the vase near the lamp I need it squarely in front of me. I will turn left to face the side table.", + "The turn has placed the table lamp and its marble side table directly in front of me, with the sofa immediately to the right. I am standing right at the spot the task names, still holding the vase. I will drop it here so it comes to rest near the lamp.", + "The ceramic vase now rests on the floor beside the lamp table next to the sofa, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2742ccdbff31285345a6718cf76d748fc634adf2 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the green suitcase in the hallway.", + "Type": 0, + "Start_Pose": [ + -122.048, + 1559.223, + 99.277, + 0.0, + 71.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -122.048, + 1559.223, + 99.277, + 0.0, + 71.04, + -0.0 + ], + [ + -81.155, + 1678.254, + 100.197, + 0.0, + 71.04, + -0.0 + ], + [ + -40.263, + 1797.284, + 99.838, + 0.0, + 71.04, + -0.0 + ], + [ + 0.63, + 1916.315, + 99.838, + 0.0, + 71.04, + -0.0 + ], + [ + 41.522, + 2035.345, + 99.838, + 0.0, + 71.04, + -0.0 + ], + [ + 82.415, + 2154.376, + 99.838, + 0.0, + 71.04, + -0.0 + ], + [ + 82.415, + 2154.376, + 99.838, + 0.0, + 96.04, + -0.0 + ], + [ + 82.415, + 2154.376, + 99.838, + 0.0, + 96.04, + -0.0 + ] + ], + "Rationale": [ + "From the start of this carpeted hallway I can see a green suitcase standing far ahead near the end of the corridor, close to the service cart. My heading already runs straight down the hallway toward it, so no turn is needed yet. I will move forward to begin closing the long distance.", + "The green suitcase now appears slightly larger ahead and remains roughly centered in my view, confirming my heading is still good. The corridor floor between us is unobstructed, so continued forward motion is the efficient choice. I will keep advancing toward it.", + "The green suitcase is clearly visible ahead on the carpet, with the trolley to its right and the curtained end wall behind it. Distance still remains between us, and my heading needs no correction. I will move forward again to continue closing in.", + "The suitcase now sits noticeably closer, slightly left of my center with the cart crowding the right side of the corridor. Passing along the left of the runner keeps my path clear, so I do not need to turn. I will advance once more to shorten the remaining gap.", + "The green suitcase is now only a short stretch of carpet ahead and dominates the lower part of my view, with room to its left to keep moving. One more step should place me directly beside it. I will move forward to reach that close position.", + "I am now right next to the green suitcase, but it has drifted to the lower right edge of my view while my heading points along the left wall of doors. A small rightward turn should bring the suitcase back into the center of my view so I face it squarely. I will turn right to settle that alignment.", + "The green suitcase stands centered and within arm's reach directly in front of me. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..92375ecb0d7a899ff9b1100d527ca5f964e3b035 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the fern beside the teal sofa.", + "Type": 0, + "Start_Pose": [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -168.382, + 1453.2, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -48.847, + 1413.807, + 99.787, + 0.0, + -18.24, + 0.0 + ], + [ + -48.847, + 1413.807, + 99.787, + 0.0, + -43.24, + 0.0 + ], + [ + 42.84, + 1327.586, + 99.787, + 0.0, + -43.24, + 0.0 + ], + [ + 42.84, + 1327.586, + 99.787, + 0.0, + -43.24, + 0.0 + ] + ], + "Rationale": [ + "From the far end of the lobby I can already see the teal sofa on the left side with the tall potted fern standing right beside it. It is still several meters away across the tiled floor, so I will move forward to begin closing that distance.", + "The sofa and the fern beside it now fill more of my left-forward view, confirming I am heading the right way. There is still clear floor between me and them, so I will continue forward to shorten the gap.", + "I am now close to the seating area, but the fern sits at the left edge of my view while my heading points at the wooden doors ahead. I will turn left to bring the fern and the adjacent sofa into the center of my view before the final approach.", + "The fern and the teal sofa are now centered in front of me after the heading change, with open floor between us. I will move forward one more step to come right up beside the plant.", + "The potted fern fills my view directly beside the teal sofa, close enough to reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1709ded8a62d06b2e9e59826d828bbca649c294a --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the wooden double doors.", + "Type": 0, + "Start_Pose": [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -168.382, + 1453.2, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -48.847, + 1413.807, + 99.787, + 0.0, + -18.24, + 0.0 + ], + [ + 70.688, + 1374.413, + 99.787, + 0.0, + -18.24, + 0.0 + ], + [ + 70.688, + 1374.413, + 99.787, + 0.0, + 6.76, + -0.0 + ], + [ + 195.672, + 1389.228, + 99.275, + 0.0, + 6.76, + -0.0 + ], + [ + 320.656, + 1404.043, + 99.275, + 0.0, + 6.76, + -0.0 + ], + [ + 445.64, + 1418.858, + 99.275, + 0.0, + 6.76, + -0.0 + ], + [ + 445.64, + 1418.858, + 99.275, + 0.0, + 6.76, + -0.0 + ] + ], + "Rationale": [ + "The wooden double doors stand straight ahead across the lobby, framed in the far wall beyond the carpet and the sofa. The floor between me and them is clear, so I will walk forward to begin closing that distance.", + "The doors now sit larger in my view and the luggage cart has slid toward the right edge, confirming I am gaining on the target. Nothing blocks the tiled stretch ahead, so I will keep walking forward.", + "The door leaves and their handles are clearly resolved now, though they have drifted a little right of my center as I advance past the sofa. The path stays open, so another step forward should keep shrinking the gap before I fine tune my heading.", + "The doors have shifted noticeably to the right side of my view while the sofa crowds the left, so walking straight would carry me past them. I will turn right to bring the doorway back onto my forward axis.", + "The turn has centered the wooden doors in front of me, with the sofa now clear to my left and the cart to my right. With a straight open lane to the doorway, I will walk forward.", + "The doors now fill much of my view and both lever handles are plainly visible ahead of me. I am still a few paces short of standing at them, so I will step forward again.", + "The two wooden leaves span my whole view and my own shadow falls across them, so I am very close and squarely facing the pair. One more step should bring me right up to the doors.", + "The wooden double doors fill my view with their handles and center seam at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e9ceccf905a10d6041329990bd69746f79330177 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_e/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Proceed to the red fire extinguisher on the wall.", + "Type": 0, + "Start_Pose": [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -287.917, + 1492.594, + 99.275, + 0.0, + 6.76, + -0.0 + ], + [ + -163.087, + 1500.515, + 99.275, + 0.0, + 6.76, + -0.0 + ], + [ + -38.103, + 1515.33, + 99.598, + 0.0, + 6.76, + -0.0 + ], + [ + 86.881, + 1530.145, + 99.598, + 0.0, + 6.76, + -0.0 + ], + [ + 86.881, + 1530.145, + 99.598, + 0.0, + 31.76, + -0.0 + ], + [ + 86.881, + 1530.145, + 99.598, + 0.0, + 56.76, + -0.0 + ], + [ + 142.705, + 1613.248, + 99.275, + 0.0, + 56.76, + -0.0 + ], + [ + 142.705, + 1613.248, + 99.275, + 0.0, + 56.76, + -0.0 + ], + [ + 142.705, + 1613.248, + 99.275, + 0.0, + 56.76, + -0.0 + ] + ], + "Rationale": [ + "From this lobby entrance I can already spot the red fire extinguisher mounted on the wood-paneled wall far to my right, well off my current heading. I will turn right so that wall and the extinguisher move toward the center of my view before I start closing distance.", + "The extinguisher now sits ahead and slightly right on the paneled pillar, past the luggage cart, with clear open floor between us. I will step forward along the carpet to begin cutting down that distance.", + "The red extinguisher has grown noticeably larger on the panel to my right, so my heading is carrying me toward it. I will keep advancing across the open tile since nothing blocks the path.", + "The extinguisher is now quite close on the wood wall at my right, though I am still short of standing beside it. Another step forward should bring me level with its mounting position.", + "Having drawn level with the paneled wall, the extinguisher has slipped out of the right side of my view while the brass cart and doorway dominate ahead. I will turn right to bring the target wall back in front of me.", + "The red extinguisher has reappeared, but only at the upper right corner of my view, so my heading is still offset from it. A further turn right should center the target on the paneled wall.", + "The extinguisher is now near the top of my view on the panel just ahead, with only a short stretch of floor left between us. I will step forward to close that final gap and stand directly at the wall mount.", + "Standing this close, my view is filled by the plain wood paneling and the extinguisher sits above my current line of sight. I will tilt my gaze upward to bring the mounted red extinguisher back into view and confirm I am right at it.", + "The red fire extinguisher's base is directly above me at the wall panel, within arm's reach. The task is complete, so I will stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6eb96d5e4f39574e6db71aa3b3b11803e349a0d --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the wall-mounted television.", + "Type": 0, + "Start_Pose": [ + -383.753, + -476.434, + 100.275, + 0.0, + -175.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -383.753, + -476.434, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -509.254, + -485.915, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -634.756, + -495.395, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -634.756, + -495.395, + 100.275, + 0.0, + -150.68, + 0.0 + ], + [ + -744.492, + -557.027, + 100.275, + 0.0, + -150.68, + 0.0 + ], + [ + -744.492, + -557.027, + 100.275, + 0.0, + -125.68, + 0.0 + ], + [ + -808.29, + -560.804, + 100.275, + 0.0, + -125.68, + 0.0 + ], + [ + -808.29, + -560.804, + 100.275, + 0.0, + -100.68, + 0.0 + ], + [ + -808.29, + -560.804, + 100.275, + 0.0, + -100.68, + 0.0 + ] + ], + "Rationale": [ + "From the doorway area I can already see the dark flat panel mounted on the far right-hand wall above the long wooden console, so the target is localized. The wardrobe edge crowds the right side of my view, so I will move forward along the open carpet to get past it and closer to that wall.", + "The television is now fully clear of any occlusion on the right wall and appears larger, confirming my previous step closed distance. There is still open floor between me and the console beneath it, so I will continue straight to keep reducing the gap.", + "The screen has drifted to the right edge of my view while my heading still points toward the curtained window ahead. I will turn right to bring the television toward the center of my view before advancing further.", + "The turn worked, and the television now sits high and roughly centered ahead of me with the console running beneath it. The floor between me and that wall is still clear, so I will step forward to close the remaining distance.", + "I am close enough that the screen fills the upper right of my view, but my heading is still angled toward the window and the side table. I will turn right to square up with the mounted panel.", + "The panel and its brand plate now dominate the upper part of my view, so my heading is essentially on the target. The console top still leaves a short gap ahead, so I will make one short forward step to finish closing in.", + "I am right up against the wall now, but the screen sits slightly high and off to the right while the framed picture and side table still hang in the left of my view. A small right turn should center the television squarely in front of me.", + "The wall-mounted television fills my view directly ahead at arm's length, with its label plate centered. The navigation task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a19d3bcdef8432750dceb63f6a7f6e5346afed52 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Identify a blue suitcase located within the room, then proceed toward it.", + "Type": 1, + "Start_Pose": [ + -1007.583, + -334.958, + 100.275, + 0.0, + -94.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -94.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -69.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -981.206, + -417.313, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -962.277, + -495.747, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -962.277, + -495.747, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -962.277, + -495.747, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -839.781, + -496.639, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -714.398, + -491.658, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -714.398, + -491.658, + 100.275, + 0.0, + 30.12, + -0.0 + ], + [ + -714.398, + -491.658, + 100.275, + 0.0, + 55.12, + -0.0 + ], + [ + -638.223, + -403.05, + 100.275, + 0.0, + 55.12, + -0.0 + ], + [ + -646.246, + -321.006, + 100.275, + 0.0, + 55.12, + -0.0 + ], + [ + -646.246, + -321.006, + 100.275, + 0.0, + 55.12, + -0.0 + ], + [ + -646.246, + -321.006, + 100.275, + 0.0, + 55.12, + -0.0 + ] + ], + "Rationale": [ + "From this starting pose I only see the writing desk, the chair, the curtained window and part of the wall-mounted television, with no luggage of any colour in view. To find a blue suitcase I need to sweep the rest of the room, so I will turn right and begin a consistent scan in that direction.", + "The new heading reveals the television wall, a tall wardrobe and the near corner of the bed, but still no suitcase. Since the room clearly continues past the wardrobe on my right, I will keep turning the same way to expose that unseen portion.", + "Past the wardrobe I can now see the entry doorway with a green case standing beside it and the edge of a red case at the right margin of my view, which suggests luggage is gathered along that far wall. I will continue turning right to bring that whole luggage area into view and check whether a blue suitcase is among it.", + "With this wider view I can make out a blue suitcase standing beside the red one against the far wall near the nightstand, so the target is confirmed. The bed fills the space directly between us, so I will turn back left to face the open carpet lane along the television wall, which should give me a walkable route toward that corner.", + "I am now facing down the open strip of carpet between the low media unit and the bed, with the wardrobe and doorway ahead and nothing blocking my path. I will step forward along this lane to close distance with the far end of the room where the blue suitcase stands.", + "The media unit and wardrobe have grown noticeably larger, confirming the previous step carried me further down the lane, and the way ahead is still clear. I will walk forward again to reach the level of the wardrobe, from where the luggage corner should be within easy reach.", + "I have advanced far enough that the wardrobe is right beside me and my heading now points mostly at the blank television wall and the corridor by the door. The suitcase corner lies off to my right, so I will turn right to swing my view back toward it.", + "This heading shows the doorway ahead and only the red case clipped at the right edge, so I am not yet squared on the luggage corner. I will turn right once more to centre that corner and the blue suitcase in my view before continuing forward.", + "From this heading I can clearly see a blue hard-shell suitcase standing beside a red one against the far wall next to the nightstand, so the target is confirmed. The floor between me and that corner is open carpet, so I will walk forward to close the distance.", + "The blue suitcase is now noticeably larger on the right side of my view, confirming that my previous step brought me closer to it. There is still open corridor floor ahead, so I will keep walking forward to reduce the remaining gap.", + "My forward heading now points down the passage toward the far doorway, while the blue suitcase sits off to my right and is nearly out of view. I will turn right to bring it back toward the center of my view before advancing further.", + "The turn has brought the red and blue suitcases into view again, but they still sit right of center against the far wall. I will rotate right once more so the blue suitcase is squarely ahead of me for a straight approach.", + "The blue suitcase is now centered in my view, standing beside the red one against the wall next to the nightstand. With the path in front of me clear, I will step forward to close the remaining distance to it.", + "I am close enough now that the blue suitcase fills the lower part of my view beside the nightstand and lamp. One more short step forward should place me right at it.", + "Standing this close, my level gaze catches mostly the wall, lamp and the suitcase handle rather than the case itself. I will tilt my view downward to bring the blue suitcase at my feet fully into sight and confirm I have reached it.", + "The blue suitcase is directly in front of me, filling the near view beside the nightstand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1bb6d751ef864d1abcf22ce1182320a0378341b --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for the wash basin area within the bathroom, and head to where it is.", + "Type": 1, + "Start_Pose": [ + -1007.583, + -334.958, + 100.275, + 0.0, + -94.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -94.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -69.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -981.206, + -417.313, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -962.277, + -495.747, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -962.277, + -495.747, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -962.277, + -495.747, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -839.781, + -496.639, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -714.398, + -491.658, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -589.041, + -480.426, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -589.041, + -480.426, + 100.275, + 0.0, + 30.12, + -0.0 + ], + [ + -485.21, + -444.536, + 100.275, + 0.0, + 30.12, + -0.0 + ], + [ + -485.21, + -444.536, + 100.275, + 0.0, + 55.12, + -0.0 + ], + [ + -423.913, + -352.128, + 100.448, + 0.0, + 55.12, + -0.0 + ], + [ + -423.913, + -352.128, + 100.448, + 0.0, + 30.12, + -0.0 + ], + [ + -315.048, + -288.97, + 100.448, + 0.0, + 30.12, + -0.0 + ], + [ + -315.048, + -288.97, + 100.448, + 0.0, + 30.12, + -0.0 + ] + ], + "Rationale": [ + "I am facing a curtained window with a desk and a wall-mounted television, and nothing here suggests a bathroom or wash basin. I will turn right to sweep this hotel room for a doorway that could lead toward the sanitary area.", + "The rotation has opened up the room, showing a wardrobe on the right and the edge of a bed, but still no bathroom entrance. I will keep turning in the same direction to bring the far side of the room, where a doorway is more likely, into view.", + "Past the wardrobe I can now see a lit opening leading into an entry area with a luggage piece and another door beyond. Bathrooms in rooms like this usually sit off that entry corridor, so I will walk forward to close distance with it.", + "The entry passage beside the wardrobe is still ahead but off to my right, and no basin is visible from here yet. I will continue advancing to reach the wardrobe corner where the corridor should become fully visible.", + "I am now close to the wardrobe with the media console filling my left side, while the lit entry passage lies to my right. I will turn right to face that passage instead of continuing along the bedroom wall.", + "The corridor with the wardrobe and the far entry door is now visible, but my heading still points slightly left of it. I will turn right once more to line up with the passage so I can walk straight down it.", + "I am now aimed down the corridor, with the wardrobe on my left and luggage and a framed picture on the right. I will walk forward along this passage since a bathroom door most likely opens off it.", + "Moving up the corridor has revealed a second doorway on my right, set into the wall between the suitcases and the wardrobe run. I will keep walking forward to draw level with that opening and check whether it holds the wash basin.", + "Through the open doorway on my right I can now make out tiled walls and what looks like a counter with a basin, which matches the wash basin area I am looking for. I will keep walking forward along this corridor to draw level with that opening and get a clearer look inside.", + "Now that I am level with the opening, the tiled room on my right clearly contains a wide vanity counter with a mirror above it, so the target is confirmed rather than merely suspected. I will turn right to face that doorway instead of continuing down the corridor.", + "The bathroom doorway is now roughly in front of me with the mirror and vanity counter framed inside it. I will step forward to close the gap and get through the threshold toward the basin.", + "I am at the threshold, but the wall edge on my left still cuts across the view and the vanity with its bin and the shower fittings sit off to my right. A further right turn should square me with the bathroom interior so I can walk straight in.", + "The bathroom now opens up ahead of me with the vanity and mirror on the left, the shower column in the middle and the toilet to the right. I will walk forward to move properly inside the room and get near the basin.", + "Inside the bathroom the shower wall fills most of my view while the wash basin and its mirror sit at the left edge, only partly visible. I will turn left so the basin is centred in front of me before closing the last of the distance.", + "The vanity, tap and mirror are now squarely in front of me, just a short distance away. I will step forward to stand right at the wash basin area.", + "The wash basin, its tap and the mirror above are directly in front of me at arm's length. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6fff3958c284f1f2923931854a64cc2736284eeb --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Navigate to the door of the room.", + "Type": 0, + "Start_Pose": [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -979.564, + -380.651, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -785.976, + -560.781, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -785.976, + -560.781, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -662.12, + -556.977, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -543.963, + -544.177, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -418.124, + -541.98, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -418.124, + -541.98, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -328.388, + -542.613, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -328.388, + -542.613, + 100.275, + 0.0, + -24.0, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the bedroom I can see the room's exit doorway ahead, with a lit entry area and a green suitcase just past the wardrobe. The large bed occupies the floor directly in front of me, so I will turn left to face the open carpet lane running along the media console, which should give me a clear walking route toward that doorway.", + "The carpet lane beside the bed and under the wall-mounted console is now clear ahead of me, and the exit doorway with the bright entry beyond it sits toward the right of my view. I will move forward along this open strip to close distance toward the wardrobe corner where that doorway is.", + "I have advanced along the console wall and the wardrobe now stands closer, with the open doorway and its brighter entry space still visible to its right. The floor in front of me remains unobstructed, so another step forward should bring me nearer to that corner and the doorway.", + "Moving along this wall has pushed the exit doorway to the far right edge of my view, where the wardrobe is starting to hide it, while I am now looking mostly at the blank wall and console. I will turn right to swing my heading back toward the doorway so the route into the entry area is centered in front of me.", + "The turn worked, and the open doorway with the lit entry area and green suitcase now sits ahead of me down the strip of carpet between the wardrobe and the bed. I will move forward along this passage to keep closing the distance to the door.", + "The doorway opening is noticeably larger now and I can make out the patterned door panel in the space beyond it, with the green suitcase at its threshold. The passage past the wardrobe stays clear, so I will step forward again to shorten the remaining distance.", + "I am now beside the wardrobe, which fills the left side of my view, and the room's doorway sits off to the right of my heading rather than straight ahead. I will turn right to bring that opening to the center so I can walk straight through the short entry passage toward it.", + "The doorway is now centered ahead down the short entry corridor, with the bathroom opening on my right and the wardrobe face on my left. I will move forward through this clear stretch of carpet to reach the door.", + "The open door of the room stands directly ahead of me with the corridor visible through its frame, and the path between the wardrobe on my left and the bathroom opening on my right is clear. I will step forward to keep closing the remaining distance to that doorway.", + "The doorway has grown much wider in my view and the tiled threshold with the red rug beyond is now clearly visible, so I am close but not yet at the door. The green suitcase sits off to my left and does not block my lane, so another step forward should bring me right up to the entrance.", + "I am now at the threshold, but the door leaf with its handle sits across the left side of my view while the corridor opens toward my right, so my heading is skewed away from the door itself. I will turn left to square up with the room's door panel and hold it centered before my final step.", + "The room door is now squarely in front of me with its lever handle at arm's reach height and the fire alarm plate on the wall beside it. One more short step forward should place me right at the door, close enough to count as standing at it.", + "I am standing immediately at the room's open door, its panel filling the near left of my view at arm's reach. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa11fe9650e6e7080b5acb65f9ff585f49bd43a5 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the third suitcase from the right.", + "Type": 2, + "Start_Pose": [ + -1060.554, + -442.603, + 100.275, + 0.0, + -14.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1060.554, + -442.603, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -973.085, + -481.02, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -861.453, + -520.909, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -739.548, + -552.209, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -739.548, + -552.209, + 100.275, + 0.0, + 10.6, + -0.0 + ], + [ + -615.836, + -529.057, + 100.275, + 0.0, + 10.6, + -0.0 + ], + [ + -492.125, + -505.905, + 100.275, + 0.0, + 10.6, + -0.0 + ], + [ + -492.125, + -505.905, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -492.125, + -505.905, + 100.275, + 0.0, + -39.4, + 0.0 + ], + [ + -412.354, + -547.726, + 100.275, + 0.0, + -39.4, + 0.0 + ], + [ + -412.354, + -547.726, + 100.275, + 0.0, + -39.4, + 0.0 + ], + [ + -412.354, + -547.726, + 100.275, + 0.0, + -39.4, + 0.0 + ] + ], + "Rationale": [ + "Counting the cases from the right, the blue one by the window is first, the red one beside it second, and the green one standing at the far entry doorway third, so that green case is my target. It lies well ahead past the wardrobe, so I walk forward down the room toward it.", + "The green suitcase is still small at the end of the room, tucked against the wardrobe by the entry. Nothing blocks the open carpet between us, so I keep walking straight ahead to close the gap.", + "The green suitcase now reads clearly at the far end of the wardrobe wall, though it is still several strides off. I continue forward along the open lane of carpet to reach the entry area where it stands.", + "The tall wardrobe crowds my left side and my heading would carry me into it rather than into the entry alcove where the green suitcase sits. A small turn to the right should square me with that passage so I can walk in cleanly.", + "The entry alcove is now open ahead of me, with the green suitcase resting low on the left beside the doorway. I step forward into that alcove to bring myself alongside it.", + "The green suitcase has slid to the very edge of my view on the left, meaning I am nearly level with it but not yet beside it. One more step forward should put me right at its position in the alcove.", + "I am now inside the entry alcove facing the outer threshold, and the green suitcase has dropped out of sight past my left shoulder. I turn left to swing it back into view.", + "The green suitcase has come back into view, but only at the bottom left corner with the door leaf between us. Another left turn should bring it squarely in front of me.", + "The green suitcase now sits plainly in front of me against the wall, just left of the open door leaf, but still a stride or so out of arm's reach. I step forward to close that last bit of distance and stand beside it.", + "I am right up against the wall now, and the case is low enough that my level gaze passes over it entirely, leaving only the door edge and the fire panel. Tilting my view downward should put the suitcase back in front of me and confirm I am standing at it.", + "The green suitcase lies directly at my feet, within arm's reach beside the door. I have reached it, so the approach is complete and there is nothing further to close." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b790bc97130865a2f6fa682644e43ada76fea6 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the trash bin, then move to the luggage cart.", + "Type": 3, + "Start_Pose": [ + 3.717, + -522.704, + 99.838, + 0.0, + 87.36, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.717, + -522.704, + 99.838, + 0.0, + 87.36, + -0.0 + ], + [ + 9.514, + -396.979, + 100.314, + 0.0, + 87.36, + -0.0 + ], + [ + 9.514, + -396.979, + 100.314, + 0.0, + 62.36, + -0.0 + ], + [ + 67.902, + -285.483, + 99.888, + 0.0, + 62.36, + -0.0 + ], + [ + 67.902, + -285.483, + 99.888, + 0.0, + 62.36, + -0.0 + ], + [ + 67.902, + -285.483, + 99.888, + 0.0, + 87.36, + -0.0 + ], + [ + 67.902, + -285.483, + 99.888, + 0.0, + 112.36, + -0.0 + ], + [ + 20.022, + -169.087, + 99.888, + 0.0, + 112.36, + -0.0 + ], + [ + -27.858, + -52.691, + 99.888, + 0.0, + 112.36, + -0.0 + ], + [ + -75.738, + 63.705, + 99.888, + 0.0, + 112.36, + -0.0 + ], + [ + -75.738, + 63.705, + 99.888, + 0.0, + 87.36, + -0.0 + ], + [ + -66.849, + 186.547, + 99.838, + 0.0, + 87.36, + -0.0 + ], + [ + -66.849, + 186.547, + 99.838, + 0.0, + 87.36, + -0.0 + ] + ], + "Rationale": [ + "Down the corridor I can see the dark cylindrical trash bin standing against the left wall, with a luggage cart further along on the right. The bin is my nearer destination, so I will walk straight ahead along the red carpet to close the gap.", + "The trash bin now sits noticeably to my left, close against the wall panelling, while my heading still points straight down the middle of the corridor. I will turn left so my path leads directly onto it rather than sliding past.", + "With the bin now set squarely ahead on my left side and the floor between us clear, only a short distance remains. I will step forward to bring myself right up beside it.", + "The tall dark trash bin now fills the near part of my view, close enough to touch beside the wall. I have arrived at it, so I mark reaching the trash bin before setting off toward the gold luggage cart standing down the corridor.", + "Standing beside the bin, my view is dominated by the left wall panels while the gold luggage cart lies off to my right down the corridor. I will turn right to swing my heading away from the wall and back toward the open hallway.", + "The corridor is open again and the brass luggage cart with its green and red suitcases sits ahead but still off to my right of center. Another turn right should put that cart directly in front of me before I walk on.", + "The brass luggage cart loaded with a green case and a red suitcase now sits ahead of me along the carpet with nothing blocking the way. I will walk forward to close the remaining distance to it.", + "The cart has grown larger in my view, but it still stands several paces off near the doorway on the right side of the hall. I will keep walking forward to draw up beside it.", + "The brass luggage cart with its green and red cases now stands clearly ahead and slightly left of me, close to the doors along this stretch of corridor. The carpet in front of me is clear, so I will walk forward again to cut the remaining gap to it.", + "I am close to the luggage cart, but it sits off to my left while my heading points at the guest room door on the right. I will turn left to bring the cart squarely in front of me before stepping in.", + "The luggage cart is now centered in front of me, its brass frame and stacked cases only a short step away. I will walk forward to close that last bit of distance and stand right at it.", + "The luggage cart's brass frame and loaded cases fill the view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5267d23f603b3bd1958f2d87ed824215de6347b3 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_d/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Move to the luggage cart ahead, then approach the gold-framed painting.", + "Type": 3, + "Start_Pose": [ + 3.717, + -522.704, + 99.838, + 0.0, + 87.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.717, + -522.704, + 99.838, + 0.0, + 87.36, + -0.0 + ], + [ + 9.514, + -396.979, + 100.314, + 0.0, + 87.36, + -0.0 + ], + [ + 15.311, + -271.253, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 21.108, + -145.528, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 21.108, + -145.528, + 100.042, + 0.0, + 112.36, + -0.0 + ], + [ + -26.772, + -29.132, + 100.042, + 0.0, + 112.36, + -0.0 + ], + [ + -74.651, + 87.264, + 100.33, + 0.0, + 112.36, + -0.0 + ], + [ + -114.949, + 159.619, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -114.949, + 159.619, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -114.949, + 159.619, + 99.838, + 0.0, + 87.36, + -0.0 + ], + [ + -114.949, + 159.619, + 99.838, + 0.0, + 62.36, + -0.0 + ], + [ + -114.949, + 159.619, + 99.838, + 0.0, + 37.36, + -0.0 + ], + [ + -114.949, + 159.619, + 99.838, + 0.0, + 12.36, + -0.0 + ], + [ + -114.949, + 159.619, + 99.838, + 0.0, + -12.64, + 0.0 + ], + [ + -114.949, + 159.619, + 99.838, + 0.0, + -37.64, + 0.0 + ], + [ + -15.285, + 82.757, + 100.129, + 0.0, + -37.64, + 0.0 + ], + [ + -15.285, + 82.757, + 100.129, + 0.0, + -62.64, + 0.0 + ], + [ + 42.557, + -29.023, + 99.838, + 0.0, + -62.64, + 0.0 + ], + [ + 81.139, + -120.801, + 99.838, + 0.0, + -62.64, + 0.0 + ], + [ + 73.903, + -191.623, + 99.838, + 0.0, + -62.64, + 0.0 + ], + [ + 73.903, + -191.623, + 99.838, + 0.0, + -37.64, + 0.0 + ], + [ + 107.603, + -263.015, + 99.838, + 0.0, + -37.64, + 0.0 + ], + [ + 107.603, + -263.015, + 99.838, + 0.0, + -37.64, + 0.0 + ] + ], + "Rationale": [ + "Far down this carpeted corridor I can pick out the brass luggage cart with a red case beside it, near the doors on the right. Nothing blocks the runner between me and it, so I will walk straight ahead to cut down that distance.", + "The luggage cart and its red case have grown larger ahead of me, confirming I am closing on them. The corridor stays open, so I will keep walking forward.", + "The cart with its gold frame and red suitcase now sits clearly ahead and a little to my right, with a service trolley off to the left. Distance is still the main gap, so I will continue straight along the carpet.", + "The luggage cart with its green and red cases sits off to the right of my heading, so walking straight would carry me past it along the middle of the corridor. I will turn right to bring the cart onto my line of travel.", + "After the turn the luggage cart and its red case sit squarely in front of me beside the guest room doors. The floor between us is clear, so I will step forward to close in.", + "The cart now fills much of my view, its gold rail and stacked cases only a couple of paces off. I will keep walking to bring myself right alongside it.", + "The gold rail of the luggage cart and the green and red cases are almost within arm's reach, with the room door on my right. One more short step should put me level with the cart.", + "The brass luggage cart stands immediately beside me, its green and blue cases at arm's length. I have arrived at the luggage cart. I mark reaching it before turning back down the corridor toward the gold-framed painting.", + "The bell cart with its stacked cases stands immediately beside me, so my business here is done and the gold-framed painting is what I need next. Nothing but panelled wall and a room door fills my view on this heading, so I begin turning left to sweep the corridor for it.", + "The brass frame of the cart now sits across the middle of my view with the corridor and its numbered doors opening to the left. No framed picture is in sight yet, so I keep rotating left to bring more of the hallway wall into view.", + "My view has swung past the cart to a service trolley and a run of guest doors, and the only wall art here is a small framed print far down the hall. I continue turning left to keep scanning the walls behind me for the gold-framed painting.", + "I am now looking almost straight at two guest doors and the trolley beside them, a dead end for my purposes. Another left turn should carry my heading further around toward the open stretch of corridor.", + "The doors and trolley still fill my forward view and the carpeted corridor only shows along the bottom edge. I turn left again so my heading comes round onto that carpeted run instead of this blank door alcove.", + "A wall corner and a single door now stand ahead of me, but the carpet and the far end of the corridor are opening at my left edge. One more left turn should put that passage, and the wall where a framed picture hangs, in front of me.", + "The corridor is open ahead now and a gilt-framed painting hangs on the light wall to my left, above the standing ashtray. I walk forward to close the distance to it.", + "The step brought me close beside the wall, with the gilt-framed painting and its lamp now off to my left while panelling crowds my forward view. I turn left to swing onto the corridor line and put that painting in front of me.", + "The corridor now opens straight ahead and a gold-framed painting hangs on the wall to my right, a little further along. Walking forward should carry me down this stretch and bring that frame close enough to stand before.", + "The gold-framed landscape on my right wall has grown noticeably larger, so my heading down this corridor is closing on it. I step forward again to shorten the remaining gap before I turn to face it.", + "The gilded frame is now high on the wall just off my right shoulder, but I am still slightly short of being level with it. One more step forward should place me directly beside the painting.", + "I am now level with the painting, which sits on the wall to my right while my body still points down the corridor. Turning right should swing the gold frame into the center of my view so I can face it squarely.", + "The gold-framed forest scene is now centered in front of me with the wall squarely ahead. A short step forward should bring me right up to the painting for a close view.", + "The gold-framed painting fills my view at arm's length on the wall before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t5_a_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e95f109c46670c9b39d14cd6160e0157baf6326b --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t5_a_pd/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Lift the green bell pepper by the trash bin, then leave it by the luggage cart.", + "Type": 5, + "Start_Pose": [ + 3.717, + -522.704, + 99.838, + 0, + 87.36, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 54.438, + -217.249, + 44.838, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.717, + -522.704, + 99.838, + 0, + 87.36, + 0 + ], + [ + 9.514, + -396.979, + 100.314, + 0.0, + 87.36, + -0.0 + ], + [ + 9.514, + -396.979, + 100.314, + 0.0, + 87.36, + -0.0 + ], + [ + 15.311, + -271.253, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 21.108, + -145.528, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 26.905, + -19.802, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 32.703, + 105.923, + 99.838, + 0.0, + 87.36, + -0.0 + ], + [ + 32.703, + 105.923, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -15.177, + 222.319, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + 12.213, + 155.733, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + 12.213, + 155.733, + 99.838, + 0.0, + 112.36, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 54.438, + -217.249, + 44.838, + 0.0, + 0.0, + 0.0 + ], + [ + 54.438, + -217.249, + 44.838, + 0.0, + 0.0, + 0.0 + ], + [ + -11.845, + -396.605, + 69.945, + -28.202, + 137.505, + 1.862 + ], + [ + -6.041, + -270.621, + 69.457, + -28.195, + 137.508, + 1.862 + ], + [ + -0.233, + -144.854, + 69.401, + -28.209, + 137.498, + 1.855 + ], + [ + 5.556, + -19.328, + 69.72, + -28.211, + 137.494, + 1.854 + ], + [ + 11.338, + 106.101, + 70.15, + -28.213, + 137.496, + 1.849 + ], + [ + 12.423, + 97.283, + 69.625, + -28.193, + 162.516, + 1.869 + ], + [ + -34.8, + 213.91, + 69.352, + -28.219, + 162.486, + 1.85 + ], + [ + -14.417, + 220.47, + 89.838, + 0.0, + 112.36, + -0.0 + ], + [ + -14.417, + 220.47, + 89.838, + 0.0, + 112.36, + -0.0 + ] + ], + "PD_Dist_2D": [ + 309.6, + 185.3, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 22.0, + 21.3, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the corridor runner just ahead, right beside the dark trash bin against the left wall. It is still too far for me to reach, so I will walk forward along the carpet to close the gap before attempting a grasp.", + "The pepper is now directly in front of me at the foot of the trash bin, filling the near part of my view. This is close enough to reach it, so I will attempt to pick it up and take it with me toward the luggage cart further down the corridor.", + "The pick worked, and the pepper is now held with me rather than resting on the carpet. The brass luggage cart with its suitcases stands well down the corridor on the right side, so I will walk forward to carry the pepper toward it.", + "The luggage cart and the red suitcase beside it are still some distance ahead on the right, and the runner between us is unobstructed. I will keep walking forward with the pepper to shorten that distance.", + "The brass cart has grown noticeably larger on the right, but I am not yet beside it. Another step forward should bring me level with the cart so I can place the pepper close to it.", + "The cart now dominates the right edge of my view, with its luggage clearly visible, yet its base is still slightly ahead of me. I will step forward once more to draw even with the cart before setting the pepper down.", + "I am now level with the brass luggage cart, but it sits off to my right while I face straight down the corridor. Turning right should put the cart squarely in front of me so the pepper can be released right beside it.", + "The luggage cart with its green case and grey bag now sits directly ahead of me, with the red suitcase parked beside it. I am still a stride short of the drop position, so I will step forward to bring the cart within reach for releasing the pepper.", + "The green bell pepper is still in my hands and the gold luggage cart now fills my view, its frame and suitcases directly in front of me. This is the placement spot the task asks for, so I will release the pepper here beside the cart. It should come to rest on the floor next to the cart's base.", + "The green bell pepper now rests on the floor right beside the luggage cart, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t5_b_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b1b9c3f33a22e54e39c18252a48fdfa82eb6ec5 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t5_b_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the tomato by the gold-framed painting, then set it down near the red suitcase.", + "Type": 5, + "Start_Pose": [ + 3.717, + -522.704, + 99.838, + 0, + 87.36, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 44.718, + -176.517, + 59.871, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.717, + -522.704, + 99.838, + 0, + 87.36, + 0 + ], + [ + 9.514, + -396.979, + 100.314, + 0.0, + 87.36, + -0.0 + ], + [ + 15.311, + -271.253, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 15.311, + -271.253, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 15.311, + -271.253, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 15.311, + -271.253, + 100.042, + 0.0, + 112.36, + -0.0 + ], + [ + -2.273, + -182.815, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -23.86, + -75.86, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -71.74, + 40.535, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -119.359, + 157.01, + 99.373, + 0.0, + 112.36, + -0.0 + ], + [ + -119.359, + 157.01, + 99.373, + 0.0, + 112.36, + -0.0 + ], + [ + -91.968, + 90.424, + 100.118, + 0.0, + 112.36, + -0.0 + ], + [ + -91.968, + 90.424, + 100.118, + 0.0, + 112.36, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 44.718, + -176.517, + 59.871, + 0.0, + 0.0, + 0.0 + ], + [ + 44.718, + -176.517, + 59.871, + 0.0, + 0.0, + 0.0 + ], + [ + 44.718, + -176.517, + 59.871, + 0.0, + 0.0, + 0.0 + ], + [ + 44.718, + -176.517, + 59.871, + 0.0, + 0.0, + 0.0 + ], + [ + -6.048, + -270.879, + 69.945, + -28.202, + 137.505, + 1.862 + ], + [ + -5.089, + -280.312, + 70.217, + -28.189, + 162.517, + 1.872 + ], + [ + -21.678, + -191.792, + 70.487, + -28.182, + 162.521, + 1.881 + ], + [ + -43.425, + -84.444, + 69.744, + -28.191, + 162.51, + 1.868 + ], + [ + -91.372, + 32.126, + 69.368, + -28.203, + 162.502, + 1.858 + ], + [ + -138.969, + 148.551, + 68.93, + -28.208, + 162.499, + 1.852 + ], + [ + -138.754, + 148.039, + 69.865, + -28.211, + 162.498, + 1.853 + ], + [ + -118.598, + 155.161, + 115.118, + 0.0, + 112.36, + -0.0 + ], + [ + -118.598, + 155.161, + 115.118, + 0.0, + 112.36, + -0.0 + ] + ], + "PD_Dist_2D": [ + 348.6, + 223.3, + 99.2, + 99.2, + 21.4, + 22.3, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The large tomato is sitting on the red carpet ahead of me, just past the gold-framed painting on the left wall. It is still far out of reach, so I will walk forward along the corridor to close that gap.", + "The tomato is noticeably larger and closer now, sitting on the carpet at my left front. I am still not within grabbing range, so another step forward should bring me alongside it.", + "I am now standing right beside the tomato, but at my current eye level it has slipped to the bottom edge of my view. I will look down so the tomato is centered and clearly framed for a grasp.", + "With my gaze lowered, the tomato fills the near foreground directly in front of me and nothing blocks it. This is the moment to attempt the grasp, so I will try to pick it up.", + "The grasp worked, and the tomato is now held in my hands rather than resting on the carpet. The red suitcase stands further down the corridor beside the luggage cart, slightly right of my heading, so I will turn right to line up my path toward it.", + "My heading now runs straight down the corridor with the red suitcase and luggage cart visible ahead on the right side. Carrying the tomato, I will walk forward to close the distance to the drop location.", + "The red suitcase beside the gold cart is larger in view but still several paces away down the hall. I will keep walking forward to bring it within setting-down range.", + "The red suitcase now stands clearly ahead beside the luggage trolley, close to the room doors on my right. One more step forward should put me right next to it so I can place the tomato nearby.", + "I am still carrying the tomato, and the red suitcase now stands close on my right beside the luggage cart, though I am not yet level with it. I will step forward once more to bring myself alongside the suitcase so the tomato can be set down near it.", + "I have drawn level with the luggage beside the guest room door, so the release spot lies on the floor just at my side rather than in view ahead. I will look down to bring that patch of floor near the suitcase into view before releasing the tomato.", + "The red suitcase fills the near floor directly in front of me, with clear tiled ground beside it. This is the intended place to leave the tomato, so I will release it here and expect it to come to rest next to the suitcase.", + "The tomato is now resting on the floor right beside the red suitcase and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3ccae8bbcc04a49c8eeefbb0ea6a9c9bb964db26 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Identify the green suitcase standing in the hotel corridor, then head over to it.", + "Type": 1, + "Start_Pose": [ + 32.108, + 2769.997, + 99.823, + 0.0, + 125.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 32.108, + 2769.997, + 99.823, + 0.0, + 125.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + 150.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + 175.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -159.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 43.34, + 2644.64, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 54.572, + 2519.283, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 65.804, + 2393.927, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 65.804, + 2393.927, + 99.838, + 0.0, + -84.88, + 0.0 + ] + ], + "Rationale": [ + "I am tucked into a dim corner facing a curtain, a paneled wall and a standing ashtray bin, with no corridor and certainly no green suitcase in sight. Since nothing here can be the target, I will turn right to begin a consistent scan toward the open side of the room.", + "The view has shifted onto a bright frosted panel with the ashtray bin now at my left, and there is still no corridor floor or suitcase in front of me. I will keep turning right in the same direction to sweep past this panel toward whatever opening lies beyond it.", + "A wooden door and a strip of pale corridor floor are now appearing at the right edge, which suggests the hallway opens in that direction. I will continue the rightward scan to bring that corridor fully into view rather than stopping on this blank panel.", + "I can now see a row of guest room doors along a tiled walkway, and a patterned red carpet is just entering the bottom right corner, marking the hotel corridor itself. The green suitcase is not yet in view, so I will turn right again to face further down that corridor.", + "The corridor is opening up with its red runner, a housekeeping cart and a numbered door, but the far stretch where luggage would stand is still cut off at the right. I will turn right once more to swing my heading down the length of the hallway.", + "I can now see the green suitcase standing upright on the corridor floor beyond the housekeeping cart, but it sits right of my current heading. I will turn right one more step to bring it closer to the center of my view before walking toward it.", + "The green suitcase is now centered down the hallway with an unobstructed run of carpet and tile between us, the cart sitting off to my left. I will walk forward along the corridor to close the distance to it.", + "The suitcase has grown noticeably larger and stays near the middle of my view, so my heading down the corridor is good. I am still several paces short of it, so I will keep walking forward to reach it.", + "The green suitcase now stands clearly ahead of me on the corridor tiles beside the door marked 311, but it is still a couple of steps away. The path along the red runner is clear, so I will step forward once more to close the remaining gap and come right up beside it.", + "The green suitcase is now directly at my feet in the lower part of my view, close beside door 311. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d7df778d7a5ff0a2acb1e91e4e62ef0bd704a052 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Locate the green suitcase resting on a bellhop luggage cart in the corridor; once found, navigate to that cart.", + "Type": 1, + "Start_Pose": [ + 80.128, + -264.638, + 99.838, + 0, + -134.88, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 80.128, + -264.638, + 99.838, + 0, + -134.88, + 0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -59.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -34.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -9.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 15.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 40.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 65.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.81, + -152.003, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.547, + -26.144, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.283, + 99.714, + 99.912, + 0.0, + 90.12, + -0.0 + ], + [ + 65.02, + 225.573, + 99.912, + 0.0, + 90.12, + -0.0 + ], + [ + 65.02, + 225.573, + 99.912, + 0.0, + 115.12, + -0.0 + ], + [ + 29.311, + 330.53, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + 29.311, + 330.53, + 99.838, + 0.0, + 140.12, + -0.0 + ], + [ + -41.892, + 414.12, + 99.838, + 0.0, + 140.12, + -0.0 + ], + [ + -41.892, + 414.12, + 99.838, + 0.0, + 165.12, + -0.0 + ], + [ + -41.892, + 414.12, + 99.838, + 0.0, + -169.88, + 0.0 + ], + [ + -41.892, + 414.12, + 99.838, + 0.0, + -169.88, + 0.0 + ] + ], + "Rationale": [ + "From my starting spot I am facing a wood-paneled wall and a doorway on my left, with only a narrow slice of the corridor and some scattered items visible ahead on the right. No luggage cart with a green suitcase is in view, so I will turn right to open up the corridor and begin a consistent scan of the hallway.", + "The corridor now opens in front of me with numbered guest room doors on both sides, and I can see a low metal frame and some small objects on the floor, but nothing that looks like a bellhop cart carrying a green suitcase. Continuing right keeps my scan in one consistent direction so I can check the parts of the hallway still hidden behind the panelled wall on my right.", + "This heading shows the same stretch of hallway with room 301 and a few small items on the tile, and there is still no bellhop cart or green suitcase anywhere along it. I will keep turning right to sweep past the near wall and check the corridor direction behind me.", + "A wide wood-panelled wall and the edge of a framed picture now fill most of my view, blocking any useful sight line, with only a sliver of hallway remaining at the far left. Since nothing resembling the cart is visible here, I will continue the right sweep to get past this wall section.", + "I am now looking almost directly at a framed landscape picture hanging on the wall, so this heading gives me no information about the corridor. I will keep rotating right at the same steady rate to sweep past this blank wall toward the open hallway beyond it.", + "The wall still fills my view, though the picture has slid to the left edge, which tells me I am nearly past this blind section. I will turn right again to bring the next stretch of corridor into view and continue searching for a bellhop cart with a green suitcase.", + "The wall is finally giving way on my right, where a corner opens onto a lit area with a dark stone vessel and what may be a wheeled cart just beyond it. That is a promising cue, so I will turn right once more to bring that opening squarely into view.", + "The corridor is now open ahead of me and I can make out a tall gold bellhop luggage cart on the right side, with another wheeled cart further down the hall. The carts sit slightly right of my current heading, so I will turn right again to line up with that stretch of corridor before moving toward them.", + "A long corridor has just opened up on my right, and near its far end I can make out the brass frame of a bellhop luggage cart standing beside a red suitcase. That cart sits well off to the right edge of my view, so I will keep turning right to bring the corridor and the cart into the center of my heading before I commit to walking. This should give me a clean straight line down the hallway toward the luggage area.", + "The corridor now runs straight ahead of me with a bellhop luggage cart standing on the right side partway down, and something dark and bulky is loaded on its deck. I am still too far away to tell whether the green suitcase from my task is on that cart, so I will walk forward along the carpet to close the distance and get a clearer look.", + "Getting closer has paid off, because I can now see a green case sitting on the bellhop cart's frame on the right side of the corridor. The cart is still several paces ahead, so I will keep walking forward along the hallway to reach it.", + "The green suitcase on the bellhop cart is clearly visible on my right now, resting against the cart's brass frame above a grey bag. I am nearly level with it but not yet beside it, so another step forward should bring me alongside the cart.", + "The cart with the green suitcase is now very close on my right, its brass posts filling the right side of my view near door 306. I will take one more step forward so that I draw level with the cart rather than stopping short of it.", + "I have walked far enough that the corridor ahead is open and the bellhop cart is no longer centered in front of me, since it now sits behind my right shoulder near the 306 doorway. I will turn right to face back toward that cart and its green suitcase so I can close the last short gap directly.", + "Turning has brought the bellhop cart back into view on my right, with the green suitcase and grey bag resting on its deck beside the 306 alcove. I will step forward toward that alcove to bring myself right up next to the cart.", + "My step has carried me into the recess in front of door 306, and the corridor now fills my view while the cart has slipped to my right edge. I will turn right again to square up with the alcove where the green suitcase and its cart are standing.", + "The green hard-shell suitcase sitting on the brass bellhop cart is clearly visible close on my right, tucked beside the door marked 306. I still stand slightly short of the cart's alcove, so I will step forward to close the last bit of distance and put myself alongside it.", + "After stepping forward I am now level with the recessed doorway, and the cart with the green suitcase has slipped out of my forward view to the right. I will turn right to swing my heading back toward the cart so it is centered in front of me.", + "The turn brought a brass upright of the luggage cart into the right edge of my view, so the cart is just beyond my current heading. I will turn right once more to bring the green suitcase and its cart fully into the center of my view.", + "The green suitcase on the brass bellhop cart fills the view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0489790d1231cbfbf394c8ebcc8d6f2938b0a7a --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Walk to the green suitcase, then head toward the small framed painting.", + "Type": 3, + "Start_Pose": [ + 206.153, + 2622.973, + 99.275, + 0.0, + -144.96, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.153, + 2622.973, + 99.275, + 0.0, + -144.96, + 0.0 + ], + [ + 206.153, + 2622.973, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 143.3, + 2513.932, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 16.817, + 2346.199, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 16.592, + 2346.036, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 62.736, + 2426.089, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 62.736, + 2426.089, + 99.68, + 0.0, + -94.96, + 0.0 + ], + [ + 62.736, + 2426.089, + 99.68, + 0.0, + -69.96, + 0.0 + ], + [ + 114.664, + 2324.564, + 99.68, + 0.0, + -69.96, + 0.0 + ], + [ + 114.664, + 2324.564, + 99.68, + 0.0, + -94.96, + 0.0 + ], + [ + 124.095, + 2219.231, + 99.745, + 0.0, + -94.96, + 0.0 + ], + [ + 124.095, + 2219.231, + 99.745, + 0.0, + -119.96, + 0.0 + ], + [ + 58.735, + 2112.51, + 100.01, + 0.0, + -119.96, + 0.0 + ], + [ + 58.735, + 2112.51, + 100.01, + 0.0, + -144.96, + 0.0 + ], + [ + -44.312, + 2040.249, + 100.01, + 0.0, + -144.96, + 0.0 + ], + [ + -44.312, + 2040.249, + 100.01, + 0.0, + -169.96, + 0.0 + ], + [ + -44.312, + 2040.249, + 100.01, + 0.0, + -169.96, + 0.0 + ], + [ + -44.312, + 2040.249, + 100.01, + 0.0, + -169.96, + 0.0 + ] + ], + "Rationale": [ + "The green suitcase stands to my right, past the service cart, where the corridor opens away toward the far wing. My current heading faces the guest room doors, so walking straight would just carry me into the wall. I will turn right to put the suitcase and the open corridor in front of me.", + "The green suitcase now sits ahead of me on the patterned red runner, with clear floor between us and the cart parked off to the left. Nothing blocks the lane along the corridor. I will walk forward to close the gap toward the suitcase.", + "The suitcase has grown noticeably larger and now sits just ahead and slightly right, its handle raised above the carpet edge. I am close but not yet beside it. I will step forward again to bring myself right up to it.", + "The green suitcase is right at my feet in the lower corner of my view, its handle rising beside me and the service cart crowding my other side. I have arrived at it. I mark reaching the suitcase and now set off down the corridor for the small framed painting on the wall.", + "With the suitcase reached, the small framed landscape hangs ahead on the left-hand wall beside the wall lamp, still some distance down the corridor. The carpeted lane in front of me is open. I will walk forward to close on that painting.", + "The small framed painting hangs on the left wall a little further down, and the corridor beyond the service cart still looks open. I will step forward again to shorten the remaining distance to that picture.", + "My last stride gained almost nothing; the cart rail and cups sit exactly where they were in my view, so the trolley is pinning me against the wall side. I will back up to open some clearance and give myself room to reorient toward the picture.", + "With some space regained, the cart still stands squarely in the narrow lane I was trying to use, so pushing straight on is pointless. I will turn right toward the wider tiled side of the corridor to look for a route that gets me past it.", + "This heading still points down the carpet with the cart edging into my left side, so I have not cleared the obstruction yet. I will turn right once more, toward the open bay by the 311 door, to find floor I can actually walk through.", + "Now I face the clear tiled strip beside the 311 doorway, with nothing between me and it. Walking forward here should carry me clear of the cart and suitcase so I can resume heading down the corridor toward the framed picture.", + "Panelled wall and a guest door fill the right of my view, while the open carpeted corridor stretches away to my left. Stepping straight ahead would only bring me against that woodwork, so I will turn left to place the clear hallway run in front of me and look along its walls for the small framed painting.", + "The corridor now runs open in front of me, and a gold framed landscape picture hangs on the left wall a short way along. The carpet between us is unobstructed, so I will walk forward to close that gap.", + "Advancing has carried the framed picture out of my forward view, leaving only bare wall panels and lamps down the left side. The wall that holds it lies to my left, so I will turn left to bring the painting back in front of me.", + "The gold framed mountain landscape is back in view on the wall to my left front, hung between the panelling and a wall lamp. The floor toward it is clear, so I will walk forward to draw closer to it.", + "I have come almost level with the framed picture, and it has slipped to the far left edge of my view while the corridor stretches ahead. I will turn left to face the wall it hangs on and bring it squarely in front of me.", + "The framed mountain painting hangs on the wall to my left and is now clearly the nearest thing in view, but I am still a stride or two out from it. I will walk forward along the wall to close that remaining gap.", + "I am right up against the wall now, and only the lower corner of the gold frame clips the upper left of my view. Turning left should swing my heading onto the painting so it sits in front of me rather than off at the edge.", + "The painting is directly ahead of me now, but standing this close means the frame is cut off at the top of my view and most of what I see is bare wall below it. I will look up to bring the whole framed picture into view.", + "The small framed mountain painting fills my view at arm's length, centered on the wall before me. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88ddc276aaf846878c5797adc52911d5ca7a59fa --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Head toward the wooden door with green card, then proceed to the dining cart.", + "Type": 3, + "Start_Pose": [ + 206.153, + 2622.973, + 99.275, + 0.0, + -144.96, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.153, + 2622.973, + 99.275, + 0.0, + -144.96, + 0.0 + ], + [ + 103.106, + 2550.711, + 99.686, + 0.0, + -144.96, + 0.0 + ], + [ + 103.106, + 2550.711, + 99.686, + 0.0, + -169.96, + 0.0 + ], + [ + -20.826, + 2528.769, + 99.686, + 0.0, + -169.96, + 0.0 + ], + [ + -20.826, + 2528.769, + 99.686, + 0.0, + 165.04, + -0.0 + ], + [ + -142.419, + 2561.259, + 99.275, + 0.0, + 165.04, + -0.0 + ], + [ + -142.419, + 2561.259, + 99.275, + 0.0, + 165.04, + -0.0 + ], + [ + -142.419, + 2561.259, + 99.275, + 0.0, + -169.96, + 0.0 + ], + [ + -142.419, + 2561.259, + 99.275, + 0.0, + -144.96, + 0.0 + ], + [ + -142.419, + 2561.259, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + -142.419, + 2561.259, + 99.275, + 0.0, + -94.96, + 0.0 + ], + [ + -153.301, + 2435.872, + 99.275, + 0.0, + -94.96, + 0.0 + ], + [ + -153.301, + 2435.872, + 99.275, + 0.0, + -69.96, + 0.0 + ], + [ + -136.187, + 2384.251, + 99.275, + 0.0, + -69.96, + 0.0 + ], + [ + -136.187, + 2384.251, + 99.275, + 0.0, + -69.96, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the panelled corridor with wooden guest doors along the left wall, and a green card hanger on the nearest one's handle. That door is still well ahead of me, so I will walk forward along the carpet to close the distance before turning toward it.", + "The wooden doors now sit well off to my left while my heading still runs down the corridor past them. Turning left should swing the door bay with the card hanger into the centre of my view so I can walk straight at it.", + "Both wooden doors are square in front of me now, the left one carrying a green hanger on its handle and the right one a red hanger. With the alcove open ahead, I will step forward to bring the green-carded door within close range.", + "At this range the two doors split my view, with the green card hanging on the handle to my left and the red one to my right. I will turn left so the green-carded door is centred and my next steps carry me straight up to it.", + "The door beneath the 310 plate is now centred in front of me with the green card hanging from its lever. Only a short stretch of tiled floor separates us, so I will walk forward to stand right at it.", + "The wooden door fills my view with the green card hanging from its lever right in front of me. I have arrived at this door, so I mark reaching it before setting off for the serving cart of dishes standing out in the corridor.", + "With the green-carded door reached, nothing but its panel is in front of me and the open corridor lies off to my right. I will turn right to begin swinging my heading back out of this alcove toward the dish cart.", + "I am still boxed in by panelling and the door edge, with no sight of the carpeted corridor yet. Another turn to the right should carry my view further around toward the open passage where the serving cart stands.", + "My view is still filled by the panelled alcove wall, though a doorway and a sliver of brighter corridor have opened at the right edge. I will keep pivoting right to swing that corridor into the center, since the wheeled dining cart stands out along it.", + "The corridor with its red patterned carpet is now visible past the 309 doorframe, and the metal frame of the dining cart is just clipping into the right edge of my view. One more turn to the right should place that cart and the open hallway squarely ahead of me.", + "I am now facing down the corridor with the laden dining cart standing on the carpet ahead and slightly to my right. Walking forward should cut the remaining gap to it and bring me clear of this doorway alcove.", + "The cart's shelves of bowls and mugs now fill the lower right of my view while the door with its red hanger sits at my left. Turning right should square me onto the cart instead of the hallway running past it.", + "The dining cart is centered ahead of me, its trays, bowls and cups clearly in reach of a short walk. A brief step forward should bring me right up beside it.", + "The dining cart's tray and stacked bowls are directly in front of me at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20c457fe252b9de7abc3839016a5ad374a2b592e --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Approach the potted fern near the 3F sign.", + "Type": 0, + "Start_Pose": [ + 215.256, + -1985.835, + 99.274, + 0.0, + 127.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 215.256, + -1985.835, + 99.274, + 0.0, + 127.68, + -0.0 + ], + [ + 138.325, + -1886.225, + 101.822, + 0.0, + 127.68, + -0.0 + ], + [ + 61.393, + -1786.616, + 101.822, + 0.0, + 127.68, + -0.0 + ], + [ + -15.538, + -1687.007, + 101.822, + 0.0, + 127.68, + -0.0 + ], + [ + -92.47, + -1587.397, + 101.822, + 0.0, + 127.68, + -0.0 + ], + [ + -92.47, + -1587.397, + 101.822, + 0.0, + 127.68, + -0.0 + ] + ], + "Rationale": [ + "From the open carpeted lobby I can see potted ferns set against the wall panels ahead of me, with a small wall placard beside the nearer column that likely marks the floor. My heading already points down this open stretch of carpet with nothing blocking the way, so I will move forward to close distance and confirm which plant sits under that sign.", + "The wall placard now reads 3F, and a potted fern stands directly beneath and slightly left of it against the panelled column. That target is roughly centered in my view and still several steps away, so I will keep moving forward along the same heading.", + "The 3F sign and the fern beneath it have grown noticeably larger, confirming I am closing on the correct plant rather than the ferns further down the side corridor. The tiled strip in front of the wall is unobstructed, so another forward step should bring me closer to the pot.", + "The fern now fills the lower center of my view with its pot clearly visible beside the wooden column under the 3F sign, but I am still a step short of being right beside it. I will advance once more to finish closing that remaining gap before stopping.", + "The potted fern fills my view directly in front of me with the 3F sign on the wall beside it. The approach task is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6925c491fc7fa80f7a82ba2010a0e31a762863ba --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the teal sofa under the cityscape triptych.", + "Type": 0, + "Start_Pose": [ + 215.256, + -1985.835, + 99.274, + 0.0, + 127.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 215.256, + -1985.835, + 99.274, + 0.0, + 127.68, + -0.0 + ], + [ + 138.325, + -1886.225, + 101.822, + 0.0, + 127.68, + -0.0 + ], + [ + 138.325, + -1886.225, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + 26.504, + -1828.461, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -85.316, + -1770.697, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -85.316, + -1770.697, + 101.822, + 0.0, + 177.68, + -0.0 + ], + [ + -211.072, + -1765.602, + 101.822, + 0.0, + 177.68, + -0.0 + ], + [ + -336.828, + -1760.507, + 101.822, + 0.0, + 177.68, + -0.0 + ], + [ + -462.584, + -1755.413, + 101.822, + 0.0, + 177.68, + -0.0 + ], + [ + -462.584, + -1755.413, + 101.822, + 0.0, + 177.68, + -0.0 + ] + ], + "Rationale": [ + "I can already see the teal sofa set against the far wall beneath the four-panel cityscape triptych, off to the right side of this open carpeted lobby. Nothing blocks the floor ahead of me, so I will move forward to begin closing the considerable distance to it.", + "The sofa and its cityscape panels sit near the right edge of my view while my heading points down the corridor and planters on the left. I will turn right to bring the target into the center of my view before continuing.", + "The turn has brought the teal sofa and the cityscape triptych into the middle-right of my view, with clear carpet between me and that recessed alcove. I will move forward along this heading to reduce the remaining distance.", + "The teal sofa and its four cityscape panels are noticeably larger now, though still several steps away across the open floor. I will take another step forward to keep closing on the target.", + "From here the sofa and triptych have drifted toward the right half of my view, with the plain wall and floor sign filling the left. A small turn to the right should square my heading with the sofa before I advance again.", + "The teal sofa now sits squarely centered beneath the cityscape triptych, flanked by the two lamp tables. With the heading aligned and the floor clear, I will move forward to close in on it.", + "The sofa and the four cityscape panels above it now dominate the center of my view, but there is still a stretch of carpet before I stand at the seating area. I will continue straight forward to shorten that gap.", + "I am nearly at the sofa now, with its cushions and the cityscape triptych filling almost my whole view. One more step forward should place me right at the teal sofa as the task requires.", + "The teal sofa fills my view directly beneath the cityscape triptych, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..55e5a7c913fa37662465a3cf8819d88d99ce1757 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Head toward the elevator call buttons, then proceed to the trash bin.", + "Type": 3, + "Start_Pose": [ + 275.479, + -1576.727, + 101.826, + 0.0, + -164.16, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 275.479, + -1576.727, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + 275.479, + -1576.727, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + 180.262, + -1659.032, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + 180.262, + -1659.032, + 101.826, + 0.0, + -114.16, + 0.0 + ], + [ + 128.749, + -1773.867, + 101.826, + 0.0, + -114.16, + 0.0 + ], + [ + 77.237, + -1888.701, + 101.826, + 0.0, + -114.16, + 0.0 + ], + [ + 77.237, + -1888.701, + 101.826, + 0.0, + -114.16, + 0.0 + ], + [ + 77.237, + -1888.701, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + 77.237, + -1888.701, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -43.843, + -1923.055, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -163.387, + -1944.891, + 99.345, + 0.0, + -164.16, + 0.0 + ], + [ + -163.387, + -1944.891, + 99.345, + 0.0, + 170.84, + -0.0 + ], + [ + -285.139, + -1919.947, + 101.783, + 0.0, + 170.84, + -0.0 + ], + [ + -285.139, + -1919.947, + 101.783, + 0.0, + -164.16, + 0.0 + ], + [ + -285.139, + -1919.947, + 101.783, + 0.0, + -164.16, + 0.0 + ] + ], + "Rationale": [ + "The elevator doors sit off to my right along the far wall, with the lounge and its sofa straight ahead of me. Turning right should swing the elevator bank and its wall-mounted call panels into the center of my view so I can walk straight at them.", + "The elevator bank now fills the right half of my view, with a call panel mounted on the pier between the doors. The carpet ahead is clear, so I will walk forward to cut the distance to that panel.", + "I am closer now, but the elevator doors and their call plate still sit to my right rather than in front of me. A right turn should square my heading onto that wall so the buttons stay centered as I keep approaching.", + "The elevator doors and the lit call plate are now directly ahead of me, with open tiled floor in between. I will step forward to close on that panel.", + "The call panel with its floor indicator is just ahead on the pier, but I am still a short walk short of standing at it. One more step forward should bring me right up to the buttons.", + "The call panel is right in front of me, its lit floor number and pair of buttons filling my view at arm's length. I have reached the elevator call buttons. I mark reaching them, and now I turn back toward the lounge to find the trash bin.", + "I am standing at the call panel with nothing but the pier wall in front of me, so I need to face back into the lobby to look for the trash bin. Turning left should open the seating area beside the elevators into view.", + "The lobby is beginning to reappear on my left, and I can make out a slim metal bin standing near the side table beyond the elevator doors. Another left turn should bring that bin and the open floor toward it in front of me.", + "With the elevator panel now behind my shoulder, the corridor toward the lounge is open ahead and I can pick out the tall metal bin standing beside the end table near the sofa. I will walk forward along this clear tiled strip to close the gap to it.", + "The metal bin beside the lamp table is noticeably larger in view now, though still a couple of paces off to my forward left. The tiled walkway ahead stays clear along the elevator wall, so another step forward should bring me alongside it.", + "The bin now stands close in the left half of my view while the blank wall panel occupies the right, so my heading is carrying me past it rather than at it. Turning left should swing the lounge alcove and the bin into the center of my view.", + "The lounge alcove is squarely in front of me now, with the metal bin standing on its low base at the right of my view beside the end table. The tiled floor between us is unobstructed, so I will step forward to draw level with it.", + "I am right beside the bin, but its flared metal bowl sits at the very right edge of my view with the sofa taking the center. A short turn to the right should bring the bin squarely in front of me at arm's length.", + "The metal trash bin stands directly in front of me at arm's length, centered in my view. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4609733e61857b3dfff303864f73ad0c484e333b --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the leftmost potted fern plant.", + "Type": 2, + "Start_Pose": [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + [ + 381.259, + -1820.083, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 381.259, + -1820.083, + 101.826, + 0.0, + 124.76, + -0.0 + ], + [ + 309.502, + -1716.684, + 101.826, + 0.0, + 124.76, + -0.0 + ], + [ + 237.745, + -1613.285, + 101.826, + 0.0, + 124.76, + -0.0 + ], + [ + 237.745, + -1613.285, + 101.826, + 0.0, + 124.76, + -0.0 + ] + ], + "Rationale": [ + "Two potted ferns stand along the left side of this lobby, and the one furthest left is the one set against the pale striped wall just past the framed Tower Bridge painting. I will keep following that fern rather than a spot in the row. Stepping forward should close the long carpeted gap between us.", + "The fern by the striped wall below the framed bridge painting now sits well off to my left, while my heading still points down the open carpet toward the sofa. A left turn should swing that plant toward the center of my view so I can walk straight at it.", + "My heading now falls on the fern standing beside the wooden pillar under the framed bridge painting, with the second fern further along to its right. Nothing blocks the carpet between us, so walking forward should bring me noticeably closer.", + "The fern beneath the framed bridge painting is now large in front of me, its fronds rising above the pot rim, but a few steps of carpet still separate us. One more advance should place me right beside it.", + "The fern by the striped wall fills the view directly ahead, its fronds within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1bc240929d176b8b8c5e09bfe7dc1bfca8e4db16 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the table lamp on the sofa's left side.", + "Type": 2, + "Start_Pose": [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + [ + 381.259, + -1820.083, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 272.527, + -1756.698, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 272.527, + -1756.698, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + 147.194, + -1745.204, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + 21.861, + -1733.709, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + -103.472, + -1722.215, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + -228.805, + -1710.72, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + -228.805, + -1710.72, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + -337.538, + -1647.335, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + -446.27, + -1583.949, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + -529.334, + -1516.926, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + -529.334, + -1516.926, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + -529.334, + -1516.926, + 101.826, + 0.0, + 174.76, + -0.0 + ] + ], + "Rationale": [ + "Down the corridor I can see the grey sofa under the skyline artwork, with a small lit lamp on a side table at each of its ends; the two lamps look alike, so I fix on the one standing at the sofa's left end as I face it. It sits far across the carpet, so I walk forward to close that distance.", + "The sofa alcove is larger now, and both flanking lamps read clearly, but I am still well back in the corridor. The floor ahead stays open past the planters, so I keep walking forward toward the seating recess holding the lamp at the sofa's left end.", + "The seating alcove with the sofa and its two lamps now sits well over to the right of my view, while my heading points at the pillars and plants along the left wall. I turn right to bring that alcove back in front of me before continuing.", + "The turn worked: the sofa and its two lit lamps now sit near the middle of my view, with the elevator bay off to my right. The carpet in between is clear, so I walk forward to keep closing on the lamp at the sofa's left end.", + "The alcove keeps growing in front of me and both side tables are now clearly separated at the sofa's ends. Nothing blocks the carpet ahead, so I take another step forward toward the left-end lamp.", + "I am now inside the recess area with the sofa filling much of my view and a lamp glowing at each end. The lamp at the sofa's left end is still several paces off, so I continue walking forward.", + "The sofa and its flanking tables are close now, the carpet edge nearly at my feet. One more step forward should put me alongside the sofa so I can settle onto the lamp at its left end.", + "I am right in front of the sofa, and the lamp I want, the one at its left end, sits off to the left edge of my view while my heading points at the middle of the couch. I turn left to put that lamp and its table squarely ahead of me.", + "The turn landed well: the side table with its glowing lamp now sits just right of center against the panelled corner, and the sofa's other end has slid out of view entirely, so there is nothing left to confuse. A few paces of open floor remain between me and that table, so I walk on.", + "The lamp's shade and hammered base are large and distinct now, with the sofa arm crowding the frame beside it. I am still a stride or two short of standing beside that table, so I keep walking toward it.", + "The marble-topped table and its lamp now dominate the middle of my view, close enough to see the texture of the base. One more short step should bring me right up alongside it.", + "Standing this close, my heading has drifted onto the wooden corner panelling, leaving only the edge of the lamp shade clipping the right side of my view. I turn right to swing the lamp and its table back into the center in front of me.", + "The lit table lamp at the sofa's left end stands directly before me, an arm's length away on its marble top. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t5_a_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3ece8ed9dfdd1db7786ece513380abcf4f19be4d --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the tomato near the leftmost potted fern.", + "Type": 5, + "Start_Pose": [ + 489.992, + -1883.469, + 101.827, + 0, + 149.76, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 107.872, + -1607.521, + 65.827, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 489.992, + -1883.469, + 101.827, + 0, + 149.76, + 0 + ], + [ + 381.259, + -1820.083, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 272.527, + -1756.698, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 163.794, + -1693.312, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 163.794, + -1693.312, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 163.794, + -1693.312, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 163.794, + -1693.312, + 101.826, + 0.0, + 149.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 107.872, + -1607.521, + 65.827, + 0.0, + 0.0, + 0.0 + ], + [ + 107.872, + -1607.521, + 65.827, + 0.0, + 0.0, + 0.0 + ], + [ + 107.872, + -1607.521, + 65.827, + 0.0, + 0.0, + 0.0 + ], + [ + 107.872, + -1607.521, + 65.827, + 0.0, + 0.0, + 0.0 + ], + [ + 107.872, + -1607.521, + 65.827, + 0.0, + 0.0, + 0.0 + ], + [ + 153.567, + -1712.068, + 71.933, + -28.202, + -160.096, + 1.862 + ], + [ + 153.567, + -1712.068, + 71.933, + -28.202, + -160.096, + 1.862 + ] + ], + "PD_Dist_2D": [ + 471.3, + 346.3, + 222.2, + 102.4, + 102.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The large red tomato sits on the patterned carpet ahead of me, beside the nearer of the two potted ferns on my left. It is still well out of reach across the open lobby floor, so I will walk straight forward to close that gap.", + "The tomato has grown noticeably larger and is now just left of my heading, with the leftmost fern's planter beside it. Nothing blocks the carpet between us, so another step forward should bring me close enough to reach down.", + "The tomato now fills a good part of the lower view near the leftmost fern, but it still sits ahead of my feet rather than directly beneath me. I will take one more step forward to stand right over it before attempting a grasp.", + "From this close position the tomato has dropped out of my level gaze, leaving only the wall, the fern and the sofa in view. I will look down to bring the fruit at my feet back into sight and confirm it is within reach.", + "Angling my gaze down has revealed the tomato resting on the carpet directly at my feet, close and unobstructed. My hands are empty, so I will attempt to pick it up now.", + "The tomato is now held in my hands instead of resting on the carpet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x-001775_y-011641_z-012713_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x-001775_y-011641_z-012713_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..40e7fb847e78ca4b5739ca176387bd86fcbe5a99 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x-001775_y-011641_z-012713_t1_a/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Identify the gray metal-clad building with small windows and concrete barriers out front; after locating its entrance, proceed to the door.", + "Type": 1, + "Start_Pose": [ + -1775.253, + -11641.094, + -12712.922, + 0.0, + -165.12, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1775.253, + -11641.094, + -12712.922, + 0.0, + -165.12, + 0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + -140.12, + 0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + -115.12, + 0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + -90.12, + 0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + -65.12, + 0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + -40.12, + 0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + -15.12, + 0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + 9.88, + -0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + 34.88, + -0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + 59.88, + -0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + 84.88, + -0.0 + ], + [ + -1775.253, + -11641.094, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + -1818.052, + -11522.735, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + -1860.85, + -11404.376, + -12710.281, + 0.0, + 109.88, + -0.0 + ], + [ + -1903.649, + -11286.018, + -12710.281, + 0.0, + 109.88, + -0.0 + ], + [ + -1951.064, + -11171.188, + -12708.975, + 0.0, + 109.88, + -0.0 + ], + [ + -1993.862, + -11052.829, + -12708.975, + 0.0, + 109.88, + -0.0 + ], + [ + -2043.497, + -10944.161, + -12708.725, + 0.0, + 109.88, + -0.0 + ], + [ + -2086.295, + -10825.802, + -12708.725, + 0.0, + 109.88, + -0.0 + ], + [ + -2129.094, + -10707.443, + -12708.725, + 0.0, + 109.88, + -0.0 + ], + [ + -2129.094, + -10707.443, + -12708.725, + 0.0, + 134.88, + -0.0 + ], + [ + -2217.903, + -10618.261, + -12708.725, + 0.0, + 134.88, + -0.0 + ], + [ + -2306.712, + -10529.079, + -12708.725, + 0.0, + 134.88, + -0.0 + ], + [ + -2306.712, + -10529.079, + -12708.725, + 0.0, + 159.88, + -0.0 + ], + [ + -2424.89, + -10485.785, + -12708.725, + 0.0, + 159.88, + -0.0 + ], + [ + -2543.069, + -10442.491, + -12708.725, + 0.0, + 159.88, + -0.0 + ], + [ + -2543.069, + -10442.491, + -12708.725, + 0.0, + 159.88, + -0.0 + ] + ], + "Rationale": [ + "From here I see an open concrete yard, traffic cones, a tall gate frame ahead and a wooden-sided shed on the left, but nothing matching a gray metal-clad building with small windows and concrete barriers in front. The barrier-like blue panel and structures off to my right suggest the yard continues in that direction, so I will turn right to begin a steady scan of the surroundings.", + "Turning has brought a large round storage tank and a blue painted wall with concrete blocks into view, which tells me this is an industrial yard but not the gray metal-clad building I need. Since no candidate entrance is visible yet, I will keep rotating right in the same direction to sweep further around the yard.", + "The tank and its low blue perimeter panels now fill most of my view, with only a portable toilet and a fence behind them, so this sector clearly does not hold the target. Continuing the same rightward sweep should reveal the yard sections still hidden behind me.", + "I am facing the tank enclosure head on, with concrete barriers lined up in front of it, but the structure behind them is a cylindrical tank rather than a rectangular metal-clad building with small windows. I will maintain the consistent rightward rotation to check the next part of the site.", + "More tanks and a pipe gantry are coming into view on the right side of my heading, which shows the plant continues that way but still offers no gray clad building. Another right turn should carry the scan toward that open corridor between the structures.", + "Ahead there is now a wide roadway passing under the pipe rack, a promising route deeper into the site, though the buildings I can see are tanks and vessels rather than the target. I will keep turning right to finish inspecting this sector before committing to any direction.", + "The road under the pipe racks stretches ahead with container walls and stacked material on the right, but I still see no facade with small windows and barriers set out front. Continuing the same rightward sweep lets me examine the yard area beside those containers.", + "Now I am looking at stacked pipe bundles, drums and a few concrete barriers under the refinery towers, which is storage ground rather than the entrance I am after. I will turn right again to keep the scan moving toward the still unseen part of the yard.", + "From where I stand, I still only see refinery piping, stacked pipe racks and a numbered container wall, none of which match the gray metal-clad building with small windows I am looking for. I will keep turning right in the same consistent direction to bring the yard area further to my right into view.", + "I now see concrete barriers lined up ahead of me along with blue drums and a painted panel wall, which is the kind of barrier frontage the task describes, but the building itself is still outside my view to the right. I will continue my rightward scan to bring whatever structure sits behind those barriers into sight.", + "A low gray metal-sided structure has just appeared at the right edge of my view beyond the concrete barriers, matching the building described in my task. One more turn right should center it so I can look for its entrance.", + "The gray metal-clad building is now clearly in front of me on the right, with small windows along its wall, a dark doorway opening, and concrete barriers spread across the yard in front of it. The open concrete surface between the barriers looks passable, so I will walk forward to close the distance toward that entrance.", + "The building has grown larger in my view and the recessed doorway on its near face is still visible past the barriers and drums. The lane between the barrier on my left and the one on my right remains open, so I will keep walking forward along it.", + "I am now level with the blue drums on their pallet, and the metal-clad wall with its windows and the darker door recess is close on my right. Continuing straight ahead should carry me into the open yard directly in front of that entrance.", + "The drums now fill my left foreground while the building's wall and its doorway sit ahead and slightly right, still short of reach. I will step forward again to draw alongside the entrance rather than stopping beside the pallet.", + "The doorway in the gray metal wall is clearly framed to my right and the plywood sheet and open concrete ahead give me a clear path. I will keep walking forward to bring myself even with that entrance before turning toward it.", + "The gray metal-clad building with small windows stands close on my right, and its recessed doorway is now clearly open along that wall. Since the concrete pad ahead of me is clear apart from the barrels stacked on the left, I will keep walking forward to draw level with that entrance.", + "The doorway on the right side of the metal building is larger in view now, so I am closing on it but not yet beside it. The open ground in front of me stays unobstructed, so I will step forward again to shorten the remaining gap.", + "The recessed door frame is now well defined and the inner door panel is visible past the threshold, confirming this is the building's entrance. I am still slightly short of it along the wall, so another forward step should bring me nearly abreast of the opening.", + "I have come far enough along the wall that the entrance now sits off to my right rather than ahead of me. I will turn right to bring the doorway toward the center of my view so my next steps carry me straight at it.", + "The turn placed the recessed entrance near the middle of my view with clear pavement between me and it. I will walk forward to close on the threshold.", + "The doorway has grown noticeably and I can see the corridor and inner door panel through it, so I am nearly at the entrance. I will take another step forward to reach the threshold itself.", + "At this close range the opening has drifted to the right of my heading and the corrugated wall fills the center of my view. I will turn right so the doorway is squarely in front of me before stepping in.", + "The entrance is now framed directly ahead with the interior floor and open door panel visible through it. I will step forward to move onto the doorway itself.", + "The metal-clad building's open doorway now fills my view at close range, with the swung door panel to my right and the interior floor visible straight ahead. I will step forward once more to close the last bit of distance and stand right at the entrance itself.", + "I am standing at the metal-clad building's open doorway, with its threshold and interior wall right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b384977fdee06531d47d9afc1c18ea99afcbcd63 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the blue portable toilet.", + "Type": 0, + "Start_Pose": [ + 2393.147, + 5357.404, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2393.147, + 5357.404, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2308.15, + 5264.581, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2223.154, + 5171.758, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2223.154, + 5171.758, + -12694.281, + 0.0, + -157.48, + 0.0 + ], + [ + 2106.892, + 5123.554, + -12707.596, + 0.0, + -157.48, + 0.0 + ], + [ + 1990.63, + 5075.349, + -12707.596, + 0.0, + -157.48, + 0.0 + ], + [ + 1874.368, + 5027.144, + -12707.596, + 0.0, + -157.48, + 0.0 + ], + [ + 1758.107, + 4978.939, + -12715.237, + 0.0, + -157.48, + 0.0 + ], + [ + 1641.845, + 4930.735, + -12715.237, + 0.0, + -157.48, + 0.0 + ], + [ + 1525.583, + 4882.53, + -12715.237, + 0.0, + -157.48, + 0.0 + ], + [ + 1409.321, + 4834.325, + -12715.237, + 0.0, + -157.48, + 0.0 + ], + [ + 1293.06, + 4786.12, + -12715.237, + 0.0, + -157.48, + 0.0 + ], + [ + 1176.798, + 4737.916, + -12715.237, + 0.0, + -157.48, + 0.0 + ], + [ + 1060.536, + 4689.711, + -12715.237, + 0.0, + -157.48, + 0.0 + ], + [ + 951.662, + 4636.864, + -12710.294, + 0.0, + -157.48, + 0.0 + ], + [ + 835.4, + 4588.66, + -12710.294, + 0.0, + -157.48, + 0.0 + ], + [ + 719.138, + 4540.455, + -12710.294, + 0.0, + -157.48, + 0.0 + ], + [ + 719.138, + 4540.455, + -12710.294, + 0.0, + -157.48, + 0.0 + ] + ], + "Rationale": [ + "From the open paved yard I can already pick out the small blue portable toilet standing near the green horizontal tanks and low fence on the left side of my view. It is still far off, so I will step forward along the open ground to begin closing that gap before refining my heading.", + "The blue toilet cabin is slightly larger now and remains ahead and to my left, past the row of thin posts. The pavement in front of me is still clear, so I will continue forward to keep reducing the distance.", + "My current heading points mostly at the concrete wall and stacked pallets on the right, while the blue toilet sits well off to the left of center. I will turn left to bring the cabin closer to the middle of my view so the following steps carry me straight toward it.", + "After the turn the blue portable toilet sits near the center of my view against the green tank cars, with clear pavement leading toward it. I will walk forward on this heading to close distance.", + "The cabin is holding its position just left of center and is noticeably taller than a few steps ago, which tells me my heading is good. I will keep advancing along the flat paving.", + "The blue toilet remains centered ahead of me beyond the row of orange and white posts, and nothing blocks the lane between us. I will continue forward rather than adjust my heading.", + "Distance is still too great to consider the approach done, though the cabin's door and roof detail are becoming clearer straight ahead. I will take another step forward on the same heading.", + "The blue portable toilet now occupies a clearly larger portion of my view, still aligned near the center with the weeds and posts off to its left. I will keep moving forward to bring myself close enough to stand right at it.", + "The blue portable toilet stands just left of center beside the row of short red posts, still a fair distance off across the open concrete. My heading already points at it and the paved ground ahead is clear of clutter, so no turn is needed. I will continue forward to close that gap.", + "The toilet has grown slightly and remains near the center of my view with the green tank cars behind it. My current heading keeps it steady without drift to either side, so another straight step is the efficient choice. I will move forward again to reduce the distance.", + "The blue unit is now clearly larger and sits just left of my straight-ahead direction, with weeds and a low curb bordering it on the left. The concrete apron in front of me stays walkable, so I can keep advancing rather than adjusting heading. I will step forward to continue closing in.", + "Only one red post remains between me and the blue toilet, which now occupies a good portion of the middle of my view. It is still several paces away, so stopping here would leave me short of it. I will advance again along the same line.", + "The toilet's door side is now plainly visible with its vent slots, and the weed patch at its base is coming into detail. My path over the concrete slab remains open, so continued forward motion is the direct way in. I will keep walking toward it.", + "The blue toilet now fills much of the left-center of my view and its door details are clear, but I am still a couple of paces short of standing at it. The paving ahead is flat with only low weeds near its base. I will step forward again to finish closing the distance.", + "The unit's door panel and latch are now close enough to read clearly, though the plants at its foot still separate me from it. One or two more steps should place me right at the toilet. I will continue forward.", + "The blue door with its occupancy indicator now spans most of my view at arm's-length scale, so I am nearly at the target. A single short step should bring me flush against it for a proper stop. I will move forward once more.", + "The blue portable toilet's door and its green latch indicator fill my view at arm's length. The task is complete, so I stop here rather than move closer." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eedf76d45075990244eceb88f1a2340d859eea11 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the stack of wooden pallets.", + "Type": 0, + "Start_Pose": [ + 2393.147, + 5357.404, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2393.147, + 5357.404, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2308.15, + 5264.581, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2223.154, + 5171.758, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2138.157, + 5078.936, + -12709.323, + 0.0, + -132.48, + 0.0 + ], + [ + 2053.16, + 4986.113, + -12707.579, + 0.0, + -132.48, + 0.0 + ], + [ + 1968.163, + 4893.29, + -12707.579, + 0.0, + -132.48, + 0.0 + ], + [ + 1883.167, + 4800.468, + -12707.579, + 0.0, + -132.48, + 0.0 + ], + [ + 1798.17, + 4707.645, + -12714.992, + 0.0, + -132.48, + 0.0 + ], + [ + 1798.17, + 4707.645, + -12714.992, + 0.0, + -107.48, + 0.0 + ], + [ + 1760.365, + 4587.598, + -12710.391, + 0.0, + -107.48, + 0.0 + ], + [ + 1722.561, + 4467.551, + -12710.391, + 0.0, + -107.48, + 0.0 + ], + [ + 1722.561, + 4467.551, + -12710.391, + 0.0, + -107.48, + 0.0 + ] + ], + "Rationale": [ + "I can see a stack of wooden pallets ahead against the concrete wall, just right of the blue drums and the teal portable toilet. It sits well across the open paved yard, so I will walk forward along this clear surface to begin closing the distance.", + "The pallet stack is slightly larger in my view now and remains a little right of center, still far off across the apron. Nothing blocks the pavement in front of me, so I continue advancing on this heading.", + "The pallets and the drums beside them are becoming clearer, and I can now make out individual slats in the stack. The target is still some distance away, so I keep stepping forward without changing heading.", + "The stack sits right of my center with loose boards lying on the concrete near its base, and the ground between us is flat and unobstructed. I will continue forward to shrink the remaining gap.", + "The pallet stack now fills a noticeable portion of my view to the right of center, and the blue drums beside it are clearly resolved. There is still walking room ahead, so I advance again toward it.", + "I am close enough to see the stacked layers and the leaning boards propped against the stack's side. Since it still lies a few paces off toward my right, I keep moving forward to close in.", + "The pallet stack is large in my view and only a short distance ahead on my right, with the drums to its left. I will step forward once more to bring myself alongside it before adjusting heading.", + "The pallet stack is now close but sitting to the right of my current heading, so walking straight would carry me past its edge. I will turn right to place the stack near the center of my view before continuing the final approach.", + "After the slight rightward heading change, the stack of wooden pallets now sits near the center of my view with the loose planks on the concrete just to its right. The paved ground between me and the stack is open, so I will step forward to close the remaining distance.", + "The pallet stack has grown noticeably larger and its slats are clearly resolved just left of center, but I am still a couple of paces short of standing at it. I will advance once more along the clear concrete to finish closing that gap.", + "The stacked wooden pallets now fill the near left of my view, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6dd525df53cf4d92f5a432bb2342092173f37a52 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002393_y005357_z-012694_t0_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the blue barrels by the wrapped cube.", + "Type": 0, + "Start_Pose": [ + 2393.147, + 5357.404, + -12694.281, + 0, + -132.48, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2393.147, + 5357.404, + -12694.281, + 0, + -132.48, + 0 + ], + [ + 2393.147, + 5357.404, + -12694.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2355.342, + 5237.357, + -12694.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2317.538, + 5117.31, + -12712.773, + 0.0, + -107.48, + 0.0 + ], + [ + 2279.733, + 4997.263, + -12712.773, + 0.0, + -107.48, + 0.0 + ], + [ + 2241.928, + 4877.216, + -12712.773, + 0.0, + -107.48, + 0.0 + ], + [ + 2204.124, + 4757.168, + -12712.773, + 0.0, + -107.48, + 0.0 + ], + [ + 2166.319, + 4637.121, + -12710.286, + 0.0, + -107.48, + 0.0 + ], + [ + 2166.319, + 4637.121, + -12710.286, + 0.0, + -82.48, + 0.0 + ], + [ + 2182.791, + 4512.345, + -12710.286, + 0.0, + -82.48, + 0.0 + ], + [ + 2199.262, + 4387.568, + -12709.048, + 0.0, + -82.48, + 0.0 + ], + [ + 2215.734, + 4262.792, + -12708.763, + 0.0, + -82.48, + 0.0 + ], + [ + 2236.225, + 4143.395, + -12708.847, + 0.0, + -82.48, + 0.0 + ], + [ + 2236.225, + 4143.395, + -12708.847, + 0.0, + -82.48, + 0.0 + ] + ], + "Rationale": [ + "From here I can pick out the pair of blue barrels standing beside the wrapped, sheeted cube far to the right of my view, against the concrete wall of the plant building. My body is currently facing across the open yard, so I will turn right to bring that barrel and cube grouping toward the center of my view before walking. This should give me a straight line of approach over the paved ground.", + "The blue barrels next to the wrapped cube now sit ahead of me, slightly right of center, with clear paved yard between us. Nothing blocks the ground in front, so I will step forward to begin closing the considerable distance.", + "The barrels and the sheeted cube have grown slightly larger, confirming that my heading is carrying me toward them. The lane ahead is still open concrete, so I will continue walking forward to keep shrinking the gap.", + "The two blue barrels are clearly distinguishable now beside the wrapped cube and the stacked sacks, and they remain in the right half of my view. Distance is still substantial, so another step forward is the efficient move rather than adjusting heading yet.", + "Details on the barrels and the folds of the sheeted cube are becoming sharper, so my approach line is holding well. I will advance again across the open apron to keep reducing the remaining distance.", + "The barrels now rest visibly on their wooden pallet just right of the wrapped cube, and the pallet stacks to the left stay clear of my path. I will keep moving forward since the direct route toward the barrels remains open.", + "I am noticeably closer, with the sheeted cube and the two blue barrels filling much of the right portion of my view. There is still several steps of open ground between us, so I will continue forward before any final heading adjustment.", + "At this shorter range the barrels have drifted toward the right edge of my view while the wrapped cube and pallet stacks sit straight ahead of me. I will turn right so the blue barrels come back near the center of my view and my final approach lines up on them instead of the concrete wall.", + "After turning, the two blue barrels on their pallet now sit near the center of my view, right beside the wrapped cube against the concrete wall. The open concrete apron in front of me is clear, so I will step forward to close the remaining gap toward them.", + "The barrels and the wrapped cube have grown larger and stay ahead of me, confirming my heading is still on target. I will continue forward to keep reducing the distance to the barrels.", + "The barrels now fill much of the middle of my view with their wooden pallet clearly visible at ground level, and the wrapped cube is close on my left. A few more steps forward should bring me right up beside them.", + "I am nearly at the pallet, with the two barrels towering directly in front of me and the wrapped cube's tarp filling my left side. One last short step forward should place me immediately at the barrels.", + "A blue barrel surface is directly in front of me with the wrapped cube's tarp at arm's length on my left. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..09bcc80b742bdc0a75c3be66ede152b1facf7fad --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_a/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Walk to the blue portable toilet, then head toward the stacked wooden pallets.", + "Type": 3, + "Start_Pose": [ + 2422.074, + 5372.836, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2422.074, + 5372.836, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2337.077, + 5280.013, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2252.081, + 5187.191, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2252.081, + 5187.191, + -12694.281, + 0.0, + -157.48, + 0.0 + ], + [ + 2135.819, + 5138.986, + -12697.677, + 0.0, + -157.48, + 0.0 + ], + [ + 2019.557, + 5090.781, + -12707.596, + 0.0, + -157.48, + 0.0 + ], + [ + 1903.295, + 5042.576, + -12707.596, + 0.0, + -157.48, + 0.0 + ], + [ + 1787.034, + 4994.372, + -12714.992, + 0.0, + -157.48, + 0.0 + ], + [ + 1670.772, + 4946.167, + -12714.992, + 0.0, + -157.48, + 0.0 + ], + [ + 1554.51, + 4897.962, + -12714.992, + 0.0, + -157.48, + 0.0 + ], + [ + 1438.248, + 4849.757, + -12714.992, + 0.0, + -157.48, + 0.0 + ], + [ + 1321.987, + 4801.553, + -12714.992, + 0.0, + -157.48, + 0.0 + ], + [ + 1205.725, + 4753.348, + -12714.992, + 0.0, + -157.48, + 0.0 + ], + [ + 1089.463, + 4705.143, + -12714.992, + 0.0, + -157.48, + 0.0 + ], + [ + 980.408, + 4650.633, + -12712.985, + 0.0, + -157.48, + 0.0 + ], + [ + 864.146, + 4602.429, + -12710.35, + 0.0, + -157.48, + 0.0 + ], + [ + 747.885, + 4554.224, + -12710.35, + 0.0, + -157.48, + 0.0 + ], + [ + 747.885, + 4554.224, + -12710.35, + 0.0, + -157.48, + 0.0 + ], + [ + 747.885, + 4554.224, + -12710.35, + 0.0, + -132.48, + 0.0 + ], + [ + 747.885, + 4554.224, + -12710.35, + 0.0, + -107.48, + 0.0 + ], + [ + 747.885, + 4554.224, + -12710.35, + 0.0, + -82.48, + 0.0 + ], + [ + 747.885, + 4554.224, + -12710.35, + 0.0, + -57.48, + 0.0 + ], + [ + 747.885, + 4554.224, + -12710.35, + 0.0, + -32.48, + 0.0 + ], + [ + 747.885, + 4554.224, + -12710.35, + 0.0, + -7.48, + 0.0 + ], + [ + 872.673, + 4537.839, + -12710.35, + 0.0, + -7.48, + 0.0 + ], + [ + 997.46, + 4521.455, + -12710.35, + 0.0, + -7.48, + 0.0 + ], + [ + 1122.248, + 4505.071, + -12710.35, + 0.0, + -7.48, + 0.0 + ], + [ + 1247.036, + 4488.686, + -12710.35, + 0.0, + -7.48, + 0.0 + ], + [ + 1371.824, + 4472.302, + -12710.35, + 0.0, + -7.48, + 0.0 + ], + [ + 1371.824, + 4472.302, + -12710.35, + 0.0, + -32.48, + 0.0 + ], + [ + 1477.996, + 4404.715, + -12710.35, + 0.0, + -32.48, + 0.0 + ], + [ + 1477.996, + 4404.715, + -12710.35, + 0.0, + -32.48, + 0.0 + ] + ], + "Rationale": [ + "The blue portable toilet stands far ahead near the tank cars, small and off to my left across the open concrete yard. Nothing blocks the paved ground in front of me, so I will walk forward to cut down that distance before worrying about heading.", + "The toilet has grown slightly larger, confirming my walking line is closing on it rather than drifting away. The pavement stays clear, so I will keep stepping forward.", + "The blue toilet sits well left of where I am pointed, with my current heading carrying me toward the concrete wall and pallet stacks on the right instead. I will turn left to swing my facing onto the toilet so the next steps close on it directly.", + "After the turn the blue toilet sits near the middle of my view, framed against the tank wagons and spherical storage tanks. The route across the concrete looks open, so I will advance along this heading.", + "The toilet is holding steady near center and appearing larger with each step, so this heading is good. I keep walking forward to close the remaining gap.", + "The slim posts and the weedy verge stay to the left of my line, leaving the paved lane straight to the blue cabin clear. I will continue forward without adjusting my heading.", + "The toilet is noticeably closer now, its door panel starting to resolve against the green tank behind it. Since my facing still lines up with it, I will take another step forward.", + "The blue cabin dominates more of my forward view and the ground between us remains flat and open. I will keep advancing to shorten the distance to it.", + "The blue portable toilet stands ahead near the tanker cars, still small and set back beyond the row of orange bollards. My heading points straight at it along open pavement, so no turn is needed yet. I will keep walking forward to close the gap.", + "The portable toilet has grown noticeably larger and sits just left of my centre line, which confirms my heading is carrying me toward it. The concrete ahead is unobstructed apart from the thin bollards to the side. Another forward step should shorten the distance further.", + "The toilet's blue panels are now clearly resolved against the green tank car behind it, so I am steadily closing in. Nothing blocks the pavement between me and the weeds at its base. I will continue straight ahead rather than adjust my heading.", + "The toilet now stands close to eye height in front of me, with the last bollards passing by on my left. Its position remains near my centre line, so straight walking still serves the approach. I will step forward again.", + "The blue cabin is close enough that its door seam and vent are becoming distinct above the grass. I am still a few paces short of standing beside it. Walking forward once more should bring me nearer without any turn.", + "The portable toilet fills a good part of my view now, its vent grille and door panel clearly readable just left of centre. A short remaining stretch of concrete separates me from it. I will keep advancing to arrive right at it.", + "I am nearly beside the blue cabin, with its door and handle plainly in front of me above the weeds. A little more distance remains before I am truly at it. One more forward step should place me right at its door.", + "The blue toilet now towers directly in front of me, its door and latch within arm's reach of a single stride. Stepping forward once more should put me hard against it, which is what arriving at it means. I will take that step.", + "The blue portable toilet's door fills my view, its latch and hinges close enough to touch. I have arrived at it, so I mark reaching this blue cabin before setting off toward the stacked wooden pallets.", + "The blue cabin is right in front of me and blocks nearly everything else, so I cannot pick out the pallet stacks from here. I will turn right to swing my view off the door and toward the open yard where I may spot the stacked wooden pallets.", + "The cabin's edge still occupies the left of my view and the open concrete yard is only beginning to appear beside it. Another right turn should carry my heading further off the toilet and across more of the yard where pallets could be stacked.", + "The yard, rails and concrete columns are now open ahead, but I see no stacked wooden pallets in this sweep. I will keep turning right to scan further around the plant structures for them.", + "Green drums resting on pallet bases have just come into the right edge of my view, which suggests the storage area lies further around that way. I will turn right again to bring that stacked material fully in front of me.", + "Beyond the green and blue drums against the concrete wall I can now make out stacks of wooden pallets at the right of my view. Turning right once more should bring those pallet stacks nearer the centre of my heading.", + "The stacked wooden pallets sit just past the blue and green drums that stand between me and them. One more turn to the right should place the open concrete lane ahead of me so I can walk down beside the drums toward those stacks.", + "The paved lane ahead is clear, with the drums and the wooden pallet stacks lined up along the wall to my left. I will step forward along this lane to close the distance to those stacks.", + "The stacked wooden pallets sit ahead on my left, just past the blue drums lined against the concrete wall. They are still several paces off, so I will keep walking straight along this open concrete strip to close the gap.", + "The pallet stacks have grown noticeably larger on my left as the drums slide past the edge of my view, confirming I am closing on them. The path in front stays clear, so I will continue advancing.", + "The wooden pallet stacks now fill much of my left side, but I am still level with only their near end. Another step forward should bring me alongside them.", + "I am nearly beside the tall pallet stacks, which loom close on my left with loose boards on the ground near their base. One more step forward should put me right at them.", + "I am now level with the stacked pallets, but they lie off to my left while my heading points down the open road. Turning left should swing the stacks into the center of my view so I can face them directly.", + "The stacked wooden pallets now sit squarely in front of me after that turn. A short step forward should bring me right up to them.", + "The stacked wooden pallets stand directly in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f54f62631c986d19195d5d8ea86a2e8f878397f9 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_b/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Approach the blue barrels near the pipe, then move to the blue portable toilet.", + "Type": 3, + "Start_Pose": [ + 2422.074, + 5372.836, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2422.074, + 5372.836, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2422.074, + 5372.836, + -12694.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2384.269, + 5252.789, + -12694.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2346.465, + 5132.742, + -12701.001, + 0.0, + -107.48, + 0.0 + ], + [ + 2308.66, + 5012.695, + -12712.995, + 0.0, + -107.48, + 0.0 + ], + [ + 2270.855, + 4892.648, + -12712.995, + 0.0, + -107.48, + 0.0 + ], + [ + 2233.051, + 4772.601, + -12712.995, + 0.0, + -107.48, + 0.0 + ], + [ + 2195.246, + 4652.553, + -12712.995, + 0.0, + -107.48, + 0.0 + ], + [ + 2195.246, + 4652.553, + -12712.995, + 0.0, + -82.48, + 0.0 + ], + [ + 2211.718, + 4527.777, + -12710.361, + 0.0, + -82.48, + 0.0 + ], + [ + 2228.189, + 4403.0, + -12710.361, + 0.0, + -82.48, + 0.0 + ], + [ + 2244.661, + 4278.224, + -12708.776, + 0.0, + -82.48, + 0.0 + ], + [ + 2261.132, + 4153.447, + -12708.776, + 0.0, + -82.48, + 0.0 + ], + [ + 2261.132, + 4153.447, + -12708.776, + 0.0, + -82.48, + 0.0 + ], + [ + 2249.039, + 4245.053, + -12708.776, + 0.0, + -82.48, + 0.0 + ], + [ + 2249.039, + 4245.053, + -12708.776, + 0.0, + -107.48, + 0.0 + ], + [ + 2249.039, + 4245.053, + -12708.776, + 0.0, + -132.48, + 0.0 + ], + [ + 2249.039, + 4245.053, + -12708.776, + 0.0, + -157.48, + 0.0 + ], + [ + 2249.039, + 4245.053, + -12708.776, + 0.0, + 177.52, + -0.0 + ], + [ + 2249.039, + 4245.053, + -12708.776, + 0.0, + 152.52, + -0.0 + ], + [ + 2137.381, + 4303.129, + -12708.776, + 0.0, + 152.52, + -0.0 + ], + [ + 2025.722, + 4361.205, + -12708.776, + 0.0, + 152.52, + -0.0 + ], + [ + 1914.064, + 4419.281, + -12710.052, + 0.0, + 152.52, + -0.0 + ], + [ + 1802.405, + 4477.358, + -12710.052, + 0.0, + 152.52, + -0.0 + ], + [ + 1802.405, + 4477.358, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 1676.664, + 4482.804, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 1550.923, + 4488.25, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 1425.182, + 4493.696, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 1299.441, + 4499.142, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 1173.7, + 4504.588, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 1047.958, + 4510.034, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 922.217, + 4515.48, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 796.476, + 4520.926, + -12710.052, + 0.0, + 177.52, + -0.0 + ], + [ + 689.097, + 4524.983, + -12710.292, + 0.0, + 177.52, + -0.0 + ], + [ + 689.097, + 4524.983, + -12710.292, + 0.0, + 177.52, + -0.0 + ] + ], + "Rationale": [ + "From here the two blue barrels sit on a pallet against the concrete wall, off to my right beneath the tangle of pipework. My heading points too far along the road, so I will turn right to bring that barrel pair toward the middle of my view before walking in.", + "The pair of blue barrels now sits ahead and slightly right, tucked beside the tarp-covered stack under the pipe runs. The pavement between us is open, so I will walk forward to close the distance.", + "The barrels and the pipes above them have grown noticeably larger, confirming I am on a good line toward them. Nothing blocks the apron in front of me, so I will keep walking forward.", + "I can now make out both barrels distinctly, standing on their wooden pallet by the vertical pipes. I am still several strides short of them, so I will continue walking forward.", + "The barrels sit slightly right of my heading and the tarped block is drifting to my left as I close in. The route stays clear, so I will step forward again to shorten the remaining distance.", + "The barrels now fill a good part of my view on the right, though I am still standing back from the pallet edge. I will walk forward once more to draw properly near them.", + "Only a short stretch of concrete separates me from the pallet holding the two blue barrels. I will keep walking forward to reach them.", + "The barrels have drifted well to the right of my heading while the tarped bundle sits squarely in front of me. I will turn right so the barrels come back to the center of my view and I can walk straight at them.", + "The pair of blue barrels sitting on a pallet beside the tangle of pipes is now roughly centred ahead of me after my turn. I will walk forward along the open concrete to close the remaining gap to them.", + "The blue barrels are noticeably larger and still lined up ahead beneath the pipework, with nothing blocking the ground between us. Another step forward should bring me closer to them.", + "The two barrels now dominate the middle of my view, with the wrapped bale close on my left and the pipes rising directly behind them. I keep walking straight ahead to reach them.", + "The barrels are only a stride or two away, their lids and the pallet under them clearly visible. One more step forward should put me right up against them.", + "The blue barrel fills my view at arm's length, its neighbour beside it and the pipework right behind them. I am standing at the blue barrels by the pipe. I mark reaching them and now set off for the blue portable toilet.", + "Standing this close, the barrel surface blocks nearly everything and I cannot see the yard I need to cross next. I will step back to regain some clearance and a wider view before turning toward the portable toilet.", + "Backing off has given me room again, with the barrels and pipes ahead and the wrapped bale to my left. The blue portable toilet lies well behind this heading, over toward the tanks, so I turn left to begin swinging my view that way.", + "One turn has only brought the wrapped bale across the left of my view while the barrels slide to the right edge. I need to keep rotating left to bring the open yard and the toilet near the tanks into sight.", + "The wrapped pallet load still fills most of my view and hides the open yard beyond it, so I cannot yet see the blue portable toilet I want to reach. I will keep swinging left to bring the open pavement and the far tanks into view.", + "Turning has opened the yard on my left, where pallet racks, the storage sphere and a small blue cabin now appear beyond the pavement. I will continue rotating left so that route lines up ahead of me rather than off to the side.", + "The blue portable toilet is now visible across the yard beside the tanker cars, but it still sits left of my heading with the pallet stack crowding the right. One more turn left should place that open stretch of pavement squarely in front of me.", + "The pavement ahead is clear and the small blue toilet stands across the yard by the tank cars, just right of my path. I will walk forward to close the wide gap between us.", + "The blue toilet by the tank cars is growing larger but is still well across the yard. Nothing blocks the concrete in front of me, so I will keep walking toward it.", + "I can see the blue toilet ahead of me at the fence line beneath the storage sphere, still some distance off. My path over the concrete stays open, so I will step forward again to shorten it.", + "The blue toilet is clearly framed ahead beside the green tank cars and is noticeably closer now. I will continue advancing across the open apron toward it.", + "The blue toilet now sits a little right of my straight-ahead direction, so walking on would carry me past its side. A short turn to the right should put it directly in front of me before I close the remaining distance.", + "The blue portable toilet now sits close to the centre of my view, standing against the row of green tank cars beneath the spherical vessel. The concrete walkway ahead of me is clear, with the stacked pallets and drums safely off to my right. I will walk forward to close the distance.", + "The toilet has grown noticeably larger and stays lined up with my heading, so my current bearing is good. Nothing blocks the paved strip between me and it. Another step forward should keep shrinking the gap.", + "The drum stack has slipped past the right edge of my view and the blue cabin is now the dominant object straight ahead. My heading still points at its door, so no turn is needed. I continue walking toward it.", + "I can now make out the door panel and its sign on the blue cabin, which confirms I am tracking the right structure. The weeds between the pavement and the rail track lie to the side of my line of travel. I step forward again.", + "The cabin fills more of my view and remains slightly right of centre but well within my path. The concrete ahead is still open, with only low vegetation near the rail edge. I keep advancing to shorten the remaining distance.", + "The blue toilet is close enough now that its ribbed panels and handle are clearly visible above the weeds. I am still a few paces short of standing beside it. Another step forward should bring me nearly alongside.", + "The cabin now towers in front of me, its full door and base visible just beyond the patch of weeds. A little more ground remains before I am right at it. I walk forward again.", + "The blue toilet dominates my view, with the door sign and latch plainly readable at short range. Only a short stretch of weedy ground separates me from its front. I take another step to arrive directly at it.", + "The blue portable toilet's door now fills my view, with the occupancy sign and latch clearly centered ahead of me. A short step remains before I am right at it, so I will walk forward once more to close that last gap.", + "The blue portable toilet's panel fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e57c3ca4a6b52e2605ace95c7554b2cb630c58ec --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t3_c/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Head toward the stacked wooden pallets, then navigate to the blue portable toilet.", + "Type": 3, + "Start_Pose": [ + 2422.074, + 5372.836, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2422.074, + 5372.836, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2337.077, + 5280.013, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2252.081, + 5187.191, + -12694.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2252.081, + 5187.191, + -12694.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2214.276, + 5067.144, + -12712.964, + 0.0, + -107.48, + 0.0 + ], + [ + 2176.471, + 4947.096, + -12712.964, + 0.0, + -107.48, + 0.0 + ], + [ + 2138.667, + 4827.049, + -12709.384, + 0.0, + -107.48, + 0.0 + ], + [ + 2138.667, + 4827.049, + -12709.384, + 0.0, + -132.48, + 0.0 + ], + [ + 2053.67, + 4734.227, + -12707.588, + 0.0, + -132.48, + 0.0 + ], + [ + 1968.673, + 4641.404, + -12708.11, + 0.0, + -132.48, + 0.0 + ], + [ + 1883.677, + 4548.581, + -12709.071, + 0.0, + -132.48, + 0.0 + ], + [ + 1798.68, + 4455.759, + -12710.177, + 0.0, + -132.48, + 0.0 + ], + [ + 1713.683, + 4362.936, + -12689.351, + 0.0, + -132.48, + 0.0 + ], + [ + 1713.683, + 4362.936, + -12689.351, + 0.0, + -132.48, + 0.0 + ], + [ + 1713.683, + 4362.936, + -12689.351, + 0.0, + -157.48, + 0.0 + ], + [ + 1713.683, + 4362.936, + -12689.351, + 0.0, + 177.52, + -0.0 + ], + [ + 1593.371, + 4376.838, + -12708.725, + 0.0, + 177.52, + -0.0 + ], + [ + 1467.63, + 4382.284, + -12708.725, + 0.0, + 177.52, + -0.0 + ], + [ + 1341.889, + 4387.73, + -12708.725, + 0.0, + 177.52, + -0.0 + ], + [ + 1216.148, + 4393.176, + -12709.521, + 0.0, + 177.52, + -0.0 + ], + [ + 1090.407, + 4398.622, + -12710.038, + 0.0, + 177.52, + -0.0 + ], + [ + 964.666, + 4404.068, + -12710.038, + 0.0, + 177.52, + -0.0 + ], + [ + 964.666, + 4404.068, + -12710.038, + 0.0, + 152.52, + -0.0 + ], + [ + 853.007, + 4462.144, + -12710.038, + 0.0, + 152.52, + -0.0 + ], + [ + 741.348, + 4520.22, + -12710.038, + 0.0, + 152.52, + -0.0 + ], + [ + 741.348, + 4520.22, + -12710.038, + 0.0, + 152.52, + -0.0 + ] + ], + "Rationale": [ + "From the edge of the paved yard I can already pick out the stacked wooden pallets sitting against the tall concrete wall, well ahead of me across the open apron. Nothing blocks the flat concrete between us, so I will walk straight forward to begin closing that gap.", + "The pallet stack and the drums beside it have grown noticeably larger, confirming my heading is carrying me toward them. The apron ahead is still clear, so I will keep walking forward.", + "The stacked pallets now sit a little to the right of my heading, so continuing straight would carry me past them along their left side. I will turn right to swing my facing onto the pallet stack and the apron directly in front of it.", + "With my new heading the pallet stack and the blue drums stand ahead of me on open concrete, and the wide grey apron between us is unobstructed. I will walk forward to keep shortening the distance.", + "The slatted pallets and the grey drums beside them fill more of my view now, so I am clearly gaining on them. The concrete stays flat and clear, so I will continue walking forward.", + "Individual slats on the stacked pallets are becoming distinct and the loose boards on the ground beside them are visible, so I am within a short walk. I will step forward again to close in.", + "The pallet stack has drifted out to my left as I advanced, and my heading now points at the blank concrete wall between it and the covered pallets on the right. I will turn left to bring the stacked pallets back in front of me.", + "The turn worked, and the stacked wooden pallets with the drums at their side now sit squarely ahead of me with clear concrete in between. I will walk forward to close the remaining distance to them.", + "The stacked wooden pallets sit ahead of me against the concrete wall, still several strides away with open pavement between us. My heading points straight at them, so I will walk forward to close that gap.", + "The pallet stack now fills more of my view and the loose boards on the ground before it are clearly visible, but I am not yet beside it. Nothing blocks the paved strip on this line, so another step forward should bring me closer.", + "The stacked pallets tower directly ahead now, their slats and the leaning boards beside them plainly readable. I still have a couple of strides of clear concrete, so I keep walking straight toward the stack.", + "The pallet stack now dominates my view from ground to top, so I am nearly upon it. One more step forward should place me right at the stack rather than short of it.", + "The stacked wooden pallets fill my whole view, close enough that I can see the individual slats and the grain of each board. I am standing at the pallets. I mark reaching them and now set off for the blue portable toilet over by the tank cars.", + "Standing this close, the pallets block nearly everything in front of me and I cannot see the blue portable toilet from here. It stood off to my left near the green tank cars, so I turn left to swing my view back toward it.", + "The turn has opened the left side of my view and the blue portable toilet is now visible beyond the tanks, but it sits well off to my left while the pallets still crowd the right half. Another left turn should put it closer to straight ahead.", + "The blue portable toilet now stands ahead of me by the railing and tank cars, with the pallets pushed to my right side. The concrete strip in front is clear, so I walk forward to close the distance.", + "The blue portable toilet stands ahead near the tank cars, still some distance off across open concrete. Stacked drums and pallets crowd my right, but the lane straight ahead is clear, so I will keep walking forward to close the gap.", + "The portable toilet has grown larger and now sits slightly left of my heading, with the drums beside me falling behind. Nothing blocks the pavement between us, so another step forward should continue shrinking the distance.", + "The blue cabin is clearly framed ahead against the tank cars and the drums no longer crowd my path. I will keep advancing on this heading since it points close enough to the target for now.", + "The toilet's door and vents are becoming distinct, so I am still several strides short of it. The concrete ahead is unobstructed apart from low weeds, so I will keep walking toward it.", + "The blue cabin now fills a good part of my view and sits just left of straight ahead. Another forward step should bring me into close range of it.", + "I am close to the blue cabin, but it has drifted to the left edge of my view while my heading points at the tank cars beyond. Turning left should bring it back to the center of my view before I step in.", + "The blue toilet is now centered in front of me with its door facing my way. Only a short stretch of weedy concrete separates us, so I will step forward to close in on it.", + "The toilet's door panel and its occupancy sign now fill most of my view, so I am only a stride away. One more step forward should put me right at its face.", + "The blue portable toilet's paneled side and hinges fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t5_a_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b9bbd71a2b42e642cce2eb5e07901331499bb49f --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002422_y005373_z-012694_t5_a_pd/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Grab the plate beside the two blue barrels on the pallet, then set it down near the stacked wooden pallets.", + "Type": 5, + "Start_Pose": [ + 2422.074, + 5372.836, + -12694.281, + 0, + -132.48, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2268.502, + 4228.141, + -12758.761, + 90, + 90, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2422.074, + 5372.836, + -12694.281, + 0, + -132.48, + 0 + ], + [ + 2422.074, + 5372.836, + -12694.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2384.269, + 5252.789, + -12694.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2346.465, + 5132.742, + -12701.001, + 0.0, + -107.48, + 0.0 + ], + [ + 2308.66, + 5012.695, + -12712.995, + 0.0, + -107.48, + 0.0 + ], + [ + 2308.66, + 5012.695, + -12712.995, + 0.0, + -82.48, + 0.0 + ], + [ + 2325.132, + 4887.918, + -12712.995, + 0.0, + -82.48, + 0.0 + ], + [ + 2341.603, + 4763.142, + -12712.995, + 0.0, + -82.48, + 0.0 + ], + [ + 2358.074, + 4638.365, + -12710.436, + 0.0, + -82.48, + 0.0 + ], + [ + 2374.546, + 4513.589, + -12710.436, + 0.0, + -82.48, + 0.0 + ], + [ + 2374.546, + 4513.589, + -12710.436, + 0.0, + -107.48, + 0.0 + ], + [ + 2330.754, + 4398.463, + -12710.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2330.754, + 4398.463, + -12710.281, + 0.0, + -107.48, + 0.0 + ], + [ + 2330.754, + 4398.463, + -12710.281, + 0.0, + -132.48, + 0.0 + ], + [ + 2330.754, + 4398.463, + -12710.281, + 0.0, + -157.48, + 0.0 + ], + [ + 2214.492, + 4350.259, + -12708.731, + 0.0, + -157.48, + 0.0 + ], + [ + 2098.231, + 4302.054, + -12708.731, + 0.0, + -157.48, + 0.0 + ], + [ + 1981.969, + 4253.849, + -12708.731, + 0.0, + -157.48, + 0.0 + ], + [ + 1865.707, + 4205.644, + -12708.731, + 0.0, + -157.48, + 0.0 + ], + [ + 1749.446, + 4157.44, + -12702.684, + 0.0, + -157.48, + 0.0 + ], + [ + 1815.955, + 4185.016, + -12705.706, + 0.0, + -157.48, + 0.0 + ], + [ + 1815.955, + 4185.016, + -12705.706, + 0.0, + -157.48, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2268.502, + 4228.141, + -12758.761, + 90.0, + 90.0, + 0.0 + ], + [ + 2351.305, + 4392.631, + -12740.174, + -28.202, + -57.335, + 1.862 + ], + [ + 2346.216, + 4385.139, + -12739.902, + -28.189, + -82.323, + 1.872 + ], + [ + 2338.336, + 4379.768, + -12740.569, + -28.215, + -107.353, + 1.849 + ], + [ + 2222.941, + 4330.644, + -12739.2, + -28.202, + -107.339, + 1.858 + ], + [ + 2106.82, + 4282.499, + -12738.938, + -28.208, + -107.338, + 1.852 + ], + [ + 1990.8, + 4234.386, + -12738.516, + -28.189, + -107.321, + 1.867 + ], + [ + 1874.789, + 4186.297, + -12738.135, + -28.207, + -107.345, + 1.857 + ], + [ + 1758.567, + 4138.101, + -12733.442, + -28.192, + -107.332, + 1.872 + ], + [ + 1751.293, + 4158.206, + -12735.706, + 90.0, + -157.48, + 0.0 + ], + [ + 1751.293, + 4158.206, + -12735.706, + 90.0, + -157.48, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1155.0, + 1155.0, + 1031.2, + 908.0, + 785.6, + 785.6, + 662.2, + 540.0, + 419.9, + 304.5, + 304.5, + 181.3, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this starting spot the yard opens ahead, and I can see a pair of blue barrels with a pale round plate leaning beside them near the concrete wall, off toward the right side of my view. Turning right should bring that barrel and plate cluster closer to the center of my heading before I start walking. I will turn right to line up the approach.", + "The blue barrels and the white plate resting beside them now sit ahead in my view, past the stacked pallets and sandbags against the concrete building. The open pavement between me and them is clear, so walking straight is the direct way to close that gap. I will step forward toward the barrels.", + "The barrels, the covered load, and the plate have grown noticeably larger, which tells me my heading is carrying me toward the target. Nothing blocks the paved stretch in front of me, so continuing straight keeps closing the distance. I will keep walking forward.", + "The white plate beside the two blue barrels is clearly resolved now, sitting on the pallet at the base of the wall slightly right of my path. I am still some distance off, so another step forward is the simplest way to keep gaining ground. I will advance again.", + "As I have closed in, the barrels and the plate have drifted toward the right half of my view while the pallet stacks and wall fill the left. A small turn to the right should place the plate more centrally so my remaining steps lead straight to it. I will turn right to correct the heading.", + "After the turn the two blue barrels and the white plate sit near the middle of my view against the covered load and wall. The ground ahead is open apart from low weeds, so walking straight should carry me toward the plate. I will move forward.", + "The barrels and the plate keep filling more of my view, confirming this heading takes me right to them. Some scrubby weeds and a pipe column stand near my path, but the pavement to the plate remains clear. I will continue walking forward.", + "The plate is now close, propped at the foot of the pallet just left of the two blue barrels, though weeds and a vertical pipe crowd the right of my view. I am still a few strides short of reaching distance for a grasp, so another forward step is needed. I will advance again toward the plate.", + "The white plate and the two blue barrels on their pallet are clearly visible ahead to my left, but weeds and a pipe column still crowd the foreground between us. I will step forward again to close the remaining gap toward the plate before I worry about fine alignment.", + "I am now close to the pallet area, but a thick concrete pipe column fills the right half of my view and the plate has drifted to the far left edge. Turning left should bring the plate and the blue barrels back into the center of my view for a clean approach.", + "The plate is now centered in front of me with the two blue barrels on their pallet just behind it. I will walk one more step forward to get within arm's reach so that a grasp becomes feasible.", + "The plate now fills the lower center of my view, close enough that I can see its rim and the pallet edge behind it. This is the target described as sitting beside the two blue barrels, so I will attempt to pick it up now.", + "The grasp succeeded, since the plate is now held in my hand in the lower view instead of resting on the ground. My view is angled down at the pavement and wrapped pallet base, so I will turn left to begin swinging my heading toward the stacked wooden pallets for delivery.", + "With the plate secured in hand, my view now shows the wrapped load and the blue barrels ahead, with wooden pallet stacks off at the far left. I will turn left once more to bring those stacked pallets closer to the center of my heading.", + "The stacked wooden pallets with loose boards on the ground are now framed ahead of me, slightly left of center along the concrete wall. Carrying the plate, I will walk forward to close the distance toward that drop area.", + "The pallet stack has grown noticeably larger and the scattered boards in front of it are clearer, so my heading is good. I will keep walking forward with the plate until I am close enough beside the stacks to set it down.", + "I am carrying the plate and the stack of wooden pallets with the green drum is now clearly ahead of me against the concrete wall. I will keep walking forward to close the remaining gap so the plate can be set down close to that stack.", + "The pallet stack now fills much of my view, but I am still a couple of steps short of a comfortable placement spot beside it. I will step forward again to bring the plate right up to the stacked pallets.", + "I am close enough that the slats and the green drum on the stack are in fine detail, so the drop point is nearly reached. One more forward step should place me immediately at the base of the stacked pallets before I release the plate.", + "I am now right up against the stacked wooden pallets, with their beams and boards filling my view at arm's length. This is the intended placement area, so I will release the plate here and expect it to come to rest on the ground beside the stack.", + "The plate is now resting on the ground directly beside the stacked wooden pallets. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002669_y006564_z-012694_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002669_y006564_z-012694_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ae463f16f692ed20be7f5532222b9757caaca0 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002669_y006564_z-012694_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for the entrance of the small grey corrugated-metal workshop with a tan-colored patch on its front wall and yellow safety railings along the sidewalk; after locating it, proceed to that doorway.", + "Type": 1, + "Start_Pose": [ + 2668.74, + 6564.304, + -12694.286, + 0.0, + 67.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2668.74, + 6564.304, + -12694.286, + 0.0, + 67.52, + -0.0 + ], + [ + 2668.74, + 6564.304, + -12694.281, + 0.0, + 42.52, + -0.0 + ], + [ + 2668.74, + 6564.304, + -12694.281, + 0.0, + 17.52, + -0.0 + ], + [ + 2788.761, + 6602.193, + -12713.144, + 0.0, + 17.52, + -0.0 + ], + [ + 2788.761, + 6602.193, + -12713.144, + 0.0, + -7.48, + 0.0 + ], + [ + 2913.549, + 6585.808, + -12713.144, + 0.0, + -7.48, + 0.0 + ], + [ + 3038.337, + 6569.424, + -12713.144, + 0.0, + -7.48, + 0.0 + ], + [ + 3163.125, + 6553.04, + -12713.144, + 0.0, + -7.48, + 0.0 + ], + [ + 3287.913, + 6536.655, + -12713.144, + 0.0, + -7.48, + 0.0 + ], + [ + 3409.41, + 6524.15, + -12694.423, + 0.0, + -7.48, + 0.0 + ], + [ + 3534.198, + 6507.766, + -12694.423, + 0.0, + -7.48, + 0.0 + ], + [ + 3658.986, + 6491.382, + -12692.824, + 0.0, + -7.48, + 0.0 + ], + [ + 3658.986, + 6491.382, + -12692.824, + 0.0, + -7.48, + 0.0 + ] + ], + "Rationale": [ + "From this spot under the concrete gantry structures I see only bare roadway, bollards and barriers ahead, with no grey corrugated-metal workshop or yellow railings in view. I will turn left to begin a consistent scan toward the more built-up side of the yard, where low buildings may stand.", + "Turning has brought a corrugated-metal shed edge and low sheet-clad buildings into the left part of my view, which is a promising cue for the workshop. I will continue turning left in the same direction to bring that structure fully in front of me.", + "Now I can see a grey corrugated-metal building on the left with a tan patch on its front wall, a dark doorway, and yellow safety railings along the sidewalk, which matches the described workshop. I will walk forward to close the gap and get a clearer read on that entrance.", + "The workshop with its tan wall patch and yellow railing sits off to my left while my heading points down the open road past it. I will turn left to face the building directly so the doorway lines up with my path of travel.", + "The workshop now fills the view ahead, with the tan patch, the recessed doorway and the yellow railing clearly in front of me. I will step forward along the open pavement to close distance toward that entrance.", + "The doorway is growing larger and remains slightly right of my center, and the pavement between me and the curb is still clear. I will keep walking forward to reach the sidewalk in front of the entrance.", + "I am close enough now to see the open door leaf and the dark interior through the frame, with the yellow railing to the left and the pole to the right of my path. I will continue forward through the gap between the bollards toward the doorway.", + "The entrance is directly ahead with its threshold and inner walls plainly visible, and I have already stepped up level with the building frontage. I will keep advancing to bring myself right up to that doorway.", + "The grey corrugated workshop now fills most of my view, with the tan patch on its front wall to the left of the open doorway and the yellow railing at the near left edge. The doorway itself is centered slightly left ahead of me and still a few paces away across the sidewalk. I will keep walking forward to close that remaining gap to the entrance.", + "The open entrance is directly ahead of me now, its frame and the interior corrugated wall clearly visible through the opening. I am close to the wall but not yet at the threshold, so another step forward should bring me right up to the doorway.", + "I am standing just outside the workshop entrance, with the door swung inward and the dim interior floor visible through the frame. One more step should carry me onto the threshold of this doorway as the task requires.", + "I am standing in the workshop doorway with the interior walls and floor around me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d7f1f5294644ab131fcc4d9403ee70b20c4f85ae --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the wooden A-frame barricade, then head toward the garage doorway.", + "Type": 3, + "Start_Pose": [ + 2863.214, + 6492.113, + -12713.093, + 0.0, + 36.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2863.214, + 6492.113, + -12713.093, + 0.0, + 36.48, + -0.0 + ], + [ + 2964.413, + 6566.941, + -12712.923, + 0.0, + 36.48, + -0.0 + ], + [ + 3065.612, + 6641.77, + -12712.923, + 0.0, + 36.48, + -0.0 + ], + [ + 3065.612, + 6641.77, + -12712.923, + 0.0, + 36.48, + -0.0 + ], + [ + 3065.612, + 6641.77, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3065.612, + 6641.77, + -12712.923, + 0.0, + -13.52, + 0.0 + ], + [ + 3187.983, + 6612.346, + -12712.923, + 0.0, + -13.52, + 0.0 + ], + [ + 3310.354, + 6582.922, + -12712.923, + 0.0, + -13.52, + 0.0 + ], + [ + 3432.725, + 6553.498, + -12694.284, + 0.0, + -13.52, + 0.0 + ], + [ + 3555.097, + 6524.074, + -12694.284, + 0.0, + -13.52, + 0.0 + ], + [ + 3677.468, + 6494.65, + -12692.848, + 0.0, + -13.52, + 0.0 + ], + [ + 3677.468, + 6494.65, + -12692.848, + 0.0, + -13.52, + 0.0 + ] + ], + "Rationale": [ + "The wooden A-frame barricade stands on the pavement ahead of me, slightly right of center and still several paces off. I will walk forward to close that gap before dealing with the doorway on the metal building to my left.", + "The barricade has grown noticeably larger and now sits just ahead and a little right, so I am nearly on top of it. Another step forward should bring me level with it.", + "The wooden A-frame barricade now looms directly beside me, its legs and crossbar filling the near pavement at arm's length. I have reached it. I mark reaching this barricade and now set off for the open garage doorway in the corrugated metal building off to my left.", + "With the barricade reached, my heading still faces down the fence line and the metal building with its doorway lies well off to my left. I will turn left to swing that building into the center of my view.", + "The dark open doorway in the corrugated wall has come into view, but it still sits left of center behind the utility pole. A second turn left should square me up with it for a straight walk.", + "The metal building now faces me squarely and its open doorway sits near the middle of my view with clear concrete in between. I will walk forward toward that opening.", + "The doorway and its propped door are larger and still ahead of me, just left of the pole in my path. Continuing forward should carry me closer to the opening.", + "I am close enough now to see the interior planking through the open doorway, which sits slightly left of center. Another step forward should bring me right up to the entrance.", + "The open metal doorway in the corrugated shed wall is now directly ahead of me, its dark interior and propped door plainly visible. A short gap of concrete apron still separates me from the threshold, so I will walk forward to close it.", + "The doorway now fills most of my view, with the frame and the propped door edge close enough to see their texture and the shadowed floor inside. I am not yet at the opening, so another step forward should bring me right into it.", + "I stand in the garage doorway with its frame on either side and the shed interior and window ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..82921972cf59c78a96a8bd6d5f15928f853cad58 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the garage doorway, then move to the utility pole base.", + "Type": 3, + "Start_Pose": [ + 2863.214, + 6492.113, + -12713.093, + 0.0, + 36.48, + -0.0 + ], + "Action": [ + "LookUp", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2863.214, + 6492.113, + -12713.093, + 0.0, + 36.48, + -0.0 + ], + [ + 2863.214, + 6492.113, + -12712.923, + 0.0, + 36.48, + -0.0 + ], + [ + 2863.214, + 6492.113, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 2986.555, + 6517.162, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3109.896, + 6542.211, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3233.237, + 6567.26, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3356.579, + 6592.31, + -12694.399, + 0.0, + 11.48, + -0.0 + ], + [ + 3356.579, + 6592.31, + -12694.399, + 0.0, + -13.52, + 0.0 + ], + [ + 3478.95, + 6562.886, + -12694.399, + 0.0, + -13.52, + 0.0 + ], + [ + 3601.321, + 6533.462, + -12693.244, + 0.0, + -13.52, + 0.0 + ], + [ + 3723.692, + 6504.038, + -12692.853, + 0.0, + -13.52, + 0.0 + ], + [ + 3723.692, + 6504.038, + -12692.853, + 0.0, + -13.52, + 0.0 + ], + [ + 3633.853, + 6525.64, + -12692.853, + 0.0, + -13.52, + 0.0 + ], + [ + 3633.853, + 6525.64, + -12692.853, + 0.0, + 11.48, + -0.0 + ], + [ + 3633.853, + 6525.64, + -12692.853, + 0.0, + 36.48, + -0.0 + ], + [ + 3633.853, + 6525.64, + -12692.853, + 0.0, + 61.48, + -0.0 + ], + [ + 3633.853, + 6525.64, + -12692.853, + 0.0, + 86.48, + -0.0 + ], + [ + 3641.58, + 6651.261, + -12692.853, + 0.0, + 86.48, + -0.0 + ], + [ + 3641.58, + 6651.261, + -12692.853, + 0.0, + 86.48, + -0.0 + ] + ], + "Rationale": [ + "The concrete pole to my left runs straight out of the top of my view, so I cannot yet judge which mast carries the overhead lines. I will look up to take in its crossarm and cabling and fix that landmark before I set off toward the open doorway in the metal shed.", + "Raising my gaze has confirmed the wired pole with its transformers standing off to my left, with the corrugated shed and its shadowed doorway beneath it. Both lie well left of my heading, so I will turn left to bring the shed front and its opening into the middle of my view before advancing.", + "The shed's open doorway now sits ahead of me across the pavement, framed between the yellow railing and the slim pole. Nothing but flat concrete and a low kerb lies between us, so I will walk forward to close that gap.", + "The doorway and its frame have grown noticeably larger and the bollards have slid to either side, confirming my line is good. I am still several strides short of the opening, so I will keep walking straight ahead.", + "I have stepped up onto the concrete apron and the doorway now shows its inner wall and the handle hanging on the swung door. The threshold is still a fair distance off to my left front, so another stride forward should bring me close to the building face.", + "The shed wall now fills much of my view and the open doorway stands clearly to my left, with the pole rising close on my right. The opening is not yet within reach, so I will advance again along the clear apron.", + "Closing this far has pushed the doorway out to the left edge of my view while the pole shaft now dominates the middle. I will turn left to square my heading onto the opening so I can walk straight into it.", + "The turn has put the doorway squarely ahead of me, its frame and the dark interior centered in my view with clear concrete between. I will walk forward to bring myself up to the threshold.", + "The open doorway in the corrugated garage wall now fills most of my view, slightly left of center, with the swung door panel and its handle clearly visible. I am still a couple of paces short of the opening itself, so I will walk forward to close that gap.", + "I am right at the mouth of the garage now, with the open door panel beside me and the dark interior floor visible through the frame. One more step forward should put me squarely at the doorway rather than just outside it.", + "I am standing in the garage entrance, the open door panel with its bent handle right beside me and the shed's inner wall and window ahead. This is the garage doorway I set out for, so I mark reaching it and turn my attention to the utility pole standing out on the pavement behind me.", + "Wedged in this doorway with the door panel at my shoulder, I have no room to swing around toward the pole out on the open apron. Backing straight out of the opening should give me clearance to reorient without scraping the frame.", + "I have stepped back clear of the entrance, and the doorway with its open panel still occupies most of my view. The pole rises out on the yard side, off to my right, so I will begin turning that way.", + "My heading has swung only part way and the corrugated shed wall still blocks the whole frame. I will keep rotating right to bring the open pavement and the pole standing on it into view.", + "The shed wall has slid to the left edge and the fenced yard with its concrete trusses is opening up on the right. Continuing to turn right should carry the pole into the middle of my view.", + "The yard is now mostly ahead, with the trusses and fence in front and a pale concrete column at the right edge of my view. One more turn to the right should place that pole's base squarely in front of me.", + "The concrete utility pole now rises directly ahead of me, its base still a stride or two away across the open pavement. I will walk forward to close that last gap and stand right at the foot of the pole.", + "The utility pole's base stands immediately beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..196ea30bdd814be95b347fb479a07a9b2ae18e0d --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t3_c/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Navigate to the dark open doorway on the building, then reach the A-frame barricade.", + "Type": 3, + "Start_Pose": [ + 2863.214, + 6492.113, + -12713.093, + 0.0, + 36.48, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2863.214, + 6492.113, + -12713.093, + 0.0, + 36.48, + -0.0 + ], + [ + 2964.413, + 6566.941, + -12712.923, + 0.0, + 36.48, + -0.0 + ], + [ + 2964.413, + 6566.941, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3087.754, + 6591.99, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3211.095, + 6617.04, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3211.095, + 6617.04, + -12712.923, + 0.0, + -13.52, + 0.0 + ], + [ + 3333.466, + 6587.616, + -12700.543, + 0.0, + -13.52, + 0.0 + ], + [ + 3455.838, + 6558.192, + -12694.34, + 0.0, + -13.52, + 0.0 + ], + [ + 3578.209, + 6528.768, + -12694.34, + 0.0, + -13.52, + 0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + -13.52, + 0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + -13.52, + 0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + 11.48, + -0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + 36.48, + -0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + 61.48, + -0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + 86.48, + -0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + 111.48, + -0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + 136.48, + -0.0 + ], + [ + 3700.58, + 6499.344, + -12692.85, + 0.0, + 161.48, + -0.0 + ], + [ + 3581.239, + 6539.321, + -12694.062, + 0.0, + 161.48, + -0.0 + ], + [ + 3461.898, + 6579.299, + -12694.062, + 0.0, + 161.48, + -0.0 + ], + [ + 3342.557, + 6619.276, + -12696.335, + 0.0, + 161.48, + -0.0 + ], + [ + 3223.216, + 6659.253, + -12713.104, + 0.0, + 161.48, + -0.0 + ], + [ + 3223.216, + 6659.253, + -12713.104, + 0.0, + 161.48, + -0.0 + ] + ], + "Rationale": [ + "The metal-sided building sits off to my left with a dark opening in its wall, and the A-frame barricade stands out on the paving ahead of me. Since I need the doorway before the barricade, I will walk forward across the open concrete to shorten the gap toward both.", + "My heading points down the open paving past the barricade, while the shadowed doorway of the metal building lies well off to my left edge. I will turn left so that opening comes into the middle of my view before I keep walking.", + "The turn has brought the shadowed doorway of the corrugated building into clear view ahead and slightly left, with only flat paving and a couple of short bollards between us. I will step forward along that line to close on the opening.", + "The doorway has grown noticeably larger and I can now see the dim interior and the handle on its frame. Nothing blocks the run of concrete ahead, so I will keep advancing toward it.", + "Approaching has pushed the dark opening toward the left side of my view, with the utility pole and fencing filling the center. I will turn left to put the doorway squarely in front of me before continuing.", + "The dark doorway now sits near the middle of my view with its frame and the interior gloom clearly readable. The apron in front of the wall is clear, so I will walk straight in toward the opening.", + "The corrugated wall now fills much of my view and the open doorway stands close ahead, its threshold and shadowed interior plainly visible. I will keep stepping forward to bring myself right up to that opening.", + "The doorway is now only a stride or two away, its frame taller than my view and the dark floor inside clearly showing. One more step forward should put me at the opening itself.", + "The dark opening in the corrugated building now fills my view, with the door panel swung inward and the shadowed floor just ahead of my feet. One more step should carry me right into the threshold rather than leaving me short of it.", + "I am standing inside the shadowed opening of the metal building, with the jamb beside me and the dim interior and its small window ahead. That means I have reached the dark open doorway. I mark reaching it and now turn my attention to the A-frame barricade back out on the paved road.", + "Standing in the doorway I face only the dim interior, so nothing of the open road and its barricade is in front of me. Swinging to the right should start bringing my heading back around toward the paved area outside.", + "The turn has put the blank corrugated panel and door handle across my whole view, so I am still aimed at the building. Another step of rotation to the right should keep carrying my heading toward the open side.", + "Sky, a fence post and greenery are now appearing past the right edge of the metal siding, so the outdoors is opening up in that direction. I will keep rotating right to bring that open ground fully in front of me.", + "The paved walkway, the fence line and the concrete truss structure are now clear ahead, but the road where the barricade stands is still further to my right. Continuing the rotation should bring that stretch of pavement into view.", + "Ahead lie the railing and truss beams, and I can just make out the roadway with orange posts along the right side. The barricade is not yet centered, so I will turn further right to face that open road.", + "The roadway with its row of orange posts is now spread in front of me, and the angled legs of a barricade show near the right edge beyond the pillar. One more turn right should place that A-frame squarely ahead for a straight walk toward it.", + "The A-frame barricade now stands out on the open pavement to the right of the concrete column that splits my view. One more step of rotation to the right should bring it near the center of my heading so I can walk straight at it.", + "The A-frame barricade is now centered ahead of me, standing on the pavement between the orange posts with clear ground in between. I will walk forward to begin closing that gap.", + "The barricade has grown larger and sits just ahead of the curb line, still a few strides away. Nothing blocks the pavement between us, so I keep walking straight toward it.", + "The A-frame's legs and crossbar are clearly resolved now, filling much of the view ahead of me. Another step forward should bring me within arm's reach of it.", + "The barricade is right in front of me, its frame tall enough to tower over the lower edge of my view. One last stride should place me directly beside it.", + "The A-frame barricade stands immediately beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t5_a_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97e772e6e85d4ee9e65c395f048a2fdd1646c100 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Lift the jerry can at the wooden A-frame barricade, then place it near the garage doorway.", + "Type": 5, + "Start_Pose": [ + 2863.214, + 6492.113, + -12713.093, + 0, + 36.48, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3122.618, + 6610.928, + -12795.923, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2863.214, + 6492.113, + -12713.093, + 0, + 36.48, + 0 + ], + [ + 2964.413, + 6566.941, + -12712.923, + 0.0, + 36.48, + -0.0 + ], + [ + 2964.413, + 6566.941, + -12712.923, + 0.0, + 36.48, + -0.0 + ], + [ + 2964.413, + 6566.941, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3087.754, + 6591.99, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3211.095, + 6617.039, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3211.095, + 6617.039, + -12712.923, + 0.0, + -13.52, + 0.0 + ], + [ + 3333.466, + 6587.615, + -12700.543, + 0.0, + -13.52, + 0.0 + ], + [ + 3455.838, + 6558.19, + -12694.34, + 0.0, + -13.52, + 0.0 + ], + [ + 3578.209, + 6528.766, + -12694.34, + 0.0, + -13.52, + 0.0 + ], + [ + 3700.58, + 6499.342, + -12692.85, + 0.0, + -13.52, + 0.0 + ], + [ + 3630.575, + 6516.175, + -12692.85, + 0.0, + -13.52, + 0.0 + ], + [ + 3630.575, + 6516.175, + -12692.85, + 0.0, + -13.52, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3122.618, + 6610.928, + -12795.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3122.618, + 6610.928, + -12795.923, + 0.0, + 0.0, + 0.0 + ], + [ + 2951.226, + 6583.748, + -12742.816, + -28.202, + 86.624, + 1.862 + ], + [ + 2959.749, + 6586.812, + -12742.543, + -28.189, + 61.637, + 1.872 + ], + [ + 3082.507, + 6612.716, + -12742.233, + -28.193, + 61.628, + 1.872 + ], + [ + 3205.892, + 6637.771, + -12742.235, + -28.198, + 61.63, + 1.868 + ], + [ + 3215.656, + 6637.216, + -12743.135, + -28.208, + 36.622, + 1.852 + ], + [ + 3337.776, + 6608.549, + -12742.925, + -28.189, + 36.638, + 1.867 + ], + [ + 3459.877, + 6579.178, + -12723.691, + -28.207, + 36.614, + 1.857 + ], + [ + 3582.211, + 6549.77, + -12723.542, + -28.192, + 36.628, + 1.872 + ], + [ + 3704.747, + 6520.296, + -12722.217, + -28.206, + 36.618, + 1.864 + ], + [ + 3698.635, + 6499.81, + -12742.85, + 0.0, + -13.52, + 0.0 + ], + [ + 3698.635, + 6499.81, + -12742.85, + 0.0, + -13.52, + 0.0 + ] + ], + "PD_Dist_2D": [ + 285.3, + 164.2, + 21.4, + 20.4, + 21.4, + 21.4, + 20.7, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red jerry can sits on the pavement just left of the wooden A-frame barricade, but it is still several paces ahead of me. I will walk forward to close that gap so the can comes within grasping range.", + "The jerry can is now directly in front of me at the lower edge of my view, right beside the A-frame barricade, close enough to reach. I will attempt to pick it up so I can carry it toward the garage doorway.", + "The grasp worked, since the can is now held in my hands and my view is tipped down over it. The garage building with its doorway lies off to my left rather than ahead, so I will turn left to bring that side of the yard into view.", + "With the can in hand, my view is back up and the metal shed with its dark open doorway stands ahead and slightly left across the pavement. I will walk forward to carry the can toward that entrance.", + "The doorway of the shed is noticeably larger and closer now, but I am still out on the open concrete short of it. I will keep walking forward while carrying the can to shorten the remaining distance.", + "The doorway has drifted toward the left edge of my view while the utility pole and fence now dominate the center, so my heading is off the entrance. I will turn left to bring the dark opening back in front of me before continuing.", + "The shed's open doorway now sits near the middle of my view with clear pavement leading up to it. I will step forward with the can to close in on that entrance.", + "The doorframe and its interior are much closer, filling more of my view, yet I am still standing on the outside apron with the can. I will continue walking forward so I can set the can down near the entrance.", + "I am still carrying the jerry can, and the recessed doorway in the corrugated wall now fills most of my view slightly left of center. I am close but not yet at the threshold where a placement would count as near the doorway. I will step forward again to close the remaining gap to the entrance.", + "The doorway is now directly in front of me with the swung door panel to the right and the dark interior visible through the opening. I am nearly at the threshold, but a placement here would leave the can a step short of the entrance itself. One more forward step should bring me right into the doorway area where the can belongs.", + "I am standing right at the garage entrance, with the door panel beside me and the interior floor immediately ahead, so this is the spot the task asks for. The jerry can is still in my hands and there is clear ground at my feet in the opening. I will release it here so it should come to rest near the doorway.", + "The jerry can is resting on the ground right at the garage doorway in front of me. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t5_b_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d999213d4984a67a3c00dd50c5e283c292a0ad26 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x002863_y006492_z-012713_t5_b_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Grab the ceramic vase at the garage doorway, then set it down near the utility pole base.", + "Type": 5, + "Start_Pose": [ + 2863.214, + 6492.113, + -12713.093, + 0, + 36.48, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3638.156, + 6430.012, + -12767.794, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2863.214, + 6492.113, + -12713.093, + 0, + 36.48, + 0 + ], + [ + 2863.214, + 6492.113, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 2986.555, + 6517.162, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3109.896, + 6542.211, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3233.237, + 6567.26, + -12712.923, + 0.0, + 11.48, + -0.0 + ], + [ + 3356.579, + 6592.31, + -12694.399, + 0.0, + 11.48, + -0.0 + ], + [ + 3356.579, + 6592.31, + -12694.399, + 0.0, + -13.52, + 0.0 + ], + [ + 3478.95, + 6562.886, + -12694.399, + 0.0, + -13.52, + 0.0 + ], + [ + 3478.95, + 6562.886, + -12694.399, + 0.0, + -38.52, + 0.0 + ], + [ + 3577.421, + 6484.502, + -12694.399, + 0.0, + -38.52, + 0.0 + ], + [ + 3577.421, + 6484.502, + -12694.399, + 0.0, + -38.52, + 0.0 + ], + [ + 3577.421, + 6484.502, + -12694.399, + 0.0, + -13.52, + 0.0 + ], + [ + 3577.421, + 6484.502, + -12694.399, + 0.0, + 11.48, + -0.0 + ], + [ + 3577.421, + 6484.502, + -12694.399, + 0.0, + 36.48, + -0.0 + ], + [ + 3577.421, + 6484.502, + -12694.399, + 0.0, + 61.48, + -0.0 + ], + [ + 3577.421, + 6484.502, + -12694.399, + 0.0, + 86.48, + -0.0 + ], + [ + 3585.148, + 6610.124, + -12694.399, + 0.0, + 86.48, + -0.0 + ], + [ + 3580.727, + 6538.26, + -12694.399, + 0.0, + 86.48, + -0.0 + ], + [ + 3580.727, + 6538.26, + -12694.399, + 0.0, + 86.48, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3638.156, + 6430.012, + -12767.794, + 0.0, + 0.0, + 0.0 + ], + [ + 3590.242, + 6501.589, + -12724.174, + -28.202, + 11.625, + 1.862 + ], + [ + 3582.037, + 6506.34, + -12723.902, + -28.189, + 36.637, + 1.872 + ], + [ + 3573.088, + 6506.606, + -12724.569, + -28.215, + 61.607, + 1.849 + ], + [ + 3566.036, + 6509.095, + -12724.515, + -14.092, + 78.824, + 6.87 + ], + [ + 3558.351, + 6494.368, + -12724.499, + -28.208, + 111.622, + 1.851 + ], + [ + 3554.922, + 6485.359, + -12723.831, + -28.198, + 136.626, + 1.867 + ], + [ + 3563.8, + 6610.924, + -12724.361, + -28.198, + 136.626, + 1.862 + ], + [ + 3585.025, + 6608.128, + -12754.399, + 0.0, + 86.48, + -0.0 + ], + [ + 3585.025, + 6608.128, + -12754.399, + 0.0, + 86.48, + -0.0 + ] + ], + "PD_Dist_2D": [ + 777.4, + 777.4, + 657.4, + 540.0, + 427.5, + 325.0, + 325.0, + 207.4, + 207.4, + 81.6, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The pale ceramic vase stands far off to my left, beside the open doorway of the metal-sided garage, well outside my current heading down the concrete apron. I will turn left to bring that doorway and the vase toward the center of my view before committing to any forward walking. This should give me a clean straight line of approach across the open pavement.", + "The garage front with its open doorway now sits in the left half of my view, and the slim ceramic vase is standing on the walkway just beside it. The path across the concrete ahead is clear apart from the short striped bollards along the curb. I will step forward to cut down the sizeable distance still separating me from the vase.", + "The corrugated garage wall and its doorway have grown noticeably larger, and the white vase beside the entrance is now clearly resolved. Nothing blocks the stretch of pavement between me and that wall. I will keep walking forward to close more of the gap.", + "The doorway is now large in front of me and the patterned ceramic vase stands plainly on the walkway to its left. I am still too far back for any reliable reach at the object. Another forward step should carry me nearer to a workable grabbing position.", + "The vase is now close enough that I can make out the floral markings on its body, but it has drifted toward the left edge as I closed in on the building face. The pavement directly in front of me is still open, with the utility pole standing clear to my right. I will advance again to shorten the remaining gap before fine alignment.", + "I have come in close to the garage wall, and the vase has slipped to the very left edge of my view where it is partly cut off. Walking straight ahead now would carry me past it along the building face. I will turn left to bring the vase back into the center of my view for a controlled approach.", + "The turn has brought the ceramic vase back into view, standing upright on the walkway just left of the open doorway. It is still a couple of paces away, too far to reach for a grab. I will walk forward to close that last stretch of pavement.", + "I am now standing right in front of the garage entrance, and the vase is very close but sitting off to my left rather than squarely ahead of me. Facing the doorway instead of the object would leave the grab poorly aimed. I will turn left so the vase comes into the center of my view for the reach.", + "The tall white ceramic vase now stands upright on the concrete just left of the open garage doorway, centered in front of me but still a couple of paces off. I will walk forward to close that last gap so the vase sits within arm's reach for a grasp.", + "The vase now fills the lower center of my view, its rim close enough that I can see down into the opening, and nothing blocks my reach at the garage doorway. This is the right standing position and heading, so I will attempt to pick it up.", + "The grasp worked, since I am now looking down at the vase cradled in my hands above my own boots. The garage wall is behind the vase and the utility pole lies well off to my right, so I will turn right to begin swinging my heading away from the doorway.", + "I am still holding the vase and my heading has only come around as far as the open garage door and its metal jamb straight ahead. The pole area is further around to my right, so I will keep rotating right to clear the building face.", + "My heading has swung so that the corrugated metal siding now dominates ahead, with only a sliver of open ground and truss structure at the right edge. Turning right again should carry my facing past this wall toward the open paving where the utility pole stands.", + "The building siding has slid to my left and the open concrete apron with the truss structures beyond the fence is opening up on my right. I will turn right once more to bring the pole area in front of me while carrying the vase.", + "Ahead I now see the open apron, and a thick concrete utility pole rises in the right half of my heading with the roadway beyond it. A further right turn should place that pole squarely in front of me before I step in to set the vase down.", + "The utility pole is now centered directly ahead of me, its base resting on the open concrete a short step away. I will walk forward so I stand close beside that base, near enough to place the vase there.", + "I am carrying the vase and now standing directly at the concrete utility pole, whose base fills the center of my view just a step ahead on the paved apron. This is the placement spot the task asks for, with clear flat ground and no obstruction between me and the pole footing. I will release the vase here so it should come to rest right beside the pole base.", + "The vase now stands upright on the paving right against the utility pole base. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003119_y014562_z-012713_t0_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003119_y014562_z-012713_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..041d203fd4c7a9ee9a0fc643f1697fc75393ed68 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003119_y014562_z-012713_t0_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the blue barrels on the bridge.", + "Type": 0, + "Start_Pose": [ + 3119.348, + 14562.451, + -12712.923, + 0.0, + -79.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3119.348, + 14562.451, + -12712.923, + 0.0, + -79.68, + 0.0 + ], + [ + 3141.895, + 14438.628, + -12712.923, + 0.0, + -79.68, + 0.0 + ], + [ + 3164.442, + 14314.805, + -12712.923, + 0.0, + -79.68, + 0.0 + ], + [ + 3164.442, + 14314.805, + -12712.923, + 0.0, + -104.68, + 0.0 + ], + [ + 3132.547, + 14193.055, + -12719.981, + 0.0, + -104.68, + 0.0 + ], + [ + 3100.652, + 14071.304, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3068.756, + 13949.554, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3068.756, + 13949.554, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3091.303, + 13825.731, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3113.851, + 13701.908, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3136.398, + 13578.085, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3158.945, + 13454.262, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3181.492, + 13330.439, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3204.039, + 13206.616, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3226.586, + 13082.793, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3226.586, + 13082.793, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3194.691, + 12961.043, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3194.691, + 12961.043, + -12712.999, + 0.0, + -104.68, + 0.0 + ] + ], + "Rationale": [ + "The stack of blue barrels sits far down the bridge deck, near the center of my view under the concrete truss. The lane in front of me is open between the traffic cones, so I will step forward along the deck to begin closing that distance.", + "The barrels are still well ahead of me, only slightly larger than before, so I have plenty of distance left to cover. The deck ahead remains clear apart from a cone off to my right side, so I continue walking forward.", + "A traffic cone now stands close in front of me, almost directly in my line of travel toward the barrels, with a second cone and short posts just beyond it. Turning left should point me at the open left portion of the lane so I can keep walking without brushing that cone.", + "With my heading shifted left, the cones now sit to either side and the deck straight ahead is unobstructed. The barrel stack stays visible ahead and to my right under the truss, so I move forward to keep closing in.", + "The barrels have grown noticeably and I can now make out the individual drums against the tan wall beside them. Nothing blocks the open concrete lane in front of me, so I continue advancing along the bridge.", + "The barrel stack is clearly larger and sits just past the near truss portal, but still several strides away. The deck ahead is smooth and open, so I keep walking straight toward it.", + "The barrels now sit clearly right of center in my view while my heading points at the empty left side of the lane. I will turn right to bring the barrel stack back to the middle of my view so my approach line runs straight into it.", + "After the turn the barrel stack is centered ahead of me on its wooden pallet, with the open deck running straight up to it. I will move forward along that line to shorten the remaining gap.", + "The stack of blue barrels sits straight ahead on the bridge deck, centered in my view with the open concrete lane running clear toward it. Nothing blocks the path between me and it, so I will keep walking forward to close the remaining distance.", + "The barrels have grown noticeably larger and I can now make out the wooden pallet supports between the drums, which tells me I am steadily closing on the target. My heading still points down the middle of the deck at them, so another step forward is the right move.", + "The barrel stack now fills a large part of the deck ahead and sits just left of straight ahead, with the roadway still open up to it. I am not yet close enough to call this arrival, so I will continue advancing.", + "The upper drums now rise above the truss girder behind them, showing how much nearer the stack is. A few steps of deck still separate me from it, so I keep moving forward along the same line.", + "The barrels and their pallet now dominate the left half of my view and the pallet base is clearly visible on the deck. I am close but not yet standing at them, so I advance again to shorten the gap.", + "The stack is very near now, with individual drum ribs and the pallet timbers plainly readable just ahead and slightly to my left. One more forward step should bring me right up beside the barrels.", + "At this range the barrels have drifted to the left side of my view while the far kerb and railing occupy the center-right, so I am no longer squared onto the target. Turning left should bring the drum stack back to the middle of my view for a clean final approach.", + "The barrel stack and its pallet are now centered directly in front of me with only a short strip of deck remaining. I will take one more step forward to stand right at the barrels.", + "The blue barrels fill my view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003119_y014562_z-012713_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003119_y014562_z-012713_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ec039fdbd604b4b22a9d8c5214238d0b367bdb3 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003119_y014562_z-012713_t5_a_p/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Grab the metal bucket near the blue barrels on the bridge.", + "Type": 5, + "Start_Pose": [ + 3119.348, + 14562.451, + -12712.923, + 0, + -79.68, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3030.309, + 12949.291, + -12782.923, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3119.348, + 14562.451, + -12712.923, + 0, + -79.68, + 0 + ], + [ + 3141.895, + 14438.628, + -12712.923, + 0.0, + -79.68, + 0.0 + ], + [ + 3164.442, + 14314.805, + -12712.923, + 0.0, + -79.68, + 0.0 + ], + [ + 3164.442, + 14314.805, + -12712.923, + 0.0, + -104.68, + 0.0 + ], + [ + 3132.547, + 14193.055, + -12719.981, + 0.0, + -104.68, + 0.0 + ], + [ + 3100.652, + 14071.304, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3068.756, + 13949.554, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3036.861, + 13827.803, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3036.861, + 13827.803, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3059.408, + 13703.98, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3081.955, + 13580.157, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3104.502, + 13456.335, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3127.05, + 13332.512, + -12712.999, + 0.0, + -79.68, + 0.0 + ], + [ + 3127.05, + 13332.512, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3095.154, + 13210.761, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3063.259, + 13089.011, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3063.259, + 13089.011, + -12712.999, + 0.0, + -104.68, + 0.0 + ], + [ + 3063.259, + 13089.011, + -12712.999, + 0.0, + -104.68, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3030.309, + 12949.291, + -12782.923, + 0.0, + 0.0, + 0.0 + ], + [ + 3084.071, + 13084.189, + -12742.816, + -28.202, + -54.536, + 1.862 + ], + [ + 3084.071, + 13084.189, + -12742.816, + -28.202, + -54.536, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1615.6, + 1493.5, + 1372.1, + 1372.1, + 1248.0, + 1124.2, + 1001.0, + 878.5, + 878.5, + 755.2, + 633.0, + 512.4, + 395.2, + 395.2, + 269.4, + 143.6, + 21.4, + 21.4 + ], + "Rationale": [ + "From the near end of the bridge I can see the stack of blue barrels far ahead under the truss, with a small dark container beside them that should be the metal bucket I need. The roadway between the cones is open and straight, so I will walk forward to close that long distance.", + "The barrel stack and the small dark container next to it now sit noticeably larger ahead, confirming my heading is carrying me toward the goal area. The deck in front of me is still clear apart from a cone off to the side, so I will keep walking forward.", + "A traffic cone now stands directly in my forward line, and a bollard sits just to its right, narrowing the lane on that side. Turning left should swing my heading into the open half of the deck while keeping the barrels and the bucket ahead of me.", + "With my new heading the cones and bollards are pushed to the edges of my view and the lane straight ahead is clear. The barrels with the small container beside them are still well down the bridge, so I will step forward along this open line.", + "The pair of cones has passed to either side of me and the barrel stack ahead is clearly larger, with the dark bucket-like container standing just left of the pallet. Nothing blocks the deck in front, so I continue walking toward it.", + "The barrels and the small grey container beside them keep growing in view, so my current line is still taking me toward the target. The remaining distance is too great to reach out, so I will keep advancing along the open deck.", + "I am now under the bridge trusses with the barrel stack plainly ahead and slightly to my right, the grey bucket sitting at its left corner. There is still open pavement in between, so another step forward should bring me closer to interaction range.", + "The barrel stack and the grey bucket beside it have drifted to the right side of my view, so walking straight on would carry me past them on the left. I will turn right to bring the target back toward the center of my heading before continuing.", + "The stack of blue barrels now sits squarely ahead down the bridge deck, with the small grey metal bucket resting on the pavement just to their left. My heading is centered on that cluster, so nothing further needs adjusting yet. I will walk forward to close the still considerable distance to the bucket.", + "The barrels and the bucket beside them have grown noticeably larger, confirming my line of travel is taking me straight toward the target. The deck ahead remains clear of cones and posts along my path. I will keep walking forward to shorten the remaining gap.", + "The metal bucket is now clearly resolved on the deck at the left edge of the barrel pallet, but it is still several strides away. My current heading keeps it in the near-center of my view, so continued straight walking is the efficient choice. I will step forward again to bring it closer.", + "The barrels now fill much of the view and the grey bucket stands plainly on the pavement to their left, well within a few more steps. Nothing blocks the stretch of deck between me and it. I will advance once more to get into a range where a grasp becomes plausible.", + "I am close to the pallet now, but the bucket sits off to the left of my center while the barrels occupy the middle of my view. Walking straight would carry me into the barrel stack rather than to the bucket. I will turn left to put the bucket on my forward axis before closing the last distance.", + "After the turn the grey metal bucket sits near the center of my view with open pavement in front of it. The barrels are now off to my right, so my forward path is clear. I will step forward to bring the bucket within arm's reach.", + "The bucket is now large and close, low in my view just ahead of my feet, though still a short step beyond comfortable grasping range. One more forward step should place it directly below me. I will advance that last increment before attempting the grab.", + "The metal bucket is now immediately in front of me at the bottom of my view, its rim wide open and close enough to reach, with the blue barrels right beside it as the task described. There is no remaining gap to close and no obstruction between my hands and the handle. I will attempt to pick it up now.", + "The metal bucket is now held in my hand, filling my view from the grip. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..054036259a9fbe8313e5973c17a13a069d7f4a8a --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the yellow metal railing, then head toward the GATE-01 sign.", + "Type": 3, + "Start_Pose": [ + 3125.343, + 2547.578, + -12713.051, + 0.0, + 144.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3125.343, + 2547.578, + -12713.051, + 0.0, + 144.96, + -0.0 + ], + [ + 3022.296, + 2619.84, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2919.249, + 2692.101, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2816.201, + 2764.363, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2713.154, + 2836.625, + -12710.726, + 0.0, + 144.96, + -0.0 + ], + [ + 2713.154, + 2836.625, + -12710.726, + 0.0, + 119.96, + -0.0 + ], + [ + 2650.301, + 2945.666, + -12710.456, + 0.0, + 119.96, + -0.0 + ], + [ + 2587.447, + 3054.707, + -12710.456, + 0.0, + 119.96, + -0.0 + ], + [ + 2587.447, + 3054.707, + -12710.456, + 0.0, + 119.96, + -0.0 + ], + [ + 2633.591, + 2974.654, + -12710.456, + 0.0, + 119.96, + -0.0 + ], + [ + 2633.591, + 2974.654, + -12710.456, + 0.0, + 144.96, + -0.0 + ], + [ + 2633.591, + 2974.654, + -12710.456, + 0.0, + 169.96, + -0.0 + ], + [ + 2633.591, + 2974.654, + -12710.456, + 0.0, + -165.04, + 0.0 + ], + [ + 2633.591, + 2974.654, + -12710.456, + 0.0, + -140.04, + 0.0 + ], + [ + 2537.121, + 2893.82, + -12710.456, + 0.0, + -140.04, + 0.0 + ], + [ + 2440.651, + 2812.987, + -12708.752, + 0.0, + -140.04, + 0.0 + ], + [ + 2344.181, + 2732.154, + -12708.752, + 0.0, + -140.04, + 0.0 + ], + [ + 2247.711, + 2651.321, + -12708.752, + 0.0, + -140.04, + 0.0 + ], + [ + 2247.711, + 2651.321, + -12708.752, + 0.0, + -165.04, + 0.0 + ], + [ + 2135.04, + 2619.277, + -12708.752, + 0.0, + -165.04, + 0.0 + ], + [ + 2135.04, + 2619.277, + -12708.752, + 0.0, + -165.04, + 0.0 + ] + ], + "Rationale": [ + "The yellow metal railing stands ahead and slightly left, in front of the fenced gateway, with clear pavement between us. I will walk forward to cut that gap before dealing with the GATE-01 lettering on the concrete wall further right.", + "The railing has grown larger just left of the gate posts, but it is still several strides off. The walkway ahead stays clear, so I keep advancing straight toward it.", + "I can now make out the individual bars of the yellow railing off to my left front, close to the gate frames. Another step forward should bring me nearly level with its near end.", + "The railing sits close on my left while the pipe columns and weeds crowd the space directly in front of me. I will step forward once more to draw level with the railing before adjusting my heading.", + "The yellow railing has slipped to the far left edge of my view while pipework and tall grass fill what lies straight ahead. Turning left should bring the railing back into the middle of my path so I can walk right up to it.", + "With my heading swung over, the yellow railing now runs ahead of me along the open walkway beside the pipe columns. The concrete in front is clear, so I walk forward to close on it.", + "The near post of the yellow railing is only a pace or two ahead on clear pavement. I step forward again to come right alongside it.", + "The yellow metal railing runs directly at my side, its top rail within arm's reach along the walkway. I have reached the railing. I mark arriving here, then set off for the GATE-01 lettering painted on the concrete wall.", + "I am standing right at the yellow metal railing, with the chain-link fence and pipe columns pressed close on my right. Before swinging around toward the concrete wall with the painted gate lettering, I will step back along the walkway to open up clearance from the railing end and the fence.", + "With a bit of space now behind the railing end, my heading still runs down the walkway away from the marked gate wall. I will turn right to begin swinging my view back toward the concrete facade that carries the painted lettering.", + "The turn has brought the fenced machinery bay across my view, but the painted gate wall is still further around to my right. I will keep rotating right to bring that lettered concrete face into sight.", + "Faint painted letters are now edging into the right side of my view past the post and tall weeds. Another right turn should carry that lettered wall toward the center of my heading.", + "The concrete wall with the gate lettering is visible ahead and to my right, though weeds and a column still crowd my line. One more right turn should set me squarely onto the open apron leading to that wall.", + "I am now facing the tall concrete facade, with the faint gate lettering showing behind the stand of weeds and open paving stretching ahead. I will walk forward to close the distance to that marked wall.", + "The GATE-01 lettering is now plainly legible on the wall ahead of me, with a second marked bay to its right. The paving in front is clear apart from a barricade off to the left, so I will keep walking toward the sign.", + "The GATE-01 lettering has grown larger and fills more of my view as the wall draws nearer. Nothing blocks the paving between me and it, so I will continue forward to close in on the sign.", + "The GATE-01 lettering fills the concrete wall ahead and to my left, and the open apron in front of me is clear. I will keep walking forward along the wall to close the remaining gap to the marked gate.", + "The painted GATE-01 lettering now sits off to my left while my heading runs past it down the wall. A turn to the left should square me up with the sign so my next steps carry me straight at it.", + "The GATE-01 lettering is now centered directly in front of me on the concrete face, with nothing between me and it. I will step forward to close the last of the distance to the sign.", + "I stand right at the concrete face bearing the GATE-01 marking, close enough to fill my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6beda6ae12f5b741550d87e49b5d8a6acf98cb45 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Approach the yellow metal railing, then move to the blue barrel.", + "Type": 3, + "Start_Pose": [ + 3125.343, + 2547.578, + -12713.051, + 0.0, + 144.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3125.343, + 2547.578, + -12713.051, + 0.0, + 144.96, + -0.0 + ], + [ + 3022.296, + 2619.84, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2919.249, + 2692.101, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2816.201, + 2764.363, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2713.154, + 2836.625, + -12710.726, + 0.0, + 144.96, + -0.0 + ], + [ + 2610.107, + 2908.886, + -12710.41, + 0.0, + 144.96, + -0.0 + ], + [ + 2610.107, + 2908.886, + -12710.41, + 0.0, + 119.96, + -0.0 + ], + [ + 2547.253, + 3017.927, + -12710.41, + 0.0, + 119.96, + -0.0 + ], + [ + 2526.534, + 3122.094, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2526.534, + 3122.094, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2526.534, + 3122.094, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2543.343, + 3231.292, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2543.342, + 3356.537, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2543.342, + 3481.781, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2534.382, + 3607.119, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2534.382, + 3607.119, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2471.528, + 3716.16, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2408.675, + 3825.201, + -12708.875, + 0.0, + 119.96, + -0.0 + ], + [ + 2358.445, + 3885.947, + -12708.875, + 0.0, + 119.96, + -0.0 + ], + [ + 2358.445, + 3885.947, + -12708.875, + 0.0, + 119.96, + -0.0 + ] + ], + "Rationale": [ + "The yellow metal railing stands ahead beside the gated pipe structure, still some distance down the concrete walkway. My heading already points along that walkway, so no turn is needed yet. I will walk forward to close the gap toward the railing.", + "The railing has grown larger and the gate structure beside it is closer, confirming my heading is carrying me toward it. Nothing blocks the paved strip in front of me. I will keep walking straight to shorten the remaining distance.", + "The yellow railing now sits clearly left of center with its posts and rails distinct, so I am well within the final approach. The walkway remains open, with only weeds along the far edge. Another step forward should bring me alongside it.", + "The railing is close on my left, low in view against the pipe columns, and the pavement continues clear beside it. I am not yet level with its near end. I will step forward again to draw up next to it.", + "The railing now fills the left edge of my view at arm's reach while the tall pipes crowd the center. A little more forward travel should put me squarely beside the railing rather than at its corner. I will advance one more step.", + "The pipes and grass now dominate my view while the yellow railing has slipped to the far left edge, so my heading is drifting off it. Turning left should swing the railing and the open walkway beside it back in front of me for a clean final approach.", + "The turn worked, and the yellow railing now runs ahead along the sidewalk with the road and distant overpass opening up on the left. The path beside the railing is clear. I will walk forward to come right up against it.", + "The yellow railing and the chain link fence beside it are right against me now, though I am still just short of standing at the railing itself. One more step should place me directly at it. I will move forward.", + "The yellow metal railing runs right along my side, close enough to touch, with its curved end post just in front of me. I have arrived at it, so I mark reaching this railing before setting off along the walkway toward the blue barrel.", + "Straight ahead my path is closed off by the chain link fencing and the heavy grey columns behind the railing. The open sidewalk that continues past this yard lies off to my left, so I turn left to face down it and begin working toward the blue barrel.", + "The long sidewalk now stretches clear in front of me, and past the fence on my right I can pick out blue drums stacked near the stored materials. I walk forward along the open pavement to cut down that distance.", + "The blue drums beside the sacks and covered pallets are clearer now, sitting ahead and slightly to my right behind the fencing. The walkway remains free of obstruction, so I keep stepping forward to close on them.", + "The blue barrel is plainly in view ahead on my right, tucked against the stacked covered load. Nothing blocks the pavement in between, so I continue walking to shorten the remaining gap.", + "The two blue barrels are close now, low in my view behind a screen of weeds to the right of the walkway. I take another step forward to draw level with them before facing them directly.", + "I am now abreast of the blue barrels, which sit off to my right against the covered stack rather than ahead of me. I turn right so they come to the center of my view and I can walk straight at them.", + "The blue barrels are now squarely in front of me with only a short stretch of weedy pavement between us. I step forward to close that last distance and stand right at them.", + "The blue barrels now fill the middle of my view, but a screen of weeds and a few paces of pavement still separate me from them. I will keep walking straight ahead to close that remaining gap.", + "The two blue barrels tower directly in front of me, their rims above my eye line and their curved sides nearly filling my view. One more short step forward should bring me right up against them.", + "The blue barrels fill my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2efe9df4b8aaaf9b1ac2c09b95770b85bbdb6dcc --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t3_c/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Head toward the GATE-01 sign, then navigate to the yellow metal railing.", + "Type": 3, + "Start_Pose": [ + 3125.343, + 2547.578, + -12713.051, + 0.0, + 144.96, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3125.343, + 2547.578, + -12713.051, + 0.0, + 144.96, + -0.0 + ], + [ + 3125.343, + 2547.578, + -12713.043, + 0.0, + 169.96, + -0.0 + ], + [ + 3001.411, + 2569.52, + -12713.043, + 0.0, + 169.96, + -0.0 + ], + [ + 2877.48, + 2591.461, + -12713.043, + 0.0, + 169.96, + -0.0 + ], + [ + 2753.548, + 2613.403, + -12713.043, + 0.0, + 169.96, + -0.0 + ], + [ + 2629.616, + 2635.345, + -12710.281, + 0.0, + 169.96, + -0.0 + ], + [ + 2505.685, + 2657.286, + -12710.281, + 0.0, + 169.96, + -0.0 + ], + [ + 2505.685, + 2657.286, + -12710.281, + 0.0, + -165.04, + 0.0 + ], + [ + 2384.092, + 2624.797, + -12708.726, + 0.0, + -165.04, + 0.0 + ], + [ + 2262.498, + 2592.307, + -12708.726, + 0.0, + -165.04, + 0.0 + ], + [ + 2140.905, + 2559.817, + -12708.726, + 0.0, + -165.04, + 0.0 + ], + [ + 2140.905, + 2559.817, + -12708.726, + 0.0, + -165.04, + 0.0 + ], + [ + 2230.174, + 2583.669, + -12708.726, + 0.0, + -165.04, + 0.0 + ], + [ + 2319.442, + 2607.522, + -12708.726, + 0.0, + -165.04, + 0.0 + ], + [ + 2408.71, + 2631.375, + -12708.726, + 0.0, + -165.04, + 0.0 + ], + [ + 2497.978, + 2655.227, + -12710.281, + 0.0, + -165.04, + 0.0 + ], + [ + 2497.978, + 2655.227, + -12710.281, + 0.0, + 169.96, + -0.0 + ], + [ + 2497.978, + 2655.227, + -12710.281, + 0.0, + 144.96, + -0.0 + ], + [ + 2497.978, + 2655.227, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2497.978, + 2655.227, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2497.978, + 2655.227, + -12710.281, + 0.0, + 69.96, + -0.0 + ], + [ + 2541.107, + 2773.466, + -12710.281, + 0.0, + 69.96, + -0.0 + ], + [ + 2584.236, + 2891.705, + -12710.281, + 0.0, + 69.96, + -0.0 + ], + [ + 2584.236, + 2891.705, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2573.354, + 3017.092, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2573.354, + 3017.092, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2526.649, + 3122.31, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2526.649, + 3122.31, + -12710.281, + 0.0, + 119.96, + -0.0 + ] + ], + "Rationale": [ + "The GATE-01 lettering sits on the concrete wall ahead but off to my right, with the roadway sweeping away to my left. I will turn right so the painted gate is centered in front of me before I start walking toward it.", + "With the turn done, the GATE-01 door now sits squarely ahead across the open concrete apron. I will walk forward to close the distance toward that sign.", + "The lettering on the gate has grown noticeably larger, so my heading is carrying me straight at it. I will keep walking forward since nothing blocks the apron between me and the wall.", + "I am still several strides short of the gate, though its painted letters now dominate the wall in front of me. Another forward step should bring me closer without drifting toward the weeds and fencing on my left.", + "The gate face is close enough now that its canopy and frame are visible above the lettering, but I still have open ground ahead. I will advance again to draw right up to the sign.", + "Only the striped barricade and a strip of pavement separate me from the gate wall, and the barricade sits to my left rather than in my path. I will step forward once more to stand close in front of the GATE-01 lettering.", + "I am now right up against the wall, but the lettering has slid toward the right side of my view and the fencing crowds my left. I will turn right to put the GATE-01 panel squarely in front of me.", + "The turn has centered the GATE-01 panel, with the neighboring gate visible to its right and clear concrete underfoot. I will walk forward to finish closing on the sign.", + "The painted GATE-01 lettering now spans most of the wall ahead and the door's lower edge sits close in front of me. My heading is squarely on the sign, so another step forward should bring me within arriving distance of it.", + "Only part of the lettering still fits in view, which tells me the gate wall is a pace or two away. I will step forward once more to close that last gap and stand at the sign itself.", + "The painted gate panel fills my whole view, its horizontal seams and stains right in front of my face, so I am standing against the GATE-01 sign. I have reached it. I mark arriving here, then set off for the yellow metal railing.", + "Pressed this close to the gate panel I can see nothing but concrete, which gives me no bearing on the yellow railing I want next. Backing straight away from the wall should reopen the surroundings without spending a full turn here.", + "The lettering has come back into view, so the wall is no longer against my face, but the panel still occupies almost everything ahead. Another step backward should give me enough standoff to swing my heading freely toward the railing.", + "The full GATE-01 word and the door jamb on the right are visible now, yet the paving in front of me is still narrow. I will keep backing up to gain the open ground I need before turning away from this gate.", + "Both gate bays and a stretch of the concrete apron are in view, so I have pulled clear of the wall. One more step back should place me out on the open paving where I can turn without brushing the gate.", + "I now stand back on open paving with the gate wall filling the view ahead and no railing anywhere in it. The road and walkway lie off to my left, so turning that way should swing my view off this wall toward where yellow railing runs.", + "The GATE-01 lettering still fills the right of my view, so I am done with this doorway and need the yellow railing instead. Nothing yellow and tubular is visible along this wall, only a striped barricade and the dark fence panels on my left. I will keep rotating left to swing my view off the wall toward the more open ground.", + "My heading has come off the gate, but the chain link fence, weeds and the striped barricade now block most of what I can see. The railing I want is not among them, so this partial turn is not enough. I will turn left again to bring the open ground beyond the fence line into view.", + "Sky and tall columns are opening up on the left edge now, which suggests the yard beyond this fenced corner lies further round. The nearby fence and weeds still hide any railing. Another left turn should carry my view onto that open area.", + "The roadway and its sidewalk have appeared on my left, running away past the poles and the low buildings. That paved stretch is where handrails would sit, and my heading is still angled into the weeds. One more left turn should put that walkway straight ahead of me.", + "I am now facing straight down the road with the sidewalk running ahead of me and the fenced structure on my right. No yellow railing is close enough to make out yet, so I need distance rather than another turn. I will walk forward along this open stretch.", + "The way ahead stays clear along the sidewalk, with the fence and posts passing on my right. Still nothing yellow within reach, so continuing along this line is the quickest way to bring more of the right side frontage into view. I will step forward again.", + "A yellow tubular railing has come into view at the right edge, mounted beside the fenced equipment platform. My heading runs past it down the road, so walking on would leave it behind. I will turn right to face that railing directly.", + "The yellow railing is now well inside my view, running along the platform on my right, and the pavement between us is clear. It is still several paces off, too far to count as reaching it. I will walk forward to close that gap.", + "The yellow metal railing now runs along the walkway just off to my right, close but still angled away from my heading. Turning right should swing my facing onto it so the final approach is straight rather than sliding past its end.", + "The yellow railing is now framed ahead and slightly left, with clear open pavement between me and it. I will step forward to close the last stretch and stand right at the railing.", + "The yellow metal railing is directly beside me, filling the near foreground within arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t5_a_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19cb5c0054e4178bc702aac8d891370b7ea813e2 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003125_y002548_z-012713_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the candelabra at the yellow metal railing, then set it down near the blue barrel.", + "Type": 5, + "Start_Pose": [ + 3125.343, + 2547.578, + -12713.051, + 0, + 144.96, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2586.818, + 3123.295, + -12795.281, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3125.343, + 2547.578, + -12713.051, + 0, + 144.96, + 0 + ], + [ + 3022.296, + 2619.84, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2919.249, + 2692.101, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2816.201, + 2764.363, + -12713.043, + 0.0, + 144.96, + -0.0 + ], + [ + 2816.201, + 2764.363, + -12713.043, + 0.0, + 119.96, + -0.0 + ], + [ + 2753.348, + 2873.404, + -12713.043, + 0.0, + 119.96, + -0.0 + ], + [ + 2690.494, + 2982.445, + -12710.408, + 0.0, + 119.96, + -0.0 + ], + [ + 2690.494, + 2982.445, + -12710.408, + 0.0, + 119.96, + -0.0 + ], + [ + 2627.64, + 3091.486, + -12710.408, + 0.0, + 119.96, + -0.0 + ], + [ + 2564.786, + 3200.526, + -12710.408, + 0.0, + 119.96, + -0.0 + ], + [ + 2564.786, + 3200.526, + -12710.408, + 0.0, + 94.96, + -0.0 + ], + [ + 2553.904, + 3325.914, + -12710.408, + 0.0, + 94.96, + -0.0 + ], + [ + 2543.335, + 3451.296, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2536.849, + 3576.612, + -12710.281, + 0.0, + 94.96, + -0.0 + ], + [ + 2536.849, + 3576.612, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2473.995, + 3685.653, + -12710.281, + 0.0, + 119.96, + -0.0 + ], + [ + 2411.141, + 3794.694, + -12708.868, + 0.0, + 119.96, + -0.0 + ], + [ + 2346.612, + 3888.44, + -12708.725, + 0.0, + 119.96, + -0.0 + ], + [ + 2382.568, + 3826.061, + -12708.725, + 0.0, + 119.96, + -0.0 + ], + [ + 2382.568, + 3826.061, + -12708.725, + 0.0, + 119.96, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2586.818, + 3123.295, + -12795.281, + 0.0, + 0.0, + 0.0 + ], + [ + 2586.818, + 3123.295, + -12795.281, + 0.0, + 0.0, + 0.0 + ], + [ + 2586.818, + 3123.295, + -12795.281, + 0.0, + 0.0, + 0.0 + ], + [ + 2586.818, + 3123.295, + -12795.281, + 0.0, + 0.0, + 0.0 + ], + [ + 2586.818, + 3123.295, + -12795.281, + 0.0, + 0.0, + 0.0 + ], + [ + 2586.818, + 3123.295, + -12795.281, + 0.0, + 0.0, + 0.0 + ], + [ + 2586.818, + 3123.295, + -12795.281, + 0.0, + 0.0, + 0.0 + ], + [ + 2672.299, + 2971.252, + -12740.174, + -28.202, + 170.105, + 1.862 + ], + [ + 2609.311, + 3080.514, + -12740.662, + -28.195, + 170.108, + 1.862 + ], + [ + 2546.444, + 3189.595, + -12740.717, + -28.209, + 170.099, + 1.855 + ], + [ + 2544.695, + 3198.03, + -12739.593, + -28.198, + 145.11, + 1.868 + ], + [ + 2532.689, + 3323.347, + -12739.956, + -28.196, + 145.107, + 1.865 + ], + [ + 2522.095, + 3449.019, + -12740.494, + -28.193, + 145.116, + 1.869 + ], + [ + 2515.612, + 3574.455, + -12740.767, + -28.221, + 145.085, + 1.849 + ], + [ + 2517.753, + 3564.687, + -12739.542, + -28.192, + 170.108, + 1.872 + ], + [ + 2455.922, + 3674.259, + -12739.775, + -28.206, + 170.098, + 1.864 + ], + [ + 2392.921, + 3783.541, + -12738.731, + -28.206, + 170.098, + 1.852 + ], + [ + 2328.251, + 3877.523, + -12739.191, + -28.198, + 170.106, + 1.86 + ], + [ + 2347.61, + 3886.707, + -12738.725, + 0.0, + 49.96, + -0.0 + ], + [ + 2347.61, + 3886.707, + -12738.725, + 0.0, + 49.96, + -0.0 + ] + ], + "PD_Dist_2D": [ + 788.3, + 665.7, + 544.5, + 426.0, + 426.0, + 300.3, + 174.9, + 21.4, + 21.4, + 21.4, + 20.2, + 21.4, + 21.4, + 21.3, + 22.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From here I can see the yellow metal railing set against the gate structure well ahead of me, and a small dark candelabra shape standing on the pavement beside it. The gap is still large, so I will walk straight forward along the open concrete to close distance on that railing area.", + "The yellow railing and the dark candle holder beside it now sit noticeably larger in front of me, confirming my heading is good. I will keep walking forward since nothing blocks the pavement between me and that spot.", + "The railing is clearly resolved now with the gates behind it, and the candelabra is still a few strides away at its base. I will advance again to get within reach before worrying about fine alignment.", + "The candelabra now sits low and off to my left in front of the yellow railing, while my current heading points more toward the gate and the tall weeds on the right. I will turn left so the candelabra falls in the center of my path and I can walk straight onto it.", + "After the turn the candelabra sits ahead of me on the walkway with the yellow railing just behind it, so my line is now correct. I will step forward along the open sidewalk to close the remaining gap to it.", + "The candelabra is now large and low in my view, close under the yellow railing, but it is still slightly beyond comfortable reach. One more forward step should bring it right in front of my feet for a grasp attempt.", + "The candelabra is right at the bottom edge of my view, practically at my feet along the yellow railing, so I am within reach. I will attempt to pick it up now rather than step closer and risk bumping it.", + "The grasp worked, since the candelabra is now carried at my side with its candles visible just below me instead of resting on the pavement. With the object secured, I will start walking forward along the sidewalk to carry it toward the blue barrel area further down past the fenced structure.", + "The candelabra is secured in my grip and travels with me, so the yellow railing area is behind my concern now. Ahead along this sidewalk I can see stacked material and a hint of blue containers past the fence line, which matches the drop area I need. I will keep walking forward to close that distance while carrying the candelabra.", + "My heading has drifted toward the chain-link fence and the yellow railing, which now fills most of my view and crowds the space directly in front of me. Turning left should swing my facing back onto the open paved walkway that runs along the yard. That heading is the practical route for carrying the candelabra farther toward the blue drums.", + "The turn cleared my view and the wide paved walkway now runs straight ahead with the fenced storage area on my right. Blue drums are visible further down beside the stacked sacks, still some distance away. I will step forward along this open lane while keeping the candelabra with me.", + "The blue drum by the fence has grown noticeably larger on my right, so the previous step clearly shortened the gap. I am still short of it and the pavement in front of me remains clear. I will continue forward to draw level with the storage area.", + "The blue barrel now sits close on my right, partly screened by weeds and the covered pallet stack. My current heading runs past it rather than into it, so a bit more forward travel should place me alongside the drums. I will take another step forward before adjusting my facing.", + "Two blue barrels are now clearly to my right, tucked against the covered stack with weeds in front of them. Walking straight would carry me past them instead of to them. Turning right should point me at the barrels so I can approach the spot where the candelabra belongs.", + "The turn has put the pair of blue barrels near the center of my view, with the covered pallets behind them. There is still open ground and weeds between me and the drums, too far to set the candelabra down beside them. I will walk forward to close that remaining gap.", + "The barrels now fill much more of my view, confirming the last step brought me appreciably closer. I want to be right beside them before releasing the candelabra so it lands clearly near the blue barrel. I will advance one more step toward the drums.", + "The two blue barrels now fill most of my view, but I am still slightly short of them and the candelabra is riding with me. I will take one more short step forward so the item I am carrying sits right beside the barrels rather than out in the weeds. This should put me close enough for a release that clearly counts as near the blue barrel.", + "I am now pressed right up against the blue barrels, with their curved sides filling my whole view at arm's length. This is as close to the drop target as I can usefully get, so I will release the candelabra here. It should come to rest on the ground directly beside the barrels, satisfying the placement requirement.", + "The candelabra now stands on the ground directly against the blue barrels, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..795b0381eab4762f22344a25d2fcd0f71eb6478f --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Approach the nearest orange bollard on the right side.", + "Type": 2, + "Start_Pose": [ + 3138.763, + 5512.928, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3138.763, + 5512.928, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 3138.763, + 5512.928, + -12713.207, + 0.0, + 148.84, + -0.0 + ], + [ + 3031.062, + 5578.051, + -12713.207, + 0.0, + 148.84, + -0.0 + ], + [ + 2923.361, + 5643.175, + -12713.207, + 0.0, + 148.84, + -0.0 + ], + [ + 2815.661, + 5708.298, + -12713.207, + 0.0, + 148.84, + -0.0 + ], + [ + 2815.661, + 5708.298, + -12713.207, + 0.0, + 148.84, + -0.0 + ] + ], + "Rationale": [ + "A line of orange bollards runs along the right curb ahead, and the one standing closest to me, biggest in my view near the right edge beside the mesh fence, is the one I want. My body faces down the roadway instead of at it, so I will turn right to bring that near bollard into my path.", + "My heading now points along the curb toward the near orange bollard, which sits ahead of me at the right end of the receding row. Nothing blocks the open pavement between us, so I will walk forward to close the gap.", + "The bollard I am heading for has grown noticeably taller in front of me, confirming I am closing on it, but it still stands several paces off past the curb edge. The pavement stays clear, so I will keep walking straight toward it.", + "The bollard I chose now rises in the near foreground just right of my path, its bands clearly readable, yet I am still a step or two short of standing beside it. One more forward step should bring me right up against it.", + "The orange bollard is directly beside me at the lower right of my view, within arm's reach. The approach is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e9c6224db35c22f4167a1275bb433648435a2db5 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the second fence post from the right.", + "Type": 2, + "Start_Pose": [ + 3138.763, + 5512.928, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3138.763, + 5512.928, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 3068.675, + 5617.466, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 2998.587, + 5722.004, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 2928.5, + 5826.542, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 2858.412, + 5931.08, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 2858.412, + 5931.08, + -12713.207, + 0.0, + 148.84, + -0.0 + ], + [ + 2858.412, + 5931.08, + -12713.207, + 0.0, + 148.84, + -0.0 + ] + ], + "Rationale": [ + "Counting in from the right end of the fence line beside me, the second post is the one carrying the near edge of the large sagging mesh panel below the leafy tree; the posts are otherwise identical, so I pin it to that panel. It still lies well ahead, so I walk forward along the road.", + "The post holding the near edge of that sagging mesh panel is noticeably larger now and sits ahead on my right, so my heading along the roadway is good. I keep walking forward to shorten the remaining gap.", + "The far end of the fence has now slipped past the right edge of my view, so I stop counting and simply follow the post at the near edge of the sagging panel. It remains ahead and slightly right, and I keep walking forward toward it.", + "The panel's post is close now, just beyond the raised curb on my right, but a little more distance still separates us. I take another step forward to draw level with it.", + "I have drawn level with the post that carries the near edge of the sagging mesh panel, but it now sits off to my right rather than in front of me. A turn to the right should put it squarely in my view and point me straight at it.", + "The post at the near edge of the sagging mesh panel stands directly in front of me, just across the curb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3a4d32e58e95d143ecde6cdb7541f4184f6637 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t2_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the third fence post from the right.", + "Type": 2, + "Start_Pose": [ + 3138.763, + 5512.928, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3138.763, + 5512.928, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 3068.675, + 5617.466, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 2998.587, + 5722.004, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 2928.5, + 5826.542, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 2858.412, + 5931.08, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 2788.324, + 6035.618, + -12712.928, + 0.0, + 123.84, + -0.0 + ], + [ + 2718.236, + 6140.156, + -12695.674, + 0.0, + 123.84, + -0.0 + ], + [ + 2718.236, + 6140.156, + -12695.674, + 0.0, + 98.84, + -0.0 + ], + [ + 2718.236, + 6140.156, + -12695.674, + 0.0, + 98.84, + -0.0 + ] + ], + "Rationale": [ + "Counting inward from the near end of the fence line on my right, the third post is the one standing at the seam where the sagging tarp screen begins beside the taller shrubbery. The posts otherwise look identical, so I fix on that seam and walk forward to close the long stretch of walkway between us.", + "The tarp panel and its supporting post are noticeably larger now, so my heading along the walkway is carrying me toward it. Nothing blocks the paved lane ahead, so I continue walking forward.", + "The post at the seam of the sagging tarp is still well ahead on my right, and the curb keeps my line parallel to the fence. I keep stepping forward to draw level with it.", + "The near end of the fence run has now slipped behind me, so I stop counting and simply follow the post I chose, the one where the sagging tarp panel starts. It is closer but still ahead, so I keep walking.", + "The tarp panel now fills much of my right side and my target post is only a short stretch further along the fence. I advance again to bring myself alongside it.", + "I am nearly abreast of the post I have been tracking, with the fence rising close on my right. One more step forward should place me level with it.", + "I have drawn level with the post, and it now sits so close on my right that the fence crowds most of my view. Turning left should swing my heading back along the walkway so the post stands cleanly at my side and I can confirm my position.", + "The post I chose stands immediately at my right along the open walkway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f85ae85167b75a752d2780f984241554d8a9454 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003139_y005513_z-012713_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Grab the tomato near the nearest orange bollard on the right.", + "Type": 5, + "Start_Pose": [ + 3138.763, + 5512.928, + -12713.207, + 0, + 123.84, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2812.445, + 5751.407, + -12753.207, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3138.763, + 5512.928, + -12713.207, + 0, + 123.84, + 0 + ], + [ + 3068.675, + 5617.466, + -12713.207, + 0.0, + 123.84, + -0.0 + ], + [ + 3068.675, + 5617.466, + -12713.207, + 0.0, + 148.84, + -0.0 + ], + [ + 2960.974, + 5682.589, + -12713.207, + 0.0, + 148.84, + -0.0 + ], + [ + 2960.974, + 5682.589, + -12713.207, + 0.0, + 148.841, + -0.0 + ], + [ + 2960.974, + 5682.589, + -12713.207, + 0.0, + 148.841, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2812.445, + 5751.407, + -12753.207, + 0.0, + 0.0, + 0.0 + ], + [ + 2812.445, + 5751.407, + -12753.207, + 0.0, + 0.0, + 0.0 + ], + [ + 2812.445, + 5751.407, + -12753.207, + 0.0, + 0.0, + 0.0 + ], + [ + 2812.445, + 5751.407, + -12753.207, + 0.0, + 0.0, + 0.0 + ], + [ + 2950.448, + 5664.0, + -12743.101, + -28.202, + -161.015, + 1.862 + ], + [ + 2950.448, + 5664.0, + -12743.101, + -28.202, + -161.015, + 1.862 + ] + ], + "PD_Dist_2D": [ + 404.2, + 289.1, + 289.1, + 163.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits ahead on my right, resting on the roadway right beside the nearest orange striped bollard along the fenced curb. It is still well out of arm's reach, so I will walk forward along the road to close that gap. This should bring the bollard and its tomato much closer before I fine tune my heading.", + "I am now much closer to the tomato, but it lies off to my right near the curb while my body still faces straight down the road. Turning right should swing the tomato and its adjacent orange bollard toward the center of my view so a straight approach is possible.", + "The tomato and the nearest orange bollard are now centered in front of me with clear pavement between us. I will step forward to close the remaining short distance so the tomato comes within grasping range.", + "The tomato now fills the lower part of my view directly at my feet, right against the nearest orange bollard on the right side of the road. This is the target named in the task and it appears within reach, so I will attempt to pick it up.", + "The tomato is held in my hand in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa0d7c08a2254be6f2dc074dd872e3a91ba18600 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the traffic cone nearest to you on the right.", + "Type": 2, + "Start_Pose": [ + 3142.836, + 14629.001, + -12712.922, + 0.0, + -109.44, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.836, + 14629.001, + -12712.922, + 0.0, + -109.44, + 0.0 + ], + [ + 3142.836, + 14629.001, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3155.03, + 14503.734, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3167.224, + 14378.467, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3179.419, + 14253.2, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3191.613, + 14127.933, + -12713.133, + 0.0, + -84.44, + 0.0 + ], + [ + 3191.613, + 14127.933, + -12713.133, + 0.0, + -84.44, + 0.0 + ] + ], + "Rationale": [ + "Among the cones ahead, the one standing off to my right is clearly the closest, a full-size striped cone that looms larger than the slim posts and the smaller cone further left. It sits off my current heading, so I will turn right to bring that cone onto my forward line before walking.", + "The striped cone I picked out now sits near the middle of my view, so my heading is lined up with it. It is still several paces off across the open deck, with clear pavement between us, so I will step forward to close the gap.", + "The cone has grown noticeably and stays centered in my view, confirming I am closing on it along a straight line. There is still open deck between me and it, so I will keep walking forward.", + "The cone now stands well forward in my view, its base low in the frame, and it remains dead ahead without any drift to either side. A couple more paces should bring me right up beside it, so I will continue forward.", + "The cone now fills the lower centre of my view, close enough that its stripes and worn edges read clearly. A short step should place me directly at it, so I will advance once more.", + "The striped cone stands directly in front of me, filling the near foreground at arm's reach. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97bfddf3159cec3d8460a4d6c57d839509e30f6e --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the leftmost traffic cone in the row.", + "Type": 2, + "Start_Pose": [ + 3142.836, + 14629.001, + -12712.922, + 0.0, + -109.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.836, + 14629.001, + -12712.922, + 0.0, + -109.44, + 0.0 + ], + [ + 3100.948, + 14510.317, + -12712.923, + 0.0, + -109.44, + 0.0 + ], + [ + 3059.059, + 14391.633, + -12712.923, + 0.0, + -109.44, + 0.0 + ], + [ + 3017.171, + 14272.949, + -12712.923, + 0.0, + -109.44, + 0.0 + ], + [ + 2975.283, + 14154.266, + -12719.981, + 0.0, + -109.44, + 0.0 + ], + [ + 2933.394, + 14035.582, + -12713.097, + 0.0, + -109.44, + 0.0 + ], + [ + 2933.394, + 14035.582, + -12713.097, + 0.0, + -134.44, + 0.0 + ], + [ + 2933.394, + 14035.582, + -12713.097, + 0.0, + -134.44, + 0.0 + ] + ], + "Rationale": [ + "The cones and slim posts form a row spanning the roadway, and the one at the left end sits against the left curb beneath the tall concrete tower, so that pairing marks my target since the cones themselves look alike. It lies well ahead down the bridge deck. I will walk forward to close that distance.", + "The cone at the left curb below the concrete tower has grown noticeably but is still several paces off. Nothing blocks the open deck between me and it. I will keep walking straight ahead.", + "The curbside cone under the tower now stands clearly to my left front with the slim post just beyond it. I am still short of it, and the deck stays clear. I will continue forward.", + "The far side of the row has slid out of my view as I advance, but I am still heading for the cone hugging the left curb beneath the tower and trees. It fills more of my left side now, though not yet within arm's reach. I will step forward again.", + "The curbside cone now looms large at my lower left, close but slightly behind my forward line. A short further step should bring me level with it beside the curb. I will move forward once more.", + "I have drawn level with the curb where the cone stands, but it has slipped off the left edge of my view while my gaze runs straight down the bridge. Turning left should swing my heading toward the curbside cone and bring it back in front of me.", + "The cone at the left end of the row stands directly before me at the curb, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..466cfa943dbd0d7c6ad30186577a358b21d16104 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Move to the base of the left steel tower.", + "Type": 2, + "Start_Pose": [ + 3142.836, + 14629.001, + -12712.922, + 0.0, + -109.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.836, + 14629.001, + -12712.922, + 0.0, + -109.44, + 0.0 + ], + [ + 3100.948, + 14510.317, + -12712.923, + 0.0, + -109.44, + 0.0 + ], + [ + 3059.059, + 14391.633, + -12712.923, + 0.0, + -109.44, + 0.0 + ], + [ + 3059.059, + 14391.633, + -12712.923, + 0.0, + -134.44, + 0.0 + ], + [ + 2970.938, + 14301.772, + -12712.923, + 0.0, + -134.44, + 0.0 + ], + [ + 2882.816, + 14211.911, + -12719.981, + 0.0, + -134.44, + 0.0 + ], + [ + 2794.694, + 14122.049, + -12713.099, + 0.0, + -134.44, + 0.0 + ], + [ + 2706.572, + 14032.188, + -12694.38, + 0.0, + -134.44, + 0.0 + ], + [ + 2618.451, + 13942.327, + -12694.38, + 0.0, + -134.44, + 0.0 + ], + [ + 2618.451, + 13942.327, + -12694.38, + 0.0, + -159.44, + 0.0 + ], + [ + 2618.451, + 13942.327, + -12694.38, + 0.0, + -159.44, + 0.0 + ] + ], + "Rationale": [ + "Two steel lattice towers flank this roadway, and the one I want is the near tower on my left, rising among the trees beside the power lines, not the far structure across on the right. It sits well ahead of me, so I will walk forward along the open concrete to close that distance.", + "The steel tower on my left has grown larger at the edge of my view, confirming I am closing on it. The pavement ahead is still clear between the cones, so I will keep walking forward before angling toward its base.", + "The steel tower now sits far out at the left margin of my view while my heading still points straight down the bridge road. Turning left should swing its legs toward the center of my view so I can walk directly at them.", + "The turn brought the tower's tall lattice legs into the left half of my view, with open pavement and a low curb between me and them. I will step forward along this heading to close on its footing.", + "The tower's braced legs are noticeably nearer and wider in my view, so this heading is carrying me straight at it. Nothing blocks the concrete in front of me except a slim bollard off to the side, so I will keep advancing.", + "The tower now towers over the left portion of my view and I can begin to make out where its legs meet the ground beyond the curb. I am still short of that footing, so I will walk forward again.", + "The concrete pads under the tower's legs are visible ahead on the left, close to the edge of the paved area. A couple more steps forward should bring me level with that footing rather than stopping short of it.", + "One riveted leg of the tower is now right beside me and its footing pad is just ahead at the pavement edge. I will take a final step forward to stand at the base itself.", + "The tower's riveted leg has slid to the far left edge of my view, so most of it is now out of sight past my shoulder while I face open scrub and trees. A left turn should bring that leg and its footing squarely in front of me to confirm I am standing at the base.", + "The tower's riveted leg stands directly in front of me, its footing in the ground within reach. I have reached the base, so stopping here is right." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0e263f9f83491fce2dd6000633f5d4a97f44260c --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t2_d/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Navigate to the second cone from the left.", + "Type": 2, + "Start_Pose": [ + 3142.836, + 14629.001, + -12712.922, + 0.0, + -109.44, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.836, + 14629.001, + -12712.922, + 0.0, + -109.44, + 0.0 + ], + [ + 3142.836, + 14629.001, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3155.03, + 14503.734, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3167.224, + 14378.467, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3179.419, + 14253.2, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3191.613, + 14127.933, + -12713.133, + 0.0, + -84.44, + 0.0 + ], + [ + 3191.613, + 14127.933, + -12713.133, + 0.0, + -84.44, + 0.0 + ] + ], + "Rationale": [ + "Two orange cones stand on the deck ahead among slim striped posts; the second from the left is the one right of centre, roughly in line with the blue barrels. It lies to the right of my heading, so I turn right to face it.", + "The cone I picked, the one standing in line with the stack of blue barrels, now sits near the middle of my view. The concrete between us is open and clear, so I walk forward to close the distance.", + "The cone by the barrels has grown larger and stays centred in front of me, confirming my heading is good. A long stretch of deck still separates us, so I keep walking forward.", + "The cone stands squarely ahead with its stripes clearly readable, yet it is still a few paces away from me. I advance again along the same line.", + "The cone now fills much of the lower view but I am not yet beside it. The other cone has dropped out of my view to the left, so I simply keep following this one and step forward to cover the last stretch.", + "The cone stands directly at my feet, filling the near view. I have reached it, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a08337c2310f95cc222ef4c2c7a580f2a4a9bef0 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003143_y014629_z-012713_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the ceramic pot near the nearest traffic cone on the right.", + "Type": 5, + "Start_Pose": [ + 3142.836, + 14629.001, + -12712.922, + 0, + -109.44, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3247.353, + 14222.058, + -12799.972, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.836, + 14629.001, + -12712.922, + 0, + -109.44, + 0 + ], + [ + 3142.836, + 14629.001, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3155.03, + 14503.734, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3167.224, + 14378.467, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3167.224, + 14378.467, + -12712.923, + 0.0, + -84.44, + 0.0 + ], + [ + 3167.224, + 14378.467, + -12712.923, + 0.0, + -84.44, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3247.353, + 14222.058, + -12799.972, + 0.0, + 0.0, + 0.0 + ], + [ + 3247.353, + 14222.058, + -12799.972, + 0.0, + 0.0, + 0.0 + ], + [ + 3247.353, + 14222.058, + -12799.972, + 0.0, + 0.0, + 0.0 + ], + [ + 3247.353, + 14222.058, + -12799.972, + 0.0, + 0.0, + 0.0 + ], + [ + 3188.419, + 14381.143, + -12742.816, + -28.202, + -34.296, + 1.862 + ], + [ + 3188.419, + 14381.143, + -12742.816, + -28.202, + -34.296, + 1.862 + ] + ], + "PD_Dist_2D": [ + 420.2, + 420.2, + 296.4, + 175.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The ceramic pot sits low on the concrete well off to my right, near the traffic cones lining that side of the bridge deck, while my body currently faces straight down the roadway. Turning right should bring the pot and the nearest cone into the middle of my view so I can walk straight at them. I will pivot right before committing to any forward steps.", + "The ceramic pot now sits ahead and slightly right of center, just beyond the nearest orange cone, but it is still several paces away and too far to reach. Walking forward should close that gap while keeping the pot in front of me. I will step ahead along the concrete deck.", + "The pot has grown noticeably larger and lower in my view, so my previous step clearly shortened the distance, yet it is still a stride or two beyond comfortable reach. Another step forward should place me directly over it without needing to change heading. I will advance again along the same line.", + "The ceramic pot is now at the very bottom right of my view, close beside the nearest cone and well within arm's reach on the deck. This is the moment to reach down and grasp it rather than step any closer. I will attempt the pick and expect the pot to come up into my hands.", + "The ceramic pot is now held in my hands directly below me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..98e5c65fb0fc239221791d7d39fac2d58dbfc627 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the industrial rolling door marked \"GATE-01\" on the concrete building wall, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -129.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -129.76, + 0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -154.76, + 0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 3077.666, + 2226.257, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 2951.808, + 2225.73, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 2825.95, + 2225.202, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 2825.95, + 2225.202, + -12713.208, + 0.0, + 155.24, + -0.0 + ], + [ + 2711.661, + 2277.914, + -12710.551, + 0.0, + 155.24, + -0.0 + ], + [ + 2597.373, + 2330.626, + -12710.281, + 0.0, + 155.24, + -0.0 + ], + [ + 2483.084, + 2383.338, + -12710.281, + 0.0, + 155.24, + -0.0 + ], + [ + 2368.795, + 2436.05, + -12708.787, + 0.0, + 155.24, + -0.0 + ], + [ + 2254.506, + 2488.762, + -12708.787, + 0.0, + 155.24, + -0.0 + ], + [ + 2140.217, + 2541.475, + -12708.787, + 0.0, + 155.24, + -0.0 + ], + [ + 2140.217, + 2541.475, + -12708.787, + 0.0, + 155.24, + -0.0 + ] + ], + "Rationale": [ + "From here I face an open concrete yard with pipe racks ahead, and the only labeled surface I can read is a stenciled marking partly cut off at the left edge of my view on the near concrete wall. Since that wall carries painted gate labels and continues out of sight to my left, I will turn left to bring more of it into view and check for a rolling door marked GATE-01.", + "The turn worked, and I can now read GATE-01 and GATE-02 stenciled on the concrete wall, though GATE-01 is pushed against the left edge and partly clipped. I will turn left once more so the GATE-01 door sits closer to the center of my view before I start walking toward it.", + "Both gate labels are now fully readable on the wall in front of me, with GATE-01 the left of the two rolling doors. The concrete apron between me and the wall is clear apart from the short bollards, so I will walk forward to close the distance toward the target door.", + "The wall and its two shuttered doors have grown larger, confirming I am closing on the right building face. GATE-01 sits slightly left of my heading and the ground ahead stays open, so I will keep walking forward.", + "GATE-01 is clearly visible on the left of the pair and its shutter panel now fills a good part of my view, but I am still several steps off from the wall. I will continue forward to shorten that remaining distance.", + "I am close to the building face now, but my heading is drifting toward the gap between the two doors rather than onto GATE-01 itself, which is sitting left of center. I will turn left to put the GATE-01 shutter squarely in front of me before advancing the rest of the way.", + "The turn brought GATE-01 into the middle of my view with its full shutter and stenciled label readable. The apron in front of it is clear, so I will walk forward to approach the door directly.", + "GATE-01 is filling more of my view and its lettering is large and sharp, but I am still standing back on the open concrete rather than at the door. I will step forward again to close the last part of the gap to the target gate.", + "The rolling door stenciled GATE-01 fills the center of my view and its ribbed panels are clearly readable, so the target is confirmed and needs no further searching. The open concrete apron in front of it is clear of clutter, with only the barricade and railing off to my left. I will keep walking straight ahead to close the remaining distance to the door.", + "GATE-01 now dominates my view and the door's bottom edge and frame are distinct, confirming I am closing in on the right gate. There is still a stretch of open pavement between me and the door face. I will step forward again to shorten that gap.", + "The GATE-01 panel now spans most of my view and I can see the seam where the door meets the ground, but a short run of concrete still separates me from it. The approach remains unobstructed, so no turn is needed. I will advance again to get within immediate reach of the door.", + "I am very close to GATE-01 now, with the stenciled lettering stretched across the panel and the door frame at the left edge of my view. A last short step should place me directly at the door face. I will move forward once more to finish the approach.", + "The ribbed GATE-01 door panel fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f6da67a1624fdad6e279d34a8477cc89607b2b8d --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Discover the entrance labeled \"GATE-02\" painted on the facility exterior; once found, approach that gate.", + "Type": 1, + "Start_Pose": [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -129.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -129.76, + 0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -154.76, + 0.0 + ], + [ + 3089.681, + 2173.116, + -12713.208, + 0.0, + -154.76, + 0.0 + ], + [ + 2975.838, + 2119.449, + -12713.208, + 0.0, + -154.76, + 0.0 + ], + [ + 2975.838, + 2119.449, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 2849.98, + 2118.921, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 2724.122, + 2118.394, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 2598.264, + 2117.867, + -12710.331, + 0.0, + -179.76, + 0.0 + ], + [ + 2472.406, + 2117.34, + -12710.331, + 0.0, + -179.76, + 0.0 + ], + [ + 2346.548, + 2116.813, + -12708.812, + 0.0, + -179.76, + 0.0 + ], + [ + 2220.69, + 2116.285, + -12708.812, + 0.0, + -179.76, + 0.0 + ], + [ + 2134.892, + 2115.799, + -12708.813, + 0.0, + -179.76, + 0.0 + ], + [ + 2134.892, + 2115.799, + -12708.813, + 0.0, + -179.76, + 0.0 + ] + ], + "Rationale": [ + "On the concrete wall to my left I can make out a partial painted label ending in what looks like a gate number, but the building face is cut off at the edge of my view. I will turn left to bring that lettered facade fully in front of me so I can read the gate designation properly.", + "The facade now reads clearly with GATE-01 on the left and GATE-02 beside it, so the target entrance is confirmed and roughly ahead of me. I will walk forward to close the distance toward that labeled wall instead of scanning any further.", + "The GATE-02 lettering has grown larger and the shutter beneath it is clearly resolved, confirming I am closing on the right entrance. I will keep walking forward since the paved apron ahead is clear of obstructions.", + "GATE-02 has drifted toward the left side of my view as I advanced, and a bollard now sits near my forward line. I will turn left to square my heading onto the gate so a straight walk-in should carry me directly to it.", + "Both shutters are now facing me squarely with GATE-02 sitting just right of center, so my heading points into the gate bay. I will step forward along this line to shorten the remaining distance to the gate.", + "The GATE-02 shutter fills more of my view and the ground in front of it remains clear apart from weeds at the wall base. I will continue forward to keep closing on the labeled entrance.", + "GATE-02 is centered ahead of me and the painted characters are now large and sharply readable, so my alignment on the target is holding. I will walk forward again to bring myself close enough to count as being at the gate.", + "The GATE-02 shutter now dominates my view with its frame edges visible on both sides, meaning I am only a short distance from the door face. I will take another step forward to finish closing that gap.", + "The GATE-02 lettering now fills most of my view and its shutter is centered ahead of me, so the correct entrance is confirmed. I am still a few steps short of standing at the gate, so I will walk forward again to close that remaining gap.", + "The painted GATE-02 label is directly in front of me and the neighboring bay has slid out to the edge of my view, confirming I am squarely on the target gate. A short remaining distance to the shutter still separates me from it, so I will step forward once more.", + "Only the upper portion of the GATE-02 lettering and the shutter's horizontal ribs remain visible, which means I am nearly against the gate face. One more step should bring me to a proper standing position at this entrance.", + "The GATE-02 shutter panel fills my view at arm's length. The gate is found and reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bba66a954cfaedc9b52a3108c31f11f141668ba6 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_c/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Search the industrial yard for the blue barrels, then approach them.", + "Type": 1, + "Start_Pose": [ + 3203.524, + 2226.784, + -12713.208, + 0, + -129.76, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3203.524, + 2226.784, + -12713.208, + 0, + -129.76, + 0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -154.76, + 0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + 155.24, + -0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + 130.24, + -0.0 + ], + [ + 3122.22, + 2322.858, + -12713.208, + 0.0, + 130.24, + -0.0 + ], + [ + 3040.916, + 2418.932, + -12713.208, + 0.0, + 130.24, + -0.0 + ], + [ + 2959.613, + 2515.006, + -12713.208, + 0.0, + 130.24, + -0.0 + ], + [ + 2959.613, + 2515.006, + -12713.208, + 0.0, + 105.24, + -0.0 + ], + [ + 2926.529, + 2636.438, + -12712.955, + 0.0, + 105.24, + -0.0 + ], + [ + 2893.445, + 2757.871, + -12712.955, + 0.0, + 105.24, + -0.0 + ], + [ + 2860.362, + 2879.304, + -12712.955, + 0.0, + 105.24, + -0.0 + ], + [ + 2827.278, + 3000.737, + -12712.955, + 0.0, + 105.24, + -0.0 + ], + [ + 2794.194, + 3122.17, + -12713.207, + 0.0, + 105.24, + -0.0 + ], + [ + 2794.082, + 3219.616, + -12713.207, + 0.0, + 105.24, + -0.0 + ], + [ + 2760.998, + 3341.049, + -12713.207, + 0.0, + 105.24, + -0.0 + ], + [ + 2760.998, + 3341.049, + -12713.207, + 0.0, + 130.24, + -0.0 + ], + [ + 2679.694, + 3437.123, + -12710.395, + 0.0, + 130.24, + -0.0 + ], + [ + 2598.39, + 3533.197, + -12710.395, + 0.0, + 130.24, + -0.0 + ], + [ + 2517.087, + 3629.271, + -12710.395, + 0.0, + 130.24, + -0.0 + ], + [ + 2435.783, + 3725.344, + -12708.758, + 0.0, + 130.24, + -0.0 + ], + [ + 2354.479, + 3821.418, + -12708.758, + 0.0, + 130.24, + -0.0 + ], + [ + 2354.479, + 3821.418, + -12708.758, + 0.0, + 130.24, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, the yard ahead shows only stacked pipes, a concrete building on my left, and open pavement, with no blue barrels anywhere in view. I will turn left to begin a steady scan in one consistent direction and open up the part of the yard hidden behind the building corner.", + "The newly revealed section shows the gate wall and more pipe stacks, but still no blue barrels. I will keep turning left in the same direction to continue the sweep without leaving gaps in the coverage.", + "I am now facing the closed gate doors of the shed, which is a dead frontage with nothing resembling barrels. Turning left again should swing my view toward the open lane beside the building where stored material is more likely to sit.", + "Past the gate wall I can see a lane opening up on the left with piping, fencing, and what looks like blue-toned equipment stored along the fenced yard. One more left turn should place that open corridor and its stored material directly ahead of me for a closer look.", + "I am now aligned with the road running alongside the plant, and I can pick out a blue item among the stored materials near the fenced area ahead on the right side of this lane. The pavement in front of me is clear, so I will walk forward to close distance and confirm whether those are the barrels.", + "The blue object beside the fenced storage area is still some way off but stays in view as I advance along this lane. I will keep walking forward since the route remains unobstructed and the target area is getting closer.", + "The gate wall is sliding past on my right and the blue material near the fence is becoming a little more distinct further down the lane. Another step forward should continue reducing the distance before I need to adjust my heading.", + "Straight ahead my path is crowded by the fence posts, railing, and tall weeds hugging the building on the right, while the blue material sits further along the yard past them. I will turn slightly left to line up with the open roadway so I can continue down the lane without pushing into the fenced clutter.", + "Facing down the open service road now, I have a long clear lane between the storage building on my right and the low sheds on my left, with a small patch of blue barely resolvable near the fenced storage area ahead on the right. Nothing blocks the pavement in front of me, so I will walk forward to close distance and let that possible blue container resolve into something identifiable.", + "The blue patch beside the yellow railing on my right is holding its position and growing slightly as I advance, which supports it being stored containers rather than a shadow. The lane stays clear, so I will keep walking forward on this heading to improve my view of it.", + "The blue object next to the yellow railing and concrete barrier is clearer now, though still too far to confirm it as the barrels I am looking for. Continuing straight along this road is the most direct way to shorten that gap, so I will step forward again.", + "The blue shape on the right has grown into a distinct drum-like form sitting beside the tarp-covered stack, which matches the blue barrels described in my task. I will keep advancing along the road since I am not yet level with that storage bay.", + "The blue barrels are now clearly visible on my right, tucked between the weeds and the tarp-wrapped bundle under the stacked sacks. They are still ahead of my current lateral position, so I will continue forward before committing to a turn toward them.", + "The barrels sit to my right beside the covered pallets, and the orange bollard and railing edge the walkway between us. Another forward step should bring me closer to being alongside them before I angle in.", + "The blue barrels are large and unmistakable now on my right, resting against the tarp-covered load beneath the stacked sacks. I am still slightly short of them, so I will take one more step forward to reach a position from which I can turn straight into that bay.", + "The blue barrels are plainly in view off to my right, sitting in the weeds beside the tarp-wrapped load, while my current heading points past them down the road. I will turn right to bring them into the center of my view and set a direct line of approach.", + "The blue barrels are now clearly visible ahead of me, sitting in the weeds beside the tarp-covered pallet load near the building wall. My heading points straight at them across open concrete, so I will step forward to close the remaining distance.", + "The barrels have grown noticeably larger and stay near the middle of my view, confirming I am closing on them. The concrete apron in front of me is clear, so I will keep walking forward.", + "Two blue barrels are now plainly resolved beside the tarped bundle, though still several paces away behind a patch of weeds. I will continue advancing to bring myself right up to them.", + "The barrels now fill a large part of my view and their ribbed rims are visible above the weeds. A few more steps should place me directly beside them, so I will move forward again.", + "The blue barrels are very close, standing just past the last of the weeds directly in front of me. I will take one more step to finish closing the small remaining gap.", + "The blue barrels stand directly in front of me at arm's length, filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b7927e9c448d98fc6aa65e43452d4d2230489673 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003204_y002227_z-012713_t1_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Identify the yellow metal safety railing in front of the black chain-link fence along the roadside, then go toward it.", + "Type": 1, + "Start_Pose": [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -129.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -129.76, + 0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -154.76, + 0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + -179.76, + 0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + 155.24, + -0.0 + ], + [ + 3203.524, + 2226.784, + -12713.208, + 0.0, + 130.24, + -0.0 + ], + [ + 3122.22, + 2322.858, + -12713.208, + 0.0, + 130.24, + -0.0 + ], + [ + 3040.916, + 2418.932, + -12713.208, + 0.0, + 130.24, + -0.0 + ], + [ + 2959.613, + 2515.006, + -12713.208, + 0.0, + 130.24, + -0.0 + ], + [ + 2878.309, + 2611.079, + -12712.952, + 0.0, + 130.24, + -0.0 + ], + [ + 2797.005, + 2707.153, + -12712.952, + 0.0, + 130.24, + -0.0 + ], + [ + 2715.701, + 2803.227, + -12711.119, + 0.0, + 130.24, + -0.0 + ], + [ + 2634.398, + 2899.301, + -12710.465, + 0.0, + 130.24, + -0.0 + ], + [ + 2553.094, + 2995.375, + -12710.465, + 0.0, + 130.24, + -0.0 + ], + [ + 2553.094, + 2995.375, + -12710.465, + 0.0, + 105.24, + -0.0 + ], + [ + 2524.281, + 3116.76, + -12710.038, + 0.0, + 105.24, + -0.0 + ], + [ + 2524.281, + 3116.76, + -12710.038, + 0.0, + 105.24, + -0.0 + ] + ], + "Rationale": [ + "From this starting spot I only see stacked pipe sections, an overhead pipe rack and a couple of short bollards along the roadway, with no yellow railing or black chain-link fence anywhere ahead. I will turn left to swing my view along the roadside and begin searching for the target.", + "The rotation has brought the concrete gate wall marked GATE-01 and GATE-02 into view, and a dark metal fence line is just appearing at the far left edge. Since the yellow railing is not yet visible, I will keep turning left to bring that fenced stretch of roadside fully into view.", + "A black metal fence with pale ground beyond it now sits at the left side of my view, which is the kind of boundary the yellow safety railing should stand in front of. I will turn left once more so that fenced section moves toward the center of my view for a clearer look.", + "The turn has opened up the road running along the building, and beside the dark fence at the left of the gate I can make out a low yellow railing next to the pipe columns. I will turn left one more time to place that railing and the open roadway ahead of me before committing to an approach.", + "I now face straight down the roadside with the black fence and the small yellow railing set against the building's pipe columns ahead on my right side of the corridor. The path along the pavement is clear, so I will walk forward to close the distance to that railing.", + "The yellow railing in front of the black fence has grown slightly larger and stays ahead of me, confirming my heading is good. The roadway remains open, so I will keep walking forward toward it.", + "The yellow railing beside the black gate frame is clearly resolved now, but it is still some distance down the roadside. I will continue advancing along the open pavement to bring myself nearer to it.", + "The yellow railing and the black chain-link fencing behind it now fill more of my view slightly right of center, so I am steadily closing in. I will step forward again to keep reducing the remaining distance to the railing.", + "The yellow metal railing is clearly visible ahead on the right, standing just in front of the dark chain-link gate along the roadside. The sidewalk between me and it is clear, so I will keep walking forward to close the remaining distance.", + "The railing has grown noticeably larger and is now near the middle of my view against the fence and pipe columns. My heading still points along the walkway toward it, so another step forward should continue shrinking the gap.", + "The yellow railing now sits close on my left front, with the chain-link fence and vertical pipes rising immediately behind it. Since I am still a few paces short of it, I will step forward again along the open sidewalk.", + "The railing has slid toward my left side as I advance along the fence line, and its near end is close beside the sidewalk. One more forward step should bring me level with it rather than leaving it behind.", + "My heading has drifted into the pipes and concrete columns while the yellow railing now runs along the far left edge of my view. Turning left should swing my facing back onto the railing and the open walkway beside it.", + "The turn has put the yellow railing squarely ahead of me, running along the walkway in front of the dark chain-link fencing. A short step forward should bring me right up against it.", + "The yellow metal railing is directly in front of me, backed by the black chain-link fence at the roadside. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f02ffcb017e73d1c943f1225436818a3a5ba13b --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_a/infos.json @@ -0,0 +1,476 @@ +{ + "Instruction": "Walk to the blue portable toilet, then head toward the wooden pallets.", + "Type": 3, + "Start_Pose": [ + 3238.916, + 5744.766, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3238.916, + 5744.766, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + [ + 3238.916, + 5744.766, + -12713.207, + 0.0, + -67.16, + 0.0 + ], + [ + 3287.769, + 5628.775, + -12713.207, + 0.0, + -67.16, + 0.0 + ], + [ + 3336.623, + 5512.785, + -12698.777, + 0.0, + -67.16, + 0.0 + ], + [ + 3385.476, + 5396.794, + -12690.375, + 0.0, + -67.16, + 0.0 + ], + [ + 3434.329, + 5280.803, + -12690.375, + 0.0, + -67.16, + 0.0 + ], + [ + 3483.183, + 5164.813, + -12699.919, + 0.0, + -67.16, + 0.0 + ], + [ + 3483.183, + 5164.813, + -12699.919, + 0.0, + -42.16, + 0.0 + ], + [ + 3576.478, + 5080.336, + -12713.024, + 0.0, + -42.16, + 0.0 + ], + [ + 3669.774, + 4995.859, + -12713.024, + 0.0, + -42.16, + 0.0 + ], + [ + 3763.07, + 4911.382, + -12713.024, + 0.0, + -42.16, + 0.0 + ], + [ + 3856.366, + 4826.905, + -12713.024, + 0.0, + -42.16, + 0.0 + ], + [ + 3949.662, + 4742.428, + -12713.024, + 0.0, + -42.16, + 0.0 + ], + [ + 4042.958, + 4657.951, + -12713.024, + 0.0, + -42.16, + 0.0 + ], + [ + 4136.254, + 4573.474, + -12710.511, + 0.0, + -42.16, + 0.0 + ], + [ + 4136.254, + 4573.474, + -12710.511, + 0.0, + -42.16, + 0.0 + ], + [ + 4136.254, + 4573.474, + -12710.511, + 0.0, + -67.16, + 0.0 + ], + [ + 4136.254, + 4573.474, + -12710.511, + 0.0, + -92.16, + 0.0 + ], + [ + 4136.254, + 4573.474, + -12710.511, + 0.0, + -117.16, + 0.0 + ], + [ + 4136.254, + 4573.474, + -12710.511, + 0.0, + -142.16, + 0.0 + ], + [ + 4136.254, + 4573.474, + -12710.511, + 0.0, + -167.16, + 0.0 + ], + [ + 4136.254, + 4573.474, + -12710.511, + 0.0, + 167.84, + -0.0 + ], + [ + 4013.219, + 4599.985, + -12710.511, + 0.0, + 167.84, + -0.0 + ], + [ + 3890.184, + 4626.496, + -12712.863, + 0.0, + 167.84, + -0.0 + ], + [ + 3767.149, + 4653.007, + -12712.863, + 0.0, + 167.84, + -0.0 + ], + [ + 3644.113, + 4679.519, + -12712.863, + 0.0, + 167.84, + -0.0 + ], + [ + 3521.078, + 4706.03, + -12712.863, + 0.0, + 167.84, + -0.0 + ], + [ + 3398.043, + 4732.541, + -12712.863, + 0.0, + 167.84, + -0.0 + ], + [ + 3275.008, + 4759.052, + -12712.863, + 0.0, + 167.84, + -0.0 + ], + [ + 3151.973, + 4785.564, + -12712.863, + 0.0, + 167.84, + -0.0 + ], + [ + 3151.973, + 4785.564, + -12712.863, + 0.0, + -167.16, + 0.0 + ], + [ + 3029.261, + 4757.594, + -12712.863, + 0.0, + -167.16, + 0.0 + ], + [ + 2906.549, + 4729.625, + -12712.863, + 0.0, + -167.16, + 0.0 + ], + [ + 2783.837, + 4701.655, + -12712.863, + 0.0, + -167.16, + 0.0 + ], + [ + 2661.126, + 4673.686, + -12712.863, + 0.0, + -167.16, + 0.0 + ], + [ + 2538.414, + 4645.716, + -12712.255, + 0.0, + -167.16, + 0.0 + ], + [ + 2415.702, + 4617.746, + -12710.281, + 0.0, + -167.16, + 0.0 + ], + [ + 2292.99, + 4589.777, + -12710.281, + 0.0, + -167.16, + 0.0 + ], + [ + 2170.278, + 4561.807, + -12710.281, + 0.0, + -167.16, + 0.0 + ], + [ + 2047.566, + 4533.838, + -12709.867, + 0.0, + -167.16, + 0.0 + ], + [ + 1924.855, + 4505.868, + -12710.484, + 0.0, + -167.16, + 0.0 + ], + [ + 1802.143, + 4477.899, + -12710.484, + 0.0, + -167.16, + 0.0 + ], + [ + 1802.143, + 4477.899, + -12710.484, + 0.0, + -142.16, + 0.0 + ], + [ + 1702.749, + 4400.689, + -12710.484, + 0.0, + -142.16, + 0.0 + ], + [ + 1607.732, + 4371.975, + -12708.725, + 0.0, + -142.16, + 0.0 + ], + [ + 1607.732, + 4371.975, + -12708.725, + 0.0, + -142.16, + 0.0 + ] + ], + "Rationale": [ + "The blue portable toilet sits far off at the right edge of my view, tucked against the buildings beside the tanks. Walking straight ahead down this open lane would carry me past it, so I will turn right to bring it toward the center of my heading.", + "The blue portable toilet now stands ahead of me on the right side of the roadway, next to the row of grey storage tanks. The pavement in front is clear and open, so I will walk forward to close the distance.", + "The blue toilet and the tanks beside it have grown slightly larger, confirming my heading is carrying me toward them. Nothing blocks the flat lane between us, so I continue walking forward.", + "The portable toilet is still ahead on my right, its door panel now clearly readable against the tanks. I am not yet close to it, so another step forward should keep shrinking the gap.", + "My approach is steady, with the blue toilet holding its place slightly right of my heading and growing in size. The ground remains clear of obstacles, so I walk on.", + "The blue toilet is noticeably nearer now, set back between the equipment housing and the grey tanks. There is still open ground to cover, so I keep stepping forward.", + "As I have advanced, the blue toilet has drifted out to the right of my heading rather than staying in front of me. I will turn right to swing my facing back onto it before continuing.", + "The turn has put the blue portable toilet close to the middle of my view, standing between the vented housing and the tall grey tanks. With the lane ahead clear, I walk forward to close on it.", + "The blue portable toilet stands ahead on the left side of the roadway, tucked between a fenced enclosure and the row of grey tanks, and my heading already points along that open pavement. Nothing blocks the lane in front of me, so I will keep walking to close the remaining gap.", + "The blue toilet has grown noticeably larger and sits just left of my path, which confirms my current heading is carrying me toward it. The pavement ahead stays clear of clutter, so another forward step should shorten the distance further.", + "I can now make out the door panel and vents of the blue cabin off to my left front, so I am closing steadily on it. The weeds and equipment stay off my line of travel, so I will step forward again.", + "The blue toilet now occupies a large part of the left half of my view, with the tank skirting just behind it. I am still a few paces short of standing beside it, so I keep advancing along the same clear stretch of concrete.", + "The cabin's ribbed panels and latch are close enough to read clearly, so only a short gap remains between me and it. I will walk forward again to bring myself right up alongside the blue toilet.", + "The blue toilet now dominates my view from the near corner to its door, and the ground between us is only a step or two of open concrete. One more forward step should place me directly at it.", + "The blue portable toilet is right in front of me, its door panel and latch filling my view at arm's length. I have reached it. I mark arriving here before setting off toward the stacks of wooden pallets.", + "Standing this close, the blue cabin blocks nearly everything ahead of me, so I cannot pick out the wooden pallets from this heading. I will turn left to swing my view off the cabin and back across the open yard where I can search for them.", + "The blue cabin's flank still fills the right of my view and a fenced wall with weeds crowds the left, so nothing walkable lies ahead of me here. Having already come up to this toilet, I keep rotating left to swing my heading off its panels and back toward the open yard where I can start looking for the wooden pallets.", + "Only the cabin's rear corner remains at the right edge now, and pavement with a pipe bridge is appearing on my left. I turn left again to keep clearing the structure and bring that open ground squarely in front of me.", + "The cabin is behind my shoulder and I now face a fence line with tall weeds, with the paved yard continuing further to my left. Another left rotation should place that open pavement, rather than the fence, ahead of my walking direction.", + "Concrete barriers and plant structures sit straight ahead, while the broad open lane runs off to my left past the large tank. I keep rotating left so my heading follows that lane instead of the barrier line.", + "The wide roadway is now mostly to my left front, with the barrier row and the tank drifting to my right. One more left step of rotation should put that clear stretch of pavement directly under my heading before I set off across the yard.", + "My heading is now down the open roadway, with trees and fencing on the left and the spherical tank off to the right, and no obstruction in the near path. I walk forward to cross this yard and get close enough to pick out stacked wooden pallets.", + "The road ahead stays clear and the fenced lot on my left is sliding past, which tells me the step just taken carried me along the lane as intended. I continue forward, scanning the yard edges ahead for stacked timber.", + "The tank and the buildings along the right are growing steadily, so this lane is taking me deeper into the yard. Nothing wooden is distinguishable yet at this distance, so I keep walking straight ahead to close the gap.", + "The lane ahead runs clear between the fenced lot on my left and the plant structures on my right, with the big spherical tank marking the far end. No stacked wooden pallets are recognizable yet at this distance, so I will keep walking forward to open up the storage areas along the right side.", + "The road surface stays wide and unobstructed, and the blue drums and stacked material along the right edge are growing larger as I close in. Wooden pallets should sit in that yard clutter, so another step forward should bring the right-hand storage into clearer view.", + "I am still on the open lane, with the tank and its pipework framing the end of the yard ahead. The right-hand equipment area is where stored timber would be kept, so I continue advancing rather than committing to a turn this early.", + "Details on the right are sharpening: brickwork, covered stock and drums line the yard beside the tall concrete wall. Nothing blocks my heading, so I take another step to reach the point where that storage area opens up beside me.", + "The gap between the pipeline on the left and the plant wall on the right is narrowing into a defined passage straight ahead. Advancing once more should bring me level with the stacked goods along the right edge and let me judge which of them are timber.", + "Beyond the drums on my right I can now make out layered wooden slats stacked into pallets against the plant wall. They sit off my current heading, so I turn right to put that timber stack in front of me before continuing.", + "The turn has brought the pallet stacks and the blue drums into the right half of my view, with clear pavement leading toward them. I step forward to close the remaining distance across the open yard.", + "The stacked timber beside the drums is noticeably larger and its slatted layers are clearly readable now. The ground between us is flat and free, so I keep walking straight toward it.", + "The stack of wooden pallets sits ahead on the right, tucked against the concrete building past a patch of weeds. My heading already lines up with the open concrete lane that runs toward it, so I will step forward to cut down the remaining distance.", + "The pallet stack has grown noticeably larger on the right and its slats are now individually visible. Nothing blocks the concrete strip I am walking on, so another forward step should keep closing the gap.", + "The pallets and the green drums stacked on top of them are clearly framed to my right front, with loose boards scattered on the ground beside them. My current heading carries me straight at that pile, so I continue walking.", + "I am now on the smooth concrete apron with the pallet stack filling more of the right side of my view. The distance is still too great to count as arriving, so I keep advancing along the same line.", + "Extra pallets leaning against the wall behind the main stack have come into view, confirming this is the timber storage spot I am heading for. The route stays clear, so I take another step toward it.", + "The crossed planks lying on the ground in front of the pallet stack are close enough to see plainly, but the stack itself is still several paces off to my right front. I keep moving forward to draw level with it.", + "The pallet stack now looms at the right edge of my view with the blue drums beside it, and its individual boards read clearly. A further step forward should bring me alongside the pile rather than short of it.", + "The stacked pallets dominate the right half of my view and the loose planks lie just off my path, so I still have a clear strip of concrete to walk on. I advance again to pull even with the timber.", + "The stacked wooden pallets now fill the right side of my view, close to the concrete apron I am walking along. I still have a little ground to cover before I am level with the stack, so I will step forward again along this open lane.", + "I am now beside the pallet stack, which sits off to my right rather than ahead of me, so walking straight would carry me past it. Turning right should put the stacked pallets squarely in front of me for a direct approach.", + "The stack of wooden pallets is now centered in front of me with clear pavement between us. I will walk straight ahead to close the remaining gap to it.", + "The pallet boards now dominate my view, with individual slats and blocks clearly resolved just a short step away. One more forward step should bring me right up against the stack.", + "The stacked wooden pallets stand directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b78dc20258f54c565b8a75253bde699647d7b3c2 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_b/infos.json @@ -0,0 +1,446 @@ +{ + "Instruction": "Approach the blue barrels, then move to the teal porta-potty.", + "Type": 3, + "Start_Pose": [ + 3238.916, + 5744.766, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3238.916, + 5744.766, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + [ + 3234.172, + 5618.997, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + [ + 3229.429, + 5493.227, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + [ + 3224.685, + 5367.457, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + [ + 3219.941, + 5241.688, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + [ + 3215.198, + 5115.918, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + [ + 3215.198, + 5115.918, + -12713.207, + 0.0, + -117.16, + 0.0 + ], + [ + 3157.746, + 5003.937, + -12712.955, + 0.0, + -117.16, + 0.0 + ], + [ + 3100.294, + 4891.956, + -12712.955, + 0.0, + -117.16, + 0.0 + ], + [ + 3042.843, + 4779.975, + -12712.955, + 0.0, + -117.16, + 0.0 + ], + [ + 2985.391, + 4667.993, + -12712.955, + 0.0, + -117.16, + 0.0 + ], + [ + 2927.939, + 4556.012, + -12713.206, + 0.0, + -117.16, + 0.0 + ], + [ + 2870.487, + 4444.031, + -12713.206, + 0.0, + -117.16, + 0.0 + ], + [ + 2870.487, + 4444.031, + -12713.206, + 0.0, + -142.16, + 0.0 + ], + [ + 2771.093, + 4366.822, + -12713.206, + 0.0, + -142.16, + 0.0 + ], + [ + 2671.699, + 4289.613, + -12710.338, + 0.0, + -142.16, + 0.0 + ], + [ + 2572.305, + 4212.403, + -12710.338, + 0.0, + -142.16, + 0.0 + ], + [ + 2472.91, + 4135.194, + -12710.338, + 0.0, + -142.16, + 0.0 + ], + [ + 2472.91, + 4135.194, + -12710.338, + 0.0, + -142.16, + 0.0 + ], + [ + 2472.91, + 4135.194, + -12710.338, + 0.0, + -117.16, + 0.0 + ], + [ + 2472.91, + 4135.194, + -12710.338, + 0.0, + -92.16, + 0.0 + ], + [ + 2472.91, + 4135.194, + -12710.338, + 0.0, + -67.16, + 0.0 + ], + [ + 2472.91, + 4135.194, + -12710.338, + 0.0, + -42.16, + 0.0 + ], + [ + 2472.91, + 4135.194, + -12710.338, + 0.0, + -17.16, + 0.0 + ], + [ + 2472.91, + 4135.194, + -12710.338, + 0.0, + 7.84, + -0.0 + ], + [ + 2597.593, + 4152.362, + -12710.338, + 0.0, + 7.84, + -0.0 + ], + [ + 2722.275, + 4169.53, + -12712.614, + 0.0, + 7.84, + -0.0 + ], + [ + 2846.958, + 4186.698, + -12713.208, + 0.0, + 7.84, + -0.0 + ], + [ + 2846.958, + 4186.698, + -12713.208, + 0.0, + 32.84, + -0.0 + ], + [ + 2952.703, + 4254.951, + -12713.208, + 0.0, + 32.84, + -0.0 + ], + [ + 3058.449, + 4323.204, + -12713.208, + 0.0, + 32.84, + -0.0 + ], + [ + 3164.194, + 4391.456, + -12713.208, + 0.0, + 32.84, + -0.0 + ], + [ + 3269.939, + 4459.709, + -12713.208, + 0.0, + 32.84, + -0.0 + ], + [ + 3375.684, + 4527.962, + -12713.208, + 0.0, + 32.84, + -0.0 + ], + [ + 3375.684, + 4527.962, + -12713.208, + 0.0, + 7.84, + -0.0 + ], + [ + 3500.367, + 4545.13, + -12706.499, + 0.0, + 7.84, + -0.0 + ], + [ + 3625.05, + 4562.298, + -12709.709, + 0.0, + 7.84, + -0.0 + ], + [ + 3749.732, + 4579.466, + -12710.281, + 0.0, + 7.84, + -0.0 + ], + [ + 3874.415, + 4596.634, + -12710.281, + 0.0, + 7.84, + -0.0 + ], + [ + 3999.097, + 4613.802, + -12711.129, + 0.0, + 7.84, + -0.0 + ], + [ + 3999.097, + 4613.802, + -12711.129, + 0.0, + -17.16, + 0.0 + ], + [ + 4119.354, + 4576.668, + -12710.503, + 0.0, + -17.16, + 0.0 + ], + [ + 4119.354, + 4576.668, + -12710.503, + 0.0, + -17.16, + 0.0 + ] + ], + "Rationale": [ + "Down the plant road ahead I can pick out a small blue drum on the left verge beside the stacked material, while a teal cabin sits far off on the right. The blue containers are my first stop, so I will walk straight down the open roadway to cut the distance to them.", + "The blue drum on the left shoulder has grown slightly larger, confirming my heading is bringing me nearer to it. The pavement ahead stays clear between the pipe racks, so I will keep stepping forward.", + "The blue container beside the fenced building on my left keeps sharpening as I close in, and nothing blocks the roadway. Another stride forward should keep shrinking the gap to the barrels.", + "From here I can now make out more than one blue drum grouped along the left side by the concrete barrier. Since they are still well ahead of me, I will continue walking forward down the lane.", + "The cluster of blue barrels on the left, sitting against the grey barrier and pallet stacks, is clearly my destination and is drawing closer. The road remains open, so I will take another step straight ahead before adjusting my heading.", + "The blue barrels now sit well off to my left rather than in front of me, so walking straight on would carry me past them. I will pivot left to swing my heading onto the barrels and the ground beside them.", + "After the pivot the blue barrels sit ahead of me on the left, alongside the pallet stacks and the concrete barrier. With the paved apron clear in that direction, I will walk forward to close on them.", + "The blue barrels on the pallet are noticeably larger and lower in my view, so my heading is carrying me right toward them. Nothing stands in the way across this open concrete, so I will keep advancing.", + "The cluster of blue barrels sits ahead and to my left, resting on a pallet beside the concrete barrier and the grey building. The open roadway between us is clear, so I will keep walking forward to close that gap.", + "The blue barrels have grown noticeably larger on my left, confirming my heading is bringing me toward them. Nothing blocks the pavement in front of me, so another step forward should shorten the remaining distance.", + "The barrels on their wooden pallet are now clearly resolved beside the covered stack to my left, but they are still several paces off. I will keep advancing along this lane rather than cutting across too early.", + "Three blue barrels stand close on my left, though my heading still carries me past their front rather than into them. One more step forward should bring me level with the pallet before I swing my facing toward them.", + "I am now beside the barrels, but they sit well off to my left while my body still faces down the open lane. Turning left should swing them toward the middle of my view so I can walk straight at them.", + "The three blue barrels on their pallet now sit near the center of my view, with clear paving between me and them. I will step forward to close the last stretch toward them.", + "The barrels have grown much larger and stay centered, so my heading is good. Another step forward should put me right at the pallet edge.", + "The blue barrels now fill much of the view directly in front of me, only a short stretch of concrete remaining. I will take another step forward to stand right at them.", + "The three blue barrels on their pallet now dominate my view, close enough that their ridged lids sit at eye level. One more step should bring me right up against them and settle my arrival at this cluster.", + "The blue barrels tower directly in front of me, filling my view from an arm's length away on their pallet. I have reached them. I mark reaching them and turn my attention to the teal porta-potty I still have to walk to.", + "Standing this close, the barrels and the wall behind them block everything ahead, so nothing useful lies in this heading. I turn right to swing my view off the barrels and back toward the open pavement I need for the walk to the teal porta-potty.", + "The barrels have slid to the left of my view and open plant ground with fencing is appearing on the right. I keep turning right to clear the pallet corner entirely and pick up the roadway that leads away from this alcove.", + "Only one barrel edge remains at my left now, with weeds and a paved walkway coming into view on the right. No teal cabin is in sight yet, so I continue rotating right to sweep more of the open yard.", + "The barrels are behind me and I face a fenced pipe rack with the road running across the middle distance. Nothing teal stands in this sector, so I turn further right to keep scanning along the roadway for my next destination.", + "Ahead of me are only towers, cones and the paved lane curving away, with no sign of the teal porta-potty. I rotate right again to bring more of the open street and its far end into my view.", + "The road now stretches to the right toward distant sheds and lighter open ground, which is the direction that offers a walkable route out of this equipment area. One more turn right should line my heading up with that lane so I can start moving toward the teal porta-potty.", + "The blue barrels are behind me now and my heading is set down the open paved lane, with the plant structures on my left and the gate sign further out on my right. Nothing teal stands out yet, so I will walk forward along this lane to open up the ground ahead and search for the porta-potty.", + "The lane continues unobstructed, with only cones and weeds set back on the verge to my left. The far end near the gate is still too distant to pick out a small teal cabin, so another step forward should bring more of that area into useful view.", + "The industrial towers on my left are sliding past and the road ahead widens toward the sheds by the gate. I still have no clear teal booth in sight, so I keep walking straight to close on that more open stretch where it may become visible.", + "My current heading points into the fenced plant and cones on the left rather than along the roadway. Turning right should swing my view onto the open lane that runs past the shed and the gate, giving me a clear route and a better sweep of the area.", + "The road now runs straight ahead of me with the shed and gate framing the open ground. I will walk forward along it while scanning the equipment line on my left, where a small teal cabin would likely be tucked.", + "Beside the tall tanks on my left I can make out a small teal box that looks like the porta-potty I want. The pavement between us is clear, so I keep stepping forward to close the distance and confirm it.", + "The teal cabin beside the vertical tanks on my left is resolving more clearly as I gain ground. Walking forward again should bring me alongside that stretch of curb where it stands.", + "The teal booth sits ahead on my left against the plant structures, still some way off along this curb. I will continue straight rather than veer now, since more distance closed here should let me pull up beside it cleanly.", + "The teal porta-potty stands ahead on the left side of the road, tucked beside the grey tank at the base of the structure. It is still some distance off, so I walk forward along the open pavement to close on it.", + "After the last step the teal booth has slid out toward the left edge of my view, since my heading runs down the middle of the road rather than at it. I turn left to swing my facing back onto the booth and the sidewalk it sits on.", + "The turn has brought the teal booth back into the left portion of my view, sitting against the tank on the raised walkway. With my heading now pointed along that side, I step forward to shorten the remaining gap.", + "The teal booth has grown noticeably and its white-capped roof and panelled door are now distinct on my left. Nothing blocks the strip of pavement between us, so I keep walking toward it.", + "The teal booth now fills a good part of the left side of my view, with the weeds and the tank framing it. I am not yet beside it, so another step forward should bring me level with the booth.", + "The teal booth is close on my left now, its door and vent slats clearly readable. I continue forward along the curb to draw fully alongside it.", + "The teal booth now looms at the left edge of my view, nearly abeam of me beside the tank. One more step forward should place me right at it.", + "The teal booth has passed almost out of my view on the left, meaning I am now level with it while still facing down the road. I turn left so the booth sits squarely in front of me rather than at my shoulder.", + "The teal portable toilet stands just ahead on my left, close enough that its panelled side fills much of my view, but I am still slightly short of being level with it. One more step along this walkway should bring me right up beside its door.", + "The teal portable toilet is directly beside me, its door within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f52d5e192634cd832a9e780290f5d7bda30c747 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003239_y005745_z-012713_t3_c/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Head toward the stacked wooden pallets, then proceed to the blue barrels.", + "Type": 3, + "Start_Pose": [ + 3238.916, + 5744.766, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3238.916, + 5744.766, + -12713.207, + 0.0, + -92.16, + 0.0 + ], + [ + 3238.916, + 5744.766, + -12713.207, + 0.0, + -117.16, + 0.0 + ], + [ + 3181.464, + 5632.785, + -12713.207, + 0.0, + -117.16, + 0.0 + ], + [ + 3124.013, + 5520.804, + -12713.207, + 0.0, + -117.16, + 0.0 + ], + [ + 3066.561, + 5408.823, + -12713.207, + 0.0, + -117.16, + 0.0 + ], + [ + 3009.109, + 5296.841, + -12713.207, + 0.0, + -117.16, + 0.0 + ], + [ + 2951.657, + 5184.86, + -12713.207, + 0.0, + -117.16, + 0.0 + ], + [ + 2951.657, + 5184.86, + -12713.207, + 0.0, + -142.16, + 0.0 + ], + [ + 2852.263, + 5107.651, + -12713.207, + 0.0, + -142.16, + 0.0 + ], + [ + 2752.869, + 5030.442, + -12712.954, + 0.0, + -142.16, + 0.0 + ], + [ + 2653.475, + 4953.232, + -12712.954, + 0.0, + -142.16, + 0.0 + ], + [ + 2554.08, + 4876.023, + -12712.954, + 0.0, + -142.16, + 0.0 + ], + [ + 2454.686, + 4798.814, + -12712.954, + 0.0, + -142.16, + 0.0 + ], + [ + 2355.292, + 4721.604, + -12712.954, + 0.0, + -142.16, + 0.0 + ], + [ + 2255.898, + 4644.395, + -12711.253, + 0.0, + -142.16, + 0.0 + ], + [ + 2156.503, + 4567.186, + -12710.281, + 0.0, + -142.16, + 0.0 + ], + [ + 2057.109, + 4489.977, + -12710.42, + 0.0, + -142.16, + 0.0 + ], + [ + 1957.715, + 4412.767, + -12710.42, + 0.0, + -142.16, + 0.0 + ], + [ + 1858.321, + 4335.558, + -12708.885, + 0.0, + -142.16, + 0.0 + ], + [ + 1758.926, + 4258.349, + -12697.394, + 0.0, + -142.16, + 0.0 + ], + [ + 1758.926, + 4258.349, + -12697.394, + 0.0, + -142.16, + 0.0 + ], + [ + 1831.897, + 4315.032, + -12704.535, + 0.0, + -142.16, + 0.0 + ], + [ + 1904.868, + 4371.716, + -12708.725, + 0.0, + -142.16, + 0.0 + ], + [ + 1904.868, + 4371.716, + -12708.725, + 0.0, + -117.16, + 0.0 + ], + [ + 1904.868, + 4371.716, + -12708.725, + 0.0, + -92.16, + 0.0 + ], + [ + 1904.868, + 4371.716, + -12708.725, + 0.0, + -67.16, + 0.0 + ], + [ + 1904.868, + 4371.716, + -12708.725, + 0.0, + -42.16, + 0.0 + ], + [ + 1998.164, + 4287.239, + -12708.725, + 0.0, + -42.16, + 0.0 + ], + [ + 2091.46, + 4202.762, + -12708.725, + 0.0, + -42.16, + 0.0 + ], + [ + 2091.46, + 4202.762, + -12708.725, + 0.0, + -17.16, + 0.0 + ], + [ + 2211.716, + 4165.628, + -12708.725, + 0.0, + -17.16, + 0.0 + ], + [ + 2211.716, + 4165.628, + -12708.725, + 0.0, + -17.16, + 0.0 + ] + ], + "Rationale": [ + "From this open stretch of plant road, the only stacked timber I can pick out sits far off to my left, near the concrete wall and the low storage bays. Turning left should swing that side of the yard into the middle of my view before I commit to walking.", + "The turn has brought the left bay into view, and I can now make out pale wooden pallets stacked beside the concrete building ahead. The pavement between me and them is open, so I will walk forward to close the distance.", + "The wooden pallets by the concrete wall have grown slightly larger and the sacks and drums beside them are resolving, which tells me my heading is good. I will keep walking straight along this open pavement.", + "The stacked pallets ahead on my left are still well short of reach, sitting beyond the curb and the patch of weeds. Nothing blocks the road in front of me, so another step forward should keep shrinking that gap.", + "The pallet stacks and the green tanks behind them are noticeably closer and shifting toward my left as I advance. I will continue forward while the route stays clear.", + "The wooden pallets are now clearly banked against the concrete wall to my left front, with blue drums standing just past them. One more step forward should bring me nearly level with that storage bay.", + "I have drawn nearly level with the storage bay, and the pallet stacks have slid well off to my left while my heading still points down the road. Turning left should put that timber squarely in front of me so I can walk straight at it.", + "The turn has centered the stacked wooden pallets against the concrete wall, with the blue drums standing to their right. With the apron in front of me clear, I will walk forward to close on the timber.", + "The stacked wooden pallets sit ahead against the concrete wall, still well down the open yard. My heading lines up with them along clear pavement, so I will keep walking forward to close the gap.", + "The pallet stack has grown noticeably and now sits just right of my center view, with the green tanks passing on my left. Nothing blocks the pavement between us, so another step forward should keep shrinking the distance.", + "The pallets are clearly resolved now, with individual boards and the drums beside them visible, and a blue barrel shows past the tarped bundle on the right. I am still several strides short of the stack, so I continue walking straight toward it.", + "The pallet stack now dominates the middle of my view and the blue barrels stand off to the right along the wall. My path stays open, so I keep advancing to bring myself right up beside the pallets.", + "I am close enough to see the pallets stacked several tiers high with loose planks lying on the concrete at their base. Nothing stands in my way, so I take another step forward to reach them.", + "The pallet stack fills much of my forward view and the leaning spare pallets beside it are plainly visible. A few more strides should place me directly at it, so I keep moving ahead.", + "The stack of pallets is now only a short distance ahead and slightly left of center, with the crossed planks on the ground just before it. I walk forward again to bring myself right up against it.", + "The pallets loom close on my left front and the loose boards on the concrete mark how near I am. One more step forward should put me right beside the stack.", + "The stack of wooden pallets now sits squarely ahead of me against the concrete wall, with loose boards scattered on the pavement in front of it. The open slab between us is clear, so I will keep walking straight to close the remaining gap.", + "The pallet stack has grown to fill much of my view and the leaning spare pallets beside it are now clearly separate. I am still a few paces short of standing at it, so another step forward should bring me right up to the stack.", + "The pallets tower directly in front of me now, their slats and blocks filling most of my view. One more step should place me at the foot of the stack rather than merely near it.", + "The stacked wooden pallets are right against me, their boards and blocks filling my whole view at arm's length. I have arrived at them. I mark reaching this pallet stack and turn my attention to the blue barrels standing further along the building front.", + "Standing this tight against the pallets, the timber blocks nearly everything and I cannot see the ground or the route along the wall. Backing up a step should open enough space to look around and swing toward the blue barrels without scraping the stack.", + "The stack has pulled back slightly and I can now see its edge and the wall behind it, but the timber still crowds most of my view. One more step back should give me the clearance to rotate freely toward the barrels.", + "I now have clear pavement around me and the whole pallet stack sits ahead with the concrete wall running off to my right. The blue drums lie that way, further along the building front, so I will begin turning right to bring them into view.", + "The pallets have swung to my left edge and the wall with the tarped bundle now dominates my view, but no blue barrels are in sight yet. I will keep rotating right to carry my heading further along the building where they should appear.", + "Facing this blank concrete wall with only leaning pallets to my left and a tarped bale to my right, I have nothing of the barrels in view. Continuing my rightward sweep should swing my heading further along the yard where open ground lies past the covered stack.", + "Two blue barrels on a low wooden pallet have just come into the right edge of my view beyond the tarped bale. One more turn to the right should bring them nearer the center of my view so I can walk straight at them.", + "The pair of blue barrels on their pallet now sits ahead of me with clear concrete between us. I will walk forward to close that distance, keeping the tarped bale to my left as I go.", + "The barrels have grown noticeably larger and their pallet edge is clearly visible, so I am closing well. Another step forward should bring me within a stride or two of them along the near side of the covered bale.", + "The tarped bale is now crowding my left and the barrels stand very close on their pallet just ahead of me. Turning right should swing my path clear of both so I can step up alongside the barrels rather than into them.", + "The two blue barrels now stand just off my left shoulder with open concrete in front of me. A final step forward should draw me level with them, right at the pallet's edge.", + "The blue barrels stand immediately beside me at arm's length on their pallet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..762c1a4e06c1e9d02a3cf6baa29fca14cc3354c2 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the blue portable toilet.", + "Type": 0, + "Start_Pose": [ + 3434.435, + 5825.993, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3434.435, + 5825.993, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3417.093, + 5701.335, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3417.093, + 5701.335, + -12694.281, + 0.0, + -72.92, + 0.0 + ], + [ + 3454.059, + 5581.027, + -12694.281, + 0.0, + -72.92, + 0.0 + ], + [ + 3491.024, + 5460.719, + -12694.281, + 0.0, + -72.92, + 0.0 + ], + [ + 3527.99, + 5340.41, + -12690.384, + 0.0, + -72.92, + 0.0 + ], + [ + 3564.955, + 5220.102, + -12690.384, + 0.0, + -72.92, + 0.0 + ], + [ + 3564.955, + 5220.102, + -12690.384, + 0.0, + -47.92, + 0.0 + ], + [ + 3649.302, + 5126.689, + -12705.741, + 0.0, + -47.92, + 0.0 + ], + [ + 3733.649, + 5033.275, + -12712.976, + 0.0, + -47.92, + 0.0 + ], + [ + 3817.995, + 4939.861, + -12712.976, + 0.0, + -47.92, + 0.0 + ], + [ + 3902.342, + 4846.447, + -12712.976, + 0.0, + -47.92, + 0.0 + ], + [ + 3986.689, + 4753.033, + -12712.976, + 0.0, + -47.92, + 0.0 + ], + [ + 4071.035, + 4659.62, + -12712.976, + 0.0, + -47.92, + 0.0 + ], + [ + 4155.382, + 4566.206, + -12710.418, + 0.0, + -47.92, + 0.0 + ], + [ + 4155.382, + 4566.206, + -12710.418, + 0.0, + -47.92, + 0.0 + ] + ], + "Rationale": [ + "I can see the blue portable toilet far ahead on the right side of my view, tucked beside the tall structure at the edge of the paved yard. The lane in front of me is open and clear of barriers, so I will step forward to close some of that distance before adjusting my heading.", + "After advancing, the blue toilet still sits far off to the right, near the edge of my view, while my body is pointed down the open lane straight ahead. I will turn right to swing my heading toward the target so that continued forward steps carry me toward it.", + "The turn has brought the blue portable toilet into the right half of my view, standing next to the row of grey tanks under the steel structure. The paved ground between us is clear, so I will walk forward to begin closing the gap.", + "The blue toilet looks slightly larger and remains in the right portion of my view, which tells me my heading is carrying me toward it. Nothing blocks the open ground ahead, so I will continue forward.", + "I am still some distance from the blue toilet, though its door and panels are becoming clearer beside the tanks. The route stays open past the concrete column on my left, so I will keep advancing to reduce the remaining distance.", + "The blue toilet is now clearly separated from the grey tanks behind it and sits in the right half of my view, but it is still too far for a stopping position. I will take another step forward along the open pavement to continue closing in.", + "As I have come closer, the blue toilet has drifted toward the right side of my view rather than staying centered, so my heading is angled slightly past it. I will turn right to bring it back near the center of my view before continuing to approach.", + "The turn has placed the blue portable toilet near the center of my view, standing beside the tanks with the open apron leading right up to it. With my heading now pointed at the target, I will walk forward to keep closing the remaining distance.", + "The blue portable toilet sits just left of center against the plant wall, still a fair distance off along this paved lane. My heading points straight down the open lane toward it, so I will keep walking forward to close the gap.", + "The toilet has grown noticeably larger and remains a little left of my heading, next to the grey tanks. The ground ahead is clear, so I will continue advancing to shorten the remaining distance.", + "I can now see the toilet's door panels and rounded roof clearly, meaning I am within a short walk of it. Nothing blocks the strip of pavement between me and it, so I will step forward again.", + "The portable toilet now occupies a large part of my view slightly left of center, with weeds to its left and tanks to its right. I am still a few steps short of standing right at it, so I will keep moving forward.", + "The blue unit is close and its front door face is angled toward me, so a couple more steps should bring me right up beside it. I will advance again to finish closing the distance.", + "The toilet fills much of my view and I am nearly at arm's reach of its door. One more forward step should place me directly at the unit, so I will take it.", + "The blue portable toilet's door panels and latch are directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..86fed4c2578ac5344590b3722ec2d3014ad2bc9c --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_b/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Approach the stack of wooden pallets.", + "Type": 0, + "Start_Pose": [ + 3434.435, + 5825.993, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3434.435, + 5825.993, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3417.093, + 5701.335, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3417.093, + 5701.335, + -12694.281, + 0.0, + -122.92, + 0.0 + ], + [ + 3348.693, + 5595.685, + -12694.697, + 0.0, + -122.92, + 0.0 + ], + [ + 3280.292, + 5490.035, + -12713.207, + 0.0, + -122.92, + 0.0 + ], + [ + 3211.892, + 5384.385, + -12713.207, + 0.0, + -122.92, + 0.0 + ], + [ + 3143.492, + 5278.735, + -12713.207, + 0.0, + -122.92, + 0.0 + ], + [ + 3075.092, + 5173.085, + -12713.207, + 0.0, + -122.92, + 0.0 + ], + [ + 3006.691, + 5067.436, + -12712.954, + 0.0, + -122.92, + 0.0 + ], + [ + 2938.291, + 4961.786, + -12712.954, + 0.0, + -122.92, + 0.0 + ], + [ + 2938.291, + 4961.786, + -12712.954, + 0.0, + -147.92, + 0.0 + ], + [ + 2831.65, + 4894.942, + -12712.954, + 0.0, + -147.92, + 0.0 + ], + [ + 2725.008, + 4828.098, + -12712.954, + 0.0, + -147.92, + 0.0 + ], + [ + 2618.367, + 4761.253, + -12712.954, + 0.0, + -147.92, + 0.0 + ], + [ + 2511.726, + 4694.409, + -12712.954, + 0.0, + -147.92, + 0.0 + ], + [ + 2405.085, + 4627.565, + -12710.377, + 0.0, + -147.92, + 0.0 + ], + [ + 2298.443, + 4560.721, + -12710.377, + 0.0, + -147.92, + 0.0 + ], + [ + 2191.802, + 4493.877, + -12710.377, + 0.0, + -147.92, + 0.0 + ], + [ + 2085.161, + 4427.033, + -12710.377, + 0.0, + -147.92, + 0.0 + ], + [ + 1978.52, + 4360.189, + -12708.728, + 0.0, + -147.92, + 0.0 + ], + [ + 1871.878, + 4293.345, + -12708.728, + 0.0, + -147.92, + 0.0 + ], + [ + 1765.237, + 4226.501, + -12701.162, + 0.0, + -147.92, + 0.0 + ], + [ + 1765.237, + 4226.501, + -12701.162, + 0.0, + -147.92, + 0.0 + ] + ], + "Rationale": [ + "From this open junction in the plant yard, the paved lane runs straight ahead between the pipe racks, and toward the left edge of my view I can make out low stacked timber near the storage bay. I will step forward along the clear pavement to close distance and get a better look at that material area before committing to a heading.", + "Straight ahead the lane leads deeper into the pipe bridges, while the stacked wooden material sits off to my left beside the concrete structure. I will turn left to bring that storage area toward the center of my view so I can walk directly at it.", + "After the turn, the spherical tanks and the concrete plant building fill my left side, and I can now see a stack of wooden pallets sitting on the ground beside a blue drum ahead to the left. The pavement between me and it is clear, so I will advance to reduce the distance.", + "The pallet stack beside the building is a little larger now and still slightly left of my center, confirming my heading is roughly correct. I will keep moving forward across the open apron rather than adjust the heading yet.", + "I can now resolve individual pallet boards in the stack near the base of the concrete building, so the target is clearly identified. Nothing blocks the pavement in front of me, so I continue forward to close the remaining gap.", + "The stack of pallets with green drums resting on top is plainly visible ahead to my left, and the distance is still substantial. I will keep walking straight to bring myself nearer before any final heading adjustment.", + "The pallet stack keeps growing in my view but it is drifting toward the left side as I advance, so I still have ground to cover before it is close. I will take another step forward along the open pavement and keep tracking it.", + "The stacked pallets and the drums on top are now clearly detailed at the foot of the concrete wall on my left, though not yet within close range. I will continue forward to shorten the distance further before correcting my heading toward them.", + "The stacked wooden pallets are now clearly visible at the left of my view, sitting on the apron beside the tall concrete structure with the blue drum near them. The paved lane ahead of me is open, so I will continue forward to cut down the remaining distance before I commit to a turn toward them.", + "The pallet stack sits well off to my left while my heading still points down the open lane past it, so straight travel would carry me by the target. I will turn left to bring the pallets closer to the center of my view and set a heading that leads directly to them.", + "After the turn, the stack of wooden pallets is centered in my view, tucked between the concrete structure on my right and the large spherical tank further left. The ground between us is flat and clear, so I will advance along this heading to close distance.", + "The pallets have grown slightly larger and remain on my current line of travel, with the green drums stacked on top of them now easier to make out. Nothing blocks the paved stretch in front of me, so I will keep stepping forward.", + "My heading is holding steady on the pallet stack, which now sits just left of center with the tarp-covered bundle and concrete wall to its right. I am still several paces away, so I will continue forward to keep closing the gap.", + "The layered wooden slats of the stack are now individually visible, confirming it is the pallet pile I am after. The weeds and low kerbing stay to my right side of the path, so I will step forward again along the open concrete.", + "The pallet stack fills more of my view and the loose planks lying on the ground in front of it are now visible, so I am getting close. I will continue forward to reduce the remaining gap before stopping.", + "I am only a short distance from the pallets now, with the leaning spare pallets and the tarp-wrapped load clearly beside them against the concrete wall. There is still open floor between me and the stack, so I will advance again to arrive right in front of it.", + "The stacked wooden pallets are clearly in view just left of center, tucked against the concrete wall with loose boards lying on the ground in front of them. My heading already points into that open paved gap, so I will step forward to keep closing the remaining distance.", + "The pallet stack now appears noticeably larger and its individual slats are becoming distinct, confirming the gap is shrinking with each step. The route stays clear apart from the flat boards on the ground, so I will continue forward toward it.", + "The stack of pallets and the leaning spare pallets beside it now fill much of the left and center of my view, so I am within a few steps of it. I will advance again to reduce the last of the standoff distance.", + "The stack is close enough that its full height and the layered pallet openings are plainly visible ahead and slightly left. One more step forward should bring me right up beside it.", + "The pallet stack now looms across the left side of my view at arm's-length scale, with the wall behind it and the leaning pallets to the right. I will take one final step forward so I am standing directly at the stack.", + "The stacked wooden pallets fill my view at arm's reach, their slats directly in front of me. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..79552034e91f236bd25e3dbf41bde88541635754 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t0_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Move to the blue barrels beside the building.", + "Type": 0, + "Start_Pose": [ + 3434.435, + 5825.993, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3434.435, + 5825.993, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3417.093, + 5701.335, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3399.751, + 5576.676, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3382.409, + 5452.018, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3365.066, + 5327.359, + -12691.137, + 0.0, + -97.92, + 0.0 + ], + [ + 3347.724, + 5202.701, + -12713.207, + 0.0, + -97.92, + 0.0 + ], + [ + 3347.724, + 5202.701, + -12713.207, + 0.0, + -122.92, + 0.0 + ], + [ + 3279.324, + 5097.051, + -12712.956, + 0.0, + -122.92, + 0.0 + ], + [ + 3210.924, + 4991.401, + -12712.956, + 0.0, + -122.92, + 0.0 + ], + [ + 3142.524, + 4885.751, + -12712.956, + 0.0, + -122.92, + 0.0 + ], + [ + 3074.123, + 4780.101, + -12712.956, + 0.0, + -122.92, + 0.0 + ], + [ + 3005.723, + 4674.451, + -12712.956, + 0.0, + -122.92, + 0.0 + ], + [ + 2937.323, + 4568.802, + -12712.956, + 0.0, + -122.92, + 0.0 + ], + [ + 2868.922, + 4463.152, + -12713.208, + 0.0, + -122.92, + 0.0 + ], + [ + 2800.522, + 4357.502, + -12713.208, + 0.0, + -122.92, + 0.0 + ], + [ + 2729.392, + 4268.618, + -12713.208, + 0.0, + -122.92, + 0.0 + ], + [ + 2729.392, + 4268.618, + -12713.208, + 0.0, + -147.92, + 0.0 + ], + [ + 2622.635, + 4202.001, + -12710.429, + 0.0, + -147.92, + 0.0 + ], + [ + 2515.994, + 4135.157, + -12710.429, + 0.0, + -147.92, + 0.0 + ], + [ + 2433.178, + 4075.092, + -12708.888, + 0.0, + -147.92, + 0.0 + ], + [ + 2433.178, + 4075.092, + -12708.888, + 0.0, + -147.92, + 0.0 + ] + ], + "Rationale": [ + "Far down the open concrete lane on the left side, beside the tall concrete building, I can pick out a small cluster of blue barrels among the pallets and stacked material. The roadway straight ahead is clear of obstacles, so walking forward is the most direct way to begin closing that distance. I will step forward and keep watching the barrels grow in my view.", + "The blue barrels beside the left-hand concrete building are slightly larger and clearer now, which tells me my current heading is carrying me toward them. Nothing blocks the lane ahead, so continuing straight remains the efficient way to close the gap. I will take another step forward before considering any heading change.", + "The barrels remain off to my left along the building wall, and they are still far enough away that turning now would be premature. The pipe rack overhead and the open ground under it leave the path forward clear. I will keep walking straight to gain ground toward that side of the yard.", + "The stack of blue barrels beside the left building is now clearly resolved against the concrete wall, so my target identification is holding steady. The lane in front of me is still unobstructed cracked concrete, so more forward walking keeps reducing distance cheaply. I will advance again and reassess my heading once the barrels sit closer.", + "The barrels are noticeably bigger and now sit well toward the left edge of my view, meaning I am drawing level with that stretch of building. Since the ground straight ahead is still open, one more forward step should bring me nearer before I need to swing my heading toward them. I will keep moving forward.", + "The blue barrels have drifted far into the left portion of my view while my body still faces down the open lane, so straight walking would carry me past them. Turning to the left should bring the barrels and the building wall closer to the center of my heading. I will rotate left rather than take another forward step.", + "After rotating, the concrete building and the small blue barrels beside its pallets are now much better centered in my forward view. The apron of pavement between me and them is clear, so walking forward should shorten the remaining distance along this new heading. I will step ahead toward the barrels.", + "The pair of blue barrels beside the stacked pallets is visibly larger and holding its place in my forward view, confirming this heading is good. There is still open ground and only low weeds between me and that spot. I will continue walking forward to keep closing on them.", + "The blue barrels sit on a pallet against the concrete building on the left side of this open lane, still a fair distance ahead of me. My heading keeps them within the left half of my view with clear paved ground in front, so I will keep walking forward to close the gap.", + "The barrels beside the building now appear noticeably larger and slightly further to my left, which tells me my last step brought me closer along this lane. Nothing blocks the pavement between me and them, so another forward step should continue shrinking the distance.", + "I can now clearly resolve the individual blue drums stacked on their pallet next to the grey tarped crates by the building wall. They are still well ahead of me, so I will keep advancing along the open lane toward them.", + "The barrels have grown larger and drifted toward the left of my view as I close in, with the orange marker posts lining the walkway edge on my right side of them. The path stays clear, so I will take another step forward to continue closing the remaining distance.", + "The blue barrels are clearly close now, sitting on their wooden pallet just off the walkway beside the building. I am still short of them, so I will keep walking forward rather than stopping early.", + "The three blue drums fill a good part of the left side of my view, so only a short stretch of pavement separates me from them. I will step forward again to bring myself alongside the pallet.", + "The barrels are now very near, low and large at my left, with the building wall and its ladder rising directly behind them. One more forward step should place me right beside the pallet where they stand.", + "I am now right up beside the blue barrels, but they sit off to my left edge while my body still faces down the open lane. Turning left should bring the barrels squarely in front of me so I can finish approaching them head on.", + "The blue barrels on their pallet now sit near the center of my view, right against the wall of the building, so my heading is lined up with them. The concrete apron ahead is open and free of obstructions, so I will step forward to close the remaining gap.", + "The barrels have grown noticeably larger and their pallet is clearly visible just ahead, confirming that my line of travel is bringing me straight to them. Nothing blocks the paved strip in front of me, so another step forward should place me close beside the barrels.", + "The blue barrels now tower directly in front of me and fill most of my view, so only a short remaining gap separates me from them. I will take one more step forward to stand right at the barrels beside the building.", + "The blue barrels beside the building fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..649edccca61d3d9c5dc9ec59a833b5c253fd34d5 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003434_y005826_z-012694_t5_a_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the green bell pepper near the blue portable toilet.", + "Type": 5, + "Start_Pose": [ + 3434.435, + 5825.993, + -12694.281, + 0, + -97.92, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3991.264, + 4710.626, + -12768.002, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3434.435, + 5825.993, + -12694.281, + 0, + -97.92, + 0 + ], + [ + 3417.093, + 5701.335, + -12694.281, + 0.0, + -97.92, + 0.0 + ], + [ + 3417.093, + 5701.335, + -12694.281, + 0.0, + -72.92, + 0.0 + ], + [ + 3454.059, + 5581.027, + -12694.281, + 0.0, + -72.92, + 0.0 + ], + [ + 3491.024, + 5460.719, + -12694.281, + 0.0, + -72.92, + 0.0 + ], + [ + 3527.99, + 5340.41, + -12690.384, + 0.0, + -72.92, + 0.0 + ], + [ + 3527.99, + 5340.41, + -12690.384, + 0.0, + -47.92, + 0.0 + ], + [ + 3612.336, + 5246.997, + -12690.384, + 0.0, + -47.92, + 0.0 + ], + [ + 3696.683, + 5153.583, + -12694.251, + 0.0, + -47.92, + 0.0 + ], + [ + 3781.03, + 5060.169, + -12712.993, + 0.0, + -47.92, + 0.0 + ], + [ + 3865.376, + 4966.755, + -12712.993, + 0.0, + -47.92, + 0.0 + ], + [ + 3949.723, + 4873.342, + -12712.993, + 0.0, + -47.92, + 0.0 + ], + [ + 3949.723, + 4873.342, + -12712.993, + 0.0, + -47.92, + 0.0 + ], + [ + 3949.723, + 4873.342, + -12712.993, + 0.0, + -47.92, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3991.264, + 4710.626, + -12768.002, + 0.0, + 0.0, + 0.0 + ], + [ + 3965.163, + 4888.105, + -12742.816, + -28.202, + 2.225, + 1.862 + ], + [ + 3965.163, + 4888.105, + -12742.816, + -28.202, + 2.225, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1246.6, + 1145.1, + 1145.1, + 1022.8, + 901.6, + 781.8, + 781.8, + 656.7, + 532.0, + 407.9, + 285.4, + 167.9, + 21.4, + 21.4 + ], + "Rationale": [ + "I can already spot the blue portable toilet far off on the right side of the yard, with a small green bell pepper resting on the ground beside it. The open concrete lot ahead is clear, so I will walk forward to close some of that long distance before refining my heading.", + "After stepping forward, the portable toilet and the green pepper still sit well off to my right rather than in front of me, so walking straight would carry me past them. I will turn right to bring the toilet and the pepper toward the center of my view before continuing.", + "The turn has swung the blue portable toilet and the green pepper into the right half of my view, with an unobstructed stretch of pavement between me and them. I will walk forward along this line to cut down the remaining distance.", + "The portable toilet and the green pepper beside it are noticeably larger than a moment ago, which tells me this heading is closing distance correctly. Nothing blocks the concrete lane ahead, so I will keep walking forward.", + "The blue toilet and the green pepper are still ahead and slightly right, and they continue to grow as I advance. I will take another step forward since the direct route across the yard remains clear.", + "I am now much closer, but the pepper and the toilet have drifted toward the right portion of my view rather than sitting straight ahead. I will turn right to square my heading onto the pepper so my remaining steps lead directly to it.", + "The turn has placed the blue portable toilet and the green pepper close to the middle of my view, with clean pavement leading straight to them. I will walk forward to close the remaining gap toward the pepper.", + "The green pepper sits clearly on the ground just left of the blue toilet and is getting closer with each step along this heading. I will keep walking forward to reach a distance where a grasp attempt becomes practical.", + "The green bell pepper sits ahead and slightly left of center, resting on the pavement beside the blue portable toilet, and the ground between us is open and clear. It is still several paces away, too far for a reliable grasp. I will keep walking forward to close that gap.", + "The pepper now appears noticeably larger in the lower left of my view, confirming that my forward line is bringing me steadily closer to it and to the blue portable toilet behind it. It is still short of comfortable reach from where I stand. Another step forward should tighten the distance without needing to reorient.", + "The bell pepper is large and close in the lower left foreground now, with the portable toilet just past it. I judge it is still marginally beyond a dependable grasp, so one more step should place it squarely within arm's reach. I will advance again before attempting the pick.", + "The green bell pepper now fills the bottom of my view right at my feet, directly beside the blue portable toilet named in the task. This is close enough that a grasp should connect. I will reach down and try to pick it up.", + "The green bell pepper is now held in my hand in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ffc0861b15cf0df5fb7bd5f22baf0d1fe6feef7 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the GATE-01 entrance.", + "Type": 0, + "Start_Pose": [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -174.76, + 0.0 + ], + [ + 3516.911, + 2502.582, + -12706.352, + 0.0, + -174.76, + 0.0 + ], + [ + 3391.578, + 2491.088, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3266.245, + 2479.594, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3140.912, + 2468.099, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3015.579, + 2456.605, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 2890.246, + 2445.11, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 2890.246, + 2445.11, + -12713.36, + 0.0, + 160.24, + -0.0 + ], + [ + 2771.798, + 2487.661, + -12713.36, + 0.0, + 160.24, + -0.0 + ], + [ + 2653.35, + 2530.211, + -12710.355, + 0.0, + 160.24, + -0.0 + ], + [ + 2534.902, + 2572.762, + -12710.355, + 0.0, + 160.24, + -0.0 + ], + [ + 2534.902, + 2572.762, + -12710.355, + 0.0, + -174.76, + 0.0 + ], + [ + 2409.569, + 2561.267, + -12708.805, + 0.0, + -174.76, + 0.0 + ], + [ + 2284.236, + 2549.773, + -12708.805, + 0.0, + -174.76, + 0.0 + ], + [ + 2158.902, + 2538.279, + -12708.805, + 0.0, + -174.76, + 0.0 + ], + [ + 2158.902, + 2538.279, + -12708.805, + 0.0, + -174.76, + 0.0 + ] + ], + "Rationale": [ + "I can read GATE-01 stencilled on the left-hand roller door of the concrete building, but it sits well off to the left side of my view while I am facing along the open paved yard. I will turn left to bring that gate and its neighbouring door toward the centre of my heading before I start closing distance. That should give me a straight walking line across the apron toward the entrance.", + "The two shutter doors, with GATE-01 on the left, now sit near the middle of my view across the open concrete apron. Nothing blocks the ground between me and the building except a couple of slim orange posts to the sides. I will walk forward to begin closing the gap toward the entrance.", + "The gate wall has grown slightly larger and its lettering is easier to read, so my heading is carrying me straight at the entrance. There is still a long stretch of cracked concrete between me and the doors. I continue forward to keep reducing that distance.", + "The concrete facade with GATE-01 now fills more of my view and the canopies above the doors are clearly visible. I am still several strides short of the entrance apron. Another step forward should keep the approach on line.", + "GATE-01 and GATE-02 are both plainly readable straight ahead, and the orange bollard sits just to my left of centre without blocking my line. The paved strip in front of the doors is coming into reach. I keep walking forward toward the entrance.", + "The building now occupies almost my whole view, with GATE-01 to the left of the dividing pillar and GATE-02 to the right. I am close to the kerb of the entrance apron but not yet at the door itself. I continue forward to close the remaining gap.", + "I am nearly onto the concrete pad in front of the doors, with the striped barrier board and weeds off to the left and the bollard just ahead of me. GATE-01 still lies slightly left of my centre line, so I have room to keep advancing. One more forward step should bring me onto the entrance apron.", + "From this close range GATE-01 sits left of my centre while GATE-02 takes up the right side of my view, so walking straight would carry me toward the pillar between them and the bollard directly ahead. I will turn left to put the GATE-01 shutter squarely in front of me. That should give me a clean line into the correct entrance.", + "The GATE-01 shutter now sits near the middle of my view after my slight left turn, with the adjacent GATE-02 bay off to the right. The paved apron in front of me is clear apart from the orange bollard well to my right, so I will step forward to close distance on the labeled bay.", + "GATE-01 is noticeably larger and its stenciled lettering is clearer, confirming my heading is carrying me toward the correct bay. The ground between me and the shutter stays open, with the fenced stair and weeds safely to my left, so I continue advancing.", + "The GATE-01 shutter and its overhead canopy now dominate the upper part of my view, so I am within a few paces of the entrance. I will keep walking forward to reduce the remaining gap before making any final heading adjustment.", + "At this close range the GATE-01 shutter has drifted to the right side of my view while the fence and barricade fill the left, so my heading is angled off the bay. I will turn right to bring the shutter back to the center of my view and square up on the entrance.", + "The turn has centered the GATE-01 shutter, with the neighboring GATE bay visible to its right and clear concrete directly under me. With my heading squared on the target, I will step forward to finish closing the short remaining distance.", + "The GATE-01 panel now fills most of my view and I can see the base of the shutter meeting the floor. I will advance again to stand right at the entrance threshold.", + "I am very close now, with only part of the GATE-01 lettering and the shutter's lower edge still visible ahead of me. One more short step forward should place me directly at the entrance.", + "The GATE-01 shutter surface and its stenciled lettering are directly in front of me at arm's length. The task is complete, so I stop here at the entrance." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6d2f225b6dfef793bf4d64e027586b6629f06987 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the GATE-02 entrance.", + "Type": 0, + "Start_Pose": [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + [ + 3533.511, + 2450.691, + -12706.383, + 0.0, + -149.76, + 0.0 + ], + [ + 3424.779, + 2387.306, + -12706.383, + 0.0, + -149.76, + 0.0 + ], + [ + 3316.046, + 2323.92, + -12713.208, + 0.0, + -149.76, + 0.0 + ], + [ + 3207.314, + 2260.535, + -12713.208, + 0.0, + -149.76, + 0.0 + ], + [ + 3098.581, + 2197.149, + -12713.208, + 0.0, + -149.76, + 0.0 + ], + [ + 3098.581, + 2197.149, + -12713.208, + 0.0, + -174.76, + 0.0 + ], + [ + 2973.248, + 2185.655, + -12713.208, + 0.0, + -174.76, + 0.0 + ], + [ + 2847.915, + 2174.16, + -12713.208, + 0.0, + -174.76, + 0.0 + ], + [ + 2722.582, + 2162.666, + -12712.722, + 0.0, + -174.76, + 0.0 + ], + [ + 2597.249, + 2151.172, + -12710.285, + 0.0, + -174.76, + 0.0 + ], + [ + 2471.916, + 2139.677, + -12710.285, + 0.0, + -174.76, + 0.0 + ], + [ + 2346.583, + 2128.183, + -12708.786, + 0.0, + -174.76, + 0.0 + ], + [ + 2221.25, + 2116.688, + -12708.786, + 0.0, + -174.76, + 0.0 + ], + [ + 2134.883, + 2106.029, + -12708.788, + 0.0, + -174.76, + 0.0 + ], + [ + 2134.883, + 2106.029, + -12708.788, + 0.0, + -174.76, + 0.0 + ] + ], + "Rationale": [ + "The stenciled roller doors labelled GATE-01 and GATE-02 are visible on the concrete building ahead and to my left, so my target is already localized. The open paved yard in front of me is clear of the marker posts, so I will step forward to begin closing the distance toward that facade.", + "The gate doors now read slightly larger and the row of short orange posts along the walkway has shifted toward the lower left, confirming my previous step brought me nearer the building. The lane ahead is still open, so I will continue forward to keep reducing the gap to GATE-02.", + "GATE-02 is clearly legible beside GATE-01 on the facade to my left, and the pipe racks stay off to the right of my path. Nothing blocks the concrete apron ahead of me, so I will take another step forward along it.", + "The building wall now fills much more of my left side and the nearest post has slid to the left edge of my view, so I am noticeably closer than before. I will keep walking forward, since the remaining distance to the gates is still large.", + "GATE-02 is the closest labelled door on the facade to my left and its lettering is now large and sharp, but I am still off to the side of it rather than in front. Another forward step should bring me level with that bay before I square up to it.", + "GATE-02 now sits well to my left and I am looking at the facade at a sharp angle, which means walking straight ahead would carry me past the entrance instead of toward it. I will turn left to swing my heading onto the gate bay so my next steps close on it directly.", + "The turn worked, and both gate doors are now squarely in front of me with GATE-02 just right of center and the ground between us clear concrete. I will walk forward along this heading to close the remaining distance to the entrance.", + "GATE-02 has grown noticeably and its door panel and surrounding concrete now dominate the center right of my view, so my heading is holding well. Only the weed clump near the door edge lies off to the side, so I will continue forward toward the entrance.", + "The GATE-02 shutter with its stenciled label sits slightly right of center in my view, with open concrete apron between me and it. My heading already lines up with that door, so I will keep walking forward to close the remaining distance.", + "GATE-02 now fills more of my view and its lettering has grown noticeably larger, confirming I am closing on the right door. I will continue forward, since the ground ahead stays flat and unobstructed apart from weeds off to the right.", + "The GATE-02 panel is close enough that its lower edge and the concrete threshold are clearly visible ahead of me. Another step forward should bring me nearer to the entrance without drifting toward the neighboring GATE-01 bay on my left.", + "GATE-02 is now centered directly in front of me, with only a short strip of cracked concrete separating me from the shutter. I will advance again to stand right at the entrance.", + "The shutter's horizontal slats and the GATE-02 stencil are close and sharply detailed, so I am only a step or two from the doorway. I will step forward once more to finish closing the gap to the entrance.", + "The GATE-02 lettering now spans nearly my whole view and the shutter surface is right in front of my face, so I am essentially at the entrance. I will take one last short step to settle directly at the gate before stopping.", + "I am standing directly at the GATE-02 shutter, its slatted surface filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d74766f721a0909f5026bdcf16dd5704a1944d6 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the portable orange-and-white striped construction barricade against the wall beside GATE-01.", + "Type": 0, + "Start_Pose": [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -174.76, + 0.0 + ], + [ + 3516.911, + 2502.582, + -12706.352, + 0.0, + -174.76, + 0.0 + ], + [ + 3391.578, + 2491.088, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3266.245, + 2479.594, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3140.912, + 2468.099, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3140.912, + 2468.099, + -12713.36, + 0.0, + 160.24, + -0.0 + ], + [ + 3022.464, + 2510.65, + -12713.36, + 0.0, + 160.24, + -0.0 + ], + [ + 2904.016, + 2553.2, + -12713.109, + 0.0, + 160.24, + -0.0 + ], + [ + 2785.568, + 2595.751, + -12713.109, + 0.0, + 160.24, + -0.0 + ], + [ + 2667.12, + 2638.301, + -12710.323, + 0.0, + 160.24, + -0.0 + ], + [ + 2548.672, + 2680.852, + -12710.323, + 0.0, + 160.24, + -0.0 + ], + [ + 2430.223, + 2723.402, + -12708.725, + 0.0, + 160.24, + -0.0 + ], + [ + 2430.223, + 2723.402, + -12708.725, + 0.0, + 160.24, + -0.0 + ] + ], + "Rationale": [ + "From here I can read the GATE-01 and GATE-02 shutters on the concrete wall off to my left, while my heading points down the open paved yard instead. The barricade should be sitting low against that wall beside GATE-01, so I will turn left to bring the gate wall toward the center of my view before walking in.", + "The GATE-01 and GATE-02 shutters are now centered ahead of me across the open concrete apron, with only a slim post and some weeds between me and the wall. The target barricade is still too far to resolve clearly, so I will step forward along this clear pavement to close distance.", + "The two shutters have grown noticeably larger and the small pale object at the base of the wall left of GATE-01 is starting to stand out. My path across the apron is still clear apart from the thin marker post off to my right, so I continue walking forward.", + "GATE-01 now fills much of the wall ahead of me and the low object beside its left edge is resolving into a small A-frame standing against the concrete. Nothing blocks the pavement in front of me, so I keep advancing to shorten the remaining distance.", + "I am close enough now that the gate wall spans nearly my whole view, and the candidate barricade sits low near the fenced corner to the left of GATE-01. I will take another step forward to keep closing on the wall before refining my heading.", + "The target sits at the left end of the wall next to GATE-01, while my current heading is aimed between the two shutters. I will turn left so that the fenced corner and the small striped object beside GATE-01 come toward the center of my path.", + "With the turn done, GATE-01 and the fenced corner beside it are now ahead of me, and the small orange-and-white striped stand against the wall is coming into view past the weeds. The pavement toward it is open, so I will walk forward to close in.", + "The striped barricade is now clearly identifiable as a portable A-frame set against the concrete just left of the GATE-01 shutter. I am still several paces short of it, so I will continue forward, keeping the weeds and gate posts on my left.", + "The small orange-and-white striped barricade is now clearly visible left of the GATE-01 door, standing against the wall beside the weeds and the metal stair railing. It is still several paces away, so I will keep walking forward along this heading to close the gap.", + "The barricade has grown noticeably larger and sits slightly left of center, confirming my heading is still lined up with it. I will advance again to reduce the remaining distance across the clear concrete.", + "I can now make out the individual legs and the striped panel of the barricade beside the gate, but I am not yet within close standing range of it. Another step forward should bring me nearer without needing to change heading.", + "The barricade is close now, filling much of the lower left of my view against the wall next to the GATE-01 door. One more forward step should place me directly in front of it at a comfortable standing distance.", + "The orange-and-white striped barricade stands directly in front of me against the wall beside the GATE-01 door. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8608b2bed972db6f7ef723a0fd710da52b47f60 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Move to the stack of large dark pipes.", + "Type": 0, + "Start_Pose": [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + [ + 3533.511, + 2450.691, + -12706.383, + 0.0, + -149.76, + 0.0 + ], + [ + 3424.779, + 2387.306, + -12706.383, + 0.0, + -149.76, + 0.0 + ], + [ + 3316.046, + 2323.92, + -12713.208, + 0.0, + -149.76, + 0.0 + ], + [ + 3207.314, + 2260.535, + -12713.208, + 0.0, + -149.76, + 0.0 + ], + [ + 3207.314, + 2260.535, + -12713.208, + 0.0, + -124.76, + 0.0 + ], + [ + 3135.556, + 2157.136, + -12713.208, + 0.0, + -124.76, + 0.0 + ], + [ + 3063.799, + 2053.736, + -12713.208, + 0.0, + -124.76, + 0.0 + ], + [ + 2992.042, + 1950.337, + -12712.943, + 0.0, + -124.76, + 0.0 + ], + [ + 2920.285, + 1846.938, + -12710.365, + 0.0, + -124.76, + 0.0 + ], + [ + 2848.527, + 1743.539, + -12710.365, + 0.0, + -124.76, + 0.0 + ], + [ + 2776.77, + 1640.14, + -12712.854, + 0.0, + -124.76, + 0.0 + ], + [ + 2705.013, + 1536.741, + -12710.414, + 0.0, + -124.76, + 0.0 + ], + [ + 2633.256, + 1433.342, + -12710.414, + 0.0, + -124.76, + 0.0 + ], + [ + 2561.498, + 1329.942, + -12710.414, + 0.0, + -124.76, + 0.0 + ], + [ + 2489.741, + 1226.543, + -12710.414, + 0.0, + -124.76, + 0.0 + ], + [ + 2489.741, + 1226.543, + -12710.414, + 0.0, + -124.76, + 0.0 + ] + ], + "Rationale": [ + "From this open paved yard I can already pick out the stack of large dark pipes resting under the low pipe rack, ahead of me and to the right of the concrete gate building. The pavement in front of me is clear and flat, so I will step forward to begin closing the considerable distance to that stack.", + "The pipe stack is slightly larger now and its round ends are becoming distinguishable, which tells me my heading is carrying me toward it. Nothing blocks the pavement between me and the row of short bollards, so I will continue forward.", + "The stack of dark pipes still sits well ahead on the right side of my view, beyond the curb line marked by the orange bollards. Since my current heading keeps it in sight and the ground is open, I will take another step forward to keep shrinking the gap.", + "The gate building wall is now sliding past on my left while the pipe stack and its supporting rack grow in the right half of my view. I will advance once more to bring the stack and the open yard beside it into better reach.", + "Holding this heading would walk me along the face of the concrete gate building and into the weedy curb strip in front of the rack rather than up to the pipes. Turning right should put the wide open lane straight in front of me, letting me advance on clear pavement toward the exposed ends of the pipe stack.", + "The open lane now runs straight ahead of me with the dark pipe stack sitting under its rack to my left front and the tall refinery towers off to the right. I will move forward along this clear pavement to close on the stack from its open end.", + "The pipes on my left are noticeably bigger and I can now make out individual capped ends and the ribbed bodies behind them. The lane stays clear apart from the bollards along the curb, so I will continue forward.", + "There is still a stretch of pavement and a low curb strip between me and the stacked pipes on my left, so I am not yet beside them. I will step forward again to draw level with the pile of large dark pipes.", + "The stack of large dark pipes with rust colored ends sits under the pipe support structure just left of my heading, still several body lengths away across open paving. My current heading keeps that stack well inside my view with clear ground ahead, so I will step forward to close the gap.", + "The pipe stack has grown noticeably larger and its individual circular ends are now distinct, confirming the previous step closed real distance. The lane in front of me remains clear, so I continue walking forward toward the stack.", + "The stacked pipes now fill much of the left side of my view, and the nearest orange bollard has slid off to my right, so my path stays unobstructed. I keep advancing to bring myself close to the stack.", + "The pipe ends are large and clearly detailed ahead on my left, with weeds growing at the base of the stack now visible. There is still open concrete between me and the pile, so another forward step should shorten that remaining gap.", + "The pipe stack now dominates the left half of my view and its lower row of ends is close to eye level, showing I am nearly beside it. A short remaining stretch of paving still separates me from the pile, so I step forward again.", + "The rust stained ends of the large pipes now loom directly ahead and left, with foreground weeds at my feet. I advance once more to stand right at the stack rather than stopping short of it.", + "The large pipe ends are almost within arm's reach, filling most of my view with only a thin band of ground left between us. One final short step should place me directly at the stack.", + "The large dark pipes fill my view at arm's reach, their ends directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_e/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c1b87c38a0c330cd5f40dc7d2e92588c4b1fb97 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t0_e/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the red-and-white bollard directly in front of GATE-01.", + "Type": 0, + "Start_Pose": [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -149.76, + 0.0 + ], + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -174.76, + 0.0 + ], + [ + 3516.911, + 2502.582, + -12706.352, + 0.0, + -174.76, + 0.0 + ], + [ + 3391.578, + 2491.088, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3266.245, + 2479.594, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3140.912, + 2468.099, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3015.579, + 2456.605, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 2890.246, + 2445.11, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 2890.246, + 2445.11, + -12713.36, + 0.0, + -174.76, + 0.0 + ] + ], + "Rationale": [ + "I can read GATE-01 on the concrete building, but it sits well toward the left side of my view along with the short red-and-white bollard standing on the apron in front of it. Turning left should bring that gate and its bollard toward the center of my view so I can walk straight at them.", + "GATE-01 and GATE-02 now sit near the center of my view, with the bollard in front of GATE-01 standing on the paved apron ahead of me. The open concrete surface between us looks clear, so I will walk forward to start closing that distance.", + "The gate wall has grown slightly larger and the bollard in front of GATE-01 remains just left of my center line, still some distance away across the flat apron. I will keep walking forward since my heading already points at it.", + "The building facade fills more of my view and the red-and-white bollard by GATE-01 is clearly resolved on the apron ahead. Nothing blocks the pavement between us, so another step forward should continue shortening the gap.", + "GATE-01 and its bollard are close enough now that the lettering is sharp, and the bollard sits almost exactly on my line of travel. I will advance again to reduce the remaining few paces.", + "The bollard now stands prominently in front of GATE-01 with its orange and white bands distinct, and it is centered in my path. One more step forward should bring me to a position right at it.", + "I am nearly on top of the bollard, which rises just below my center of view directly in front of the GATE-01 door. A final short step forward should place me immediately beside it.", + "The red-and-white bollard stands directly in front of me at arm's reach, centered before the GATE-01 door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..918668d237590abc77dc35e1ee0b007595e885b1 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t5_a_p/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the jerry can near the GATE-01 entrance.", + "Type": 5, + "Start_Pose": [ + 3642.244, + 2514.077, + -12710.281, + 0, + -149.76, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2360.961, + 2538.007, + -12788.738, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3642.244, + 2514.077, + -12710.281, + 0, + -149.76, + 0 + ], + [ + 3642.244, + 2514.077, + -12710.281, + 0.0, + -174.76, + 0.0 + ], + [ + 3516.911, + 2502.582, + -12706.352, + 0.0, + -174.76, + 0.0 + ], + [ + 3391.578, + 2491.088, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3266.245, + 2479.594, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3140.912, + 2468.099, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3015.579, + 2456.605, + -12713.36, + 0.0, + -174.76, + 0.0 + ], + [ + 3015.579, + 2456.605, + -12713.36, + 0.0, + 160.24, + -0.0 + ], + [ + 2897.131, + 2499.155, + -12713.36, + 0.0, + 160.24, + -0.0 + ], + [ + 2778.683, + 2541.706, + -12713.109, + 0.0, + 160.24, + -0.0 + ], + [ + 2778.683, + 2541.706, + -12713.109, + 0.0, + -174.76, + 0.0 + ], + [ + 2653.35, + 2530.211, + -12710.353, + 0.0, + -174.76, + 0.0 + ], + [ + 2528.017, + 2518.717, + -12710.353, + 0.0, + -174.76, + 0.0 + ], + [ + 2528.017, + 2518.717, + -12710.353, + 0.0, + -174.76, + 0.0 + ], + [ + 2528.017, + 2518.717, + -12710.353, + 0.0, + -174.76, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2360.961, + 2538.007, + -12788.738, + 0.0, + 0.0, + 0.0 + ], + [ + 2530.575, + 2497.508, + -12740.174, + -28.202, + -124.615, + 1.862 + ], + [ + 2530.575, + 2497.508, + -12740.174, + -28.202, + -124.615, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1281.5, + 1281.5, + 1156.5, + 1031.7, + 907.2, + 783.1, + 659.7, + 659.7, + 537.6, + 417.7, + 417.7, + 292.5, + 168.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The GATE-01 and GATE-02 doors sit off to my left across the open concrete yard, and my current heading points more toward the open road and pipe racks on the right. Turning left should bring the gate frontage, where the jerry can should be sitting, closer to the center of my view before I start walking. This gives me a straighter approach line to the entrance area.", + "The gate wall with GATE-01 and GATE-02 is now roughly centered ahead of me, with clear paved yard between me and it. The small reddish container near the base of the wall is still too far and too small to identify confidently, so I will walk forward to close distance. The pavement ahead looks flat and unobstructed for a straight advance.", + "The gate facade has grown noticeably larger, confirming that this heading is closing on the entrance. A small rust colored object still stands near the wall between the two gates, which is the likely jerry can, but it needs to be closer to confirm. I will keep walking straight along the clear pavement.", + "The doorway lintels and the bollard in front of the yard are becoming clearer, so the straight advance is still paying off. The reddish container near the left gate remains my most plausible target, and it is still several strides away. I will continue forward on the open concrete rather than adjusting heading yet.", + "I am close enough now that GATE-01 and GATE-02 lettering reads clearly, and the reddish can sits on the pavement to the left of the orange bollard. There is still open ground ahead, so another step forward reduces the remaining gap. I will keep advancing before refining my alignment.", + "The gate wall now fills much of my view and the small rust colored jerry can is clearly resting on the apron just left of the bollard. I am not yet within reach of it, so I will step forward again over the open pavement. The bollard sits to the right of my line, so it should not block this stride.", + "From here the jerry can sits to the left of my current heading, near the base of the GATE-01 door, while my center of view is aimed between the two gates. Turning left should place the can more directly in front of me so my remaining approach runs straight at it. This avoids drifting toward GATE-02 and the bollard.", + "After the turn the jerry can sits ahead and slightly left in front of the GATE-01 door, with clear pavement between us. It is still beyond arm's reach, so I will walk forward to close the remaining gap. The bollard is now off to my right and should stay clear of my path.", + "The red jerry can is clearly visible on the concrete apron in front of the GATE-01 door, still several strides away and slightly right of my heading. I will walk forward again to close that remaining gap before I can reach it.", + "From here the jerry can sits noticeably right of my facing direction, with the fence and weeds filling the left side of my view. I will turn right so the can moves toward the center of my heading and my remaining approach stays straight.", + "The jerry can is now centered ahead of me on the open concrete in front of GATE-01, with nothing blocking the path between us. I will step forward to keep closing the distance toward a reachable grasp position.", + "The can now fills a good part of the lower view and the GATE-01 lettering is close, so I am nearly within arm's reach but not quite there. One more forward step should bring the can close enough in front of me to attempt a grasp.", + "The jerry can is directly in front of me at the bottom of my view, close enough that its handle and cap are clearly distinguishable against the GATE-01 door. I will attempt to pick it up now, since this is the grasp position the task requires.", + "The jerry can is now held in my hands, visible carried in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t5_b_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03f175d3d6212fde1cf0af7012b391e72b30f5b3 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003642_y002514_z-012710_t5_b_p/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Lift the jerry can near the GATE-02 entrance.", + "Type": 5, + "Start_Pose": [ + 3642.244, + 2514.077, + -12710.281, + 0, + -149.76, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2222.631, + 2017.628, + -12788.729, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3642.244, + 2514.077, + -12710.281, + 0, + -149.76, + 0 + ], + [ + 3533.511, + 2450.691, + -12706.383, + 0.0, + -149.76, + 0.0 + ], + [ + 3424.779, + 2387.306, + -12706.383, + 0.0, + -149.76, + 0.0 + ], + [ + 3316.046, + 2323.92, + -12713.208, + 0.0, + -149.76, + 0.0 + ], + [ + 3207.314, + 2260.535, + -12713.208, + 0.0, + -149.76, + 0.0 + ], + [ + 3098.581, + 2197.149, + -12713.208, + 0.0, + -149.76, + 0.0 + ], + [ + 3098.581, + 2197.149, + -12713.208, + 0.0, + -174.76, + 0.0 + ], + [ + 2973.248, + 2185.655, + -12713.208, + 0.0, + -174.76, + 0.0 + ], + [ + 2847.915, + 2174.16, + -12713.208, + 0.0, + -174.76, + 0.0 + ], + [ + 2722.582, + 2162.666, + -12712.722, + 0.0, + -174.76, + 0.0 + ], + [ + 2597.249, + 2151.172, + -12710.285, + 0.0, + -174.76, + 0.0 + ], + [ + 2471.916, + 2139.677, + -12710.285, + 0.0, + -174.76, + 0.0 + ], + [ + 2346.583, + 2128.183, + -12708.786, + 0.0, + -174.76, + 0.0 + ], + [ + 2346.583, + 2128.183, + -12708.786, + 0.0, + -149.76, + 0.0 + ], + [ + 2346.583, + 2128.183, + -12708.786, + 0.0, + -149.76, + 0.0 + ], + [ + 2346.583, + 2128.183, + -12708.786, + 0.0, + -149.76, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2222.631, + 2017.628, + -12788.729, + 0.0, + 0.0, + 0.0 + ], + [ + 2358.13, + 2109.232, + -12738.619, + -28.202, + -99.616, + 1.862 + ], + [ + 2358.13, + 2109.232, + -12738.619, + -28.202, + -99.616, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1503.9, + 1380.6, + 1257.7, + 1135.5, + 1014.2, + 894.2, + 894.2, + 769.2, + 644.6, + 520.6, + 397.7, + 277.6, + 166.1, + 166.1, + 22.2, + 22.2 + ], + "Rationale": [ + "From the open yard I can read the GATE-01 and GATE-02 shutters ahead on the left side of the concrete building, which is where the jerry can should be waiting. The distance is still large and no small container is resolvable at this range, so I will walk forward to close in on that facade.", + "The gate doors have grown slightly larger and the bollard line in front of them is clearer, confirming my heading is bringing me toward the entrances. I still cannot pick out a jerry can at the base of GATE-02, so I will keep walking forward to shorten the gap.", + "GATE-02 is now clearly separated from GATE-01 and I can see a small reddish container sitting on the apron near its left edge, which fits the jerry can I need. The path across the paved yard remains clear, so I will continue advancing toward it.", + "The reddish jerry can beside the GATE-02 doorway is more distinct now, standing against the concrete wall next to the weeds. I am still several strides short of grasping range, so I will walk forward again to reduce that distance.", + "The GATE-02 lettering fills more of my view and the small red can beside the doorway stays visible ahead and slightly left. Nothing blocks the pavement in front of me, so I will keep stepping forward toward the entrance area.", + "My straight-ahead heading is drifting past the gates, with GATE-02 and the jerry can now sitting well toward the left side of my view while the pipe racks dominate the center. I will turn left to bring the gate entrances and the can back into the middle of my path before continuing.", + "After the turn both gate shutters are centered in front of me and the small red jerry can sits at the base of the wall between them and the weeds. With the apron clear ahead, I will walk forward along this corrected heading to close on the can.", + "The gate facade is noticeably closer and the jerry can is clearly resolved on the pavement just right of the GATE-02 shutter edge. I am still outside grasping range, so I will take another step forward toward it.", + "The GATE-02 shutter fills much of my view and the reddish jerry can sits at its base, just right of center beside the weeds. It is still several paces away, so I will keep walking straight ahead to close that gap.", + "The jerry can near the GATE-02 doorway has grown noticeably larger and its handle and ribbed side are now distinguishable. I am still too far to reach it, so another step forward should bring me closer to grasping range.", + "The can stands clearly on the concrete just in front of the GATE-02 shutter, slightly to my right, with tall weeds beside it. I will step forward again to keep shrinking the remaining distance before attempting to lift it.", + "The jerry can is now close in the lower right of my view against the gate wall, but still slightly beyond comfortable reach. One more step forward should place me directly beside it for the lift.", + "I am right up against the GATE-02 shutter and the jerry can has slipped to the far right edge of my view, nearly out of sight. Turning right should bring the can back to the center of my view so I can line up for the lift.", + "The jerry can now sits centered and very close in front of me on the concrete beside the GATE-02 door, well within arm's reach. I will attempt the lift now, and the grasp should secure the can's handle.", + "The pick succeeded, and the jerry can is now held in my hands in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003675_y005460_z-012693_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003675_y005460_z-012693_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..50a4f1f5c70bafcb5ba8e492d5c16fc59bc10b2c --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003675_y005460_z-012693_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for the portable toilet situated near three large tanks in the industrial area; after locating it, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + 3675.057, + 5459.886, + -12692.725, + 0.0, + -172.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3675.057, + 5459.886, + -12692.725, + 0.0, + -172.48, + 0.0 + ], + [ + 3675.057, + 5459.886, + -12692.725, + 0.0, + -147.48, + 0.0 + ], + [ + 3675.057, + 5459.886, + -12692.725, + 0.0, + -122.48, + 0.0 + ], + [ + 3675.057, + 5459.886, + -12692.725, + 0.0, + -97.48, + 0.0 + ], + [ + 3675.057, + 5459.886, + -12692.725, + 0.0, + -72.48, + 0.0 + ], + [ + 3712.945, + 5339.866, + -12694.214, + 0.0, + -72.48, + 0.0 + ], + [ + 3750.834, + 5219.845, + -12694.214, + 0.0, + -72.48, + 0.0 + ], + [ + 3788.722, + 5099.824, + -12712.994, + 0.0, + -72.48, + 0.0 + ], + [ + 3788.722, + 5099.824, + -12712.994, + 0.0, + -47.48, + 0.0 + ], + [ + 3873.784, + 5007.061, + -12712.994, + 0.0, + -47.48, + 0.0 + ], + [ + 3958.845, + 4914.298, + -12712.994, + 0.0, + -47.48, + 0.0 + ], + [ + 4043.907, + 4821.534, + -12712.994, + 0.0, + -47.48, + 0.0 + ], + [ + 4128.968, + 4728.771, + -12712.994, + 0.0, + -47.48, + 0.0 + ], + [ + 4214.03, + 4636.008, + -12712.994, + 0.0, + -47.48, + 0.0 + ], + [ + 4214.03, + 4636.008, + -12712.994, + 0.0, + -72.48, + 0.0 + ], + [ + 4249.427, + 4550.759, + -12710.312, + 0.0, + -72.48, + 0.0 + ], + [ + 4249.427, + 4550.759, + -12710.312, + 0.0, + -72.48, + 0.0 + ] + ], + "Rationale": [ + "From this open yard I can see spherical and horizontal tanks off to the left and a large plant building to the right, but no portable toilet anywhere in this view. Since the task points to a spot beside three large tanks, I need to sweep the industrial area systematically rather than commit to the first tanks I see. I will turn right to begin a consistent scan of the yard.", + "This heading shows the tall processing tower, pipe runs, and some blue drums, but still no portable toilet unit. The equipment field clearly continues further to my right, so stopping the scan here would leave that area unchecked. I will keep turning right to hold the same scan direction.", + "I now face a pipe bridge and stacked pallets with blue barrels near the building, and none of these is the portable toilet I am looking for. The paved apron runs on to the right past more plant structures, which is the part of the yard I have not inspected yet. I will continue the same rightward scan to bring that section into view.", + "A blue-green portable toilet has just appeared at the right edge of my view, standing against the building beside the plant equipment. It is too far to the side for a straight approach, so I should bring it toward the middle of my view before walking. I will turn right once more to center it and check whether large tanks stand next to it.", + "The portable toilet is now near the center of my view, and three tall cylindrical tanks stand immediately to its right on a common base, which matches the described spot. The ground between me and it is open, flat pavement with no obstruction. I will step forward to close the distance.", + "The toilet and the row of three tanks have grown noticeably larger, confirming I am closing on the right bay. I am still well out on the open apron, far from the unit itself. I will keep walking forward along this clear line.", + "The portable toilet stands clearly ahead with the three tanks on its right, and the distance is shrinking steadily. I am not yet close enough to call this the spot described in the task. I will advance again on the same heading.", + "As I get closer, my current line is drifting toward the pillars and pipework on the left rather than onto the open pavement in front of the tank platform. A small rightward correction should keep my approach on the clear apron and square me up with the toilet and the three tanks. I will turn right slightly before continuing.", + "The blue portable toilet is clearly in view ahead and slightly left, standing right beside the row of three large tanks described in the task. My heading now points down the open concrete lane toward it, so I will walk forward to close the remaining distance.", + "The toilet and the three tanks have grown larger in view, confirming I am closing on the correct spot. The ground between me and them is still open concrete, so I will keep walking forward.", + "The portable toilet now fills a good part of the left-center of my view with its door and the tank cluster clearly beside it. I am still several strides short of standing at that spot, so I continue advancing.", + "The toilet is close enough that I can read the panel details on its door, and the nearest tank stands directly beside it. Another step forward should bring me almost to the target position.", + "The portable toilet now dominates the left of my view and the tank beside it fills the right, so I am nearly at the spot. I will step forward once more to arrive alongside the unit.", + "I am right up against the toilet, but it has slid off to my left edge while the tank body takes up most of my view. Turning left should recenter the portable toilet's door in front of me before I take the final step.", + "The toilet door with its occupancy indicator and signage is now centered directly ahead of me. I will take one short step forward to finish arriving at the target spot.", + "The portable toilet's paneled door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003870_y-001192_z-012713_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003870_y-001192_z-012713_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d5536b5e2dd7a3e7fbee3bc15b00e80a8304ba3 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003870_y-001192_z-012713_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search for the trash bin in the industrial area, then head over to it.", + "Type": 1, + "Start_Pose": [ + 3870.271, + -1192.396, + -12713.159, + 0.0, + -165.12, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3870.271, + -1192.396, + -12713.159, + 0.0, + -165.12, + 0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + 169.88, + -0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + 144.88, + -0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + 119.88, + -0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + 94.88, + -0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + 69.88, + -0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + 44.88, + -0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + 19.88, + -0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + -5.12, + 0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + -30.12, + 0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + -55.12, + 0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + -80.12, + 0.0 + ], + [ + 3891.867, + -1316.388, + -12712.923, + 0.0, + -80.12, + 0.0 + ], + [ + 3913.462, + -1440.381, + -12712.923, + 0.0, + -80.12, + 0.0 + ], + [ + 3935.058, + -1564.373, + -12712.923, + 0.0, + -80.12, + 0.0 + ], + [ + 3956.653, + -1688.366, + -12708.823, + 0.0, + -80.12, + 0.0 + ], + [ + 3978.249, + -1812.358, + -12708.823, + 0.0, + -80.12, + 0.0 + ], + [ + 3978.249, + -1812.358, + -12708.823, + 0.0, + -55.12, + 0.0 + ], + [ + 3978.249, + -1812.358, + -12708.823, + 0.0, + -55.12, + 0.0 + ] + ], + "Rationale": [ + "From this spot on the plant road I can see storage spheres, pipe racks and fencing, but no trash bin anywhere in front of me. I will turn left to begin a steady scan of the surrounding yard, since the open ground and equipment areas to my left are still unseen.", + "The new heading only brings more storage spheres and a bollard into view, with no bin along this stretch of pavement. I will keep rotating left in the same direction so the scan stays consistent and covers the next slice of the yard.", + "A chain link fence with vegetation and more process structures now fills the left side, and still nothing resembling a trash bin is visible. I will continue the left rotation to sweep past this fence line toward the areas behind it.", + "Right now I am looking at a tall gated structure with green drums and traffic cones, which is clutter rather than the target. I will turn left again to keep the scan moving past this blocked frontage.", + "The gated equipment bay and its overgrown fence still dominate my view and hide anything beyond it. I will maintain the same leftward rotation to bring the next section of the yard into view.", + "I am now facing the base of tall silos with cones and railing, and there is no bin along this wall. I will keep turning left, since the roadway opening at the far left may reveal a working area where a bin would plausibly sit.", + "The rotation has opened up a long roadway between plant structures, which is a promising route but still shows no trash bin. I will continue turning left to sweep this corridor and the yard beyond it.", + "Looking down the main corridor I see stacks, pipework and distant chimneys, but nothing that matches a trash bin. I will keep the consistent leftward scan going toward the buildings and storage clutter on that side, where refuse containers are more likely to be placed.", + "Ahead of me the road runs straight between pipe racks and cooling towers, but I see no trash bin anywhere along it. I will keep rotating left in the same consistent direction to bring the still unscanned left side of this industrial yard into view, where clutter near buildings could hide a bin.", + "Turning has revealed a low storage shed on the left with pallets, a drum and white tanks stacked beside it, which is the kind of service corner where a trash bin would sit. I will continue turning left to bring that cluttered storage area fully in front of me and check it for the bin.", + "The shed and its pallet stack are now clearly on my left with a grey container standing beside the pallets, so this storage corner is my best candidate area. I will turn left once more to center that cluster ahead of me before walking toward it.", + "The shed and the pallet stack with a grey bin beside it now sit ahead of me, roughly centered along the open concrete. With nothing blocking the path, I will step forward to close distance and confirm the container is the trash bin.", + "The grey bin next to the pallet stack has grown larger and stays near the middle of my view, so my heading is still good. I will keep walking forward along the open pavement to close the remaining gap.", + "The container by the pallets now clearly reads as a wheeled trash bin at the corner of the shed, only a short distance ahead. I will continue moving forward to reach it.", + "The trash bin stands plainly in front of me against the pallet stack, and the ground between us is clear. I will take another step forward to bring myself right up beside it.", + "The trash bin is now close and slightly right of center, filling a good part of my view next to the pallets. I will step forward once more to finish closing the last bit of distance to it.", + "The grey trash bin is now right in front of me, but it sits low in the lower right corner of my view with its rim partly cut off. I will turn right to bring the bin into the center of my view and square up with it before stopping.", + "The trash bin stands centered directly ahead of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x003870_y-001192_z-012713_t1_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x003870_y-001192_z-012713_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bed4bd7aac69b26fed951dc626360a0119231945 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x003870_y-001192_z-012713_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Identify the wire-cage wrapped container next to the trash bin; proceed to it once found.", + "Type": 1, + "Start_Pose": [ + 3870.271, + -1192.396, + -12713.159, + 0.0, + -165.12, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3870.271, + -1192.396, + -12713.159, + 0.0, + -165.12, + 0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + -140.12, + 0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + -115.12, + 0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + -90.12, + 0.0 + ], + [ + 3870.271, + -1192.396, + -12712.923, + 0.0, + -65.12, + 0.0 + ], + [ + 3923.222, + -1306.574, + -12712.923, + 0.0, + -65.12, + 0.0 + ], + [ + 3976.174, + -1420.752, + -12712.923, + 0.0, + -65.12, + 0.0 + ], + [ + 4029.125, + -1534.93, + -12712.923, + 0.0, + -65.12, + 0.0 + ], + [ + 4082.076, + -1649.109, + -12709.033, + 0.0, + -65.12, + 0.0 + ], + [ + 4135.028, + -1763.287, + -12708.778, + 0.0, + -65.12, + 0.0 + ], + [ + 4135.028, + -1763.287, + -12708.778, + 0.0, + -65.12, + 0.0 + ] + ], + "Rationale": [ + "From this open stretch of plant road I see spherical tanks to my left and a fenced process area to my right, but no trash bin with a caged tote beside it. The right side holds more ground-level storage clutter, so I will turn right to begin a consistent scan in that direction.", + "The view now shows railings, blue drums and tanks behind the yellow fence, but nothing that reads as a bin with a wire-cage wrapped tote next to it. I will keep turning right to continue sweeping toward the buildings further along that side.", + "A concrete building edge and stacked material are coming into the right of my view, which looks like a storage corner where drums and totes are typically kept. I will turn right again to bring that cluttered area fully in front of me.", + "Ahead and to the right of the shed I can now make out a dark bin, barricades, and a pale cube-shaped tank inside a metal cage frame. That matches the wire-cage wrapped container beside a trash bin, so I will turn right once more to center it before moving.", + "The caged tote and the bin beside the shed are now roughly centered ahead of me across open pavement. I will walk forward to close the distance toward them.", + "The shed, bin, and the wire-caged tote have grown larger and stay near the middle of my view, so my heading is still good. I will continue walking forward toward them.", + "The caged container and the adjacent bin are clearly resolved now, with the cage bars and pallet base visible. I will keep stepping forward to reach a position right beside them.", + "The wire-cage wrapped tote and the trash bin next to the barricade now fill much of my forward view, but I am still a few steps short of them. I will advance again to close the last of that gap.", + "The wire-cage wrapped tank sits just right of center on its pallet, with the grey trash bin beside it on the left, matching the container the task describes. I am still a couple of paces short of it, so I will step forward once more to close that remaining gap. This should bring me directly alongside the caged container.", + "The wire-cage wrapped container now fills the right of my view at arm's length, next to the trash bin. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004688_y-001437_z-012713_t0_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004688_y-001437_z-012713_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5146ecde4331b353ffcd48c715558a38d7cf6d64 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004688_y-001437_z-012713_t0_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the bundle of dark blue barrels beneath the elevated metal platform beside the horizontal cylindrical tank.", + "Type": 0, + "Start_Pose": [ + 4688.108, + -1436.912, + -12712.927, + 0.0, + 74.88, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4688.108, + -1436.912, + -12712.927, + 0.0, + 74.88, + -0.0 + ], + [ + 4688.108, + -1436.912, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 4769.21, + -1340.668, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 4850.313, + -1244.424, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 4850.313, + -1244.424, + -12712.922, + 0.0, + 24.88, + -0.0 + ], + [ + 4964.491, + -1191.473, + -12712.922, + 0.0, + 24.88, + -0.0 + ], + [ + 5078.669, + -1138.522, + -12712.922, + 0.0, + 24.88, + -0.0 + ], + [ + 5192.847, + -1085.57, + -12712.922, + 0.0, + 24.88, + -0.0 + ], + [ + 5307.025, + -1032.619, + -12710.565, + 0.0, + 24.88, + -0.0 + ], + [ + 5421.203, + -979.668, + -12710.3, + 0.0, + 24.88, + -0.0 + ], + [ + 5535.382, + -926.716, + -12710.3, + 0.0, + 24.88, + -0.0 + ], + [ + 5649.56, + -873.765, + -12710.3, + 0.0, + 24.88, + -0.0 + ], + [ + 5763.738, + -820.814, + -12710.3, + 0.0, + 24.88, + -0.0 + ], + [ + 5877.916, + -767.862, + -12708.848, + 0.0, + 24.88, + -0.0 + ], + [ + 5877.916, + -767.862, + -12708.848, + 0.0, + 49.88, + -0.0 + ], + [ + 5959.018, + -671.619, + -12708.848, + 0.0, + 49.88, + -0.0 + ], + [ + 6040.121, + -575.375, + -12708.848, + 0.0, + 49.88, + -0.0 + ], + [ + 6040.121, + -575.375, + -12708.848, + 0.0, + 49.88, + -0.0 + ] + ], + "Rationale": [ + "From this spot the yard ahead is mostly filled by the tall concrete silos and the red ladder structure, and only a partial glimpse of stacked drums shows near the left edge beside the horizontal tank. I will turn left to bring that far industrial bay with the barrels and the elevated platform into the center of my view. That should give me a clean heading before I start walking.", + "The turn opened up the bay on the left, and I can now see the cluster of dark blue barrels sitting under the elevated walkway next to the long horizontal cylindrical tank. The open concrete apron in front of me is clear of obstacles, so I will walk forward to begin closing the large gap. The barrels are still far off, so this should only be the first of several advances.", + "The barrel stack and the horizontal tank under the raised walkway have grown slightly larger, confirming I am headed into the right bay. Nothing blocks the pavement between me and that structure, so I will keep walking straight to cut down the remaining distance. My heading still favors the target, so no turn is needed yet.", + "As I have gotten closer, the barrels and the horizontal tank have drifted toward the left portion of my view while the ladder tower fills the right. I will turn left to recenter that bundle of dark blue barrels and the platform above them in front of me. A tighter heading now should let me approach in a straight line.", + "The stack of dark blue barrels now sits ahead under the elevated metal platform, with the horizontal cylindrical tank just to its right. The wide concrete lane in front of me runs directly toward that bay without obstruction. I will step forward to keep closing on the barrels.", + "The barrels and the tank beside them have grown noticeably, so my current heading is carrying me straight into the target bay. The ground ahead is still open pavement with only a marker post off to the side. I will continue walking forward to shorten the distance further.", + "The dark blue drums are clearly resolved now beneath the overhead structure, with the cylindrical tank on their right and open concrete between us. Nothing intervenes on my line of travel, so another forward step should bring me appreciably nearer. I will keep advancing toward the barrel cluster.", + "The barrel bundle and the tank now occupy a large part of my view, showing that I am well inside the approach to the elevated platform. There is still a stretch of open apron before I reach the drums themselves. I will walk forward again to continue closing that gap.", + "The stack of dark blue barrels is clearly visible ahead under the elevated metal walkway, with the horizontal cylindrical tank just to its right. My heading is already lined up with that recess, so I will keep walking forward to close the remaining distance across the open concrete.", + "The barrels now appear larger and the tank's rounded end face is much more prominent, confirming I am gaining ground on the right target. The path between the support columns stays clear, so another forward step should continue shrinking the gap.", + "The dark blue barrels sit just ahead and slightly right, framed by the concrete columns holding up the platform. Nothing blocks the approach lane, so I will step forward again to draw closer to the bundle.", + "The barrel bundle now fills much of the middle of my view under the platform structure, so I am close but not yet beside it. I will continue advancing to bring myself right up to the barrels.", + "The barrels are close enough that their banding and lids are clearly resolved, and I am now under the shade of the raised metal deck. One more forward step should place me directly at the bundle.", + "A concrete column sits directly in front of me and the main barrel stack has drifted toward the right side of my view, next to the tank. I will turn right to face the barrel bundle squarely before taking the last steps.", + "The turn has put the tall stack of dark blue barrels directly ahead on my left with the tank's round end to the right, so my heading is now on target. I will walk forward into this recess beneath the platform to close the final distance.", + "The barrels now tower immediately in front of me, filling the left half of my view with weeds at their base. A final short step forward should bring me right up against the bundle.", + "The dark blue barrels fill my view at arm's length under the platform. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004688_y-001437_z-012713_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004688_y-001437_z-012713_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0dbee6694341069801c58809f6d8cab9e606c63 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004688_y-001437_z-012713_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the plate at the green barrel near the iron fence.", + "Type": 5, + "Start_Pose": [ + 4688.108, + -1436.912, + -12712.927, + 0, + 74.88, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 4771.948, + -682.602, + -12758.725, + 90, + -90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4688.108, + -1436.912, + -12712.927, + 0, + 74.88, + 0 + ], + [ + 4720.937, + -1315.41, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 4753.766, + -1193.908, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 4753.766, + -1193.908, + -12712.922, + 0.0, + 99.88, + -0.0 + ], + [ + 4732.171, + -1069.916, + -12712.922, + 0.0, + 99.88, + -0.0 + ], + [ + 4710.575, + -945.923, + -12710.299, + 0.0, + 99.88, + -0.0 + ], + [ + 4688.98, + -821.931, + -12710.299, + 0.0, + 99.88, + -0.0 + ], + [ + 4688.98, + -821.931, + -12710.299, + 0.0, + 74.88, + -0.0 + ], + [ + 4688.98, + -821.931, + -12710.299, + 0.0, + 74.88, + -0.0 + ], + [ + 4688.98, + -821.931, + -12710.299, + 0.0, + 74.88, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4771.948, + -682.602, + -12758.725, + 90.0, + -90.0, + 0.0 + ], + [ + 4771.948, + -682.602, + -12758.725, + 90.0, + -90.0, + 0.0 + ], + [ + 4771.948, + -682.602, + -12758.725, + 90.0, + -90.0, + 0.0 + ], + [ + 4771.948, + -682.602, + -12758.725, + 90.0, + -90.0, + 0.0 + ], + [ + 4771.948, + -682.602, + -12758.725, + 90.0, + -90.0, + 0.0 + ], + [ + 4771.948, + -682.602, + -12758.725, + 90.0, + -90.0, + 0.0 + ], + [ + 4771.948, + -682.602, + -12758.725, + 90.0, + -90.0, + 0.0 + ], + [ + 4771.948, + -682.602, + -12758.725, + 90.0, + -90.0, + 0.0 + ], + [ + 4669.057, + -816.993, + -12740.174, + -28.202, + 125.024, + 1.862 + ], + [ + 4669.057, + -816.993, + -12740.174, + -28.202, + 125.024, + 1.862 + ] + ], + "PD_Dist_2D": [ + 759.0, + 634.9, + 511.6, + 511.6, + 389.4, + 270.4, + 162.2, + 162.2, + 20.5, + 20.5 + ], + "Rationale": [ + "From this open yard I can see the target plate as a pale round object resting on the ground far ahead, over by the industrial structures and the fenced area. It is much too distant to reach, so I will walk straight forward along the concrete to close the gap.", + "The plate has grown noticeably larger and now sits just right of my heading, confirming that my forward line is bringing me toward it. There is still clear, unobstructed pavement in front of me, so I will keep walking forward to shorten the remaining distance.", + "The plate is now clearly offset to the right of my view, near the grass strip in front of the fenced machinery, so continuing straight would carry me past it on the left. I will turn right to bring the plate closer to the center of my heading before advancing again.", + "After the turn the plate sits much nearer the center of my view, with the green barrels and the fenced structure behind it. The ground between us is open concrete, so I will step forward along this corrected heading to close in.", + "The plate now fills a good part of the lower left of my view, resting on the pavement beside the weeds at the base of the fence. It is still a few paces away, so I will keep walking forward to get within reach.", + "The plate is close now, dominating the left side of my view at ground level right by the fence and the green barrel. One more forward step should put it directly at my feet where I can reach down for it.", + "I am right up against the fence and the plate has slipped to the extreme lower left edge of my view, mostly out of sight behind my own field of view. I will turn left to bring the plate back in front of me so it sits squarely within reach before I try to lift it.", + "The plate is now fully in view in the lower part of my frame, lying on the pavement beside the green barrel at the foot of the fence, well within arm's reach. This matches the target described in the task, so I will reach down and attempt to pick it up.", + "The plate is now held in my hand right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..451c0270f2501f99649a45bbfa12d6cfee60f84a --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the leftmost red bollard in the foreground.", + "Type": 2, + "Start_Pose": [ + 4903.876, + -1606.455, + -12712.922, + 0.0, + 104.64, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4903.876, + -1606.455, + -12712.922, + 0.0, + 104.64, + -0.0 + ], + [ + 4903.876, + -1606.455, + -12713.064, + 0.0, + 79.64, + -0.0 + ], + [ + 4926.51, + -1482.648, + -12713.064, + 0.0, + 79.64, + -0.0 + ], + [ + 4949.143, + -1358.841, + -12713.064, + 0.0, + 79.64, + -0.0 + ], + [ + 4971.777, + -1235.033, + -12713.064, + 0.0, + 79.64, + -0.0 + ], + [ + 4994.41, + -1111.226, + -12713.064, + 0.0, + 79.64, + -0.0 + ], + [ + 4994.41, + -1111.226, + -12713.064, + 0.0, + 54.64, + -0.0 + ], + [ + 4994.41, + -1111.226, + -12713.064, + 0.0, + 54.64, + -0.0 + ] + ], + "Rationale": [ + "Three red and white bollards stand across the open concrete in front of me, and since they look alike I settle on the leftmost one, the post nearest the left edge of the apron below the walkway. It lies well off my current heading to the left, so I will turn left to bring it in front of me.", + "The bollard I picked now sits just left of center ahead of me, with flat open concrete running all the way to it. Nothing blocks that line, so I will step forward to close the gap.", + "The bollard has grown noticeably taller in my view and still holds slightly left of my heading, confirming I am closing on it. The pavement between us remains clear, so I keep walking forward.", + "The post is clearly nearer now, its base and stripes plainly visible off to my left front, and the other bollards have dropped out of my view behind me. Distance still remains, so I advance again.", + "The bollard now stands close at the left edge of my view, tall enough that I can read its full height and its footing on the concrete. One more step should carry me level with it.", + "Having come up alongside the bollard, it has slipped past the left edge and is no longer in my view. I will turn left to swing it back in front of me and confirm I am standing at it.", + "The red and white bollard stands right beside me at the near left, close enough to touch. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8123875497705dd53ede396ac030efb18b2ac9c5 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the second red bollard near the road from the left.", + "Type": 2, + "Start_Pose": [ + 4903.876, + -1606.455, + -12712.922, + 0.0, + 104.64, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4903.876, + -1606.455, + -12712.922, + 0.0, + 104.64, + -0.0 + ], + [ + 4872.066, + -1484.682, + -12713.064, + 0.0, + 104.64, + -0.0 + ], + [ + 4872.066, + -1484.682, + -12713.064, + 0.0, + 129.64, + -0.0 + ], + [ + 4791.773, + -1387.762, + -12713.064, + 0.0, + 129.64, + -0.0 + ], + [ + 4711.479, + -1290.842, + -12713.064, + 0.0, + 129.64, + -0.0 + ], + [ + 4631.186, + -1193.922, + -12713.064, + 0.0, + 129.64, + -0.0 + ], + [ + 4631.186, + -1193.922, + -12713.064, + 0.0, + 104.64, + -0.0 + ], + [ + 4631.186, + -1193.922, + -12713.064, + 0.0, + 104.64, + -0.0 + ] + ], + "Rationale": [ + "Three red bollards stand along the kerb ahead and they all look alike, so I settle the count now and take the second from the left, the middle post set below the tall towers. It is still well ahead of me, so I walk forward to close the distance.", + "The post I picked is ahead, but the fenced plant edge and weeds crowd the ground straight in front of me while the open pavement runs off to my right. I turn right to set my heading along that clear stretch beside the kerb so my next strides can carry me in.", + "My heading now runs along the open pavement, and the bollard I am going to sits ahead and a little to my left with nothing between us. I step forward to close on it.", + "The post has grown noticeably larger off my left front, so my line along the kerb is working. The ground ahead stays clear, so I keep walking forward to draw nearer.", + "My target now stands close on my left with its painted stripes clearly readable, while further posts show along the kerb away to my right. One more stride forward should bring me level with it.", + "I have come alongside the post I am after and it has slid to the extreme left edge of my view. I turn left to swing it back in front of me and face it directly.", + "The striped red bollard I chose stands squarely in front of me, barely a step away. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb7194de7725afd3db089cf2616024adce02f70 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004904_y-001606_z-012713_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Proceed to the first red bollard near the road from the right.", + "Type": 2, + "Start_Pose": [ + 4903.876, + -1606.455, + -12712.922, + 0.0, + 104.64, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4903.876, + -1606.455, + -12712.922, + 0.0, + 104.64, + -0.0 + ], + [ + 4903.876, + -1606.455, + -12713.064, + 0.0, + 129.64, + -0.0 + ], + [ + 4823.583, + -1509.535, + -12713.064, + 0.0, + 129.64, + -0.0 + ], + [ + 4743.29, + -1412.615, + -12713.064, + 0.0, + 129.64, + -0.0 + ], + [ + 4662.996, + -1315.695, + -12713.064, + 0.0, + 129.64, + -0.0 + ], + [ + 4662.996, + -1315.695, + -12713.064, + 0.0, + 154.64, + -0.0 + ], + [ + 4549.266, + -1261.789, + -12713.064, + 0.0, + 154.64, + -0.0 + ], + [ + 4435.535, + -1207.883, + -12713.064, + 0.0, + 154.64, + -0.0 + ], + [ + 4321.805, + -1153.977, + -12713.064, + 0.0, + 154.64, + -0.0 + ], + [ + 4208.074, + -1100.071, + -12713.064, + 0.0, + 154.64, + -0.0 + ], + [ + 4208.074, + -1100.071, + -12713.064, + 0.0, + 154.64, + -0.0 + ] + ], + "Rationale": [ + "A line of short red bollards runs along the curb ahead, and they all look alike, so I settle the count now and fix on the one at the far right end of that row, standing where the pavement opens toward the road. It lies off my right shoulder rather than in front of me, so I will turn right to bring it into view.", + "The turn has swung the curb line across my view, and the bollard I picked stands further down the road ahead of me, small with distance. The paved surface between us is open and level, so I will walk forward to close on it.", + "The bollards on the curb have grown a little but my target is still well down the road. Nothing on the roadway interrupts my line, so I keep walking forward.", + "The nearest curb bollard has drifted off to my left as I advance, while the one I am heading for still stands ahead near the road edge. I will step forward again to keep reducing that gap.", + "My heading now points too far into the plant structures on my left, while the road and the bollard I am after continue away to the right. Turning right should square me with the roadway and place that bollard back in front of me.", + "The road now runs straight ahead of me with the bollards standing in line along its left edge, and mine is still some distance off. With the lane clear, I will walk forward along it.", + "The bollard I am aiming at is noticeably closer now, low and left of the road centre, though not yet within reach. I will keep walking forward toward it.", + "More bollards have appeared further along the far side of the road, but I stay with the one I chose, now standing tall and close just left of my path. One more step forward should bring me alongside it.", + "The bollard I chose now fills the lower left of my view, its striped band clear at close range, but it still sits slightly ahead of my shoulder rather than beside me. A single step forward should draw me level with it at the road edge.", + "The red bollard stands right beside me at the road edge, close enough to touch. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67ba64880dc3924d3c9d37b71eef1948d144cd11 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_a/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Walk to the red-orange ladder, then head toward the blue barrel.", + "Type": 3, + "Start_Pose": [ + 4940.693, + -1470.194, + -12713.064, + 0.0, + 74.88, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4940.693, + -1470.194, + -12713.064, + 0.0, + 74.88, + -0.0 + ], + [ + 4973.522, + -1348.692, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 4973.522, + -1348.692, + -12712.922, + 0.0, + 99.88, + -0.0 + ], + [ + 4951.927, + -1224.7, + -12712.922, + 0.0, + 99.88, + -0.0 + ], + [ + 4930.331, + -1100.707, + -12712.922, + 0.0, + 99.88, + -0.0 + ], + [ + 4930.331, + -1100.707, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 4963.16, + -979.205, + -12710.409, + 0.0, + 74.88, + -0.0 + ], + [ + 4995.99, + -857.703, + -12710.409, + 0.0, + 74.88, + -0.0 + ], + [ + 5028.819, + -736.201, + -12708.961, + 0.0, + 74.88, + -0.0 + ], + [ + 5028.819, + -736.201, + -12708.961, + 0.0, + 99.88, + -0.0 + ], + [ + 5007.223, + -612.209, + -12708.961, + 0.0, + 99.88, + -0.0 + ], + [ + 4985.628, + -488.216, + -12708.961, + 0.0, + 99.88, + -0.0 + ], + [ + 4965.204, + -364.247, + -12708.725, + 0.0, + 99.88, + -0.0 + ], + [ + 4965.204, + -364.247, + -12708.725, + 0.0, + 99.88, + -0.0 + ], + [ + 4965.204, + -364.247, + -12708.725, + 0.0, + 74.88, + -0.0 + ], + [ + 4965.204, + -364.247, + -12708.725, + 0.0, + 49.88, + -0.0 + ], + [ + 4965.204, + -364.247, + -12708.725, + 0.0, + 24.88, + -0.0 + ], + [ + 4965.204, + -364.247, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 5091.063, + -364.51, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 5216.921, + -364.774, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 5342.78, + -365.037, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 5342.78, + -365.037, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + [ + 5456.736, + -418.467, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + [ + 5570.691, + -471.896, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + [ + 5684.646, + -525.325, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + [ + 5684.646, + -525.325, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 5810.505, + -525.588, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 5936.364, + -525.852, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 6062.222, + -526.116, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 6062.222, + -526.116, + -12708.725, + 0.0, + -0.12, + 0.0 + ] + ], + "Rationale": [ + "The tall red-orange ladder climbing the silo stands ahead and slightly right, well across the open yard. The pavement in front of me is clear, so I will walk forward to close some of that distance before refining my heading.", + "After advancing, the red-orange ladder sits off to my right rather than straight ahead, so walking on this heading would drift past it. I will turn right to bring the ladder nearer the center of my view before continuing.", + "The turn has swung the red-orange ladder much closer to the middle of my view, with the silo structure behind it. The ground between us is open concrete, so I will step forward to shorten the gap.", + "The ladder and the silo it is bolted to have grown noticeably larger, confirming this heading is carrying me toward it. Nothing blocks the pavement ahead, so I will keep walking to close more distance.", + "From here the red-orange ladder has slid toward the left side of my view while the tanks and framework fill the space straight ahead. I will turn left to put the ladder back in front of me and aim at the open lane beside it.", + "The turn has opened the view down the yard with the red ladder standing tall just right of center. The concrete lane ahead is clear of clutter, so I will advance along it toward the ladder.", + "The ladder's rungs are more distinct now and the structure it climbs looms larger, so this heading is still taking me in. I will keep stepping forward across the open pavement.", + "The red-orange ladder now dominates the right of my view and its base is only a short way off beyond the weeds. I will walk forward again to draw level with it.", + "The red-orange ladder is climbing the concrete silo off to my right, while my heading points down the open lane past it. I will turn right so the ladder sits ahead of me instead of drifting off my shoulder, which should let me walk straight in.", + "The red-orange ladder now stands near the middle of my view, its rungs running up the silo wall ahead of me. The concrete apron in front is clear apart from low weeds, so I will walk forward to close the remaining gap.", + "The ladder has grown noticeably taller in front of me and its lower rungs are now near eye level, but I am still out on the open concrete. Nothing blocks the short stretch of weedy ground ahead, so I will keep walking toward it.", + "The red-orange ladder now fills the left half of my view with its rails and rungs sharply detailed against the silo. I am only a stride or two short of standing at its base, so one more step forward should bring me right up to it.", + "The red-orange ladder's rails are right at arm's length beside me, its rungs and the weeds at its foot filling my view. I have arrived at the ladder. I mark reaching it before setting off toward the blue barrel.", + "Standing this close to the ladder, my view is walled in by the silo, the fence and tall weeds, so I cannot see any blue barrel from here. I will turn left to swing my gaze back toward the open yard and start searching for it.", + "The turn has opened a sliver of the yard past the ladder, with stairs and structure showing on the left, but still no blue barrel in sight. I will keep turning left to bring more of the open ground into view.", + "More of the yard is now visible on my left, with the walkway, tanks and pipework stretching away, yet the barrel I want is not yet in my view. Another left turn should sweep my gaze further across that open area to pick it out.", + "The red-orange ladder is now just a rail at my right shoulder, and I have already marked arriving there. Continuing to swing left opens the yard, where dark blue drums stand near the long tank across the pavement. One more left step of turning should put that route ahead of me.", + "My heading now looks straight down the open concrete yard, with the stacked blue drums visible ahead beneath the pipe structure. The near ground is clear of clutter, so walking forward should cut the distance to them.", + "The drums and the horizontal tank beside them have grown noticeably larger, confirming I am closing on that part of the yard. The pavement in front remains open, so I keep walking forward.", + "I am now under the pipe deck with the drum stacks close ahead on the left of the big tank. Another step forward should bring me into the bay where they sit.", + "Heavy support columns and the horizontal tank crowd the straight line in front of me, while open floor runs away to my left. I turn left to take that clear lane rather than press into the ironwork.", + "The lane ahead is wide and unobstructed, and the blue drum stacks now sit off to my right under the pipe racks. Walking forward should carry me alongside them.", + "The banded blue drums on my right are noticeably nearer and taller in view, so this lane is bringing me in. The floor ahead stays clear, and I keep stepping forward.", + "The stacked blue barrels now fill much of my right side, close beside the weeds and the concrete wall. One more step forward should draw me level with them.", + "The stacked blue barrels sit off to my right, banded and clustered under the pipe rack, while my heading points down the open lane past them. I will turn right to put that barrel stack squarely ahead so my next steps close on it directly.", + "The blue barrel stack now stands near the middle of my view with clear concrete floor between us. I will walk forward to cut that remaining distance toward the barrels.", + "The two tall blue barrels have grown noticeably larger and their metal bands are clearly readable, so I am closing well. I will keep walking forward since the floor beside the weeds is still open.", + "The blue barrels now tower across most of my view, only a short gap of ground left in front of them. One more step forward should bring me right up against the stack.", + "The blue barrels fill my entire view at arm's length. The task is complete, so there is nothing further to approach and I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bd5d9ad90cfe547af5996e19bb059f72ebae3eba --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Approach the small white-orange bollard, then move to the blue barrel.", + "Type": 3, + "Start_Pose": [ + 4940.693, + -1470.194, + -12713.064, + 0.0, + 74.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4940.693, + -1470.194, + -12713.064, + 0.0, + 74.88, + -0.0 + ], + [ + 4973.522, + -1348.692, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5006.351, + -1227.19, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5006.351, + -1227.19, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5087.454, + -1130.946, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5087.454, + -1130.946, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5155.141, + -1086.803, + -12713.071, + 0.0, + 49.88, + -0.0 + ], + [ + 5239.87, + -1000.787, + -12710.281, + 0.0, + 49.88, + -0.0 + ], + [ + 5320.972, + -904.543, + -12710.281, + 0.0, + 49.88, + -0.0 + ], + [ + 5320.972, + -904.543, + -12710.281, + 0.0, + 24.88, + -0.0 + ], + [ + 5435.15, + -851.592, + -12710.281, + 0.0, + 24.88, + -0.0 + ], + [ + 5549.328, + -798.641, + -12710.281, + 0.0, + 24.88, + -0.0 + ], + [ + 5663.507, + -745.689, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 5777.685, + -692.738, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 5891.863, + -639.787, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 6006.041, + -586.835, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 6006.041, + -586.835, + -12708.739, + 0.0, + 24.88, + -0.0 + ] + ], + "Rationale": [ + "The slim white and orange bollard stands on the open concrete just ahead of me, slightly left of my heading. Nothing blocks the paved stretch between us, so I will walk straight forward to cut down that distance.", + "The bollard has grown noticeably larger and sits lower in my view, confirming my last step closed real distance. The ground ahead is still open, so another forward step should bring me nearer to it.", + "The bollard now sits well off to my left rather than in front of me, so walking straight would carry me past its side. I will pivot left to bring the post back onto my heading before continuing.", + "The bollard is now centered in front of me, standing clear on the concrete with open ground between us. With the heading corrected, a forward step should bring me right up beside the post.", + "The white and orange bollard now fills the lower part of my view, close enough that I stand right at its base. I have reached the small bollard. I mark arriving here and turn my attention to the stacked blue barrels under the structure ahead on my left.", + "With the bollard behind me at my feet, the blue barrels stacked beneath the steel walkway lie ahead and slightly left across open concrete. I will step forward along this yard to begin closing on them.", + "The barrel stacks against the concrete columns are larger now, so my advance is closing distance on them. The yard in front remains clear, so I will keep walking forward toward the barrels.", + "The dark blue drums banded in white now sit clearly to my left front, still several strides away under the overhead platform. I will continue walking forward across the open bay to shorten that gap.", + "The stacked blue barrels sit off to my left, tucked under the structure beside the horizontal tank, while my heading points at open pavement. I will turn left to bring those barrels into the center of my view so a straight walk can close on them.", + "The blue barrels now stand near the middle of my view, with clear concrete between me and them. I will walk forward to cut down that distance.", + "The banded blue barrels have grown larger ahead of me, framed between the support columns. The floor in front stays open, so I will keep walking straight toward them.", + "The barrel stack is closer, its metal bands now clearly visible past the nearest column. I am still several paces short of it, so I will step forward again.", + "The blue drums fill a large part of my view now, with the weeds and the tank flanking them. I will continue forward to reach the stack itself.", + "The barrels are close enough that their ribs and clamps dominate the middle of my view, though there is still floor separating us. I will take another step toward them.", + "The stacked blue drums now tower directly in front of me, just beyond arm's reach with plants crowding their right side. One more step forward should put me right at the barrel.", + "The blue barrel fills my view at arm's length, its banded surface directly before me. I have arrived at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c50436184bfb7847592a6f81a2ec4144e2e1de7c --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_c/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Head toward the blue barrel, then proceed to the red-orange ladder.", + "Type": 3, + "Start_Pose": [ + 4940.693, + -1470.194, + -12713.064, + 0.0, + 74.88, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4940.693, + -1470.194, + -12713.064, + 0.0, + 74.88, + -0.0 + ], + [ + 4940.693, + -1470.194, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5021.795, + -1373.95, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5102.898, + -1277.706, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5184.0, + -1181.462, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5265.102, + -1085.218, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5346.205, + -988.974, + -12710.289, + 0.0, + 49.88, + -0.0 + ], + [ + 5427.307, + -892.73, + -12710.289, + 0.0, + 49.88, + -0.0 + ], + [ + 5508.409, + -796.486, + -12710.289, + 0.0, + 49.88, + -0.0 + ], + [ + 5508.409, + -796.486, + -12710.289, + 0.0, + 24.88, + -0.0 + ], + [ + 5622.588, + -743.535, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 5736.766, + -690.584, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 5850.944, + -637.633, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 5965.122, + -584.681, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 5965.122, + -584.681, + -12708.739, + 0.0, + 24.88, + -0.0 + ], + [ + 5965.122, + -584.681, + -12708.739, + 0.0, + 49.88, + -0.0 + ], + [ + 5965.122, + -584.681, + -12708.739, + 0.0, + 74.88, + -0.0 + ], + [ + 5965.122, + -584.681, + -12708.739, + 0.0, + 99.88, + -0.0 + ], + [ + 5965.122, + -584.681, + -12708.739, + 0.0, + 124.88, + -0.0 + ], + [ + 5965.122, + -584.681, + -12708.739, + 0.0, + 149.88, + -0.0 + ], + [ + 5965.122, + -584.681, + -12708.739, + 0.0, + 174.88, + -0.0 + ], + [ + 5839.765, + -573.449, + -12708.739, + 0.0, + 174.88, + -0.0 + ], + [ + 5714.408, + -562.217, + -12708.739, + 0.0, + 174.88, + -0.0 + ], + [ + 5601.952, + -536.265, + -12708.726, + 0.0, + 174.88, + -0.0 + ], + [ + 5476.595, + -525.034, + -12708.726, + 0.0, + 174.88, + -0.0 + ], + [ + 5351.239, + -513.802, + -12708.726, + 0.0, + 174.88, + -0.0 + ], + [ + 5351.239, + -513.802, + -12708.726, + 0.0, + 149.88, + -0.0 + ], + [ + 5242.374, + -450.644, + -12708.726, + 0.0, + 149.88, + -0.0 + ], + [ + 5133.509, + -387.486, + -12708.726, + 0.0, + 149.88, + -0.0 + ], + [ + 5133.509, + -387.486, + -12708.726, + 0.0, + 149.88, + -0.0 + ] + ], + "Rationale": [ + "From here the yard opens to my left, where a stack of blue barrels sits under the low gantry, while the red ladder climbs the tower on my right. Since the barrels are my first stop, I will turn left to bring that side of the yard in front of me.", + "The blue barrels now lie ahead and slightly left, tucked beneath the raised platform, and the concrete apron between me and them is flat and unobstructed. I will walk forward to begin closing that distance.", + "The barrel stacks have grown noticeably larger and are holding their position slightly left of my heading, so my direction is still good. Nothing blocks the open pavement ahead, so I will keep walking toward them.", + "The blue drums are clearly resolved now beside the horizontal tank, still comfortably off to the left of center. The distance is still substantial, so I will continue advancing across the open slab.", + "I can now make out individual banded barrels stacked against the columns ahead-left, meaning I am closing steadily. The route under the platform stays clear, so another step forward is the direct way in.", + "The barrel stacks fill more of my left foreground and the tank beside them is close enough to show its supports. I still have ground to cover before I am beside the drums, so I will step forward again.", + "The drums are now large on my left, partly behind the steel columns, and the bay in front of me is open floor. Walking forward should carry me in under the structure and closer alongside them.", + "I am under the platform now, with the banded blue drums close on my left and clear floor between the columns ahead. One more stride forward should bring me level with the stack rather than still short of it.", + "The stack of blue barrels sits well to my left, under the structure, while my heading points past it toward the open bay. I will turn left so the barrels come in front of me and I can walk straight in.", + "After turning, the blue barrels stand ahead of me with clear concrete floor between us. I will walk forward to close that gap.", + "The barrels are growing larger and the columns are sliding past on either side, so my line is good. I keep walking forward to shorten the remaining distance.", + "The banded blue drums now fill much of my view but are still a few paces off beyond the weeds. Another step forward should bring me right up beside them.", + "The nearest blue drum is close enough that its ribs and bands fill the frame, yet a short gap of floor remains. I will step forward once more to stand right at the barrels.", + "The banded blue barrels tower directly in front of me, close enough to touch. I have reached them, so I mark arriving at the blue barrels before setting off for the red-orange ladder.", + "Standing at the barrels, my view is blocked by their steel sides and I cannot see any ladder from this heading. I will turn right to sweep my gaze across the open bay and pick up the red-orange ladder.", + "The turn has only brought me overgrown weeds and a grey vessel, with no sign of the red-orange ladder yet. I will keep rotating right to bring the open part of the yard into view.", + "Having reached the drums, my view is still filled by the tank head and weeds, with no sign of the red-orange ladder. I keep swinging my heading to the right to sweep past this equipment and open up the yard beyond it.", + "The turn has revealed an open bay to my right with silos, pallets and clear pavement, but the red-orange ladder is still not in sight. I will rotate right again to bring more of that open area into view.", + "A slice of the red-orange ladder now shows at the far right edge of my view, high on the concrete tower. Another rotation to the right should carry that ladder toward the middle of my view so I can judge a walking line to it.", + "The red-orange ladder is clearly ahead now, climbing the tall column, but the beams and pillars of this shed stand between me and it. One more turn to the right should put me on the open concrete lane that runs out past those supports.", + "My heading now looks down clear open paving, with the red-orange ladder standing on the tower just left of my line. I will step forward along this unobstructed ground to close the gap toward it.", + "The ladder has grown noticeably larger against the tower on my left, so my line of travel is closing on it. The ground ahead stays clear, so I keep walking forward.", + "The red-orange ladder now reads clearly as a full ladder on the tower face ahead to my left, with pallets and weeds at its base. I still have open floor in front of me, so another stride forward should bring me nearer.", + "The ladder fills a good part of the left side of my view and the tower base is close, so I am nearly at it. I will advance again to bring myself right up beside the ladder rather than stopping short on the open apron.", + "The red-orange ladder rises against the concrete tower at the left edge of my view, still a fair stretch ahead along this open apron. The ground in front of me is clear concrete, so I will keep walking forward to cut down that gap before adjusting my heading.", + "I am now close alongside the structure, and the red-orange ladder sits far over on my left instead of in front of me. A turn to the left should swing it toward the middle of my view so my next steps carry me straight at it.", + "The red-orange ladder now stands ahead of me on the tower face, framed near the centre-left of my view with only weeds and open ground between us. I will step forward to close the remaining distance to it.", + "The ladder's red rungs now fill a large part of my view, so I am nearly at the tower wall it is bolted to. One more step forward should bring me right up beside it.", + "The red-orange ladder stands directly in front of me, its rungs filling my view at arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a83127efb05cfaa1d5a72897d20354578e6ae5a --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t3_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the small white-orange bollard, then walk to the red-orange ladder.", + "Type": 3, + "Start_Pose": [ + 4940.693, + -1470.194, + -12713.064, + 0.0, + 74.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4940.693, + -1470.194, + -12713.064, + 0.0, + 74.88, + -0.0 + ], + [ + 4973.522, + -1348.692, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5006.351, + -1227.19, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5039.181, + -1105.688, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5039.181, + -1105.688, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5039.181, + -1105.688, + -12712.922, + 0.0, + 49.88, + -0.0 + ], + [ + 5039.181, + -1105.688, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5039.181, + -1105.688, + -12712.922, + 0.0, + 99.88, + -0.0 + ], + [ + 5017.585, + -981.696, + -12710.32, + 0.0, + 99.88, + -0.0 + ], + [ + 4995.99, + -857.703, + -12710.32, + 0.0, + 99.88, + -0.0 + ], + [ + 4974.394, + -733.711, + -12708.822, + 0.0, + 99.88, + -0.0 + ], + [ + 4956.693, + -615.119, + -12708.725, + 0.0, + 99.88, + -0.0 + ], + [ + 4965.197, + -509.782, + -12708.86, + 0.0, + 99.88, + -0.0 + ], + [ + 4965.215, + -386.701, + -12708.725, + 0.0, + 99.88, + -0.0 + ], + [ + 4965.215, + -386.701, + -12708.725, + 0.0, + 99.88, + -0.0 + ] + ], + "Rationale": [ + "The short white and orange bollard stands on the open concrete just ahead of me, slightly left of my heading, with clear pavement between us. I will walk straight forward to close that gap before turning attention to the tall red ladder further back on the right.", + "The banded bollard is noticeably larger and lower in my view now, so my heading is carrying me toward it. The ground ahead stays flat and clear, so another step forward should shorten the remaining distance.", + "The white and orange post now sits close in my left foreground, its base already visible on the slab, which means I am nearly beside it. One more step forward should bring me right up to it.", + "My last step carried me level with the short banded post and it has slipped out of the left edge of my view, so I cannot confirm I am beside it. I will turn left to bring it back into sight and check my position against it.", + "The small white and orange bollard now stands right at my feet in the near left of my view, close enough to touch. I have reached it. I mark reaching this post before setting off toward the tall red ladder climbing the silo behind me on the right.", + "Facing this way I see only the pipework and stairs of the plant building, while the tall red ladder lies off to my right. I will turn right to swing my heading back toward that ladder.", + "The red ladder running up the silo is now in view but still sits off to my right of center, so walking straight would drift past it. Another turn right should place it near the middle of my heading.", + "The red ladder now runs up the concrete column close to the middle of my view, so my heading points at it. The concrete apron in front of me is clear apart from low weeds, so I will step forward to close the distance.", + "The red-orange ladder bolted to the concrete column stands ahead and slightly left, still a fair distance off across the open concrete. My path toward it is clear apart from the weeds at the base, so I will keep walking straight to cut the gap.", + "The red ladder now reads much larger and its rungs are clearly separated, confirming I am closing on it. It sits just left of my heading with clear ground between us, so another step forward should bring me nearer without needing to turn.", + "The ladder fills a tall band on the left of my view and the green drum and support pillar beside it are close enough to show surface detail. I am not yet alongside the ladder, so I will advance again.", + "The red ladder is now only a few paces off on my left, with weeds and the drum crowding the right side of my path. The lane in front of me remains open, so I will step forward to draw level with the ladder.", + "The ladder's rails and rungs now dominate the left of my view against the wall, and the fenced enclosure runs along my right. One more step should place me right beside the ladder.", + "The red-orange ladder's rungs are directly beside me at arm's length, filling the left of my view. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t5_a_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3a2eafb0e6a1baa7a40295593500871293983d4 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x004941_y-001470_z-012713_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the candelabra at the white-orange bollard, then set it down near the tall red-orange ladder that extends down to the ground beside the patch of green weeds.", + "Type": 5, + "Start_Pose": [ + 4940.693, + -1470.194, + -12713.064, + 0, + 74.88, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 5058.917, + -1014.599, + -12787.922, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4940.693, + -1470.194, + -12713.064, + 0, + 74.88, + 0 + ], + [ + 4973.522, + -1348.692, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5006.351, + -1227.19, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5039.181, + -1105.688, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5039.181, + -1105.688, + -12712.922, + 0.0, + 74.88, + -0.0 + ], + [ + 5072.011, + -984.186, + -12710.414, + 0.0, + 74.88, + -0.0 + ], + [ + 5104.841, + -862.685, + -12710.414, + 0.0, + 74.88, + -0.0 + ], + [ + 5137.671, + -741.183, + -12708.822, + 0.0, + 74.88, + -0.0 + ], + [ + 5137.671, + -741.183, + -12708.822, + 0.0, + 99.88, + -0.0 + ], + [ + 5116.076, + -617.19, + -12708.822, + 0.0, + 99.88, + -0.0 + ], + [ + 5094.481, + -493.198, + -12708.822, + 0.0, + 99.88, + -0.0 + ], + [ + 5072.887, + -369.205, + -12708.822, + 0.0, + 99.88, + -0.0 + ], + [ + 5085.24, + -440.137, + -12708.822, + 0.0, + 99.88, + -0.0 + ], + [ + 5085.24, + -440.137, + -12708.822, + 0.0, + 99.88, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 5058.917, + -1014.599, + -12787.922, + 0.0, + 0.0, + 0.0 + ], + [ + 5058.917, + -1014.599, + -12787.922, + 0.0, + 0.0, + 0.0 + ], + [ + 5058.917, + -1014.599, + -12787.922, + 0.0, + 0.0, + 0.0 + ], + [ + 5058.917, + -1014.599, + -12787.922, + 0.0, + 0.0, + 0.0 + ], + [ + 5018.407, + -1100.707, + -12742.922, + -28.202, + 125.024, + 1.862 + ], + [ + 5051.299, + -978.955, + -12740.662, + -28.195, + 125.027, + 1.862 + ], + [ + 5084.149, + -857.415, + -12740.717, + -28.209, + 125.018, + 1.855 + ], + [ + 5116.929, + -736.106, + -12738.843, + -28.211, + 125.013, + 1.854 + ], + [ + 5115.795, + -745.528, + -12738.4, + -28.196, + 150.027, + 1.865 + ], + [ + 5095.11, + -621.28, + -12738.938, + -28.193, + 150.035, + 1.869 + ], + [ + 5073.506, + -497.167, + -12739.212, + -28.219, + 150.005, + 1.85 + ], + [ + 5051.917, + -373.262, + -12738.996, + -28.202, + 150.02, + 1.857 + ], + [ + 5073.229, + -371.175, + -12738.822, + 0.0, + 29.88, + -0.0 + ], + [ + 5073.229, + -371.175, + -12738.822, + 0.0, + 29.88, + -0.0 + ] + ], + "PD_Dist_2D": [ + 470.7, + 344.8, + 219.0, + 93.2, + 21.4, + 21.4, + 21.4, + 21.4, + 22.3, + 21.4, + 21.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The three-candle candelabra is sitting on the concrete just right of the white and orange striped bollard, straight ahead of me but still well out of reach. I will walk forward along my current heading to close that gap before attempting any grasp.", + "The candelabra and the striped bollard now appear larger and lower in my view, confirming my forward heading is taking me toward them. I am still several paces short of grasping range, so I will keep walking straight ahead.", + "The candelabra is close now, its base and three candles clearly resolved just ahead of my feet, with the striped bollard to its left. One more step forward should place it directly within arm's reach for a pick.", + "I am standing right over the candelabra; only the tops of its candles are still visible at the bottom edge of my view, which means it is at my feet and within reach. I will attempt to pick it up now so I can carry it toward the tall red-orange ladder that runs down to the weeds ahead on the right.", + "The grasp succeeded, and I can see the candelabra held low in front of me with its candles in my hands. With the load secured, I will walk forward toward the open yard where the tall red-orange ladder descends into the patch of green weeds.", + "My view is level again and the red-orange ladder on the concrete silo stands ahead and slightly to my right, with weeds spreading at its foot. I am still some distance from it, so I will continue walking forward across the open yard.", + "The ladder and the weed patch at its base are noticeably closer and larger on the right side of my view as I carry the candelabra. I will keep stepping forward to shorten the remaining distance before adjusting my heading.", + "My straight heading is carrying me past the ladder, which now sits well off to my right against the silo with green weeds banked at its base. I will turn right to bring the ladder and its weed patch to the center of my view so I can walk directly to the drop spot.", + "The tall red ladder now sits close to the center of my view after my heading adjustment, running from the concrete tower down into the weeds at its base. Still carrying the candelabra, I will walk forward along this open concrete strip to close the remaining gap to that drop area.", + "The ladder has grown larger ahead and the patch of green weeds at its base is now clearly in front of me, but I am still standing back on the bare concrete. I will step forward again to bring myself into the weedy ground right beside the ladder foot.", + "The red ladder now dominates my view and the tall weeds are just in front of my feet, so I am nearly at the intended release spot. One more step forward should place me close enough to the ladder's lower rungs to set the candelabra down beside the greenery.", + "I am standing right at the foot of the red ladder, with its lower rungs and the surrounding weeds filling my view at arm's length. This matches the requested placement spot, so I will release the candelabra here and expect it to settle on the ground beside the ladder.", + "The candelabra now stands on the ground among the weeds at the foot of the red ladder. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f42b1f205e9dbd3e83413039938252585e49b2e --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the second support pillar from the right under the structure.", + "Type": 2, + "Start_Pose": [ + 5105.589, + 7310.219, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5105.589, + 7310.219, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5100.845, + 7184.45, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5096.102, + 7058.68, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5096.102, + 7058.68, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5144.955, + 6942.689, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5193.808, + 6826.699, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5242.661, + 6710.708, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5291.515, + 6594.717, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5340.368, + 6478.727, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5389.221, + 6362.736, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5438.075, + 6246.745, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5438.075, + 6246.745, + -12712.923, + 0.0, + -42.16, + 0.0 + ], + [ + 5531.371, + 6162.268, + -12694.305, + 0.0, + -42.16, + 0.0 + ], + [ + 5531.371, + 6162.268, + -12694.305, + 0.0, + -42.16, + 0.0 + ] + ], + "Rationale": [ + "From here the whole elevated span is in view, and I settle the count once: the rightmost leg stands at the far right edge by the tanks, so my target is the next leg inward, the one whose base sits near the orange cone on the right kerb. The columns are otherwise identical, so I will hold onto that cone-marked leg. I step forward along the road to close the distance.", + "The span is noticeably nearer and its legs are spreading wider in my view, with the cone-marked leg still off to my right. Nothing blocks the roadway, so another straight step is the cheapest way to gain ground before I angle toward it.", + "Walking straight would carry me under the middle of the span, while the leg I want stands off to my right beside the orange cone. I turn right to swing my heading onto that side of the structure so my forward walking closes on it directly.", + "The turn placed the right-hand legs of the span squarely ahead, with the orange cone marking the base of the one I chose. The pavement between us is open, so I walk forward along this heading to close in.", + "The cone-marked leg and its neighbour are growing on my right and the raised kerb runs alongside them. I still have a good stretch of open ground, so I continue walking forward toward that leg.", + "More of the plant's stacks and columns crowd the view now, so I stop trying to count the row and keep only the leg with the orange cone at its foot. It sits ahead and slightly right and is clearly closer, so I walk on toward it.", + "The cone-marked leg now rises tall just right of center with its neighbour behind it, and the ground in front of me is clear concrete. I keep walking forward to reduce the remaining gap.", + "The leg with the cone at its foot is close enough that its plinth is plainly visible on the raised slab beside the yellow railing. I am not yet standing beside it, so I take another step forward to draw level with its base.", + "The cone still marks the foot of the leg I chose, and its square plinth sits on the raised slab a short way ahead and to my right. The concrete between us is clear, so I walk forward again to shorten that gap.", + "From this close the legs no longer read as a countable row, so the cone beside my chosen leg is what I hold onto, and it now stands just off my right shoulder. One more forward step should bring me level with that plinth.", + "The cone-marked leg and its plinth have slid to my right side while my heading points past them down the road. I turn right to swing my facing onto that leg so a short walk can carry me to its base rather than beyond it.", + "The turn puts the leg with the wide stepped plinth directly ahead, with its neighbour and the yellow railing behind it. Only a few paces of open slab remain, so I step forward to close in on its base.", + "The stepped plinth of the pillar I chose fills the view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6ea9c9fd9fb061178124a5bbb84c4ba8905afc67 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the third support pillar from the left under the structure.", + "Type": 2, + "Start_Pose": [ + 5105.589, + 7310.219, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5105.589, + 7310.219, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5100.845, + 7184.45, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5100.845, + 7184.45, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5149.699, + 7068.459, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5198.552, + 6952.468, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5247.405, + 6836.478, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5296.258, + 6720.487, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5345.112, + 6604.496, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5393.965, + 6488.505, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5442.818, + 6372.515, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5491.672, + 6256.524, + -12712.923, + 0.0, + -67.16, + 0.0 + ], + [ + 5491.672, + 6256.524, + -12712.923, + 0.0, + -42.16, + 0.0 + ], + [ + 5584.968, + 6172.047, + -12694.331, + 0.0, + -42.16, + 0.0 + ], + [ + 5584.968, + 6172.047, + -12694.331, + 0.0, + -42.16, + 0.0 + ] + ], + "Rationale": [ + "Counting the uprights holding up the raised structure from the left, the third one stands just right of the road's centerline, and an orange safety cone at its foot marks it out from its identical neighbours. It is still far down the roadway, so I will walk straight ahead to close the distance.", + "Walking straight has kept the cone-marked pillar off to the right of my heading, near the edge of my view. I will turn right so that pillar and the concrete apron it stands on move toward the center of my path.", + "The turn has swung the pillar with the cone at its base into the right half of my view, with clear open pavement between me and it. Nothing blocks the lane, so I will step forward to shorten the gap.", + "The pillar I am heading for still reads small against the plant behind it, so I have plenty of ground left to cover. My heading keeps it steady on the right side of my view, and I will keep walking forward.", + "The cone and the pillar beside it are growing larger and their base on the raised concrete slab is becoming distinct. That is the pillar I want, and continuing straight ahead keeps closing on it.", + "The pillar with the cone at its foot now rises well above the raised curb ahead of me, and the road beside it stays clear. I will keep walking forward toward it.", + "The leftmost uprights of the row have slipped out of my view, so I am no longer judging by position along the row but by the pillar itself, the one with the orange cone standing at its base. It sits ahead and slightly right, still several paces off, so I will continue forward.", + "The cone and the pillar beside it are close enough now that I can see the flared concrete footing and the raised slab I must reach. I am still short of it, so I will step forward again.", + "The cone and the upright right beside it fill much more of my view now, and the concrete apron they stand on runs clear of clutter. A few paces of open pavement still separate me from that footing, so I keep walking straight at it.", + "The pillar with the cone at its foot now towers past the top of my view and its blocky base sits just beyond the curb edge. I am close but not yet on the slab beside it, so another step forward is warranted.", + "From here the cone-marked upright and its neighbour sit slightly right of my heading, and continuing straight would carry me past them along the road. Turning right should square me onto the slab so I close on that pillar rather than skirt it.", + "The turn has put the cone and the ribbed upright beside it squarely in front of me, with the flat concrete pad running right up to their footings. Nothing stands between us, so I step forward to arrive at that pillar.", + "The cone-marked pillar rises directly beside me, its bolted footing within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a05d73f2fc7fe4b7eca9d6a3eb5077e33f673de1 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the second support pillar from the left under the structure.", + "Type": 2, + "Start_Pose": [ + 5105.589, + 7310.219, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5105.589, + 7310.219, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5100.845, + 7184.45, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5096.102, + 7058.68, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5091.358, + 6932.91, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5086.614, + 6807.141, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5081.871, + 6681.371, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5081.871, + 6681.371, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 5024.419, + 6569.39, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 4966.967, + 6457.409, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 4909.515, + 6345.428, + -12702.565, + 0.0, + -117.16, + 0.0 + ], + [ + 4852.064, + 6233.447, + -12694.481, + 0.0, + -117.16, + 0.0 + ], + [ + 4794.612, + 6121.465, + -12694.481, + 0.0, + -117.16, + 0.0 + ], + [ + 4794.612, + 6121.465, + -12694.481, + 0.0, + -117.16, + 0.0 + ] + ], + "Rationale": [ + "The overhead structure ahead rests on a run of concrete supports, and counting from the left end my target is the second one, the pillar standing just off the left curb beside the corrugated metal shed. It is far down the road, so I will walk forward along the open pavement to close the gap.", + "The supports have grown slightly larger, confirming my heading down the road is carrying me toward them. The pillar beside the shed is still well out of reach, so I keep stepping forward.", + "The overhead beams now fill more of the upper view and the shed on my left is drawing closer, so my line of travel is good. I will continue walking forward toward the pillar beside that shed.", + "The near supports are widening at the edges of my view as I come under the structure, and the pillar I chose beside the shed sits ahead on my left. Nothing blocks the pavement, so another step forward is the direct way to shorten the distance.", + "My target pillar has slid toward the left side of my view as I advance straight up the road. It is still several paces off, so I will move forward again before adjusting my heading.", + "Walking straight has pushed the pillar beside the shed out to the far left edge of my view, leaving my heading aimed past it down the open road. A modest turn to the left should bring it back in front of me so I can walk directly at it.", + "The turn worked, and the pillar beside the shed's corner now stands ahead of me with clear concrete apron in between. I will walk forward to close on it.", + "From this close the supports no longer read as a countable row, but I am still tracking the same pillar standing at the shed's corner ahead of me. It remains a few paces off, so I keep walking forward toward its base.", + "The flared concrete base of my pillar is now plainly visible on the apron ahead and slightly to my left, with its neighbour standing further back beside the shed wall. The paving between us is empty, so another stride should bring me nearer that base.", + "My pillar has grown tall enough to run off the top of my view, and its plinth sits maybe two paces off my left shoulder. I keep walking forward to draw level with it.", + "The weathered shaft and its wide plinth now dominate the left half of what I see, close enough that I can pick out the rust streaks on the steel plate. One more step forward should put me right at its foot.", + "The pillar beside the shed fills my view at arm's length, its base right at my feet. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..47efbb3165b9242cfbe0dc1db49bf7adb5e25698 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the third support pillar from the right under the structure.", + "Type": 2, + "Start_Pose": [ + 5105.589, + 7310.219, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5105.589, + 7310.219, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5100.845, + 7184.45, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5096.102, + 7058.68, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5091.358, + 6932.91, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5086.614, + 6807.141, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5086.614, + 6807.141, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 5029.163, + 6695.16, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 4971.711, + 6583.179, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 4914.259, + 6471.197, + -12706.633, + 0.0, + -117.16, + 0.0 + ], + [ + 4856.807, + 6359.216, + -12694.489, + 0.0, + -117.16, + 0.0 + ], + [ + 4799.356, + 6247.235, + -12694.489, + 0.0, + -117.16, + 0.0 + ], + [ + 4799.356, + 6247.235, + -12694.489, + 0.0, + -117.16, + 0.0 + ] + ], + "Rationale": [ + "From here the elevated structure's columns read clearly across the span, and counting in from the right end lands on the tall column standing left of center, just off the corrugated-sided building on that side. The pillars are near identical, so I fix my target by that position beside the building rather than recounting later. I step forward along the roadway to close the distance.", + "The structure above is growing larger and my chosen column, the one beside the metal-sided building on the left, is still well ahead of me. The road between us is open and level. I keep walking straight to cut the remaining gap.", + "The silos and stacks behind the frame are now clearly separated, which tells me I am closing on the structure but not yet under it. My target column still sits ahead and to the left, near the corrugated building. Another straight step forward is the simplest way to keep approaching.", + "The overhead beams now fill the top of my view, so I am nearly beneath the structure. The column I am heading for lies off to my left, past the curb line, and I still have ground to cover. I advance once more before adjusting my heading.", + "Walking straight would carry me down the middle of the road and past my column, which sits off to my left beside the metal-sided building. A modest left turn puts that column and its footing directly in front of me. I turn left to set the heading before continuing.", + "After the turn, the column I chose stands ahead of me on the concrete apron beside the corrugated building, with an open pad between us. Nothing blocks that line. I walk forward along the new heading.", + "The column and the building wall beside it are noticeably nearer, and its base is now visible on the pad. My heading still points at it, so no correction is needed. I keep stepping forward to reach it.", + "This close, the span no longer reads as a countable row and the right end of it has left my view, so I simply hold to the column I picked, the one on the apron beside the metal-sided building. Its footing is a few paces off to my front. I advance again to stand beside it.", + "The column I picked now stands just right of my path with its flared footing plainly on the apron, and a second one sits further back against the building wall. A couple more paces are needed before I am actually beside its base. I step forward again.", + "My column fills the middle of my view now, its base a short stride ahead and slightly right, with clear apron between. One more step should bring me level with the footing rather than leaving me short of it. I walk forward.", + "The chosen column's riveted shaft and footing stand right beside me, filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..09e3d3f67e7c46d1f9bbb6fcdc507a2740b48985 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005106_y007310_z-012713_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Lift the ceramic pot near the second support pillar from the right.", + "Type": 5, + "Start_Pose": [ + 5105.589, + 7310.219, + -12712.923, + 0, + -92.16, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 4911.214, + 6180.83, + -12788.142, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5105.589, + 7310.219, + -12712.923, + 0, + -92.16, + 0 + ], + [ + 5100.845, + 7184.45, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5096.102, + 7058.68, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5091.358, + 6932.91, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5086.614, + 6807.141, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5081.871, + 6681.371, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 5081.871, + 6681.371, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 5024.419, + 6569.39, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 4966.967, + 6457.409, + -12712.923, + 0.0, + -117.16, + 0.0 + ], + [ + 4966.967, + 6457.409, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 4962.223, + 6331.639, + -12712.923, + 0.0, + -92.16, + 0.0 + ], + [ + 4962.223, + 6331.639, + -12712.923, + 0.0, + -92.161, + 0.0 + ], + [ + 4962.223, + 6331.639, + -12712.923, + 0.0, + -92.161, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4911.214, + 6180.83, + -12788.142, + 0.0, + 0.0, + 0.0 + ], + [ + 4983.585, + 6331.444, + -12742.981, + -28.202, + -42.016, + 1.862 + ], + [ + 4983.585, + 6331.444, + -12742.981, + -28.202, + -42.016, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1146.0, + 1021.4, + 897.1, + 773.4, + 650.4, + 528.8, + 528.8, + 404.7, + 282.1, + 282.1, + 159.2, + 21.4, + 21.4 + ], + "Rationale": [ + "From the start of the roadway I can see the row of concrete support pillars framing the plant ahead, and a small ceramic pot sitting on the left curb line near them. It is far too distant to reach, so I will walk straight forward along the open pavement to close the gap. The lane ahead looks clear, so a plain forward step should bring the pillars and the pot into better view.", + "The pillars and the pot on the left curb are slightly larger now, confirming I am heading the right way but still far off. Nothing blocks the roadway ahead of me, so another straight step is the simplest way to keep closing distance. I will continue walking forward before worrying about lateral alignment.", + "The ceramic pot on the left curb is now clearly resolvable against the concrete edge, sitting just short of the pillar line. I am still several strides away and the pavement in front is empty, so I will keep advancing. Closing more distance should let me judge which pillar it belongs to.", + "The pot is growing steadily and remains offset to the left of my straight heading, near the base of the pillars. Since the route is still clear, another forward step is the efficient way to continue the approach. I will hold this heading for now rather than turn early.", + "The pot now reads plainly as a rounded ceramic vessel resting on the raised curb to my left, with the pillar line close behind it. I am still not near enough for a grasp, so I will take another step straight ahead. Continuing forward should place me alongside the curb section where it sits.", + "The pot sits well left of my current heading on the raised curb, so walking straight would carry me past it down the middle of the road. I will turn left to swing my facing toward that curb and the pillars beside it. This should put the pot closer to the center of my view for a direct approach.", + "After turning, the ceramic pot is now near the middle of my view, seated on the curb by the pillar bases. The pavement between us is clear, so I will step forward to close the remaining distance. A couple of strides should bring it within reach.", + "The pot is noticeably larger and lower in my view, so I am getting close but still short of grasping range. Nothing lies between me and the curb, so I will walk forward again. This step should bring me right up beside the pot at the pillar.", + "The ceramic pot now sits on the curb edge low and to the right of my heading, with the concrete pillars filling the left half of my view. I will turn right to bring the pot back toward the center of my path so a straight walk can close the remaining gap. This should give me a clean approach line rather than drifting past it along the walkway.", + "After the turn the pot is centered low in my view, resting on the raised curb beside the pillar, and nothing blocks the short stretch of pavement between us. I will step forward to close the last bit of distance so the pot comes within arm's reach. It is still slightly too far ahead for a reliable grasp from here.", + "The ceramic pot is now directly at my feet in the lower left of my view, close enough that its rim and body fill a large part of the near ground. This matches the pot standing by the support pillar that I was sent to lift, and no other container is nearby. I will reach down and attempt to pick it up.", + "The ceramic pot is now held in my hands, lifted clear of the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7831d600c4d0a934bbe1a043210c528d4a96aecf --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the blue barrels.", + "Type": 0, + "Start_Pose": [ + 5195.483, + 3235.468, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5195.483, + 3235.468, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + [ + 5169.831, + 3112.251, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + [ + 5169.831, + 3112.251, + -12710.281, + 0.0, + -76.76, + 0.0 + ], + [ + 5198.657, + 2989.737, + -12713.081, + 0.0, + -76.76, + 0.0 + ], + [ + 5227.482, + 2867.224, + -12713.081, + 0.0, + -76.76, + 0.0 + ], + [ + 5227.482, + 2867.224, + -12713.081, + 0.0, + -51.76, + 0.0 + ], + [ + 5305.384, + 2768.371, + -12713.081, + 0.0, + -51.76, + 0.0 + ], + [ + 5383.285, + 2669.518, + -12713.081, + 0.0, + -51.76, + 0.0 + ], + [ + 5461.186, + 2570.665, + -12713.081, + 0.0, + -51.76, + 0.0 + ], + [ + 5539.088, + 2471.812, + -12710.427, + 0.0, + -51.76, + 0.0 + ], + [ + 5539.088, + 2471.812, + -12710.427, + 0.0, + -76.76, + 0.0 + ], + [ + 5568.32, + 2353.781, + -12707.399, + 0.0, + -76.76, + 0.0 + ], + [ + 5568.32, + 2353.781, + -12707.399, + 0.0, + -76.76, + 0.0 + ] + ], + "Rationale": [ + "The two blue barrels sit on a pallet well ahead of me, near the right edge of my view beside the pipe stack under the elevated walkway. Nothing blocks the paved lane in front of me, so I will step forward to close some of that distance before correcting my heading.", + "After moving up, the blue barrels are still off to my right rather than in front of me, so walking straight would carry me past them. I will turn right to swing my heading toward the barrels and bring them closer to the center of my view.", + "The turn has brought the blue barrels into view to the right of center, with the pipe rack and cone to their left. The ground between us is clear paving, so I will advance to shorten the distance to them.", + "The barrels look noticeably larger now and remain slightly right of my heading, so I am closing on them correctly. I will keep walking forward since I am still several steps short of them.", + "The blue barrels sit clearly to the right of my current heading, with the post and pipe rack occupying the middle of my view. I will turn right so my heading lines up more directly on the pallet of barrels before continuing.", + "The barrels are now near the middle of my view, standing on their pallet in front of the building wall. With a clear stretch of concrete ahead, I will step forward to keep closing on them.", + "The pair of blue barrels is growing larger just left of my heading and I still have open ground between us. I will continue forward to reduce the remaining gap.", + "The barrels now fill a large part of the left half of my view, so I am only a short distance from the pallet. I will advance again to bring myself right up beside them.", + "The pair of blue barrels on their wooden pallet now stands large and slightly left of my heading, with open concrete between me and them. I will continue forward to close the remaining gap, since nothing blocks the short stretch of pavement ahead.", + "After closing in, the two blue barrels have shifted to the left side of my view and one is partly outside it, so my heading is now offset to the right of the target. I will turn left to bring the barrels back to the center of my view before the final step in.", + "Both blue barrels are now centered directly ahead on their pallet, filling much of my view at close range. I will step forward once more to stand right at them, which should bring me within touching distance of the barrels.", + "The blue barrels fill my view at arm's length directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6cd3f2ad34009e1a0c54e5d22abc6ef3e9a4fae --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the orange traffic cone.", + "Type": 0, + "Start_Pose": [ + 5195.483, + 3235.468, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5195.483, + 3235.468, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + [ + 5169.831, + 3112.251, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + [ + 5144.18, + 2989.034, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5118.528, + 2865.816, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5092.876, + 2742.599, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5067.225, + 2619.382, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5041.573, + 2496.165, + -12710.364, + 0.0, + -101.76, + 0.0 + ], + [ + 5015.921, + 2372.948, + -12710.364, + 0.0, + -101.76, + 0.0 + ], + [ + 5015.921, + 2372.948, + -12710.364, + 0.0, + -101.76, + 0.0 + ] + ], + "Rationale": [ + "I can pick out a small orange traffic cone near the yellow pipe rack, slightly left of center across the paved yard. My heading already points along that line with open pavement in between, so I will walk straight forward to start closing the gap.", + "The cone by the pipe rack now sits a bit larger in my view and remains just left of my heading, confirming I am tracking it correctly. The concrete apron ahead is clear of clutter, so I will continue forward.", + "The orange and white banding on the cone at the left end of the pipe rack is becoming distinct, so the target is clearly the right one. Nothing blocks my path, so another step forward should keep shrinking the distance.", + "I am now close enough that the cone stands out at the near corner of the pipe rack, still comfortably within my forward path. I will keep advancing rather than adjusting heading, since the target holds its position in my view.", + "The cone is noticeably taller in my view and I can see a second cone behind it beside the stacked pipes. There is still several paces of clearance, so I will continue straight to close in.", + "The pair of orange cones now fills a good part of my lower left view, but I am not yet standing beside them. One more forward step should bring me to a natural stopping distance at the cone.", + "The nearest cone is very close, its base and banding clearly resolved just ahead and to my left. A final short advance should place me right at the cone rather than short of it.", + "The orange traffic cone stands directly in front of me at arm's reach, filling the lower part of my view. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fc2ace08396342fa25a4861d3e30d60fd141e98b --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t0_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Approach the base of the yellow ladder.", + "Type": 0, + "Start_Pose": [ + 5195.483, + 3235.468, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5195.483, + 3235.468, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + [ + 5169.831, + 3112.251, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + [ + 5144.18, + 2989.034, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5118.528, + 2865.816, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5092.876, + 2742.599, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5067.225, + 2619.382, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5067.225, + 2619.382, + -12713.08, + 0.0, + -126.76, + 0.0 + ], + [ + 4991.902, + 2518.55, + -12710.487, + 0.0, + -126.76, + 0.0 + ], + [ + 4916.58, + 2417.718, + -12710.487, + 0.0, + -126.76, + 0.0 + ], + [ + 4841.258, + 2316.886, + -12710.487, + 0.0, + -126.76, + 0.0 + ], + [ + 4765.936, + 2216.055, + -12708.961, + 0.0, + -126.76, + 0.0 + ], + [ + 4690.614, + 2115.223, + -12708.961, + 0.0, + -126.76, + 0.0 + ], + [ + 4690.614, + 2115.223, + -12708.961, + 0.0, + -151.76, + 0.0 + ], + [ + 4579.735, + 2055.67, + -12708.961, + 0.0, + -151.76, + 0.0 + ], + [ + 4468.857, + 1996.118, + -12708.961, + 0.0, + -151.76, + 0.0 + ], + [ + 4468.857, + 1996.118, + -12708.961, + 0.0, + -151.76, + 0.0 + ] + ], + "Rationale": [ + "From this open stretch of pavement I can pick out the yellow-painted structure and its vertical ladder well ahead on the left side of the industrial block. The paved lane in front of me is clear of cones and barriers, so I will step forward to begin closing the large gap.", + "The silo with the yellow base and yellow ladder rails is still far off, sitting left of my heading behind a screen of vertical pipework. The ground ahead remains open concrete, so I continue walking forward to reduce the distance before worrying about fine alignment.", + "The pipe rack and traffic cones are grouped to the right of my path, while the yellow structure I want stays over on the left. Nothing blocks the lane straight ahead, so I keep advancing to bring the ladder within a workable approach distance.", + "The yellow-painted skirt at the foot of the tall silo is now clearly larger at the left of my view, confirming I am heading into the right part of the yard. I will step forward again along the open concrete to keep closing in before turning toward it.", + "I am close to the edge of the pipe rack on my right and the yellow base is now off to my left, so a bit more forward travel puts me level with the structure rather than approaching it at a sharp angle. The ground straight ahead is still clear, so I continue forward.", + "The yellow ladder and the yellow base it rises from are now well off to my left, near the edge of what I can see, while my heading points at the concrete wall and pipe rack instead. Turning left should swing the ladder toward the center of my view so I can walk straight at it.", + "After the turn the yellow-skirted silo sits left of center with an open concrete lane leading toward it, and the cones stay off to my right. I will move forward along that clear ground to close the remaining distance to the ladder.", + "The yellow ladder rungs are now plainly visible running up the silo just ahead and slightly to my left, with clean pavement between me and its base. I will keep walking forward to reach the foot of the ladder.", + "The yellow ladder and its yellow pedestal base are clearly visible on the left side of my view, still some distance across the open concrete. The lane between the silo skirt and the row of vertical pipes ahead looks clear, so I will keep walking forward to close that gap.", + "The ladder and the yellow base ring have grown noticeably larger and are shifting left as I advance, confirming I am closing in. The concrete ahead remains clear of the pipe columns on my right, so I continue forward.", + "The yellow ladder now reads clearly rung by rung with its base plainly resting on the yellow pedestal to my left. I still have several steps of clear floor before I reach it, so I keep advancing.", + "The ladder and its base have drifted to the left edge of my view while the pipe column and wall fill the center of my heading. I will turn left to bring the ladder base back to the middle of my view so my remaining steps head straight at it.", + "The turn has centered the yellow ladder and the round yellow pedestal it stands on directly ahead of me. The ground between us is open concrete, so I will step forward to close the last of the distance to the base.", + "The yellow base and lower rungs now fill much of my view, but I am still a step short of standing right at the foot of the ladder. I will advance once more to finish closing on the base.", + "The yellow ladder's lower rungs and its yellow base are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16adf62fec1ea67202012848f575fbf45e13a6d6 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005195_y003235_z-012710_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the wicker basket beside the orange traffic cone.", + "Type": 5, + "Start_Pose": [ + 5195.483, + 3235.468, + -12710.281, + 0, + -101.76, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 4876.898, + 2226.467, + -12765.778, + 90, + -141.76, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5195.483, + 3235.468, + -12710.281, + 0, + -101.76, + 0 + ], + [ + 5169.831, + 3112.251, + -12710.281, + 0.0, + -101.76, + 0.0 + ], + [ + 5144.18, + 2989.034, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5118.528, + 2865.816, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5092.876, + 2742.599, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5067.225, + 2619.382, + -12713.08, + 0.0, + -101.76, + 0.0 + ], + [ + 5041.573, + 2496.165, + -12710.364, + 0.0, + -101.76, + 0.0 + ], + [ + 5041.573, + 2496.165, + -12710.364, + 0.0, + -126.76, + 0.0 + ], + [ + 4966.251, + 2395.333, + -12710.364, + 0.0, + -126.76, + 0.0 + ], + [ + 4890.929, + 2294.501, + -12708.904, + 0.0, + -126.76, + 0.0 + ], + [ + 4890.929, + 2294.501, + -12708.904, + 0.0, + -126.76, + 0.0 + ], + [ + 4890.929, + 2294.501, + -12708.904, + 0.0, + -126.76, + 0.0 + ], + [ + 4890.929, + 2294.501, + -12708.904, + 0.0, + -126.76, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4876.898, + 2226.467, + -12765.778, + 90.0, + -141.76, + 0.0 + ], + [ + 4908.402, + 2282.21, + -12740.174, + -28.202, + -76.615, + 1.862 + ], + [ + 4908.402, + 2282.21, + -12740.174, + -28.202, + -76.615, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1058.1, + 933.0, + 808.1, + 683.5, + 559.5, + 436.6, + 316.0, + 316.0, + 191.0, + 69.5, + 69.5, + 21.4, + 21.4 + ], + "Rationale": [ + "From this open stretch of paving I can see the far side of the plant, with orange traffic cones standing near the pipe racks well ahead of me. The wicker basket named in the task should be beside those cones, but at this range the ground clutter is too small to resolve. I will walk forward to close distance and bring that cone area into clearer view.", + "The pipe rack and the cone beside it have grown slightly larger, so my heading is carrying me toward the right part of the yard. The basket is still not distinguishable against the concrete at this distance. I will keep walking straight ahead to continue closing the gap.", + "The cone near the stacked pipes is now clearly visible slightly left of center, confirming the region I need to reach. A round woven shape is starting to appear on the ground near it, which is likely the wicker basket. I will advance again to get close enough to confirm it.", + "The woven basket is now distinguishable on the ground just left of the orange cones by the pipe stack. It is still several strides away and too far for any grasp attempt. I will step forward again to shorten that distance.", + "The basket and the pair of cones beside it are noticeably larger and sit ahead and slightly to my left. The paving between us is clear, so straight walking remains the most direct approach. I will move forward once more to keep closing in.", + "The cones and the wicker basket now fill a good part of my view, with the pipe rack passing close on my right. I am still a couple of strides short of a comfortable reaching position. I will advance again to bring the basket within range.", + "The basket sits to the left of the two orange cones while my current heading points straight at the cones and the pipe stack on my right. Continuing straight would carry me past the basket rather than onto it. I will turn left to put the basket near the center of my view before stepping in.", + "After the turn the wicker basket lies ahead of me on the open concrete, with the orange cones now off to my right. The lane between me and it is clear, and it is still a short walk away. I will step forward to reach a position where the basket is close enough to grasp.", + "The wicker basket now fills the lower center of my view with the striped traffic cone right beside it, confirming I am closing on the correct target. I am still a stride short of a comfortable grasp, so I will step forward once more to bring it within arm's reach.", + "I am now standing right over the basket, and only its rim edge is visible at the very bottom of my forward view. Tilting my gaze down should place the basket fully in front of me so I can judge the grasp before reaching for it.", + "With my view angled down, the wicker basket lies clearly on the concrete just ahead of my feet, well inside reach and unobstructed. I will reach out and attempt to pick it up now that nothing separates me from it.", + "My hand is closed on the wicker basket, holding it against me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005383_y-003157_z-012713_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005383_y-003157_z-012713_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e5f682f564b96809ab03f675a4505ebd446c5032 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005383_y-003157_z-012713_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the base of the exclamation mark road sign standing on the pavement; once you locate it, walk over to it.", + "Type": 1, + "Start_Pose": [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 34.88, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 34.88, + -0.0 + ], + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 59.88, + -0.0 + ], + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 84.88, + -0.0 + ], + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + 5340.115, + -3038.746, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + 5297.316, + -2920.388, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + 5254.518, + -2802.029, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + 5211.719, + -2683.67, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + 5168.92, + -2565.312, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + 5126.122, + -2446.953, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + 5083.323, + -2328.594, + -12713.208, + 0.0, + 109.88, + -0.0 + ], + [ + 5040.525, + -2210.236, + -12713.208, + 0.0, + 109.88, + -0.0 + ], + [ + 4997.726, + -2091.877, + -12713.208, + 0.0, + 109.88, + -0.0 + ], + [ + 4997.726, + -2091.877, + -12713.208, + 0.0, + 134.88, + -0.0 + ], + [ + 4908.917, + -2002.695, + -12710.687, + 0.0, + 134.88, + -0.0 + ], + [ + 4908.917, + -2002.695, + -12710.687, + 0.0, + 134.88, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see pipework, a railing and a traffic cone, with orange bollards marking the pavement edge, and no triangular warning sign anywhere in front of me. I will turn right to begin a consistent scan along the pavement, since the open roadway on that side is where such a sign would likely stand.", + "The view now opens onto a wide concrete road with a line of orange bollards running along the pavement, but the exclamation mark sign is still not in sight. I will keep turning right in the same direction to extend the scan across the unexamined part of the yard.", + "A small red triangular sign has appeared in the right half of my view, standing beside the pavement near the silo structures. I will turn right again to bring it closer to the centre of my heading so I can commit to approaching it.", + "The triangular warning sign is now roughly ahead of me, its post planted on the pavement in front of the tall silo structures. The road between us is clear and flat, so I will walk forward to close the distance toward its base.", + "The sign has grown slightly larger and stays near the middle of my view, confirming my heading is still good. I will continue walking forward along the open road toward it.", + "The red triangle and its slender post are clearly distinguishable ahead, sitting on the raised kerb to the right of the road centre. Nothing blocks my path, so I will keep advancing toward it.", + "The warning sign continues to enlarge in the middle of my view and its base is now visible where the pavement meets the road. I am still some distance away, so I will take another step forward to close in.", + "The exclamation mark on the triangular plate is now clearly readable and its post stands just right of my heading on the pavement edge. The route stays clear, so I will keep walking forward to reach the base of the sign.", + "The triangular exclamation mark sign is clearly ahead of me, slightly right of center, with its post planted on the raised pavement edge. It is still some distance away, so I will keep walking straight down the open roadway toward it.", + "The warning sign has grown noticeably larger and its rusty post and base on the kerb are now easy to distinguish. The route in front of me is still clear tarmac, so I will continue advancing to close the remaining gap.", + "The sign now dominates the right-of-center portion of my view and its base sits just beyond the curved kerb ahead. I am still a few paces short of it, so I will keep stepping forward along the same heading.", + "The sign post is close now, standing on the pavement just to my right front, with its base clearly resting on the kerbed walkway. One more step forward should bring me essentially level with it.", + "I am now right beside the sign, but its post sits off to my right and the panel is cropped high above my heading. Turning right should center the post and its base in front of me for a final short approach.", + "The sign is now centered ahead of me with its post and base plainly visible on the pavement. A single short step forward should place me directly at the base as the task requires.", + "The sign post and its base stand immediately in front of me, within arm's reach on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005383_y-003157_z-012713_t1_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005383_y-003157_z-012713_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6bc6664b549b216faaac8ae24c9174961b12ccb7 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005383_y-003157_z-012713_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Look around for the teal portable toilet positioned against the concrete wall, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 34.88, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 34.88, + -0.0 + ], + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 59.88, + -0.0 + ], + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 84.88, + -0.0 + ], + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 109.88, + -0.0 + ], + [ + 5382.913, + -3157.105, + -12712.923, + 0.0, + 134.88, + -0.0 + ], + [ + 5294.104, + -3067.923, + -12712.923, + 0.0, + 134.88, + -0.0 + ], + [ + 5205.295, + -2978.741, + -12712.923, + 0.0, + 134.88, + -0.0 + ], + [ + 5116.486, + -2889.559, + -12712.923, + 0.0, + 134.88, + -0.0 + ], + [ + 5027.676, + -2800.377, + -12712.923, + 0.0, + 134.88, + -0.0 + ], + [ + 4938.867, + -2711.195, + -12712.923, + 0.0, + 134.88, + -0.0 + ], + [ + 4938.867, + -2711.195, + -12712.923, + 0.0, + 159.88, + -0.0 + ], + [ + 4820.689, + -2667.901, + -12708.956, + 0.0, + 159.88, + -0.0 + ], + [ + 4702.511, + -2624.607, + -12708.956, + 0.0, + 159.88, + -0.0 + ], + [ + 4702.511, + -2624.607, + -12708.956, + 0.0, + 159.88, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see pipe racks, a pressure vessel behind a yellow railing, and open concrete pavement, with no sign of a teal portable toilet against a wall. I will turn to my right to begin a steady scan of the surroundings in one consistent direction. Sweeping this way should bring the unseen part of the yard and its walls into view.", + "The rotation has revealed more of the plant, with bollards along a walkway and tall towers ahead, but still no teal toilet or the concrete wall it should sit against. I will keep turning right to continue the scan without breaking its direction. Further rotation may expose the buildings on that side of the yard.", + "Ahead I now see a wide roadway running past the silos with a red warning sign, yet no teal cabin is visible along it. Continuing the same rightward sweep is the cheapest way to reach the parts of the yard I have not inspected. The built structures further right seem the most likely place for a wall-mounted service area.", + "A teal portable toilet has just come into view at the far right of my sight, standing against the tan and concrete wall of the building beside a blue drum. It sits near the edge of my view, so I will turn right once more to bring it toward the center of my heading. That should line me up to walk straight at it.", + "The teal portable toilet is now clearly ahead of me, set against the wall with a blue barrel and traffic cones on the paved apron beside it. The route across the open concrete looks clear of obstacles, so I will walk forward toward it. Each step should close the sizable distance still separating us.", + "The teal cabin has grown slightly larger and stays near the center-right of my view, confirming my heading is good. The concrete surface ahead remains flat and unobstructed. I will keep walking forward to reduce the remaining gap.", + "The toilet and the blue drum beside it are noticeably closer now, with the wall detail and the floodlight above becoming distinct. I am still several strides short of standing at it. I will continue advancing on the same line.", + "The teal unit now fills a good portion of my view, its door panels and the weeds at its base clearly visible against the wall. It sits slightly right of my heading but remains easily reachable straight ahead. I will step forward again to close the last stretch of ground.", + "The teal portable toilet is clearly ahead against the concrete and stucco wall, filling the right side of my view, but there is still open pavement between me and it. I will keep walking forward along the clear apron to close the remaining gap. This should bring me near enough that only a small heading adjustment is needed.", + "I am now close to the portable toilet, but it sits well off to my right against the wall while my heading still points down the open pavement. I will turn right to bring the toilet and its door into the center of my view. That should line up a straight final approach.", + "The turn worked, and the teal portable toilet with its blue barrel now sits centered directly ahead of me against the wall. The ground between us is flat, open concrete with only low weeds to the left. I will step forward to close in on the unit.", + "The portable toilet now dominates my view, with its door panel and sign clearly readable just a short step away. I will advance once more to stand directly in front of the unit. That should place me close enough to consider the approach complete.", + "I am standing directly at the teal portable toilet's door, its latch within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a0147ef9983b0d8c1b5bdfaa37e20bf061571eb --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Walk to the orange traffic cone, then head toward the blue barrels.", + "Type": 3, + "Start_Pose": [ + 5452.131, + 3037.188, + -12713.084, + 0.0, + -110.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5452.131, + 3037.188, + -12713.084, + 0.0, + -110.4, + 0.0 + ], + [ + 5408.26, + 2919.223, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5364.389, + 2801.257, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5320.518, + 2683.292, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5276.647, + 2565.326, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5276.647, + 2565.326, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5187.032, + 2476.954, + -12710.281, + 0.0, + -135.4, + 0.0 + ], + [ + 5097.417, + 2388.582, + -12710.281, + 0.0, + -135.4, + 0.0 + ], + [ + 5014.699, + 2371.497, + -12710.281, + 0.0, + -135.4, + 0.0 + ], + [ + 5014.699, + 2371.497, + -12710.281, + 0.0, + -135.4, + 0.0 + ], + [ + 5080.49, + 2436.376, + -12710.281, + 0.0, + -135.4, + 0.0 + ], + [ + 5080.49, + 2436.376, + -12710.281, + 0.0, + -110.4, + 0.0 + ], + [ + 5080.49, + 2436.376, + -12710.281, + 0.0, + -85.4, + 0.0 + ], + [ + 5080.49, + 2436.376, + -12710.281, + 0.0, + -60.4, + 0.0 + ], + [ + 5080.49, + 2436.376, + -12710.281, + 0.0, + -35.4, + 0.0 + ], + [ + 5080.49, + 2436.376, + -12710.281, + 0.0, + -10.4, + 0.0 + ], + [ + 5204.282, + 2413.656, + -12710.281, + 0.0, + -10.4, + 0.0 + ], + [ + 5328.073, + 2390.936, + -12710.281, + 0.0, + -10.4, + 0.0 + ], + [ + 5451.872, + 2369.001, + -12710.281, + 0.0, + -10.4, + 0.0 + ], + [ + 5451.872, + 2369.001, + -12710.281, + 0.0, + -10.4, + 0.0 + ] + ], + "Rationale": [ + "From this open concrete apron I can see the racked pipes ahead and the blue barrels standing on pallets to the right, but the orange cone I want first is still far off near the plant structure. I will walk forward across the open ground to shorten that distance and bring the cone area into clearer view.", + "The pipe rack and the silos have grown noticeably larger, so my forward walking is closing distance as intended. The orange marker posts along the left edge of the yard are becoming distinct, and the cone I am after should lie in that direction past the rack. I will keep walking straight.", + "Orange striped bollards now stand out clearly at the left and near the rack, and the stacked pipes fill more of my view, confirming steady progress into the yard. The cone I want is still ahead near the far end of the rack. Another step forward should bring me alongside that area.", + "The racked pipes are close now and I can pick out an orange cone standing just beyond the left end of the rack, near the yellow silo base. Walking forward once more should place me near that end of the rack where the cone sits.", + "The pipe stack now fills most of my view straight ahead, while the orange cone sits off to my left beside the rack's near end. Continuing straight would only carry me into the pipes, so I will turn left to put the cone in front of me and open a clear walking line to it.", + "The turn opened the yard to my left and the pipe rack now runs away to my right, leaving clear pavement ahead. The orange cone stands just along the near side of that rack, close to my heading. I will walk forward to close on it.", + "The orange cone is now clearly visible tucked against the rack frame just right of my path, and it has grown larger with the last step. A few paces still separate me from it, so I will keep walking forward to reach it.", + "The cone is very close, standing at the rack's end just right of the yellow post that partly crosses my view. A short final step should bring me level with it rather than leaving it slightly ahead. I will advance to settle onto that spot.", + "Two striped orange traffic cones now stand directly in front of me at the near right, close enough to touch. I have arrived at the orange cone. I mark reaching it, and now I set off for the blue barrels standing further along the yard.", + "The cones sit almost against me and the pipe rack crowds my right shoulder, leaving no room to swing around cleanly. Stepping back should open enough clearance to pivot and search out the blue barrels without scraping the cones or the rack.", + "From this pulled back spot I see only silos, ladders and the pipe rack ahead, with no blue barrels anywhere in front of me. They lie off to my right beyond the stacked pipes, so I will turn right to begin bringing that side of the yard into view.", + "The sweep has already uncovered grey drums under the open bay, which tells me I am rotating toward the storage side of the yard. The blue barrels are still outside my view, so I will keep turning right.", + "Grey drums and the portable cabins are centred now, but the blue barrels remain past the right edge of what I can see. Another turn to the right should carry my heading further along this bay toward them.", + "The blue barrels have appeared at the right of my view, sitting on pallets past the end of the pipe stack. Turning right again should bring them closer to the middle of my heading before I walk on.", + "The blue barrels are in sight, but the racked pipes still lie across the direct line to them. One more turn to the right should put me on the open concrete lane running past the rack, which gives me a walkable approach to the barrels.", + "The lane ahead is clear concrete, with the blue barrels on their pallet just to my left front beside the pipe rack. Walking forward should close the remaining gap and bring me alongside them.", + "The blue barrels stand on their pallet a short way ahead on my left, and the concrete walkway in front of me is clear of the pipe rack and the bollards. Stepping forward along this lane should bring me alongside them.", + "The blue barrels now loom large just off my left shoulder, so only a little more ground separates me from them. I will take another step forward to draw fully level with the pallet they sit on.", + "The blue barrels are right beside me, filling the left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27f8d6677ac2518392d5eb880aa55bd3daed6733 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_b/infos.json @@ -0,0 +1,416 @@ +{ + "Instruction": "Approach the large yellow cylindrical tank with a ladder, then move to the two bright blue barrels on the wooden pallet.", + "Type": 3, + "Start_Pose": [ + 5452.131, + 3037.188, + -12713.084, + 0.0, + -110.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5452.131, + 3037.188, + -12713.084, + 0.0, + -110.4, + 0.0 + ], + [ + 5408.26, + 2919.223, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5364.389, + 2801.257, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5320.518, + 2683.292, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5320.518, + 2683.292, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5230.903, + 2594.92, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5141.288, + 2506.547, + -12710.342, + 0.0, + -135.4, + 0.0 + ], + [ + 5051.673, + 2418.175, + -12710.342, + 0.0, + -135.4, + 0.0 + ], + [ + 4960.167, + 2338.12, + -12695.0, + 0.0, + -135.4, + 0.0 + ], + [ + 4868.99, + 2252.181, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4779.375, + 2163.809, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4689.76, + 2075.437, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4600.146, + 1987.064, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4600.146, + 1987.064, + -12708.725, + 0.0, + -160.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -160.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -160.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -110.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -85.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -60.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -35.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -10.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + 14.6, + -0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + 39.6, + -0.0 + ], + [ + 4578.555, + 2025.07, + -12708.725, + 0.0, + 39.6, + -0.0 + ], + [ + 4578.555, + 2025.07, + -12708.725, + 0.0, + 64.6, + -0.0 + ], + [ + 4632.541, + 2138.763, + -12708.725, + 0.0, + 64.6, + -0.0 + ], + [ + 4686.526, + 2252.456, + -12708.725, + 0.0, + 64.6, + -0.0 + ], + [ + 4686.526, + 2252.456, + -12708.725, + 0.0, + 39.6, + -0.0 + ], + [ + 4783.502, + 2332.682, + -12710.281, + 0.0, + 39.6, + -0.0 + ], + [ + 4880.478, + 2412.907, + -12710.281, + 0.0, + 39.6, + -0.0 + ], + [ + 4880.478, + 2412.907, + -12710.281, + 0.0, + 14.6, + -0.0 + ], + [ + 5002.273, + 2444.632, + -12710.281, + 0.0, + 14.6, + -0.0 + ], + [ + 5124.068, + 2476.358, + -12710.281, + 0.0, + 14.6, + -0.0 + ], + [ + 5124.068, + 2476.358, + -12710.281, + 0.0, + -10.4, + 0.0 + ], + [ + 5247.859, + 2453.638, + -12710.281, + 0.0, + -10.4, + 0.0 + ], + [ + 5371.65, + 2430.918, + -12710.281, + 0.0, + -10.4, + 0.0 + ], + [ + 5495.442, + 2408.198, + -12710.281, + 0.0, + -10.4, + 0.0 + ], + [ + 5495.442, + 2408.198, + -12710.281, + 0.0, + -35.4, + 0.0 + ], + [ + 5495.442, + 2408.198, + -12710.281, + 0.0, + -35.4, + 0.0 + ] + ], + "Rationale": [ + "The tall cylinder with the yellow skirt and yellow ladder stands ahead on the left side of the plant, and the two blue barrels on their pallet sit off to the right. I want the ladder tank first, so I will walk forward across the open concrete to cut down the distance.", + "The ladder tank has grown noticeably larger on the left, so my heading is carrying me the right way. I will keep walking forward, since the concrete apron in front of me is clear of the pipe rack and the barricades.", + "The stacked pipes and their yellow frame now fill the middle of my view, while the ladder tank sits further left and still some way off. Another step forward should bring me level with that pipe rack and closer to the tank before I swing my heading toward it.", + "Walking straight ahead would send me into the pipe rack rather than toward the tank, which now lies well off to my left with only its yellow base edge in view. I will turn left to put the ladder tank into the middle of my path.", + "The turn worked, and the grey cylinder with its yellow skirt and long yellow ladder now stands near the center of my view with open pavement leading to it. I will walk forward along that clear lane.", + "The tank's yellow base is wider in front of me and its ladder rungs are becoming distinct, so I am closing steadily. The pipe rack stays off to my right, leaving the lane ahead free, so I will keep stepping forward.", + "The ladder tank is clearly nearer now, its yellow base filling more of the left-center of my view. There is still a stretch of clear concrete between me and it, so I will advance again.", + "The traffic cones and the pipe frame sit to my right, and the tank with its yellow ladder is ahead on the left with open pavement between us. I will step forward once more to keep shrinking that gap.", + "The tall cylinder with its yellow skirt and the bright yellow caged ladder stands ahead and slightly left, with clear open concrete between me and it. Nothing blocks the lane, so I will keep walking forward to close the remaining distance.", + "The yellow skirt and ladder now sit larger and lower in my view, confirming I am steadily gaining on the big cylindrical tank. The ground ahead is still clear of pipework, so another step forward should bring me nearer.", + "The yellow base now fills the left half of my view and the ladder rungs are clearly resolved, so the tank is close but not yet reached. I will step forward again to shorten the gap.", + "The tank's yellow plinth and its ladder are now only a few paces off my left shoulder, and the paving directly ahead stays open past the large grey column. One more step forward should put me level with the tank.", + "The yellow tank and its ladder have slid to the left edge of my view while my heading points into the open bay ahead. I will turn left so the cylinder and its ladder sit squarely in front of me before I close the last stretch.", + "The yellow cylindrical tank with its ladder now sits centred ahead with clear ground at its base. I will step forward to bring myself right up against it.", + "The ladder rungs and the curved yellow skirt of the large cylindrical tank fill my view at arm's length. I am standing at that tank. I mark reaching it before setting off toward the two bright blue barrels on the wooden pallet.", + "Pressed against the tank, its yellow wall blocks most of my forward view and the blue barrels on their pallet are nowhere in sight. I will turn right to swing my view off the tank and out across the open yard where I may pick them up again.", + "The yellow tank base is sliding off to my left edge and open pavement under the pipe trestle is opening ahead, but the blue barrels on their pallet are nowhere in this heading. I continue swinging right to keep sweeping the yard for them.", + "Turning right has brought a tall pipe column and the blank concrete wall of the plant building into view, with no sign of the blue barrels on their pallet. I keep rotating right to bring more of the yard past this wall into view.", + "My view is now almost entirely the flat concrete wall and the pipe standing against it, so this heading offers nothing to walk toward. I continue turning right, expecting the wall to give way to the open yard beyond it.", + "The wall still stretches across in front of me, though its corner and a valved riser are now edging into the right side of my view. I keep turning right to clear that corner and open up the yard behind it.", + "Past the wall corner the yard is opening up, with pavement and distant structures now showing beyond the valved risers. I turn right again to bring more of that open ground into view and look for the blue barrels on the pallet.", + "The yard ahead now shows stacked concrete pipes, traffic cones, and a hint of blue drums far off near the building openings. I keep rotating right to center that area and judge a clean walking line toward it.", + "The pipe rack and cones now sit left of center and broad open pavement runs straight ahead into the plant lane. One more turn right should square me onto that clear lane before I start walking.", + "I am now facing down an open stretch of concrete with the cones and pipe rack safely off to my left and the sheds ahead. I step forward along this lane to close distance toward the area where blue drums sit near the buildings.", + "Directly ahead of me the pipe rack, its yellow frame and two traffic cones clutter the near ground, so pushing straight on would mean squeezing past them. The wide concrete yard opens to my right, so I will turn that way to pick up a clear route across the plant.", + "I now face a broad, unobstructed stretch of concrete running toward the corrugated sheds, with only slender bollards along its edge. I will walk forward to cover ground across this open yard toward the storage frontage where the blue barrels stand on their pallet.", + "The gabled shed and the tall silo stack are noticeably closer, and the pavement in front of me stays free apart from a bollard well off to the side. Another step forward should keep closing distance along this open route.", + "Holding this heading would carry me past the shed fronts and out into the far yard, away from the storage side of the plant. I will turn left to swing my heading back along the building line, where the pallet with the blue barrels is kept.", + "The turn has brought the shed frontage and the pipe stack with blue drums back into the left of my view, and the roadway ahead is clear. I will step forward along it to close on that storage area.", + "The lane between the sheds and the bollard line remains open, with the loading bays sliding past on my right. Another stride forward should bring me nearer the corridor where the barrels are stored.", + "Facing this way I am aimed down the open road with the sheds squarely in front, and the storage side has slipped out to my left. I will turn left to bring that walkway alongside the buildings, where the blue barrels sit, into the centre of my view.", + "Two bright blue barrels are now visible ahead on my left, standing beside the timber-framed pipe racks along the building line. The paved walkway between me and them is clear, so I will walk forward to close the remaining distance.", + "The pair of bright blue barrels sitting on a wooden pallet is now clearly visible ahead on my left, beside the stacked concrete pipes. I am still several paces short of them, so I walk forward along the open concrete to close that gap.", + "The blue barrels on their pallet have slid to the far left edge of my view as I advanced, so continuing straight would carry me past them. I turn left to bring them back in front of me and set a heading that leads directly to the pallet.", + "The turn has put both blue barrels and their wooden pallet into my forward-left field, past the racked pipes. With a clear stretch of concrete between us, I step forward to shorten the remaining distance.", + "The two blue barrels have grown noticeably and their pallet slats are now distinct, confirming I am closing on them. A few more paces should bring me right alongside, so I keep walking forward.", + "Both barrels now dominate the left of my view at close range, their pallet just ahead of my feet line. I advance one more step to draw level with the pallet rather than stopping short of it.", + "I have come up beside the pallet, and only the near barrel is still framed at my left while the second has passed out of view. I turn left so that both blue barrels sit squarely in front of me at arm's reach.", + "Both bright blue barrels stand on their wooden pallet directly before me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf55d16bbcbdc429c07ad9d353e71682e35597bf --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_c/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Head toward the blue barrels, then proceed to the base of the yellow ladder on the tower.", + "Type": 3, + "Start_Pose": [ + 5452.131, + 3037.188, + -12713.084, + 0.0, + -110.4, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5452.131, + 3037.188, + -12713.084, + 0.0, + -110.4, + 0.0 + ], + [ + 5452.131, + 3037.188, + -12713.038, + 0.0, + -85.4, + 0.0 + ], + [ + 5462.225, + 2911.734, + -12713.038, + 0.0, + -85.4, + 0.0 + ], + [ + 5472.318, + 2786.281, + -12713.038, + 0.0, + -85.4, + 0.0 + ], + [ + 5482.412, + 2660.827, + -12713.038, + 0.0, + -85.4, + 0.0 + ], + [ + 5492.506, + 2535.374, + -12710.46, + 0.0, + -85.4, + 0.0 + ], + [ + 5502.6, + 2409.92, + -12710.46, + 0.0, + -85.4, + 0.0 + ], + [ + 5502.6, + 2409.92, + -12710.46, + 0.0, + -85.4, + 0.0 + ], + [ + 5495.189, + 2502.022, + -12710.46, + 0.0, + -85.4, + 0.0 + ], + [ + 5495.189, + 2502.022, + -12710.46, + 0.0, + -110.4, + 0.0 + ], + [ + 5495.189, + 2502.022, + -12710.46, + 0.0, + -135.4, + 0.0 + ], + [ + 5495.189, + 2502.022, + -12710.46, + 0.0, + -160.4, + 0.0 + ], + [ + 5376.623, + 2459.803, + -12710.46, + 0.0, + -160.4, + 0.0 + ], + [ + 5258.056, + 2417.583, + -12710.46, + 0.0, + -160.4, + 0.0 + ], + [ + 5139.49, + 2375.364, + -12710.46, + 0.0, + -160.4, + 0.0 + ], + [ + 5023.881, + 2371.318, + -12708.971, + 0.0, + -160.4, + 0.0 + ], + [ + 4906.075, + 2337.64, + -12710.281, + 0.0, + -160.4, + 0.0 + ], + [ + 4787.508, + 2295.421, + -12708.857, + 0.0, + -160.4, + 0.0 + ], + [ + 4787.508, + 2295.421, + -12708.857, + 0.0, + -135.4, + 0.0 + ], + [ + 4697.893, + 2207.048, + -12708.857, + 0.0, + -135.4, + 0.0 + ], + [ + 4608.278, + 2118.676, + -12708.857, + 0.0, + -135.4, + 0.0 + ], + [ + 4608.278, + 2118.676, + -12708.857, + 0.0, + -160.4, + 0.0 + ], + [ + 4489.712, + 2076.456, + -12708.857, + 0.0, + -160.4, + 0.0 + ], + [ + 4371.146, + 2034.237, + -12708.857, + 0.0, + -160.4, + 0.0 + ], + [ + 4371.146, + 2034.237, + -12708.857, + 0.0, + -135.4, + 0.0 + ], + [ + 4371.146, + 2034.237, + -12708.857, + 0.0, + -110.4, + 0.0 + ], + [ + 4371.146, + 2034.237, + -12708.857, + 0.0, + -110.4, + 0.0 + ] + ], + "Rationale": [ + "The pair of blue barrels sits well off to my right, near the pallet under the covered walkway, while my body faces the pipe racks straight ahead. I will turn right so the barrels move toward the center of my view and give me a clean straight approach.", + "The blue barrels now sit near the middle of my view, framed by the open passage under the walkway. With nothing but flat pavement between me and them, I will walk forward to close the distance.", + "The barrels have grown noticeably larger and stay centered slightly right of my heading, so my line is still good. I will keep walking straight toward them across the open ground.", + "The two blue barrels on their pallet now dominate the middle right of my view and the pipe rack passes clear on my left. Another step forward should bring me within a few paces of them.", + "The barrels are close enough now that their ribbed lids and wooden pallet are plainly detailed. I will step forward again to draw right up alongside them.", + "The nearer barrel already fills much of the right half of my view, so I am nearly beside the pallet. One more step should put me level with the barrels rather than short of them.", + "The blue barrel towers right beside me at arm's reach, its pallet at my feet and the pipe rack pressed close on my left. I have reached the blue barrels. I mark reaching them, and now I head for the base of the yellow ladder on the tower.", + "Standing this tight against the barrel and the pipe rack, the narrow gap leaves me no room to swing around toward the tower with the yellow ladder. I will step back along my line to open space before changing heading.", + "The pair of blue barrels on their pallet stands immediately to my right, so that stop is behind me and the tower with the yellow ladder is what I want now. The tall silos and steelwork sit away to my left, so I will turn left to swing my heading toward them.", + "One turn was not enough, since the racked pipes now dominate my view and only the edge of the yellow-painted silo framework shows at the far left. Another left turn should bring the tower and its ladder toward the middle of my view.", + "The bank of silos and the caged tower are opening up ahead, but they still sit off my left shoulder and the racked pipes block the straight line in front of me. I will turn left once more to face the open ground running toward the tower.", + "The bright yellow ladder now climbs the tall silo just right of my center, and open paving runs toward it past the pipe rack. With my heading finally lined up, I will walk forward to close that distance.", + "The ladder on the silo has grown slightly larger and stays ahead and a little to my right, with the racked pipes safely off to the side. The lane remains clear, so I keep walking forward.", + "The tower with the yellow ladder and its yellow skirt is noticeably closer now, though still several strides away beyond the end of the pipe rack. Nothing blocks the concrete in front of me, so I advance again.", + "The rack post and stacked pipes crowd my right edge, but the ladder tower is still ahead of me with clear paving on my line. I will keep stepping forward toward its base.", + "I am past the pipe rack now, and the yellow ladder runs straight up the silo directly ahead with its yellow skirt at ground level in plain view. The paving between us is empty, so I walk forward to close on the foot of that ladder.", + "The tower with the yellow ladder now stands close ahead, its bright rungs running up from the yellow skirt just right of my heading. Nothing blocks the open concrete between me and that base, so I will walk forward to keep closing on it.", + "The ladder and the yellow base it rises from sit off to the right of my current heading, while empty yard fills the left of my view. I will turn right so the ladder foot lines up ahead of me before I continue walking.", + "With the yellow ladder now roughly in front of me, its lowest rungs and the yellow skirt are clearly in reach of a straight walk. I will step forward across the open concrete to shorten the remaining gap to the tower base.", + "The yellow skirt at the foot of the tower has grown noticeably larger and the ladder's bottom rungs are now plainly visible. I am still a few strides short of standing at that base, so I will keep walking forward.", + "The ladder and the yellow plinth it stands on have drifted to the left side of my view, while the large grey pipe column dominates the right. I will turn left to put the ladder foot squarely in front of me for the final approach.", + "The yellow ladder now runs up directly ahead of me from its yellow footing, close enough that individual rungs read clearly. I will walk forward again to bring myself right up against the base of that ladder.", + "I am nearly against the tower now, with the yellow skirt filling most of my view and the ladder's rungs standing just to my right. One more step forward should put me at the very foot of that ladder.", + "I am pressed right up on the yellow tower skirt and its curved wall now fills my whole view, leaving the ladder out of sight past the right edge. I will turn right to swing my heading back onto the ladder itself.", + "I am right up against the yellow skirt at the foot of the tower, and the ladder's upright rail is only just clipping the right edge of my view. Another turn to the right should swing the ladder itself squarely in front of me so I am facing its base.", + "The yellow ladder's rails and lowest rungs stand directly in front of me against the tower's base. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1cb8e8f790745a850282b460e7d26f71f0e6dba7 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t3_d/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Move to the yellow ladder on the tower, then reach the orange cone.", + "Type": 3, + "Start_Pose": [ + 5452.131, + 3037.188, + -12713.084, + 0.0, + -110.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5452.131, + 3037.188, + -12713.084, + 0.0, + -110.4, + 0.0 + ], + [ + 5408.26, + 2919.223, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5364.389, + 2801.257, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5320.518, + 2683.292, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5320.518, + 2683.292, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5230.903, + 2594.92, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5141.288, + 2506.547, + -12710.342, + 0.0, + -135.4, + 0.0 + ], + [ + 5051.673, + 2418.175, + -12710.342, + 0.0, + -135.4, + 0.0 + ], + [ + 4960.167, + 2338.12, + -12695.0, + 0.0, + -135.4, + 0.0 + ], + [ + 4868.99, + 2252.181, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4779.375, + 2163.809, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4689.76, + 2075.437, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4600.146, + 1987.064, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4600.146, + 1987.064, + -12708.725, + 0.0, + -160.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -160.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -160.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -135.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -110.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -85.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -60.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -35.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + -10.4, + 0.0 + ], + [ + 4481.579, + 1944.845, + -12708.725, + 0.0, + 14.6, + -0.0 + ], + [ + 4603.374, + 1976.57, + -12708.725, + 0.0, + 14.6, + -0.0 + ], + [ + 4725.169, + 2008.295, + -12708.725, + 0.0, + 14.6, + -0.0 + ], + [ + 4725.169, + 2008.295, + -12708.725, + 0.0, + 39.6, + -0.0 + ], + [ + 4822.145, + 2088.521, + -12708.725, + 0.0, + 39.6, + -0.0 + ], + [ + 4919.121, + 2168.746, + -12708.725, + 0.0, + 39.6, + -0.0 + ], + [ + 4919.121, + 2168.746, + -12708.725, + 0.0, + 39.6, + -0.0 + ] + ], + "Rationale": [ + "I can see the tall silo tower ahead on the left with a yellow ladder running up its side, and it is still far across the open yard. The concrete apron in front of me is clear, so I will walk forward to close that distance.", + "The tower and its yellow ladder have grown slightly larger and the racked pipes ahead are more defined, so my heading is carrying me into the yard as intended. Nothing blocks the pavement immediately in front, so I will keep walking forward.", + "The stacked pipes and their barriers now fill the middle of my view, while the yellow ladder sits off to my left on the silo. I still have clear ground ahead of me, so I will advance again to get near the tower before adjusting my heading.", + "The racked pipes and their yellow frame now sit squarely across my forward path, while the silo carrying the yellow ladder stands off to my left. I will turn left to put that tower and its open approach lane in front of me.", + "After the turn the silo with its yellow ladder and yellow skirt sits ahead of me, with the pipe rack pushed off to my right. The concrete strip between them is open, so I will walk forward along it toward the ladder.", + "The yellow skirt at the foot of the tower and the ladder above it are noticeably closer, confirming my heading is good. The lane past the pipe rack stays clear, so I will keep advancing.", + "The yellow base of the tower now dominates the left half of my view and the ladder runs up beside it, so I am closing well. A traffic cone marks the edge of the pipe rack on my right but leaves my lane free, so I will step forward again.", + "The yellow ladder on the tower is now clearly ahead and to my left, only a short stretch of open concrete away. The cones and pipes remain on my right without crowding my line, so I will continue walking toward the ladder.", + "The tower with the yellow ladder up its side stands clear ahead and slightly left, with open concrete between me and its yellow base. Nothing blocks that lane, so I will keep walking straight to close the remaining distance.", + "The yellow base and the ladder rungs have grown noticeably larger, confirming my heading is carrying me toward the tower. I will step forward again to keep shrinking the gap.", + "The ladder now runs the full height of my view and its yellow plinth spreads across the left side, so I am getting close but not yet at its foot. The ground between us stays clear, so I will advance once more.", + "The ladder's rungs are close enough to count and the yellow base curves away just to my left, so only a short stretch of floor remains. I will take another step to draw level with the tower.", + "My forward walking has pushed the ladder out to the far left edge while the grey pipe column now sits in the middle of my view. I will turn left to bring the ladder back in front of me before closing the last stretch.", + "The turn has put the yellow ladder and its plinth squarely ahead of me, with only a couple of paces of open concrete left. I will step forward to stand at the ladder's foot.", + "The yellow rungs rise directly in front of me at arm's length, with the tower's yellow base curving away at my feet. I have reached the yellow ladder on the tower. I mark reaching it and now set off toward the orange cone.", + "Standing this close, the ladder and the tower's yellow skirt block most of my view, and no orange cone appears in the narrow gap of yard beyond the girders. Turning right should sweep my gaze off the tower and across the open ground where a cone may be standing.", + "The yellow ladder rungs are now only at the far left edge, so my business at the tower is done and I need the orange cone next. Nothing cone shaped appears in this shaded bay of columns and steelwork. I will keep swinging my view rightward to search the open yard.", + "A thick grey pipe column and the pale corrugated wall now fill most of what I can see, and there is still no orange cone. This heading offers nothing to approach. I will continue rotating right to sweep past this obstruction toward more open ground.", + "My view is almost entirely blank wall panelling with one pipe in front of it, which tells me nothing about where the cone stands. Turning back left would only return me to the tower I have already reached. I will keep turning right to bring fresh ground into view.", + "The wall still runs across my front, though pipes with a red valve wheel have come in from the right, hinting the yard opens that way. No orange cone is visible yet. I will turn right again to carry the sweep into that opening.", + "Past the pipework the ground now opens into a wide paved yard with buildings beyond, which is where a cone would plausibly stand. Still nothing orange has entered my view. I will turn right once more to uncover the rest of that yard.", + "Two orange and white cones have appeared at the far right of my view, standing on the pavement beside the stacked concrete pipes. They are too near the edge for me to walk straight at them. I will turn right once more to bring them closer to the middle of my heading.", + "The pair of orange cones now sits ahead of me, slightly right of center, on open pavement beside the stacked pipes. My heading points into that clear stretch with nothing in the way. I will walk forward to close the distance to them.", + "The cones have grown noticeably larger and remain just right of my heading, so the previous step brought me nearer along a good line. There is still a good stretch of empty pavement between us. I will keep walking forward to close in on them.", + "The striped orange cones stand just ahead beside the stacked pipes, but my current heading aims at the yellow guard rail and the pipe rack, which would block a straight walk in. I turn right to bring my heading onto the open concrete lane that runs past the nearer cone.", + "The pavement in front of me is now clear and both orange cones sit near the middle of my view at the edge of the pipe stack. I walk forward to cut down the remaining distance to the closer one.", + "The orange cone ahead and slightly to my right is now only a stride or two away, with open ground between us. I step forward again to draw level with it and stand within reach.", + "The orange cone stands immediately beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t5_a_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d08e3b6d5bb1bb9bae9d3959f464d5d6e7326ac6 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the trash bag beside the orange traffic cone, then place it near the blue barrels.", + "Type": 5, + "Start_Pose": [ + 5452.131, + 3037.188, + -12713.084, + 0, + -110.4, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4947.788, + 2449.576, + -12790.281, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5452.131, + 3037.188, + -12713.084, + 0, + -110.4, + 0 + ], + [ + 5408.26, + 2919.223, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5364.389, + 2801.257, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5364.389, + 2801.257, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5274.774, + 2712.885, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5185.159, + 2624.513, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5095.544, + 2536.14, + -12710.403, + 0.0, + -135.4, + 0.0 + ], + [ + 5095.544, + 2536.14, + -12710.403, + 0.0, + -135.4, + 0.0 + ], + [ + 5095.544, + 2536.14, + -12710.403, + 0.0, + -110.4, + 0.0 + ], + [ + 5095.544, + 2536.14, + -12710.403, + 0.0, + -85.4, + 0.0 + ], + [ + 5095.544, + 2536.14, + -12710.403, + 0.0, + -60.4, + 0.0 + ], + [ + 5095.544, + 2536.14, + -12710.403, + 0.0, + -35.4, + 0.0 + ], + [ + 5198.135, + 2463.233, + -12710.403, + 0.0, + -35.4, + 0.0 + ], + [ + 5198.135, + 2463.233, + -12710.403, + 0.0, + -10.4, + 0.0 + ], + [ + 5321.927, + 2440.513, + -12710.403, + 0.0, + -10.4, + 0.0 + ], + [ + 5445.718, + 2417.793, + -12710.403, + 0.0, + -10.4, + 0.0 + ], + [ + 5445.718, + 2417.793, + -12710.403, + 0.0, + -35.4, + 0.0 + ], + [ + 5543.583, + 2354.35, + -12708.458, + 0.0, + -35.4, + 0.0 + ], + [ + 5484.894, + 2396.059, + -12710.281, + 0.0, + -35.4, + 0.0 + ], + [ + 5484.894, + 2396.059, + -12710.281, + 0.0, + -35.4, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4947.788, + 2449.576, + -12790.281, + 0.0, + 0.0, + 0.0 + ], + [ + 4947.788, + 2449.576, + -12790.281, + 0.0, + 0.0, + 0.0 + ], + [ + 4947.788, + 2449.576, + -12790.281, + 0.0, + 0.0, + 0.0 + ], + [ + 4947.788, + 2449.576, + -12790.281, + 0.0, + 0.0, + 0.0 + ], + [ + 4947.788, + 2449.576, + -12790.281, + 0.0, + 0.0, + 0.0 + ], + [ + 4947.788, + 2449.576, + -12790.281, + 0.0, + 0.0, + 0.0 + ], + [ + 4947.788, + 2449.576, + -12790.281, + 0.0, + 0.0, + 0.0 + ], + [ + 5110.973, + 2521.364, + -12742.5, + -28.202, + -85.255, + 1.862 + ], + [ + 5116.672, + 2528.941, + -12742.227, + -28.189, + -60.243, + 1.872 + ], + [ + 5118.007, + 2537.794, + -12742.897, + -28.215, + -35.273, + 1.849 + ], + [ + 5121.324, + 2544.497, + -12743.26, + -14.092, + -18.056, + 6.87 + ], + [ + 5107.623, + 2553.891, + -12743.245, + -28.208, + 14.742, + 1.851 + ], + [ + 5209.94, + 2481.049, + -12740.078, + -28.189, + 14.758, + 1.869 + ], + [ + 5201.784, + 2485.034, + -12740.361, + -28.198, + 39.746, + 1.862 + ], + [ + 5325.477, + 2461.572, + -12740.748, + -28.202, + 39.742, + 1.86 + ], + [ + 5449.23, + 2438.861, + -12740.633, + -28.201, + 39.745, + 1.857 + ], + [ + 5456.884, + 2434.724, + -12739.682, + -28.211, + 14.738, + 1.853 + ], + [ + 5555.606, + 2372.004, + -12740.533, + -28.202, + 14.74, + 1.86 + ], + [ + 5541.953, + 2355.509, + -12750.281, + 0.0, + -35.4, + 0.0 + ], + [ + 5541.953, + 2355.509, + -12750.281, + 0.0, + -35.4, + 0.0 + ] + ], + "PD_Dist_2D": [ + 774.4, + 657.7, + 545.2, + 545.2, + 419.8, + 294.9, + 171.2, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 22.1, + 21.4, + 21.4, + 20.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From my starting spot on the open concrete apron I can see the dark trash bag sitting on the ground to the left of the pipe rack, with the orange cone markers nearby and the blue barrels off to the right. The bag is still far away, so I will walk straight ahead to close the gap before worrying about fine alignment.", + "The trash bag now appears larger and lower in my view, confirming that my previous step brought me closer to it. Nothing blocks the pavement between me and the bag, so I will keep walking forward to continue closing the distance.", + "The trash bag now sits well off to the left side of my view while my heading points at the pipe rack and cone barriers straight ahead. Turning left should swing my facing onto the bag so a straight walk carries me directly to it.", + "After the turn the trash bag sits near the middle of my view with open concrete leading right up to it. I will walk forward along this heading to keep reducing the distance to the bag.", + "The bag has grown noticeably and the orange cone beside it is now clearly visible to its right, so my heading is still good. I will take another step forward since I am not yet close enough to reach the bag.", + "The bag now fills a good part of the lower center of my view with the cone standing just to its right, but it is still a stride away from my feet. I will advance once more to bring it into grasping range.", + "The trash bag is now directly in front of me at the bottom of my view, close enough that its surface fills the near foreground beside the orange cone. This is the target named in the task, so I will attempt to pick it up from here.", + "The grasp worked, since the bag is now held right against me and my view has dropped onto it and the ground at my feet. The blue barrels I need to reach lie back around to my right past the pipe rack, so I will turn right to begin swinging my heading toward them.", + "The trash bag is secured in my hands, so my remaining job is to carry it to the blue barrels. From this heading I only see the stacked pipe rack, the traffic cones and gray drums under the walkway, with no blue barrels in front of me. I will keep rotating right to swing my view across the yard and locate the barrel pallet.", + "Facing this way I still see only the long pipe rack and the leaning cone, with gray drums and portable units deeper under the structure. The blue barrels I need are not yet within my forward view, so my heading is not usable for transport. I will turn right again to continue sweeping toward the open side of the yard.", + "The blue barrels on their pallet are now visible off to my right, past the end of the pipe rack. My body is still angled across the rack rather than toward that side of the yard. I will turn right once more so the barrels sit nearer the center of my path before I start walking with the bag.", + "The blue barrels are now ahead of me beside the end of the pipe rack, and the concrete walkway in front is clear apart from a striped post well to the right. Standing here I am still several strides short of the drop area. I will step forward to close that gap while carrying the bag.", + "From here the pipe rack and its yellow frame cut across my line to the barrels, which sit just behind it on their pallet. The clear paved corridor runs off to my right along the building front. I will turn right to take that open lane so I can walk past the rack instead of into it.", + "I am now aligned with the open walkway, with the blue barrels standing on their pallet to my left front and nothing blocking the pavement ahead. Carrying the bag, I still need to come alongside that pallet. I will walk forward down this lane to draw closer to the barrels.", + "The blue barrels are much larger now and sit close on my left, but I am not yet level with the near end of the pallet. The walkway ahead remains clear of obstacles. I will take another step forward to bring myself beside the barrels for a placement.", + "I am now level with the barrel pallet, but the barrels are pushed to the left edge of my view while I face straight down the walkway. To set the bag down near them I need them in front of me. I will turn left to face the barrels directly.", + "I am still carrying the trash bag, and the cluster of blue barrels on their pallet now fills the left side of my view just ahead of me. I am not yet level with them, so I will step forward once more to bring the barrels directly beside me. That should put the bag close enough to the barrels for a release that satisfies the placement requirement.", + "I am now right alongside the blue barrels, with the nearest one filling the left of my view at arm's length and open pavement at my feet. This is the intended delivery spot, so I will release the trash bag here. It should come to rest on the ground immediately next to the barrels.", + "The trash bag is now resting on the ground directly against the blue barrels. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t5_b_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa6b06a8af7f59249bae448c10db021d7d8ef92b --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x005452_y003037_z-012713_t5_b_pd/infos.json @@ -0,0 +1,544 @@ +{ + "Instruction": "Lift the plate beside the large yellow cylindrical tank with a ladder, then drop it near the orange traffic cone in front of the stacked pipes.", + "Type": 5, + "Start_Pose": [ + 5452.131, + 3037.188, + -12713.084, + 0, + -110.4, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4497.875, + 1921.324, + -12758.725, + -90, + 20, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5452.131, + 3037.188, + -12713.084, + 0, + -110.4, + 0 + ], + [ + 5408.26, + 2919.223, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5364.389, + 2801.257, + -12713.038, + 0.0, + -110.4, + 0.0 + ], + [ + 5364.389, + 2801.257, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5274.774, + 2712.885, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5185.159, + 2624.513, + -12713.038, + 0.0, + -135.4, + 0.0 + ], + [ + 5095.544, + 2536.14, + -12710.403, + 0.0, + -135.4, + 0.0 + ], + [ + 5005.929, + 2447.768, + -12710.403, + 0.0, + -135.4, + 0.0 + ], + [ + 4916.315, + 2359.396, + -12710.403, + 0.0, + -135.4, + 0.0 + ], + [ + 4826.7, + 2271.024, + -12708.725, + 0.0, + -135.4, + 0.0 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-12737.986, + -28.191, + 64.749, + 1.872 + ], + [ + 4846.849, + 2246.078, + -12738.725, + 90.0, + 14.6, + 0.0 + ], + [ + 4846.849, + 2246.078, + -12738.725, + 90.0, + 14.6, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1468.2, + 1350.8, + 1235.0, + 1235.0, + 1109.1, + 983.3, + 857.4, + 731.6, + 605.8, + 480.0, + 354.3, + 228.7, + 103.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 27.1, + 21.4, + 21.4, + 21.3, + 20.2, + 70.0, + 70.0 + ], + "Rationale": [ + "The tall cylindrical tank with the yellow painted base and its caged ladder stands well ahead on my left, and the plate I need to lift should be sitting at its foot. It is far across this open concrete yard, so I will walk forward to begin closing that distance.", + "The ladder tank has grown slightly larger, so my heading is carrying me toward it, but it is still many strides away. The stacked pipes and blue barrels sit off to my right and do not block the concrete ahead, so I take another step forward.", + "My current heading is aimed at the pipe rack and the barrels, while the yellow based tank with the ladder has slipped to the far left edge of my view. I will turn left so that tank and the ground at its base line up with my forward path.", + "The turn has brought the ladder tank and its yellow skirt into the left half of my view, with a small pale disc resting on the ground beside the base. The concrete between us is open, so I walk forward toward that spot.", + "The tank with the ladder keeps filling more of my view and the white plate at its base is becoming clearer. I am still too far to reach it, so I continue walking straight toward the base.", + "The white plate now sits plainly on the concrete at the yellow base, just left of the downpipe. An orange cone and the pipe rack stay to my right and leave my lane clear, so I press forward.", + "The plate is clearly identifiable resting against the yellow base of the ladder tank, slightly left of center in my view. It remains several strides away and out of arm's reach, so I keep walking straight at it.", + "The plate stands upright against the yellow skirt of the ladder tank, close to the middle of my view, and my line to it is unobstructed. I am not yet near enough to grasp it, so I advance another step.", + "The white plate is clearly visible on the ground at the base of the yellow tank with the yellow ladder, slightly left of my heading. It is still several strides away, so I will keep walking straight to close that gap before any reach is possible.", + "The plate has grown larger against the yellow tank base and the ladder, confirming my heading is carrying me straight onto it. Nothing blocks the concrete strip between us, so another forward step should shorten the remaining distance.", + "The plate now sits low and prominent just left of the grey pipe elbow, well within my forward line. It is still beyond arm's reach, so I will advance again rather than attempt a grasp from here.", + "The plate fills a large part of the lower view, but its rim is still ahead of my feet rather than directly beneath me. One more step should bring it into the close range where a grasp is reliable.", + "The plate is now right at my feet, its rim spanning the bottom of my view beside the yellow tank base. This is as close as I can stand, so I will reach down and try to lift it.", + "The plate is in my hands, so the lift worked. The orange cone by the stacked pipes lies well behind my current heading, and my view is filled with the tank and pipework, so I will begin turning right to swing toward the open yard where those pipes stand.", + "Carrying the plate, I now face a large vertical pipe and the blank concrete wall, with no sign of the cone or the stacked pipes. I will keep rotating right to sweep past this wall toward the open yard.", + "The rotation has only exchanged one stretch of wall and pipework for another, and my drop target is still not in view. I will continue turning right to bring the open yard with the cone and pipe stack into my heading.", + "The plate is secure in my hands, but my view is still filled by the concrete wall and the vertical pipe runs beside it. The open yard only starts to appear at the right edge, so I will keep turning right to swing my heading toward that opening.", + "Carrying the plate, I now see past the pipe columns into the yard with the portable cabins and a barrier, yet no orange cone or pipe stack is in front of me yet. Another right turn should bring more of that open area into the centre of my view.", + "With the plate in hand, the yard is opening up ahead, but the stacked concrete pipes and their orange cones sit off at the right side of my view. I will turn right again so that delivery spot moves toward the middle of my heading.", + "The pipe stack with its two orange cones is now clearly visible slightly right of centre while I hold the plate. One more right turn should settle my heading on the open lane running alongside them so I can walk in.", + "My heading is now on the clear paved lane, with the stacked pipes and their orange cones off to my left front and still some distance away. Holding the plate, I will step forward to close that gap.", + "The cones in front of the pipe stack are noticeably larger on my left, so my walking line is bringing me in as intended. I still carry the plate and am not yet level with them, so I will take another step forward.", + "The nearer orange cone now stands close on my left with the stacked pipes just behind it, but I am still slightly short of being alongside it. Carrying the plate, one more forward step should put me right at that drop spot.", + "I am now level with the pipe stack, and the orange cone has slipped to the lower left edge of my view while I face straight down the lane. Turning left should square me onto the cone and pipes so the plate can be released right there.", + "The orange cone stands right at my feet against the stack of concrete pipes, and I am still carrying the plate from the tank. This is the delivery spot the task calls for, so I will release the plate here and it should come to rest beside the cone.", + "The plate now rests on the ground by the cone at the stacked pipes, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009210_y-006351_z-012709_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009210_y-006351_z-012709_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6ae2f66c7a1354dcd6955117dc390316070f467 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009210_y-006351_z-012709_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the coils of steel wire stacked near the sandbags; after locating them, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + 9209.952, + -6350.799, + -12708.743, + 0.0, + -5.12, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9209.952, + -6350.799, + -12708.743, + 0.0, + -5.12, + 0.0 + ], + [ + 9209.952, + -6350.799, + -12708.725, + 0.0, + 19.88, + -0.0 + ], + [ + 9209.952, + -6350.799, + -12708.725, + 0.0, + 44.88, + -0.0 + ], + [ + 9209.952, + -6350.799, + -12708.725, + 0.0, + 69.88, + -0.0 + ], + [ + 9253.246, + -6232.62, + -12708.725, + 0.0, + 69.88, + -0.0 + ], + [ + 9296.54, + -6114.442, + -12708.725, + 0.0, + 69.88, + -0.0 + ], + [ + 9296.54, + -6114.442, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9285.833, + -5989.039, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9275.127, + -5863.637, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9264.42, + -5738.234, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9264.42, + -5738.234, + -12708.725, + 0.0, + 69.88, + -0.0 + ], + [ + 9307.714, + -5620.055, + -12708.725, + 0.0, + 69.88, + -0.0 + ], + [ + 9351.008, + -5501.877, + -12708.725, + 0.0, + 69.88, + -0.0 + ], + [ + 9351.008, + -5501.877, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9340.301, + -5376.474, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9340.301, + -5376.474, + -12708.725, + 0.0, + 94.88, + -0.0 + ] + ], + "Rationale": [ + "A large yellow structure and a concrete column fill most of my view, so I cannot see any sandbags or wire coils from here. I will turn right to swing my view toward the more open part of the yard visible past the column.", + "The yard is opening up on this side, with portable toilets and a building ahead, but no sandbag stacks or wire spools are in view yet. I will keep turning right in the same direction to continue the scan across the storage area.", + "Under the shed on the right I can now make out stacked sacks that look like sandbags on pallets, which is exactly the semantic cue the task points to. I will turn right once more to bring that storage bay closer to the center of my heading.", + "The sandbag stacks are now roughly ahead of me under the covered bay, with crates and a traffic cone marking the same storage area. I will walk forward across the open concrete to close the distance and get a clearer look for the wire coils near those sandbags.", + "The sandbag stacks are noticeably larger now, and to their right I can see a dark spool-like object with tight horizontal windings that may be the coiled steel wire. I will keep walking forward to reduce the distance and confirm that shape.", + "The spool of wound wire sits slightly right of my current heading, partly behind a support post next to the sandbags. I will turn right to line my heading up with that bay so I can walk straight in toward the coils.", + "Facing into the bay, I can see the sandbag pallets on the left and the dark coiled spool beside them, with drums and crates on the right. I will step forward under the shed to continue closing on that spot.", + "I am now inside the covered bay and the wound wire spool next to the sandbag stacks is clearly visible past the post. I will keep walking forward to bring myself right up to that storage spot.", + "The spool of coiled steel wire is now clearly visible in the left half of the bay, sitting on the floor right beside the stacked sandbag pallets, which matches the target described in the task. It is still several paces away and partly screened by the structural post in front of me, so I will walk forward again to close the gap and keep it in view.", + "The wire coil sits to the left of the tall metal post that currently splits my view, while my heading points at the post and the boxes to its right. Turning left should swing the coil and the neighboring sandbag stacks toward the center of my view and open a clear walking line toward them.", + "The coil of steel wire now sits in the right-center of my view with the sandbag pallets immediately beside it, so my heading finally lines up with the target area. I will step forward to shorten the remaining distance to that corner of the storage bay.", + "The wire spool is noticeably larger and the sandbag stacks fill the left side, confirming I am closing on the right spot. There is still clear floor in front of me, so another step forward should bring me close to the coil.", + "I am now very close to the coil, but it has drifted to the right edge of my view while the sandbag pallets crowd the left side. Turning right should recenter the spool so I can make a final straight step up to it.", + "The coiled steel wire on its wooden spool is centered directly ahead of me with the sandbag pallets right beside it, exactly the location the task describes. One more step forward should place me at the spot next to it.", + "The coiled steel wire fills my view at arm's length with the sandbags right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dd81ac3d3d3e925f9cd67aeb6b066b23124537e6 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the blue barrel.", + "Type": 0, + "Start_Pose": [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + [ + 9451.994, + 7510.633, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9545.172, + 7426.026, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9545.172, + 7426.026, + -12712.923, + 0.0, + -17.24, + 0.0 + ], + [ + 9665.377, + 7388.724, + -12706.282, + 0.0, + -17.24, + 0.0 + ], + [ + 9785.581, + 7351.423, + -12706.282, + 0.0, + -17.24, + 0.0 + ], + [ + 9905.785, + 7314.122, + -12704.797, + 0.0, + -17.24, + 0.0 + ], + [ + 9905.785, + 7314.122, + -12704.797, + 0.0, + -42.24, + 0.0 + ], + [ + 9998.963, + 7229.514, + -12704.797, + 0.0, + -42.24, + 0.0 + ], + [ + 9998.963, + 7229.514, + -12704.797, + 0.0, + -42.24, + 0.0 + ] + ], + "Rationale": [ + "I can see the blue barrel ahead of me, sitting against the corrugated warehouse wall between the covered pallet and the cable spool, slightly right of my heading. It is still far off across the concrete, so I will move forward to begin closing that distance.", + "The barrel has grown slightly larger and remains ahead near the wall, so my line of travel is still good. I will continue forward to keep closing the gap before making any heading correction.", + "From here the blue barrel sits noticeably right of the center of my view, so continuing straight would carry me past it on the left. I will turn right to bring the barrel closer to my forward axis.", + "After the turn the barrel is much closer to the middle of my view, with the cable spool just to its right. The path across the concrete is clear, so I will move forward to close distance on it.", + "The barrel and the cable spool beside it now fill a good part of my view, confirming I am approaching the right spot. I will keep moving forward since I am still several steps short of the barrel.", + "The blue barrel is close now, slightly left of my heading, with the wooden spool directly ahead on my right. There is still open ground before it, so I will advance once more to get within arm's reach of the barrel.", + "The barrel has drifted to the left edge of my view while the cable spool now dominates the center, so pressing straight ahead would take me into the spool instead of the target. I will turn left to bring the blue barrel back in front of me.", + "The blue barrel is now centered in front of me and only a short step away, with the spool cleared to my right. I will move forward once more to finish standing beside the barrel.", + "The blue barrel fills the center of my view at arm's length. The task is complete, so I stop here rather than move closer." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19e95129e86d5ceb497bd998755006a34acb90ba --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the spool of cable on the ground.", + "Type": 0, + "Start_Pose": [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + [ + 9451.994, + 7510.633, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9545.172, + 7426.026, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9545.172, + 7426.026, + -12712.923, + 0.0, + -17.24, + 0.0 + ], + [ + 9665.377, + 7388.724, + -12706.282, + 0.0, + -17.24, + 0.0 + ], + [ + 9785.581, + 7351.423, + -12706.282, + 0.0, + -17.24, + 0.0 + ], + [ + 9905.785, + 7314.122, + -12704.797, + 0.0, + -17.24, + 0.0 + ], + [ + 10025.99, + 7276.82, + -12704.797, + 0.0, + -17.24, + 0.0 + ], + [ + 10025.99, + 7276.82, + -12704.797, + 0.0, + -17.24, + 0.0 + ] + ], + "Rationale": [ + "I can spot the large wooden spool of cable resting on the concrete beside the blue barrel, near the corrugated wall ahead and slightly to my right. It is still a good distance off across the open apron, so I will walk forward to begin closing that gap.", + "The spool and the blue barrel have grown noticeably larger, confirming I am on a useful line toward them. Nothing blocks the paved stretch in front of me, so I will keep advancing.", + "The spool now sits right of my heading, with the tarp-covered crates and open yard taking up the center of my view. I will turn right to bring the spool closer to the middle of my view before continuing.", + "After the turn, the spool of cable sits comfortably near the center of my view beside the blue barrel. The ground between us is flat and unobstructed, so I will step forward to shorten the distance.", + "The spool's coiled cable and wooden flange are clearly detailed now, so my heading is holding well. I am still several paces short of it, so I will continue forward.", + "The spool now fills much of the center of my view with the barrel close on my left, so I am nearly upon it. One more step forward should bring me right up to it.", + "The spool is directly in front of me and its wooden top edge is nearly at arm's reach. I will take one last short step forward to settle at a close standing position beside it.", + "The cable spool stands directly in front of me at arm's length, filling my view. The task is complete, so I stop here rather than crowd it further." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d83d4877b82b44ea042af8a311e21cc3794a7e55 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the stack of cardboard boxes.", + "Type": 0, + "Start_Pose": [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + [ + 9451.994, + 7510.633, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9545.172, + 7426.026, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9638.35, + 7341.419, + -12706.487, + 0.0, + -42.24, + 0.0 + ], + [ + 9731.528, + 7256.812, + -12706.487, + 0.0, + -42.24, + 0.0 + ], + [ + 9824.706, + 7172.204, + -12705.584, + 0.0, + -42.24, + 0.0 + ], + [ + 9917.884, + 7087.597, + -12704.863, + 0.0, + -42.24, + 0.0 + ], + [ + 10011.062, + 7002.99, + -12704.863, + 0.0, + -42.24, + 0.0 + ], + [ + 10011.062, + 7002.99, + -12704.863, + 0.0, + -17.24, + 0.0 + ], + [ + 10128.358, + 6966.2, + -12691.924, + 0.0, + -17.24, + 0.0 + ], + [ + 10128.358, + 6966.2, + -12691.924, + 0.0, + -17.24, + 0.0 + ] + ], + "Rationale": [ + "From the edge of the paved lane I can see the stack of cardboard boxes on a pallet against the metal building, just left of the blue barrel and the cable spool. The boxes sit roughly straight ahead of my heading but far off, so I will step forward to begin closing that gap.", + "The boxes and the neighboring barrel are slightly larger now, confirming my heading is carrying me toward them. Nothing blocks the open concrete between me and the stack, so I will continue walking forward.", + "The cardboard stack is clearly ahead and a little right of my center, next to the tarp covered load, and still too distant to count as reached. The pole on my left stays clear of my path, so another forward step is safe.", + "The pallet under the boxes and the wooden planks in front of it are becoming visible, so I am closing in but not yet beside the stack. I will keep advancing straight along this open stretch of concrete.", + "The blue barrel and the box stack now fill much of the right side of my view, showing the remaining distance is modest. I will take another step forward to bring the cardboard stack within close range.", + "The cardboard bundles on their pallet are now clearly detailed just right of the tarp covered load, with loose planks on the ground before them. I will move forward again to get close alongside the stack.", + "The stack is very near, occupying the right portion of my view while the tarp covered load sits on my left. One more forward step should place me directly in front of the cardboard boxes.", + "I am now right up against the load area, but the cardboard stack sits to the right of my heading while the tarp covered bundle dominates the left of my view. I will turn right to put the boxes squarely in front of me before making the final step.", + "The stacked cardboard boxes on their wooden pallet are now centered in my view after my slight rightward heading adjustment, with the tarp-covered load safely off to my left. A short step forward should close the last bit of distance and bring me right up against the stack.", + "The cardboard box surfaces fill my view at arm's length, showing I stand directly at the stack. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19908b2289de13c9d2937e96e6f390119938a9ee --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the open warehouse doorway.", + "Type": 0, + "Start_Pose": [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + [ + 9451.994, + 7510.633, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9451.994, + 7510.633, + -12712.923, + 0.0, + -17.24, + 0.0 + ], + [ + 9572.199, + 7473.332, + -12706.926, + 0.0, + -17.24, + 0.0 + ], + [ + 9692.403, + 7436.03, + -12706.353, + 0.0, + -17.24, + 0.0 + ], + [ + 9692.403, + 7436.03, + -12706.353, + 0.0, + 7.76, + -0.0 + ], + [ + 9817.109, + 7453.024, + -12706.353, + 0.0, + 7.76, + -0.0 + ], + [ + 9941.816, + 7470.018, + -12704.745, + 0.0, + 7.76, + -0.0 + ], + [ + 10066.522, + 7487.012, + -12704.745, + 0.0, + 7.76, + -0.0 + ], + [ + 10191.229, + 7504.006, + -12704.745, + 0.0, + 7.76, + -0.0 + ], + [ + 10315.935, + 7521.0, + -12704.745, + 0.0, + 7.76, + -0.0 + ], + [ + 10315.935, + 7521.0, + -12704.745, + 0.0, + 7.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the corrugated warehouse wall ahead and a dark open doorway set into it on the far right side, past the stacked crates, blue drum and cable spool. The open concrete apron in front of me is clear, so I will move forward to begin closing the distance toward that opening.", + "The doorway I am heading for sits well to the right of my current facing, while my view is filled mostly with the blank sheet-metal wall and stored materials. I will turn right to swing my heading toward that opening before continuing forward.", + "After turning, the open doorway is now visible right of center with its dark interior and floor clearly showing. The ground between me and it is flat and unobstructed, so I will move forward to close the gap.", + "The doorway has grown noticeably larger and I can make out framing inside it, so my heading is still carrying me toward the target. The crates, drum and cable spool remain off to my left and out of my path, so I will keep advancing.", + "As I have gotten closer, the opening has drifted to the right of my view center and I am aimed more at the blank wall panel beside it. I will turn right to line my heading up with the doorway itself so a straight run can carry me into it.", + "The doorway now sits near the middle of my view with its dark interior floor visible straight through it. The path ahead is clear apart from weeds near the wall corner, so I will move forward along this heading.", + "The opening keeps expanding in front of me and I can now see interior columns and the shadowed warehouse floor beyond it. I will continue forward to keep shrinking the remaining distance to the threshold.", + "The doorway now dominates my view, with the concrete frame close on both sides and the warehouse interior clearly open beyond it. Nothing blocks the threshold, so I will move forward again to reach the opening itself.", + "The open doorway now fills much of my view just left of center, with the bare concrete threshold and the dim interior clearly visible through it. The apron ahead is clear of the weeds growing to the right, so I will step forward again to close the last of the gap to the opening.", + "I am right at the opening now, with the doorway jamb passing along my right side and the warehouse interior with its floor and roof trusses spread out ahead and left. One more forward step should settle me squarely in the doorway rather than just short of it.", + "I am standing in the open warehouse doorway, with the jamb beside me and the interior floor and trusses directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_e/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be4f1f63db6e01a3190c52ee6e261e6aca999ea7 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009359_y007595_z-012713_t0_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Proceed to the covered equipment under the gray tarp.", + "Type": 0, + "Start_Pose": [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9358.816, + 7595.24, + -12712.985, + 0.0, + -42.24, + 0.0 + ], + [ + 9451.994, + 7510.633, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9545.172, + 7426.026, + -12712.923, + 0.0, + -42.24, + 0.0 + ], + [ + 9638.35, + 7341.419, + -12706.487, + 0.0, + -42.24, + 0.0 + ], + [ + 9731.528, + 7256.812, + -12706.487, + 0.0, + -42.24, + 0.0 + ], + [ + 9824.706, + 7172.204, + -12705.584, + 0.0, + -42.24, + 0.0 + ], + [ + 9917.884, + 7087.597, + -12704.863, + 0.0, + -42.24, + 0.0 + ], + [ + 9917.884, + 7087.597, + -12704.863, + 0.0, + -67.24, + 0.0 + ], + [ + 9966.575, + 6971.538, + -12704.863, + 0.0, + -67.24, + 0.0 + ], + [ + 10015.266, + 6855.48, + -12704.863, + 0.0, + -67.24, + 0.0 + ], + [ + 10015.266, + 6855.48, + -12704.863, + 0.0, + -67.24, + 0.0 + ] + ], + "Rationale": [ + "From the open pavement I can see a gray tarp draped over a bulky object ahead beside the corrugated warehouse wall, next to stacked crates, a blue drum and a cable spool. It is still far off, so I will move forward along the open concrete to begin closing that distance.", + "The tarp-covered equipment has grown slightly larger and stays near the center of my view, confirming my heading is roughly correct. I will keep advancing across the clear pavement to close more distance.", + "The gray tarp and the pallet of crates beside it are now clearly resolved just left of the blue drum, so the target is well identified. The route remains open, so I will continue straight toward it.", + "The covered equipment now fills a larger part of my view and its folds and straps are becoming visible, so I am getting noticeably closer. I will press forward again to reduce the remaining gap.", + "The tarp sits slightly left of my heading while the blue drum and crates drift toward the right side of my view, so straight travel still brings me nearer without collision. I will advance again along the open apron.", + "The covered equipment is close now, with the crates and pallet edging into the right of my view and loose planks on the ground ahead. One more forward step should bring me to within a short distance of the tarp.", + "At this range the tarp has slid to the left half of my view while the stacked crates and drum crowd the right, so my heading is biased past the target. I will turn left to bring the covered equipment back to the center before closing the final gap.", + "The tarp-covered equipment now sits squarely ahead of me with open pavement along its left side, so my heading is aligned. I will move forward to close the last stretch and reach the covered equipment.", + "The gray tarp covering the equipment now fills the right half of my view, its strapped corner just ahead of me on the pallet. I am still a short step short of standing directly beside it, so I will move forward once more to close that last bit of distance.", + "The gray tarp surface is directly beside me, filling my view at arm's length. The task is complete, so I stop here at the covered equipment." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3a72be9ac955a8ef439ca9e312579299405c9939 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the blue barrel, then head toward the doorway.", + "Type": 3, + "Start_Pose": [ + 9428.033, + 7581.5, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9428.033, + 7581.5, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + [ + 9529.232, + 7506.672, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + [ + 9630.431, + 7431.843, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9731.629, + 7357.015, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -36.48, + 0.0 + ], + [ + 9934.027, + 7207.358, + -12704.971, + 0.0, + -36.48, + 0.0 + ], + [ + 9934.027, + 7207.358, + -12704.971, + 0.0, + -36.48, + 0.0 + ], + [ + 9934.027, + 7207.358, + -12704.971, + 0.0, + -11.48, + 0.0 + ], + [ + 9934.027, + 7207.358, + -12704.971, + 0.0, + 13.52, + -0.0 + ], + [ + 9934.027, + 7207.358, + -12704.971, + 0.0, + 38.52, + -0.0 + ], + [ + 10032.498, + 7285.741, + -12704.971, + 0.0, + 38.52, + -0.0 + ], + [ + 10130.969, + 7364.124, + -12704.971, + 0.0, + 38.52, + -0.0 + ], + [ + 10229.44, + 7442.508, + -12704.971, + 0.0, + 38.52, + -0.0 + ], + [ + 10229.44, + 7442.508, + -12704.971, + 0.0, + 38.52, + -0.0 + ] + ], + "Rationale": [ + "The blue barrel stands ahead against the corrugated wall, between the stacked cartons and the cable spool, and it sits nearly straight along my heading. Nothing blocks the open concrete between us, so I will walk forward to close the distance.", + "The barrel has grown larger and remains roughly ahead of me, so my heading is still good. I will keep walking forward across the open pavement toward it.", + "The blue barrel now reads clearly beside the wooden cable spool and is drifting slightly left of center as I close in. The gap is still several strides, so I will continue walking straight toward it.", + "The barrel is close enough now that its ridged lid and the pallet beside it are distinct, but I am not yet standing at it. Another step forward should bring me right up beside the blue barrel.", + "The barrel now dominates the view with the cable spool crowding my right, so I am nearly on top of it. One more step should place me directly at the blue barrel.", + "The blue barrel stands right in front of me, close enough to touch, with the cable spool at my shoulder. I have reached the barrel. I mark arriving here before setting off toward the doorway in the building wall.", + "Standing at the barrel, my view is filled by it and the metal wall, with no doorway in sight ahead. The open ground and building opening lie off to my right, so I will turn right to swing my heading that way.", + "Turning has brought the recessed doorway into the far right of my view, still partly hidden behind the cable spool. I will turn right again to bring that opening toward the center of my heading.", + "The blue barrel is now behind my left shoulder and the recessed doorway in the corrugated wall sits off to my right, past the cable spool. One more turn to the right should bring that opening near the middle of my view so I can walk straight at it.", + "The dark doorway in the metal wall is now roughly ahead of me, with clear paved ground between us and only weeds along the edge. I will walk forward to close that gap.", + "The doorway has grown noticeably larger and its concrete frame and inner ramp are clearly resolved slightly left of my heading. The path stays open, so I keep stepping forward toward the opening.", + "I am nearly at the opening now, with the door leaf and the shaded interior bays filling the left side of my view. A final step forward should place me right at the threshold.", + "I stand at the doorway with its shaded interior bays open directly beside me. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20835a0024d6a151332bb3427a752dbef3650fb7 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_b/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Approach the tarp-covered crates, then move to the doorway.", + "Type": 3, + "Start_Pose": [ + 9428.033, + 7581.5, + -12712.923, + 0, + -36.48, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9428.033, + 7581.5, + -12712.923, + 0, + -36.48, + 0 + ], + [ + 9529.232, + 7506.672, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + [ + 9630.431, + 7431.843, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9731.629, + 7357.015, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -61.48, + 0.0 + ], + [ + 9892.922, + 7171.6, + -12704.971, + 0.0, + -61.48, + 0.0 + ], + [ + 9953.015, + 7061.014, + -12704.971, + 0.0, + -61.48, + 0.0 + ], + [ + 10013.108, + 6950.428, + -12704.971, + 0.0, + -61.48, + 0.0 + ], + [ + 10073.076, + 6840.001, + -12697.596, + 0.0, + -61.48, + 0.0 + ], + [ + 10073.076, + 6840.001, + -12697.596, + 0.0, + -61.48, + 0.0 + ], + [ + 10028.958, + 6921.188, + -12704.514, + 0.0, + -61.48, + 0.0 + ], + [ + 10028.958, + 6921.188, + -12704.514, + 0.0, + -36.48, + 0.0 + ], + [ + 10028.958, + 6921.188, + -12704.514, + 0.0, + -11.48, + 0.0 + ], + [ + 10028.958, + 6921.188, + -12704.514, + 0.0, + 13.52, + -0.0 + ], + [ + 10028.958, + 6921.188, + -12704.514, + 0.0, + 38.52, + -0.0 + ], + [ + 10028.958, + 6921.188, + -12704.514, + 0.0, + 63.52, + -0.0 + ], + [ + 10028.958, + 6921.188, + -12704.514, + 0.0, + 88.52, + -0.0 + ], + [ + 10028.958, + 6921.188, + -12704.514, + 0.0, + 113.52, + -0.0 + ], + [ + 9978.732, + 7036.591, + -12704.514, + 0.0, + 113.52, + -0.0 + ], + [ + 9978.732, + 7036.591, + -12704.514, + 0.0, + 88.52, + -0.0 + ], + [ + 9981.983, + 7162.408, + -12704.514, + 0.0, + 88.52, + -0.0 + ], + [ + 9981.983, + 7162.408, + -12704.514, + 0.0, + 63.52, + -0.0 + ], + [ + 10038.101, + 7275.063, + -12704.514, + 0.0, + 63.52, + -0.0 + ], + [ + 10038.101, + 7275.063, + -12704.514, + 0.0, + 38.52, + -0.0 + ], + [ + 10136.572, + 7353.446, + -12704.514, + 0.0, + 38.52, + -0.0 + ], + [ + 10235.043, + 7431.83, + -12704.514, + 0.0, + 38.52, + -0.0 + ], + [ + 10333.514, + 7510.213, + -12704.514, + 0.0, + 38.52, + -0.0 + ], + [ + 10333.514, + 7510.213, + -12704.514, + 0.0, + 38.52, + -0.0 + ] + ], + "Rationale": [ + "From the open concrete apron I can see the grey tarp-covered stack sitting against the metal building, with a blue drum and cable spool beside it, and a dark doorway further right. The tarp pile is my first stop, so I will walk straight ahead to close the long gap.", + "The tarp-covered stack and the cardboard pallets beside it have grown slightly, so my heading is carrying me toward them. Nothing blocks the flat concrete between me and that pile, so I will keep walking forward.", + "The tarp bundle, the stacked cartons and the blue drum now fill more of my view, but I am still several strides short of standing beside them. I will continue forward to keep closing on the covered stack.", + "The blue drum and cable spool now loom large on the right while the tarp-wrapped stack sits just past them on the left. Another step forward should bring me level with that covered pile.", + "The blue drum and the spool of cable stand directly on my line, while the tarp-covered stack I want lies off to my left beyond the pallets. Turning left should put that covered pile in front of me and open a clear lane past the drum.", + "The turn has brought the tarp-covered stack into the middle of my view with clear concrete leading up to it, and the drum is now off to my right side. I will walk forward along that lane toward the covered pile.", + "The grey tarp and its strapping are close enough now that I can see the creases and the pallet boards under it, yet I am still a couple of strides away. I will keep advancing to reach the side of that covered stack.", + "The tarp-covered stack now fills most of my view with the cartons crowding in on my right, so I am nearly beside it. One more step forward should place me right at the covered crates.", + "The grey tarp over the crate stack now fills most of my view, with only a sliver of open yard past its left edge. I am close but not yet right up against it, so I will take one more step forward to finish closing on these covered crates.", + "The creased tarp cloth is directly in front of me, close enough to touch, with its tie-down rope just above. I have reached the tarp-covered crates. I mark arriving here before setting off for the doorway in the building wall.", + "Pressed this close, the tarp fabric blocks almost everything and I have no clear sight line for choosing a heading toward the doorway. Stepping back should open enough distance to turn freely and read the yard around this stack.", + "With a step of clearance the tarped crates and their neighboring stack fill the view ahead and to my right, while only bare apron and plant structure lie to the left. No doorway shows in this arc, so I will turn right to start sweeping my view around the stack.", + "The turn has brought the tarp corner on my left and the stacked cardboard bales close on my right, with corrugated wall filling the gap between them. There is still no opening here, so I will keep rotating right to carry my view past this material stack.", + "Only pale tarp fabric on the left and blocks of stacked bales on the right occupy my view, with the metal wall behind them. Nothing resembling a doorway has come into the arc yet, so another turn right should continue the sweep.", + "The bale stack still fills most of my view, but a cable spool and a strip of brighter background are now creeping in at the right edge. That suggests the open side of the yard lies further round, so I will turn right again.", + "Past the bales I can now see the cable spool, the blue barrel and open sky over the yard toward my right. The building wall runs off in that direction, so I will turn right again to bring that open ground and the wall's opening into view.", + "The tarped stack and cartons are behind me now, and the barrel and cable spool still crowd the left of my view while open concrete opens away to the right. I will keep swinging right to clear this clutter and scan the yard and building face for the doorway I need.", + "My heading now looks out across empty paving toward the concrete overpass and fence line, with only the barrel edging my left. No entrance appears in this arc, so I will turn right again to continue the sweep and find a clear line away from the stacked goods.", + "The pallets and tarp are no longer blocking me, and flat open concrete stretches ahead with only the barrel brushing the left edge. I will step forward to move clear of the storage area into the open apron where I can look for the doorway.", + "Ahead of me there is only fencing, scrub and the raised concrete deck, none of which offers a way inside. I will turn left to bring the corrugated building wall back into view, since any doorway will be set into that facade.", + "The tall metal building now stands along my left with the spool at its base, and the apron in front of me is clear and level. I will walk forward along this open ground to close distance with the facade where an entrance should be.", + "Straight ahead is just the fenced yard and the concrete overpass, while the building wall runs past my left shoulder. I will turn left to face along that facade so any recessed entrance comes into the centre of my view.", + "A dark recessed opening is now visible in the metal wall to my left front, framed by concrete and part hidden by a bush. I will walk forward to close the remaining distance across the apron toward that entrance.", + "The doorway with its heavy timber leaf is close now but sits off to my left, so walking straight would carry me past its front. I will turn left to square up with the opening before advancing into it.", + "The dark recessed opening in the corrugated wall now sits squarely ahead of me, with its frame and inner floor clearly visible. Nothing but open pavement and a low weed clump lies between me and it, so I will walk straight in to close that gap.", + "The opening has widened noticeably and I can now see deep into the shaded interior beyond the door frame. I am still a short walk short of the threshold, so another step forward should bring me right up to it.", + "The frame edge and its concrete base are close beside me on the left and the shaded floor inside runs away ahead. One more step should place me at the entrance itself rather than just outside its edge.", + "I stand at the entrance with its frame beside me and the shaded interior open directly ahead. The doorway is reached, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87cfab795a34cc439d0ad580dbb8bcf9dfe5f97d --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the wire spool, then proceed to the shrub patch.", + "Type": 3, + "Start_Pose": [ + 9428.033, + 7581.5, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9428.033, + 7581.5, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + [ + 9529.232, + 7506.672, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + [ + 9630.431, + 7431.843, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9731.629, + 7357.015, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -11.48, + 0.0 + ], + [ + 9956.169, + 7257.137, + -12704.971, + 0.0, + -11.48, + 0.0 + ], + [ + 10073.32, + 7234.137, + -12704.859, + 0.0, + -11.48, + 0.0 + ], + [ + 10073.32, + 7234.137, + -12704.859, + 0.0, + -11.48, + 0.0 + ], + [ + 10073.32, + 7234.137, + -12704.859, + 0.0, + 13.52, + -0.0 + ], + [ + 10073.32, + 7234.137, + -12704.859, + 0.0, + 38.52, + -0.0 + ], + [ + 10132.577, + 7325.542, + -12704.725, + 0.0, + 38.52, + -0.0 + ], + [ + 10132.577, + 7325.542, + -12704.725, + 0.0, + 63.52, + -0.0 + ], + [ + 10188.696, + 7438.197, + -12704.725, + 0.0, + 63.52, + -0.0 + ], + [ + 10244.815, + 7550.852, + -12704.725, + 0.0, + 63.52, + -0.0 + ], + [ + 10244.815, + 7550.852, + -12704.725, + 0.0, + 63.52, + -0.0 + ] + ], + "Rationale": [ + "I can see the large drum of coiled cable sitting on its wooden base against the metal shed wall, a fair distance ahead of me across the open concrete. Nothing blocks the ground between us, so I will walk straight ahead to begin closing that gap.", + "The coiled cable drum has grown a little larger ahead of me but is still well out of reach across the yard. The pavement stays clear, so I will keep walking forward toward it.", + "I see the cable drum and the blue barrel beside it filling more of my view now, which tells me my heading is good. I still have several paces of open ground to cover, so I will continue walking straight ahead.", + "The drum of wire now stands clearly to my right front, close enough that I can pick out individual coils. A few more paces should bring me alongside it, so I will step forward again.", + "From here the cable drum sits off to my right while my heading points past it toward the covered pallet and crates. I will turn right to put the spool squarely in front of me before covering the last stretch.", + "The turn worked, and the wound cable drum now sits centered ahead of me with the blue barrel just to its left. The ground in front is clear, so I will walk forward to close the remaining distance.", + "The spool now looms large directly in front of me, its wooden rim above my eye line and the barrel pushed to the far left. One more step should bring me right up against it.", + "The coiled cable fills my whole view, its wooden flange overhead and the loops close enough to touch. I have reached the wire spool, and I mark arriving here before turning away toward the tangle of weedy shrubs growing along the yard.", + "The coiled cable drum fills my whole view, so I am standing right at it and nothing else is visible from this heading. I need the low green growth along the building instead, so I will turn right to swing my view off the spool and open up the yard.", + "The spool has slid to my left edge and a doorway with open concrete beyond it is coming into view, with a wisp of greenery at the far right. Turning right again should bring that leafy growth and the open yard fully in front of me before I walk out.", + "The yard is now open ahead of me and a clump of tall weeds stands against the corrugated wall to the right of the doorway. The path across the concrete is clear, so I will walk forward to close the distance to that green patch.", + "The weed cluster sits right of my current heading, beside the corner of the building, while the open doorway takes up the middle of my view. A turn to the right should put that greenery straight ahead so I can walk directly at it.", + "The stand of weeds is now ahead of me along the base of the wall, with clear concrete between us. I will step forward to bring myself up to that patch of growth.", + "The leafy stems have grown large in front of me but still sit a couple of paces off, hugging the ribbed wall on my left. Another step forward should place me right alongside the patch.", + "The tall leafy weeds are right beside me, filling the near left of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db8acc87cf54ed42948ad7ff501d7b3dabac9f0e --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t3_d/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Move to the shrub patch, then approach the tarp-covered crates.", + "Type": 3, + "Start_Pose": [ + 9428.033, + 7581.5, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9428.033, + 7581.5, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + [ + 9428.033, + 7581.5, + -12712.923, + 0.0, + -11.48, + 0.0 + ], + [ + 9551.374, + 7556.451, + -12712.923, + 0.0, + -11.48, + 0.0 + ], + [ + 9674.715, + 7531.402, + -12706.308, + 0.0, + -11.48, + 0.0 + ], + [ + 9798.057, + 7506.352, + -12706.308, + 0.0, + -11.48, + 0.0 + ], + [ + 9798.057, + 7506.352, + -12706.308, + 0.0, + 13.52, + -0.0 + ], + [ + 9920.428, + 7535.776, + -12704.725, + 0.0, + 13.52, + -0.0 + ], + [ + 10042.799, + 7565.2, + -12704.725, + 0.0, + 13.52, + -0.0 + ], + [ + 10165.17, + 7594.624, + -12704.725, + 0.0, + 13.52, + -0.0 + ], + [ + 10165.17, + 7594.624, + -12704.725, + 0.0, + 13.52, + -0.0 + ], + [ + 10075.331, + 7573.022, + -12704.725, + 0.0, + 13.52, + -0.0 + ], + [ + 10075.331, + 7573.022, + -12704.725, + 0.0, + -11.48, + 0.0 + ], + [ + 10075.331, + 7573.022, + -12704.725, + 0.0, + -36.48, + 0.0 + ], + [ + 10075.331, + 7573.022, + -12704.725, + 0.0, + -61.48, + 0.0 + ], + [ + 10075.331, + 7573.022, + -12704.725, + 0.0, + -86.48, + 0.0 + ], + [ + 10075.331, + 7573.022, + -12704.725, + 0.0, + -111.48, + 0.0 + ], + [ + 10029.244, + 7455.905, + -12704.725, + 0.0, + -111.48, + 0.0 + ], + [ + 9983.158, + 7338.787, + -12704.725, + 0.0, + -111.48, + 0.0 + ], + [ + 9983.158, + 7338.787, + -12704.725, + 0.0, + -86.48, + 0.0 + ], + [ + 9990.885, + 7213.166, + -12704.725, + 0.0, + -86.48, + 0.0 + ], + [ + 9998.612, + 7087.544, + -12704.725, + 0.0, + -86.48, + 0.0 + ], + [ + 10006.34, + 6961.923, + -12704.725, + 0.0, + -86.48, + 0.0 + ], + [ + 10006.34, + 6961.923, + -12704.725, + 0.0, + -61.48, + 0.0 + ], + [ + 10066.433, + 6851.337, + -12697.099, + 0.0, + -61.48, + 0.0 + ], + [ + 10066.433, + 6851.337, + -12697.099, + 0.0, + -61.48, + 0.0 + ] + ], + "Rationale": [ + "The tarp-covered crates sit close by on the left, but my first destination is the leafy shrub growth, and the only greenery I can pick out is off at the right edge of my view. I will turn right to bring that vegetated stretch along the building into the middle of my view before walking.", + "Now that I am facing along the metal-sided building, I can see a clump of tall weeds growing near the open doorway ahead and to the right. The concrete apron between me and it is clear, so I will walk forward to close that distance.", + "The doorway and the weeds beside it have grown noticeably larger, confirming my heading is carrying me toward the shrub growth. Nothing blocks the pavement in front of me, so another step forward should keep shrinking the gap.", + "The weed patch beside the doorway is clearly nearer and now sits just right of my path, while the spool and barrel stay off to my left. I will keep walking forward to draw level with that vegetation.", + "The shrub growth is now close but sits to the right of my heading, so walking straight would carry me past it toward the wall and doorway. I will turn right to put the leafy patch squarely in front of me before advancing again.", + "The clump of tall weeds now sits near the middle of my view, just past the corner of the building. With the heading corrected, I will step forward to close on the vegetation.", + "The weeds have spread wider across my view and their stems are now distinct, so I am nearly on top of the shrub patch. I will take another step forward to reach it.", + "The shrubs now fill the foreground right in front of the corrugated corner, so only a short gap remains. One more step forward should bring me right up against the patch.", + "A dense clump of leafy shrubs crowds the concrete right at my feet, filling the lower half of my view beside the corrugated corner. I have reached the shrub patch. I mark arriving here, then set off for the tarp-covered crates on the far side of this wall.", + "The shrubs and the corrugated corner press right against me, leaving almost no clear ground to pivot on. Stepping straight back should open enough room to swing my heading around toward the tarp-covered crates without pushing through the growth.", + "I now have a little clear apron behind the shrubs, enough to reorient. The crates under their tarp lie back along the building the other way, so I begin swinging left, away from the open fence line on my right.", + "The turn has brought the wide doorway in the corrugated wall to the centre of my view, but no stacked crates yet. I keep rotating left to sweep further along this facade where the covered stack should sit.", + "The heavy cable spool has come into the left edge of my view along the wall, so I am nearing the storage side of the yard. Another left turn should bring the rest of that stored material, including the covered crates, in front of me.", + "The spool and blue barrel now sit dead ahead, with a pale tarp draped over something just behind them. Turning left once more should clear the spool from my path and open the ground I need to walk along.", + "The spool and barrel have shifted to my right and open concrete is appearing on the left toward the plant. One more left turn should put that clear lane straight ahead so I can walk past the spool toward the covered crates.", + "The paved lane ahead is clear, with the barrel, spool and the tarp draped over the stack beside them close on my right. Walking forward along this open concrete should carry me alongside that covered pile.", + "The blue drum and the edge of the covered stack sit close on my right, so my route toward the tarp-covered crates runs straight along this open concrete strip. I will walk forward another pace to draw level with that stack before turning in on it.", + "The pale tarp draped over the crated stack now hangs at the right margin of my view while my heading points down the empty yard toward the plant. Turning right should swing that covered stack into the centre of my view so I can walk directly at it.", + "The turn brought the tarp-covered crates and the cardboard boxes on their pallet into the right half of my view, with clear paving between us. I will step forward to close that gap.", + "The grey tarp over the crates has grown noticeably larger and its pallet timbers are now visible at ground level, so I am still some paces short. Another step forward should bring me nearer to the covered stack.", + "The tarp-covered bundle now dominates the right of my view with the boxed pallet beside it, yet I am still off to its side rather than beside it. I will advance once more to come up alongside the covered crates.", + "I am level with the tarp-covered crates but my heading still runs past them down the open yard. Turning right should put the covered stack squarely in front of me for a final short approach.", + "The tarp-covered crates are now centred ahead of me, banded across their pale cover, with the cardboard stack at their right. One step forward should bring me right up against them.", + "The tarp-covered crates fill my view at arm's length, their banded cover directly before me. I have arrived at them, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t5_a_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..93ae14daed177789ce0a0a65f626cfed2f2d9df6 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the ceramic vase beside the blue barrel, then leave it near the loading door.", + "Type": 5, + "Start_Pose": [ + 9428.033, + 7581.5, + -12712.923, + 0, + -36.48, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 9991.243, + 7028.358, + -12780.281, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9428.033, + 7581.5, + -12712.923, + 0, + -36.48, + 0 + ], + [ + 9529.232, + 7506.672, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + [ + 9630.431, + 7431.843, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9731.629, + 7357.015, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -61.48, + 0.0 + ], + [ + 9892.922, + 7171.6, + -12704.971, + 0.0, + -61.48, + 0.0 + ], + [ + 9892.922, + 7171.6, + -12704.971, + 0.0, + -61.479, + 0.0 + ], + [ + 9892.922, + 7171.6, + -12704.971, + 0.0, + -36.479, + 0.0 + ], + [ + 9892.922, + 7171.6, + -12704.971, + 0.0, + -11.479, + 0.0 + ], + [ + 9892.922, + 7171.6, + -12704.971, + 0.0, + 13.521, + -0.0 + ], + [ + 9892.922, + 7171.6, + -12704.971, + 0.0, + 38.521, + -0.0 + ], + [ + 9991.392, + 7249.985, + -12704.971, + 0.0, + 38.521, + -0.0 + ], + [ + 10089.862, + 7328.369, + -12704.971, + 0.0, + 38.521, + -0.0 + ], + [ + 10188.332, + 7406.754, + -12704.971, + 0.0, + 38.521, + -0.0 + ], + [ + 10286.802, + 7485.138, + -12704.971, + 0.0, + 38.521, + -0.0 + ], + [ + 10230.47, + 7440.297, + -12704.971, + 0.0, + 38.521, + -0.0 + ], + [ + 10230.47, + 7440.297, + -12704.971, + 0.0, + 38.521, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 9991.243, + 7028.358, + -12780.281, + 0.0, + 0.0, + 0.0 + ], + [ + 9991.243, + 7028.358, + -12780.281, + 0.0, + 0.0, + 0.0 + ], + [ + 9991.243, + 7028.358, + -12780.281, + 0.0, + 0.0, + 0.0 + ], + [ + 9991.243, + 7028.358, + -12780.281, + 0.0, + 0.0, + 0.0 + ], + [ + 9991.243, + 7028.358, + -12780.281, + 0.0, + 0.0, + 0.0 + ], + [ + 9991.243, + 7028.358, + -12780.281, + 0.0, + 0.0, + 0.0 + ], + [ + 9991.243, + 7028.358, + -12780.281, + 0.0, + 0.0, + 0.0 + ], + [ + 9911.393, + 7182.332, + -12734.619, + -28.202, + -11.335, + 1.862 + ], + [ + 9905.691, + 7189.907, + -12734.346, + -28.189, + 13.677, + 1.872 + ], + [ + 9897.554, + 7193.642, + -12735.013, + -28.215, + 38.648, + 1.849 + ], + [ + 9892.032, + 7198.686, + -12734.959, + -14.092, + 55.864, + 6.87 + ], + [ + 9879.211, + 7188.123, + -12734.943, + -28.208, + 88.663, + 1.851 + ], + [ + 9977.542, + 7266.262, + -12734.522, + -28.189, + 88.679, + 1.869 + ], + [ + 10075.803, + 7344.467, + -12734.139, + -28.205, + 88.656, + 1.859 + ], + [ + 10174.232, + 7422.829, + -12733.986, + -28.191, + 88.67, + 1.872 + ], + [ + 10272.84, + 7501.31, + -12734.211, + -28.206, + 88.658, + 1.863 + ], + [ + 10285.236, + 7483.893, + -12764.971, + 0.0, + 38.521, + -0.0 + ], + [ + 10285.236, + 7483.893, + -12764.971, + 0.0, + 38.521, + -0.0 + ] + ], + "PD_Dist_2D": [ + 789.4, + 665.0, + 541.3, + 418.8, + 299.2, + 299.2, + 173.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From here I can see the blue barrel against the corrugated warehouse wall, with a slim white ceramic vase standing just to its left. That cluster is still far across the open concrete yard, so I will walk forward to close the distance before attempting any grasp.", + "The barrel and the patterned ceramic vase beside it are noticeably larger now, so my heading is carrying me straight toward them. The gap is still too great for any interaction, so I will keep walking forward along the same line.", + "The vase, the blue barrel and the cable spool now fill a good part of the view, so I am well inside the storage area of the yard. I am still several paces short of reaching distance, so I will continue advancing.", + "The ceramic vase is clearly resolved beside the blue barrel, with its floral pattern now visible, but it sits a bit left of my heading. I will take another step forward to get near enough for a grasp before correcting my facing.", + "I am now close to the pallet area, but the ceramic vase sits off to the left of my facing while the barrel and cable spool dominate the center. I will turn left so the vase comes into the middle of my view for a clean approach.", + "The turn has brought the ceramic vase near the center of my view with the blue barrel just to its right. It is still a step or two beyond arm's reach, so I will move forward to bring it directly in front of me.", + "The floral ceramic vase now stands directly in front of me, filling the lower center of my view with the blue barrel at my right. This is close enough for a grasp, so I will attempt to pick it up.", + "The grasp worked, since the vase is now held in front of my feet and no longer standing on the pavement. The loading door lies further along the building to my right, so I will begin turning right to point myself toward it before carrying the vase over.", + "The vase is secured in my hands, so my only remaining job is to carry it to the loading door of the metal building. Right now I am still looking across the covered pallet, the stacked cartons and the blue barrel, with the cable spool off to my right and no doorway in sight. I will turn right again to keep swinging my heading toward the side of the structure where the loading entrance should lie.", + "With the vase in hand, the blue barrel now sits in front of me and the big cable spool has come around to my right, so my heading has rotated but the loading entrance is still not ahead. The corrugated wall keeps running to the right, which is the direction where the door opening should appear. I will turn right once more to bring that stretch of wall and its entrance into my forward path.", + "Turning has paid off, because the recessed doorway in the corrugated wall is now visible past the cable spool, though it sits to the right of where I am facing. The barrel and spool still crowd the left of my path, so a straight walk from this heading would carry me into them. I will turn right again to place the door opening more directly ahead before advancing with the vase.", + "My heading is now clear of the barrel and the spool has dropped to my left edge, with the tall doorway in the corrugated wall standing open ahead of me. Carrying the vase, the sensible next step is simply to close the distance to that entrance. I will walk forward along the open concrete toward the loading door.", + "The loading entrance has grown noticeably larger and its concrete jamb and inner slab are now clearly resolved slightly left of my path. I am still several paces short of the threshold, so this is not yet a place to set the vase down. I will keep walking forward to bring myself alongside the door opening.", + "I am close to the loading entrance now, with the doorway and the weeds beside it filling much of what I can see ahead. To leave the vase properly near the door rather than out on the open apron, I need to be right at its edge. I will step forward again to reach that spot.", + "The dark interior of the loading bay is open on my left and the concrete pier of the door frame is right beside me, so I am nearly at the drop position. One more step should put me level with the door edge where the vase can be left without blocking the opening. I will move forward that last pace.", + "I am standing right at the edge of the loading door, with the bay floor open beside me and the door frame column directly at my side. This is the position the task calls for, close to the entrance and clear of the passage itself. I will release the vase here so it comes to rest near the loading door.", + "The ceramic vase now stands free on the ground at the loading door opening. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t5_b_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b2ef775c78b77168d714ea8a07ad0e8d2884511a --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x009428_y007582_z-012713_t5_b_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Grab the metal bucket near the tarp-covered crates, then place it near the loading door.", + "Type": 5, + "Start_Pose": [ + 9428.033, + 7581.5, + -12712.923, + 0, + -36.48, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 9984.736, + 7171.353, + -12784.768, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9428.033, + 7581.5, + -12712.923, + 0, + -36.48, + 0 + ], + [ + 9529.232, + 7506.672, + -12712.923, + 0.0, + -36.48, + 0.0 + ], + [ + 9630.431, + 7431.843, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9731.629, + 7357.015, + -12706.295, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -36.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + -11.48, + 0.0 + ], + [ + 9832.828, + 7282.186, + -12704.971, + 0.0, + 13.52, + -0.0 + ], + [ + 9955.199, + 7311.61, + -12704.971, + 0.0, + 13.52, + -0.0 + ], + [ + 10077.57, + 7341.035, + -12704.971, + 0.0, + 13.52, + -0.0 + ], + [ + 10199.942, + 7370.459, + -12704.971, + 0.0, + 13.52, + -0.0 + ], + [ + 10322.313, + 7399.884, + -12704.971, + 0.0, + 13.52, + -0.0 + ], + [ + 10252.308, + 7383.051, + -12704.971, + 0.0, + 13.52, + -0.0 + ], + [ + 10252.308, + 7383.051, + -12704.971, + 0.0, + 13.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 9984.736, + 7171.353, + -12784.768, + 0.0, + 0.0, + 0.0 + ], + [ + 9984.736, + 7171.353, + -12784.768, + 0.0, + 0.0, + 0.0 + ], + [ + 9984.736, + 7171.353, + -12784.768, + 0.0, + 0.0, + 0.0 + ], + [ + 9984.736, + 7171.353, + -12784.768, + 0.0, + 0.0, + 0.0 + ], + [ + 9984.736, + 7171.353, + -12784.768, + 0.0, + 0.0, + 0.0 + ], + [ + 9845.033, + 7299.719, + -12736.174, + -28.202, + 13.665, + 1.862 + ], + [ + 9836.664, + 7304.175, + -12735.902, + -28.189, + 38.677, + 1.872 + ], + [ + 9827.712, + 7304.121, + -12736.569, + -28.215, + 63.648, + 1.849 + ], + [ + 9949.923, + 7332.306, + -12735.2, + -28.202, + 63.662, + 1.858 + ], + [ + 10072.146, + 7361.693, + -12734.938, + -28.208, + 63.662, + 1.852 + ], + [ + 10194.264, + 7391.064, + -12734.516, + -28.189, + 63.679, + 1.867 + ], + [ + 10316.369, + 7420.413, + -12734.135, + -28.207, + 63.655, + 1.857 + ], + [ + 10320.368, + 7399.416, + -12744.971, + 0.0, + 13.52, + -0.0 + ], + [ + 10320.368, + 7399.416, + -12744.971, + 0.0, + 13.52, + -0.0 + ] + ], + "PD_Dist_2D": [ + 691.5, + 565.6, + 439.8, + 313.9, + 188.0, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the grey metal bucket standing on the concrete beside the tarp-covered crates and the cable spool, but it is still far across the open yard. I will step forward along the paved ground to close that gap before any grasp is possible.", + "The bucket and the tarp-covered stack now appear slightly larger ahead of me, so my heading is carrying me toward the target. I will keep walking forward since the yard in front is clear and the bucket remains well out of reach.", + "The grey bucket is now clearly centered in front of me between the blue drum and the tarped crates, though still several paces off. I will continue advancing straight ahead to bring it within grasping range.", + "The bucket fills a good part of my lower view now, but I am still slightly short of a comfortable grasp position. One more step forward should place me directly over it so a pick attempt can succeed.", + "I am standing right at the metal bucket, with its rim close below me and the tarp-covered crates just beyond. Since it is within reach and nothing blocks my hands, I will attempt to pick it up now.", + "The pick succeeded, since the bucket is now held right in front of me. To carry it toward the loading door I need a new heading, so I will turn right away from the crate stack.", + "With the bucket in hand, my view has swung onto the corrugated wall, the cable spool, and the dark doorway opening off to the right. I will turn right again to bring that loading door more directly ahead of me.", + "The loading doorway in the metal wall is now roughly ahead of me with open concrete between us, and the cable spool sits clear to my left. Carrying the bucket, I will walk forward along this path toward the door.", + "The bucket is still held with me, since it stays fixed at my position while the surroundings shift, and the open loading doorway now stands directly ahead in the corrugated wall. The cable spool and crates have fallen behind on my left, so nothing blocks the straight line to the entrance. I will keep walking forward to close the remaining gap to the doorway.", + "The doorway frame now fills much of my view and the interior floor is visible through it, so I am close to the loading entrance while still carrying the bucket. The threshold is straight ahead with only weeds off to the right side, leaving the approach unobstructed. I will step forward again to reach the doorway itself.", + "I am now passing between the door jambs with the interior bay opening up ahead, and the bucket is still in hand. The floor just inside is flat and clear, which is a suitable place to set the bucket down near this loading door. I will advance one more step to stand inside the entrance before releasing it.", + "I am standing just inside the loading door with the open interior bay ahead and clear floor at my feet. This spot is right at the doorway the task named, so the bucket belongs here rather than further into the building. I will release the bucket now and expect it to settle on the floor beside the entrance.", + "The metal bucket now rests on the floor at the loading door, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x010056_y-006506_z-012709_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x010056_y-006506_z-012709_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..060c2d8609c35e20b477928054e7d5bafc81efa9 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x010056_y-006506_z-012709_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the two blue portable toilets standing side by side, then navigate into the gap between them.", + "Type": 1, + "Start_Pose": [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + -5.12, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + -5.12, + 0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 19.88, + -0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 44.88, + -0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 69.88, + -0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 10045.222, + -6381.096, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 10034.515, + -6255.693, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 10023.809, + -6130.291, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 10012.203, + -6005.739, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9993.203, + -5885.919, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9982.496, + -5760.516, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9971.79, + -5635.113, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 9971.79, + -5635.113, + -12708.725, + 0.0, + 94.88, + -0.0 + ] + ], + "Rationale": [ + "A large pale storage tank fills most of my view and blocks any sightline toward the blue portable toilets. I will turn right to swing my view past this tank and begin a consistent scan of the surrounding warehouse floor.", + "The tank now sits on my left and more of the open bay with pallets and beams is opening up, but no blue toilets are in sight yet. I will keep rotating right in the same direction to continue the scan across the interior.", + "I can now see deeper into the warehouse past the support columns, with pallet racks and scattered equipment, but still nothing blue and cabin shaped. Another right turn should uncover the next section of this bay.", + "Two blue portable toilets standing side by side are now visible ahead, but they sit toward the right side of my view behind a diagonal beam. I will turn right once more to bring the pair and the narrow gap between them closer to my heading before advancing.", + "The paired blue toilets are now roughly centered ahead with a clear stretch of concrete floor between us. I will walk forward to close the distance toward the seam separating the two cabins.", + "The two cabins have grown noticeably larger and the dark vertical gap between them is becoming distinct. I will continue walking straight since the path ahead stays clear apart from a sawhorse well off to my left.", + "The gap between the two toilets is clearly aligned near the center of my view and the floor ahead remains open. I will keep stepping forward to bring myself nearer to that opening.", + "Both cabins now fill much of my view and the narrow slot between them lies directly in front of me. I will advance again to keep closing on that gap while my heading still lines up with it.", + "The two blue portable toilets stand side by side directly ahead of me, with the dark vertical seam between them lined up close to the center of my view. The floor in front is open concrete with only low weeds at the edges, so nothing blocks a straight walk toward that gap. I will step forward again to close the remaining distance.", + "The toilets now fill much of my view and the narrow dark slot between them sits just about straight ahead, so my heading still matches the target gap. No further turning seems needed, since the seam has stayed centered as I have been closing in. I will keep walking forward to reach the entrance of that gap.", + "I am now right at the front faces of the two units, and the black slot between them opens just ahead of me. One more step should carry me from the outside face into the space between the two toilets rather than into either door panel. I will move forward to enter that gap.", + "Both toilet side panels now flank me closely with the narrow passage open between them. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x010056_y-006506_z-012709_t1_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x010056_y-006506_z-012709_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0fb62b9d77c135da244c2dd1d00fcc257a92e422 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x010056_y-006506_z-012709_t1_b/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Search for the red-and-white cone-shaped traffic marker near the barrels; after locating it, reach that object.", + "Type": 1, + "Start_Pose": [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + -5.12, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + -5.12, + 0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 19.88, + -0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 44.88, + -0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 69.88, + -0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 94.88, + -0.0 + ], + [ + 10055.929, + -6506.499, + -12708.725, + 0.0, + 119.88, + -0.0 + ], + [ + 9993.228, + -6397.37, + -12708.725, + 0.0, + 119.88, + -0.0 + ], + [ + 9930.527, + -6288.242, + -12708.725, + 0.0, + 119.88, + -0.0 + ], + [ + 9867.825, + -6179.113, + -12708.725, + 0.0, + 119.88, + -0.0 + ], + [ + 9867.825, + -6179.113, + -12708.725, + 0.0, + 144.88, + -0.0 + ], + [ + 9764.879, + -6106.708, + -12708.725, + 0.0, + 144.88, + -0.0 + ], + [ + 9661.933, + -6034.302, + -12708.725, + 0.0, + 144.88, + -0.0 + ], + [ + 9558.987, + -5961.896, + -12708.725, + 0.0, + 144.88, + -0.0 + ], + [ + 9456.041, + -5889.491, + -12708.725, + 0.0, + 144.88, + -0.0 + ], + [ + 9353.094, + -5817.085, + -12708.725, + 0.0, + 144.88, + -0.0 + ], + [ + 9250.148, + -5744.68, + -12708.725, + 0.0, + 144.88, + -0.0 + ], + [ + 9147.202, + -5672.274, + -12708.725, + 0.0, + 144.88, + -0.0 + ], + [ + 9147.202, + -5672.274, + -12708.725, + 0.0, + 144.88, + -0.0 + ] + ], + "Rationale": [ + "A large pale tank fills almost my whole view, so I cannot see any cone or the barrel area the task mentions. I will turn right to sweep my view off this obstruction and start a consistent scan of the surrounding yard.", + "The tank has shifted to my left and I can now see open ground with pallets and structural columns, but still no red-and-white cone. I will keep turning right in the same direction to bring more of the open yard into view.", + "From where I stand I can see deeper into the open bay with pallet racks and scattered clutter, but I still do not spot the cone-shaped marker or a clear barrel cluster. I will continue my rightward scan since the space keeps opening up in that direction.", + "I now see the far wall with two portable toilets and more pallet stacks, yet no red-and-white cone stands out in this part of the yard. I will hold the same rightward scan to uncover the section of the yard still hidden beyond the right edge of my view.", + "At the far right edge of my view I can just make out a small orange cone standing beside dark drums under the building overhang. I will turn right once more to bring that likely marker and its barrel cluster into the center of my view before committing to it.", + "The small orange cone is now clearly ahead of me, standing next to the blue and green drums under the building overhang across the open yard. The ground between us looks flat and clear, so I will walk forward to close that distance.", + "The cone beside the drums is a bit larger in my view, which tells me my last step brought me closer along a good line. Nothing blocks the path across the open bay, so I will keep walking toward it.", + "The red-and-white cone next to the stacked drums is clearly visible ahead and slightly to my right, and it keeps growing as I advance. I will step forward again to continue closing the remaining distance across the open yard.", + "I can now make out a small red-and-white cone standing beside the dark stacked barrels and the green drum, sitting to the right of my current heading. Turning right should bring that marker closer to the center of my path so I can walk straight at it.", + "The cone is now roughly ahead of me, standing under the covered bay next to the green drum and the barrel stack. It is still far off across the open concrete, so I will step forward to close that distance along a clear route.", + "The cone has grown slightly larger and stays near the middle of my heading, confirming I am tracking the right object. The ground ahead is flat and unobstructed, so another step forward should keep shrinking the gap.", + "The red-and-white marker is holding its place slightly left of my heading, still beside the blue barrel stack and green drum. I am not yet close enough to count as reaching it, so I will continue walking straight ahead.", + "The cone is clearly resolved now, with its orange bands visible in front of the drums under the overhang. Nothing blocks the approach lane between the sandbag pallets and the pipe run, so I will keep advancing toward it.", + "The marker now sits noticeably lower and larger ahead of me, meaning I am getting near the barrel bay. I still have several body lengths to cover, so I will step forward again.", + "The cone is close now, standing on the concrete just left of the green drum and the crate pallets. A further step forward should bring me within reaching distance of it.", + "The red-and-white cone is directly in front of me at the left edge of my heading, tall in my sight and only a short step away. I will advance once more to stand right at it and satisfy the reach condition.", + "The red-and-white traffic cone stands directly beside me at the near left edge of my view, right next to the stacked barrels. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x012009_y-005671_z-012709_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x012009_y-005671_z-012709_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..300207f86f4cf0fdb9b3eb13c638343147fe9e46 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x012009_y-005671_z-012709_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Locate the coil of steel wire sitting beside the blue barrels and navigate to it.", + "Type": 1, + "Start_Pose": [ + 12008.938, + -5670.92, + -12708.725, + 0.0, + 154.88, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 12008.938, + -5670.92, + -12708.725, + 0.0, + 154.88, + -0.0 + ], + [ + 12008.938, + -5670.92, + -12708.725, + 0.0, + 179.88, + -0.0 + ], + [ + 12008.938, + -5670.92, + -12708.725, + 0.0, + -155.12, + 0.0 + ], + [ + 12008.938, + -5670.92, + -12708.725, + 0.0, + -130.12, + 0.0 + ], + [ + 12008.938, + -5670.92, + -12708.725, + 0.0, + -105.12, + 0.0 + ], + [ + 11976.109, + -5792.422, + -12708.725, + 0.0, + -105.12, + 0.0 + ], + [ + 11943.28, + -5913.924, + -12708.725, + 0.0, + -105.12, + 0.0 + ], + [ + 11910.451, + -6035.426, + -12708.725, + 0.0, + -105.12, + 0.0 + ], + [ + 11910.451, + -6035.426, + -12708.725, + 0.0, + -80.12, + 0.0 + ], + [ + 11932.046, + -6159.418, + -12708.725, + 0.0, + -80.12, + 0.0 + ], + [ + 11953.642, + -6283.411, + -12708.725, + 0.0, + -80.12, + 0.0 + ], + [ + 11975.237, + -6407.403, + -12708.725, + 0.0, + -80.12, + 0.0 + ], + [ + 11975.237, + -6407.403, + -12708.725, + 0.0, + -105.12, + 0.0 + ], + [ + 11942.408, + -6528.905, + -12708.725, + 0.0, + -105.12, + 0.0 + ], + [ + 11909.579, + -6650.407, + -12708.725, + 0.0, + -105.12, + 0.0 + ], + [ + 11875.168, + -6750.908, + -12708.725, + 0.0, + -105.12, + 0.0 + ], + [ + 11875.168, + -6750.908, + -12708.725, + 0.0, + -105.12, + 0.0 + ] + ], + "Rationale": [ + "I am tucked against a wooden wall and a concrete column, with only stacked green drums visible to my right and no blue barrels or wire spool anywhere in view. The open floor appears to continue past the drums on the right side, so I will turn right to scan that direction for the blue barrels named in the task.", + "The turn opened up more of the drum storage area and a lit bay beyond it, but the drums here are green and I still see no blue barrels or steel wire coil. I will keep rotating right in the same direction to bring the brighter open part of the building into view.", + "Now I can see deeper into the plant, with pallets and crates under a long steel gantry, yet nothing blue and no cable spool has appeared. Continuing the same rightward scan should reveal the rest of this open bay where such stock is likely stored.", + "I can now make out blue barrels far off to the right side of the bay, with a dark cylindrical spool standing right beside them. Another right turn should place that barrel and spool cluster near the center of my heading so I can head straight for it.", + "The row of blue barrels and the dark spool beside them sit ahead and slightly right, under the open framework, with clear concrete floor between us. I will walk forward to close the long distance before refining my heading.", + "The blue barrels and the coil of wire beside them look slightly larger now, confirming I am gaining ground on the correct cluster. The floor ahead remains clear of pallets and columns, so I will keep walking forward.", + "The dark cable spool is now clearly resolved on the left end of the blue barrel row, so the target is confirmed and still some distance away. I will continue forward across the open floor to shorten the gap.", + "The barrels and the wire spool sit a bit right of my current heading, so walking straight would drift me past their left side toward the pallets. I will turn right to bring the spool and barrel group closer to the center of my path before advancing again.", + "The large drum of coiled dark steel wire is now clearly visible on its pallet at the left end of the row of blue barrels, roughly ahead of me across the open concrete floor. I will walk forward along this clear, unobstructed bay to close the considerable distance to it.", + "The wire spool and the adjacent blue barrels have grown noticeably larger and sit slightly left of my heading, confirming I am closing on the right cluster. The floor between us stays clear, so I will keep stepping forward to shorten the gap.", + "The coil of steel wire is now plainly resolved beside the blue barrels, though it has drifted toward the left side of my view as I close in. Another step forward should bring me within a few paces of the pallet before I fine tune my heading.", + "I am close to the pallet now, but the wire spool has slipped to the far left edge of my view while the blue barrels dominate the center. Turning left should bring the coil back toward the middle of my view so my remaining approach heads straight at it.", + "The turn worked, and the coil of steel wire now sits comfortably in view just left of the blue barrels with open floor leading to it. I will step forward to keep closing on the spool.", + "The spool of wire is much larger now, with its wooden flange and coiled cable clearly detailed beside the barrels on their pallet. A further step forward should put me right up against the coil.", + "The coil now fills the left side of my view at close range with the nearest blue barrel directly beside it. One last short step should bring me right alongside the spool.", + "The coiled steel wire fills my view at arm's length, directly beside the blue barrel. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x013001_y006980_z-012705_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x013001_y006980_z-012705_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b9c61c0bdb66e15e87f645f3cfd793926ec7ae84 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x013001_y006980_z-012705_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Identify the steel coil situated outside the door of the industrial building; once found, head over to its location.", + "Type": 1, + "Start_Pose": [ + 13001.461, + 6979.552, + -12704.725, + 0.0, + 14.88, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 13001.461, + 6979.552, + -12704.725, + 0.0, + 14.88, + -0.0 + ], + [ + 13001.461, + 6979.552, + -12704.725, + 0.0, + -10.12, + 0.0 + ], + [ + 13001.461, + 6979.552, + -12704.725, + 0.0, + -35.12, + 0.0 + ], + [ + 13104.407, + 6907.146, + -12704.725, + 0.0, + -35.12, + 0.0 + ], + [ + 13207.353, + 6834.741, + -12704.725, + 0.0, + -35.12, + 0.0 + ], + [ + 13300.779, + 6779.074, + -12705.724, + 0.0, + -35.12, + 0.0 + ], + [ + 13300.779, + 6779.074, + -12705.724, + 0.0, + -60.12, + 0.0 + ], + [ + 13324.733, + 6784.55, + -12704.856, + 0.0, + -60.12, + 0.0 + ], + [ + 13355.404, + 6784.713, + -12704.725, + 0.0, + -60.12, + 0.0 + ], + [ + 13309.372, + 6864.83, + -12704.725, + 0.0, + -60.12, + 0.0 + ], + [ + 13263.339, + 6944.947, + -12704.725, + 0.0, + -60.12, + 0.0 + ], + [ + 13263.339, + 6944.947, + -12704.725, + 0.0, + -85.12, + 0.0 + ], + [ + 13274.046, + 6819.545, + -12704.725, + 0.0, + -85.12, + 0.0 + ], + [ + 13270.346, + 6702.73, + -12704.999, + 0.0, + -85.12, + 0.0 + ], + [ + 13270.346, + 6702.73, + -12704.999, + 0.0, + -60.12, + 0.0 + ], + [ + 13329.215, + 6592.613, + -12704.923, + 0.0, + -60.12, + 0.0 + ], + [ + 13329.215, + 6592.613, + -12704.923, + 0.0, + -35.12, + 0.0 + ], + [ + 13406.43, + 6522.116, + -12704.725, + 0.0, + -35.12, + 0.0 + ], + [ + 13500.021, + 6445.336, + -12704.725, + 0.0, + -35.12, + 0.0 + ], + [ + 13500.021, + 6445.336, + -12704.725, + 0.0, + -35.12, + 0.0 + ] + ], + "Rationale": [ + "I am standing inside the industrial building facing a closed roller shutter that offers no way out and no sight of the coil. Since the task points to a coil outside the building, I will turn left to scan along the wall for an open doorway or daylight.", + "Turning left has brought a bright opening on the far left edge of my view, and beyond it I can make out a dark spooled shape resting on the outdoor pavement. I will continue turning left to bring that opening and the coil-like object toward the center of my view before moving.", + "The doorway gap is now more centrally placed, and through it I can see a large coiled spool sitting on the concrete outside, which matches the target described in the task. I will walk forward toward that opening to close distance and get a clearer line on the coil.", + "The coiled spool outside stays visible through the gap between the posts, and the floor ahead of me is still clear concrete. I will keep walking forward to shorten the distance to the doorway before deciding how to slip past the stair structure.", + "Heavy stair beams and posts now crowd the right of my path, but the lit opening with the coil beyond it remains open to my left front. I will step forward again to reach the mouth of that passage while keeping the target in sight.", + "My view is now filled by the heavy diagonal steel bracing and the wall beside it, with only a narrow strip of daylight and the dark coil shape at the far left edge. Turning left should swing that outside opening and the coil back toward the center of my view so I can head for it.", + "The turn opened up the doorway ahead, and I can now see the spooled steel coil sitting outside on the bright concrete beyond the wooden gate. I will walk forward toward that opening to close the distance to the coil.", + "My last step gained very little ground because the big diagonal steel brace now cuts across most of my view and the coil outside is reduced to a sliver past it. I will try another step forward to see whether I can slip past this structure toward the opening.", + "Pressing forward has jammed me right up against the steel bracing and post, which now fill nearly the whole view and hide the exterior opening entirely. This route is clearly not passable here, so I will step back to pull away from the structure and regain some room.", + "Backing away has restored some of the view, but I am still tucked among the columns and bracing with the open floor lying off to my left rather than ahead. I will back up once more to get clear of these posts and give myself space to pick a different line toward the outside opening.", + "Pushing straight ahead earlier only jammed me into the stair stringer and posts, so I backed off and now have clear floor again on my left. The bright doorway gap is off to my left past the columns, so I will turn left to face the open bay instead of the framing that blocked me.", + "Turning left has opened up a wide clear stretch of interior floor ahead of me with no framing directly in my path. I will walk forward across this bay to reach the daylight opening visible on the right side of the structure.", + "From here I can see through the side opening to the sunlit yard, and a large dark spool of coiled steel is standing just outside on the pavement. The way ahead is still clear, so I will keep walking to close distance with that opening.", + "The coiled steel spool outside the door is now large and clearly to my right, while my heading still points at the closed shutter wall ahead. I will turn right to line my path up with the doorway and the coil beyond it.", + "The turn has centered the doorway opening, and the coiled steel spool sits just beyond it in the sunlit yard. I will step forward through the opening to bring myself alongside the coil.", + "I am now outside the doorway and the large spool of coiled steel cable sits ahead and slightly to my right, partly cut off by the structural post on my left. Turning right should center the coil in front of me so I can walk straight at it without clipping the column or the door frame.", + "The steel coil now sits squarely ahead of me in the open yard, with clear paving between us and only the door jamb at the edges of my view. I will step forward to close the remaining distance toward it.", + "I have cleared the doorway and the coil stands directly in front of me on the open apron, noticeably larger than a moment ago. One more step forward should bring me right up beside it.", + "The steel coil fills my view directly in front of me, within arm's reach outside the building. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cda1bbb0dead49e213ce8437c7c725966502d043 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Walk to the orange traffic cone, then head toward the cluster of green barrels.", + "Type": 3, + "Start_Pose": [ + 14080.47, + 6025.251, + -12704.763, + 0.0, + 118.08, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14080.47, + 6025.251, + -12704.763, + 0.0, + 118.08, + -0.0 + ], + [ + 14021.227, + 6136.295, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 14021.227, + 6136.295, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13920.606, + 6211.899, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13819.985, + 6287.502, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13741.323, + 6370.234, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13664.193, + 6453.237, + -12704.767, + 0.0, + 143.08, + -0.0 + ], + [ + 13664.193, + 6453.237, + -12704.767, + 0.0, + 143.08, + -0.0 + ], + [ + 13664.193, + 6453.237, + -12704.767, + 0.0, + 118.08, + -0.0 + ], + [ + 13664.193, + 6453.237, + -12704.767, + 0.0, + 93.08, + -0.0 + ], + [ + 13664.193, + 6453.237, + -12704.767, + 0.0, + 68.08, + -0.0 + ], + [ + 13664.193, + 6453.237, + -12704.767, + 0.0, + 43.08, + -0.0 + ], + [ + 13756.12, + 6539.201, + -12704.767, + 0.0, + 43.08, + -0.0 + ], + [ + 13848.048, + 6625.165, + -12704.767, + 0.0, + 43.08, + -0.0 + ], + [ + 13939.975, + 6711.129, + -12704.767, + 0.0, + 43.08, + -0.0 + ], + [ + 14031.903, + 6797.093, + -12704.767, + 0.0, + 43.08, + -0.0 + ], + [ + 14031.903, + 6797.093, + -12704.767, + 0.0, + 18.08, + -0.0 + ], + [ + 14151.547, + 6836.153, + -12704.767, + 0.0, + 18.08, + -0.0 + ], + [ + 14151.547, + 6836.153, + -12704.767, + 0.0, + 18.08, + -0.0 + ] + ], + "Rationale": [ + "The orange traffic cone stands ahead on the right, near the wall beside the big cable spool, still far across the open concrete. Nothing blocks the yard in front of me, so I will walk forward to cut down that distance before adjusting my heading.", + "After closing some distance, the cone sits well off to my right, past the cable spool, while my body still faces the open yard and the gate beyond. I will turn right to bring the cone nearer the center of my view before walking on.", + "The turn has swung the cone into the middle of my view, standing beside the pallets against the concrete wall. The floor between me and it is clear apart from the spool off to the right, so I will step forward along this heading.", + "The cone is noticeably larger now, but it still sits several strides off near the pallets and the ductwork. My heading remains true to it, so I will keep walking straight in.", + "The cone is close on my left with the spool bulging into the right of my view, and there is still a gap of a couple of paces to it. I will advance again to draw level with it.", + "The cone now stands tall just ahead of me at the corner of the concrete column, nearly within arm's reach. One more step should bring me right up beside it.", + "The orange traffic cone rises directly in front of me at the foot of the concrete column, close enough to touch. I have reached it, so I mark arriving here before setting off toward the cluster of green barrels.", + "Standing at the cone, my view is walled in by concrete and the shed interior, with no green barrels anywhere in sight. I will turn left to sweep my gaze back across the open yard and look for the barrel cluster.", + "The cone now sits behind my right shoulder and the open yard with the silo and pallets is opening ahead, but no green barrels are in sight yet. I will keep rotating left to sweep more of the yard for that cluster.", + "My view now covers the sandbag stacks, silo and the far wall, yet the green barrels still are not in it. I will turn further left to bring more of the open yard into view and locate them.", + "The row of green barrels has come into view along the fence on my left, still well off to the side of my heading. One more left rotation should bring that cluster nearer the center of my path.", + "The green barrels now stand roughly ahead of me beside the sandbag pallets, with clear paving in between. My heading is good enough to close distance, so I will walk forward toward them.", + "The barrels have grown larger and sit slightly left of center against the fence, so I am on a workable line. The paving ahead is still clear, and I will keep walking to shorten the gap.", + "The green drums and their short posts are clearly resolved now, but I am still several strides short of standing at the cluster. I will continue forward across the open concrete.", + "The barrels now dominate the left half of my view and the nearest drum is only a short distance away. I will step forward again to bring myself right up against the cluster.", + "I am beside the barrels, but their bulk sits across the left of my view while my heading points past them toward the sandbags. Turning left should square me onto the drums themselves.", + "The green barrels now stand squarely in front of me, filling the center of my view with more of them ranged to the right. Only a short stretch of open concrete separates me from the nearest pair, so I will step forward to close that last gap and stand among the cluster.", + "The green barrels fill my view at arm's length on both sides. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..368b5b9dbb580f65f766addcc902fc76d3efe589 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the large cable spool, then move to the stacked wooden pallets.", + "Type": 3, + "Start_Pose": [ + 14080.47, + 6025.251, + -12704.763, + 0.0, + 118.08, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14080.47, + 6025.251, + -12704.763, + 0.0, + 118.08, + -0.0 + ], + [ + 14080.47, + 6025.251, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13979.849, + 6100.854, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13879.227, + 6176.458, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13778.606, + 6252.061, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13778.606, + 6252.061, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13778.606, + 6252.061, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13745.875, + 6358.453, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13691.79, + 6471.411, + -12704.805, + 0.0, + 118.08, + -0.0 + ], + [ + 13632.548, + 6582.455, + -12704.805, + 0.0, + 118.08, + -0.0 + ], + [ + 13630.048, + 6660.713, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13630.048, + 6660.713, + -12704.725, + 0.0, + 118.08, + -0.0 + ] + ], + "Rationale": [ + "The big wooden spool wound with heavy cable sits off to my right, near the corrugated wall, while my heading points across the open concrete. I will turn right so the spool sits ahead of me and I can walk straight at it.", + "The cable spool is now roughly centered in front of me with clear concrete between us. I will walk forward to close that distance.", + "The spool has grown noticeably larger and stays straight ahead, so my line is good. I will keep walking forward since I am still several paces short of it.", + "The spool now fills much of my view and its wooden rim and coiled cable are close, but I am still a step or two away from standing at it. I will advance once more to arrive right beside it.", + "The wooden drum and its coiled cable tower right in front of me, close enough to touch. I have reached the large cable spool. I mark reaching it, and now I am heading for the stacked wooden pallets leaning by the silo to my left.", + "From beside the spool, the stacked wooden pallets sit off to my left, near the tank and past the orange cone. I will turn left to swing my heading off the spool and onto that pallet stack.", + "The pallet stack leaning against the tank is now open ahead of me on the left, with clear concrete in between. I will walk forward to begin closing on it.", + "The pallets and their leaning boards are clearly larger now, sitting just past the cone and the ductwork. I will keep walking forward to close the remaining gap to the stack.", + "The stacked wooden pallets and their leaning boards now fill the left-center of my view, but a few paces of open concrete still separate me from them. I will keep walking forward along the wall, passing to the right of the loose planks on the ground, to close that remaining gap.", + "The pallet stack now dominates the left of my view at close range, with the metal ducting close on my right. One more short step forward should bring me right up alongside the stacked pallets.", + "The stacked wooden pallets stand directly beside me, filling my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d9b029ebf9774d0ca2d37998a8ed50f1353804e --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_c/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Navigate to the small recessed doorway on the concrete building, then reach the cluster of green barrels.", + "Type": 3, + "Start_Pose": [ + 14080.47, + 6025.251, + -12704.763, + 0.0, + 118.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14080.47, + 6025.251, + -12704.763, + 0.0, + 118.08, + -0.0 + ], + [ + 14021.227, + 6136.295, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13961.985, + 6247.34, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13961.985, + 6247.34, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13861.364, + 6322.943, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13760.743, + 6398.546, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13760.743, + 6398.546, + -12704.725, + 0.0, + 168.08, + -0.0 + ], + [ + 13657.242, + 6449.874, + -12704.725, + 0.0, + 168.08, + -0.0 + ], + [ + 13534.096, + 6475.869, + -12704.725, + 0.0, + 168.08, + -0.0 + ], + [ + 13534.096, + 6475.869, + -12704.725, + 0.0, + 168.08, + -0.0 + ], + [ + 13624.504, + 6456.784, + -12704.725, + 0.0, + 168.08, + -0.0 + ], + [ + 13624.504, + 6456.784, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 13624.504, + 6456.784, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13624.504, + 6456.784, + -12704.725, + 0.0, + 93.08, + -0.0 + ], + [ + 13624.504, + 6456.784, + -12704.725, + 0.0, + 68.08, + -0.0 + ], + [ + 13624.504, + 6456.784, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 13716.432, + 6542.749, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 13808.359, + 6628.713, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 13900.287, + 6714.677, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 13992.214, + 6800.641, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 13992.214, + 6800.641, + -12704.725, + 0.0, + 18.08, + -0.0 + ], + [ + 14111.859, + 6839.7, + -12704.725, + 0.0, + 18.08, + -0.0 + ], + [ + 14111.859, + 6839.7, + -12704.725, + 0.0, + 18.08, + -0.0 + ] + ], + "Rationale": [ + "From this open concrete yard I can see a dark recessed opening set into the tall concrete wall ahead on the right, just past the big cable spool. That small doorway is where I need to get first, so I walk forward across the slab to close the gap.", + "The recessed doorway in the concrete wall is now larger and clearer to my right, so my heading is still useful. The paving in front of me is clear of clutter, and I keep walking forward to shorten the distance before I worry about lining up.", + "Walking straight has carried me alongside the building, and the recessed doorway now sits well off to my right behind the cable spool rather than in front of me. I turn right to swing my heading onto that opening before advancing further.", + "The turn brought the dark recessed doorway into the middle of my view, with the cone and stacked pallets to its left and the spool to its right. The route between them is open, so I walk forward toward the opening.", + "I am close enough now to see the framed threshold and the shadowed floor inside the recess. Nothing blocks the ground between me and it, so I keep walking forward to reach the doorway itself.", + "At this range the opening has drifted to the right of my heading, with the concrete pier and cone filling the centre of my view. I turn right so the recess is straight ahead and I can step in without clipping the frame.", + "The recess is now framed just ahead, with its shadowed interior and timber structure showing through the gap beside the spool. I walk forward to carry myself up to the threshold of that small doorway.", + "The doorway edges now flank my view on both sides and the dark interior floor lies directly in front of my feet. One more step forward should put me at the recessed doorway itself.", + "I am standing just inside the small recessed opening of the concrete building, with its timber framing and dim slab floor around me. That places me at the doorway I set out for, so I mark reaching it. Now the cluster of green barrels out in the open yard is where I head next.", + "The doorway I came in through is behind me and the barrels lie outside in the yard, not in this enclosed bay. Rather than pivot among the posts and framing in this tight space, I will step backward toward the opening to regain room in the passage before reorienting.", + "I am back near the threshold, with the interior wall still filling most of my view and only narrow gaps of the structure to either side. The open yard holding the green barrels lies off to my left, so I will turn that way to swing my heading off the building interior.", + "The rotation has brought the traffic cone and the ducting beside the doorway into view, but I am still facing along the building face rather than into the yard. I will keep turning left to carry my heading further toward the open ground.", + "Sky, the silo and stacked pallets are now opening up on the left while the concrete wall still occupies the right half of my view. Another left turn should carry my heading fully out into the yard where the barrels should stand.", + "The yard is now largely ahead of me, with the silo, pallets and sandbag stacks spread across it, but I still see no green barrels in this arc. I will turn left again to sweep more of the open ground into view.", + "The green barrels are now visible, lined up on the far left of my view beside the fence and sandbag pallets. One more left turn should bring them near the centre of my heading so I can walk straight at them.", + "The cluster of green barrels now sits ahead of me, slightly left, beyond an open stretch of clear concrete. Nothing blocks that lane, so I will walk forward to close the distance to them.", + "The stack of green barrels sits ahead and slightly left of center, still several paces off across the open concrete. Nothing blocks the ground between us, so I will keep walking straight to close the gap.", + "The barrels have grown noticeably larger and their orange bollards are now clear, so my heading is good. I will walk forward again to shorten the remaining distance.", + "The green drums now fill much of the left half of my view and the pallet under them is visible, so I am close but not yet beside them. Another step forward should bring me right up to the cluster.", + "I am nearly among the barrels, but the cluster has drifted toward my left edge while the sandbag pallets take the center. Turning left should put the drums squarely in front of me for the final step in.", + "The green drums are now centered ahead with only a short stretch of concrete and the bollards between us. One more step forward should bring me right against the cluster.", + "The green barrels fill my view at arm's length. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fb879441600541c379cdb632ddf9588fac13f715 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t3_d/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Move to the sandbag pile, then approach the orange traffic cone.", + "Type": 3, + "Start_Pose": [ + 14080.47, + 6025.251, + -12704.763, + 0.0, + 118.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14080.47, + 6025.251, + -12704.763, + 0.0, + 118.08, + -0.0 + ], + [ + 14021.227, + 6136.295, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13961.985, + 6247.34, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13961.985, + 6247.34, + -12704.725, + 0.0, + 93.08, + -0.0 + ], + [ + 13955.223, + 6373.017, + -12704.725, + 0.0, + 93.08, + -0.0 + ], + [ + 13948.46, + 6498.694, + -12704.725, + 0.0, + 93.08, + -0.0 + ], + [ + 13941.698, + 6624.371, + -12704.725, + 0.0, + 93.08, + -0.0 + ], + [ + 13934.935, + 6750.048, + -12704.725, + 0.0, + 93.08, + -0.0 + ], + [ + 13934.935, + 6750.048, + -12704.725, + 0.0, + 68.08, + -0.0 + ], + [ + 13981.92, + 6866.809, + -12704.725, + 0.0, + 68.08, + -0.0 + ], + [ + 14028.905, + 6983.569, + -12704.725, + 0.0, + 68.08, + -0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + 68.08, + -0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + 68.08, + -0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + 93.08, + -0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + 143.08, + -0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + 168.08, + -0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + -166.92, + 0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + -141.92, + 0.0 + ], + [ + 14075.889, + 7100.329, + -12704.725, + 0.0, + -116.92, + 0.0 + ], + [ + 14018.907, + 6988.108, + -12704.725, + 0.0, + -116.92, + 0.0 + ], + [ + 13961.925, + 6875.887, + -12704.725, + 0.0, + -116.92, + 0.0 + ], + [ + 13904.943, + 6763.666, + -12704.725, + 0.0, + -116.92, + 0.0 + ], + [ + 13904.943, + 6763.666, + -12704.725, + 0.0, + -141.92, + 0.0 + ], + [ + 13805.873, + 6686.041, + -12704.725, + 0.0, + -141.92, + 0.0 + ], + [ + 13706.803, + 6608.416, + -12704.725, + 0.0, + -141.92, + 0.0 + ], + [ + 13706.803, + 6608.416, + -12704.725, + 0.0, + -141.92, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the yard I can pick out the stacked sandbags on their pallets far off to the left, past the green drums, while an orange cone stands against the building to my right. The concrete ahead is clear, so I walk forward to cut the distance to the sandbags first.", + "The sandbag stacks on the left have grown slightly larger, confirming my heading is bringing me nearer to them. The open slab in front of me is still unobstructed, so I keep walking forward to close more of that gap.", + "The sandbag pallets now sit well out on my left edge while my body still points down the yard past the tanks. To keep walking straight would carry me by them, so I turn left to swing my heading onto the sandbags.", + "After the turn the sandbag pallets and the green drums sit ahead on my left, with the open wet slab running straight toward them. Nothing blocks that lane, so I walk forward to close on the pile.", + "The stacked bags on their pallets are noticeably closer and the drums beside them fill more of my left side, so my line is good. I continue walking forward down the clear centre of the yard.", + "The sandbag pallets are still a few paces off to my left front, close enough that I can make out individual bags. The lane between the drums and the tanks stays open, so I step forward again to shorten the remaining distance.", + "The sandbag stacks now dominate my left side and I am nearly abreast of them, but I am not yet level with the pile itself. I walk forward once more to draw alongside it.", + "The sandbag pallets have slid to my far left while my gaze runs out toward the perimeter wall and the tanks on the right. I turn left so the pile comes squarely in front of me before I close the last steps to it.", + "The stacked sandbags on their pallets sit ahead of me, just left of center, with clear concrete between us. My heading lines up well enough that plain forward walking should close most of that gap, so I step ahead.", + "The sandbag stacks have grown noticeably wider in front of me, the individual bags and their pallet slats now distinct. There is still a stretch of clear ground before them, so another step forward should bring me nearer.", + "The bags now tower across most of my view and the striped post beside them is close at hand, but I am not yet standing at the pile. One more step should put me right up against the stacks.", + "The stacked sandbags on their pallets now fill the whole space in front of me, close enough to reach out and touch. I have arrived at the sandbag pile. I mark reaching it and turn my attention to finding the orange traffic cone.", + "The sandbags block almost everything ahead of me and no orange cone is anywhere in this narrow view. Swinging my heading to the right should open the yard on that side, where I may pick up the cone.", + "The bags have slid toward my left edge and a strip of open concrete and a tank are coming into view on the right, yet still no orange cone. I keep rotating rightward to bring more of that side of the yard in front of me.", + "Now the tall storage tanks and their piping dominate the right of my view while the sandbags fall away below left, and nothing orange has appeared. Continuing the rightward sweep should uncover the ground beyond those tanks.", + "The row of tanks now sits squarely in front of me with the building wall closing in on the right, and the cone is still not in sight. Another step of rotation to the right should carry my view past this equipment.", + "Having marked the sandbag stacks behind me, I am now sweeping my heading to locate the orange cone, but this view only holds the filter tanks, a roller door and stacked pallets. No orange marker is in sight yet, so I will keep pivoting right to open more of the yard.", + "A small orange shape has come into view to the right of the roller door, sitting low beside the pallet stack and the recessed doorway. That looks like the traffic cone I need to reach, so I will pivot right again to bring it nearer the middle of my view.", + "The orange cone is confirmed beside the dark doorway, but the straight line to it runs through the pallet stack and the loose planks scattered on the concrete. I will turn right once more to face the open paved apron past the cable spool, which should give me a clean lane to walk.", + "Wide clear concrete now stretches ahead between the cable spool and the low equipment cabin, with the orange cone standing off to my left near the doorway. I will step forward along this open lane to close distance without weaving through the pallets.", + "The cone has grown larger on my left and the planks are drifting behind me, so my lane is still clear. I will keep walking forward to draw level with the doorway where the cone stands.", + "The cone is now clearly resting at the left edge of the doorway recess, only a short span away across bare concrete. Another step forward should bring me close enough to swing onto it directly.", + "The orange and white cone has slid to the far left margin of my view while my heading points past it toward the equipment cabin. I will turn left to put the cone back in front of me for a straight final approach.", + "The cone now sits squarely ahead of me beside the open doorway, with the cable spool clear to my right. I will walk forward to close the last stretch of concrete and stand beside it.", + "The orange and white traffic cone now stands clearly on my left near the doorway, but a short stretch of open concrete still separates me from it. I will walk forward once more to close that last gap and bring the cone alongside me.", + "The orange traffic cone stands immediately at my left side, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t5_a_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e83317edaf5d2baa725db33e02f72cfa77f5a8a4 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the candelabra at the orange traffic cone, then set it down near the green barrels.", + "Type": 5, + "Start_Pose": [ + 14080.47, + 6025.251, + -12704.763, + 0, + 118.08, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 13708.628, + 6579.642, + -12790.727, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14080.47, + 6025.251, + -12704.763, + 0, + 118.08, + 0 + ], + [ + 14021.227, + 6136.295, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13961.985, + 6247.34, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13902.743, + 6358.384, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13843.5, + 6469.428, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13843.5, + 6469.428, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13843.5, + 6469.428, + -12704.725, + 0.0, + 93.08, + -0.0 + ], + [ + 13843.5, + 6469.428, + -12704.725, + 0.0, + 68.08, + -0.0 + ], + [ + 13843.5, + 6469.428, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 13935.427, + 6555.393, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 14027.354, + 6641.358, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 14119.281, + 6727.323, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 14171.269, + 6749.705, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 14118.681, + 6700.527, + -12704.725, + 0.0, + 43.08, + -0.0 + ], + [ + 14118.681, + 6700.527, + -12704.725, + 0.0, + 43.08, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 13708.628, + 6579.642, + -12790.727, + 0.0, + 0.0, + 0.0 + ], + [ + 13708.628, + 6579.642, + -12790.727, + 0.0, + 0.0, + 0.0 + ], + [ + 13708.628, + 6579.642, + -12790.727, + 0.0, + 0.0, + 0.0 + ], + [ + 13708.628, + 6579.642, + -12790.727, + 0.0, + 0.0, + 0.0 + ], + [ + 13708.628, + 6579.642, + -12790.727, + 0.0, + 0.0, + 0.0 + ], + [ + 13824.947, + 6458.838, + -12734.619, + -28.202, + 168.225, + 1.862 + ], + [ + 13823.161, + 6467.717, + -12734.346, + -28.189, + 143.237, + 1.872 + ], + [ + 13824.843, + 6477.104, + -12735.013, + -28.215, + 118.208, + 1.849 + ], + [ + 13829.042, + 6492.835, + -12734.832, + -14.175, + 85.273, + 6.959 + ], + [ + 13920.309, + 6570.493, + -12734.393, + -28.198, + 93.226, + 1.865 + ], + [ + 14012.45, + 6656.662, + -12734.93, + -28.191, + 93.239, + 1.871 + ], + [ + 14104.475, + 6742.706, + -12735.211, + -28.214, + 93.211, + 1.852 + ], + [ + 14155.937, + 6764.602, + -12734.024, + -28.195, + 93.227, + 1.872 + ], + [ + 14169.809, + 6748.338, + -12734.725, + 0.0, + -26.92, + 0.0 + ], + [ + 14169.809, + 6748.338, + -12734.725, + 0.0, + -26.92, + 0.0 + ] + ], + "PD_Dist_2D": [ + 667.5, + 542.5, + 417.9, + 294.3, + 174.2, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The orange traffic cone stands ahead against the concrete building, and the dark candelabra sits on the pavement just left of it, still far away. I will walk straight forward across the open concrete to close that distance before I can reach the candelabra.", + "The cone and the candelabra beside it have grown larger and stay near the center-right of my view, so my heading is still good. I will keep walking forward since the concrete ahead is clear and the target is well beyond arm's reach.", + "The candelabra is now clearly distinguishable on the pavement with the striped cone just behind and right of it. It is still several paces off, so I will advance again along the same line to bring it into grabbing range.", + "The candelabra now sits large in the lower part of my view with its candles clearly visible, but it is still slightly ahead of me rather than at my feet. I will take one more step forward so it falls within reach for a grasp.", + "The candelabra is now immediately in front of me at the bottom of my view, close enough that its candle tips fill the near foreground. I will attempt the grasp now, which should lift it off the pavement so I can carry it toward the green barrels.", + "The grasp worked, since the candelabra is now held in front of me with its candles rising into my view instead of resting on the ground. Facing this way I see only pavement and the building side, with no green barrels ahead. I will turn left to swing my heading toward the open yard where the barrel stack should be.", + "Carrying the candelabra, my view has opened onto the yard and I can just make out green barrels at the far left edge beyond the sandbag stacks. They are still well off my heading, so I will turn left again to bring that barrel cluster toward the center of my view.", + "The green barrels with their red and white posts are now plainly visible but still sit left of center in my view. One more left turn should line my heading up with them so I can walk straight over and set the candelabra down nearby.", + "With the candelabra in hand, my heading now faces the cluster of green barrels standing beyond the striped posts ahead. They are still some distance off, so I will walk forward along the open concrete to close that gap. The route in front of me looks clear of pipes and barricades on the left.", + "The green barrels have grown larger and now sit almost straight ahead of me, but I am still several paces short of them. I will keep walking forward to bring the carried candelabra within an easy placement distance. The stacked pipes and barricade stay off to my left, so the lane remains passable.", + "The barrels now fill much of what I can see ahead, yet a short stretch of open ground still separates me from them. I will step forward again so the candelabra I am holding ends up right beside the barrel cluster. The striped post in front is slim and easy to pass alongside.", + "I am close in front of the green barrels now, with one drum nearly at arm's reach. A final short step should put me at the drop-off spot right beside them. I will move forward once more before setting the candelabra down.", + "The green barrels are directly in front of me and fill my forward view, so I am standing at the intended placement area. I will release the candelabra here so it rests on the ground next to the barrels. This should satisfy the requirement to set it down near them.", + "The candelabra now stands on the ground right beside the green barrels. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t5_b_pd/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..99dbee50f5ac1eb0b0fc6ef6ce870e6ce7c20f4b --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014080_y006025_z-012705_t5_b_pd/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the metal bucket beside the large cable spool, then leave it near the stacked wooden pallets.", + "Type": 5, + "Start_Pose": [ + 14080.47, + 6025.251, + -12704.763, + 0, + 118.08, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 13873.821, + 6353.504, + -12784.725, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14080.47, + 6025.251, + -12704.763, + 0, + 118.08, + 0 + ], + [ + 14021.227, + 6136.295, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13961.985, + 6247.34, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13961.985, + 6247.34, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13902.744, + 6358.384, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13843.502, + 6469.429, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13784.261, + 6580.474, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13725.019, + 6691.519, + -12704.725, + 0.0, + 118.08, + -0.0 + ], + [ + 13692.275, + 6770.751, + -12695.588, + 0.0, + 118.08, + -0.0 + ], + [ + 13726.165, + 6707.226, + -12697.873, + 0.0, + 118.08, + -0.0 + ], + [ + 13726.165, + 6707.226, + -12697.873, + 0.0, + 118.08, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 13873.821, + 6353.504, + -12784.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13873.821, + 6353.504, + -12784.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13873.821, + 6353.504, + -12784.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13943.432, + 6236.75, + -12734.619, + -28.202, + 168.224, + 1.862 + ], + [ + 13884.064, + 6348.02, + -12735.106, + -28.195, + 168.227, + 1.862 + ], + [ + 13824.811, + 6459.106, + -12735.162, + -28.209, + 168.218, + 1.855 + ], + [ + 13765.665, + 6569.976, + -12734.843, + -28.211, + 168.213, + 1.854 + ], + [ + 13706.561, + 6680.758, + -12734.413, + -28.213, + 168.215, + 1.849 + ], + [ + 13673.869, + 6759.895, + -12734.139, + -28.211, + 168.217, + 1.854 + ], + [ + 13693.216, + 6768.986, + -12737.873, + 0.0, + 118.08, + -0.0 + ], + [ + 13693.216, + 6768.986, + -12737.873, + 0.0, + 118.08, + -0.0 + ] + ], + "PD_Dist_2D": [ + 387.9, + 262.5, + 138.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The dark metal bucket sits on the concrete ahead of me, right beside the large cable spool on my right, so it matches the pickup target described in the task. It is still several strides away and too far to reach, so I will walk straight forward to close that gap.", + "The bucket now fills more of my view and the cable spool beside it has grown large on my right, confirming I am closing on the correct object. It is still not within arm's reach, so I will keep stepping forward to bring it directly in front of me for a grasp.", + "The bucket rim is now right at the bottom of my view, close enough that I am standing directly over it beside the cable spool. This is the moment to reach down and attempt the grasp so I can carry it toward the stacked wooden pallets.", + "The grasp succeeded, since the bucket is now held low in front of me and moves with my body rather than resting on the ground. With it secured, I will walk forward toward the stacked wooden pallets leaning against the building ahead so I can set it down near them.", + "I am carrying the bucket and the stacked wooden pallets are clearly in view ahead, leaning against the concrete wall beside the silo. They are still a good distance off, so I will continue walking forward to bring the drop area within reach.", + "The pallet stack is noticeably closer now, filling the right-center of my view beside the metal silo. I am still not near enough to place the carried bucket beside them, so I will step forward again.", + "The stacked pallets now dominate the right side of my view at close range, so the intended drop area is nearly reached. I will take another step forward to stand right alongside them before releasing the bucket.", + "I am right up against the pallet stack, with the leaning boards and the flat pallet directly in front of me. A short final step should place me squarely beside the stack so the bucket can be set down near it.", + "The stacked wooden pallets and the leaning boards are now directly ahead and to my right, close enough that I am standing at the edge of the pile with the bucket still in hand. This is the delivery spot the task asks for, so no further walking is needed. I will release the bucket here so it should come to rest on the ground right next to the pallet stack.", + "The bucket now rests on the ground directly beside the stacked wooden pallets. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..56d8c5994ab2dd55685a76179793bd6681320198 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the orange traffic cone.", + "Type": 0, + "Start_Pose": [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14230.04, + 6054.115, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14149.815, + 6151.091, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14069.589, + 6248.067, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14069.589, + 6248.067, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13955.896, + 6302.053, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13842.203, + 6356.038, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13728.51, + 6410.023, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13618.525, + 6469.429, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13618.525, + 6469.429, + -12704.725, + 0.0, + 154.6, + -0.0 + ] + ], + "Rationale": [ + "I can pick out the small orange traffic cone far ahead, standing against the concrete wall just left of the open doorway of the industrial building. The open paved yard between us is clear, so I will step forward along my current heading to begin closing that distance.", + "The cone is still some distance off, now slightly larger beside the doorway and the big cable spool. Nothing blocks the paved ground in front of me, so I will keep walking straight to shorten the gap.", + "The cone remains ahead near the wall between the pallet stack and the doorway, and it is growing steadily as I advance. The stacked pallets and the spool sit clear of my path, so I will continue forward.", + "The cone now sits noticeably right of my heading, close to the doorway edge, while my straight path aims at the silo bay to the left. I will turn right to bring the cone toward the center of my view before advancing further.", + "With the turn done the cone is now centered ahead of me, just left of the doorway and clear of the large cable spool on my right. I will walk forward to close the remaining distance.", + "The cone is clearly larger now, standing on the pavement beside the concrete pillar and the doorway. The lane between the spool and the pallets is still open, so I will continue advancing toward it.", + "The cone is close now, its striped body filling a good part of the ground ahead and slightly left of me. I will take another step forward to reach a position right beside it.", + "The cone stands just a step away at the lower left of my view, next to the concrete pillar at the doorway. One more short move forward should place me directly at it.", + "The orange traffic cone stands at arm's length in the lower left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9d78b0e0b28eabaaf18194734dcbfe91294b145d --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the wooden cable spool.", + "Type": 0, + "Start_Pose": [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 14196.573, + 6011.124, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 14082.88, + 6065.11, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13969.187, + 6119.095, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13855.494, + 6173.081, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13741.801, + 6227.066, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13741.801, + 6227.066, + -12704.725, + 0.0, + 154.6, + -0.0 + ] + ], + "Rationale": [ + "The wooden cable spool with its coiled cable sits ahead against the concrete building wall, but it lies to the right of my current heading. I will turn right to bring it closer to straight ahead so the open concrete yard becomes a clear walking line toward it.", + "The spool now stands roughly ahead of me across flat concrete, with the tall equipment housing well to my right and no obstruction in my path. I will step forward along this heading to begin closing the distance.", + "The spool has grown noticeably larger and stays near the middle of my view, so my heading is still good. I continue walking forward over the open slab to keep closing the gap.", + "The spool is clearly closer, its wooden flange and wound cable now easy to make out against the metal wall behind it. Nothing blocks the remaining stretch, so I take another step forward.", + "The spool now dominates the middle of my view and I can see its base resting on the concrete a short distance away. I will move forward again to finish closing in on it.", + "The spool fills much of my view and its top rim is above my eye line, so only a short gap remains. One more step forward should bring me right up beside it.", + "The wooden cable spool's coils and wooden rim are directly in front of me at arm's length. The task is complete, so further movement is unnecessary." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a071a31e6b48da56de9bd22d8f8379f87879e32 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Approach the stack of green barrels.", + "Type": 0, + "Start_Pose": [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14230.04, + 6054.115, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14149.815, + 6151.091, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14149.815, + 6151.091, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 14118.089, + 6272.886, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 14118.089, + 6272.886, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14037.864, + 6369.862, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14037.864, + 6369.862, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 14006.139, + 6491.657, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13974.413, + 6613.452, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13974.413, + 6613.452, + -12704.725, + 0.0, + 79.6, + -0.0 + ], + [ + 13974.413, + 6613.452, + -12704.725, + 0.0, + 54.6, + -0.0 + ], + [ + 14047.321, + 6716.043, + -12704.725, + 0.0, + 54.6, + -0.0 + ], + [ + 14120.229, + 6818.634, + -12704.725, + 0.0, + 54.6, + -0.0 + ], + [ + 14169.043, + 6900.809, + -12704.725, + 0.0, + 54.6, + -0.0 + ], + [ + 14169.043, + 6900.809, + -12704.725, + 0.0, + 54.6, + -0.0 + ] + ], + "Rationale": [ + "The stack of green barrels sits low on the far left of my view, beyond a pile of concrete pipes and a trestle stand, while the open concrete apron in front of me is clear. I will step forward across this clear paving to close distance in the yard before committing to a heading toward the barrels.", + "The barrels are still off to my left, partly hidden behind the pipe pile and the trestle stand, and the paving ahead of me remains open. I will continue forward to gain a position where the left side of the yard opens up around that clutter.", + "Straight ahead I only see the silo tanks and the building wall, while the green barrels have slipped to the very left edge of my view. I will turn left to swing my heading toward that side of the yard so the barrel stack comes into the center of my view.", + "The green barrel stack is now clearly in the left half of my view, standing beside the sandbag pallets under the overhead concrete beam. I will walk forward to reduce the distance to it across the open paving.", + "The barrels are close on my left, but the long concrete pipes and the A-frame stand now lie right across the ground immediately in front of me on that side. I will turn right to point back into the clear paved lane and keep a walkable route rather than pressing into that clutter.", + "My heading is now down the clear paved lane between the silo tanks and the building wall, with the pipe clutter left behind at the edge of my view. I will step forward along this open ground to work past the obstruction before turning back toward the barrels.", + "I have passed the clutter, and straight ahead I see mainly the tank and pallets against the building, with the sandbag stacks and yard opening on my left. I will turn left to bring the green barrel area back toward the center of my view.", + "The green barrels are visible again at the left side of my view, near the sandbag pallets and the short red posts, and the paving between us is flat and clear. I will move forward to keep closing the remaining distance toward that stack.", + "The green barrels sit at the far left edge of my view, partly hidden behind the sandbag pallets, so I still need to gain ground on this open concrete before turning toward them. I will step forward along the clear lane between the tall silo on my right and the pallets on my left to close distance and open up the barrel area.", + "I have advanced far enough that the green barrels now lie well off to my left, while my heading still points down the lane toward the perimeter wall. I will turn left to swing my heading toward the barrel stack and bring it into the center of my view.", + "The row of green barrels is now visible on the left side of my view behind the short orange and white posts, but my heading is still angled past them. I will turn left again to point more directly at the barrel stack before closing the remaining distance.", + "The stack of green barrels is now centered slightly left in my view on its pallet, with only open concrete and a couple of short bollards between us. I will move forward to close the gap toward the barrels.", + "The barrels have grown noticeably larger and fill the left portion of my view, so I am closing in but still a few steps short of standing beside them. I will continue forward along the open floor to shorten that remaining distance.", + "The green barrels now tower over the left half of my view and I can see the pallet edge and their banding clearly, so one more short step should place me right at the stack. I will advance forward while keeping clear of the bollard on my right.", + "The stack of green barrels is directly in front of me, filling my view at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_d/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08eadb02d83a9a8f8ea10e5afb590ed088711649 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the open doorway.", + "Type": 0, + "Start_Pose": [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14230.04, + 6054.115, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14149.815, + 6151.091, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14069.589, + 6248.067, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13989.363, + 6345.043, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13909.138, + 6442.019, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13909.138, + 6442.019, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13909.138, + 6442.019, + -12704.725, + 0.0, + 179.6, + -0.0 + ], + [ + 13783.282, + 6442.898, + -12704.725, + 0.0, + 179.6, + -0.0 + ], + [ + 13660.535, + 6448.699, + -12704.725, + 0.0, + 179.6, + -0.0 + ], + [ + 13536.199, + 6456.448, + -12704.781, + 0.0, + 179.6, + -0.0 + ], + [ + 13536.199, + 6456.448, + -12704.781, + 0.0, + 179.6, + -0.0 + ] + ], + "Rationale": [ + "From this corner of the yard I can see an open doorway set into the concrete wall on the right, past the large cable spool. The paved ground straight ahead is clear of the stacked pipes and trestle beside me, so I will step forward to begin closing the distance toward that wall.", + "The doorway and the cable spool in front of it now look noticeably larger, confirming my heading is carrying me toward that side of the building. I will continue forward along the open concrete to keep shortening the gap.", + "The dark opening in the wall is still ahead and to my right, with the storage tanks and pallets safely off to the left of my path. Another forward step should bring me nearer to the doorway without needing to reorient yet.", + "I am now close enough to make out the interior floor through the opening, and the traffic cone marks the ground just outside it on my right. The lane ahead of me is still clear, so I will keep walking forward to close more distance before turning.", + "The doorway has slid toward the right edge of my view as I advance along the wall, so I still have a little forward ground to cover before it sits abeam of me. I will take one more step forward on the clear pavement, keeping the pallets and duct outlet to my left.", + "I have come far enough along the wall that the open doorway is now off at the right edge of my view while I face mostly parallel to the building. I will turn right to swing my heading toward that opening instead of continuing past it.", + "The dark doorway and its concrete surround are now well in view but still right of my heading, with the cone marking the threshold area. A second turn to the right should center the opening so I can walk straight at it.", + "The open doorway is now roughly centered ahead of me, with the big cable spool sitting to my right and the cone off to my left, leaving a clear gap between them. I will step forward through that gap to close the remaining distance to the threshold.", + "The open doorway is now only a short distance ahead and slightly left of my heading, with the traffic cone clear on my left and the large cable spool clear on my right. I will continue forward along this gap to close the remaining distance toward the opening.", + "I am right at the threshold now, with the doorway jambs rising on either side of my view and the darker interior floor and roof trusses visible beyond. One more step forward should carry me into the open doorway itself.", + "I am standing inside the open doorway, with the interior floor, columns, and roof structure around me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_e/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bd848bdca32993387511f196a630d122c39e85fb --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t0_e/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the light-gray metal silo tank.", + "Type": 0, + "Start_Pose": [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14310.266, + 5957.139, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14230.04, + 6054.115, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14149.815, + 6151.091, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14069.589, + 6248.067, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13989.363, + 6345.043, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13989.363, + 6345.043, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13957.638, + 6466.838, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13925.913, + 6588.633, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13894.188, + 6710.428, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13862.463, + 6832.223, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13830.737, + 6954.018, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13799.012, + 7075.813, + -12704.725, + 0.0, + 104.6, + -0.0 + ], + [ + 13799.012, + 7075.813, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13749.809, + 7153.842, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13749.809, + 7153.842, + -12704.725, + 0.0, + 129.6, + -0.0 + ] + ], + "Rationale": [ + "I can see the light-gray metal silo tanks standing well ahead of me, left of center, tucked against the tall concrete plant wall. The paved yard in front of me is clear, with the stacked pipes and the cable spool set off to either side, so I will step forward to begin closing that distance.", + "The silo tanks are slightly larger now and still sit ahead and a little to my left, so my heading remains usable. The pavement ahead stays unobstructed, so I will continue walking forward to reduce the remaining distance.", + "The cable spool has drifted to my right edge and the tanks are now clearly resolved on the left side of my view, with their vertical shells and ladder beside them. The open concrete lane continues straight, so another forward step should bring me meaningfully closer before I correct my heading.", + "The tanks now show their pipework and base clearly, though they sit off to my left while my heading still points toward the building wall and the traffic cone area. The ground straight ahead is flat and clear, so I will take one more forward step to shorten the diagonal before turning.", + "The silo tanks have shifted noticeably to the left of my view while I am aimed at the plant wall and the pallets leaning against it. I will turn left to bring the tanks toward the center of my view so my next steps advance straight at them.", + "After the turn, the light-gray tank stands ahead of me with the sandbag pallets on my left and the pallets and wall on my right, leaving an open lane between them. With the heading now pointed at the target, I will walk forward to close the gap.", + "The tank body and its base pipework are growing in my view and still lie along my current heading. The pavement in front of me stays clear apart from loose boards well to the right, so I will keep advancing.", + "I am now close enough to make out the tank's welded seams, side flange, and the green base plinth, and a second tank behind it. The route between the sandbag pallets and the tank platform remains open, so I will continue forward to close the last stretch.", + "The light-gray metal silo tank on its green base stands just right of my heading, with open concrete between me and it. Nothing blocks the lane, so I will continue forward to keep closing the remaining distance.", + "The tank shell and its junction box now fill much more of the right side of my view, confirming I am steadily closing on the target. The paving ahead stays clear, so I will step forward again.", + "I am now alongside the near edge of the light-gray silo, its base rail and elbow pipe close on my right. A short further advance should bring me level with the tank body, so I will keep moving forward.", + "Having drawn level with the silo, its curved shell now sits off to my right while my heading points past it toward the yard wall. I will turn right to bring the tank back into the center of my view before the last step.", + "The light-gray silo and its cabinet are now squarely centered in front of me, only a short gap of paving remaining. I will take one more step forward to reach a position directly at the tank.", + "The light-gray metal silo tank fills my view at arm's length, its base and skid directly before me. The navigation task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c0d1d672b94c5a47bbe99e6df19c6dd159578f1 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the trash bag beside the orange traffic cone.", + "Type": 5, + "Start_Pose": [ + 14310.266, + 5957.139, + -12704.725, + 0, + 129.6, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 13657.911, + 6575.79, + -12794.725, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14310.266, + 5957.139, + -12704.725, + 0, + 129.6, + 0 + ], + [ + 14230.04, + 6054.115, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14149.815, + 6151.091, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14069.589, + 6248.067, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14069.589, + 6248.067, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13955.896, + 6302.053, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13842.203, + 6356.038, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13842.203, + 6356.038, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13761.978, + 6453.014, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13761.978, + 6453.014, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 13761.978, + 6453.014, + -12704.725, + 0.0, + 129.6, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13657.911, + 6575.79, + -12794.725, + 0.0, + 0.0, + 0.0 + ], + [ + 13745.913, + 6438.932, + -12734.619, + -28.202, + 179.744, + 1.862 + ], + [ + 13745.913, + 6438.932, + -12734.619, + -28.202, + 179.744, + 1.862 + ] + ], + "PD_Dist_2D": [ + 899.1, + 774.3, + 649.9, + 526.2, + 526.2, + 404.6, + 286.8, + 286.8, + 160.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From where I stand at the edge of this concrete yard, I can pick out a small orange traffic cone against the building wall ahead, with a dark trash bag sitting just beside it. The target is far off across open pavement, so I will walk straight forward to close that distance. The ground ahead looks clear of clutter, so a plain step should be safe.", + "The bag and the cone beside it now read a little larger and slightly to the right of my heading, so I am still on a usable line toward them. Nothing blocks the pavement directly in front of me, so I will keep walking forward to shorten the gap. I can refine my heading once the target is closer and easier to judge.", + "The trash bag and the striped cone are clearly resolved now near the doorway on the right side of the wall, but they are still several strides away. I will continue forward across the open slab to bring myself into a range where a grasp becomes plausible. The large cable spool stays off to my right, so my path remains clear.", + "The bag and its neighboring cone now sit noticeably right of my straight-ahead direction, so continuing forward would carry me past them along the wall. I will turn right to swing my heading onto the target pair. That should let my next steps close distance directly instead of drifting sideways.", + "With my heading corrected, the trash bag and the orange cone sit near the middle of what I can see, resting on the pavement in front of the wall. I will walk forward to cut down the remaining distance to them. The stacked pallets stay to the left and the spool to the right, so the lane between them is clear.", + "The bag and cone are much larger now and sit slightly left of my heading, while the big cable spool looms on my right. I am still too far back for a reliable grasp, so I will step forward again to close in. I can adjust my facing afterward if the bag drifts further to the side.", + "I am now close to the target, but the trash bag has slid well off to my left while the cable spool crowds my right side. I will turn left to bring the bag back in front of me for a clean approach. Facing it squarely should make the final step and the grasp geometry much easier.", + "The trash bag now sits squarely in front of me with the orange cone right beside it, confirming this is the object named in the task. It is still a stride or so beyond comfortable reach, so I will step forward once more. That should place the bag close enough at my feet to attempt a pick.", + "The dark trash bag now fills the lower center of my view, directly at my feet, with the orange traffic cone standing just to its right against the concrete wall. This is the target described in the task and it is close enough that no further stepping is needed. I will attempt the pick now, which should lift the bag into my hands.", + "The trash bag is now held in front of me, lifted off the pavement. The task's pick-up condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t5_b_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..395f4939d9ef610ec895b39650239eba9a83f371 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014310_y005957_z-012705_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the jerry can at the wooden cable spool.", + "Type": 5, + "Start_Pose": [ + 14310.266, + 5957.139, + -12704.725, + 0, + 129.6, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 13831.932, + 6364.393, + -12794.725, + 0, + -20, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14310.266, + 5957.139, + -12704.725, + 0, + 129.6, + 0 + ], + [ + 14230.04, + 6054.115, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14149.815, + 6151.091, + -12704.725, + 0.0, + 129.6, + -0.0 + ], + [ + 14149.815, + 6151.091, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 14036.122, + 6205.077, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13922.429, + 6259.062, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13922.429, + 6259.062, + -12704.725, + 0.0, + 154.6, + -0.0 + ], + [ + 13922.429, + 6259.062, + -12704.725, + 0.0, + 154.6, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 13831.932, + 6364.393, + -12794.725, + 0.0, + -20.0, + 0.0 + ], + [ + 13831.932, + 6364.393, + -12794.725, + 0.0, + -20.0, + 0.0 + ], + [ + 13831.932, + 6364.393, + -12794.725, + 0.0, + -20.0, + 0.0 + ], + [ + 13831.932, + 6364.393, + -12794.725, + 0.0, + -20.0, + 0.0 + ], + [ + 13831.932, + 6364.393, + -12794.725, + 0.0, + -20.0, + 0.0 + ], + [ + 13831.932, + 6364.393, + -12794.725, + 0.0, + -20.0, + 0.0 + ], + [ + 13913.82, + 6239.51, + -12734.619, + -28.202, + -155.256, + 1.862 + ], + [ + 13913.82, + 6239.51, + -12734.619, + -28.202, + -155.256, + 1.862 + ] + ], + "PD_Dist_2D": [ + 628.2, + 504.7, + 382.8, + 382.8, + 259.0, + 138.9, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the wooden cable spool ahead on the right side of the yard, with a small red jerry can standing on the concrete just to its left. The can is still far off across the open apron, so I will walk forward to close that distance. This straight advance should keep both the spool and the can in view as they grow larger.", + "The jerry can beside the cable spool is noticeably larger now, but it is still several strides away and too distant to reach. Nothing blocks the flat concrete between us, so I will keep walking forward. Another step should bring the can close enough to fine tune my heading.", + "The jerry can and the wooden spool now sit clearly right of my heading, while my current facing points along the building wall toward the tanks. Continuing straight would carry me past them rather than to them. I will turn right to bring the can into the center of my view before advancing again.", + "After turning, the jerry can and the cable spool sit squarely in the middle of my view with the traffic cone beside them. The heading looks correct, but the can is still a couple of strides off. I will step forward to close in on it.", + "The jerry can is now low and large in the lower left of my view, close but not yet within comfortable reach. One more forward step should place me directly beside it at the foot of the wooden spool. I will advance again before attempting the lift.", + "The jerry can is right at my feet in the near left foreground, with the wooden spool beside me, so I am standing at the intended pickup spot. This is the closest I can get without stepping over it. I will reach down and try to lift the can now.", + "The red jerry can is now held in my hands in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014797_y-004266_z-012710_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014797_y-004266_z-012710_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a59cb85d76421d26543a0c9ec30f8e26211d65b2 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014797_y-004266_z-012710_t1_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Locate the base of the vertical yellow ladder mounted on the industrial structure, then navigate to that spot.", + "Type": 1, + "Start_Pose": [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 114.88, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 114.88, + -0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 89.88, + -0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 64.88, + -0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 39.88, + -0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 14.88, + -0.0 + ], + [ + 14918.976, + -4234.036, + -12709.725, + 0.0, + 14.88, + -0.0 + ], + [ + 15040.271, + -4212.902, + -12709.725, + 0.0, + 14.88, + -0.0 + ], + [ + 15158.701, + -4213.435, + -12708.725, + 0.0, + 14.88, + -0.0 + ], + [ + 15276.183, + -4196.066, + -12708.731, + 0.0, + 14.88, + -0.0 + ], + [ + 15397.822, + -4163.746, + -12708.731, + 0.0, + 14.88, + -0.0 + ], + [ + 15519.46, + -4131.426, + -12708.731, + 0.0, + 14.88, + -0.0 + ], + [ + 15641.098, + -4099.106, + -12708.731, + 0.0, + 14.88, + -0.0 + ], + [ + 15762.737, + -4066.785, + -12708.731, + 0.0, + 14.88, + -0.0 + ], + [ + 15762.737, + -4066.785, + -12708.731, + 0.0, + -10.12, + 0.0 + ], + [ + 15886.638, + -4088.9, + -12708.731, + 0.0, + -10.12, + 0.0 + ], + [ + 16010.539, + -4111.015, + -12708.731, + 0.0, + -10.12, + 0.0 + ], + [ + 16134.439, + -4133.13, + -12708.731, + 0.0, + -10.12, + 0.0 + ], + [ + 16258.34, + -4155.244, + -12708.731, + 0.0, + -10.12, + 0.0 + ], + [ + 16382.241, + -4177.359, + -12708.731, + 0.0, + -10.12, + 0.0 + ], + [ + 16506.142, + -4199.474, + -12708.731, + 0.0, + -10.12, + 0.0 + ], + [ + 16630.043, + -4221.589, + -12708.731, + 0.0, + -10.12, + 0.0 + ], + [ + 16630.043, + -4221.589, + -12708.731, + 0.0, + -10.12, + 0.0 + ] + ], + "Rationale": [ + "From this walkway between the pipe trenches I only see yellow handrails, concrete channels and distant pipe racks, with no vertical yellow ladder anywhere ahead. Since nothing here matches the target, I will turn left to begin a steady scan of the surrounding plant area for a ladder mounted on a tall structure.", + "The new heading brings stacks, a lighting mast and a portable cabin into view, but still no vertical yellow ladder on any of these structures. I will keep rotating left in the same direction so the scan stays consistent and covers the heavier equipment on that side.", + "Now I face a dense block of process piping, insulated ducts and building facades, which is the kind of industrial structure that usually carries a fixed access ladder, yet none is visible in this slice. I will continue turning left to sweep further along that equipment line and check the tall vessels at its edge.", + "At the far left edge of my view I can now make out a tall column with yellow rungs and caged hoops running up it, which matches the vertical yellow ladder I am looking for. I will turn left once more to bring that column and its base near the center of my heading before walking toward it.", + "The yellow ladder is now clearly ahead of me, climbing a tall cylindrical vessel whose base sits on a yellow plinth across an open concrete apron. The ground between us looks clear of railings, so I will step forward to close the distance toward that base.", + "The ladder and its yellow footing have grown noticeably larger, confirming I am moving along a good line toward the vessel. The paved area ahead is still open, so I will keep walking forward.", + "A vertical support pole crosses my view but it stands off to the side of my path, and the ladder with its yellow base remains visible ahead and slightly left. I will continue stepping forward to keep closing on the base of the ladder.", + "The pole has passed out of the way and the yellow base of the ladder is now plainly visible at the foot of the column ahead of me. The open floor still separates me from it, so I will walk forward again to reduce that remaining distance.", + "The yellow ladder running up the tall cylindrical vessel stays clearly in the left half of my view, and its yellow skirted base is visible at ground level across an open stretch of concrete. Nothing blocks the lane between me and that column, since the wrapped crate sits well to my right. I will keep walking forward to close the remaining distance to the ladder foot.", + "The ladder's yellow base pad now reads larger and lower in my view, confirming I am closing on the column rather than drifting past it. The floor ahead remains flat and unobstructed, with the covered crate passing along my right side. I will continue advancing toward the ladder foot.", + "The yellow pedestal at the bottom of the ladder is clearly resolved now, with its stiffener plates visible, so my target spot on the ground is unambiguous. The path stays clear apart from the crate hugging my right edge and a slim post further ahead. I will step forward again to keep shrinking the gap.", + "The ladder and its yellow base sit ahead and slightly left, and the ground between us is still open concrete. I am close enough that each step noticeably enlarges the pedestal, so continuing straight is the most direct way in. I will move forward once more before adjusting my heading.", + "As I have closed in, the ladder and its yellow base have drifted toward the left edge of my view while a chain link fence and structural bracing now fill the right side. Walking straight ahead would carry me past the column instead of to its foot. I will turn left to bring the ladder base back toward the center of my heading.", + "After the turn the yellow ladder and its skirted base sit near the middle of my view with clear floor leading right up to them. The fenced area and the large pipe stay off to my right, leaving the approach open. I will walk forward along this corrected heading toward the ladder foot.", + "The yellow pedestal and the lowest rungs of the ladder are now large and centered, showing my heading is aimed at the base itself. There is still several strides of empty floor before I would be standing at it. I will keep stepping forward to close that remaining gap.", + "The ladder stringers and the yellow base ring now dominate the center of my view, so only a short distance remains to the spot at its foot. The floor immediately in front of me is flat and clear. I will advance again to bring myself right up against the base.", + "The yellow ladder and the yellow skirt at the foot of the vessel now fill the center of my view, and the lowest rungs and their concrete footing are clearly resolved ahead of me. The open floor between me and that base is still clear of pipes or railings, so I will keep walking straight to close the remaining gap.", + "The ladder's bottom rungs and the ribbed yellow pedestal are now large in front of me, confirming I am closing on the exact spot where the ladder meets the ground. The floor directly ahead remains open, so I will step forward again to stand right at that base.", + "The ladder stringers and the gussets on the yellow base are close enough that I can see their surface detail, but a short stretch of floor still separates me from the footing. I will advance once more to reduce that remaining distance to the ladder base.", + "The yellow pedestal and ladder rails now dominate my view at arm's-length scale, so I am nearly at the ladder's ground contact point. One more short step forward should place me directly at the base of the ladder.", + "I am standing directly against the yellow ladder's lower rail where it meets the vessel's base skirt. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x014797_y-004266_z-012710_t1_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x014797_y-004266_z-012710_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac517edc9c4e18ad67a5a7c7a6d5f0512622c60c --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x014797_y-004266_z-012710_t1_b/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Discover the gap between the two portable toilets standing side by side; once found, approach that narrow space.", + "Type": 1, + "Start_Pose": [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 114.88, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 114.88, + -0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 139.88, + -0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 164.88, + -0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + -170.12, + 0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + -145.12, + 0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + -120.12, + 0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + -95.12, + 0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + -70.12, + 0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + -45.12, + 0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + -20.12, + 0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 4.88, + -0.0 + ], + [ + 14797.338, + -4266.356, + -12709.725, + 0.0, + 29.88, + -0.0 + ], + [ + 14906.065, + -4212.966, + -12709.725, + 0.0, + 29.88, + -0.0 + ], + [ + 15010.778, + -4212.92, + -12709.725, + 0.0, + 29.88, + -0.0 + ], + [ + 15115.492, + -4212.919, + -12709.725, + 0.0, + 29.88, + -0.0 + ], + [ + 15213.259, + -4208.664, + -12708.725, + 0.0, + 29.88, + -0.0 + ], + [ + 15213.259, + -4208.664, + -12708.725, + 0.0, + 54.88, + -0.0 + ], + [ + 15285.664, + -4105.718, + -12708.725, + 0.0, + 54.88, + -0.0 + ], + [ + 15358.07, + -4002.771, + -12708.725, + 0.0, + 54.88, + -0.0 + ], + [ + 15358.07, + -4002.771, + -12708.725, + 0.0, + 79.88, + -0.0 + ], + [ + 15380.184, + -3878.87, + -12708.725, + 0.0, + 79.88, + -0.0 + ], + [ + 15402.299, + -3754.97, + -12708.725, + 0.0, + 79.88, + -0.0 + ], + [ + 15424.414, + -3631.069, + -12708.725, + 0.0, + 79.88, + -0.0 + ], + [ + 15446.529, + -3507.168, + -12708.725, + 0.0, + 79.88, + -0.0 + ], + [ + 15468.643, + -3383.267, + -12708.725, + 0.0, + 79.88, + -0.0 + ], + [ + 15468.643, + -3383.267, + -12708.725, + 0.0, + 54.88, + -0.0 + ], + [ + 15541.049, + -3280.321, + -12708.725, + 0.0, + 54.88, + -0.0 + ], + [ + 15613.454, + -3177.375, + -12708.725, + 0.0, + 54.88, + -0.0 + ], + [ + 15613.454, + -3177.375, + -12708.725, + 0.0, + 29.88, + -0.0 + ], + [ + 15722.583, + -3114.673, + -12708.725, + 0.0, + 29.88, + -0.0 + ], + [ + 15722.583, + -3114.673, + -12708.725, + 0.0, + 29.88, + -0.0 + ] + ], + "Rationale": [ + "From this walkway over the pipe trench I can see only piping, railings and distant plant structures, with no portable toilets anywhere in view. I will begin a steady rightward scan to sweep the surrounding yard for the pair of blue cabins.", + "The rotation has brought a large plant building and an open paved area into view, but still no portable toilets. I will keep turning right in the same direction to continue the scan across this yard.", + "Ahead of me now is the grating walkway leading toward the building doorway, with only cones and equipment along the wall. No pair of toilet cabins has appeared yet, so I will continue the rightward sweep.", + "The view has opened onto more of the paved yard and a distant unit block, but nothing resembling the side by side toilets is in sight. I will hold the same turning direction to keep the scan consistent and uncover the next sector.", + "Now I see the AREA-05 block and tall columns beyond the trench, with only tanks and small drums near the ground. The target is still not visible, so I will keep rotating right to reveal the area past those vessels.", + "The columns and a large horizontal vessel now dominate the right side of my view, and the trench pipes still run away in front of me. Since no portable toilets have appeared, I will continue the same rightward scan.", + "The big storage vessel fills much of my view and blocks sight of whatever stands behind it. I will turn right again to look past it toward the open ground on that side.", + "Past the vessel I can see open concrete and further plant structures, but no cluster of blue cabins yet. I will maintain the consistent rightward rotation to keep uncovering unseen parts of the yard.", + "Ahead of me is a large horizontal pressure vessel and open concrete apron, with no portable toilets anywhere in this part of the yard. I will keep rotating rightward at a steady pace so the sweep stays consistent and brings fresh ground into view.", + "The vessel has slid to my left and a tall column with a yellow ladder now dominates the view, but I still see no pair of portable toilets. I will continue turning right to keep uncovering the yard beyond this equipment block.", + "More of the plant opens up on my right, with piping racks and stacked crates, yet the two toilets are still not in sight. I will hold the same rightward rotation to bring that unexamined stretch of yard fully into view.", + "I can now make out a pair of blue portable toilet cabins standing side by side beyond the pallets, past the covered crate on the far side of this railed pit. Since the target is finally visible, I will stop scanning and step forward along the open concrete toward them.", + "The blue cabins are still ahead and slightly right, and the railing along the pit is falling away to my side as I advance. I will keep walking forward on this open apron to close more of the remaining distance.", + "I see the toilet cabins growing slightly larger past the stacked pallets, though a support column sits near my line of travel. My path across the concrete is still clear, so I will take another step forward toward them.", + "A large support column now cuts across the middle of my view, but the blue cabins remain visible to its right beside the pallet stacks. I will continue advancing along the open floor to keep closing on them.", + "The tarpaulin-wrapped crate now sits squarely in front of me while the two toilet cabins are off to my right beyond the pallet stacks. I will turn right to face that side of the yard so my forward path leads toward them rather than into the crate.", + "Past the tarp wrapped crate and the pallet stacks I can now make out a cluster of blue portable cabins standing together in the mid distance ahead and slightly left, which matches the target described in my task. The concrete apron in front of me is clear, so I will walk forward to close the distance and get a better look at how those units are arranged.", + "The blue cabins ahead of me have grown slightly and I can begin to tell there is more than one standing side by side next to the pallets. They are still far off and partly screened by the pallet stacks, so I will keep walking straight to reduce the distance.", + "The large tarp covered crate and the pallet stacks now crowd the left side of my path, while a wide open concrete lane runs off toward my right past the pipe racks. I will turn right to line myself up with that clear lane so I can travel toward the cabins without pushing into the stacked pallets.", + "Facing down the open corridor, I have a long unobstructed stretch of concrete ahead with the blue cabins now sitting off to my left beside the pallets. I will walk forward along this clear lane to draw level with them.", + "The cabins on my left are noticeably larger and I can see they stand as a paired row rather than a single unit. The lane in front of me remains empty, so I keep walking forward to bring myself alongside them.", + "The two blue units are now clearly separate cabins standing shoulder to shoulder just off my left side, with their doors facing across my path. I will continue forward so that I come fully abreast of the pair instead of stopping short behind the pallets.", + "From this angle the pair of cabins on my left reads plainly as two separate shells set close together, and a dark vertical seam runs between their shoulders. I will step forward again to get closer to that seam before I turn toward it.", + "The two portable toilets are close on my left now, and the narrow shadowed slot where their side walls almost meet is the space my task points to. I will walk forward a little more to position myself just past their front faces so that the gap sits squarely to my side.", + "The pair of blue portable toilets now sits at the far left edge of my view, so continuing straight would carry me past them. I will turn left to bring both units and the seam between them back into the center of my view. This should give me a clean heading toward the narrow space I need to reach.", + "Both portable toilets now stand clearly ahead and slightly to my left, side by side against the pipework, with a visible vertical seam where they meet. The ground between me and them is flat and clear, so I will walk forward to close that distance. Getting nearer should let me confirm the exact position of the gap between the two units.", + "The two units are noticeably larger now and I can see the dark slot where their side walls almost touch. I am still a few paces short of that slot, so I will keep walking forward. Another step should bring me close enough to line up precisely with the narrow space.", + "At this close range the two cabins fill the left side of my view and the dark gap between them sits off to my left rather than straight ahead. I will turn left so that narrow opening moves to the center of my heading. That should let me step directly into the space instead of brushing past the outer wall.", + "The two doors are now squarely in front of me and the shadowed gap between the adjacent cabins is centered in my view. Only a short step separates me from that opening, so I will walk forward. This should place me right at the narrow space the task asks me to reach.", + "The two cabin walls fill my view on either side of the dark narrow gap directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77322c19aa707d57418b7fc95f0a9dfc7c759967 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Locate the base of the vertical yellow ladder attached to the industrial structure; once found, approach it.", + "Type": 1, + "Start_Pose": [ + 17266.415, + 1841.793, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 17266.415, + 1841.793, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -50.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -75.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17244.299, + 1717.892, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17222.185, + 1593.991, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17200.07, + 1470.09, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17177.955, + 1346.189, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17150.331, + 1225.935, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17128.216, + 1102.034, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17106.102, + 978.134, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17083.987, + 854.233, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17061.872, + 730.332, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17061.872, + 730.332, + -12708.725, + 0.0, + -75.12, + 0.0 + ], + [ + 17094.192, + 608.693, + -12708.725, + 0.0, + -75.12, + 0.0 + ], + [ + 17126.512, + 487.055, + -12708.725, + 0.0, + -75.12, + 0.0 + ], + [ + 17126.512, + 487.055, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17104.398, + 363.154, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17082.283, + 239.253, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17060.168, + 115.352, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17038.053, + -8.549, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17015.939, + -132.449, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 16993.824, + -256.35, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 16993.824, + -256.35, + -12708.725, + 0.0, + -125.12, + 0.0 + ], + [ + 16993.824, + -256.35, + -12708.725, + 0.0, + -125.12, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by the riveted storage tanks and the low pipe run right in front of me, so no yellow ladder is visible from this heading. I will turn left to begin a consistent scan toward the more open part of the yard where taller plant structures may carry an access ladder.", + "The turn opened up a covered concrete bay and a stretch of paved yard, but I still see only tanks, piping and shrubs, with no yellow ladder. I will keep rotating left in the same direction to bring more of the open plant area into view.", + "Now I can pick out a bright yellow vertical ladder running up a tall column in the process area on the left side of my view. I will turn left once more to bring that ladder closer to the center of my heading before committing to the approach.", + "The yellow ladder is now roughly ahead of me, climbing the tall vessel just left of the open concrete bay. The pavement in between looks flat and unobstructed, so I will walk forward to close distance on it.", + "The ladder and its yellow-painted vessel have grown slightly larger, confirming my heading is carrying me toward the target. The ground ahead remains open, so I will continue walking forward.", + "The vertical yellow ladder and the yellow band around the bottom of its vessel are clearly resolved ahead of me, still some distance away. I keep stepping forward along the clear pavement to reduce that gap.", + "The ladder stays visible just left of the concrete column in front of me, and the base of the vessel is still further out. Since my path along the pavement remains clear, I will keep advancing toward it.", + "The ladder and its yellow base are noticeably nearer and remain slightly left of my heading, with only stacked pipes and drums well off to the side. I will continue forward to keep closing on the ladder's base.", + "The vertical yellow ladder is clearly visible ahead on the tall silo, running down to a yellow-painted base skirt just left of the concrete columns. The open concrete floor between me and it is clear, so I will keep walking forward to close the remaining distance.", + "The ladder and its yellow base ring have grown larger and shifted slightly, confirming I am gaining on the target. Nothing blocks the path ahead except stacked drums and pipe racks well to my left, so another step forward should bring me closer.", + "The yellow ladder base is still ahead and slightly left, and the pipe rack on my left is passing by as I advance. The lane between the pipe rack and the building columns remains clear, so I continue walking straight toward the ladder.", + "The ladder now fills a good part of the view with its rungs and the yellow base clearly resolved, so I am close but not yet at its foot. I will step forward again to keep reducing the gap.", + "The stacked pipes and their yellow rack now sit directly in my forward path on the left, while the ladder base lies beyond them near the column line. Turning right should swing my heading into the open bay floor so I can pass the obstruction and keep a usable approach line to the ladder.", + "With the heading shifted, the pipe stack is now off to my left and the floor ahead is open. I will walk forward along this clear lane to draw level with the yellow ladder and its base.", + "The yellow ladder and its painted base are still visible at the left of my view and are getting nearer as I advance along this open lane. Another step forward should bring me alongside the vessel's base.", + "The ladder and its yellow base have drifted toward the left edge of my view as I moved past the columns. I will turn left to bring the ladder back into the center of my heading before continuing the final approach.", + "The yellow vertical ladder is now clearly centered ahead, running down the grey vessel to a yellow painted skirt at its base. The floor between me and that base is open concrete, so I will step forward to close the remaining distance.", + "The ladder and its yellow foot ring have grown larger and stay near the middle of my view, confirming my heading is good. I keep walking forward since the pipe stack stays off to my left and nothing blocks the ground between us.", + "The base of the ladder, where it meets the yellow painted plinth, is plainly in front of me and only a short stretch of floor remains. I continue advancing to reach a position right at that base.", + "The yellow skirt around the vessel now fills much of the lower view, so I am close but not yet standing at the ladder foot. Another step forward should bring me within immediate reach of the ladder base.", + "The ladder rails are now large and slightly left of center, with the yellow base curving directly ahead of me. I take one more step forward to finish closing on the foot of the ladder.", + "The ladder rail and rungs now dominate the left of my view at arm's-length scale, and the yellow plinth is right in front of me. A final short step should put me immediately at the ladder base.", + "I am now standing right against the yellow plinth, which fills nearly the whole view and hides the ladder itself off to my left edge. I turn left to face the ladder directly and put its rungs squarely in front of me.", + "The yellow ladder rails and rungs stand directly in front of me at the vessel's painted base, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..665437fbac056feaf7e46325b607a49fcfb258ad --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Discover the steel coil situated near the stacked cement bags, then navigate over to reach it.", + "Type": 1, + "Start_Pose": [ + 17266.415, + 1841.793, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 17266.415, + 1841.793, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -0.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + 24.88, + -0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + 49.88, + -0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + 74.88, + -0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + 99.88, + -0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + 124.88, + -0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + 149.88, + -0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + 174.88, + -0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -160.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -135.12, + 0.0 + ], + [ + 17177.232, + 1752.984, + -12708.725, + 0.0, + -135.12, + 0.0 + ], + [ + 17088.05, + 1664.175, + -12708.725, + 0.0, + -135.12, + 0.0 + ], + [ + 16998.868, + 1575.365, + -12708.725, + 0.0, + -135.12, + 0.0 + ], + [ + 16909.686, + 1486.556, + -12708.725, + 0.0, + -135.12, + 0.0 + ], + [ + 16909.686, + 1486.556, + -12708.725, + 0.0, + -160.12, + 0.0 + ], + [ + 16791.328, + 1443.758, + -12708.725, + 0.0, + -160.12, + 0.0 + ], + [ + 16694.498, + 1419.888, + -12709.503, + 0.0, + -160.12, + 0.0 + ], + [ + 16694.498, + 1419.888, + -12709.503, + 0.0, + -160.12, + 0.0 + ] + ], + "Rationale": [ + "My view is completely filled by large storage silos and a run of pipework directly ahead, so there is no sign of cement bags or a steel coil from here. I will turn right to begin a consistent scan away from this blocking structure and open up the surrounding yard.", + "The silo wall and low pipe run still dominate what I can see, with only a narrow strip of sky and vegetation opening at the right edge. I will keep rotating right in the same direction to move past this tank face toward the more open part of the yard.", + "The rotation has now cleared the corner of the silo and I can see open paved ground and a distant pipe rack on the right. Neither stacked cement bags nor a steel coil appear yet, so I will continue the same rightward scan into that open area.", + "Most of my view is now open concrete apron and the far industrial framework, with no bag pallets or coil spool in sight. I will turn right again to sweep further along the yard where more of the plant should come into view.", + "The scan has reached a wide, mostly empty stretch of pavement backed by a distant processing structure, offering no storage materials to inspect. I will maintain the steady rightward rotation to keep uncovering new sectors of the yard.", + "Ahead there is only the flat apron, a low concrete barrier edge, and process towers well in the distance, none of which match the cement bag stack I am looking for. I will continue turning right in the same direction to extend the sweep toward the plant equipment area.", + "The view now shows the taller reactor columns and piping cluster to my right, which is the sort of area where materials are usually stored, but I still cannot see any bag pallets or a coil. I will keep the rightward rotation going to bring that equipment yard fully in front of me.", + "Turning further has revealed a dark spooled coil resting near the right edge of my view beside the plant piping, which looks like the steel coil described in the task. I will turn right once more to bring that spool and the ground around it closer to the center of my view before committing to an approach.", + "Sweeping right across this open yard, I now catch a dark spooled coil at the far right edge of my view, near the process units. I will keep turning right in the same direction to bring that promising area fully into view rather than lose it off the edge.", + "The spool of coiled steel is now clearly visible on the right, sitting directly beside stacks of sacks on pallets, which matches the cement bags described in the task. I will turn right once more to place that coil and bag stack closer to the center of my heading before walking toward them.", + "The coil and the adjacent stacks of cement bags are now roughly ahead of me across clear, open concrete. I will walk forward to close the considerable distance separating me from them.", + "The coil has grown noticeably larger and the sandbag-like cement stacks beside it are clearer, confirming my heading is good. I will continue walking straight ahead since the pavement in front of me remains free of obstacles.", + "I am closing steadily on the coil, with the striped barricade and the bag pallets now well defined just beyond it. Another forward step should bring me within a few paces of the coil itself.", + "The coil now fills a large part of the left side of my view and the bag stacks are close on the right, so I am nearly there. I will step forward again to shorten the remaining gap before making a final heading adjustment.", + "At this short range the coil has drifted to my left while the barricade and bag pallets occupy the center and right of my view. I will turn left to put the coil back squarely in front of me and keep the barricade out of my direct path.", + "The steel coil is now centered ahead of me with the stacked cement bags just to its right, and the ground between us is clear. I will walk forward to finish closing on it and stand right at the coil.", + "The large spool of coiled steel now fills most of my view directly ahead, with the stacked cement bags right beside it on the right. I am close but still a short gap away from being right at it, so I will take one more step forward to close that final distance.", + "The coiled steel spool fills my view at arm's length beside the stacked cement bags. The target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..709b0de8814c21d2f3dd781ebf0b62875fb3509b --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x017266_y001842_z-012709_t1_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the small A-frame sign standing on the concrete ground near the stacked cement bags and, after locating it, go over to it.", + "Type": 1, + "Start_Pose": [ + 17266.415, + 1841.793, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 17266.415, + 1841.793, + -12708.725, + 0.0, + -25.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -50.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -75.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -100.12, + 0.0 + ], + [ + 17266.414, + 1841.793, + -12708.725, + 0.0, + -125.12, + 0.0 + ], + [ + 17194.009, + 1738.847, + -12708.725, + 0.0, + -125.12, + 0.0 + ], + [ + 17121.603, + 1635.9, + -12708.725, + 0.0, + -125.12, + 0.0 + ], + [ + 17049.197, + 1532.954, + -12708.725, + 0.0, + -125.12, + 0.0 + ], + [ + 16976.792, + 1430.008, + -12708.725, + 0.0, + -125.12, + 0.0 + ], + [ + 16976.792, + 1430.008, + -12708.725, + 0.0, + -150.12, + 0.0 + ], + [ + 16867.663, + 1367.307, + -12708.725, + 0.0, + -150.12, + 0.0 + ], + [ + 16867.663, + 1367.307, + -12708.725, + 0.0, + -150.12, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by large storage tanks and pipework directly ahead, with no cement bag stack or A-frame sign anywhere in sight. The only open ground appears toward the left edge of my view, so I will turn left to begin a consistent scan of the yard.", + "Turning has opened up a covered walkway and paved ground on my left, but I still see no stacked cement bags or small A-frame sign. I will keep rotating left in the same direction to bring more of the open yard into view.", + "More of the plant yard is now open in front of me, with piping structures on the far left, yet the concrete apron where bags might be stacked is still partly outside my view. I will continue the same leftward scan to reveal that remaining stretch of ground.", + "I can now see stacked cement bags on pallets to the left with a small A-frame sign standing on the concrete beside them, which matches the target. I will turn left once more to bring that stack and sign closer to the center of my heading before advancing.", + "The stacked cement bags and the small A-frame sign are now roughly ahead of me across an open stretch of concrete. With the path clear of obstacles, I will walk forward to close the distance toward the sign.", + "The sign and the bag stacks have grown larger, confirming I am closing in, but they are still several paces away. I will keep walking forward along the same clear concrete lane.", + "The A-frame sign is clearly resolved just left of the pallet stacks, with the cable spool beside it, and the gap is still wider than an arm's length. I will continue forward to reach a position right at the sign.", + "The bag pallets and the A-frame sign now dominate the left part of my view, so I am nearly at the stack. I will step forward once more to draw level with the sign rather than stopping short of it.", + "The small A-frame sign with the orange striped panel is now close but sits at the far left edge of my view, while the pallets of cement bags fill the center. I will turn left to bring the sign into the middle of my heading so a straight step should carry me to it rather than into the stacked bags.", + "The A-frame sign is now centered ahead of me on the concrete, right beside the cable spool and the stacked cement bags. The floor between us is clear, so I will step forward to close the last bit of distance and stand next to it.", + "The A-frame sign stands directly in front of me, filling the near left of my view beside the cement bags. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53400215f2e6085cf72725de7a1c414e163e2720 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the leftmost stack of green barrels.", + "Type": 2, + "Start_Pose": [ + 19989.449, + 4522.795, + -12721.119, + 0.0, + 85.44, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 19989.449, + 4522.795, + -12721.119, + 0.0, + 85.44, + -0.0 + ], + [ + 19999.455, + 4648.256, + -12710.915, + 0.0, + 85.44, + -0.0 + ], + [ + 20009.462, + 4773.716, + -12710.66, + 0.0, + 85.44, + -0.0 + ], + [ + 20009.462, + 4773.716, + -12710.66, + 0.0, + 60.44, + -0.0 + ], + [ + 20071.552, + 4883.193, + -12710.66, + 0.0, + 60.44, + -0.0 + ], + [ + 20133.643, + 4992.67, + -12710.66, + 0.0, + 60.44, + -0.0 + ], + [ + 20195.733, + 5102.148, + -12710.66, + 0.0, + 60.44, + -0.0 + ], + [ + 20257.824, + 5211.625, + -12695.031, + 0.0, + 60.44, + -0.0 + ], + [ + 20319.915, + 5321.102, + -12694.424, + 0.0, + 60.44, + -0.0 + ], + [ + 20382.005, + 5430.579, + -12694.424, + 0.0, + 60.44, + -0.0 + ], + [ + 20382.005, + 5430.579, + -12694.424, + 0.0, + 60.44, + -0.0 + ] + ], + "Rationale": [ + "From across the road I can see the whole run of barrel stacks against the warehouse wall, with green ones at the left end and blue ones toward the right. The green stacks look alike, so I fix on the one at the far left of the run, standing closest to the pale roller door. I walk forward to cross the road toward it.", + "The barrels have grown larger, but I am still on the roadway with the curb between me and them. My green target beside the roller door sits ahead and slightly to my left, so continuing straight keeps closing distance before I need to correct heading. I step forward again.", + "My current heading points at the middle of the row, where the blue drums and the pallet of sacks sit, rather than at the green stack I chose beside the roller door. That stack lies off to my left along the wall. I turn left to put it in front of me before walking on.", + "The turn worked: the green stack next to the roller doors now sits ahead of me instead of the blue drums. Open pavement runs between me and it with nothing blocking the way. I walk forward to close the gap.", + "The green stack beside the roller doors keeps growing in my view and my heading is still on it. I am up on the paved apron now, with clear ground remaining before the barrels. I continue walking straight toward it.", + "The far end of the row has slid out of my view as I close in, so I simply keep following the green stack standing next to the roller doors. It is clearly ahead and still several paces off. I step forward again.", + "The green drums beside the roller doors are close enough now that I can read their individual bands, but I am not yet standing at them. The ground in front stays clear apart from grass at the base of the stack. I keep walking forward.", + "The green stack now dominates my view, with the blue drums pushed to my right edge, so my line is right on the target. A short gap of ground still separates me from its base. One more step forward should bring me right up to it.", + "The green drums fill most of my view and the roller doors sit just past their left shoulder, so my line is still on the stack I picked out. Only a short strip of grassy ground remains between my feet and their base. I step forward to close that last bit of distance.", + "The green barrels now stand right in front of me, close enough to touch, filling my view with their banded sides. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab3f4dda4492973c88a7d9590c628faef70bcd42 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the rightmost stack of blue barrels.", + "Type": 2, + "Start_Pose": [ + 19989.449, + 4522.795, + -12721.119, + 0.0, + 85.44, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 19989.449, + 4522.795, + -12721.119, + 0.0, + 85.44, + -0.0 + ], + [ + 19989.449, + 4522.795, + -12721.119, + 0.0, + 110.44, + -0.0 + ], + [ + 19945.496, + 4640.73, + -12710.988, + 0.0, + 110.44, + -0.0 + ], + [ + 19901.543, + 4758.664, + -12710.736, + 0.0, + 110.44, + -0.0 + ], + [ + 19857.589, + 4876.599, + -12710.736, + 0.0, + 110.44, + -0.0 + ], + [ + 19813.636, + 4994.534, + -12710.736, + 0.0, + 110.44, + -0.0 + ], + [ + 19813.636, + 4994.534, + -12710.736, + 0.0, + 135.44, + -0.0 + ], + [ + 19723.96, + 5082.844, + -12710.736, + 0.0, + 135.44, + -0.0 + ], + [ + 19634.283, + 5171.153, + -12710.736, + 0.0, + 135.44, + -0.0 + ], + [ + 19544.606, + 5259.463, + -12694.321, + 0.0, + 135.44, + -0.0 + ], + [ + 19454.93, + 5347.773, + -12694.321, + 0.0, + 135.44, + -0.0 + ], + [ + 19365.253, + 5436.082, + -12694.321, + 0.0, + 135.44, + -0.0 + ], + [ + 19365.253, + 5436.082, + -12694.321, + 0.0, + 110.44, + -0.0 + ], + [ + 19321.3, + 5554.017, + -12692.791, + 0.0, + 110.44, + -0.0 + ], + [ + 19277.347, + 5671.952, + -12692.791, + 0.0, + 110.44, + -0.0 + ], + [ + 19277.347, + 5671.952, + -12692.791, + 0.0, + 110.44, + -0.0 + ] + ], + "Rationale": [ + "Along the warehouse wall the blue barrels sit in several clusters, and the rightmost of them is the group of tall, glossy blue plastic drums at the far end of the row near the lamppost. That group lies well to the right of my current heading, so I turn right to bring those drums toward the middle of my view.", + "The tall blue plastic drums now sit close to the center of my view, across the open stretch of road. The pavement between us is clear and flat, so I step forward to start closing that distance.", + "The wall and its stacked barrels have grown larger, and the tall blue drums stay roughly ahead of me. Nothing interrupts the open roadway, so I keep walking straight toward them.", + "The tall blue drums are clearly resolved now, standing on pallets against the wall a little right of my heading. I am still out on the road, so I advance again to keep shrinking the gap.", + "The curb and the raised walkway in front of the stacks are getting close, with the tall blue drums just ahead and slightly right. One more step forward should bring me up to the edge of that walkway.", + "I have reached the walkway edge, and a lamppost with a pallet of sacks sits almost straight in front of the tall blue drums, so pushing directly ahead would jam me against them. Turning right should point me down the open pavement that runs alongside the row, giving me a clear lane to follow.", + "The paved strip beside the building now runs clear ahead of me, with the tall blue plastic drums stacked off my left shoulder. I walk forward along this lane to draw level with them.", + "From this close the stacks no longer read as one countable row, so I simply keep following the tall blue drums themselves, which now loom large on my left. The pavement in front of me is still open, so I take another step forward to come alongside them.", + "The blue drums on their pallets fill my left side while the walkway ahead stays wide and unobstructed. I step forward again to bring myself nearer to the front of that stack.", + "I am now nearly level with the front drums, and their curved blue sides tower close on my left. The pavement continues clear, so another step should bring me right up beside the stack.", + "From here the drums stretch along my left in two pallet-high rows, and the near ones are already passing behind my shoulder. I advance once more to reach the middle of the stack rather than stopping at its corner.", + "I am standing alongside the blue drums now, with them filling the whole left edge of my view and open ground stretching straight ahead. I turn left to face the stack squarely instead of walking past it.", + "The blue drums and their wooden pallets now sit centered in front of me. A short step forward should close the last of the gap to them.", + "The drums fill almost my entire view, though a little floor still separates me from the lower pallet. One more short step should put me right against the stack.", + "The blue drums stand directly against me, filling my view. I have arrived at them, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0907d324c98dcee69c822e3ad0e6f40341a4caff --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t2_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Move to the doorway on the far left.", + "Type": 2, + "Start_Pose": [ + 19989.449, + 4522.795, + -12721.119, + 0.0, + 85.44, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 19989.449, + 4522.795, + -12721.119, + 0.0, + 85.44, + -0.0 + ], + [ + 19999.455, + 4648.256, + -12710.915, + 0.0, + 85.44, + -0.0 + ], + [ + 19999.455, + 4648.256, + -12710.915, + 0.0, + 60.44, + -0.0 + ], + [ + 20061.546, + 4757.733, + -12710.664, + 0.0, + 60.44, + -0.0 + ], + [ + 20123.637, + 4867.21, + -12710.664, + 0.0, + 60.44, + -0.0 + ], + [ + 20185.727, + 4976.687, + -12710.664, + 0.0, + 60.44, + -0.0 + ], + [ + 20185.727, + 4976.687, + -12710.664, + 0.0, + 35.44, + -0.0 + ], + [ + 20288.267, + 5049.666, + -12710.664, + 0.0, + 35.44, + -0.0 + ], + [ + 20390.808, + 5122.646, + -12710.664, + 0.0, + 35.44, + -0.0 + ], + [ + 20493.348, + 5195.625, + -12701.748, + 0.0, + 35.44, + -0.0 + ], + [ + 20595.888, + 5268.604, + -12694.403, + 0.0, + 35.44, + -0.0 + ], + [ + 20698.428, + 5341.584, + -12694.403, + 0.0, + 35.44, + -0.0 + ], + [ + 20800.969, + 5414.563, + -12694.403, + 0.0, + 35.44, + -0.0 + ], + [ + 20903.509, + 5487.543, + -12692.725, + 0.0, + 35.44, + -0.0 + ], + [ + 21006.049, + 5560.522, + -12692.725, + 0.0, + 35.44, + -0.0 + ], + [ + 21108.589, + 5633.501, + -12692.725, + 0.0, + 35.44, + -0.0 + ], + [ + 21108.589, + 5633.501, + -12692.725, + 0.0, + 60.44, + -0.0 + ], + [ + 21170.68, + 5742.978, + -12692.725, + 0.0, + 60.44, + -0.0 + ], + [ + 21232.771, + 5852.456, + -12692.725, + 0.0, + 60.44, + -0.0 + ], + [ + 21294.861, + 5961.933, + -12692.725, + 0.0, + 60.44, + -0.0 + ], + [ + 21294.861, + 5961.933, + -12692.725, + 0.0, + 60.44, + -0.0 + ] + ], + "Rationale": [ + "Across the road I can see the long warehouse front, and at its left end sit two shutter openings, the outer one a pale light-grey shutter that marks my destination. Nothing blocks the open pavement ahead, so I walk forward to begin closing that distance.", + "From here the pale shutter and its darker neighbour sit well over on the left side of my view, while my heading still points straight at the barrel stacks. I turn left to swing my facing toward the building's left end so my next steps carry me along it.", + "The turn has brought the pale shutter into the left half of my view with clear paving running toward it. I step forward along the road to close the gap to that end of the building.", + "The pale shutter and the dark opening beside it are growing larger ahead of me, so my heading is still carrying me the right way. The road stays clear, so I keep walking forward.", + "I am still some way short of the pale shutter, which sits ahead and slightly left with the barrel stacks passing on my right. The kerb and apron ahead remain clear, so another step forward continues the approach.", + "As I close in, the pale shutter has drifted toward the left edge of my view while the wall and barrels crowd the centre. I turn left to bring that opening back into the middle of my heading before advancing further.", + "The turn has opened the yard ahead, with the pale shutter now framed left of centre and a wide clear apron leading to it. I walk forward to keep closing on that opening.", + "The pale shutter is still ahead of me across open concrete, with the storage tank and light mast well off to my left. My heading holds steady on it, so I take another step forward.", + "The pale shutter now sits ahead and slightly right, with the round storage tank and the light mast sliding away to my left. A broad stretch of bare concrete still separates me from that end of the building, so I keep walking.", + "Weeds cluster against the base of the wall, but they stay off the open concrete I am crossing. The pale shutter has grown noticeably in front of me, so my line is good and I press on.", + "Only distance stands between me and that end of the building now, and the frame around the pale shutter is easy to read. The yard runs unbroken toward it, so I carry on with another stride.", + "The building's corner is visible now with open sky and the tank yard beyond it, so nothing lies further left than the opening I want. My path across the apron is empty, and I advance again.", + "At this range the pale panel shows a dark reveal down its edge, and the wall beside it falls back into shadow rather than continuing flat. I keep moving to bring that recess properly into reach.", + "The shadow past the pale panel resolves into a deep open bay set into this end of the building, which is the doorway I have been heading for. I am still short of its mouth, so I walk on.", + "Structure inside the bay is visible through its mouth now, but the opening has swung well over to my right as I close along the wall. One more step forward should bring me level with it.", + "I have drawn level with the bay, yet my heading still runs along the yard past its mouth while the opening itself lies off my right shoulder. Turning right should square me to the doorway so I can walk straight into it.", + "Squaring up worked: the tall opening now stands centred ahead of me, its concrete jambs framing the shaded floor and roof trusses inside. The threshold is still a few strides off across bare slab, so I walk straight in toward it.", + "The jambs have widened out to either side and the interior wall with its upper window band fills more of my view, so my heading is running true into the bay. Nothing sits in my path but open floor, and I keep walking.", + "I am at the mouth now, with the big sliding panel running along my left and a square column standing on the floor ahead. One more stride should place me properly within the opening rather than just outside it.", + "I am standing inside the tall opening at this end of the building, its jamb and door panel beside me. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t5_a_p/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..436c77876768e53a93342ced860370c1d4a7b877 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x019989_y004523_z-012721_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the trash bag at the leftmost stack of green barrels.", + "Type": 5, + "Start_Pose": [ + 19989.449, + 4522.795, + -12721.119, + 0, + 85.44, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 20462.811, + 5420.18, + -12774.283, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 19989.449, + 4522.795, + -12721.119, + 0, + 85.44, + 0 + ], + [ + 19999.455, + 4648.256, + -12710.915, + 0.0, + 85.44, + -0.0 + ], + [ + 20009.462, + 4773.716, + -12710.66, + 0.0, + 85.44, + -0.0 + ], + [ + 20009.462, + 4773.716, + -12710.66, + 0.0, + 60.44, + -0.0 + ], + [ + 20071.552, + 4883.193, + -12710.66, + 0.0, + 60.44, + -0.0 + ], + [ + 20133.643, + 4992.67, + -12710.66, + 0.0, + 60.44, + -0.0 + ], + [ + 20195.733, + 5102.148, + -12710.66, + 0.0, + 60.44, + -0.0 + ], + [ + 20257.824, + 5211.625, + -12695.031, + 0.0, + 60.44, + -0.0 + ], + [ + 20319.915, + 5321.102, + -12694.424, + 0.0, + 60.44, + -0.0 + ], + [ + 20319.915, + 5321.102, + -12694.424, + 0.0, + 60.439, + -0.0 + ], + [ + 20319.915, + 5321.102, + -12694.424, + 0.0, + 60.439, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20462.811, + 5420.18, + -12774.283, + 0.0, + 0.0, + 0.0 + ], + [ + 20301.039, + 5331.106, + -12724.174, + -28.202, + 110.584, + 1.862 + ], + [ + 20301.039, + 5331.106, + -12724.174, + -28.202, + 110.584, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1014.6, + 900.3, + 789.6, + 789.6, + 664.4, + 539.6, + 415.3, + 292.4, + 173.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From the road I can see the long row of barrel stacks against the warehouse wall, and a dark trash bag sits on the pavement beside the leftmost green stack. It is far across the open road, so I will step forward to close the distance before I can reach it.", + "The barrel stacks and the trash bag next to the leftmost green group now fill more of my view, so my previous step clearly shortened the gap. I am still out on the road with nothing blocking me, so I will keep walking straight toward the bag.", + "The trash bag and the leftmost green barrel stack now sit well off to the left side of my view while my heading points at the middle of the barrel row. A modest turn to the left should place the bag closer to the center of my path so the remaining walk leads straight to it.", + "After the turn the trash bag sits near the middle of my view, just left of the leftmost green barrel stack, with open concrete in between. I will walk forward along this heading to close the remaining distance.", + "The bag keeps growing in my view and stays roughly ahead of me, confirming this heading leads to it. The curb and pavement in front are clear, so I will take another step forward.", + "I am now up on the concrete apron with the leftmost green barrel stack close ahead and the trash bag resting at its near corner. It is still a few paces away, so I will continue walking toward it.", + "The trash bag is clearly distinguishable on the ground just to the left of the nearest green barrels, but it is still beyond arm's reach. Another forward step should bring me alongside it.", + "The bag now appears large in the lower left of my view, right at the base of the leftmost green barrel stack. One more step forward should put it directly at my feet so I can attempt the grab.", + "The dark trash bag now sits at the very edge of my view in the lower left, right beside the leftmost stack of green barrels, close enough that I am standing over it. Nothing blocks my reach, so this is the moment to grasp it rather than step closer and risk pushing past it. I will attempt the pick and expect the bag to come up into my hands.", + "The trash bag is now held in front of me, filling the lower view as I look down. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a1e99616fac6d0373b09609846d3d53db6591a --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the control box mounted in front of the tall cylindrical tank inside the current workshop and navigate to it.", + "Type": 1, + "Start_Pose": [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -45.12, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -45.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -70.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -95.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -120.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -145.12, + 0.0 + ], + [ + 21262.431, + 6286.271, + -12692.725, + 0.0, + -145.12, + 0.0 + ], + [ + 21262.431, + 6286.271, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 21138.439, + 6264.676, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 21014.446, + 6243.08, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 20890.454, + 6221.485, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 20766.461, + 6199.889, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 20766.461, + 6199.889, + -12692.725, + 0.0, + -170.12, + 0.0 + ] + ], + "Rationale": [ + "Almost my entire view is taken up by a blank concrete wall, so there is nothing here that resembles a tall cylindrical tank or a control box. The only opening and the only usable depth lie off to my left, where outdoor pipework is visible. I will turn left to swing my view away from the flat wall and begin scanning for the tank.", + "Rotating has brought the wide opening into view, but what I see through it is outdoor process equipment, vessels and piping under open sky, not the workshop interior I need. No cylindrical tank with a cabinet standing in front of it is in range yet. I will continue turning left to keep sweeping toward the enclosed part of this building.", + "The opening is now squarely ahead of me and frames only exterior plant structures, so the target is not along this bearing. The interior floor continues to my left beyond the frame, which is the more promising direction for a workshop tank. I will keep turning left to bring that unexamined interior into view.", + "My view now covers the building facade with a closed roller shutter and high window band, with the outdoor yard pushed to the right. Neither the shutter nor the wall offers the tank or its control box. I will turn left once more to reach the deeper interior aisle running along this wall.", + "A tall cylindrical tank is now visible inside the hall on my left, with a pale box shape resting on a low frame near it, which matches the control box I am looking for. It is still far off and partly cut off by the wall edge in front of me. I will walk forward along the open floor to close distance and get a cleaner line on it.", + "Advancing has brought me closer, but the tank sits well off to my left while the shutter door and wall fill the center and right of my view. Continuing straight would carry me past the target rather than toward it. I will turn left to place the tank and the box standing on its own frame in front of it near the middle of my view.", + "The turn has centered the aisle, and the tall cylindrical tank now stands directly ahead with a light-colored cabinet resting on its own legged support on the floor in front of it. That freestanding cabinet is the control box the task asks for, and my path along the aisle looks clear. I will walk forward to commit to the approach.", + "The freestanding cabinet is clearer now, resolving as a boxy unit with a panel face carried on legs on the floor in front of the cylindrical tank. I am still several paces short of a position where I could work at it. I will keep walking straight down the aisle to reduce the remaining distance.", + "The pale control cabinet is clearly visible ahead on its own short legged frame, standing in front of the tall cylindrical tank along this wall corridor. The floor between me and it is open, so I will keep walking straight to close the remaining distance.", + "The control cabinet now fills much of the left side of my view, its supporting legs and base frame resting on the floor ahead of the cylindrical tank. I am still a couple of steps short of standing next to it, so I continue forward to reach it.", + "The leg-supported control cabinet standing in front of the cylindrical tank is now immediately at my left, within arm's reach. The navigation task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_b/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9cb819ffa1cbce64443bbe1912b776f9ebf7778c --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Determine where the A-frame standing sign is placed inside the current workshop; once found, make your way over to it.", + "Type": 1, + "Start_Pose": [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -45.12, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -45.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -70.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -95.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -120.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -145.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 21241.687, + 6336.65, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 21117.695, + 6315.054, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 20993.702, + 6293.458, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 20993.702, + 6293.458, + -12692.725, + 0.0, + 164.88, + -0.0 + ], + [ + 20872.2, + 6326.288, + -12692.725, + 0.0, + 164.88, + -0.0 + ], + [ + 20750.698, + 6359.117, + -12692.725, + 0.0, + 164.88, + -0.0 + ], + [ + 20750.698, + 6359.117, + -12692.725, + 0.0, + 164.88, + -0.0 + ] + ], + "Rationale": [ + "Most of my view is filled by a blank concrete wall on the right, with only a narrow opening to outdoor pipework on the left, so nothing here resembles an A-frame standing sign. I will turn left to sweep away from this featureless wall and open up the rest of the workshop interior.", + "The turn has brought a wide doorway with outdoor tanks and piping into view, but the interior floor visible so far holds no standing sign. I will keep rotating left in the same direction to continue the scan toward the enclosed part of the workshop.", + "I am now looking straight out through the big gateway at exterior towers and pipes, which is outside the workshop and not where the sign should be. Continuing left should swing my view back inside along the building wall where floor-standing objects are more likely.", + "The rotation has revealed the inner wall with a closed roller shutter and weeds along its base, still with no sign standing on the floor. I will hold the same left turning direction to bring the deeper interior bay into view.", + "Deeper inside the hall I can now see a large tank with piping, and near its left base there is a low striped object that looks like a folding A-frame sign standing on the floor. I will turn left once more to bring that candidate closer to the center of my view before advancing.", + "The interior aisle ahead is clear along the wall, and the striped A-frame sign is visible beside the tank and pipe run further down the hall. I will walk forward along this open floor to close distance on it.", + "The striped sign beside the vertical tank has grown larger and its legs are now discernible, confirming I am closing on it. I will continue straight ahead since the aisle stays open.", + "The orange and white A-frame barrier sign is clearly in view to the left of the tank, still a few steps away past the piping. I will keep walking forward to shorten that remaining gap.", + "The orange and white striped A-frame barricade sign is now clearly visible ahead of me, but it sits off to my left beyond the tall tank and its pipework. Continuing straight would carry me along the roller door wall and past it, so I will turn left to bring the sign into the center of my view. That heading should open a walkable line toward it across the open floor.", + "With the turn complete, the striped A-frame sign now stands near the middle of my view, close to the grating and the piping runs. The floor between me and it looks clear, so I will walk forward to close the remaining distance.", + "The A-frame sign has grown noticeably larger and now sits just left of center, with its legs and striped panel plainly resolved. I am still a short distance short of standing beside it, so I will take another step forward to finish closing that gap.", + "The A-frame standing sign is directly in front of me, filling the near foreground within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_c/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2a95c188797123d8438b157268edeb9c0e6d1b8f --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x021366_y006358_z-012693_t1_c/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Search for the traffic cone situated in this factory hall, then proceed to its position.", + "Type": 1, + "Start_Pose": [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -45.12, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -45.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -70.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -95.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -120.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -145.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + -170.12, + 0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + 164.88, + -0.0 + ], + [ + 21365.68, + 6358.245, + -12692.725, + 0.0, + 139.88, + -0.0 + ], + [ + 21269.436, + 6439.347, + -12692.725, + 0.0, + 139.88, + -0.0 + ], + [ + 21269.436, + 6439.347, + -12692.725, + 0.0, + 114.88, + -0.0 + ], + [ + 21216.484, + 6553.526, + -12692.725, + 0.0, + 114.88, + -0.0 + ], + [ + 21216.484, + 6553.526, + -12692.725, + 0.0, + 89.88, + -0.0 + ], + [ + 21216.748, + 6679.384, + -12692.725, + 0.0, + 89.88, + -0.0 + ], + [ + 21217.012, + 6805.243, + -12692.725, + 0.0, + 89.88, + -0.0 + ], + [ + 21217.275, + 6931.102, + -12692.725, + 0.0, + 89.88, + -0.0 + ], + [ + 21217.275, + 6931.102, + -12692.725, + 0.0, + 114.88, + -0.0 + ], + [ + 21217.275, + 6931.102, + -12692.725, + 0.0, + 139.88, + -0.0 + ], + [ + 21217.275, + 6931.102, + -12692.725, + 0.0, + 164.88, + -0.0 + ], + [ + 21095.773, + 6963.931, + -12692.725, + 0.0, + 164.88, + -0.0 + ], + [ + 20974.271, + 6996.76, + -12693.725, + 0.0, + 164.88, + -0.0 + ], + [ + 20974.271, + 6996.76, + -12693.725, + 0.0, + -170.12, + 0.0 + ], + [ + 20850.279, + 6975.165, + -12693.725, + 0.0, + -170.12, + 0.0 + ], + [ + 20726.286, + 6953.569, + -12693.725, + 0.0, + -170.12, + 0.0 + ], + [ + 20726.286, + 6953.569, + -12693.725, + 0.0, + -170.12, + 0.0 + ] + ], + "Rationale": [ + "My view is dominated by a blank concrete wall on the right, with only a sliver of the outdoor plant area visible past the opening on the left. No traffic cone is anywhere in this narrow view, so I will turn left to sweep toward the open side of the hall where there is actual space to search.", + "Turning has opened up the doorway view onto the outdoor pipe racks and tanks, but there is still no traffic cone in sight. I will keep rotating left in the same direction to continue a consistent scan of the surroundings.", + "I am now looking straight out through the wide opening at the exterior plant equipment, and the floor ahead is bare with no cone on it. Continuing my leftward sweep should bring the interior of the hall on the other side into view, which is the more likely place to find a cone.", + "The sweep has brought a closed roller shutter and an office wall with windows into view, and there is still nothing cone shaped here. I will turn left again to keep the scan moving toward the deeper interior of the hall.", + "The interior is opening up now, with a tall vessel and pipework ahead and what looks like a striped barrier low on the far left edge. That hints the hall interior is where safety markers are placed, so I will continue turning left to bring that area fully into view.", + "I can now see deep into the machine hall with rows of tanks, railings and a grating walkway extending to the left. The target is still not identifiable here, so I will keep the same leftward rotation to expose more of that walkway area.", + "Along the railed walkway to the left I can make out a small orange object standing on the platform, which looks like the traffic cone I am searching for. I will turn left once more to bring that walkway and the orange marker closer to the center of my view.", + "The long grating walkway now runs ahead of me and the small orange cone stands beside the railing partway down it. With the route across the open floor clear, I will step forward to close distance toward it.", + "Ahead of me, past the yellow railing, I can make out a small orange and white cone standing on the grated walkway between the tanks. The railings and the sunken channels directly in front leave no straight line to it, so I turn left toward the wide open concrete apron, hoping to find a clear lane that skirts the barrier.", + "The concrete apron in front of me is broad and free of equipment, while the cone sits off to my right behind the railed pipe channels. Stepping forward along this open floor should carry me deeper into the hall and closer to a point where the barrier ends.", + "The railing and the row of tanks with their pipework still wall off my right side, so cutting straight across toward the cone is not possible from here. I turn left to square up with the empty bay opening on that side, which should give me a clean lane to keep moving past the obstruction.", + "Facing into the empty bay, there is nothing but bare concrete between me and the far wall under the clerestory windows. I walk forward to travel along this open side of the hall, keeping the railed channels safely on my right.", + "The far wall and its window band are still some distance off and the floor ahead remains clear. Another step forward should bring me further along the flank of the railed basins, past their length.", + "I am closing on the far wall and the railed channel on my right is nearly running out. I advance once more so that I end up level with the end of that barrier, where turning back toward the equipment aisle should be feasible.", + "The blank concrete wall is now directly in front of me and there is nothing further to gain by continuing this way. I turn right to swing my heading back toward the tank and pipe aisle where the cone was standing.", + "The row of tanks, pipework and the yellow railing have come into the right half of my view, but the walkway between them is still not centred. I keep turning in the same rightward direction to bring that aisle in front of me before moving again.", + "The orange and white traffic cone is now visible at the far right edge of my view, standing on the grated walkway between the tank rows. I will turn right again to bring it toward the center of my view and line myself up with the open walkway leading to it.", + "The cone now sits near the middle of my view at the far end of the railed grating aisle, so my heading is good enough to commit. I will walk forward along this open walkway to close the distance to it.", + "The cone has grown noticeably larger and remains slightly right of center on the walkway ahead, confirming I am gaining on it. I will keep stepping forward along the same clear aisle to shorten the remaining distance.", + "From here the cone has drifted to the right of my heading, sitting just beside the right-hand railing rather than straight ahead. I will turn right a step to put it back in the middle of my view before continuing the approach.", + "The cone is now centered in my view and clearly closer, standing on the grating a few paces down the aisle. I will move forward again to reduce the remaining gap to it.", + "The cone fills a large part of the lower center of my view, so I am only about one step short of standing at it. I will advance once more to bring myself right up to its position.", + "The traffic cone stands directly in front of me, filling the near foreground at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x026723_y006436_z-012703_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x026723_y006436_z-012703_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91a6c4750954a6aa793f94a10572fcb7bbf417a2 --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x026723_y006436_z-012703_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Search for the cube-shaped object draped with a gray tarp; after locating it, proceed to its position.", + "Type": 1, + "Start_Pose": [ + 26723.466, + 6436.027, + -12702.634, + 0.0, + -52.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 26723.466, + 6436.027, + -12702.634, + 0.0, + -52.48, + 0.0 + ], + [ + 26723.467, + 6436.027, + -12702.631, + 0.0, + -77.48, + 0.0 + ], + [ + 26723.467, + 6436.027, + -12702.631, + 0.0, + -102.48, + 0.0 + ], + [ + 26723.467, + 6436.027, + -12702.631, + 0.0, + -127.48, + 0.0 + ], + [ + 26723.467, + 6436.027, + -12702.631, + 0.0, + -152.48, + 0.0 + ], + [ + 26611.849, + 6377.873, + -12702.631, + 0.0, + -152.48, + 0.0 + ], + [ + 26500.231, + 6319.718, + -12702.631, + 0.0, + -152.48, + 0.0 + ], + [ + 26388.613, + 6261.564, + -12702.631, + 0.0, + -152.48, + 0.0 + ], + [ + 26276.995, + 6203.41, + -12702.631, + 0.0, + -152.48, + 0.0 + ], + [ + 26165.377, + 6145.256, + -12707.286, + 0.0, + -152.48, + 0.0 + ], + [ + 26053.759, + 6087.102, + -12710.82, + 0.0, + -152.48, + 0.0 + ], + [ + 25942.141, + 6028.948, + -12723.692, + 0.0, + -152.48, + 0.0 + ], + [ + 25830.523, + 5970.793, + -12732.336, + 0.0, + -152.48, + 0.0 + ], + [ + 25830.523, + 5970.793, + -12732.336, + 0.0, + -177.48, + 0.0 + ], + [ + 25704.785, + 5965.26, + -12728.45, + 0.0, + -177.48, + 0.0 + ], + [ + 25579.048, + 5959.726, + -12726.187, + 0.0, + -177.48, + 0.0 + ], + [ + 25453.311, + 5954.192, + -12723.182, + 0.0, + -177.48, + 0.0 + ], + [ + 25453.311, + 5954.192, + -12723.182, + 0.0, + -177.48, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, I see only a concrete silo structure on my left, an open dirt yard ahead, and a long metal fence to the right, with no tarp-covered cube anywhere in view. I will turn left to begin a steady scan of the area hidden behind the silo legs, since the open ground to the right already looks empty.", + "The view now shows more of the silo supports, stairs, and grass, but still no gray tarp-covered cube. I will keep turning left in the same direction to continue the scan past this structure.", + "Looking under the silo I can see distant plant piping and blue drums opening up to the left, but nothing that resembles a cube under a gray tarp. I will continue rotating left to bring that industrial area fully into view.", + "Off to the left, near a row of blue drums, I can now make out a squat gray covered block that matches the tarp-draped cube I am looking for. I will turn left once more to bring that object closer to the center of my heading before advancing.", + "The gray tarp-covered block now sits ahead of me beside the blue drums, with clear open dirt between us. I will walk forward along this open lane to close the distance to it.", + "The tarp-covered block has grown slightly larger ahead of me, confirming I am on a heading that leads toward it. I will keep walking forward since the ground between the pipe stacks and the silo column remains clear.", + "The gray covered cube is still centered a little left of my path and is clearly closer than before. I will continue advancing straight along this open ground rather than adjusting heading yet.", + "The tarp draped over the boxy object is now clearly visible with its lashing ropes, and it remains a short distance ahead on my left. I will step forward again to keep closing the gap toward it.", + "The gray tarp draped over a boxy load sits ahead and slightly left of my heading, next to the rows of blue drums. The open dirt lane in front of me is clear, so I will keep walking straight to close the remaining distance.", + "The tarp-wrapped block has grown noticeably larger in my view, confirming I am closing on it. The ground between us stays open, so I will step forward again.", + "The gray covered cube now fills a good part of the left half of my view, its ropes and folds clearly visible. I am still several paces short of it, so I will continue advancing along the same clear lane.", + "The tarped block is close on my left with its lashing ropes plainly in view, but my heading still carries me slightly past its near face. I will take another step forward to draw level with it before adjusting.", + "The gray tarp covered cube now sits well to my left and is drifting toward the edge of my view, so walking straight would carry me past it. I will turn left to bring the target back to the center of my heading.", + "The turn worked and the tarp-draped cube is now squarely centered in front of me with its ropes facing my approach. With a short stretch of open dirt remaining, I will walk straight toward it.", + "The covered cube now dominates the center of my view and I am only a couple of paces away. I will step forward again to reach its position.", + "The gray tarp and its lashing ropes fill almost my entire view, so I am nearly touching the covered block. One more short step forward should place me right at its position.", + "The roped gray tarp fills my view at arm's length, so I stand at the covered cube. The task is complete and further movement is unnecessary." + ] +} diff --git a/dataset/trajectory/Map_ChemicalPlant_1/task_x027052_y-002126_z-012735_t1_a/infos.json b/dataset/trajectory/Map_ChemicalPlant_1/task_x027052_y-002126_z-012735_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c31ba041bae5f55ba8410d078149f763d32c88b --- /dev/null +++ b/dataset/trajectory/Map_ChemicalPlant_1/task_x027052_y-002126_z-012735_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the outdoor metal staircase with yellow railings that ascends near the large concrete silo structure, then navigate to its base where the steps begin at ground level.", + "Type": 1, + "Start_Pose": [ + 27051.652, + -2125.619, + -12735.062, + 0.0, + 14.88, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 27051.652, + -2125.619, + -12735.062, + 0.0, + 14.88, + -0.0 + ], + [ + 27051.652, + -2125.619, + -12735.039, + 0.0, + -10.12, + 0.0 + ], + [ + 27051.652, + -2125.619, + -12735.039, + 0.0, + -35.12, + 0.0 + ], + [ + 27051.652, + -2125.619, + -12735.039, + 0.0, + -60.12, + 0.0 + ], + [ + 27114.353, + -2234.748, + -12735.299, + 0.0, + -60.12, + 0.0 + ], + [ + 27177.055, + -2343.876, + -12735.299, + 0.0, + -60.12, + 0.0 + ], + [ + 27239.756, + -2453.005, + -12735.299, + 0.0, + -60.12, + 0.0 + ], + [ + 27302.457, + -2562.134, + -12735.299, + 0.0, + -60.12, + 0.0 + ], + [ + 27365.158, + -2671.262, + -12735.299, + 0.0, + -60.12, + 0.0 + ], + [ + 27427.859, + -2780.391, + -12735.299, + 0.0, + -60.12, + 0.0 + ], + [ + 27427.859, + -2780.391, + -12735.299, + 0.0, + -85.12, + 0.0 + ], + [ + 27438.566, + -2905.794, + -12735.299, + 0.0, + -85.12, + 0.0 + ], + [ + 27438.566, + -2905.794, + -12735.299, + 0.0, + -85.12, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a rack of stacked corrugated pipes, and no staircase or silo is visible from this heading. I will turn left to begin a consistent scan of the yard for the yellow railed steps described in the task.", + "Turning has opened up the left side of the yard, showing a long corrugated shed wall and open ground, but still no staircase. I will continue turning left in the same direction to keep sweeping toward the unseen part of the site.", + "A pale metal stair flight with yellow railings has appeared at the far left edge of my view, rising beside a tall concrete structure. I will turn left once more to bring that staircase toward the center of my heading before advancing.", + "The staircase with yellow railings is now clearly in front of me, angled up against the concrete silo legs, with open sandy ground and low brush between us. I will walk forward to close the distance toward the point where its steps meet the ground.", + "The stairway and silo have grown noticeably larger, confirming I am heading toward the right structure. I keep walking forward since the ground ahead is still open dirt and low vegetation.", + "The yellow handrails and the treads of the flight are now distinct, and the silo columns tower on the left, so my heading remains correct. I continue advancing through the low weeds toward the foot of the stairs.", + "The staircase fills more of my view and its lower section is partly screened by tall weeds directly ahead. I will keep moving forward to push through this brush and reach the ground level where the steps begin.", + "Through the screen of brush I can still see the yellow rails and the stringers descending toward the ground just ahead and slightly left. I will step forward again to close the last stretch toward the base of the flight.", + "The yellow-railed metal staircase beside the concrete silo now fills the left portion of my view, and I can see its lower steps and support legs planted in the weeds. I am still a short distance short of where the steps meet the ground, so I will keep walking forward to close that remaining gap.", + "The staircase base sits off to my left edge while my heading points past it toward the open yard and the metal shed. A left turn should swing the bottom of the steps into the center of my view so I can walk straight onto them.", + "The staircase is now centered ahead, with both yellow railings and the concrete footings of the lowest steps directly in front of me. One more step forward should bring me right to the base where the treads begin at ground level.", + "I stand at the foot of the yellow-railed staircase, with its lowest tread and both handrails immediately in front of me. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_a/infos.json b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bed08ae6f968500f98f9db360c3bddad427880ce --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_a/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Walk to the nearest arched window on the left brick wall.", + "Type": 2, + "Start_Pose": [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + [ + 30.607, + 21397.823, + 27146.558, + 0.0, + -33.6, + 0.0 + ], + [ + 135.437, + 21328.174, + 27147.848, + 0.0, + -33.6, + 0.0 + ], + [ + 240.268, + 21258.525, + 27148.347, + 0.0, + -33.6, + 0.0 + ], + [ + 240.268, + 21258.525, + 27148.347, + 0.0, + -33.6, + 0.0 + ] + ], + "Rationale": [ + "A row of identical arched windows recedes along the brick wall to my left, and the closest one is simply the largest and lowest in my view, set just past the stone corner pilaster. Since they look alike, I hold onto that one by its position beside the pilaster near the near end of the wall. I will walk forward along the cobbles to close the gap to it.", + "The arched window I am heading for now fills more of my left view, so I am closing on it steadily. The lane ahead stays clear between the brick wall and the pale stone building on my right. I will keep walking forward to bring it alongside me.", + "The arched window I chose is now close on my left, its stone sill and tracery clearly detailed, though I am still slightly short of standing beside it. Another short step forward should put me level with it, right against the brick wall.", + "The arched window's sill and stone frame are directly beside me, filling the left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_b/infos.json b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6de743180130f609dfb88b403ad79b4541090517 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the second arched window along the red brick building.", + "Type": 2, + "Start_Pose": [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + [ + 30.607, + 21397.823, + 27146.558, + 0.0, + -33.6, + 0.0 + ], + [ + 135.437, + 21328.174, + 27147.848, + 0.0, + -33.6, + 0.0 + ], + [ + 135.437, + 21328.174, + 27147.848, + 0.0, + -8.6, + 0.0 + ], + [ + 259.881, + 21309.354, + 27147.806, + 0.0, + -8.6, + 0.0 + ], + [ + 384.325, + 21290.533, + 27147.659, + 0.0, + -8.6, + 0.0 + ], + [ + 508.769, + 21271.713, + 27148.174, + 0.0, + -8.6, + 0.0 + ], + [ + 508.769, + 21271.713, + 27148.174, + 0.0, + -33.6, + 0.0 + ], + [ + 508.769, + 21271.713, + 27148.174, + 0.0, + -33.6, + 0.0 + ] + ], + "Rationale": [ + "The brick wall runs away to my left with a line of arched windows, the nearest being the first and my target the next one along that run. They all look alike, so I hold my target by its place just past that near window. I step forward down the alley to close distance.", + "The near window has swelled on my left while the one beyond it is still far down the wall. The alley stays clear ahead, so another stride forward should bring me nearer the window I am aiming for.", + "I am hugging the brickwork and the near window now fills my left side, with my heading angled into the wall rather than along it. Turning right should set me parallel with the cobbled lane so I can keep walking down the row toward my target window.", + "The lane now opens straight ahead between the brick wall and the pale stone building, with my target window still further along on the left. Walking forward should carry me down the wall toward it.", + "The arched window I am heading for is growing on my left but I am not yet level with its opening. The paving stays clear, so I take another step along the wall.", + "The window I started beside has dropped behind my shoulder, so I follow the tall arched opening now close on my left. It still sits a little ahead of me, and one more step should bring me alongside it.", + "My target window is now right at the edge of my left view, its frame within a pace of me. Turning left should swing it squarely in front of me so I can confirm I am standing at it.", + "The target arched window stands directly beside me, its glass and stone sill barely an arm's length away. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_c/infos.json b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c242323d344e095bfd0efce9ae4a85d921aad6eb --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the third arched window from the left.", + "Type": 2, + "Start_Pose": [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + [ + 30.607, + 21397.823, + 27146.558, + 0.0, + -33.6, + 0.0 + ], + [ + 30.607, + 21397.823, + 27146.558, + 0.0, + -8.6, + 0.0 + ], + [ + 155.051, + 21379.003, + 27147.994, + 0.0, + -8.6, + 0.0 + ], + [ + 279.494, + 21360.183, + 27148.228, + 0.0, + -8.6, + 0.0 + ], + [ + 403.938, + 21341.362, + 27148.231, + 0.0, + -8.6, + 0.0 + ], + [ + 528.382, + 21322.542, + 27147.783, + 0.0, + -8.6, + 0.0 + ], + [ + 652.826, + 21303.722, + 27146.898, + 0.0, + -8.6, + 0.0 + ], + [ + 777.27, + 21284.901, + 27147.168, + 0.0, + -8.6, + 0.0 + ], + [ + 777.27, + 21284.901, + 27147.168, + 0.0, + -33.6, + 0.0 + ], + [ + 777.27, + 21284.901, + 27147.168, + 0.0, + -33.6, + 0.0 + ] + ], + "Rationale": [ + "The brick wall on my left carries a receding row of arched windows, and since they are all the same narrow arch, I fix my target as the third opening along that run from the near end. The cobbled passage ahead is clear, so I step forward to close on the row.", + "From here the brick wall runs off to my left while the walkable cobbles continue slightly to my right, past the pale stone corner. I turn right to bring my heading in line with that passage so I can keep walking alongside the window row rather than into the brickwork.", + "The lane now runs straight ahead between the brick wall on my left and the stone corner on my right, with clear ground underfoot. I walk forward to advance along the window row toward the arched window I chose.", + "The nearest arch has slid to the very edge of my left view while the further arches are still well down the wall. My target window is still ahead of me, so I keep walking forward along the lane.", + "The arches on my left keep sliding past as I move, and the one I am aiming for still sits ahead down the wall. The passage between the two buildings remains open, so I take another step forward.", + "A tall arched window now fills much of my left view as I draw level with it, but it is not yet the one I am heading for. I continue forward along the cobbles to reach my window further down the wall.", + "Up close the wall no longer reads as a countable row, since the near arches have gone behind me and only the far ones remain in view. My target window still lies a little further along, so I keep stepping forward beside the brickwork.", + "Stone steps have opened up on my right while the brick wall stays close on my left, and the window I am heading for is nearly abreast of me. One more step forward should bring me level with it.", + "The arched window I set out for is now beside me, pushed to the far left edge of my view where I can barely hold it. I turn left so my heading squares up with that opening in the brick wall rather than with the lane running past it.", + "The arched window I chose stands squarely before me, close enough to touch. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_d/infos.json b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6dd2833e4cd9825813c50c7865d1d0ffb70d2c8f --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Navigate to the farthest visible window on the brick wall.", + "Type": 2, + "Start_Pose": [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + [ + 30.607, + 21397.823, + 27146.558, + 0.0, + -33.6, + 0.0 + ], + [ + 30.607, + 21397.823, + 27146.558, + 0.0, + -8.6, + 0.0 + ], + [ + 155.051, + 21379.003, + 27147.994, + 0.0, + -8.6, + 0.0 + ], + [ + 279.494, + 21360.183, + 27148.228, + 0.0, + -8.6, + 0.0 + ], + [ + 403.938, + 21341.362, + 27148.231, + 0.0, + -8.6, + 0.0 + ], + [ + 528.382, + 21322.542, + 27147.783, + 0.0, + -8.6, + 0.0 + ], + [ + 652.826, + 21303.722, + 27146.898, + 0.0, + -8.6, + 0.0 + ], + [ + 777.27, + 21284.901, + 27147.168, + 0.0, + -8.6, + 0.0 + ], + [ + 901.714, + 21266.081, + 27147.527, + 0.0, + -8.6, + 0.0 + ], + [ + 1026.073, + 21254.778, + 27148.164, + 0.0, + -8.6, + 0.0 + ], + [ + 1149.901, + 21255.404, + 27148.368, + 0.0, + -8.6, + 0.0 + ], + [ + 1274.004, + 21254.961, + 27148.324, + 0.0, + -8.6, + 0.0 + ], + [ + 1397.938, + 21255.281, + 27148.289, + 0.0, + -8.6, + 0.0 + ], + [ + 1397.938, + 21255.281, + 27148.289, + 0.0, + -33.6, + 0.0 + ], + [ + 1397.938, + 21255.281, + 27148.289, + 0.0, + -33.6, + 0.0 + ] + ], + "Rationale": [ + "The brick wall on my left carries a receding row of arched windows, and my target is the last one, the small opening far down where that wall meets the pale stone building. The cobbled lane between the two walls is clear ahead, so I will step forward to begin closing that distance.", + "The brick wall now fills most of my view while the walkable lane sits off to my right, so my heading is angled into the wall rather than down the passage. Turning right should put the corridor and the distant end of the window row in front of me for a straight approach.", + "The passage now runs straight ahead between the brick wall and the stone building, with the shrinking windows leading toward the far end of the wall. Nothing blocks the cobbles, so I will walk forward along that line.", + "The window I am heading for still sits far down the wall, small and near the point where the brickwork ends at the lighter building ahead. The lane stays open, so I will keep walking forward.", + "A large window is sliding past my left shoulder while the ones further along are still ahead of me, so I have not yet reached the end of the run. I will continue forward toward that last window at the wall's end.", + "The reddish building at the far end of the alley is growing clearer, which means the end of the brick wall and my target window are drawing nearer. The passage remains unobstructed, so I will keep advancing.", + "Only a couple of small arched openings remain between me and the end of the brick wall, so my target is still further along. The cobbles stay clear beside the stone base on my right, so I will walk on.", + "Stone steps have opened up on my right but they do not narrow the walking lane along the brick wall. The last window near the wall's end is still ahead of me, so I will keep moving forward toward it.", + "A couple of small arched openings still punctuate the brick face on my left before it ends, so the last one lies further along. The arched window on the reddish facade straight ahead belongs to a different building and is not what I want. The lane is clear, so I keep walking.", + "The nearer arch is sliding past my left shoulder, leaving only a short stretch of brickwork before the wall stops at the low stone coping. The passage between the buildings stays open, so another stride should carry me nearer the window at that end.", + "One narrow arch is left on the brick face before the wall meets the low parapet, and that is the opening I am heading for. Nothing pinches the gap between the stonework and the brick, so I advance again.", + "That last arch now sits close on my left, but I am still a few paces short of standing beside it. I will step forward to draw level with it.", + "The final window is nearly beside me, with the brickwork ending and the stone coping beginning just past it. A little more distance should bring me alongside its sill, and the cobbles ahead remain clear.", + "I have drawn level with the last window on the brick wall, yet it hangs off my left shoulder while my heading still points down the alley toward the parapet. Turning left should place that window squarely in front of me.", + "The last arched window on the brick wall now stands directly before me, close enough to touch its sill. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_e/infos.json b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00f2ab45e6e0b21b567a7afbebe0b8ea4af65d35 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t2_e/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Proceed to the first arched window closest to the ivy.", + "Type": 2, + "Start_Pose": [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -74.224, + 21467.473, + 27148.254, + 0.0, + -33.6, + 0.0 + ], + [ + 30.607, + 21397.823, + 27146.558, + 0.0, + -33.6, + 0.0 + ], + [ + 135.437, + 21328.174, + 27147.848, + 0.0, + -33.6, + 0.0 + ], + [ + 240.268, + 21258.525, + 27148.347, + 0.0, + -33.6, + 0.0 + ], + [ + 240.268, + 21258.525, + 27148.347, + 0.0, + -33.6, + 0.0 + ] + ], + "Rationale": [ + "The ivy trails down the brick pier at my near left, and the arched window closest to it is the tall one with the pale stone surround, first in the row running away down this wall. Smaller arches sit further along, so I fix on that large stone-framed one and walk ahead along the cobbles toward it.", + "The stone-framed arched window has grown larger and shifted toward my left as I close on it, so my heading along the wall is still good. I will keep walking forward to bring myself level with it.", + "The arched window now fills much of my left side, its sill and glazing bars clearly readable, but I am still a little short of standing beside it. I will step forward once more to draw level with its frame.", + "The tall stone-framed arched window stands directly at my shoulder, its sill within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t5_a_p/infos.json b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..260636905f41166ac06ac8c1ca7f9d3c91337581 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x-000074_y021467_z027148_t5_a_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Pick up the ceramic vase at the nearest arched window on the left brick wall.", + "Type": 5, + "Start_Pose": [ + -74.224, + 21467.473, + 27148.254, + 0, + -33.6, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 326.191, + 21260.141, + 27075.328, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -74.224, + 21467.473, + 27148.254, + 0, + -33.6, + 0 + ], + [ + 30.607, + 21397.823, + 27146.558, + 0.0, + -33.6, + 0.0 + ], + [ + 135.437, + 21328.174, + 27147.848, + 0.0, + -33.6, + 0.0 + ], + [ + 135.437, + 21328.174, + 27147.848, + 0.0, + -33.6, + 0.0 + ], + [ + 135.437, + 21328.174, + 27147.848, + 0.0, + -33.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 326.191, + 21260.141, + 27075.328, + 0.0, + 0.0, + 0.0 + ], + [ + 326.191, + 21260.141, + 27075.328, + 0.0, + 0.0, + 0.0 + ], + [ + 326.191, + 21260.141, + 27075.328, + 0.0, + 0.0, + 0.0 + ], + [ + 146.746, + 21346.298, + 27116.271, + -28.202, + 16.545, + 1.862 + ], + [ + 146.746, + 21346.298, + 27116.273, + -28.202, + 16.545, + 1.862 + ] + ], + "PD_Dist_2D": [ + 450.9, + 326.1, + 202.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The tall ceramic vase with floral markings stands against the brick wall beside the nearest arched window, still well down the alley from me. The cobbled path ahead is clear, so I will walk forward to close that distance before any grasp is possible.", + "The vase is noticeably larger now and the arched window beside it fills more of my view, but the vase is still a few paces further along the wall. I will keep walking forward so it comes within arm's reach.", + "The ceramic vase now stands directly in front of me at the base of the nearest arched window, close enough that its patterned body fills the near part of my view. My hands are empty and nothing blocks the approach, so I will attempt to pick it up.", + "The ceramic vase is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x-000654_y016305_z026270_t0_a/infos.json b/dataset/trajectory/Old_Town/task_x-000654_y016305_z026270_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f154aa47cb6abb5a56c6d854b15ea3a67b899ec --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x-000654_y016305_z026270_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the arched doorway in the stone tower.", + "Type": 0, + "Start_Pose": [ + -654.163, + 16304.742, + 26269.781, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -654.163, + 16304.742, + 26269.781, + 0.0, + 83.52, + -0.0 + ], + [ + -654.163, + 16304.742, + 26269.801, + 0.0, + 108.52, + -0.0 + ], + [ + -694.14, + 16424.083, + 26268.264, + 0.0, + 108.52, + -0.0 + ], + [ + -734.118, + 16543.424, + 26272.578, + 0.0, + 108.52, + -0.0 + ], + [ + -774.095, + 16662.766, + 26308.961, + 0.0, + 108.52, + -0.0 + ], + [ + -814.072, + 16782.107, + 26382.65, + 0.0, + 108.52, + -0.0 + ], + [ + -854.05, + 16901.448, + 26433.956, + 0.0, + 108.52, + -0.0 + ], + [ + -896.311, + 16986.573, + 26468.661, + 0.0, + 108.52, + -0.0 + ], + [ + -939.523, + 17032.931, + 26496.669, + 0.0, + 108.52, + -0.0 + ], + [ + -979.5, + 17152.272, + 26498.666, + 0.0, + 108.52, + -0.0 + ], + [ + -979.5, + 17152.272, + 26498.666, + 0.0, + 108.52, + -0.0 + ] + ], + "Rationale": [ + "I can see the arched doorway in the stone tower off to my right, above a flight of stone steps cut into the rock, while my body faces the rocky mound straight ahead. Turning right should bring that archway and the stair line closer to the center of my view so I can walk straight at it.", + "The arched doorway now sits near the middle of my view with the stone stairway leading up to it from the paved area at my feet. My heading looks well aligned with that stair line, so I will step forward to begin closing the distance.", + "The steps and the dark archway have grown larger, so my previous step clearly gained ground along the right path. I keep the same heading and move forward again toward the base of the stairway.", + "I am now onto the rising rock with the cut steps ahead and the tower wall filling more of my view. The arched opening remains straight in front of me, so another forward step should carry me further up toward it.", + "The archway sits higher and nearer above the remaining steps, and the ground ahead is clear rock and stone treads. I continue forward on this same heading to keep shortening the gap.", + "The doorway's stone arch and its jambs are now clearly detailed and the dark interior is opening up ahead of me. My path stays aligned with the opening, so I take another step forward.", + "I am close enough now to see the paved floor inside the tower through the arched opening, which is squarely ahead of me. I step forward again to reach the threshold.", + "The archway now towers directly in front of me with the smooth interior floor just beyond the raised stone sill. One more short step forward should place me right at the doorway itself.", + "The arched opening now fills most of my view directly ahead, with its stone jambs on either side and the interior floor visible just beyond the threshold. I am still a step or two short of the doorway itself, so I will move forward once more to close that last bit of distance and stand at the arch.", + "I am standing within the arched doorway, its stone jambs close on both sides and the tower interior open ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x-000654_y016305_z026270_t5_a_p/infos.json b/dataset/trajectory/Old_Town/task_x-000654_y016305_z026270_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05949dfcf2d4d8bc67c4411a33aa71bb00370687 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x-000654_y016305_z026270_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the jerry can near the arched doorway in the stone tower.", + "Type": 5, + "Start_Pose": [ + -654.163, + 16304.742, + 26269.781, + 0, + 83.52, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1039.676, + 17097.129, + 26388.717, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -654.163, + 16304.742, + 26269.781, + 0, + 83.52, + 0 + ], + [ + -654.163, + 16304.742, + 26269.801, + 0.0, + 108.52, + -0.0 + ], + [ + -694.14, + 16424.083, + 26268.264, + 0.0, + 108.52, + -0.0 + ], + [ + -734.118, + 16543.424, + 26272.578, + 0.0, + 108.52, + -0.0 + ], + [ + -774.095, + 16662.766, + 26308.961, + 0.0, + 108.52, + -0.0 + ], + [ + -814.072, + 16782.107, + 26382.65, + 0.0, + 108.52, + -0.0 + ], + [ + -854.05, + 16901.448, + 26433.956, + 0.0, + 108.52, + -0.0 + ], + [ + -896.311, + 16986.573, + 26468.661, + 0.0, + 108.52, + -0.0 + ], + [ + -896.311, + 16986.573, + 26468.661, + 0.0, + 108.52, + -0.0 + ], + [ + -896.311, + 16986.573, + 26468.661, + 0.0, + 108.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1039.676, + 17097.129, + 26388.717, + 0.0, + 0.0, + 0.0 + ], + [ + -1039.676, + 17097.129, + 26388.717, + 0.0, + 0.0, + 0.0 + ], + [ + -1039.676, + 17097.129, + 26388.717, + 0.0, + 0.0, + 0.0 + ], + [ + -1039.676, + 17097.129, + 26388.717, + 0.0, + 0.0, + 0.0 + ], + [ + -1039.676, + 17097.129, + 26388.717, + 0.0, + 0.0, + 0.0 + ], + [ + -1039.676, + 17097.129, + 26388.717, + 0.0, + 0.0, + 0.0 + ], + [ + -1039.676, + 17097.129, + 26388.717, + 0.0, + 0.0, + 0.0 + ], + [ + -1039.676, + 17097.129, + 26388.717, + 0.0, + 0.0, + 0.0 + ], + [ + -916.365, + 16979.211, + 26434.374, + -28.202, + 158.665, + 1.862 + ], + [ + -916.365, + 16979.211, + 26434.374, + -28.202, + 158.665, + 1.862 + ] + ], + "PD_Dist_2D": [ + 881.2, + 881.2, + 756.6, + 632.4, + 509.1, + 387.5, + 269.7, + 181.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The arched doorway of the stone tower sits well to the right of my heading, with the small reddish jerry can beside it at the top of the stone steps. A large rock mound blocks the direct line ahead of me, while the stairway lies to the right. I will turn right to put the doorway and the steps in front of me before advancing.", + "The stairway now runs straight up the center of my view toward the arched doorway, with the jerry can visible as a small reddish shape on the landing beside it. Nothing blocks the paved ground in front of me. I will walk forward to close the long distance to the tower.", + "The steps and the archway have grown larger, confirming my heading is carrying me toward the tower entrance. The jerry can remains beside the doorway, still far above me on the rock. I continue walking forward along the stair line.", + "The lower steps now fill the bottom of my view and the doorway is clearly nearer, so my approach line is good. The jerry can is still a small silhouette at the threshold, out of reach. I will keep moving forward up the stone stairway.", + "The jerry can beside the archway is now clearly distinguishable, standing on the flat rock just right of the entrance. I am still several steps below it and too far to reach. Another forward stride should bring me up the stair toward it.", + "The jerry can now stands plainly on its stone slab just right of center, and the tower wall fills much of my view. It is still a couple of paces away, so a grasp would not connect yet. I will advance again to close the last stretch.", + "The jerry can has moved to the near right edge of my view, very close but sitting off to the side rather than squarely in front of me. A short step forward should bring it fully within reach for a grasp.", + "The jerry can is right beside me at the base of the archway, filling the near right of my view at arm's length. This is the closest I can stand without pushing into the tower wall. I will attempt to pick it up now.", + "The red jerry can is now held in my hands and no longer resting on the ledge by the archway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x001069_y017127_z026797_t0_a/infos.json b/dataset/trajectory/Old_Town/task_x001069_y017127_z026797_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f9c32f9dc8b3103aaa0a77dedefbfa4993978db --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x001069_y017127_z026797_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the arched wooden door of the stone chapel.", + "Type": 0, + "Start_Pose": [ + 1068.571, + 17127.276, + 26797.218, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1068.571, + 17127.276, + 26797.218, + 0.0, + -97.92, + 0.0 + ], + [ + 1051.229, + 17002.617, + 26802.335, + 0.0, + -97.92, + 0.0 + ], + [ + 1033.887, + 16877.958, + 26797.261, + 0.0, + -97.92, + 0.0 + ], + [ + 1016.545, + 16753.3, + 26695.669, + 0.0, + -97.92, + 0.0 + ], + [ + 999.202, + 16628.641, + 26568.781, + 0.0, + -97.92, + 0.0 + ], + [ + 981.86, + 16503.983, + 26517.29, + 0.0, + -97.92, + 0.0 + ], + [ + 964.518, + 16379.324, + 26517.29, + 0.0, + -97.92, + 0.0 + ], + [ + 964.518, + 16379.324, + 26517.29, + 0.0, + -72.92, + 0.0 + ], + [ + 1000.991, + 16289.907, + 26529.599, + 0.0, + -72.92, + 0.0 + ], + [ + 1000.991, + 16289.907, + 26529.599, + 0.0, + -72.92, + 0.0 + ] + ], + "Rationale": [ + "I can see the stone chapel ahead across the paved terrace, with its arched wooden door centered on the near gable wall. It is still far off, so I will move forward along my current heading, which already points close to the door.", + "The chapel gable and its arched door have grown slightly larger and remain near the center of my view, so my heading is still good. I will continue straight forward to keep closing the remaining distance.", + "The arched door is clearly framed by its pale stone arch and nothing blocks the walkway in front of me. Another forward step should bring me noticeably closer to the chapel wall.", + "The chapel facade now fills much of my view and the arched door sits just right of center, so I am approaching along a workable line. I will keep advancing to reduce the remaining gap.", + "The door's iron ring handles and plank texture are now clearly visible, meaning I am only a short distance from the wall. I will move forward again to reach standing distance at the doorway.", + "The doorway is very close, with its stone jamb and threshold plainly in front of me on the flat paving. One more forward step should place me directly at the door face.", + "At this range the door has slid to the right side of my view while the plain stone wall and jamb occupy the left half, so my heading is offset from the doorway. I will turn right to bring the arched door back to the center of my view.", + "Both door leaves with their ring handles are now centered between the stone jambs, so I am squarely facing the arched entrance. A final short step forward should place me right at the door.", + "The wooden door's iron rings and planks fill my view at arm's length. The task is complete, so I stop here rather than push into the door." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x001069_y017127_z026797_t5_a_p/infos.json b/dataset/trajectory/Old_Town/task_x001069_y017127_z026797_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6d4c783549fd779c87928257b062b2fee9269615 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x001069_y017127_z026797_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the ceramic vase beside the arched wooden door of the stone chapel.", + "Type": 5, + "Start_Pose": [ + 1068.571, + 17127.276, + 26797.218, + 0, + -97.92, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1016.855, + 16318.074, + 26444.285, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1068.571, + 17127.276, + 26797.218, + 0, + -97.92, + 0 + ], + [ + 1051.229, + 17002.617, + 26802.335, + 0.0, + -97.92, + 0.0 + ], + [ + 1033.887, + 16877.958, + 26797.261, + 0.0, + -97.92, + 0.0 + ], + [ + 1016.545, + 16753.3, + 26695.669, + 0.0, + -97.92, + 0.0 + ], + [ + 999.202, + 16628.641, + 26568.781, + 0.0, + -97.92, + 0.0 + ], + [ + 981.86, + 16503.983, + 26517.29, + 0.0, + -97.92, + 0.0 + ], + [ + 981.86, + 16503.983, + 26517.29, + 0.0, + -97.92, + 0.0 + ], + [ + 981.86, + 16503.983, + 26517.29, + 0.0, + -97.92, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1016.855, + 16318.074, + 26444.285, + 0.0, + 0.0, + 0.0 + ], + [ + 1016.855, + 16318.074, + 26444.285, + 0.0, + 0.0, + 0.0 + ], + [ + 1016.855, + 16318.074, + 26444.285, + 0.0, + 0.0, + 0.0 + ], + [ + 1016.855, + 16318.074, + 26444.285, + 0.0, + 0.0, + 0.0 + ], + [ + 1016.855, + 16318.074, + 26444.285, + 0.0, + 0.0, + 0.0 + ], + [ + 1016.855, + 16318.074, + 26444.285, + 0.0, + 0.0, + 0.0 + ], + [ + 1003.095, + 16501.645, + 26487.396, + -28.202, + -47.776, + 1.862 + ], + [ + 1003.095, + 16501.645, + 26487.396, + -28.202, + -47.776, + 1.862 + ] + ], + "PD_Dist_2D": [ + 810.9, + 685.4, + 560.1, + 435.2, + 311.1, + 189.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The stone chapel with its arched wooden door stands ahead across the terrace, and the pale ceramic vase sits on the pavement just in front of that doorway. It is far too distant to reach from here, so I will walk straight forward along my current heading to close the gap.", + "The chapel facade now fills more of my view and the vase by the door is slightly clearer, confirming the straight path is closing distance. Nothing blocks the terrace ahead, so I will keep walking forward toward the door.", + "The vase in front of the arched door is now distinctly visible as a slim ceramic column, still several strides away. My heading is already lined up with it, so another forward step is the simplest way to get closer.", + "The vase now shows its floral markings and sits clearly on the terrace before the arched door, but it is still beyond arm's reach. I will advance again to bring it within grasping range.", + "The ceramic vase stands close in front of me at the foot of the arched wooden door, though not yet near enough for a reliable grasp. One more step forward should place me directly beside it.", + "The ceramic vase is now directly in front of me at the base of the arched door, well within reach. I will attempt to pick it up to lift it as the task requires.", + "The ceramic vase is held in my hands, no longer resting on the terrace. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003082_y017705_z026883_t1_a/infos.json b/dataset/trajectory/Old_Town/task_x003082_y017705_z026883_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d7a20ccaccb694800fb616bda7660623995c4f --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003082_y017705_z026883_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the wooden door situated beside the long bench, then navigate your way to it.", + "Type": 1, + "Start_Pose": [ + 3082.486, + 17705.272, + 26883.497, + 0.0, + -157.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3082.486, + 17705.272, + 26883.497, + 0.0, + -157.8, + 0.0 + ], + [ + 3082.486, + 17705.271, + 26883.476, + 0.0, + -132.8, + 0.0 + ], + [ + 3082.486, + 17705.271, + 26883.476, + 0.0, + -107.8, + 0.0 + ], + [ + 3044.012, + 17585.437, + 26887.174, + 0.0, + -107.8, + 0.0 + ], + [ + 3005.537, + 17465.603, + 26889.553, + 0.0, + -107.8, + 0.0 + ], + [ + 3005.537, + 17465.603, + 26889.553, + 0.0, + -82.8, + 0.0 + ], + [ + 3031.927, + 17349.656, + 26881.761, + 0.0, + -82.8, + 0.0 + ], + [ + 3047.701, + 17224.789, + 26882.529, + 0.0, + -82.8, + 0.0 + ], + [ + 3063.475, + 17099.923, + 26883.704, + 0.0, + -82.8, + 0.0 + ], + [ + 3063.475, + 17099.923, + 26883.704, + 0.0, + -57.8, + 0.0 + ], + [ + 3126.962, + 16993.517, + 26883.698, + 0.0, + -57.8, + 0.0 + ], + [ + 3126.962, + 16993.517, + 26883.698, + 0.0, + -57.8, + 0.0 + ] + ], + "Rationale": [ + "I am facing a dark stone corner with a wall and pillar filling nearly the whole view, so no bench or wooden door is visible from here. I will turn right to sweep my view toward the darker opening on that side, which may reveal a way out of this enclosed corner.", + "Turning has opened up a bright archway on the right with a paved terrace beyond, and I can just make out a long bench near the water past the arch. I will turn right again to bring that archway and the bench area into the center of my view before committing to a route.", + "The archway is now centered ahead, framing the paved terrace with the long bench beside the water and a building on the right. Since the bench that marks the door is straight through this opening, I will walk forward to pass under the arch onto the terrace.", + "I have cleared the arch and the terrace is open in front of me, with the long bench along the parapet and a stone building on the right showing an arched doorway. I will keep walking forward to close the remaining distance toward the bench and that doorway.", + "The bench sits ahead near the parapet, and the wooden arched door in the stone facade is off to my right, partly angled away. I will turn right to face that door and the bench together so my approach lines up with them.", + "The turn has brought the arched wooden door and the long bench beside it into clear view ahead, matching the target described in the task. With the paved path in front unobstructed, I will walk forward to commit to approaching that door.", + "The wooden door and the bench next to it are noticeably larger now, confirming I am closing in on the right spot. I will continue walking forward along the open paving to shorten the remaining gap to the door.", + "The arched wooden door is close on my right with its handle now visible, and the long bench stretches just beside it along the parapet. I will step forward again to bring myself alongside the door rather than stopping short of it.", + "The wooden door beside the long bench is now clearly in view, but it sits at the right edge of my sight with the stone wall crowding it. I will turn right to bring the door face squarely ahead of me so my remaining approach runs straight at it.", + "The wooden door with its arched frame and handle is now centered in front of me, with the bench alongside it on the left, confirming this is the target. I will walk forward to close the last bit of paved distance and stand at the door.", + "The wooden door fills my view at arm's length, with the long bench right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003097_y021045_z027047_t1_a/infos.json b/dataset/trajectory/Old_Town/task_x003097_y021045_z027047_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..30790f647c9444691b613dcd901b3827365b905a --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003097_y021045_z027047_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search the surrounding area for the stone archway leading into the building, then move to that location.", + "Type": 1, + "Start_Pose": [ + 3096.878, + 21045.189, + 27047.322, + 0.0, + 67.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3096.878, + 21045.189, + 27047.322, + 0.0, + 67.2, + -0.0 + ], + [ + 3096.878, + 21045.189, + 27047.477, + 0.0, + 42.2, + -0.0 + ], + [ + 3096.878, + 21045.189, + 27047.477, + 0.0, + 17.2, + -0.0 + ], + [ + 3096.878, + 21045.189, + 27047.477, + 0.0, + -7.8, + 0.0 + ], + [ + 3096.878, + 21045.189, + 27047.477, + 0.0, + -32.8, + 0.0 + ], + [ + 3096.878, + 21045.189, + 27047.477, + 0.0, + -57.8, + 0.0 + ], + [ + 3096.878, + 21045.189, + 27047.477, + 0.0, + -82.8, + 0.0 + ], + [ + 3112.652, + 20920.323, + 27048.106, + 0.0, + -82.8, + 0.0 + ], + [ + 3128.427, + 20795.456, + 27047.702, + 0.0, + -82.8, + 0.0 + ], + [ + 3144.201, + 20670.59, + 27048.183, + 0.0, + -82.8, + 0.0 + ], + [ + 3144.201, + 20670.59, + 27048.183, + 0.0, + -107.8, + 0.0 + ], + [ + 3105.726, + 20550.756, + 27048.185, + 0.0, + -107.8, + 0.0 + ], + [ + 3067.252, + 20430.922, + 27048.185, + 0.0, + -107.8, + 0.0 + ], + [ + 3028.777, + 20311.088, + 27046.753, + 0.0, + -107.8, + 0.0 + ], + [ + 3028.777, + 20311.088, + 27046.753, + 0.0, + -107.8, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see a market stall with pots and sacks against a stone facade, and a plain boundary wall closing off the right side with no opening. No archway is visible anywhere in this narrow view, so I will turn left to sweep new parts of the courtyard into sight.", + "The turn has only brought more of the same shelving, jars and sacks in front of a solid building wall, with no passage through it. Since the search has not yet revealed any arched opening, I will keep rotating left to continue scanning the surroundings.", + "Now I see a hanging lantern, a spear and a barrel against another unbroken stretch of stonework, still without any archway. Continuing the same leftward sweep should bring the unseen portion of the courtyard into view.", + "A large barrel and sacks fill the foreground while the wall behind them remains closed, so this heading offers no way into a building. I will turn left again to keep opening up the part of the courtyard I have not yet examined.", + "This heading shows the upper facade with windows and planters above a long market bench, but the ground level is still solid wall. I will continue turning left, since the remaining unscanned direction is the most likely place for the archway.", + "At the far left edge of this view I can now make out a dark arched opening in a stone wall across the cobbled courtyard, which matches the archway I am looking for. One more left turn should bring that opening closer to the center of my view before I commit to walking toward it.", + "The stone archway is now clearly framed ahead of me, set into the wall beneath the balconied facade, with open cobblestones between us. The search is over, so I will stop rotating and walk forward to close the distance toward it.", + "The archway has grown larger and slightly left of center, confirming that my forward walk is closing the gap. The pavement ahead stays clear of the stalls on my right, so I will keep stepping forward toward the opening.", + "The stone archway set into the courtyard wall is clearly visible ahead and slightly to my left, and it has grown noticeably larger as I close on it. The open cobbled ground in front of me is clear of the market stalls and crates crowding the right side, so I will keep walking straight to shorten the remaining distance.", + "The archway is now close but sits well off to the left of my heading, while goods stacked on the counter dominate the right of my view. I will turn left to bring the opening into the center of my path so my approach runs straight into it.", + "The arched opening is now framed near the center of my view with the sunlit floor beyond it clearly visible. With my heading committed to the target and open pavement in between, I will step forward to close the gap.", + "The archway now fills much of my view, with its stone jambs and the lanterns on either side clearly readable. Nothing blocks the threshold, so I will keep advancing straight toward the opening.", + "I am right at the mouth of the archway, with the vaulted passage and the inner courtyard wall visible straight through it. One more step forward should carry me under the arch and place me at the target location.", + "I am standing under the stone archway with its vault overhead and the building's interior around me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003326_y019268_z027054_t1_a/infos.json b/dataset/trajectory/Old_Town/task_x003326_y019268_z027054_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..29e6496d924deb4e799644ea5057a6aae4de82d5 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003326_y019268_z027054_t1_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Search for the stone sculpture mounted on the wall at the end of the narrow alley, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 3325.575, + 19267.601, + 27053.693, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3325.575, + 19267.601, + 27053.693, + 0.0, + 7.2, + -0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + -17.8, + 0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + -42.8, + 0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + -67.8, + 0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + -92.8, + 0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + -117.8, + 0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + -142.8, + 0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + -167.8, + 0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + 167.2, + -0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + 142.2, + -0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + 117.2, + -0.0 + ], + [ + 3325.575, + 19267.602, + 27053.693, + 0.0, + 92.2, + -0.0 + ], + [ + 3330.185, + 19388.313, + 27053.693, + 0.0, + 92.2, + -0.0 + ], + [ + 3327.217, + 19514.046, + 27054.113, + 0.0, + 92.2, + -0.0 + ], + [ + 3322.386, + 19639.813, + 27053.499, + 0.0, + 92.2, + -0.0 + ], + [ + 3317.554, + 19765.579, + 27053.499, + 0.0, + 92.2, + -0.0 + ], + [ + 3312.723, + 19891.345, + 27053.499, + 0.0, + 92.2, + -0.0 + ], + [ + 3312.723, + 19891.345, + 27053.499, + 0.0, + 92.2, + -0.0 + ], + [ + 3312.723, + 19891.345, + 27053.499, + 0.0, + 67.2, + -0.0 + ], + [ + 3312.723, + 19891.345, + 27053.499, + 0.0, + 67.2, + -0.0 + ], + [ + 3312.723, + 19891.345, + 27053.499, + 0.0, + 67.2, + -0.0 + ] + ], + "Rationale": [ + "My view is almost entirely filled by a stone pier and a rough block wall, so I cannot see any wall-mounted sculpture from this heading. The only opening I can make out is the paved alley slipping away on my left side, so I will turn left to bring that passage into view. This rotation should start a systematic sweep for the carved stone piece.", + "Turning has opened up a narrow cobbled alley with a plain shuttered doorway on the far wall, but nothing mounted or carved stands out there. The stone pier still crowds the right half of my view, so more of the surroundings remain hidden to my left. I will keep rotating left to widen the search.", + "Ahead I now see the plastered corner of a low building with a tiled roof and an arched opening, but its flat walls carry no mounted sculpture. The open ground continues off to my left, which is the direction I have not yet examined. I will turn left again to keep scanning for the target.", + "This heading shows a gap between the plastered building and a rough stone wall, with a distant window and rooftops beyond, but still no carved stone piece on any surface. The nearer stone wall on my left has not been fully inspected yet. I will continue rotating left to bring that side into the center of my view.", + "The rough stone wall now fills most of my view, and the only mounted object I can see is a cluster of hanging lamps near its top, not the stone sculpture I need. The wall face continues around a corner to my left. I will turn left once more to follow that surface and check what lies past the corner.", + "I am now facing a dim, close stone corner where the masonry blocks fill nearly the whole view, giving me almost no useful information about the surroundings. There is nothing carved or mounted on this shadowed face. I will keep turning left so the view can clear past this tight corner.", + "The view is still dominated by dark blocks of the same wall meeting at an edge, so this heading offers no sign of the sculpture. Continuing the same rotation direction is the quickest way to sweep past this blank stretch of masonry. I will turn left again.", + "My whole field of view is a flat, shadowed run of stone blocks with no relief, opening, or landmark to work from. Since the previous headings around this corner were equally blank, the unexamined space must still lie further left. I will turn left to keep sweeping until something other than bare wall appears.", + "My view is completely filled by close, unlit block masonry, so there is no alley opening or sculpture to evaluate from this heading. I will keep rotating left to sweep past this blank wall face and bring an open passage back into view.", + "The wall in front of me now shows a corner edge with a faint sliver of brighter surface at the left margin, which suggests the masonry is about to fall away into open space. I will continue turning left so that opening comes fully into my field of view.", + "The passage has opened on my left and I can already make out a pale carved relief mounted high on the far stone wall at the end of it. One more left rotation should place that narrow alley and its sculpture near the center of my view before I commit to walking.", + "The narrow alley is now squarely ahead of me, with the stone relief mounted high on the wall closing off its far end. The search is settled, so I will start walking straight down the paved corridor toward it.", + "The carved head on the end wall has grown larger and the flanking doors have slid outward in my view, confirming my heading down the alley is correct. I will keep walking forward to close the remaining distance.", + "The lion-like stone face is now clearly resolved on the end wall with the ivy and the potted plants framing it. There is still open pavement between me and that wall, so I will continue stepping forward.", + "The end wall now fills most of my view and the carved head sits plainly above the decorative band, so I am close to the alley's end. I will advance again to bring myself right up in front of the sculpture.", + "The stone head is very close now, sitting high on the wall to my upper left with the ivy hanging beside it. A last short step forward should put me directly beneath the sculpture at the end of the alley.", + "I am now right up against the end wall of the alley, and my view is filled with bare masonry with the carved head no longer in frame. Since the sculpture is mounted high on this wall, I will tilt my gaze upward to bring it back into view.", + "Raising my view has brought the upper wall and the ivy border into frame, and the pale carved head is showing at the far left edge. I will turn left to center that sculpture in front of me.", + "The turn has swung the lion head toward the middle of my view, but it sits cut off near the top edge because I am standing very close to the wall. I will tilt my gaze further up so the whole sculpture is clearly framed.", + "The carved stone lion head on the alley's end wall is fully centered and close in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_a/infos.json b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2eea47f8a16f38d277e2b84ae435a83454cccd8f --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the door near the ivy, then head toward the door without ivy.", + "Type": 3, + "Start_Pose": [ + 3409.487, + 19175.892, + 27048.416, + 0.0, + 90.24, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3409.487, + 19175.892, + 27048.416, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.96, + 19301.75, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.96, + 19301.75, + 27053.868, + 0.0, + 115.24, + -0.0 + ], + [ + 3355.292, + 19415.594, + 27053.868, + 0.0, + 115.24, + -0.0 + ], + [ + 3301.625, + 19529.437, + 27053.458, + 0.0, + 115.24, + -0.0 + ], + [ + 3301.625, + 19529.437, + 27053.458, + 0.0, + 115.24, + -0.0 + ], + [ + 3301.625, + 19529.437, + 27053.458, + 0.0, + 90.24, + -0.0 + ], + [ + 3301.625, + 19529.437, + 27053.458, + 0.0, + 65.24, + -0.0 + ], + [ + 3301.625, + 19529.437, + 27053.458, + 0.0, + 40.24, + -0.0 + ], + [ + 3397.698, + 19610.741, + 27053.458, + 0.0, + 40.24, + -0.0 + ], + [ + 3493.772, + 19692.044, + 27053.458, + 0.0, + 40.24, + -0.0 + ], + [ + 3493.772, + 19692.044, + 27053.458, + 0.0, + 40.24, + -0.0 + ] + ], + "Rationale": [ + "From under the archway I can see the small courtyard ahead, with a plain door on the left wall and another door on the right where ivy trails down the stonework. I will walk forward to clear the arch and get into the open court where both doors are reachable.", + "Now inside the courtyard, the door draped with ivy stands on my right, while the bare door sits on the opposite wall. I will turn right to bring the ivy-covered door in front of me before walking to it.", + "The arched door with ivy spilling over its frame is now ahead of me on the right side of the court, still several paces away. I will walk forward to close that distance.", + "The ivy-hung door is much larger in view now, with its handle clearly visible and the potted plant beside its threshold. I am not yet beside it, so I will step forward again to stand at the door.", + "The ivy tumbles right down the frame beside me and the door's handle is within arm's reach. I have arrived at the ivy-covered door, and I mark reaching it before setting off across the court to the bare door on the far wall.", + "Standing at the ivy-clad door, my view is filled by its planks and the leaves beside it, so the bare door is somewhere behind my left shoulder. I will turn left to swing my heading away from this wall and back toward the open court.", + "The courtyard has opened up ahead, but only the corner wall and its potted plants are centred, with the door I want still further round to the left. I will turn left again to keep bringing that plain door into view.", + "The bare arched door has come into sight at the left edge of my view, set in the plain stone wall with no ivy on it. I will turn left once more to put it squarely in front of me before walking over.", + "The plain arched door sits squarely ahead now, its stone surround clear of any climbing greenery. My heading lines up with it, so I will walk straight forward to close the gap.", + "The ivy-free door now fills most of my view and its handle is visible, but I am still a stride short of standing right at it. One more step forward should bring me up to the doorway.", + "I am standing right at the plain door's handle, with only bare stone beside it and no ivy. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_b/infos.json b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b14aec8e575eed07cdd4afbde0d82d14c01c8fe --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the door without ivy, then move to the potted plant near the ivy on the ground.", + "Type": 3, + "Start_Pose": [ + 3409.487, + 19175.892, + 27048.416, + 0.0, + 90.24, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3409.487, + 19175.892, + 27048.416, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.96, + 19301.75, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.433, + 19427.608, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.433, + 19427.608, + 27053.868, + 0.0, + 65.24, + -0.0 + ], + [ + 3461.145, + 19541.897, + 27053.453, + 0.0, + 65.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 65.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 65.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 90.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 115.24, + -0.0 + ], + [ + 3444.984, + 19769.218, + 27053.453, + 0.0, + 115.24, + -0.0 + ], + [ + 3444.984, + 19769.218, + 27053.453, + 0.0, + 140.24, + -0.0 + ], + [ + 3348.233, + 19849.714, + 27053.453, + 0.0, + 140.24, + -0.0 + ], + [ + 3348.233, + 19849.714, + 27053.453, + 0.0, + 140.24, + -0.0 + ] + ], + "Rationale": [ + "From under the archway I can see a narrow courtyard with a door on each side wall, and the right-hand one has ivy trailing down over it. The clear door on the left is the one I want, so I will walk forward into the courtyard to bring both doors into better view.", + "Now inside the passage, the left-hand arched door stands bare while ivy spills across the right-hand one and the corner beside it. I am still several paces short of the clean door, so I will keep walking forward to close that distance.", + "The ivy-free arched door is off to my left along the wall, while my heading points straight down the courtyard toward the end wall. I will turn left so that door sits ahead of me and I can walk directly up to it.", + "The plain door is now angled ahead of me on the left wall with no ivy anywhere on it. I will step forward along the wall to draw close to that doorway.", + "The bare door fills much of my view now, its handle clearly visible, but I am still a stride or so away from standing at it. I will advance once more to finish closing on this doorway.", + "The plain door is right beside me, its handle within arm's reach and not a leaf of ivy on it. I have reached the door without ivy, and I mark reaching it before setting off toward the potted plant standing under the ivy in the corner.", + "Standing at this bare door, my view is filled by its panel, and the corner where the ivy comes down sits off to my right. I will turn right to swing my heading away from the door and toward that ivy corner and its pot.", + "The turn has opened up the courtyard corner, and I can now see the ivy cascading down the right wall with a pot at its base, still farther right than my heading. I will turn right again to line up on that ivy-side pot.", + "The corner of the courtyard is now open in front of me, and the pot from which the ivy climbs the stone sits ahead and slightly to my right. I will walk forward to close the remaining gap toward that planter.", + "I am close to the corner now, but the pot with the ivy stem rising from it sits off to the right of my heading while the lion mask fills the middle of my view. A turn to the right should bring that planter into the center so I can step straight at it.", + "The pot with the ivy growing out of it is now centered low in my view against the corner. I will step forward to stand right beside it.", + "The ivy-rooted pot is directly at my feet against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_c/infos.json b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d8e557bcc3c1e95544d65fd2a42c74485d99ce1 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the potted plant near the ivy, then proceed to the left door.", + "Type": 3, + "Start_Pose": [ + 3409.487, + 19175.892, + 27048.416, + 0.0, + 90.24, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3409.487, + 19175.892, + 27048.416, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.96, + 19301.75, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.433, + 19427.608, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.433, + 19427.608, + 27053.868, + 0.0, + 115.24, + -0.0 + ], + [ + 3354.765, + 19541.452, + 27053.453, + 0.0, + 115.24, + -0.0 + ], + [ + 3301.097, + 19655.295, + 27053.453, + 0.0, + 115.24, + -0.0 + ], + [ + 3301.097, + 19655.295, + 27053.453, + 0.0, + 90.24, + -0.0 + ], + [ + 3300.57, + 19781.153, + 27053.453, + 0.0, + 90.24, + -0.0 + ], + [ + 3300.57, + 19781.153, + 27053.453, + 0.0, + 90.24, + -0.0 + ], + [ + 3300.57, + 19781.153, + 27053.453, + 0.0, + 65.24, + -0.0 + ], + [ + 3300.57, + 19781.153, + 27053.453, + 0.0, + 40.24, + -0.0 + ], + [ + 3300.57, + 19781.153, + 27053.453, + 0.0, + 15.24, + -0.0 + ], + [ + 3300.57, + 19781.153, + 27053.453, + 0.0, + -9.76, + 0.0 + ], + [ + 3424.608, + 19759.817, + 27053.453, + 0.0, + -9.76, + 0.0 + ], + [ + 3501.774, + 19734.214, + 27053.453, + 0.0, + -9.76, + 0.0 + ], + [ + 3501.774, + 19734.214, + 27053.453, + 0.0, + -9.76, + 0.0 + ] + ], + "Rationale": [ + "From under the archway I can see the enclosed courtyard ahead, with ivy spilling down the right-hand wall and a small potted plant at the base of the far wall. Nothing blocks the paved lane between the two walls, so I will walk forward to enter the courtyard and close on that greenery.", + "I am now inside the courtyard and can make out two pots along the far wall, one of them right where the ivy trails down the corner. The distance is still considerable, so another step forward should bring that ivy-side plant within easy reach of my heading.", + "The pot I want sits at the foot of the ivy in the right corner, while my current heading points straight down the middle of the courtyard. Turning right should swing that ivy corner and its plant toward the center of my view so I can walk directly at it.", + "The ivy cascade and the pot beneath it now sit ahead and slightly left of my heading, with clear pavement between me and them. I will walk forward to shorten the gap to that plant.", + "The ivy hanging over the corner has grown much larger in front of me and the terracotta pot at its base is now clearly visible on the left of the trailing leaves. One more step forward should place me right beside that plant.", + "My advance has carried me close along the right wall, and the ivy and its pot now hang off to my left while the flat door panel crowds the right of my view. Turning left should bring the corner and the potted plant back into the center of my heading.", + "The corner is squarely in front of me again, with the ivy trailing down the right-hand stones and its terracotta pot at the base just ahead. A short step forward should bring me right up to that plant.", + "The terracotta pot and its leafy plant are directly below me at the foot of the ivy climbing the corner stones. I have arrived at the potted plant beside the ivy. I mark reaching it, then set off for the door on the left side of the courtyard.", + "The ivy-draped corner and the pot at its foot are right in front of me, so that stop is behind me and the door is what matters now. Blank stone fills most of my view here, so I turn left to swing my heading off the corner and search for the doorway.", + "Rotating has brought the lion mask and the second pot into view, but still only masonry, no opening. I keep turning left to carry my gaze further around the courtyard toward the door side.", + "My view is now on the plain corner wall with the small pot tucked at its base, which is not where the door stands. Another left turn should bring the arched doorway on that side of the courtyard into view.", + "The arched wooden door has come into view at the far left edge of my sight, still well off my heading. I turn left once more to bring it toward the centre so I can walk straight at it.", + "The arched door with its glazed fanlight now sits squarely ahead of me with clear paving between us. With my heading set on it, I walk forward to close that gap.", + "The door now fills most of my view and its handle is plainly visible just ahead. A short step forward should bring me right up against it.", + "The door's planks and handle fill my view at arm's length. I am at the door, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_d/infos.json b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6ede1ec82892e8c8bcfea637565ef27b4582b82d --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t3_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Move to the door without ivy, then reach the door with ivy.", + "Type": 3, + "Start_Pose": [ + 3409.487, + 19175.892, + 27048.416, + 0.0, + 90.24, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3409.487, + 19175.892, + 27048.416, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.96, + 19301.75, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.433, + 19427.608, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.433, + 19427.608, + 27053.868, + 0.0, + 65.24, + -0.0 + ], + [ + 3461.145, + 19541.897, + 27053.453, + 0.0, + 65.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 65.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 65.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 90.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 115.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 140.24, + -0.0 + ], + [ + 3498.652, + 19655.375, + 27053.453, + 0.0, + 165.24, + -0.0 + ], + [ + 3376.946, + 19687.44, + 27053.453, + 0.0, + 165.24, + -0.0 + ], + [ + 3376.946, + 19687.44, + 27053.453, + 0.0, + -169.76, + 0.0 + ], + [ + 3278.555, + 19665.373, + 27053.453, + 0.0, + -169.76, + 0.0 + ], + [ + 3278.555, + 19665.373, + 27053.453, + 0.0, + -169.76, + 0.0 + ] + ], + "Rationale": [ + "Through the stone archway I can see a small courtyard with a bare arched door on the left wall and another arched door on the right where ivy spills down the stonework. I need the clean one first, so I walk forward to get out of the arch and into the open court.", + "I am now inside the courtyard with both arched doors flanking me, the left one bare stone-framed and the right one under the trailing ivy. The bare door is still well ahead along the left wall, so I keep walking straight to draw level with it.", + "The ivy-free door sits in the wall to my left and I am currently facing down the courtyard past it. I turn left so that door comes to the front of my view and I can walk straight at it.", + "The plain grey door with no ivy on it now stands ahead of me in the left-hand wall, still several paces off. I step forward to close that gap.", + "The bare door now fills much of my view, its handle and frame clearly resolved, but there is still a short stretch of paving before I am actually at it. I advance again to stand right at its face.", + "The bare grey door panel and its handle are right in front of me, close enough to touch, with no ivy anywhere on this frame. I have reached the door without ivy. I mark reaching it, then set off across the courtyard for the door with ivy hanging over it.", + "Standing against the bare door leaves me facing plain boards, and the ivy-covered doorway lies back across the courtyard behind my right shoulder. I turn right to begin swinging my view off this door and around toward that far wall.", + "My view has come round onto the courtyard's far wall with its carved lion head and potted plants, and ivy leaves are just entering the right edge of my sight. The ivy-hung door is still further round, so I turn right again to bring it into view.", + "I am facing the blank corner of the courtyard, with the ivy cascade spilling down the wall to my right and no doorway yet in view. I will turn right again to keep sweeping toward the wall where that ivy hangs, hoping to bring the door beneath it into sight.", + "The arched door draped by trailing ivy has come into view at the right edge of my sight, still cut off by the frame. Another turn to the right should place that ivy-covered door squarely ahead so I can walk straight at it.", + "The ivy-hung arched door now sits centered ahead of me with clear paving between us. I will walk forward to close that gap and get up against the door.", + "I am close now, but the door's panel and handle sit off to the right of my heading while ivy and bare stone crowd the left of my view. A short turn right should square me onto the door face before the final step.", + "The ivy-trailed door with its round handle stands directly in front of me, only a short stretch of paving away. I will step forward to bring myself right up to its surface.", + "The ivy-covered door's planks and bolt head fill my view at arm's reach. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t5_a_pd/infos.json b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c7174fd857e8b5606d05ba8d7e8ba0b7007a0120 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003409_y019176_z027048_t5_a_pd/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Grab the jerry can at the door near the ivy, then set it down near the door without ivy.", + "Type": 5, + "Start_Pose": [ + 3409.487, + 19175.892, + 27048.416, + 0, + 90.24, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3281.571, + 19707.625, + 26968.453, + 0, + -30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3409.487, + 19175.892, + 27048.416, + 0, + 90.24, + 0 + ], + [ + 3408.96, + 19301.75, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.433, + 19427.608, + 27053.868, + 0.0, + 90.24, + -0.0 + ], + [ + 3408.433, + 19427.608, + 27053.868, + 0.0, + 115.24, + -0.0 + ], + [ + 3354.765, + 19541.452, + 27053.453, + 0.0, + 115.24, + -0.0 + ], + [ + 3354.765, + 19541.452, + 27053.453, + 0.0, + 115.239, + -0.0 + ], + [ + 3354.765, + 19541.452, + 27053.453, + 0.0, + 90.239, + -0.0 + ], + [ + 3354.765, + 19541.452, + 27053.453, + 0.0, + 65.239, + -0.0 + ], + [ + 3354.765, + 19541.452, + 27053.453, + 0.0, + 40.239, + -0.0 + ], + [ + 3450.84, + 19622.754, + 27053.453, + 0.0, + 40.239, + -0.0 + ], + [ + 3395.878, + 19576.244, + 27053.453, + 0.0, + 40.239, + -0.0 + ], + [ + 3395.878, + 19576.244, + 27053.453, + 0.0, + 40.239, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3281.571, + 19707.625, + 26968.453, + 0.0, + -30.0, + 0.0 + ], + [ + 3281.571, + 19707.625, + 26968.453, + 0.0, + -30.0, + 0.0 + ], + [ + 3281.571, + 19707.625, + 26968.453, + 0.0, + -30.0, + 0.0 + ], + [ + 3281.571, + 19707.625, + 26968.453, + 0.0, + -30.0, + 0.0 + ], + [ + 3281.571, + 19707.625, + 26968.453, + 0.0, + -30.0, + 0.0 + ], + [ + 3335.71, + 19531.794, + 27023.559, + -28.202, + 165.384, + 1.862 + ], + [ + 3334.366, + 19540.751, + 27023.832, + -28.189, + 140.396, + 1.872 + ], + [ + 3336.511, + 19550.043, + 27023.164, + -28.215, + 115.367, + 1.849 + ], + [ + 3341.485, + 19565.546, + 27023.345, + -14.175, + 82.432, + 6.959 + ], + [ + 3436.488, + 19638.585, + 27023.785, + -28.198, + 90.385, + 1.865 + ], + [ + 3449.313, + 19621.463, + 27003.453, + 0.0, + 40.239, + -0.0 + ], + [ + 3449.313, + 19621.463, + 27003.453, + 0.0, + 40.239, + -0.0 + ] + ], + "PD_Dist_2D": [ + 546.9, + 425.4, + 307.4, + 307.4, + 181.6, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "Through the archway I can see the small courtyard, with ivy trailing down the right-hand wall and a jerry can standing beside the door under it. That ivy-flanked door is my pickup target, so I will walk forward to enter the courtyard and close the distance.", + "I am now inside the courtyard and the jerry can beside the ivy-covered door on my right is clearly larger in view, but still several paces away. I will keep walking forward to bring myself level with it before turning.", + "The jerry can sits off to my right, against the door where the ivy hangs down, while my heading points at the far wall with the carved lion. I will turn right to put the can in front of me so my next steps lead straight to it.", + "The jerry can is now roughly centered ahead of me at the base of the ivy-draped door. It is still too far for my hands, so I will step forward to reach grabbing range.", + "The jerry can now fills the lower part of my view, right at the foot of the ivy-covered door, close enough that nothing stands between us. I will attempt to grab it so I can carry it across the courtyard.", + "The grab worked, and the jerry can is now held in my hands rather than resting by the ivy door. The other door, the one without ivy, lies around to my left, so I will turn left to begin swinging my heading toward it.", + "I am still holding the jerry can and my view is on the courtyard's far wall, with the ivy now over to my right. The plain door I need is further round to the left, so I will turn left again.", + "The ivy-free arched door has come into view on my left side, with only bare stonework around it. I will turn left once more to bring that door squarely in front of me before advancing to set the can down.", + "I am carrying the jerry can and the plain arched door ahead has no ivy on its stonework, so it is the delivery spot. It is still a couple of paces off, so I will step forward to bring the ground beside it within setting-down reach.", + "The ivy-free door now fills my view at arm's length, with its handle and frame directly before me and no ivy anywhere on this wall. This is close enough to place the can at the correct door, so I will release it here.", + "The jerry can rests on the ground at the plain door with no ivy, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_a/infos.json b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd918e0f9cbaca533f5a265ac6224dd45579e00e --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Approach the small square window, then move to the wooden door on the right.", + "Type": 3, + "Start_Pose": [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0.0 + ], + [ + 3601.613, + 18709.602, + 27054.24, + -0.006, + 50.841, + 0.0 + ], + [ + 3601.613, + 18709.602, + 27054.24, + -0.006, + 25.841, + 0.0 + ], + [ + 3714.887, + 18764.461, + 27053.651, + -0.006, + 25.841, + 0.0 + ], + [ + 3828.161, + 18819.32, + 27053.651, + -0.006, + 25.841, + 0.0 + ], + [ + 3941.435, + 18874.179, + 27053.381, + -0.006, + 25.841, + 0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + -0.006, + 25.841, + 0.0 + ], + [ + 4167.001, + 18968.404, + 27056.685, + -0.006, + 25.841, + 0.0 + ], + [ + 4276.615, + 18968.115, + 27056.685, + -0.006, + 25.841, + 0.0 + ], + [ + 4276.615, + 18968.115, + 27056.685, + -0.006, + 25.841, + 0.0 + ], + [ + 4193.455, + 18927.84, + 27053.722, + -0.006, + 25.841, + 0.0 + ], + [ + 4193.455, + 18927.84, + 27053.722, + -0.006, + 50.841, + 0.0 + ], + [ + 4193.455, + 18927.84, + 27053.722, + -0.006, + 75.841, + -0.0 + ], + [ + 4193.455, + 18927.84, + 27053.722, + -0.006, + 100.841, + -0.0 + ], + [ + 4193.455, + 18927.84, + 27053.722, + -0.006, + 125.841, + 0.0 + ], + [ + 4193.455, + 18927.84, + 27053.722, + -0.006, + 150.841, + 0.0 + ], + [ + 4193.455, + 18927.84, + 27053.722, + -0.006, + 175.841, + 0.0 + ], + [ + 4067.927, + 18936.968, + 27055.235, + -0.006, + 175.841, + 0.0 + ], + [ + 3942.4, + 18946.095, + 27056.285, + -0.006, + 175.841, + 0.0 + ], + [ + 3816.872, + 18955.223, + 27053.559, + -0.006, + 175.841, + 0.0 + ], + [ + 3816.872, + 18955.223, + 27053.559, + -0.006, + 150.841, + 0.0 + ], + [ + 3708.566, + 18976.331, + 27053.559, + -0.006, + 150.841, + 0.0 + ], + [ + 3708.566, + 18976.331, + 27053.559, + -0.006, + 150.841, + 0.0 + ] + ], + "Rationale": [ + "The small square window sits far ahead on the left-hand stretch of wall, well beyond my reach from here. I will walk forward to close some of that open floor before adjusting my heading toward it.", + "My heading is aimed at the metal door on the right wall, while the small square window lies off to my left along the same wall line. I will turn left so that window and the space in front of it come into the center of my view.", + "With the room now opening ahead and the small square window set in the wall to my right front, my heading runs along that wall. I will step forward to shorten the distance toward it.", + "The small square window is growing larger on the right wall, so my line of travel is carrying me toward it. I keep walking forward to close the remaining gap.", + "The window frame on the right is noticeably closer and the arched glazed door at the far end anchors my heading. Another step forward should bring me nearly level with the small window.", + "The small square window now shows its recess and sill clearly on the right wall, but I am still short of standing beside it. I will advance again to draw level with that opening.", + "I am nearly abreast of the small square window, its panes and frame filling much of the right side of my view. One more step forward should place me right at it.", + "The square window is close enough now that its glazing bars and sill dominate my view at arm's length. A short final step forward should bring me right up against it.", + "The small square window's frame and pebbled glass now fill my view from barely a step away, with the plaster wall pressed close on my left. I have arrived at that window. I mark reaching it and set off for the wooden door on the right side of the room.", + "Standing this close, the window glass and its frame block almost everything, leaving me no view of the room or space to swing around. I will step back to open up distance from the wall so I can see the room again and pivot cleanly toward the wooden door.", + "With room regained, the window sits on my right and the rest of the space stretches off to my left, so the wooden door lies well behind my current heading. I will turn right to begin swinging my view around toward that door.", + "The window has slid toward the left edge and only blank plaster fills the rest of my view, so I am still facing the wrong wall. Another right turn should carry my heading further around toward the side of the room where the wooden door stands.", + "Only the corner of the window edge remains at the far left and the rest is bare plaster close in front of me, so the door is still outside my field of view. I will keep rotating right to bring the open part of the room around.", + "My view is now nothing but blank wall surface with no floor or opening to judge by, so I am mid sweep and not yet aimed at anything useful. I will continue turning right until the room reappears.", + "A faint ceiling edge and a strip of floor are creeping in at the right of the plaster, a sign that my heading is coming off the near wall. One more right turn should bring the open room and the wooden door side into view.", + "The room has opened up ahead with the long wall on my left and doorways along the far end, but the wooden door I want still sits off toward the right edge. I will turn right once more to place it closer to the center of my path before walking.", + "Now that I face back down the long room, the tall wooden plank door is set in the wall ahead on my left, with the arched opening further off at the end. I will walk forward along the open floor to close that distance.", + "The wooden door in the left wall is noticeably larger and its frame is clearer than a moment ago, so my heading is carrying me straight toward it. Another step forward should bring me alongside it.", + "The wooden door now stands out plainly on my left with its vertical planks and pale frame, but it is still a little ahead of my shoulder. I will step forward once more to draw level with it before turning.", + "I am level with the wooden door, which now fills the left edge of my view with its handle visible while my body still points down the room. Turning left should square me up to face the door directly.", + "The planked wooden door and its round handle are now centred ahead of me, though a short stretch of floor still separates us. I will step forward to stand right at the door.", + "The wooden door's planks and handle fill my view at arm's length. Both named destinations have been reached, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_b/infos.json b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..04ef7f0b96a49d0cf9a3b625004db58e4ddf6ccb --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the arched doorway, then proceed to the small window.", + "Type": 3, + "Start_Pose": [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0.0 + ], + [ + 3522.136, + 18612.012, + 27056.532, + -0.006, + 25.841, + 0.0 + ], + [ + 3635.41, + 18666.871, + 27054.067, + -0.006, + 25.841, + 0.0 + ], + [ + 3748.684, + 18721.729, + 27053.631, + -0.006, + 25.841, + 0.0 + ], + [ + 3861.958, + 18776.588, + 27053.631, + -0.006, + 25.841, + 0.0 + ], + [ + 3861.958, + 18776.588, + 27053.631, + -0.006, + 0.841, + 0.0 + ], + [ + 3987.803, + 18778.436, + 27053.631, + -0.006, + 0.841, + 0.0 + ], + [ + 4113.649, + 18780.283, + 27053.631, + -0.006, + 0.841, + 0.0 + ], + [ + 4239.494, + 18782.13, + 27053.631, + -0.006, + 0.841, + 0.0 + ], + [ + 4365.34, + 18783.977, + 27053.375, + -0.006, + 0.841, + 0.0 + ], + [ + 4486.5, + 18785.799, + 27053.293, + -0.006, + 0.841, + 0.0 + ], + [ + 4486.5, + 18785.799, + 27053.293, + -0.006, + 0.841, + 0.0 + ], + [ + 4394.11, + 18784.443, + 27053.293, + -0.006, + 0.841, + 0.0 + ], + [ + 4394.11, + 18784.443, + 27053.293, + -0.006, + 25.841, + 0.0 + ], + [ + 4394.11, + 18784.443, + 27053.293, + -0.006, + 50.841, + 0.0 + ], + [ + 4394.11, + 18784.443, + 27053.293, + -0.006, + 75.841, + 0.0 + ], + [ + 4394.11, + 18784.443, + 27053.293, + -0.006, + 100.841, + 0.0 + ], + [ + 4370.438, + 18908.056, + 27053.293, + -0.006, + 100.841, + 0.0 + ], + [ + 4370.438, + 18908.056, + 27053.293, + -0.006, + 100.841, + 0.0 + ] + ], + "Rationale": [ + "From here the arched, glass-paned doorway sits far off at the left end of the room, while the plain slab door faces me on the right wall. I will turn left so that arched opening comes into the middle of my view before I start walking. That should give me a clean straight line toward it.", + "The arched doorway with its bright glazing now stands ahead of me across the open floor, with nothing between us but bare concrete. I will walk forward to cut down that distance.", + "The arched doorway has grown a little larger and still sits close to my heading, so my line of travel is good. Plenty of empty floor remains before I reach it, so I will keep walking forward.", + "The arch and its glass panes are noticeably nearer now, its stone surround clearly visible on the far wall. I am still several strides short of it, so another step forward is the direct way to close in.", + "As I have advanced, the arched doorway has drifted toward the left side of my view rather than staying in front of me. I will turn left to bring it back onto my heading so the remaining walk runs straight into it.", + "The arched door with its glazed upper panel now sits squarely ahead of me, framed on the far wall. With my heading corrected and the floor clear, I will walk forward toward it.", + "The arch is filling more of my view and stays centered, so no further correction is needed. I will keep stepping forward to close the last stretch to it.", + "The arched doorway is directly in front of me now, its stone arch and glazed panel dominating the wall, and my own shadow falls on the floor beneath it. I am still a couple of paces short, so I will move forward again to reach it.", + "The arched doorway now fills the wall ahead of me, its stone arch and glazed panel squarely centered on my heading. I am still a couple of paces short of standing at it, so I will walk straight forward to close that remaining gap.", + "The arched door now spans nearly my whole view, with its handle and glazing panes clearly readable, but I am not yet right at the threshold. One more step forward should bring me directly to the doorway.", + "I am close enough to the arched door that its glazing is all I see, looking straight through the panes to the brick facade and stairs outside. I have arrived at the arched doorway. I mark reaching it, then set off for the small window set in the room's wall.", + "Standing this tight against the arched door leaves me no room to swing around toward the small window in the room's wall. I will step back from the threshold to open up space before reorienting.", + "I have backed off the arched door and it still fills my view, so nothing of the room's interior walls is in sight. I will turn right to begin sweeping my heading away from the doorway toward where the small window sits.", + "The arched door has slid to my left and plain plaster wall now occupies the right side of my view, but no window is visible yet. I will keep turning right to bring more of the interior wall into view.", + "Only bare wall and an inside corner face me now, with the door reduced to a sliver at my left edge. The small window is not in this stretch of wall, so I will continue turning right to carry the sweep further around.", + "A small paned window has just come into the right edge of my view, set into the plaster wall. Turning right once more should bring it toward the middle of my heading so I can walk straight at it.", + "The small frosted window now sits ahead of me in the plaster wall, roughly centred in my view but still several paces off. I will walk forward to close that remaining gap and stand right at it.", + "The small frosted window fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_c/infos.json b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd85a4338f251d3bd4791c775e42228ef4f89e57 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Navigate to the wooden door on the right, then reach the small square window.", + "Type": 3, + "Start_Pose": [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0.0 + ], + [ + 3522.136, + 18612.012, + 27056.532, + -0.006, + 75.841, + -0.0 + ], + [ + 3552.923, + 18734.047, + 27053.986, + -0.006, + 75.841, + -0.0 + ], + [ + 3583.71, + 18856.083, + 27053.986, + -0.006, + 75.841, + -0.0 + ], + [ + 3614.073, + 18970.917, + 27053.559, + -0.006, + 75.841, + -0.0 + ], + [ + 3614.073, + 18970.917, + 27053.559, + -0.006, + 50.841, + -0.0 + ], + [ + 3614.073, + 18970.917, + 27053.559, + -0.006, + 50.841, + -0.0 + ], + [ + 3614.073, + 18970.917, + 27053.559, + -0.006, + 25.841, + -0.0 + ], + [ + 3614.073, + 18970.917, + 27053.559, + -0.006, + 0.841, + -0.0 + ], + [ + 3739.917, + 18972.184, + 27053.559, + -0.006, + 0.841, + -0.0 + ], + [ + 3864.733, + 18968.675, + 27057.217, + -0.006, + 0.841, + -0.0 + ], + [ + 3990.573, + 18968.586, + 27057.217, + -0.006, + 0.841, + -0.0 + ], + [ + 4116.413, + 18968.524, + 27057.216, + -0.006, + 0.841, + -0.0 + ], + [ + 4116.413, + 18968.524, + 27057.216, + -0.006, + 25.841, + -0.0 + ], + [ + 4226.104, + 18968.23, + 27056.685, + -0.006, + 25.841, + -0.0 + ], + [ + 4226.104, + 18968.23, + 27056.685, + -0.006, + 25.841, + -0.0 + ] + ], + "Rationale": [ + "From here the plain wooden door sits in the right-hand wall, well off my current heading, while the small square window is behind me on the far left wall. I will turn right so the door comes toward the middle of my view and I can walk straight at it.", + "The wooden door now sits ahead of me with clear open floor between us and no obstruction in the way. I will walk forward to cut down that distance.", + "The door and its lintel fill much more of my view than before, so my heading is carrying me right onto it. I will keep walking forward to close the remaining gap.", + "The door now dominates the left of my view and I can pick out its handle, so I am only a short walk from the wall. One more step forward should bring me right up against it.", + "I am close enough that bare plaster fills my view, with only a sliver of the door frame at the left edge. I will turn left to bring the wooden door itself back in front of me and confirm I am standing at it.", + "The planked wooden door fills my view with its handle right in front of me, close enough to touch. I have reached the wooden door. I mark reaching it, and now I set off across the room for the small square window.", + "The wooden door is behind me now as a reached destination, and its panel still blocks nearly my whole view. I will turn left to swing away from this wall and open up the room so I can pick out the small square window.", + "The room is starting to open on my left, with an arched glazed door across the floor, but the wooden panel still occupies the right side of my view. Another left turn should clear that wall and put the far side of the room, where the small square window sits, in front of me.", + "The tall wooden door is now behind my shoulder at the right edge and the long room opens ahead of me. I need the small square window set in the plaster wall, so I will walk forward down this room to bring more of the side walls into view.", + "The wall on my right is still blank plaster and only the arched openings show at the far end, so the small square window is not yet in sight. I will keep walking straight along this wall to reveal the section of it still ahead of me.", + "A small recessed square opening has appeared in the right-hand wall a little ahead of me. That matches the window I am after, so I will walk forward again to close the remaining distance to it.", + "The small square window on my right is clearer and larger now, but it still sits ahead of my shoulder rather than beside me. One more step forward should bring me level with its opening.", + "The square window is now large in the right side of my view, almost level with me, while my heading still points down the room toward the arched door. I will turn right so the window sits squarely in front of me.", + "Facing the wall now, the small square window with its recessed sill is directly ahead of me but still a couple of paces off. I will step forward to bring myself right up to the opening.", + "The small square window fills my view at arm's length, its sill and glazing bars right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_d/infos.json b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4b904b4975de5080e6ff0cf445b04f9fdaf61d98 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t3_d/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Move to the arched doorway, then walk to the wooden door.", + "Type": 3, + "Start_Pose": [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0.0 + ], + [ + 3522.136, + 18612.012, + 27056.532, + -0.006, + 25.841, + 0.0 + ], + [ + 3635.41, + 18666.871, + 27054.067, + -0.006, + 25.841, + 0.0 + ], + [ + 3748.684, + 18721.729, + 27053.631, + -0.006, + 25.841, + 0.0 + ], + [ + 3861.958, + 18776.588, + 27053.631, + -0.006, + 25.841, + 0.0 + ], + [ + 3975.232, + 18831.447, + 27053.631, + -0.006, + 25.841, + 0.0 + ], + [ + 4088.506, + 18886.306, + 27053.369, + -0.006, + 25.841, + 0.0 + ], + [ + 4088.506, + 18886.306, + 27053.369, + -0.006, + 0.841, + 0.0 + ], + [ + 4214.351, + 18888.153, + 27053.369, + -0.006, + 0.841, + 0.0 + ], + [ + 4340.197, + 18890.0, + 27053.369, + -0.006, + 0.841, + 0.0 + ], + [ + 4340.197, + 18890.0, + 27053.369, + -0.006, + -24.159, + 0.0 + ], + [ + 4455.032, + 18838.49, + 27053.369, + -0.006, + -24.159, + 0.0 + ], + [ + 4455.032, + 18838.49, + 27053.369, + -0.006, + -24.159, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + -24.159, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + 0.841, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + 25.841, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + 50.841, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + 75.841, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + 100.841, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + 125.841, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + 150.841, + 0.0 + ], + [ + 4370.725, + 18876.307, + 27053.369, + -0.006, + 175.841, + 0.0 + ], + [ + 4245.198, + 18885.435, + 27053.369, + -0.006, + 175.841, + 0.0 + ], + [ + 4119.67, + 18894.562, + 27053.369, + -0.006, + 175.841, + 0.0 + ], + [ + 3994.143, + 18903.69, + 27053.369, + -0.006, + 175.841, + 0.0 + ], + [ + 3868.615, + 18912.818, + 27053.369, + -0.006, + 175.841, + 0.0 + ], + [ + 3868.615, + 18912.818, + 27053.369, + -0.006, + 150.841, + 0.0 + ], + [ + 3758.9, + 18970.902, + 27053.559, + -0.006, + 150.841, + 0.0 + ], + [ + 3758.9, + 18970.902, + 27053.559, + -0.006, + 150.841, + 0.0 + ] + ], + "Rationale": [ + "From here the arched doorway with its glazed door sits far off at the left edge of my view, while the plain paneled door stands on the wall to my right. I need the arch ahead of me before I can cross this empty room toward it, so I will turn left to bring it into my path.", + "The arched doorway now stands ahead of me across the open floor, its glass panes catching daylight. The concrete floor between us is clear of obstacles, so I will walk forward to close that distance.", + "The arched doorway has grown larger and remains centered in front of me, which tells me my heading is good. Nothing blocks the bare floor ahead, so I will keep walking toward it.", + "I can now make out the framing stones of the arch and the panelled lower half of the glass door, so I am well inside this room and still short of it. Another step forward should keep shrinking the gap.", + "The arched door fills much more of my view and the small window on the right wall has slid past me, confirming steady progress across the room. The route stays clear, so I will advance again.", + "Through the glass of the arched door I can already see the brickwork of the courtyard outside, so I am only a short walk away. I will step forward once more to bring myself close to it.", + "My forward motion has pushed the arched doorway out to the left side of my view, with only blank wall and my own shadow straight ahead. I will turn left to put the arch squarely in front of me before continuing.", + "The arched doorway is now centered ahead of me, its stone surround and glazed panes clearly framed. With a clear stretch of floor still separating us, I will walk forward to close on it.", + "The tall arched doorway with its glazed panel now fills much of my view, just left of straight ahead, and the floor between us is clear. I will walk forward again to cut down the last of that gap.", + "Closing in has pushed the arched doorway off to the left edge of my view, with blank wall taking up the right side. I will turn left to bring the arch back in front of me so I can walk straight into it.", + "The arched doorway now sits squarely ahead of me, its stone arch and glazed panel centered in view. A short step forward should put me right at its threshold.", + "The glazed panel and its handle fill my whole view at arm's length, with the courtyard beyond visible through the panes. I am standing at the arched doorway. I mark reaching it and now turn my attention back into the room toward the plain wooden door.", + "Pressed this close to the arched doorway, the panel blocks everything and I have no room to swing around. I will step back to regain open floor and a wider view before turning toward the wooden door inside the room.", + "Backing off has given me the whole arched doorway and some floor again, so I have space to reorient. The wooden door lies back across the room behind me, so I will turn right to begin swinging my heading away from this arch.", + "Only the edge of the arched door and a stretch of wall remain in view, so I have not yet come around far enough. I will keep turning right to continue sweeping my heading back toward the room's interior.", + "Now I face bare plaster with my own shadow on it and no doorway or open floor in sight. I will turn right once more to keep rotating until the room opens up ahead of me again.", + "My view is filled by a blank interior corner, so there is nothing here to steer by. Having marked the arched doorway behind me, I keep rotating right to swing my heading back toward the open room where a wooden door should be found.", + "The corner has slid past and a shuttered window edge has entered at the right of my view, but I still see only blank plaster and no doorway. I will turn right again to keep sweeping the wall until the room interior opens up.", + "The window now sits centered in front of me on an otherwise featureless wall, which is not the wooden door I want. Another right turn should carry my heading further along this wall toward the open floor of the room.", + "The window has shifted to my left and the wall is now receding into depth with floor appearing at the lower right, so the room is starting to open. I will continue turning right to bring that open space in front of me.", + "The room is now open ahead of me with an arched opening far off to the right and a flat door panel further along the left wall. One more right turn should place the room's depth squarely ahead so I can walk straight across it toward that door.", + "The room now lies straight ahead with clear floor between me and the far wall, and a plain panelled door stands along the left side. With my heading finally down the room, I will walk forward to close the distance toward that door.", + "The far wall and its arched opening have grown larger, confirming my step carried me into the room. The plain door on the left wall is still ahead of my position, so I keep walking forward.", + "The panelled door on my left is noticeably closer and its frame is now clearly separated from the wall. I am not yet beside it, so another step forward should bring me alongside that door.", + "The plank wooden door on the left wall is now clearly visible and steadily growing as I advance across this room. I will keep walking forward to draw level with it before turning toward its face.", + "I am now beside the wooden plank door, which sits far to my left while my heading still points down the room. Turning left should swing my body to face its panelled surface and handle squarely.", + "The wooden plank door now sits centred ahead of me with its handle in plain view, though a short stretch of floor still separates us. A step forward should bring me right up against it.", + "The wooden plank door fills my view at arm's length, its handle directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t5_a_pd/infos.json b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a9b19c16328360113962fce44955756868259fb2 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the ceramic pot by the small square window, then place it near the wooden door on the right.", + "Type": 5, + "Start_Pose": [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4157.41, + 18902.6, + 26968.562, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0 + ], + [ + 3601.613, + 18709.602, + 27054.24, + -0.006, + 50.841, + 0.0 + ], + [ + 3601.613, + 18709.602, + 27054.24, + -0.006, + 25.841, + 0.0 + ], + [ + 3714.887, + 18764.461, + 27053.651, + -0.006, + 25.841, + 0.0 + ], + [ + 3828.161, + 18819.32, + 27053.651, + -0.006, + 25.841, + 0.0 + ], + [ + 3941.435, + 18874.179, + 27053.381, + -0.006, + 25.841, + 0.0 + ], + [ + 3941.435, + 18874.179, + 27053.381, + -0.006, + 25.841, + 0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + -0.006, + 25.841, + 0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + -0.006, + 25.841, + 0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + 0.0, + 25.842, + -0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + 0.0, + 50.842, + -0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + 0.0, + 75.842, + -0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + 0.0, + 100.842, + -0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + 0.0, + 125.842, + -0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + 0.0, + 150.842, + -0.0 + ], + [ + 4054.709, + 18929.038, + 27054.048, + 0.0, + 175.842, + -0.0 + ], + [ + 3929.181, + 18938.163, + 27055.311, + 0.0, + 175.842, + -0.0 + ], + [ + 3803.653, + 18947.289, + 27053.559, + 0.0, + 175.842, + -0.0 + ], + [ + 3803.653, + 18947.289, + 27053.559, + 0.0, + 150.842, + -0.0 + ], + [ + 3866.529, + 18912.209, + 27053.559, + 0.0, + 150.842, + -0.0 + ], + [ + 3866.529, + 18912.209, + 27053.559, + 0.0, + 150.842, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4157.41, + 18902.6, + 26968.562, + 0.0, + 0.0, + 0.0 + ], + [ + 4044.852, + 18947.99, + 27023.559, + -28.202, + 75.987, + 1.862 + ], + [ + 4037.018, + 18942.649, + 27023.832, + -28.189, + 100.999, + 1.872 + ], + [ + 4032.907, + 18934.696, + 27023.165, + -28.215, + 125.969, + 1.849 + ], + [ + 4027.611, + 18929.415, + 27023.218, + -14.092, + 143.186, + 6.87 + ], + [ + 4037.563, + 18916.114, + 27023.234, + -28.208, + 175.984, + 1.851 + ], + [ + 4044.201, + 18909.125, + 27023.902, + -28.198, + -159.012, + 1.867 + ], + [ + 4052.881, + 18906.185, + 27023.549, + -28.195, + -134.013, + 1.865 + ], + [ + 3928.537, + 18916.799, + 27023.96, + -28.195, + -134.009, + 1.87 + ], + [ + 3803.139, + 18925.917, + 27024.186, + -28.197, + -134.015, + 1.87 + ], + [ + 3793.687, + 18929.069, + 27023.036, + -28.209, + -159.021, + 1.853 + ], + [ + 3805.399, + 18946.314, + 27033.559, + 0.0, + 150.842, + -0.0 + ], + [ + 3805.399, + 18946.314, + 27033.559, + 0.0, + 150.842, + -0.0 + ] + ], + "PD_Dist_2D": [ + 698.6, + 588.4, + 588.4, + 463.6, + 339.6, + 217.8, + 217.8, + 106.0, + 106.0, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 20.8, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits far ahead on the floor beside the small square window on the left wall, well out of reach. I will walk forward to close that large gap before worrying about heading. The open floor ahead looks clear of obstacles.", + "The pot now sits well off to the left edge of my view while my heading points down the wall with the tall grey door. Continuing straight would carry me past it, so I will turn left to bring the pot and its small square window nearer the center of my path.", + "The turn worked, and the ceramic pot now sits ahead of me on the floor with the small square window on the wall to its right. The path across the empty room is unobstructed. I will walk forward to shorten the remaining distance toward it.", + "The pot has grown noticeably larger and stays near the center of my view, so my heading is still good. It remains too far for a grasp attempt. I will keep walking forward to close the gap.", + "The ceramic pot is now clearly in front of me on the floor below the small square window, but it still sits a couple of paces off. I will step forward again to bring it within reach before attempting to lift it.", + "The ceramic pot sits on the floor ahead of me against the wall below the small square window, and it is now the clearest thing in front of me. I will reach for it and try to grasp it from here, hoping I am already close enough for the grab to register.", + "My hands are still empty, so that reach did not take hold of the pot. The gap between me and it was likely still too wide for a grasp. I will step forward to close that distance before trying again.", + "I am now right up against the wall with the small square window, but the pot no longer appears anywhere in my forward view, which means it must be sitting low and close beneath my line of sight. I will look down to bring it back into view before reaching for it.", + "The pot's rim is now clearly in the lower part of my view, right beside my feet under the small square window. At this range it should be well within reach. I will attempt the grasp again.", + "The pot is now lifted and moving with me, so the grasp took hold this time. The wooden door I need to reach lies well behind my current heading, on the other side of the room from this window wall. I will turn right to start swinging my facing around toward it.", + "The pot is in my hands, so the pickup held and only the placement remains. Ahead of me there is just the plaster wall with the small square window, which is the wrong side of the room for the wooden door. I will keep rotating right to swing my heading away from this wall.", + "My view is still filled by bare plaster and my own shadow, with no doorway or open floor in sight. Carrying the pot, I need a heading that faces back into the room toward the wooden door. Another right turn should continue that sweep.", + "The wall is still close in front of me and nothing usable has entered the view yet. Since I am holding the pot and must reach the wooden door on the far side, I keep turning in the same direction rather than stopping halfway. One more right step of rotation should bring open floor into view.", + "The wall now slides off to my left and a door frame is just appearing at the right edge of my view. That is the direction I need for placing the pot, so I continue rotating right. This should bring the door and the floor in front of it fully into view.", + "The wooden door on the wall and the open floor beside it are now visible ahead and slightly right, with the arched opening beyond. My heading is still angled into the near wall, so a final right turn should line me up with the clear path toward that door while I carry the pot.", + "The pot is in my hands, so now I only need to carry it to the target door. From this heading the tall wooden door sits along the wall to my left, still several paces off down the room. I walk forward to close that distance.", + "The wooden door on my left has grown noticeably larger, confirming I am closing on it while still holding the pot. I am not yet beside it, so another step forward should bring me level with its frame before I set the pot down.", + "I am now level with the wooden door, but it lies off the edge of my view on the left while my body faces down the room. Turning left should square me to the door panel so the pot can be released right beside it.", + "The wooden door now fills the view directly in front of me, its handle within arm's reach, and the pot is still held. This spot on the floor is right at the door, which is where the pot belongs. I release it here.", + "The ceramic pot now rests on the floor directly beside the wooden door and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t5_b_pd/infos.json b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1026aeafac4d2535a0df0a31df5a3dbbb30c28d --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003522_y018612_z027057_t5_b_pd/infos.json @@ -0,0 +1,525 @@ +{ + "Instruction": "Lift the green bell pepper at the arched doorway, then leave it near the door on the right.", + "Type": 5, + "Start_Pose": [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4381.535, + 18776.59, + 27000.512, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3522.136, + 18612.011, + 27056.532, + -0.006, + 50.841, + 0 + ], + [ + 3522.136, + 18612.012, + 27056.532, + -0.006, + 25.841, + 0.0 + ], + [ + 3635.41, + 18666.871, + 27054.067, + -0.006, + 25.841, + 0.0 + ], + [ + 3748.684, + 18721.729, + 27053.631, + -0.006, + 25.841, + 0.0 + ], + [ + 3861.958, + 18776.588, + 27053.631, + -0.006, + 25.841, + 0.0 + ], + [ + 3861.958, + 18776.588, + 27053.631, + -0.006, + 0.841, + 0.0 + ], + [ + 3987.803, + 18778.436, + 27053.631, + -0.006, + 0.841, + 0.0 + ], + [ + 4113.649, + 18780.283, + 27053.631, + -0.006, + 0.841, + 0.0 + ], + [ + 4239.494, + 18782.13, + 27053.631, + -0.006, + 0.841, + 0.0 + ], + [ + 4239.494, + 18782.13, + 27053.631, + 0.0, + 0.84, + -0.0 + ], + [ + 4239.494, + 18782.13, + 27053.631, + 0.0, + 25.84, + -0.0 + ], + [ + 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+ 27053.559, + 0.0, + 125.84, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4381.535, + 18776.59, + 27000.512, + 0.0, + 0.0, + 0.0 + ], + [ + 4238.571, + 18803.473, + 27023.559, + -28.202, + 50.985, + 1.862 + ], + [ + 4229.214, + 18801.943, + 27023.832, + -28.189, + 75.997, + 1.872 + ], + [ + 4222.127, + 18796.472, + 27023.165, + -28.215, + 100.967, + 1.849 + ], + [ + 4215.095, + 18793.925, + 27023.218, + -14.092, + 118.184, + 6.87 + ], + [ + 4218.493, + 18777.664, + 27023.234, + -28.208, + 150.982, + 1.851 + ], + [ + 4221.555, + 18768.524, + 27023.902, + -28.198, + 175.986, + 1.867 + ], + [ + 4228.179, + 18762.192, + 27023.549, + -28.195, + -159.015, + 1.865 + ], + [ + 4119.973, + 18824.365, + 27023.96, + -28.195, + -159.01, + 1.87 + ], + [ + 4010.18, + 18885.627, + 27024.186, + -28.197, + -159.017, + 1.87 + ], + [ + 4018.263, + 18882.888, + 27023.036, + -28.209, + -134.023, + 1.853 + ], + [ + 3893.137, + 18892.576, + 27023.374, + -28.211, + -134.03, + 1.853 + ], + [ + 3884.621, + 18895.817, + 27023.728, + -28.189, + -159.003, + 1.873 + ], + [ + 3774.337, + 18952.084, + 27023.177, + -28.195, + -159.012, + 1.862 + ], + [ + 3668.609, + 18957.474, + 27023.449, + -28.213, + -159.027, + 1.854 + ], + [ + 3662.305, + 18963.987, + 27023.874, + -28.193, + 175.989, + 1.866 + ], + [ + 3679.73, + 18974.746, + 27043.559, + 0.0, + 125.84, + -0.0 + ], + [ + 3679.73, + 18974.746, + 27043.559, + 0.0, + 125.84, + -0.0 + ] + ], + "PD_Dist_2D": [ + 875.0, + 875.0, + 754.1, + 635.2, + 519.6, + 519.6, + 393.7, + 267.9, + 142.1, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 21.9, + 21.4, + 20.4, + 21.4, + 21.4, + 20.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits far off to my left, resting on the floor beside the arched doorway, while my body faces the plain wall and its plank door. I will turn left to bring that arched opening and the pepper into the middle of my view before walking toward it.", + "The arched doorway with the green pepper in front of it now sits ahead of me, with clear open floor between us. I will walk forward to close that long gap toward the target.", + "The pepper and its arched doorway have grown larger ahead of me, so my heading is still good and the floor stays clear. I will keep walking forward to shorten the remaining distance.", + "The green pepper is clearly visible at the base of the arched doorway ahead and slightly left of my heading, still several strides away. I will advance again, since I am not yet close enough to reach it.", + "The pepper now sits noticeably left of my heading, near the left edge of the room's far wall, so walking straight would carry me past it. I will turn left to place it squarely in front of me before continuing.", + "The pepper is now centered in front of me at the foot of the arched door, but still too far to grasp. I will step forward along this corrected heading to close in on it.", + "The green pepper stays dead ahead beneath the glazed arched door and is clearly bigger than before, confirming my line is correct. I will keep walking forward to get within reach.", + "The pepper now fills much of the lower view directly in front of the arched door, but it still looks a step short of grasping range. I will take one more step forward so it should come close enough to lift.", + "The green bell pepper now fills the lower part of my view directly in front of the arched glass door, so I am within reach of it. I will attempt to grasp it now, since stepping any closer would push me into the door frame.", + "The pepper is in my hands and no longer resting on the floor, so the grasp succeeded. The plain door I must leave it beside lies far behind my current heading toward the arched doorway. I will turn right to begin swinging around toward that side of the space.", + "The arched glass door still occupies most of my view on the left, meaning I have only rotated part of the way around. Carrying the pepper, I will turn right again to keep sweeping my heading toward the opposite side of the room where the plain door stands.", + "Now I face a bare wall with a small window, with only a sliver of the arched doorway at the far left edge. That is not the delivery door, so I will continue turning right to bring more of the room into view while holding the pepper.", + "The window is centered ahead of me and blank plaster fills the rest of the view, so my heading is still short of the wall holding the plain door. I will turn right once more to keep rotating toward that unseen side.", + "The window has slid to the left of my view and only unbroken wall lies ahead, confirming I have not yet reached the heading I want. I will turn right again so the remaining part of the room, where the plain door should be, comes into sight.", + "A narrow grey door has appeared at the far right of my view along the long wall, which matches the door where the pepper belongs. It sits too far to the side to walk toward directly, so I will turn right once more to bring it into a workable heading.", + "The plain grey door is now clearly ahead on the far wall, with the arched opening beside it, and open floor lies between me and it. Carrying the pepper, I will walk forward to close that distance before positioning myself beside the door.", + "The bell pepper is still secure in my hands, so my remaining job is carrying it to the plain door set in the wall ahead on my left. The floor between me and that door is clear, so I walk forward to close the long gap.", + "I am now close to the left wall, and holding this heading would run me along it rather than into the open floor in front of the target door. I turn right to swing my heading away from the wall and into the clear space, keeping the door approachable from the front.", + "With the pepper still carried and my heading now clear of the near wall, the open floor stretches ahead toward the corner where the target door stands. I step forward to bring myself level with that door before squaring up to it.", + "The panelled target door now sits large on my left while I am facing past it toward the arched opening. I turn left so the door comes directly in front of me and I can walk straight at its base with the pepper.", + "The door is now centred ahead of me and the pepper is still held. I walk forward to close the remaining distance so I can set it down right against the door.", + "The door panels now fill much of my view, so I am nearly at the wall but not yet at the spot beside it where a released pepper would rest against the door. I take one more short step forward to finish closing that gap.", + "I am pressed very close to the wall surface and my heading is skewed against it rather than facing the door itself. I turn left to square up with the door so releasing the pepper should place it right at the door's base.", + "I am squared up right at the door with the pepper still in my hands and nothing between me and the door panels. I release it now so it should come to rest on the floor beside this door, which is what the task asks.", + "The green bell pepper now rests on the floor beside the panelled door, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003552_y019154_z027048_t0_a/infos.json b/dataset/trajectory/Old_Town/task_x003552_y019154_z027048_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c51dc489a896c653c3b49c6bbf6b6b7be8efc3 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003552_y019154_z027048_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the terracotta pot beside the wall.", + "Type": 0, + "Start_Pose": [ + 3552.402, + 19154.118, + 27048.416, + 0.0, + 153.6, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3552.402, + 19154.118, + 27048.416, + 0.0, + 153.6, + -0.0 + ], + [ + 3552.402, + 19154.117, + 27048.416, + 0.0, + 178.6, + -0.0 + ], + [ + 3426.581, + 19157.192, + 27048.416, + 0.0, + 178.6, + -0.0 + ], + [ + 3300.759, + 19160.267, + 27048.416, + 0.0, + 178.6, + -0.0 + ], + [ + 3177.918, + 19154.446, + 27048.407, + 0.0, + 178.6, + -0.0 + ], + [ + 3052.237, + 19155.853, + 27048.415, + 0.0, + 178.6, + -0.0 + ], + [ + 3052.237, + 19155.853, + 27048.415, + 0.0, + -156.4, + 0.0 + ], + [ + 2936.905, + 19105.465, + 27048.415, + 0.0, + -156.4, + 0.0 + ], + [ + 2823.221, + 19075.646, + 27048.404, + 0.0, + -156.4, + 0.0 + ], + [ + 2707.03, + 19029.673, + 27048.381, + 0.0, + -156.4, + 0.0 + ], + [ + 2707.03, + 19029.673, + 27048.381, + 0.0, + -156.4, + 0.0 + ], + [ + 2707.03, + 19029.673, + 27048.381, + 0.0, + -156.4, + 0.0 + ] + ], + "Rationale": [ + "From here the archway and its pillars block most of my forward view, while the open cobbled lane opens off to my right with a dark pot shape just visible far down it beside the stone wall. I will turn right to bring that lane and the pot near the center of my view so I can head straight toward the target.", + "The narrow cobbled alley now runs straight ahead between the stone walls, with a small dark pot standing far down on the right side against the wall. The path looks clear of obstacles, so I will step forward to begin closing the long distance to it.", + "The walls on either side have grown and the arched window on the right is closer, confirming my last step carried me along the alley. The terracotta pot beside the right wall is still far off, so I will continue straight ahead.", + "The alley continues to open toward a sunlit courtyard area with a bench, and the dark pot near the right-hand wall is now noticeably larger. Since my heading still points down the passage, another forward step should keep cutting the remaining distance.", + "The courtyard end of the alley is close now, with the bench on the left and the pot with its climbing plant standing against the stonework to my right. I will take another step forward so I emerge from the narrow passage and get within a short distance of the pot.", + "The terracotta pot with its ivy sits off to my right, hugging the base of the rough stone wall, while my heading still points past it into the open courtyard. I will turn right to bring the pot toward the center of my view before closing the last stretch.", + "After turning, the potted plant against the stone wall now sits near the middle of my view with clear cobblestones between us. I will step forward to close that remaining gap toward the pot.", + "The terracotta pot and the ivy trunk rising from it are much larger now, standing right against the stone wall a couple of paces ahead. I will move forward again to come up close beside it.", + "The terracotta pot with its slender leafy stem now sits just ahead at the base of the rough stone wall, low in my view and slightly left of my heading. There is still a short stretch of open cobblestone between me and it, so I will step forward once more to close that remaining gap.", + "I am now right beside the stone wall, and the pot's rim and stem are cut off near the bottom edge of my view while the wall blocks most of what is ahead. I will tilt my gaze downward so the pot and its base are fully visible for confirmation.", + "The terracotta pot stands directly before me at arm's reach against the stone wall, fully in view. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x003552_y019154_z027048_t5_a_p/infos.json b/dataset/trajectory/Old_Town/task_x003552_y019154_z027048_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8271aa32be2aace8c9c8a3ebe5f09912a7c49678 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x003552_y019154_z027048_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the trash bag from the terracotta pot beside the wall.", + "Type": 5, + "Start_Pose": [ + 3552.402, + 19154.118, + 27048.416, + 0, + 153.6, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2732.548, + 19159.521, + 26956.646, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3552.402, + 19154.118, + 27048.416, + 0, + 153.6, + 0 + ], + [ + 3552.402, + 19154.117, + 27048.416, + 0.0, + 178.6, + -0.0 + ], + [ + 3426.581, + 19157.192, + 27048.416, + 0.0, + 178.6, + -0.0 + ], + [ + 3300.759, + 19160.267, + 27048.416, + 0.0, + 178.6, + -0.0 + ], + [ + 3177.918, + 19154.446, + 27048.407, + 0.0, + 178.6, + -0.0 + ], + [ + 3052.237, + 19155.853, + 27048.415, + 0.0, + 178.6, + -0.0 + ], + [ + 2926.416, + 19158.928, + 27048.415, + 0.0, + 178.6, + -0.0 + ], + [ + 2926.416, + 19158.928, + 27048.415, + 0.0, + 178.599, + -0.0 + ], + [ + 2926.416, + 19158.928, + 27048.415, + 0.0, + 178.599, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2732.548, + 19159.521, + 26956.646, + 0.0, + 0.0, + 0.0 + ], + [ + 2732.548, + 19159.521, + 26956.646, + 0.0, + 0.0, + 0.0 + ], + [ + 2732.548, + 19159.521, + 26956.646, + 0.0, + 0.0, + 0.0 + ], + [ + 2732.548, + 19159.521, + 26956.646, + 0.0, + 0.0, + 0.0 + ], + [ + 2732.548, + 19159.521, + 26956.646, + 0.0, + 0.0, + 0.0 + ], + [ + 2732.548, + 19159.521, + 26956.646, + 0.0, + 0.0, + 0.0 + ], + [ + 2732.548, + 19159.521, + 26956.646, + 0.0, + 0.0, + 0.0 + ], + [ + 2926.504, + 19137.565, + 27018.523, + -28.202, + -131.256, + 1.862 + ], + [ + 2926.504, + 19137.565, + 27018.523, + -28.202, + -131.256, + 1.862 + ] + ], + "PD_Dist_2D": [ + 819.9, + 819.9, + 694.0, + 568.2, + 445.4, + 319.7, + 193.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The stone archway and pillar block most of my forward view, while the open cobbled alley with a terracotta pot and a dark bundle lies off to my right. I will turn right to place that alley squarely ahead so the trash bag stays in view. This should give me a clear walking line toward it.", + "The alley now runs straight ahead between the stone walls, with the dark trash bag and the terracotta pot small in the distance. Nothing blocks the cobbles in front of me, so I will walk forward to close that gap. The target should grow larger as I advance.", + "The bag by the wall and the terracotta pot beside it are noticeably nearer than before, and the hanging gourds now pass overhead. The lane remains open, so I will keep walking forward along it. I am still far from grabbing distance.", + "The dark trash bag is now clearly resting against the left wall with the terracotta pot on the right side of the lane. The cobbles between us are unobstructed, so I continue walking straight toward it. A few more steps should bring it within reach.", + "The trash bag is now large in the lower left of my view, sitting on the ground beside the wall and the potted plant. My heading already points along the lane, so no turn is needed and I simply step forward again. This should shorten the remaining distance to grasping range.", + "I see the trash bag close in front of me and slightly left, still a bit too far out to grab comfortably. I will take one more step forward so it sits directly within my reach. After that I expect to be positioned for the grasp.", + "The trash bag now fills the lower part of my view, resting against the wall right beside the terracotta pot and well within arm's reach. My hands are empty and nothing stands between me and it, so I will attempt to pick it up. This grasp should complete the task requirement.", + "The trash bag is now held in my hands rather than resting beside the terracotta pot. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_a/infos.json b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed7d10f35ac2c5bdc6cadde4e96d902b88f00789 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the metal trash can, then head toward the left window.", + "Type": 3, + "Start_Pose": [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0.0 + ], + [ + 4698.813, + 18245.782, + 26847.841, + -0.006, + 95.961, + -0.0 + ], + [ + 4685.743, + 18370.96, + 26850.609, + -0.006, + 95.961, + -0.0 + ], + [ + 4685.743, + 18370.96, + 26850.609, + -0.006, + 120.961, + -0.0 + ], + [ + 4620.994, + 18478.887, + 26850.356, + -0.006, + 120.961, + -0.0 + ], + [ + 4620.994, + 18478.887, + 26850.356, + -0.006, + 120.961, + -0.0 + ], + [ + 4620.994, + 18478.887, + 26850.356, + -0.006, + 95.961, + -0.0 + ], + [ + 4620.994, + 18478.887, + 26850.356, + -0.006, + 70.961, + 0.0 + ], + [ + 4620.994, + 18478.887, + 26850.356, + -0.006, + 45.961, + -0.0 + ], + [ + 4620.994, + 18478.887, + 26850.356, + -0.006, + 20.961, + -0.0 + ], + [ + 4738.524, + 18523.911, + 26849.823, + -0.006, + 20.961, + -0.0 + ], + [ + 4856.054, + 18568.934, + 26848.28, + -0.006, + 20.961, + -0.0 + ], + [ + 4856.054, + 18568.934, + 26848.28, + -0.006, + 20.961, + -0.0 + ] + ], + "Rationale": [ + "The ribbed metal trash can stands ahead on the right side of the cobbled lane, against the stone wall. The way between the buildings is clear, so I will walk forward to close the gap toward it.", + "The trash can is noticeably larger and lower in my view now, but still several paces off along the right-hand wall. I will keep walking forward to bring myself alongside it.", + "The trash can now sits well off to my right beside the stone wall, while my heading points down the lane past it. I will turn right to face the can directly so my next step should carry me to it rather than beyond it.", + "The trash can is now low and near in the lower left of my view, with open pavement between us. One more step forward should bring me right up beside it.", + "The ribbed metal trash can is right at my feet, its open rim filling the bottom of my view beside the stone corner. I have reached the trash can. I mark reaching it before setting off for the window on the left of the courtyard.", + "With the trash can reached, the heavy stone wall fills most of my view and hides the shuttered facade I want. I will turn left to swing my gaze away from this corner and back toward the open courtyard where the window lies.", + "The courtyard has opened up on my left, but the shuttered window on the pale facade is still outside my view behind that side. I will keep turning left to bring that wall around in front of me.", + "The brick and stone facade with its arched doorway is now entering my view on the left, and the shuttered window sits further around that way. I will turn left again to bring the window closer to the center of my heading.", + "The shuttered arched window in the pale stone wall sits off to my left, while my heading still points along the wall toward the doorway and steps. One more turn to the left should bring that window squarely in front of me so I can walk straight at it.", + "The shuttered arched window is now centered ahead of me with clear cobblestones between us. I will walk forward to close that gap toward the window.", + "The window and its green shutters now fill much of my view, so only a short distance remains. I will step forward once more to stand right at the window.", + "The shuttered window fills my view at arm's length, its sill and glass directly before me. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_b/infos.json b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ca687c7743e55aa40d5b09931047e2a20fe9f6d2 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_b/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Approach the stone archway entrance, then move to the metal trash can.", + "Type": 3, + "Start_Pose": [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0.0 + ], + [ + 4698.813, + 18245.782, + 26847.841, + -0.006, + 95.961, + -0.0 + ], + [ + 4685.743, + 18370.96, + 26850.609, + -0.006, + 95.961, + -0.0 + ], + [ + 4672.672, + 18496.139, + 26850.101, + -0.006, + 95.961, + -0.0 + ], + [ + 4659.601, + 18621.317, + 26848.416, + -0.006, + 95.961, + -0.0 + ], + [ + 4666.561, + 18733.795, + 26848.774, + -0.006, + 95.961, + -0.0 + ], + [ + 4666.525, + 18859.023, + 26848.983, + -0.006, + 95.961, + -0.0 + ], + [ + 4658.886, + 18984.104, + 26848.416, + -0.006, + 95.961, + -0.0 + ], + [ + 4645.816, + 19109.282, + 26849.054, + -0.006, + 95.961, + -0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + 95.961, + -0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + 95.961, + -0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + 120.961, + -0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + 145.961, + 0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + 170.961, + 0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + -164.039, + 0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + -139.039, + 0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + -114.039, + 0.0 + ], + [ + 4632.745, + 19234.46, + 26848.438, + -0.006, + -89.039, + 0.0 + ], + [ + 4634.856, + 19108.619, + 26849.281, + -0.006, + -89.039, + 0.0 + ], + [ + 4634.856, + 19108.619, + 26849.281, + -0.006, + -64.039, + 0.0 + ], + [ + 4689.952, + 18995.46, + 26848.224, + -0.006, + -64.039, + 0.0 + ], + [ + 4689.952, + 18995.46, + 26848.224, + -0.006, + -89.039, + 0.0 + ], + [ + 4692.063, + 18869.619, + 26848.224, + -0.006, + -89.039, + 0.0 + ], + [ + 4694.174, + 18743.778, + 26848.702, + -0.006, + -89.039, + 0.0 + ], + [ + 4694.174, + 18743.778, + 26848.702, + -0.006, + -114.039, + 0.0 + ], + [ + 4694.174, + 18743.778, + 26848.702, + -0.006, + -114.039, + 0.0 + ] + ], + "Rationale": [ + "The cobbled lane runs straight ahead and ends at a stone archway raised on a short flight of steps, which is the entrance I need to reach first. The way between the buildings is clear, so I will walk forward along the lane to close that distance.", + "The archway and its potted plants have grown slightly larger ahead of me, confirming my heading is carrying me toward the entrance. Nothing blocks the paving between here and those steps, so I will keep walking straight.", + "The metal trash can now sits close beside the right-hand wall, showing how much ground I have covered, while the archway is still some way off up the lane. My alignment with the arch is good, so another step forward continues the approach.", + "The trash can has slipped to the lower right edge of my view as I draw level with it, and the arched opening with its low steps sits clearly ahead. I will keep advancing toward that entrance before concerning myself with anything else.", + "The archway fills more of my view now, with its flanking pillars and the low steps leading up to it plainly visible ahead. The paving in front of me is open, so I will continue walking toward the opening.", + "I can now make out the wooden doors set inside the stone arch and the lanterns on either side, so the entrance is close. A few more paces should bring me right up to the foot of its steps, and I will step forward again.", + "The arched doorway now dominates my view, its open leaves and the courtyard glimpsed beyond it directly ahead of me. I am not yet at the threshold, so I will walk forward once more to stand at the entrance.", + "The stone steps and the open doors of the archway are right in front of me, filling most of my view. One more pace should put me at the entrance itself, so I will step forward.", + "The arched stone opening now fills my view, with its heavy wooden doors swung wide and the low steps immediately at my feet. One more stride should bring me right up onto the threshold of the archway entrance.", + "The open door leaf and the arched stonework are right beside me, with the passage under the arch opening onto the courtyard beyond. I have reached the stone archway entrance. I mark reaching it and turn my attention to the metal trash can standing back along the cobbled lane.", + "The archway threshold is behind me now and nothing of the metal trash can shows in this narrow view of the door and the dark courtyard. Turning right should start swinging my heading back toward the open cobbled lane where that bin stood against the wall.", + "So far the turn has only brought the door panel and a blank stone wall with a capped pillar into view, no sign of the metal bin. I will keep rotating right to bring more of the open lane into my forward view.", + "My heading is still into a flat stone facade with the pillar cap in the foreground and no route ahead. Another turn to the right should carry my view past this wall toward the paved way leading back down the street.", + "The corner of the building and the low parapet with potted plants now block the way in front of me, and the metal trash can is still not in sight. I will turn right again to keep sweeping my heading toward the descending steps and the open lane.", + "The terrace edge and its steps down are coming into the lower part of my view, but the wall still fills most of what lies ahead. Continuing to turn right should line me up with the drop to the cobbles rather than this facade.", + "The massive stone corner of the building is straight ahead, while the cobbled paving opens away to my right. One more right turn should put that open lane in front of me so I can walk it toward the metal trash can.", + "The corner of the stone building still fills the left of my view, but on the right the ground opens into a wide cobbled lane running past the tower. I will turn right once more to finish swinging my heading onto that open street, where I can start looking for the metal trash can.", + "The lane now runs straight ahead between the tall stone walls, with a bench along the left side and open pavement further on. Nothing blocks the near cobbles, so I will walk forward to cover ground and bring more of this street into view while searching for the trash can.", + "The bench and its splayed legs now crowd the left half of the lane directly in front of me. Turning right should aim me down the clear cobbles beside the arched facades on that side, keeping an open line as I continue along the street.", + "The pavement ahead beside the arched doorways is clear, and a dark slatted metal can is just showing at the far left edge of my view down the lane. I will step forward to close that distance and bring it into better view.", + "Advancing along the right side of the lane has pushed the metal trash can out to my far left, barely inside what I can see. I will turn left to bring it back toward the middle of my view before closing on it.", + "The slatted metal trash can now stands ahead and to my left, beside the low stone wall and wooden decking. Several paces of open cobblestone lie between us, so I will walk forward to close the gap.", + "The metal can is noticeably larger now, sitting at the foot of the wall next to the wooden decking on my left. It is still a couple of paces off, so I will keep walking forward to draw level with it.", + "I have come up level with the trash can and it has slipped into the very corner of my view on the left, only its rim still showing. I will turn left so it sits squarely in front of me at arm's reach.", + "The metal trash can stands directly beside me at arm's length, filling the lower left of my view. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_c/infos.json b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f1f4149b23f575464bb043a0354370c2fe4c0e5 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t3_c/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Head toward the potted plant near the archway, then reach the green door.", + "Type": 3, + "Start_Pose": [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0.0 + ], + [ + 4698.813, + 18245.782, + 26847.841, + -0.006, + 95.961, + -0.0 + ], + [ + 4685.743, + 18370.96, + 26850.609, + -0.006, + 95.961, + -0.0 + ], + [ + 4672.672, + 18496.139, + 26850.101, + -0.006, + 95.961, + -0.0 + ], + [ + 4672.672, + 18496.139, + 26850.101, + -0.006, + 70.961, + 0.0 + ], + [ + 4713.729, + 18615.113, + 26848.529, + -0.006, + 70.961, + 0.0 + ], + [ + 4754.785, + 18734.087, + 26847.699, + -0.006, + 70.961, + 0.0 + ], + [ + 4795.842, + 18853.061, + 26848.416, + -0.006, + 70.961, + 0.0 + ], + [ + 4836.899, + 18972.035, + 26848.416, + -0.006, + 70.961, + 0.0 + ], + [ + 4836.899, + 18972.035, + 26848.416, + -0.006, + 95.961, + -0.0 + ], + [ + 4823.828, + 19097.214, + 26847.697, + -0.006, + 95.961, + -0.0 + ], + [ + 4823.828, + 19097.214, + 26847.697, + -0.006, + 70.961, + 0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + 70.961, + 0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + 70.961, + 0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + 70.961, + 0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + 45.961, + -0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + 20.961, + -0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + -4.039, + -0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + -29.039, + -0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + -54.039, + -0.0 + ], + [ + 4864.885, + 19216.188, + 26848.396, + -0.006, + -79.039, + -0.0 + ], + [ + 4879.506, + 19096.011, + 26846.876, + -0.006, + -79.039, + -0.0 + ], + [ + 4885.932, + 18977.021, + 26848.397, + -0.006, + -79.039, + -0.0 + ], + [ + 4885.877, + 18856.289, + 26848.402, + -0.006, + -79.039, + -0.0 + ], + [ + 4885.877, + 18856.289, + 26848.402, + -0.006, + -79.039, + -0.0 + ] + ], + "Rationale": [ + "From the mouth of this cobbled lane I can see an arched opening at the far end, with a small potted plant standing beside it on a low pedestal. That plant by the archway is where I need to get first, and the paving between us is clear. I will walk straight ahead to close the distance.", + "The archway and the plant beside it have grown noticeably larger, so my heading down this lane is good. Nothing blocks the stones ahead except a bin set against the wall on my right. I will keep walking forward.", + "The stepped platform under the arch is now clearly visible, with the potted greenery on its pedestal at the left side of those steps. I still have several strides of open pavement before reaching it. Another step forward should bring the plant within a short approach.", + "As I have come closer, the arch and its potted plant have drifted toward the left of my view while the curved building wall crowds my right. Walking on as I face now would carry me past them. Turning left should put the plant and archway back in front of me.", + "The turn has brought the archway and the plant on its pedestal squarely ahead of me. The cobbles run straight up to the low steps beneath the arch without obstruction. I will advance along that line.", + "The arch now fills a good part of my view and the greenery on the pedestal is clearly picked out beside the stairs to its left. I am still a few strides short of standing beside it. I will keep moving forward.", + "The pedestal with its trailing green plant is close now, just left of the steps leading up under the arch, and a second flowering pot sits at its base. A little more ground still separates me from it. Another stride forward should bring me alongside.", + "The planted pedestal and the open arched doorway beside it are only a short walk off, both filling the right half of my view while the wooden benches sit to my left. I am not yet close enough to count myself at the plant. I will step forward again.", + "The archway with its open door has drifted to the right edge of my view, and the potted greenery on the low pillar sits just left of it. I will turn right to bring the arch and that plant back to the centre of my path before advancing further.", + "The arch now stands squarely ahead with the steps below it, and the leafy pot on the stone pillar is clearly to the left of the opening. I will walk forward to close the remaining distance to that plant.", + "From this closer stance the trailing plant on the pillar and the flowering pot beneath it sit off to my left while the doorway fills the centre. I will turn left so the greenery is directly in front of me.", + "The pillar with its spilling green pot and the pink flowers below now sit ahead and slightly right, only a short gap of paving away. I will step forward to stand right beside the plant.", + "I am close enough that the terracotta pot on the pillar fills the upper right of my view and its base is cut off below. I will look down to bring the plants at ground level fully into sight and confirm I am standing at them.", + "The flowering pot and the trailing green plant beside the archway are right at my feet, close enough to touch. I have reached the potted plant by the arch. I mark arriving here before setting off for the green door.", + "With the plants beside the arch already reached, my gaze is fixed downward on paving and pots, which shows me nothing of the surrounding street. I will turn left to sweep my view around and start looking for the green door.", + "The heading now shows only a blank stone wall and the wooden decking, with no doorway anywhere in sight. I will keep turning left to carry the sweep further around toward the open street where the green door may be.", + "Facing the wooden decking with stone walls boxing in this corner, I see no route toward a green door here. I will keep pivoting left to swing my view across the courtyard and find the open way out.", + "The decking and a rising stone stair edge now fill my view, still enclosed by walls rather than opening onto a street. Another left pivot should carry my heading further around toward whatever passage leads to the green door.", + "A masonry staircase and the brick house wall block everything ahead of me, so this heading offers nothing to walk toward. I will continue turning left, expecting the enclosed corner to give way to open ground.", + "At the left edge of my view a cobbled lane and a dark arched doorway have appeared past the corner of the stair block. One more left pivot should bring that open street to the center of my heading so I can walk down it.", + "The cobbled lane now runs straight ahead between the buildings, with a doorway set into the right-hand facade further along. I will walk forward along this open paving to close on that door.", + "The lane stays clear and the pale green door panel on the right wall is closer and more distinct than before. I keep walking forward to reduce the remaining gap along the facade.", + "The tall green door with its arched top is now directly beside my path on the right, only a short stretch of cobbles away. One more forward step should place me level with its panels.", + "The green door and its handle fill the right of my view at arm's length. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t5_a_pd/infos.json b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88e044887654739df6f5793ad2e5f1a79b31fcf6 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the candelabra at the metal trash can, then drop it near the left window.", + "Type": 5, + "Start_Pose": [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4686.921, + 18535.277, + 26775.104, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0 + ], + [ + 4698.813, + 18245.782, + 26847.841, + -0.006, + 95.961, + -0.0 + ], + [ + 4685.743, + 18370.96, + 26850.609, + -0.006, + 95.961, + -0.0 + ], + [ + 4685.743, + 18370.96, + 26850.609, + 0.0, + 95.961, + -0.0 + ], + [ + 4685.743, + 18370.96, + 26850.609, + 0.0, + 70.961, + -0.0 + ], + [ + 4685.743, + 18370.96, + 26850.609, + 0.0, + 45.961, + -0.0 + ], + [ + 4773.233, + 18461.436, + 26847.882, + 0.0, + 45.961, + -0.0 + ], + [ + 4860.724, + 18551.912, + 26848.357, + 0.0, + 45.961, + -0.0 + ], + [ + 4860.724, + 18551.912, + 26848.357, + 0.0, + 20.961, + -0.0 + ], + [ + 4887.868, + 18586.331, + 26848.416, + 0.0, + 20.961, + -0.0 + ], + [ + 4887.868, + 18586.331, + 26848.416, + 0.0, + -4.039, + 0.0 + ], + [ + 4816.046, + 18591.403, + 26848.416, + 0.0, + -4.039, + 0.0 + ], + [ + 4816.046, + 18591.403, + 26848.416, + 0.0, + -4.039, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4686.921, + 18535.277, + 26775.104, + 0.0, + 0.0, + 0.0 + ], + [ + 4686.921, + 18535.277, + 26775.104, + 0.0, + 0.0, + 0.0 + ], + [ + 4686.921, + 18535.277, + 26775.104, + 0.0, + 0.0, + 0.0 + ], + [ + 4664.567, + 18368.136, + 26820.601, + -28.202, + 146.105, + 1.862 + ], + [ + 4666.256, + 18377.034, + 26820.873, + -28.189, + 121.118, + 1.872 + ], + [ + 4671.349, + 18385.097, + 26820.206, + -28.215, + 96.088, + 1.849 + ], + [ + 4757.679, + 18476.072, + 26817.186, + -28.202, + 96.102, + 1.858 + ], + [ + 4845.065, + 18566.436, + 26816.596, + -28.208, + 96.103, + 1.852 + ], + [ + 4852.889, + 18570.708, + 26817.251, + -28.2, + 71.106, + 1.865 + ], + [ + 4879.672, + 18606.056, + 26818.44, + -28.206, + 71.1, + 1.858 + ], + [ + 4888.869, + 18606.816, + 26818.56, + -28.198, + 46.106, + 1.863 + ], + [ + 4885.872, + 18586.473, + 26818.416, + 0.0, + -74.039, + 0.0 + ], + [ + 4885.872, + 18586.473, + 26818.416, + 0.0, + -74.039, + 0.0 + ] + ], + "PD_Dist_2D": [ + 415.4, + 289.7, + 164.3, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 20.4, + 21.4, + 20.5, + 70.0, + 70.0 + ], + "Rationale": [ + "The candelabra stands on the cobbles in the middle of the alley, right beside the metal trash can against the wall on my right. It is still far ahead, so I will walk straight down the lane to close that distance before any grasp is possible.", + "The candelabra and the metal trash can beside it now appear noticeably larger and lower in my view, confirming my previous step brought me closer. The candle arms are still several paces off, so I will advance again to reach grabbing range.", + "The candelabra now fills the lower center of my view with its candles at close range, and the metal trash can sits just beside it to my right, matching the described target. This is close enough to reach, so I will attempt to grab it.", + "The candelabra is in my hands now and no longer resting on the cobbles, so the grab succeeded. The task asks me to set it near the left window, and the shuttered windows of the building sit off to my left, so I will turn that way to bring them into view.", + "The left-hand facade with its arched shuttered windows and blue door is now in the left half of my view, but I am still angled down the alley rather than toward it. Another turn to the left should put that window wall in front of me while I carry the candelabra.", + "The stone facade with its two shuttered windows now sits squarely ahead of me, but the wall is still a good distance away across the open cobbles. I will walk forward to carry the candelabra up to that window before placing it.", + "The nearest arched window and its open shutters have grown much larger, so my last step closed part of the gap to the facade. I am still not beside the sill, so I will step forward again to bring the candelabra right up to the window.", + "I am now right against the facade, with the window frame and sill skewed off to my left edge and the wall filling most of my view. Turning left should square me with that window so the candelabra can be set down near it.", + "The candelabra is still in my hands and the tall shuttered window on this facade now fills my view at close range. I will take one short step forward to bring myself right up against the sill area so the release point counts as near this window.", + "I am carrying the candelabra and standing right at the facade, but my heading is skewed so the glazing and its frame edge sit off toward the left of my view. Turning left should square me with the window before I set the piece down.", + "I am now squarely facing the window, its panes and sill centered directly ahead of me, and the candelabra is still in my hands. This is the left window named in the task, so I will release the candelabra here and it should come to rest beside it.", + "The candelabra now stands on the ground directly beneath the left window, out of my hands. The task condition is met, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t5_b_pd/infos.json b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..914923a47e1bd09b4bcc3d884de4ee69c0e5a839 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x004712_y018121_z026848_t5_b_pd/infos.json @@ -0,0 +1,563 @@ +{ + "Instruction": "Pick up the plate beside the stone archway entrance, then set it down near the metal trash can.", + "Type": 5, + "Start_Pose": [ + 4711.884, + 18120.604, + 26848.416, + -0.006, + 95.961, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4705.395, + 19251.141, + 26793.646, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + 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+ 18728.18, + 26818.531, + -28.211, + -78.901, + 1.853 + ], + [ + 4670.617, + 18629.676, + 26818.558, + -28.199, + -78.894, + 1.863 + ], + [ + 4670.731, + 18629.812, + 26818.769, + -28.192, + -78.883, + 1.866 + ], + [ + 4654.894, + 18644.193, + 26818.773, + 90.0, + -129.039, + 0.0 + ], + [ + 4654.894, + 18644.193, + 26818.773, + 90.0, + -129.039, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1130.6, + 1005.4, + 880.4, + 755.7, + 755.7, + 636.1, + 519.4, + 519.4, + 393.6, + 267.7, + 141.9, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 21.0, + 21.4, + 21.4, + 20.8, + 21.4, + 20.3, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the white plate resting on the paving at the far end of this alley, right in front of the stone archway entrance. It is still a long way off, so I will walk forward along the cobbled lane to close that distance.", + "The plate by the archway has grown slightly larger in my view, so my previous step brought me closer along this lane. The way ahead is still clear cobblestone, so I will keep walking forward toward it.", + "The archway and the plate in front of it are noticeably closer now, and the metal trash can along the right wall has slid past my side. Nothing blocks the lane, so I continue advancing toward the plate.", + "The plate and the archway now sit left of my heading, with the building on my right crowding the lane. I will turn left to put the plate closer to the center of my view before continuing.", + "After turning, the archway with the plate at its base sits ahead of me in open courtyard space. I will step forward to keep closing on the plate.", + "The plate at the foot of the archway steps is clearly nearer and still within reachable line of travel. I will advance again to shorten the remaining gap.", + "My last steps have carried me left of the archway, so the plate now sits toward the right side of my view with the wall corner filling the left. I will turn right to face the plate squarely before closing in.", + "The turn has centered the plate directly in front of the arched entrance in my view. With the courtyard clear between us, I will walk forward to get within grasping range.", + "The white plate sitting at the foot of the stone archway entrance is now large and roughly centered ahead of me, so my heading is good. I will keep walking straight to close the remaining gap before attempting a grasp.", + "The plate now fills much of the lower center of my view against the arch steps, but it still looks a stride away from arm's reach. One more step forward should put me close enough to pick it up.", + "I am standing right at the archway steps with the plate immediately in front of me, filling the near foreground within reach. My hands are still empty, so I will attempt to pick it up now.", + "The grasp worked: the plate is now held in my hands rather than resting on the pavement by the archway. The metal trash can lies back along the courtyard behind me, so I will begin rotating left to swing my heading around toward it.", + "I am still facing the archway doors and the potted plant on the pillar, with no sign of the trash can in this direction. I will continue turning left to keep bringing my heading around toward the open courtyard behind me.", + "My view has swung onto the shaded stone wall and the wooden platform beside the entrance, which is not the way back. Carrying the plate, I will turn left again to keep sweeping toward the route leading back into the courtyard.", + "Ahead of me now are the stone staircase and the low wooden deck, a dead end for my errand with the plate. Another left turn should continue rotating me toward the open lane where the trash can stands.", + "The staircase and its stone balustrade still block the direction I am facing, so this is not the heading I need. I will keep turning left, since the courtyard lane with the metal trash can should come into view as I continue around.", + "With the plate in hand, I still face a blank stone facade with a shuttered door and a staircase, which offers no route back toward the metal can. I will keep rotating left to sweep my view further around toward the open cobbled street.", + "The corner of the brick building now sits ahead of me and the open lane is only just appearing at my left edge. I will turn left once more so the passage lines up in front of me for carrying the plate onward.", + "The lane now runs straight ahead between the buildings, and a small metal can stands far down on the left beside the wooden bench. Carrying the plate, I will walk forward along this open pavement to close that distance.", + "The metal trash can is clearly larger now on the left side of the lane, so my heading is carrying me toward it. I will take another step forward to draw level with that part of the street.", + "Walking on has pushed the trash can out of my forward view, since it lies off to my left rather than down the lane. I will turn left to bring it back into the center of my view before approaching further with the plate.", + "The metal trash can is back in sight on the left beside the bench, with clear paving between us. I will step forward to shorten that gap while still holding the plate.", + "The trash can has slipped to the very edge of my left periphery as I advanced, so my body is not squared to it. I will turn left to put it in front of me for a clean final approach.", + "The metal trash can now stands directly ahead of me against the stone wall, a short distance away. I will walk forward to stand right beside it so the plate can be set down close by.", + "I am carrying the plate and standing right at the corner where the metal trash can sits, but my gaze is aimed at the wall and rooftops so I cannot see the cobbles at my feet. I will look down to bring the ground beside the can into view and check the release spot before letting go.", + "With my view lowered, the metal trash can and the open cobbles beside it are directly in front of me, well within reach. The plate is still in my hands, so I will release it here so it should come to rest next to the can as the task requires.", + "I see the plate resting on the ground beside the metal trash can and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Town/task_x004720_y019225_z026848_t1_a/infos.json b/dataset/trajectory/Old_Town/task_x004720_y019225_z026848_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60550ca5dec3a875e39c289a3023cebfdcbfb9b6 --- /dev/null +++ b/dataset/trajectory/Old_Town/task_x004720_y019225_z026848_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Locate the ceramic pot with a long tree trunk rising from it, then navigate to where it stands.", + "Type": 1, + "Start_Pose": [ + 4719.812, + 19225.123, + 26848.337, + 0.0, + -12.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4719.812, + 19225.123, + 26848.337, + 0.0, + -12.8, + 0.0 + ], + [ + 4719.812, + 19225.123, + 26848.416, + 0.0, + -37.8, + 0.0 + ], + [ + 4719.812, + 19225.123, + 26848.416, + 0.0, + -62.8, + 0.0 + ], + [ + 4777.342, + 19113.182, + 26848.785, + 0.0, + -62.8, + 0.0 + ], + [ + 4834.872, + 19001.241, + 26848.291, + 0.0, + -62.8, + 0.0 + ], + [ + 4834.872, + 19001.241, + 26848.291, + 0.0, + -87.8, + 0.0 + ], + [ + 4839.703, + 18875.475, + 26848.291, + 0.0, + -87.8, + 0.0 + ], + [ + 4844.535, + 18749.708, + 26848.302, + 0.0, + -87.8, + 0.0 + ], + [ + 4849.366, + 18623.942, + 26848.363, + 0.0, + -87.8, + 0.0 + ], + [ + 4854.198, + 18498.176, + 26846.952, + 0.0, + -87.8, + 0.0 + ], + [ + 4859.029, + 18372.41, + 26848.289, + 0.0, + -87.8, + 0.0 + ], + [ + 4863.861, + 18246.643, + 26849.302, + 0.0, + -87.8, + 0.0 + ], + [ + 4863.861, + 18246.643, + 26849.302, + 0.0, + -62.8, + 0.0 + ], + [ + 4909.336, + 18183.571, + 26858.539, + 0.0, + -62.8, + 0.0 + ], + [ + 4909.336, + 18183.571, + 26858.539, + 0.0, + -62.8, + 0.0 + ], + [ + 4909.336, + 18183.571, + 26858.539, + 0.0, + -62.8, + 0.0 + ] + ], + "Rationale": [ + "From this spot I face a stone stairway and a raised wooden deck penned in by walls, with no ceramic pot or tree trunk anywhere in sight. I will turn left to sweep my view toward the open side of the courtyard where a walkable route may exist.", + "The turn has opened up a brick and stone building front with a doorway and steps, but I still see no pot with a trunk growing out of it. I will keep rotating left to bring the rest of the street into view and look for a corridor leading away from this facade.", + "A cobbled lane now runs ahead alongside the stone building, and far down it near the wall I can pick out a small dark pot shape by the archway. I will walk forward along this lane to close distance and get a clearer look at whether a trunk rises from it.", + "The lane is still clear underfoot and the pot down by the far archway is slightly larger in view, so my heading is useful. I will continue walking forward to keep closing on that candidate object.", + "The building wall on my right now crowds most of my view and pushes the distant pot toward the left edge of the lane ahead. I will turn left to swing my heading back down the open corridor so the target sits nearer the center of my path.", + "The alley is now centered in front of me with the pot standing against the wall beside the arch further along. I will step forward to keep advancing toward it along the clear cobbles.", + "The dark ceramic pot beside the wall is noticeably closer and I can see a slender woody shape leaning up out of it. I will continue walking forward to confirm the trunk and reach the pot's position.", + "I can now clearly make out the rounded ceramic pot on the paving ahead with a long bare trunk climbing from it toward the arch. The way between the low wall and the building stays clear, so I will keep moving forward to stand where it is.", + "Along the arcade on my right I can now clearly see a terracotta pot with a thick twisting trunk climbing out of it, which matches the target description. The paved lane ahead is open, so I will keep walking straight to close the remaining distance.", + "The potted trunk beside the archway has grown noticeably larger in view, confirming my heading is carrying me toward it. I will advance again along the open pavement since I am still several steps short of the pot.", + "The ceramic pot now sits at the base of the arcade pillar just ahead and slightly right, with its long trunk sweeping up the stonework. Another forward step should bring me alongside it rather than leaving it far down the lane.", + "The pot with the tall trunk has drifted to the right edge of my view as I came level with the arcade. I will turn right to face it directly so my final approach is squarely aimed at it.", + "Now the ceramic pot and its long trunk sit centered in front of me under the arcade, with clear paving between us. A short step forward should place me right at its base.", + "I am standing right beside the trunk, and at eye level I only see the bark and the wall, with the pot itself below my field of view. I will tilt my gaze downward to bring the ceramic pot at my feet into view and confirm I have reached it.", + "The ceramic pot with the long trunk rising from it stands directly at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-004862_y-006909_z000194_t3_a/infos.json b/dataset/trajectory/Pyramid/task_x-004862_y-006909_z000194_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bbb523cc124207c852908e4ef015f0708cf8d941 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-004862_y-006909_z000194_t3_a/infos.json @@ -0,0 +1,636 @@ +{ + "Instruction": "Walk to the left palm tree trunk, then head toward the stone wall opening.", + "Type": 3, + "Start_Pose": [ + -4861.761, + -6908.618, + 194.483, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4861.761, + -6908.618, + 194.483, + 0.0, + -178.56, + 0.0 + ], + [ + -4987.58, + -6911.781, + 194.762, + 0.0, + -178.56, + 0.0 + ], + [ + -5113.4, + -6914.944, + 194.212, + 0.0, + -178.56, + 0.0 + ], + [ + -5239.219, + -6918.107, + 194.165, + 0.0, + -178.56, + 0.0 + ], + [ + -5365.038, + -6921.27, + 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-8867.726, + 181.721, + 0.0, + -128.56, + 0.0 + ], + [ + -9716.114, + -8966.142, + 181.721, + 0.0, + -128.56, + 0.0 + ], + [ + -9794.566, + -9064.558, + 181.721, + 0.0, + -128.56, + 0.0 + ], + [ + -9873.018, + -9162.975, + 181.46, + 0.0, + -128.56, + 0.0 + ], + [ + -9951.471, + -9261.391, + 181.205, + 0.0, + -128.56, + 0.0 + ], + [ + -10029.923, + -9359.807, + 180.062, + 0.0, + -128.56, + 0.0 + ], + [ + -10029.923, + -9359.807, + 180.062, + 0.0, + -153.56, + 0.0 + ], + [ + -10142.617, + -9415.847, + 179.355, + 0.0, + -153.56, + 0.0 + ], + [ + -10255.311, + -9471.887, + 179.355, + 0.0, + -153.56, + 0.0 + ], + [ + -10368.006, + -9527.927, + 179.355, + 0.0, + -153.56, + 0.0 + ], + [ + -10480.7, + -9583.967, + 178.852, + 0.0, + -153.56, + 0.0 + ], + [ + -10593.394, + -9640.007, + 178.325, + 0.0, + -153.56, + 0.0 + ], + [ + -10706.089, + -9696.047, + 178.071, + 0.0, + -153.56, + 0.0 + ], + [ + -10818.783, + -9752.087, + 177.816, + 0.0, + -153.56, + 0.0 + ], + [ + -10818.783, + -9752.087, + 177.816, + 0.0, + -153.56, + 0.0 + ] + ], + "Rationale": [ + "Two palm trunks rise ahead of the ruined stone wall, and the nearer left one stands almost straight along my heading. Nothing blocks the open sand between us, so I will walk forward to begin closing that gap.", + "The left palm trunk has grown slightly larger and stays near the middle of my view, confirming my heading is good. I will keep walking forward across the smooth sand toward it.", + "The trunk of the left palm keeps rising in my view and the low green shrubs beneath it are becoming distinct, so I am steadily gaining ground. My path is still clear, so another step forward should bring me closer.", + "The left palm is still comfortably ahead of me and the wall behind it is spreading wider across my view as I close in. I will continue walking forward rather than adjust my heading.", + "The trunk of the left palm now reads clearly against the sunlit stone, and its crown has climbed above my field of view, which tells me I am getting near. The sand ahead stays open, so I will keep advancing.", + "The left palm trunk still sits ahead of me with the shrub row spreading to its right, and I am not yet within reach of its base. Walking forward again is the direct way to shorten the remaining distance.", + "The left palm now dominates the middle of my view and its base meets the sand only a short way ahead. Since my heading already points at it, I will simply step forward again.", + "The palm trunk fills a tall band of my view and the fronds have passed overhead, so only a few paces separate me from its base. I will keep walking forward to reach the trunk itself.", + "The left palm's trunk stands slightly right of my heading and its base is still well ahead across open sand. Nothing blocks the ripples between me and it, so I will keep walking straight to close the gap.", + "The trunk has grown thicker in view and the low green shrubs beside it are resolving into separate plants, so my approach is working. I will step forward again toward that trunk.", + "The palm trunk sits just left of straight ahead and its base is now clearly planted in the sand near the shrub line. Since my heading still points at it, another forward step should bring me closer.", + "The bark texture on the trunk is becoming readable and the fronds have risen out of the top of my view, both signs that the tree is much nearer. I will continue walking straight toward it.", + "The trunk now dominates the middle of my view and the shrubs to its right have swelled to fill the near ground. My path along the sand remains clear, so I will keep advancing on the trunk.", + "I am close enough that the trunk fills a broad band of my view and the stone wall behind it has spread wide across the background. I will step forward once more to bring myself up beside the trunk.", + "The trunk is only a short distance off, with the fan-leafed plants now crowding the sand immediately to its right. The sand in front of me stays open, so I will keep closing on the trunk.", + "The trunk stands just ahead and slightly left, and the nearest fan plant has grown large in front of me without blocking my line. A further step should put me right at the base of this palm.", + "The palm trunk on my left now fills a tall band of my view, so I am closing on it but not yet beside it. The sand between me and its base is open, with only low ferns to the right of my line. I will keep walking straight to bring the trunk alongside me.", + "The trunk's bark is resolving into individual ridges and it has slid further toward the left side of my view, which tells me I am nearly level with it. The ferns are low enough to walk past without deviating. Another step forward should bring me to its base.", + "The trunk now dominates the left of my view at arm-scale, so only a short gap of sand remains between us. Beyond it the long stone wall stands across my front with a dark gap in it. I keep stepping forward to draw level with the trunk.", + "The trunk has swung to the far left edge and I can see its curved surface from very near, meaning I am almost at its base. One more step should place me right beside it rather than short of it. I advance again.", + "The left palm trunk is right against my shoulder, filling the edge of my view so closely that I can read the grain of its bark. I have arrived at it. I mark reaching this trunk and now set off toward the dark opening in the stone wall ahead.", + "Standing at the palm trunk, my heading still points along the sand past a block of fallen masonry, while the dark gap in the long stone wall sits off to my right. Turning right should swing that opening toward the middle of my view so I can walk straight at it.", + "The turn brought the decorated stone wall across my front, with its dark rectangular opening now near the center of my view. Only sand and scattered low ferns lie between me and it. I walk forward to close that distance.", + "The wall's carved banding is growing more distinct and the dark opening stays roughly ahead of me, so my heading is still good. The ferns in my path are low enough to step through without detouring. I continue advancing toward that gap.", + "With the palm trunk behind me, the long carved stone wall now fills the view ahead and the dark rectangular opening sits just right of its central pillars. Low fern clumps in the sand are only ankle height and do not block a straight line to it, so I step forward to close the gap.", + "The wall and its pillars have grown noticeably taller in view, confirming my heading is carrying me straight toward the stonework. The gap in the wall stays in the same part of my view, so another forward step should keep narrowing the distance without any correction.", + "Sand is still open between the plant clumps directly in front of me, and the dark opening in the wall remains clearly visible past them. Nothing obstructs my path, so I continue walking toward it.", + "The wall's carved bands are now legible and the pillars stand well above my line of sight, so I am closing steadily. The gap in the masonry is still some distance off, and I keep advancing rather than adjusting my heading.", + "The fern clumps that crowded my view have fallen back toward the lower edge, leaving clear sand between me and the stonework. The opening between the pillars is still ahead and slightly right, so I press forward on this line.", + "The wall now rises above me and its base is plainly in sight, a sign I am well into the approach. The dark gap remains open ahead, so I take another step toward it.", + "Only a broad stretch of rippled sand separates me from the stone facade, with the remaining plants pushed off to my right. The opening still lies ahead of me, so continuing straight is the most direct way to reach it.", + "The carved wall now dominates my view and the recessed doorway sits between the two right-hand pillars, closer than before. The ground stays clear, so I keep walking to bring myself nearer that opening.", + "The carved stone wall now fills most of my view, and the dark gap in it sits a little to the right of my heading. The sand between me and the facade is open, so I keep walking to cut down that distance before fine tuning my direction.", + "The wall is close enough that its front face runs off to my left, while the dark opening lies off to my right rather than straight ahead. A turn to the right should swing that gap toward the middle of my view so I can walk straight at it.", + "After the turn the dark doorway in the wall sits ahead of me with open sand leading up to it. I walk forward to close on that gap.", + "The recessed opening in the stone facade is holding its place in my view and growing slightly, which tells me my heading is good. I keep stepping forward along the sand toward it.", + "The wall's carved band and the shadowed gap beneath it are clearer than a moment ago, so I am still closing. Nothing blocks the sand, so another forward step should bring the opening nearer.", + "The dark rectangle of the opening is deepening as the pylons beside it rise higher in my view. I continue walking straight toward that gap.", + "I am close enough now that the wall towers over the sand and the shadowed entrance stands out plainly ahead of me. Another step forward should keep bringing me in on it.", + "The opening is noticeably wider in my view and I can begin to make out the shaded floor inside it. I walk on to close the last stretch of sand.", + "The long carved stone wall fills the left of my view and the dark rectangular gap in it sits ahead and slightly left, still some distance off across open sand. My path over the smooth sand is clear, so I keep walking forward to close that distance.", + "The wall's carved band and the two tall pillars beside the gap have grown noticeably larger, confirming the last step brought me closer. Nothing blocks the sand in front of me, so another forward step should continue shrinking the gap to the opening.", + "The shadowed doorway in the stone wall is still ahead on my left and its dark interior is becoming easier to pick out. My current heading carries me steadily toward that side of the wall, so I keep walking rather than turning yet.", + "The opening's frame now reads clearly as a passage cut through the wall, and the pillars to its right tower higher in my view. Distance is still the only thing separating me from it, so I continue forward.", + "I am close enough now that the wall's inscriptions are legible and the dark gap sits low and broad ahead of me on the left. The sand slopes gently but stays walkable, so I press on toward the passage.", + "The doorway has slid further toward my left edge as I close on the wall, and its threshold is now near the sand line in front of me. I keep advancing to gain the remaining ground before I need to correct my heading.", + "Only a short stretch of rippled sand remains between me and the base of the wall, with the opening still clearly visible off to my left. Walking forward is the most direct way to reach the ground just in front of that passage.", + "The wall now dominates my left side and the shadowed opening is close, its dark interior plainly showing floor beyond. Nothing obstructs the last stretch of sand, so I step forward again to draw level with the passage.", + "The dark rectangular opening in the carved stone wall sits ahead and slightly left, still several body lengths off across open sand. Nothing blocks the flat sand between me and it, so I will keep walking forward to close the remaining gap.", + "The wall's carved face and its shadowed opening have grown noticeably larger, confirming my heading is carrying me straight in. I will step forward again to keep shrinking the distance to that gap.", + "The opening now shows depth, with floor visible inside past the threshold, so I am getting close. Another forward step should bring me nearer to the front of that gap.", + "The doorway has drifted toward the left edge of my view as I close on the wall, but it remains reachable straight ahead for now. I will advance once more before correcting my heading.", + "At this range the shadowed opening has slid well to my left while my heading points at the solid carved wall and its columns. I will turn left to bring the gap back in front of me so I can walk into it rather than into stone.", + "The turn worked: the dark opening now sits squarely ahead with its interior floor visible through it. I will walk forward along this corrected line toward the gap.", + "The doorway frame and the pale floor inside keep expanding, so this heading is taking me straight at the gap. I will continue forward to reach the threshold.", + "I am nearly at the wall now, with the opening wide in front of me and a lit patch deep inside visible through it. One more step forward should carry me right up to the gap.", + "The dark gap in the carved stone wall now fills the left half of my view, with its lintel and shaded interior clearly visible just a few paces off. My heading points straight at that gap, so another step forward should close the remaining sand between me and the threshold.", + "The doorway has grown until its frame nearly spans my view, and I can see the pale floor and a bright far opening inside. Nothing blocks the sand between me and the entry, so I keep walking straight in to reach it.", + "I am almost at the entry now, with the massive jamb rising on my right and the smooth interior floor spreading out just ahead of the sand. One more stride forward should bring me level with the opening itself.", + "The threshold is right at my feet, the stone jamb passing close on my right and the interior floor opening wide to my left. A final step forward should carry me into the gap in the wall rather than stopping short of it.", + "I stand inside the wall's opening, with the stone jamb beside me and the chamber floor extending ahead. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-004862_y-006909_z000194_t3_b/infos.json b/dataset/trajectory/Pyramid/task_x-004862_y-006909_z000194_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2fd981bf5d6ddad4bd449fedc7e49982912866fa --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-004862_y-006909_z000194_t3_b/infos.json @@ -0,0 +1,626 @@ +{ + "Instruction": "Head toward the right palm tree, then proceed to the stone wall opening.", + "Type": 3, + "Start_Pose": [ + -4861.761, + -6908.618, + 194.483, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4861.761, + -6908.618, + 194.483, + 0.0, + -178.56, + 0.0 + ], + [ + -4861.761, + -6908.618, + 194.483, + 0.0, + -153.56, + 0.0 + ], + [ + -4974.456, + -6964.658, + 193.908, + 0.0, + -153.56, + 0.0 + ], + [ + -5087.15, + -7020.698, + 193.015, + 0.0, + -153.56, + 0.0 + ], + [ + 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"Rationale": [ + "Two palms rise ahead of the low stone ruin, and the one on the right sits far over at the edge of my view while my heading points between them. I will turn right so that right-hand palm moves toward the middle of my view and gives me a straight line to walk.", + "The turn has brought the right palm around so its trunk now stands well inside my view, with open sand between me and it. I will walk forward along this heading to close the long gap toward that tree.", + "The palm I am aiming for has grown noticeably taller in my view and the carved wall behind it is sharper, so my heading is carrying me straight at it. Another step forward should keep shrinking that distance.", + "The trunk of the palm ahead now reaches well above the wall line and its crown fills the upper part of my view. The sand between us is flat and clear, so I keep walking forward.", + "Low green shrubs along the base of the wall are becoming distinct, which tells me I am steadily gaining ground on the palm ahead. Nothing blocks the sand in front of me, so I advance again.", + "The palm I am heading for still sits ahead and slightly right of my centre line, and the stone wall behind it keeps growing in my view. I will step forward once more to keep closing on the tree.", + "The fan-shaped plants near the wall now spread across the lower part of my view, so the ground ahead is opening up quickly. The palm trunk remains squarely on my path, and I continue walking toward it.", + "The palm ahead is close enough now that its crown is cut off by the top of my view, and the shrubs beside my route are at knee height rather than distant specks. I keep advancing to reach the tree itself.", + "The tall palm on my right side of the pair now rises close ahead, its trunk filling the right half of my view while the carved stone wall stays further off to the left. The sand between us is open and the low ferns are only ankle height, so I will keep walking straight toward that trunk.", + "The right palm's trunk has grown thicker and its crown has climbed out of my view, which tells me the last step genuinely closed distance. Nothing but low fern clumps lies between me and its base, so another forward step is the direct way to reach it.", + "The bare trunk of the right palm stands just ahead, slightly right of my heading, with the fern bed spreading across the sand in front of me. Those ferns are low enough to walk through, so I continue advancing toward the trunk.", + "The ferns in the foreground have swelled noticeably, confirming steady ground gained toward the palm whose trunk still rises ahead on my right. The stone wall remains distant on the left, so my target is still the tree and I keep stepping forward.", + "The right palm's trunk is close enough now that only its lower shaft is visible above the fern line ahead of me. The sand slopes gently and stays clear, so I walk on to shrink the remaining gap.", + "The palm I am aiming for stands a short way ahead and a little to my right, its trunk now broad against the sky. I am not yet beside it, so I take another step forward across the fern-dotted sand.", + "The trunk of the right palm now dominates the upper part of my view and the ferns beneath it are almost at my feet. One more step forward should bring me level with the tree.", + "I am nearly at the palm, but its trunk sits off to the right of my heading rather than straight ahead, so walking on would carry me past its side. Turning right should swing my facing onto the tree and line me up to close the last stretch to it.", + "The turn has swung the tall palm on the right side of this stand squarely into the middle of my view, with the carved stone wall now off to my left. A straight walk across the fern bed should close the remaining distance to its trunk.", + "The palm trunk is noticeably thicker and still sits dead ahead, so my heading needs no correction. I keep walking through the low ferns to close on it.", + "Each step widens the trunk in front of me and pushes the wall further toward my left shoulder, confirming I am tracking the palm and not drifting. Another stride forward should bring me nearer its base.", + "The palm now rises well above the fern tops directly ahead of me, and the sand between us is open. I continue forward toward its base.", + "The trunk's bark texture is clear now, so only a short stretch of sand still separates us. I press forward to reach the foot of the palm.", + "The trunk dominates the left of my view and its base sits just a stride or two away across bare sand. One more step forward should put me right alongside it.", + "The palm trunk stands right at my shoulder, close enough to touch, with its base in the sand beside me. I have arrived at this palm on the right of the grove. I mark reaching it and now turn my attention to the opening in the carved stone wall.", + "With the palm reached, my next destination is the gap in the carved stone wall, whose edge is still hidden behind this broad trunk. Stepping forward should carry me past the trunk and open a clear line toward the wall.", + "The tall palm I walked up to is sliding past at my left shoulder, so the sand in front of me is open again. Beyond it the long stone wall runs across the scene with a dark gap in its face, and I step forward to begin closing that distance.", + "With the trunk behind me the decorated stone wall now shows plainly across to my left, and a dark rectangular gap breaks its lower face. The sand ahead is smooth and clear, so I keep walking to cut down the distance before I straighten onto that gap.", + "My present heading runs along the dune and carries me past the wall rather than at it, since the dark opening sits well to my left. I turn left so the gap moves toward the center of my view and I can walk straight in on it.", + "The turn has swung the stone wall across the front of my view, with the dark doorway sitting just left of center. Only low fronds and flat sand lie between, so I walk forward to close on that opening.", + "The carved wall is growing taller in front of me and the dark gap stays in the left half of my view, which tells me the heading is workable. I keep stepping ahead over the open sand toward it.", + "The wall now fills most of my forward view and the shadowed opening between the pillars is clearly distinguishable. Nothing stands in the way but low fronds at the edge, so I continue walking toward it.", + "Each step makes the banded stonework and the dark doorway larger, so I am steadily closing on the gap in the wall. The sand slopes gently up in front of me and remains passable, so I walk on.", + "The dark opening in the wall is still ahead of me, though it now sits a little left as the wall towers closer. The intervening sand is clear, so I keep advancing and can adjust my line once I am nearer.", + "The long carved stone wall now dominates the view ahead, and the dark rectangular opening in it sits low and slightly left of my heading. Open sand lies between me and that gap with nothing blocking the line. I step forward to keep closing the distance to the opening.", + "The wall has grown noticeably larger and the shrubs that crowded my path are behind me, leaving smooth dune sand ahead. The opening remains clearly visible beneath the wall's banded facade. Another stride forward should shorten the remaining gap.", + "Detail on the wall is resolving into carved bands and the two heavy buttresses stand out to the right of the opening. The dark gap I am aiming for stays in view to my left, unobstructed. I continue walking straight toward it.", + "The wall face is close enough that its base and the shadowed doorway read clearly, though the gap still sits well ahead. My path across the ridged sand remains open. I keep advancing rather than adjusting heading yet.", + "The wall is filling more of my view with each step and the dark opening has drifted a little further toward my left as I close in. It is still comfortably within sight, so no turn is needed right now. I press forward to shrink the remaining distance.", + "From here the opening reads as a real passage cut through the stone rather than just a dark patch, set left of the twin buttresses. The sand between us is flat and clear. I walk on toward it.", + "The wall now towers over most of my view and the shadowed doorway sits low on my left, its lintel and framing clearly defined. Nothing stands between me and it. Another step forward should bring me nearer the gap.", + "The opening is distinctly to my left of straight ahead, with the pillars and blank wall directly in front of me. It is still short of arm's reach, so closing distance is worth more than turning at this moment. I keep walking forward.", + "The carved stone wall now fills most of my view, and the dark rectangular gap in it sits just left of center ahead of me. Nothing but open sand lies between me and that gap, so I keep walking straight to shorten the distance.", + "The wall's carved bands are growing larger and the shadowed opening is more clearly resolved, so the previous step closed distance as intended. My heading still points into that stretch of wall, so another stride forward continues the approach.", + "The two thick pillars and the dark doorway beside them keep expanding, confirming steady progress toward the wall. The sand slope in front stays clear, so I walk forward again rather than adjust my heading yet.", + "I am close enough now that the wall's inscriptions are legible and the opening reads as a deep dark passage rather than a shadow. It still sits toward the left of my view, but forward travel keeps closing the gap, so I step ahead once more.", + "From this close, the doorway has drifted well off to the left side of my view while my heading points at solid decorated wall. I turn left to swing the opening toward the middle of my view so my next strides can carry me straight into it.", + "The turn worked: the dark gap in the stone wall now sits near the center of my view, framed between the two heavy pillars. With that alignment I walk straight forward to close on the opening.", + "The opening is holding near the center of my view and growing wider as I advance, so my heading needs no correction. I continue forward across the sand toward it.", + "The passage mouth is now large and dark ahead of me, with a lit patch visible through it, and it remains centered in my view. Another step forward should bring me right up to the threshold of the wall opening.", + "The dark rectangular gap in the carved stone wall sits just left of center ahead of me, with open sand between us. My heading already lines up with it, so I will walk forward to shorten the remaining distance.", + "The opening has grown larger and the wall's carved bands now fill most of my view, confirming I am closing on it. Nothing blocks the sand between me and the gap, so I keep walking forward.", + "The gap in the wall stays near the middle of my view and the hieroglyph band above it is now readable, so my line is still good. Another step forward should bring me closer without any correction.", + "I can now see through the opening to a pale interior floor and a lit block beyond, which confirms this is a real passage rather than a recess. I continue walking straight toward it.", + "The dark doorway is close enough that its stone jambs frame the view on both sides. My heading remains centered on it, so I step forward again to keep closing.", + "The opening now dominates the wall in front of me and the sand slope runs straight into it. I keep advancing to reach the threshold.", + "The threshold is very near, with the shaded interior and its lit far wall plainly visible through the gap. I take another step forward to bring myself right up to the opening.", + "The opening now spans most of my view and the interior floor lies just ahead past the sand. Continuing forward should carry me into the gap itself.", + "The dark doorway in the carved stone wall now fills the middle of my view, with the sand ramp running straight into it and the lit interior visible beyond. My heading is centered on the gap, so I will keep walking forward to close the last stretch to the opening.", + "The threshold is close enough that the wall blocks fill the sides of my view and the chamber floor is clearly visible through the gap. Nothing blocks the sand ramp, so another step forward should bring me right into the opening.", + "I am right at the edge of the opening, with the stone jamb passing on my left and the interior chamber spreading open ahead. One more step forward should carry me through the gap in the wall.", + "I stand inside the wall opening with the chamber floor and walls surrounding me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..55f9fd8d45518e1f35a92b2f5ee3b0b6c8652826 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_a/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Walk to the dark entrance at the center of the temple wall.", + "Type": 2, + "Start_Pose": [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7698.485, + -9148.845, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7824.305, + -9145.682, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7950.124, + -9142.519, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8075.943, + -9139.356, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8201.762, + -9136.194, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8327.582, + -9133.031, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8453.401, + -9129.868, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8579.22, + -9126.705, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8705.039, + -9123.542, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8830.859, + -9120.379, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8956.678, + -9117.216, + 180.577, + 0.0, + 178.56, + -0.0 + ], + [ + -9082.497, + -9114.054, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9208.316, + -9110.891, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9334.136, + -9107.728, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9459.955, + -9104.565, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9585.774, + -9101.402, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9711.593, + -9098.239, + 181.592, + 0.0, + 178.56, + -0.0 + ], + [ + -9837.413, + -9095.076, + 181.592, + 0.0, + 178.56, + -0.0 + ], + [ + -9963.232, + -9091.914, + 181.592, + 0.0, + 178.56, + -0.0 + ], + [ + -9963.232, + -9091.914, + 181.592, + 0.0, + -156.44, + 0.0 + ], + [ + -10078.6, + -9142.221, + 181.592, + 0.0, + -156.44, + 0.0 + ], + [ + -10193.967, + -9192.528, + 181.082, + 0.0, + -156.44, + 0.0 + ], + [ + -10309.335, + -9242.835, + 180.279, + 0.0, + -156.44, + 0.0 + ], + [ + -10424.703, + -9293.142, + 180.279, + 0.0, + -156.44, + 0.0 + ], + [ + -10540.07, + -9343.449, + 180.026, + 0.0, + -156.44, + 0.0 + ], + [ + -10655.438, + -9393.756, + 179.52, + 0.0, + -156.44, + 0.0 + ], + [ + -10770.806, + -9444.063, + 179.52, + 0.0, + -156.44, + 0.0 + ], + [ + -10886.173, + -9494.37, + 179.52, + 0.0, + -156.44, + 0.0 + ], + [ + -10886.173, + -9494.37, + 179.52, + 0.0, + -156.44, + 0.0 + ] + ], + "Rationale": [ + "The long temple facade stands ahead, and its single dark rectangular gap sits just right of the palm, midway along the wall between the tall columns. That black opening is the entrance I want, so I fix on it rather than the pale stone around it. I step forward across the open sand toward it.", + "The dark entrance still sits slightly right of the palm crown and the wall has grown a little larger, so my heading is carrying me toward it. The sand ahead is open and level. I keep walking forward.", + "The temple wall is rising in my view and the shadowed opening stays in the same bearing, a touch right of straight ahead. Nothing stands between me and it except bare dune. Another stride forward should close more of the gap.", + "The doorway is still small and dark against the stone, which tells me I am far from it. My path over the ridged sand remains clear and aimed at that gap. I continue forward.", + "The carved frieze and the columns are spreading wider across my view as the wall nears, and the shadowed entrance holds its place a little right of my heading. That steady bearing means I am closing on it correctly. I press forward again.", + "The outermost columns are beginning to slide off the edges of my view, so I stop reading the wall as a row and simply follow the dark gap itself. It remains slightly right of my heading with open sand before it. I walk on.", + "The entrance is noticeably wider and its recess is starting to read as depth rather than a flat patch, confirming I am getting close. My line still leads to it across unobstructed sand. I take another step forward.", + "The shadowed doorway sits a bit right of center and the wall now towers over most of my view, so distance is shrinking steadily. There is still ground to cover before I reach the threshold. I keep advancing toward the opening.", + "The lintel now casts a visible band of interior shade inside the opening, so what looked flat earlier is clearly a passage. It holds its bearing a little right of my heading, with unbroken sand between me and the base of the wall. I stride on toward it.", + "Only three of the wall's pillars still fit in my view, and the shadowed passage sits between the middle and right one, unchanged in bearing. Distance, not direction, is what remains. I walk on.", + "The carved bands across the stone are now sharp enough to read individually, a sign the facade is close. The shaded passage still holds a little right of my line and nothing crosses the sand before it. Another stride closes more of the remaining gap.", + "The wall's pale base course now runs across the bottom of the stone, and the passage cuts through it well right of the palm's trunk shadow. My heading still points a touch left of that gap, but the ground is open. I continue walking.", + "The facade fills nearly my whole view now and the sand ridge in front of me falls away toward flatter ground at the wall's foot. The shaded passage stays right of my line, a clear black rectangle in the stone. I keep closing on it.", + "A row of small carved figures now runs legibly along the band just above the opening, so I am within a short walk of the stone. The passage sits right of my heading and its shaded interior is plainly hollow. I advance again.", + "Only two pillars still bracket my view and the passage has drifted further toward the right side of it as I close in, so my line runs slightly wide of the threshold. Ground is still the bigger cost, and the sand ahead is clear. I press on.", + "The palm trunk crowds my left while the dark passage sits well over to the right, its pale interior floor now faintly showing under the shadow. That floor tells me the way through is open. I take another step in toward the wall.", + "The stone courses and the band of glyphs above the opening are close enough to read, and the shaded cut in the wall sits far over on my right. My line runs wide of it, but there is still sand to cover before any correction matters. I walk on toward the wall.", + "At this range the facade no longer reads as a row of pillars at all, just a broad wall with one dark cut in it, and that cut is the entrance I am after. Its pale interior floor is clearly visible through the gap on my right. I keep stepping in.", + "The palm's trunk and fronds crowd my left while the opening holds to the right of my heading, its threshold now low in my view. Closing distance is still worth more than turning at this range. I take another step in.", + "The entrance has drifted so far right that its far jamb is being clipped by the edge of my view, which means my heading would carry me past it into blank wall. I need it back in front of me before I close the last stretch. I turn right to swing my line onto the opening.", + "The turn brought the dark doorway back into the middle of my view, with the sand in front of it unbroken. Now it is only a matter of distance. I walk straight at the opening.", + "The doorway holds its place ahead and has grown wider, so my corrected heading is good. The shaded interior floor reads plainly beyond the threshold. I continue closing.", + "Individual glyphs above the lintel are now crisp and the opening spans a good part of my view, so the threshold is only a few strides off. Nothing blocks the sand slope leading up to it. I keep walking.", + "The jambs are wide apart now and I can see the far interior wall inside the passage, which puts me close to the doorway itself. My line still runs into the gap rather than the stone beside it. I press on toward the threshold.", + "The opening now spans a good third of my view and I can make out the ceiling slab and the recessed inner corner beyond the jambs. The sand runs right up to the sill with nothing in the way. I step in closer.", + "The lintel and its carved band have risen high in my view and the shadowed interior floor lies just past the sill, so I am nearly at the threshold. My line runs squarely between the two jambs. Another stride should bring me to the doorway itself.", + "The stone frame now overruns the top and left of my view, and the pale interior floor with its dark upper band fills the gap ahead. Only the last stretch of sand separates me from the entrance. I keep moving in.", + "The jamb has slid off to my left and the ceiling beams overhead show that I am right at the mouth of the passage. One more step should place me at the entrance itself rather than just outside it.", + "I stand within the dark entrance, its stone ceiling above me and the chamber walls to either side. The task is done, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3b8880f56fa0f919ca09ad59c715244511516eaa --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_b/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Approach the rightmost pillar on the temple facade.", + "Type": 2, + "Start_Pose": [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7572.666, + -9152.008, + 178.988, + 0.0, + -156.44, + 0.0 + ], + [ + -7688.034, + -9202.315, + 178.734, + 0.0, + -156.44, + 0.0 + ], + [ + -7803.401, + -9252.622, + 178.734, + 0.0, + -156.44, + 0.0 + ], + [ + -7918.769, + -9302.929, + 178.734, + 0.0, + -156.44, + 0.0 + ], + [ + -8034.137, + -9353.236, + 178.734, + 0.0, + -156.44, + 0.0 + ], + [ + -8149.504, + -9403.543, + 178.734, + 0.0, + -156.44, + 0.0 + ], + [ + -8264.872, + -9453.85, + 178.984, + 0.0, + -156.44, + 0.0 + ], + [ + -8380.24, + -9504.157, + 178.984, + 0.0, + -156.44, + 0.0 + ], + [ + -8495.607, + -9554.464, + 178.991, + 0.0, + -156.44, + 0.0 + ], + [ + -8610.975, + -9604.771, + 179.253, + 0.0, + -156.44, + 0.0 + ], + [ + -8726.343, + -9655.078, + 179.002, + 0.0, + -156.44, + 0.0 + ], + [ + -8841.71, + -9705.385, + 178.751, + 0.0, + -156.44, + 0.0 + ], + [ + -8957.078, + -9755.692, + 179.01, + 0.0, + -156.44, + 0.0 + ], + [ + -9072.446, + -9805.999, + 178.759, + 0.0, + -156.44, + 0.0 + ], + [ + -9187.813, + -9856.306, + 177.983, + 0.0, + -156.44, + 0.0 + ], + [ + -9303.181, + -9906.613, + 177.983, + 0.0, + -156.44, + 0.0 + ], + [ + -9418.548, + -9956.92, + 177.473, + 0.0, + -156.44, + 0.0 + ], + [ + -9533.916, + -10007.227, + 177.22, + 0.0, + -156.44, + 0.0 + ], + [ + -9649.284, + -10057.534, + 177.22, + 0.0, + -156.44, + 0.0 + ], + [ + -9764.651, + -10107.841, + 176.963, + 0.0, + -156.44, + 0.0 + ], + [ + -9764.651, + -10107.841, + 176.963, + 0.0, + -131.44, + 0.0 + ], + [ + -9847.949, + -10202.191, + 176.45, + 0.0, + -131.44, + 0.0 + ], + [ + -9931.247, + -10296.541, + 175.664, + 0.0, + -131.44, + 0.0 + ], + [ + -10014.545, + -10390.891, + 174.893, + 0.0, + -131.44, + 0.0 + ], + [ + -10097.843, + -10485.241, + 174.117, + 0.0, + -131.44, + 0.0 + ], + [ + -10181.141, + -10579.591, + 173.322, + 0.0, + -131.44, + 0.0 + ], + [ + -10264.439, + -10673.941, + 172.142, + 0.0, + -131.44, + 0.0 + ], + [ + -10347.737, + -10768.291, + 171.223, + 0.0, + -131.44, + 0.0 + ], + [ + -10431.035, + -10862.642, + 170.181, + 0.0, + -131.44, + 0.0 + ], + [ + -10514.333, + -10956.992, + 168.856, + 0.0, + -131.44, + 0.0 + ], + [ + -10597.631, + -11051.342, + 167.853, + 0.0, + -131.44, + 0.0 + ], + [ + -10680.929, + -11145.692, + 166.363, + 0.0, + -131.44, + 0.0 + ], + [ + -10764.227, + -11240.042, + 164.395, + 0.0, + -131.44, + 0.0 + ], + [ + -10764.227, + -11240.042, + 164.395, + 0.0, + -131.44, + 0.0 + ] + ], + "Rationale": [ + "Reading the row of pillars across the temple front, the one I want is the last one before the wall ends on the right, at the corner beside the greenery. The pillars themselves look nearly identical, so I hold that corner position as my mark. My body faces the middle of the building, so I turn right to point my path toward that end.", + "The turn has brought the right end of the facade into my view, with the corner pillar and its neighbour standing just right of center. A wide stretch of open sand still separates me from the wall. I walk forward to begin closing that gap.", + "The facade has grown slightly but the corner pillar is still far off across the dunes. My heading keeps that end of the building steady ahead of me, so no correction is needed. I keep walking forward.", + "The pillars further along the facade have slid out of view past my left shoulder, so I simply follow the one standing at the corner where the wall ends. It sits just right of my center of view, which tells me my heading is still good. I continue forward over the sand.", + "The wall base and the doorway are becoming clearer, so I am genuinely gaining ground on the building. The corner pillar of the pair ahead is still well beyond stepping distance. I advance again.", + "The two pillars ahead now rise noticeably taller in my view, and the one on the right is the corner of the facade I am heading for. Nothing blocks the sand between us. I take another step forward.", + "Carved detail on the upper wall is starting to resolve, confirming steady progress toward the facade. The corner pillar remains slightly right of my heading and still some distance off. I keep moving forward.", + "The pair of pillars at the right end of the wall now dominates the middle of my view, the right-hand one marking the building's corner. I am closer but not yet at its base. I press on with another forward step.", + "The dark doorway off to my left has sharpened into a clean rectangle, a sign the wall is genuinely closer. My target, the pillar standing at the end of the wall on the right, sits a little right of my heading with clear sand between us. I walk on.", + "The long shadows cast by the two pillars are now separated enough to read individually, which tells me the gap is shrinking. My heading still lines up on the one at the wall's end. Another stride forward.", + "I can pick out where each pillar meets the sand, which gives me an actual base to aim at rather than just a silhouette. That base is still well out of reach across the flat ground. I continue walking.", + "A low sand ridge in front of me clips the bottom of the wall, but it is only a gentle rise and nothing to go around. The end pillar keeps holding its position just right of my line. I press ahead over the rise.", + "The facade now rises well above my eye line and the painted bands read clearly, so I am inside the last stretch. My aim has not drifted off the pillar at the wall's end, so no turn is warranted. Forward again.", + "Light showing through the doorway reveals it as a passage rather than a niche, a detail only visible from this distance. My pillar's shaft and its shadow now fill a good part of my view. I keep closing.", + "Individual hieroglyphs on the lower band are readable now, so only a short run of sand remains. The pillar I want still stands to the right of the one beside it, with the wall dropping away past it. I step on.", + "The pair of columns now towers over most of my view, and the wall clearly terminates just past the right one, confirming that is the pillar I have been walking toward. Its base is still a few strides out beyond the crest of sand. I advance once more.", + "The ridge of sand ahead now cuts off the very bottom of the wall, yet both shafts rise clear above it and the corner one still sits right of my line. The rise is shallow and nothing else stands between me and it, so I keep walking.", + "The wall now fills nearly my whole view and the dark doorway has slid far to my left, which means my heading is holding on the end of the facade rather than its middle. The corner column is close but its foot is still several strides out. Another step forward.", + "Both column feet now show as pale blocks just above the sand crest, giving me a clear ground target rather than a guess. The one at the end of the wall remains off to my right and within a short walk. I advance.", + "At this range the facade no longer reads as a countable row; only two shafts and the edge where the wall stops remain in my view, and the column beside that edge is the one I want. Its foot lies just beyond the sand in front of me, so I take another step.", + "My path is now pointed at the stretch of wall between the two shafts, while the column at the wall's end has drifted toward the right edge of my view. Walking straight would carry me into the flat wall instead of to that corner. I turn right to swing my heading onto it.", + "The turn has put the column at the wall's end near the middle of my view, with open sand and palms beyond it where the building stops. That confirms my aim, and its base is still a short walk off. I step forward.", + "The squared plinth at the foot of the column is now plain in front of me, and the shaft above it leans up out of my view. That plinth is what I want to stand beside, and a few strides of sand still separate us. I continue.", + "The column and its long cast shadow now occupy the center of my view, with the wall running away to my left and the ground past the corner opening to my right. I am close but not yet standing at its foot, so I walk on.", + "The shaded and sunlit faces of the column now split my view down the middle, with the carved wall band running off to my left and open ground and palms showing past it on the right. That confirms I am aimed at the shaft where the facade ends, and its foot is still a short walk off. I step forward.", + "Only a handful of carved signs on the wall still fit inside my view, which tells me how near the stone has come. The column's flared foot lies a little ahead of me across the ripples. I keep advancing.", + "The shaft now rises out of the sand directly in front of me, its blue-banded footing meeting the ground just past the ripples. Nothing lies between us on the flat, so I close the remaining gap with another stride.", + "The individual stone courses of the shaft are now distinct enough to count, and its sloped footing sits low and near on my right of the wall line. I am close but not yet beside it. Forward again.", + "The column's corner now cuts a hard vertical through the middle of my view, and the wall behind it has narrowed to a few blocks. A last stretch of sand still lies between my feet and its footing. I walk on.", + "The stone stands so near that its texture and mortar lines read plainly, and the sloping footing juts toward me out of the sand. That footing is where I want to stand, and it is a step or two off yet. I continue.", + "The shaft now blocks nearly everything but a wedge of sky and palms at my right, and the deep shadow at its foot falls close in front of me. I still have a short gap to the stone itself. Another step.", + "The corner of the column and its splayed footing fill my view from the sand upward, with the wall reduced to a shadowed sliver at my left. I am nearly touching it but not yet standing at its side. I take one more step in.", + "Only the column's masonry and the sunlit slope of its footing remain in front of me, with the palms beyond the building's end squeezed into a narrow strip at my right. A hand's reach of sand is all that keeps me from its side. One more short step should bring me flush against it.", + "I am standing right against the footing of the column at the end of the temple wall, its stone filling my view. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_c/infos.json b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..339f3a451f6a4c3051249fcf9b39891e0c80346b --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_c/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Head toward the leftmost pillar on the temple wall.", + "Type": 2, + "Start_Pose": [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7698.485, + -9148.845, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7824.305, + -9145.682, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7824.305, + -9145.682, + 178.988, + 0.0, + 153.56, + -0.0 + ], + [ + -7936.999, + -9089.642, + 179.253, + 0.0, + 153.56, + -0.0 + ], + [ + -8049.693, + -9033.602, + 179.253, + 0.0, + 153.56, + -0.0 + ], + [ + -8162.387, + -8977.562, + 179.79, + 0.0, + 153.56, + -0.0 + ], + [ + -8275.082, + -8921.522, + 180.049, + 0.0, + 153.56, + -0.0 + ], + [ + -8387.776, + -8865.482, + 180.049, + 0.0, + 153.56, + -0.0 + ], + [ + -8500.47, + -8809.442, + 180.872, + 0.0, + 153.56, + -0.0 + ], + [ + -8613.165, + -8753.402, + 180.872, + 0.0, + 153.56, + -0.0 + ], + [ + -8725.859, + -8697.362, + 180.872, + 0.0, + 153.56, + -0.0 + ], + [ + -8838.553, + -8641.322, + 181.662, + 0.0, + 153.56, + -0.0 + ], + [ + -8951.247, + -8585.282, + 181.662, + 0.0, + 153.56, + -0.0 + ], + [ + -9063.942, + -8529.242, + 181.934, + 0.0, + 153.56, + -0.0 + ], + [ + -9176.636, + -8473.202, + 182.455, + 0.0, + 153.56, + -0.0 + ], + [ + -9289.33, + -8417.162, + 182.455, + 0.0, + 153.56, + -0.0 + ], + [ + -9402.025, + -8361.122, + 182.722, + 0.0, + 153.56, + -0.0 + ], + [ + -9514.719, + -8305.082, + 183.243, + 0.0, + 153.56, + -0.0 + ], + [ + -9627.413, + -8249.042, + 183.504, + 0.0, + 153.56, + -0.0 + ], + [ + -9740.108, + -8193.002, + 184.013, + 0.0, + 153.56, + -0.0 + ], + [ + -9852.802, + -8136.961, + 184.54, + 0.0, + 153.56, + -0.0 + ], + [ + -9965.496, + -8080.921, + 184.792, + 0.0, + 153.56, + -0.0 + ], + [ + -10078.19, + -8024.881, + 185.3, + 0.0, + 153.56, + -0.0 + ], + [ + -10190.885, + -7968.841, + 185.81, + 0.0, + 153.56, + -0.0 + ], + [ + -10303.579, + -7912.801, + 186.064, + 0.0, + 153.56, + -0.0 + ], + [ + -10416.273, + -7856.761, + 186.706, + 0.0, + 153.56, + -0.0 + ], + [ + -10528.968, + -7800.721, + 186.957, + 0.0, + 153.56, + -0.0 + ], + [ + -10641.662, + -7744.681, + 186.698, + 0.0, + 153.56, + -0.0 + ], + [ + -10641.662, + -7744.681, + 186.698, + 0.0, + 153.56, + -0.0 + ] + ], + "Rationale": [ + "The temple facade stands ahead with its row of pillars, and the one I want is at the far left end of that row, standing at the wall's left corner beside the ruined stone blocks and the rising dune. The sand between us is open, so I will walk forward to close distance.", + "The wall is noticeably larger now, and the pillar at its left corner still lies well off to the left of my straight-ahead heading. I will keep walking forward over the open sand to shorten the gap before adjusting my direction.", + "Holding this heading would carry me toward the central doorway rather than the pillar at the wall's left corner, which sits clearly to my left. I will turn left so that corner and its pillar come into the middle of my view and give me a direct line.", + "The turn brought the left end of the temple into view, with the stacked ruin blocks and the pillar standing at that corner now ahead of me. The heading looks right and the sand is clear, so I will walk forward toward it.", + "The corner pillar sits a little right of center in my view and is growing as I close in, which tells me my heading is still good. I will continue walking forward across the sand toward it.", + "Only two pillars of the facade remain in my view as the wall grows, so I am no longer counting along a row and am simply holding to the one standing at the left corner beside the stacked ruin blocks. I will keep walking straight toward it.", + "The carved band on the wall is resolving into detail and the corner pillar is clearly nearer than the one further along the facade. My line still points at it, so I will step forward again.", + "The corner pillar and the wall's left edge fill more of my view with every step, confirming I am closing on the right one rather than drifting toward the pillar further along. I will keep advancing over the sand.", + "The stacked ruin blocks on my left and the pillar at the wall's end keep growing together, which is the pairing that marks my target. Nothing blocks the rippled sand between us, so I will walk on.", + "My target pillar sits just left of center and the wall's end still shows clear sky beyond it, so I am tracking the right one. I will keep stepping forward across the dune.", + "The carved bands on the facade are sharper and the pillar beside the ruin blocks now stands taller than the one further along the wall. That depth difference confirms my heading, so I will advance again.", + "The sand slope rises gently toward the temple base with no break or obstruction in the way. My target pillar holds its place near the middle of my view, so I will continue on foot.", + "Both pillars are widening as the wall looms, but the one I want remains the nearer, the one whose shaft meets the sand next to the ruined blocks. Another step forward keeps closing that gap.", + "Palm shadow now falls across the wall between the two pillars, yet the shaft rising ahead of me is unmistakably the end one, with open desert past its edge. I will press forward over the sand.", + "The blue-grey base course of the temple has come into view beneath the carvings, a sign I am getting close to the foot of the wall. My target pillar sits just ahead and slightly left, so I keep walking.", + "Individual glyphs on the lower band are becoming legible, so only a short stretch of dune separates me from the pillar standing at the wall's end. I will continue straight toward its base.", + "The shaft beside the ruined blocks now towers over me, its carved collar catching the sun above the banded wall. Open rippled sand still runs unbroken to its foot, so I keep walking straight in.", + "The other shaft has slid off toward my right margin, leaving the end pillar as the one squarely in front of me. That is the one I chose, so I press on across the dune without changing heading.", + "The facade is close enough now that it no longer reads as a row of columns, just wall and the single shaft rising in front of me beside the ruin blocks. Nothing interrupts the sand, so another stride should carry me nearer its base.", + "I can now see where the shaft meets its pale plinth, and the sand slopes gently up to it without any step or barrier. I continue forward along that line.", + "The shaft's fluted collar has risen above the top of my view, which means only a short run of dune is left. My heading still points at its base, so I walk on.", + "The glyph row runs almost level with my eyes and the stone courses of the shaft are individually distinct. A few more strides over the drifted sand should bring me right up against the pillar.", + "The flared foot of the shaft is now plainly buried in the drift just ahead and slightly left of me. I step forward again to close the last of that gap.", + "My own shadow falls across the sand almost against the stone, so I am within a stride or two of the shaft. I keep moving forward to stand at its foot.", + "The masonry courses of the shaft and the glyph band beside it are close enough to read individual blocks, and my shadow already touches the pale plinth. A short stride more should put me right against the stone.", + "The shaft now occupies the left half of my view with its swelling base emerging from the drift just ahead. Only a narrow band of sand remains between me and that stone, so I keep walking.", + "The corner where the shaft meets the banded wall is directly in front of me, with the blue base course at roughly waist height. I advance again to bring myself flush against the pillar.", + "The stone fills nearly everything I can see and my shadow is cast large across it, so I am within arm's reach of the shaft. One last step should set me at its foot.", + "I stand against the pillar at the wall's end, its stone filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_d/infos.json b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77743973676946c210bb547ec92da8fefec883c7 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_d/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Proceed to the second pillar from the left on the facade.", + "Type": 2, + "Start_Pose": [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7698.485, + -9148.845, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7824.305, + -9145.682, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7950.124, + -9142.519, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8075.943, + -9139.356, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8201.762, + -9136.194, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8327.582, + -9133.031, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8453.401, + -9129.868, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8579.22, + -9126.705, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8705.039, + -9123.542, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8830.859, + -9120.379, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8956.678, + -9117.216, + 180.577, + 0.0, + 178.56, + -0.0 + ], + [ + -9082.497, + -9114.054, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9208.316, + -9110.891, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9334.136, + -9107.728, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9459.955, + -9104.565, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9585.774, + -9101.402, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9711.593, + -9098.239, + 181.592, + 0.0, + 178.56, + -0.0 + ], + [ + -9711.593, + -9098.239, + 181.592, + 0.0, + 153.56, + -0.0 + ], + [ + -9824.288, + -9042.199, + 181.592, + 0.0, + 153.56, + -0.0 + ], + [ + -9936.982, + -8986.159, + 181.592, + 0.0, + 153.56, + -0.0 + ], + [ + -10049.676, + -8930.119, + 181.592, + 0.0, + 153.56, + -0.0 + ], + [ + -10162.371, + -8874.079, + 181.847, + 0.0, + 153.56, + -0.0 + ], + [ + -10275.065, + -8818.039, + 182.362, + 0.0, + 153.56, + -0.0 + ], + [ + -10387.759, + -8761.999, + 182.362, + 0.0, + 153.56, + -0.0 + ], + [ + -10500.453, + -8705.959, + 182.362, + 0.0, + 153.56, + -0.0 + ], + [ + -10613.148, + -8649.919, + 182.871, + 0.0, + 153.56, + -0.0 + ], + [ + -10613.148, + -8649.919, + 182.871, + 0.0, + 153.56, + -0.0 + ] + ], + "Rationale": [ + "Counting along the facade from its left edge, the second pillar is the one with the palm tree standing directly in front of it, so I will follow that palm rather than a position in the row. It lies slightly left of my heading and still far across the sand. I step forward to close that distance.", + "The facade has grown slightly wider in view, confirming that my heading carries me toward it. The pillar behind the palm remains near the middle left of my view with plenty of ground still between us. I keep walking straight.", + "The pillar I am heading for is still partly masked by the palm crown, which is exactly the marker I chose to follow. Nothing blocks the sand slope ahead of me. Another forward step should bring the facade meaningfully closer.", + "The decorated wall bands are becoming legible, so I am gaining ground steadily. My target pillar with the palm at its base sits left of the dark doorway, and I keep that arrangement in sight. I advance again.", + "The facade now fills more of my view and the pillar behind the palm is noticeably taller than a few steps ago. My straight heading still points a little right of it, but there is distance enough to correct later. I continue forward.", + "The palm and the pillar it fronts are drifting toward the left side of my view as I close in, which fits my current straight heading. The sand ahead stays open and walkable. I take another step toward the wall.", + "The pillars now rise past the top of my view, so I am within the near stretch of the approach. The one I want is still identifiable by the palm growing at its foot. Walking on should shorten the remaining gap.", + "The wall's carved bands and the doorway are close enough to read clearly, and the palm still marks my pillar on the left half of my view. Nothing stands between me and that stretch of facade. I press forward.", + "Only a few pillars stay framed in my view now, and the one shaded by the palm crown still stands left of the dark doorway. The sand between us rises gently with nothing in the way. I take another step toward it.", + "The carved friezes are separating into distinct bands, which tells me I am gaining real ground. My pillar holds its place behind the palm fronds, just left of my line of travel. No adjustment is needed yet, so I walk on.", + "The wall's footing where it meets the sand now sits well inside my view, a sign that only a short stretch of open ground remains. The palm and the pillar behind it stay slightly left of straight ahead. I keep closing the gap.", + "The far end of the facade has slid out of my view, so I can no longer read the row from its edge; the palm growing at its foot is what still identifies my pillar. It lies a little to the left of my path. I advance again.", + "The palm crown and the pillar trunk behind it now claim the left half of my view, both rising past what I can frame. The ground in front of me is flat and clear. Another stride should put the wall within a few paces.", + "The doorway beside my pillar reads as a deep recess rather than a dark patch, so very little sand is left to cross. The shaded trunk I am aiming for remains slightly left of my direction. I press ahead.", + "Palm shadows now stripe the sand all the way back to where I stand, so the tree and the pillar it fronts are close. That trunk sits left of my center, near enough that a small heading change may be worth making soon. For now I step forward.", + "My pillar and its palm fill the left of my view with the blue painted base of the wall plainly visible beneath them. Just a few paces of sand separate me from that stretch of facade. I keep walking in.", + "The blue painted band at the wall's foot and the shaded trunk are close enough that only a short run of sand remains before I reach the pillar the palm grows against. Its base is still ahead and to my left, with the doorway well to the right. I take another step in.", + "My straight heading now points at the plain wall beside the doorway, while the trunk I am walking to has slid out to the left edge of my view. A turn to the left should swing that pillar and the palm at its foot back onto my line of travel for the last few paces.", + "The turn has brought the palm and the pillar it fronts back near the center of my view, with a further pillar showing off to the left. From this close the wall no longer reads as a countable row, but the shaded trunk is unmistakable. I walk straight toward it.", + "The pillar with the palm rising against it now sits squarely in front of me, its foot buried where the sand meets the blue band. Nothing interrupts the ground between. Another stride should bring me appreciably nearer.", + "Individual blocks of the wall and the hieroglyph row are readable, so I am within a short walk of the pillar. Its shaded base holds steady just left of my center. I keep stepping toward it.", + "The pillar's rounded face now takes up much of my view and the dark hollow at its foot is visible where the palm meets it. Only a couple of paces of sand still lie between us. I advance again.", + "I am close enough to see the mortar lines on the pillar and the glyph band running away to the right of it. The base with its dark opening lies just ahead of my feet. One more step should put me right at it.", + "The pillar and the wall behind it now fill nearly everything I can see, with the palm fronds hanging across its stonework. Its foot is within a pace of me. I close that last bit of ground.", + "The corner where the pillar joins the wall is barely an arm's reach off, with the dry fronds bundled against its foot picked out in the shade. A short step should set me at its base rather than just short of it.", + "The stonework is so near that the pillar's curve and the blue band beside it fill everything without depth. Only a pace of shaded sand lies under me before the base itself, so I take that last step in.", + "The pillar's base stands immediately in front of me, its blockwork and the blue band filling my view. I have reached it, so there is nothing left to do." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_e/infos.json b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..526e288f6b36b3e3d5dba80dac250922fd25d822 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t2_e/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Proceed to the second pillar from the right on the facade.", + "Type": 2, + "Start_Pose": [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7572.666, + -9152.008, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7698.485, + -9148.845, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7824.305, + -9145.682, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7824.305, + -9145.682, + 178.988, + 0.0, + -156.44, + 0.0 + ], + [ + -7939.672, + -9195.989, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8055.04, + -9246.296, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8170.407, + -9296.603, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8285.775, + -9346.91, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8401.143, + -9397.217, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8516.51, + -9447.524, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8631.878, + -9497.831, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8747.246, + -9548.138, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8862.613, + -9598.445, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -8977.981, + -9648.752, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -9093.349, + -9699.059, + 179.25, + 0.0, + -156.44, + 0.0 + ], + [ + -9208.716, + -9749.366, + 178.557, + 0.0, + -156.44, + 0.0 + ], + [ + -9324.084, + -9799.673, + 177.779, + 0.0, + -156.44, + 0.0 + ], + [ + -9439.452, + -9849.98, + 177.779, + 0.0, + -156.44, + 0.0 + ], + [ + -9554.819, + -9900.287, + 177.779, + 0.0, + -156.44, + 0.0 + ], + [ + -9670.187, + -9950.594, + 177.524, + 0.0, + -156.44, + 0.0 + ], + [ + -9785.555, + -10000.901, + 177.018, + 0.0, + -156.44, + 0.0 + ], + [ + -9900.922, + -10051.208, + 177.018, + 0.0, + -156.44, + 0.0 + ], + [ + -10016.29, + -10101.515, + 177.018, + 0.0, + -156.44, + 0.0 + ], + [ + -10131.658, + -10151.822, + 176.488, + 0.0, + -156.44, + 0.0 + ], + [ + -10247.025, + -10202.129, + 176.233, + 0.0, + -156.44, + 0.0 + ], + [ + -10362.393, + -10252.436, + 175.974, + 0.0, + -156.44, + 0.0 + ], + [ + -10477.761, + -10302.743, + 175.457, + 0.0, + -156.44, + 0.0 + ], + [ + -10593.128, + -10353.05, + 175.205, + 0.0, + -156.44, + 0.0 + ], + [ + -10593.128, + -10353.05, + 175.205, + 0.0, + -156.44, + 0.0 + ] + ], + "Rationale": [ + "The whole decorated facade is visible, so I count in from its right corner: my target is the pillar immediately inboard of the corner one, the left member of that right-hand pair. It stands far across open sand, so I walk forward to close the distance.", + "The facade has grown slightly but the pillar I chose, the one beside the right corner, is still a long way off and sits well to my right of my heading. I take another step forward over the sand to keep closing on the building.", + "Walking straight ahead would carry me toward the middle of the wall, while the pillar I want sits off to my right near the building's corner. I turn right to swing my heading onto it so the remaining approach can be a straight walk.", + "The turn has put the right end of the facade ahead of me, with the corner pillar and my target beside it now near the centre of my view. With the heading set, I step forward across the open sand toward that pair.", + "My heading still runs onto the left pillar of the right-hand pair, the one I picked out beside the corner. Nothing blocks the sand, so I keep walking forward to shrink the remaining gap.", + "The wall is filling more of my view and the two pillars ahead are noticeably taller than before, confirming I am closing on them. I continue forward, staying aimed at the inner one of that pair rather than the corner pillar.", + "The pillars I am walking toward now rise well above the frieze band and the doorway has slid off to my left, so my line is holding. I step forward again toward the inner pillar of the pair at the building's right end.", + "Only the pair at the building's right end remains prominent ahead, and my target is the left column of that pair. The gap is still substantial, so I walk forward again to keep closing on its base.", + "Both columns at the building's end now show deep shadow down their shafts, yet their footings still sit a long stretch of sand away. I walk on, keeping my line on the left one of that pair rather than the corner shaft beside it.", + "The two shafts have separated further as I close on them, which keeps the inner one easy to hold apart from the corner one. The sand ahead is flat and clear, so another stride forward is the simplest gain.", + "The wall now rises past the top of my view on the left while the pillar I am heading for stands just off centre with its plinth clear of the sand. That plinth is my stopping point, and it is still far off, so I continue walking.", + "The far end of the facade has slid out of my view on the left, so I no longer have a row to read; I simply follow the shaft standing inboard of the corner one ahead. It is still well beyond reach, and I step forward again.", + "Carved bands and the doorway's dark recess are resolving on the wall face, a sign the distance has dropped considerably. My chosen shaft still sits ahead and slightly left of my path, so walking straight on keeps me converging on it.", + "The pillar I want now towers over the sand ridge in front of me, its capital cut off by the top of my view. Its footing is not yet close enough to count as arriving, so I advance again.", + "Long shadows are falling across the sand at my feet and the wall's masonry courses read clearly, so only a short span remains. I keep stepping toward the base of the shaft that stands beside the end column.", + "The doorway has drifted well out to my left while the two shafts dominate the middle of my view, confirming I am aimed between them at the inner one. A few more strides should bring me level with its footing, so I walk on.", + "Both shafts are cut off at the top of my view now, and their footings sit just past the ridge of sand in front of me. The left one of the pair is the one I am going to, and its base is still several strides out, so I press on.", + "The footings have cleared the sand crest and individual blocks in the wall read distinctly, so the remaining gap is modest. I hold my line on the left shaft of the two and walk on.", + "Carved sign panels beside the dark doorway are sharp, and the shaft I am after leans up almost straight ahead of me. Its foot is still a stretch of sand away, so another stride is worth taking.", + "The pillar I am heading for now towers with its capital well above my view, and the pale ring of its plinth is starting to show over the sand. I am not at its foot yet, so I keep walking straight at it.", + "The pair of shafts and the shaded wall between them fill most of what I can see, with the blue lower course of masonry clear behind them. My target's footing still lies past the sand crest, so I continue forward.", + "The drum-shaped plinth under the left shaft is fully exposed now, sitting just right of my centre line and a short walk across the sand. That plinth is where I intend to stand, so I step toward it again.", + "Only a short rise of sand now lies between me and the base of the shaft I chose, close enough that its stone courses are separate. I would rather close that last span than stop short of it, so I walk on.", + "The base of my pillar now sits just over the lip of the dune, filling the lower middle of my view, with its companion shaft off to the right. A couple more steps should bring me right against its foot, so I advance.", + "The round base of the shaft I chose sits just ahead in the sand, close enough that its individual blocks and the shadow it throws are distinct. A little sand still separates my feet from it, so I keep walking.", + "The base now dominates the lower half of what I can see and the shaft leans up past my view, so I am nearly at it. One or two steps more should put me directly against the stone, so I advance.", + "The plinth and the column above it now fill most of my view, with the sand sloping right up to the stone. A final short step should bring me flush with the foot of this pillar rather than leaving a gap.", + "I stand right at the foot of the pillar beside the facade's end column, its plinth and shaft filling my view. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t5_a_p/infos.json b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3dd648b6e92ba85f54a02e0cb17113f009eb695f --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-007573_y-009152_z000179_t5_a_p/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Grab the metal bucket near the dark entrance at the center of the temple wall.", + "Type": 5, + "Start_Pose": [ + -7572.666, + -9152.008, + 178.988, + 0, + 178.56, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -10290.4, + -9514.316, + 100.453, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7572.666, + -9152.008, + 178.988, + 0, + 178.56, + 0 + ], + [ + -7698.485, + -9148.845, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7824.305, + -9145.682, + 178.988, + 0.0, + 178.56, + -0.0 + ], + [ + -7950.124, + -9142.519, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8075.943, + -9139.356, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8201.762, + -9136.194, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8327.582, + -9133.031, + 179.25, + 0.0, + 178.56, + -0.0 + ], + [ + -8453.401, + -9129.868, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8579.22, + -9126.705, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8705.039, + -9123.542, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8830.859, + -9120.379, + 180.048, + 0.0, + 178.56, + -0.0 + ], + [ + -8956.678, + -9117.216, + 180.577, + 0.0, + 178.56, + -0.0 + ], + [ + -9082.497, + -9114.054, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9208.316, + -9110.891, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9334.136, + -9107.728, + 180.827, + 0.0, + 178.56, + -0.0 + ], + [ + -9334.136, + -9107.728, + 180.827, + 0.0, + -156.44, + 0.0 + ], + [ + -9449.503, + -9158.035, + 180.827, + 0.0, + -156.44, + 0.0 + ], + [ + -9564.871, + -9208.342, + 180.827, + 0.0, + -156.44, + 0.0 + ], + [ + -9680.239, + -9258.649, + 180.827, + 0.0, + -156.44, + 0.0 + ], + [ + -9795.606, + -9308.956, + 180.827, + 0.0, + -156.44, + 0.0 + ], + [ + -9910.974, + -9359.263, + 180.2, + 0.0, + -156.44, + 0.0 + ], + [ + -10026.342, + -9409.57, + 179.528, + 0.0, + -156.44, + 0.0 + ], + [ + -10141.709, + -9459.877, + 179.528, + 0.0, + -156.44, + 0.0 + ], + [ + -10141.709, + -9459.877, + 179.528, + 0.0, + -156.44, + 0.0 + ], + [ + -10141.709, + -9459.877, + 179.528, + 0.0, + -156.44, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10290.4, + -9514.316, + 100.453, + 0.0, + 0.0, + 0.0 + ], + [ + -10132.615, + -9479.207, + 149.447, + -28.202, + -106.296, + 1.862 + ], + [ + -10132.615, + -9479.207, + 149.447, + -28.202, + -106.296, + 1.862 + ] + ], + "PD_Dist_2D": [ + 2741.8, + 2617.6, + 2493.5, + 2369.6, + 2246.0, + 2122.6, + 1999.5, + 1876.8, + 1754.5, + 1632.8, + 1511.8, + 1391.6, + 1272.5, + 1154.8, + 1039.1, + 1039.1, + 913.3, + 787.4, + 661.6, + 535.7, + 409.9, + 284.1, + 158.3, + 21.4, + 21.4 + ], + "Rationale": [ + "From the top of the sand slope I can see the long temple wall ahead, with a dark doorway breaking its center and a small dark object standing beside it. That matches the metal bucket I need to grab, and it lies straight along my current heading. I will walk forward to close the large open stretch of sand between us.", + "The wall and its central dark entrance now sit slightly larger in front of me, so my heading is carrying me toward the right part of the facade. The bucket is still far too distant for any grasp. I will keep walking straight ahead over the open sand.", + "The dark doorway at the middle of the wall remains close to the center of my view and continues to grow, confirming a clean line of travel. Nothing blocks the dune between me and the facade. I will advance again to cut the remaining distance.", + "The columns and the shaded entrance now rise noticeably higher in my view, and the small dark shape at the doorway base is starting to separate from the wall. That shape should be the metal bucket I must reach. I will step forward again.", + "The entrance is clearly framed ahead and a compact dark object stands on the sand just at its threshold, which fits the metal bucket described in my task. It is still many paces away, well outside grabbing range. I will continue walking straight toward it.", + "The temple wall now fills much of my view, and the dark entrance with the small object beside it stays slightly right of my center line. Continued forward motion is still the most direct way to close the gap before I worry about fine alignment. I will keep advancing.", + "I can now make out the bucket as a distinct dark cylinder resting on the sand in front of the shaded doorway. The ground ahead is open dune with nothing in the way. I will walk forward again to bring it within reach.", + "The bucket sits plainly at the base of the dark entrance, a bit right of my heading, and the facade towers above it. I am still too far back for a grasp attempt to have any chance. I will press forward across the sand to shorten that gap.", + "The temple wall now fills much of my view and the dark central entrance is clearly visible, with a small dark cylinder standing on the sand just beside it. That cylinder matches the metal bucket I was sent for, so I keep walking straight toward it. Another forward step should shrink the remaining sand gap.", + "The columns and the doorway have grown noticeably larger, confirming I am closing on the temple facade. The bucket beside the entrance is still small but holds a steady position slightly right of my heading. I continue forward since nothing blocks the sand between us.", + "The bucket by the entrance is becoming more distinct against the pale wall, so my heading is still serviceable. I am far too distant to reach for it yet. I take another step forward to keep reducing the gap.", + "The wall carvings are now readable and the doorway opening is a clear rectangle, which tells me the remaining distance is dropping steadily. The metal bucket sits on the sand just right of that opening, still well beyond arm's reach. Walking forward again is the direct way to close in.", + "The temple front now towers over my view and the bucket stands plainly at the base of the dark entrance. There is still a stretch of open sand between me and it, with no obstacle in the way. I keep advancing.", + "The bucket has grown into a recognizable metal drum shape near the doorway, so the target identity is no longer in doubt. It is drifting toward the right side of my view as I close, meaning my heading is slightly off it. I still gain more by stepping forward before correcting.", + "From here the bucket sits noticeably right of my straight-ahead heading, next to the dark entrance, so continuing forward would carry me past its left side. I turn right to put the bucket back on my line of travel. That should let the remaining steps close the distance directly.", + "After the turn the metal bucket and the dark entrance behind it now sit squarely in front of me rather than off to one side. The lane of sand between us is clear and short. I walk forward to bring the bucket within reach.", + "The metal bucket stands clearly on the sand just left of my heading, right beside the dark entrance cut into the temple wall. My current course points straight at it and nothing blocks the open sand between us, so I walk forward to close the remaining gap.", + "The bucket is noticeably larger and lower in view than a moment ago, confirming my heading is carrying me toward it rather than past it. It is still too distant for a grasp, so I keep walking forward along the same line.", + "The dark doorway and the bucket in front of it now dominate the center-left of my view, but the bucket still sits several strides away across flat sand. I advance again to keep shrinking that distance without needing any turn.", + "The bucket's ribbed metal body is now clearly resolved against the shaded entrance, and it holds a stable position slightly left of my path. I step forward once more since the approach line remains clean and I am still short of grabbing range.", + "The bucket now sits low and large in the lower half of my view, only a couple of strides from me on the open sand. I continue forward to bring it close enough that a grasp attempt is plausible.", + "The bucket's open rim is visible right in front of me, slightly left and very near, but I judge it still a step beyond comfortable reach. One more forward step should place it directly at my hands for the grab.", + "The metal bucket now fills the near foreground directly before me, its open rim within arm's length beside the dark temple entrance. My hands are empty and nothing stands between us, so I attempt to grasp it now.", + "The metal bucket is held in my hands, lifted off the sand. The task objective is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..15f0e2e70fc479b285d069803396e303fdf1f07f --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Walk to the base of the second statue from the left.", + "Type": 2, + "Start_Pose": [ + -24153.902, + -35548.083, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -24153.902, + -35548.083, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -24062.638, + -35634.75, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23971.373, + -35721.417, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23880.108, + -35808.084, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23788.844, + -35894.752, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23697.579, + -35981.419, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23606.314, + -36068.087, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23515.05, + -36154.754, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23423.785, + -36241.422, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23332.52, + -36328.089, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23332.52, + -36328.089, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -23286.434, + -36445.207, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -23240.347, + -36562.324, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -23194.261, + -36679.442, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -23148.174, + -36796.56, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -23102.087, + -36913.677, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -23056.001, + -37030.795, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -23009.914, + -37147.912, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22963.828, + -37265.03, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22917.741, + -37382.147, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22871.654, + -37499.265, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22825.568, + -37616.382, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22779.481, + -37733.5, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22733.395, + -37850.617, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22687.308, + -37967.735, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22641.221, + -38084.852, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22595.135, + -38201.97, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -22595.135, + -38201.97, + -1681.769, + 0.0, + -68.52, + 0.0 + ] + ], + "Rationale": [ + "Two rows of pedestal statues flank this paved court, and counting the left row from its near end, my target is the second figure along, just beyond the tall corner one at my left. The statues are near identical, so I fix that target by its place next in line behind the near corner pedestal. The lane ahead is clear, so I walk forward.", + "The left colonnade is spreading wider in my view, which tells me the last step gained real ground down the court. The statue I want still lies well ahead on that side, so distance is what I need first. I step forward again along the open pavement.", + "The near corner statue on my left is drifting toward the frame edge as I close in, while my target pedestal beyond it is still small and distant. Walking the centre of the court keeps a clean line and avoids brushing either row of plinths. I continue forward.", + "The court still opens straight ahead with nothing in my path, and the left row is drawing steadily nearer. I am not yet level with the pedestal I chose, so turning toward it now would cut in too early. Another step forward should shorten that gap.", + "The corner statue I counted from has slipped almost entirely past my left shoulder, so from here I simply follow the figure it stood in front of, the one I picked out of that row. It sits ahead and slightly left, still some way off. I keep walking down the lane.", + "The statue I am heading for now stands out clearly on the left with its carved plinth, and the pavement between us is unbroken. Closing more ground on the straight line is cheaper than angling across now. I step forward again.", + "Each step is visibly enlarging the left-hand pedestals, confirming the forward line is working. My target is still slightly ahead of my abeam position, so I hold this heading rather than swing toward it yet. I advance once more.", + "The base of the statue I chose is now close enough to make out its plinth face, sitting forward and to my left. Continuing straight brings me nearly level with it before I need to angle across the court. I take another step forward.", + "The left row has flattened out beside me instead of stretching away, which tells me I am nearly abreast of the carved plinth I picked. A little more ground down the middle should set that base off my left shoulder rather than far ahead, the angle I want before cutting across. I walk on.", + "Holding this heading any longer would carry me past the plinth I chose and on toward the far gateway, since it now lies off to my left rather than down the lane. A modest swing to the left should bring that pedestal out of my periphery and into the centre of my path.", + "The swing has done its job: the statue I want stands squarely ahead across open flagstones, with its nearer companion crowded into the left edge of my view. Nothing lies between me and its pedestal on this diagonal, so I stride toward it.", + "The plinth ahead is thickening in view, so the diagonal is eating the distance properly. Its neighbour is sliding out past my left, so from here I simply keep the carved pedestal in front of me rather than reading positions along a row. Another stride forward.", + "The seated figure and the dark carved block under it are resolving clearly, and the paving between us is flat and empty. Still too far away to call this the base of the statue, so distance remains the only thing to spend. I press forward.", + "A further statue shows beyond mine along the same wall, but I am tracking the one whose plinth is already looming in front of me, not whichever sits second from anywhere now. The gap left to close is still several strides, so I keep walking.", + "My target's base now rises well above the horizon line of the court, and the shadow it throws falls across the stones just short of my feet. That reads as close, though not yet at the pedestal itself, so I take another step in.", + "The pedestal's moulded foot and the joint where it meets the paving are both visible now, which is the part of it I need to reach. A few more strides on this line should bring me right up against that block. Forward again.", + "The carved block stands ahead and slightly left with its long shadow reaching out over the flagstones toward me. Nothing interrupts the stone between us, and I am still a fair way short of standing at its foot. I keep moving on this line.", + "The relief panel on the plinth face is starting to separate into distinct carving, a sign the gap is shrinking as expected. I am still out on open paving rather than beside the stone. Another stride in should bring me closer to its front face.", + "The near corner of the pedestal and the moulding capping it read clearly now, and the block is filling more of the left half of my view. That growth confirms the heading is right, though I am not yet within reach of the stone. I continue toward it.", + "Rows of incised hieroglyphs are legible across the block, so only a short run of paving separates me from it. Its foot still sits ahead of me rather than beside me. I carry on closing that last stretch.", + "The pedestal now dominates the left of my view, with the lowest step of its base sitting low in frame. Reaching that step is what the task asks of me, and a couple of strides of paving remain. I advance again.", + "I can see the carved face at an angle now, its near edge close by on my left, which means I am nearly alongside the block rather than looking at it from across the court. A short push should set me right at its footing.", + "Only a narrow band of sunlit paving lies between my feet and the stone lip of the base. The detail on the panel is sharp enough to touch, so I am within a stride or two of arriving. I close that remainder.", + "The block fills nearly the whole left side and I can see where its moulded footing meets the flagstones just off my shoulder. Standing squarely at that footing is the position I want, so I take one more step in.", + "The panel's winged emblem and column of glyphs now read at close range, and the plinth's lowest step sits just off my left toe. A short forward push should carry me level with that footing instead of leaving me at its front corner.", + "The base's moulded lip is now within a stride on my left, with clear paving still under my feet. One last step should set me squarely alongside the stone rather than a pace short of it.", + "The carved pedestal's footing stands directly beside me, its stepped base within arm's reach. I am at the statue's base, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d7381e6150387b1464f5970c8749c35dae50f4d4 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_b/infos.json @@ -0,0 +1,446 @@ +{ + "Instruction": "Approach the base of the third statue from the left.", + "Type": 2, + "Start_Pose": [ + -24153.902, + -35548.083, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -24153.902, + -35548.083, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -24062.638, + -35634.75, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23971.373, + -35721.417, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23880.108, + -35808.084, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23788.844, + -35894.752, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23697.579, + -35981.419, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23606.314, + -36068.087, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23515.05, + -36154.754, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23423.785, + -36241.422, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23332.52, + -36328.089, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23241.256, + -36414.757, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23149.991, + -36501.424, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23058.727, + -36588.092, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22967.462, + -36674.759, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22876.197, + -36761.427, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22784.933, + -36848.094, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22693.668, + -36934.762, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22602.403, + -37021.429, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22511.139, + -37108.097, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22419.874, + -37194.764, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22328.609, + -37281.432, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22237.345, + -37368.099, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22146.08, + -37454.767, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -22054.815, + -37541.434, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -21963.551, + -37628.102, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -21872.286, + -37714.769, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -21872.286, + -37714.769, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21826.199, + -37831.887, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21780.113, + -37949.004, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21734.026, + -38066.122, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21687.94, + -38183.239, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21641.853, + -38300.357, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21595.766, + -38417.474, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21549.68, + -38534.592, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21503.593, + -38651.709, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21457.507, + -38768.827, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21411.42, + -38885.944, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21365.333, + -39003.062, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21319.247, + -39120.179, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21273.16, + -39237.297, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21227.074, + -39354.415, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21180.987, + -39471.532, + -1681.769, + 0.0, + -68.52, + 0.0 + ], + [ + -21180.987, + -39471.532, + -1681.769, + 0.0, + -68.52, + 0.0 + ] + ], + "Rationale": [ + "Two rows of statues on carved plinths line this avenue, and counting the left-hand row inward from the near edge, the third plinth down that row is my target. They are cast alike, so I fix it by its place in the run, the third pedestal along the left colonnade beyond the two nearest. It stands far ahead, so I step forward down the open paving.", + "The colonnade is opening out around me and the left-hand statues are growing taller in view, but the third pedestal along that row is still well down the avenue. Nothing blocks the paved lane in front of me, so I keep walking straight.", + "The nearest left statue is now sliding toward the edge of my view as I close in, while the pedestal I picked further down the row remains ahead and to my left. Distance is still the only thing between us, so I continue forward along the centre of the avenue.", + "The first left statue is passing out of my view, so I can no longer count that row from its near end and instead simply keep my eye on the pedestal I chose, the one still standing ahead on my left. Walking straight continues to shorten the gap to it.", + "My target plinth is still some way down the left side of the avenue, not yet abeam of me. The paving between us is clear and level, so another stride forward is the direct way to close on it.", + "The statues flanking me are noticeably closer and the far gateway sits straight ahead, which tells me I am still short of the plinth I am heading for. I keep advancing rather than turning, since the target lies further along than my current position.", + "The pedestal I am aiming for still lies ahead on my left rather than beside me, so turning now would cut the corner too early. I take another step forward along the open avenue to bring myself level with it.", + "The carved plinths on both sides are drawing past me and the avenue ahead remains clear. My chosen pedestal is not yet reached, so I keep walking straight before any turn toward its base.", + "The plinths closest to me now sit at the outer edges of my view, while the pedestal I am bound for is still further down the left side than my shoulder. The paving between is bare and level, so another stride forward closes that gap.", + "What were dim silhouettes are resolving into carved figures seated on their bases, yet none of them stands beside me yet. Holding my line on the bright gateway at the avenue's end, I keep walking.", + "The pedestal I want has grown taller on my left but still sits well up the avenue rather than level with me, so swinging toward it now would cut in short. Straight walking remains the shortest route to its base.", + "Left-hand bases keep slipping rearward past my shoulder while the one I am heading for stays out beyond them. The lane is wide and empty of anything I would have to skirt, so I press on without altering heading.", + "From this close the flanking figures no longer read as a neat row I could tally; what remains is the tall statue standing ahead on my left against the long wall, and that is the one I am holding to. I keep moving toward it.", + "The base I am aiming for is noticeably nearer now, its carved face starting to separate from the shadowed wall behind it. I am still short of it, so I take another step down the avenue.", + "A plinth has crowded into my left foreground as I come level with it, but that is not the one I set out for; mine stands further along the same wall. I keep walking past this nearer base instead of stopping at it.", + "Open paving still lies between me and the pedestal I am heading for, which sits ahead and off to my left rather than at my side. Nothing blocks the way, so I advance again to shorten that distance before any turn toward it.", + "That inscribed block at my left edge is sliding behind my shoulder, while the seated figure I am bound for rises further along the same wall, small against the glare of the far gate. Level paving runs straight toward it, so I stride on.", + "My target's base sits ahead and left of my line rather than abeam of me, so cutting toward it at this distance would bring me in awkwardly behind its front. Another straight stride keeps the approach square.", + "Nothing crowds my left foreground any longer, so the figure on its carved base stands clear along the wall ahead of me, still a good stretch off. I continue down the middle of the paving toward it.", + "The base ahead on my left has thickened enough that its panelled face separates from the wall behind, yet it remains forward of me rather than beside me. Walking on is what brings me abreast of it.", + "Two figures flank the avenue in front of me, and mine is the left one set against the long wall. Since it still lies out ahead, I hold my heading and take another step.", + "The left pedestal is broadening as I close on it, though several strides of bare paving still lie between us. With nothing to skirt, there is no reason to deviate from this line.", + "The plinth now reads as a squared, carved block beneath the seated figure, ahead and a little to my left. I am not yet level with its front face, so I step straight on before any swing toward its base.", + "Only a short run of paving stands between me and being abreast of that pedestal on my left. I press forward once more, since drawing level first should give me the cleanest angle onto its base.", + "The carved base on my left has swelled into the near part of my view, yet its front face still sits a touch ahead of my shoulder. One more stride should bring me properly level with it, so I hold this line rather than committing to a turn too soon.", + "I am now abreast of that inscribed pedestal on my left, and keeping this heading would only carry me on toward the bright gateway and past it. A turn to the left should swing its base into the centre of my view for a square walk in.", + "The seated figure on its carved block now stands ahead of me with open paving between us, which is the angle I wanted onto its front. Nothing lies in the way, so I walk directly at it.", + "The plinth is staying put near the middle of my view as I advance, so my heading needs no adjustment. Plenty of paving still separates me from its base, and I keep striding toward it.", + "Detail is emerging on the block beneath the figure, the panelled sides now separating from the wall behind. I am still well short of standing at it, so another step forward is what the approach needs.", + "The long shadow thrown from the pedestal now reaches across the paving toward my feet, a sign of how much ground is left. That gap is still more than a stride or two, so I continue straight in.", + "The carved base is filling more of my view with each step and my line runs straight onto its near corner. Since I am not yet close enough to call this arriving at it, I press on.", + "From here the inscribed panels on the pedestal are clear and the figure above it towers out of my view at the top. A few more paces of open stone remain before I am standing at its foot, so I keep moving.", + "The pedestal sits square in front of me with its hieroglyph face catching the low sun, and the statue's legs are already above my line of sight. Several paces of paving still separate me from its plinth, so I walk on.", + "The moulded step at the foot of the block is now distinct from the paving, which tells me my line runs true onto its front. I am not yet close enough to be standing at it, so I take another stride.", + "The carved block now occupies the whole middle of my view and the figure above it is cropped away entirely. A short stretch of stone remains before I am at its foot, so I continue straight in.", + "Individual glyphs on the pedestal's face are readable from here, which is a sign of how little ground is left. Still, I am not yet standing against it, so another step forward is warranted.", + "The near corner of the base is drifting toward my left as I close, so the front and side faces are both opening up to me. A couple more paces should put me right at the stone, and I press on.", + "The block's cornice and columned corner now dominate my view and its shadow falls across the paving right in front of my feet. That is close but not yet at the base, so I step in again.", + "Only a narrow band of paving separates me from the plinth's moulded step now, with the carved face towering over it. One or two more strides should bring me flush against the base, so I keep going.", + "The pedestal has swelled to fill nearly all of my view and its base step is almost underfoot. A final short advance should set me squarely at the stone rather than a stride shy of it.", + "The inscribed corner column and the moulded step at the foot of the block stand barely a pace off, filling the left of my view. One short advance should put me hard against the stone rather than leaving a gap.", + "The carved pedestal fills my view from its base step upward, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_c/infos.json b/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a68226e43b87f104b6599cf83a288b5ce2731d7b --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x-024154_y-035548_z-001682_t2_c/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Head toward the base of the second statue from the right.", + "Type": 2, + "Start_Pose": [ + -24153.902, + -35548.083, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -24153.902, + -35548.083, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -24062.638, + -35634.75, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23971.373, + -35721.417, + -1681.769, + 0.0, + -43.52, + 0.0 + ], + [ + -23971.373, + -35721.417, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -23852.032, + -35761.394, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -23732.691, + -35801.372, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -23613.35, + -35841.349, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -23494.009, + -35881.326, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -23374.667, + -35921.304, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -23255.326, + -35961.281, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -23135.985, + -36001.258, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -23016.644, + -36041.235, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -22897.303, + -36081.213, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -22777.962, + -36121.19, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -22658.621, + -36161.167, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -22539.28, + -36201.145, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -22419.938, + -36241.122, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -22300.597, + -36281.099, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -22181.256, + -36321.077, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -22061.915, + -36361.054, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -21942.574, + -36401.031, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -21823.233, + -36441.009, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -21703.892, + -36480.986, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -21584.551, + -36520.963, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -21465.209, + -36560.941, + -1681.769, + 0.0, + -18.52, + 0.0 + ], + [ + -21350.56, + -36597.808, + -1681.85, + 0.0, + -18.52, + 0.0 + ], + [ + -21350.56, + -36597.808, + -1681.85, + 0.0, + -18.52, + 0.0 + ] + ], + "Rationale": [ + "The avenue runs straight between two rows of near identical statues set on inscribed plinths, so ordinal counting is all I have. Counting in from the right end, my target is the second statue, which I pin as the one standing just inward from the rightmost, against the temple wall. I walk forward to close that distance.", + "The statue I chose on the right side is still far off, its plinth only slightly larger than before. The paving ahead is clear of obstruction, so I keep stepping straight down the avenue before angling in toward it.", + "I have advanced far enough along the avenue that my chosen statue no longer lies ahead of me but off to my right. Continuing straight would carry me past it, so I turn right to swing my heading into the right-hand row and put its base in front of me.", + "The turn has brought the right-hand row across my view, with the tall statue and its carved plinth now standing ahead and to my right. The end of the row has slipped out of view, so I hold onto the plinth I already singled out rather than recounting. I step forward toward it.", + "The plinth I am heading for sits ahead and slightly to my right, larger in my view than a moment ago. The stretch of paving between us is empty, so another stride forward should shorten the gap to its base.", + "The inscribed base of my statue now shows its front panel clearly, still ahead and a little to my right. Nothing stands between me and it, so I keep walking straight in toward that base.", + "The plinth keeps filling more of my view, and the figure above it now rises past the top of my sight. I am still several paces short of standing at its foot, so I continue advancing.", + "The front face of the base and the striding figure above it are close now, but the paving still runs on before reaching the stone. I keep moving forward so I can arrive right at the foot of this statue.", + "The carved base of my statue now sits well up on my right, its winged emblem readable, while open paving still stretches between me and the stone. I keep walking so the gap to its foot narrows further.", + "The plinth's ornament has grown sharp enough that I can pick out the individual figures cut into its panel, yet its near corner is still a few paces off my shoulder. Another stride forward should bring me level with its foot.", + "Further plinths of the same row are opening up beyond this one, but I stay with the statue whose base is now looming at my right rather than counting again from here. The paving in front is clear, so I press on.", + "The base beside me now shows its column-flanked corner and I can see the sunlit floor running right up against its lower moulding. I keep advancing to reach that foot rather than stopping short of it.", + "My statue's plinth fills the right edge of my view, but I am still abreast of its rear rather than standing at the front of its base. Moving forward should carry me alongside and up to the stone itself.", + "Up close the line of statues no longer reads as a countable row, so I simply hold to the inscribed plinth crowding my right side. There is still open ground between me and its front face, and I walk on to close it.", + "The figure above the base is now cut off by the top of my view and only the plinth's shadowed flank is squarely in front. A few more steps should place me at the base itself.", + "Sunlight is raking across the plinth's near face and the paving beside it is still open, meaning I have not yet drawn level with the stone. I continue forward to bring myself right up against its base.", + "The columned corner of my plinth stands ahead and to the right, with its long shadow thrown across the paving toward me. I am still out on the open floor rather than at the stone, so I take another stride in.", + "The base has squared up in front of me, its hieroglyph panel and the striding legs above it clearer than a moment ago. Nothing blocks the floor between us, so I keep walking in on that corner.", + "The plinth's near face now dominates the right of my view while the pylon wall runs off behind it. My feet are still on open ground short of the stone, so I advance again to draw up to its foot.", + "Only a short span of shadowed floor separates me from the base's stepped footing. I keep moving straight in rather than veering off along the wall.", + "The carved block is close enough that its cornice and the moulded plinth at the bottom read as separate courses. That still puts me a stride or two off the stone, so I press on.", + "Its inscribed side now fills the right half of what I can see, the columns at either edge of the panel standing out sharply. I continue forward to close the last of the paving to its foot.", + "I am nearly abreast of the corner where the two carved faces meet, with the base's lower step just off to my right. Another stride should set me right against the stone.", + "The hieroglyph wall of the base now towers over most of my view, its rounded corner column and footing within a pace of me. One more step should plant me at the foot of this statue.", + "The engraved stone of this base spans nearly everything in front of me, with only a thin strip of shadowed paving left along its footing. A final step should bring me flush against it.", + "The inscribed base of my chosen statue is directly against me, its carvings filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05491f2fd79cf70476f4faa09db7185bbe66ee39 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the leftmost hieroglyphic column in the row.", + "Type": 2, + "Start_Pose": [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1212.903, + 4357.283, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1233.373, + 4233.099, + 196.587, + 0.0, + -80.64, + 0.0 + ], + [ + 1233.373, + 4233.099, + 196.587, + 0.0, + -105.64, + 0.0 + ], + [ + 1199.442, + 4111.9, + 196.063, + 0.0, + -105.64, + 0.0 + ], + [ + 1165.511, + 3990.701, + 195.01, + 0.0, + -105.64, + 0.0 + ], + [ + 1131.581, + 3869.502, + 194.756, + 0.0, + -105.64, + 0.0 + ], + [ + 1131.581, + 3869.502, + 194.756, + 0.0, + -130.64, + 0.0 + ], + [ + 1049.608, + 3773.998, + 194.223, + 0.0, + -130.64, + 0.0 + ], + [ + 967.636, + 3678.494, + 194.223, + 0.0, + -130.64, + 0.0 + ], + [ + 885.663, + 3582.99, + 193.465, + 0.0, + -130.64, + 0.0 + ], + [ + 803.691, + 3487.486, + 193.465, + 0.0, + -130.64, + 0.0 + ], + [ + 803.691, + 3487.486, + 193.465, + 0.0, + -130.64, + 0.0 + ] + ], + "Rationale": [ + "A row of carved columns stands ahead, and every shaft carries the same style of relief, so nothing but position tells them apart. I settle on the one at the far left end of the run as my target and hold that place in mind. I step forward to cross the open sand toward the colonnade.", + "The shafts have grown noticeably taller in my view, yet the left end of the row still lies well off past my left shoulder. Another stride forward should bring me level with the colonnade before I swing toward that end.", + "The nearest shafts now crowd the left of my view, and the column I want lies further round on that side rather than along my heading. I turn left so my path runs toward the left end of the row instead of past its middle.", + "The turn has opened up the left side of the court, showing a carved wall behind the shafts and the row running off that way. I walk forward to close ground toward the column at the left end that I picked out.", + "The shafts ahead have thickened in my view and the wall on the left is drawing nearer, so there is still sand to cover. Another step forward keeps me closing on the left end of the colonnade.", + "Only a few carved shafts now fill the near view, their reliefs readable in detail, so I am nearly among them. I step forward again to reach the base of the column at the left end of the run.", + "This close the shafts no longer read as a countable row, so I keep to the column standing at the row's end beside the carved wall, and it now sits off to my left rather than in front of me. I turn left to face it directly.", + "Facing into the colonnade, the tall carved shaft I have been tracking now stands nearly square ahead with the wall behind it. I move forward to cover the last stretch of sand to its base.", + "The carved shaft I am heading for now fills much of the view with its banded reliefs, but a stretch of open sand still separates me from its base. I keep walking straight at it rather than drifting toward the neighbouring shafts on either side.", + "The hieroglyph registers on the shaft ahead are close enough that individual figures stand out, yet its foot is still a little beyond my reach. Another stride should put me almost against the stone.", + "The shaft now spans nearly the whole of my view, its cartouche and lotus bands directly in front of me, with the pale wall only glimpsed past its edge. One more step should bring me right up against the stone where I mean to stand.", + "The carved shaft fills my view at arm's length, its reliefs shadowed by my own closeness. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68ad582d3d852526e0d2b0aec4e1996a5611fec9 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Approach the second column from the right.", + "Type": 2, + "Start_Pose": [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1212.903, + 4357.283, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1233.373, + 4233.099, + 196.587, + 0.0, + -80.64, + 0.0 + ], + [ + 1253.842, + 4108.916, + 195.773, + 0.0, + -80.64, + 0.0 + ], + [ + 1253.842, + 4108.916, + 195.773, + 0.0, + -55.64, + 0.0 + ], + [ + 1324.876, + 4005.018, + 194.992, + 0.0, + -55.64, + 0.0 + ], + [ + 1395.909, + 3901.121, + 194.223, + 0.0, + -55.64, + 0.0 + ], + [ + 1466.943, + 3797.223, + 193.692, + 0.0, + -55.64, + 0.0 + ], + [ + 1466.943, + 3797.223, + 193.692, + 0.0, + -30.64, + 0.0 + ], + [ + 1575.23, + 3733.08, + 193.435, + 0.0, + -30.64, + 0.0 + ], + [ + 1683.518, + 3668.937, + 193.435, + 0.0, + -30.64, + 0.0 + ], + [ + 1791.805, + 3604.794, + 192.925, + 0.0, + -30.64, + 0.0 + ], + [ + 1900.093, + 3540.651, + 192.668, + 0.0, + -30.64, + 0.0 + ], + [ + 1900.093, + 3540.651, + 192.668, + 0.0, + -55.64, + 0.0 + ], + [ + 1952.679, + 3481.248, + 192.351, + 0.0, + -55.64, + 0.0 + ], + [ + 1952.679, + 3481.248, + 192.351, + 0.0, + -55.64, + 0.0 + ] + ], + "Rationale": [ + "The colonnade runs across in front of me, and the right end is closed by a tall dark stone wall; the shaded shaft standing just inboard of that wall is my target. The sand between us is open and flat, so I will step forward to begin closing on it.", + "The shafts have grown taller and their bases are clearer, so my heading into the colonnade is still good. The shaded column beside the wall on the right remains a long way off, and I will keep walking forward.", + "I am close enough now that the shafts fill much of my view and the gaps between them read as separate lanes of sand. My target beside the right-hand wall is still further off to that side, so another step forward should bring me level with the row before I swing toward it.", + "Straight ahead I would pass between the pale columns on my left, while the shaded shaft next to the tall wall lies off to my right. I will turn right to put that column and the wall behind it into the middle of my path.", + "The turn has brought the dark, deeply carved shaft in front of the big stone wall into the right half of my view, which is the column I am going to. The sand ahead of it is clear, so I will walk forward.", + "The carved shaft beside the wall is noticeably nearer, its banded decoration now readable, and it stays in the right half of my view. I will keep stepping forward along this lane of sand toward it.", + "The nearer pale column has swung across my left side and the end of the row is no longer something I can count from, so I simply hold to the dark carved shaft standing against the wall. It is close but not yet reachable, so I will advance again.", + "The dark carved column I am heading for sits a little right of the centre of my view, so walking straight on would carry me past its near side. I will turn right to bring it squarely in front of me before continuing.", + "The carved shaft now stands squarely ahead of me with the block wall filling the right side, so my heading is right on it. Open sand lies between us, and I will walk forward to close the gap.", + "The banded carvings on the shaft ahead are sharp enough to pick out individual figures, which tells me the distance is dropping steadily. Nothing crosses the sand in front of me, so I keep advancing.", + "The shaft now rises past the top of my view and its base sits only a few paces off, with a second column behind it against the wall. I am not yet beside it, so another step forward is warranted.", + "The carved stone dominates the left of my view while the sunlit gap toward the wall opens on my right, meaning I am nearly abreast of it rather than in front of it. One more stride should bring me right up against the shaft.", + "The carved shaft has slid out to my left edge and my heading now points into the sunlit gap between it and the wall. Turning left should bring the column back in front of me so I finish facing it instead of passing beside it.", + "The turn has put the carved shaft back across the centre of my view, its hawk relief and hieroglyph bands filling most of the frame. A short step forward should place me right at its base.", + "The carved shaft beside the tall wall now fills my view at arm's length. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_c/infos.json b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06123331cbab7682941e63bcc612f5ab0b41eafd --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the second column from the left.", + "Type": 2, + "Start_Pose": [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1212.903, + 4357.283, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1233.373, + 4233.099, + 196.587, + 0.0, + -80.64, + 0.0 + ], + [ + 1253.842, + 4108.916, + 195.773, + 0.0, + -80.64, + 0.0 + ], + [ + 1253.842, + 4108.916, + 195.773, + 0.0, + -105.64, + 0.0 + ], + [ + 1219.911, + 3987.717, + 195.242, + 0.0, + -105.64, + 0.0 + ], + [ + 1185.981, + 3866.518, + 194.732, + 0.0, + -105.64, + 0.0 + ], + [ + 1152.05, + 3745.319, + 194.213, + 0.0, + -105.64, + 0.0 + ], + [ + 1118.12, + 3624.12, + 193.677, + 0.0, + -105.64, + 0.0 + ], + [ + 1084.189, + 3502.921, + 192.885, + 0.0, + -105.64, + 0.0 + ], + [ + 1084.189, + 3502.921, + 192.885, + 0.0, + -105.64, + 0.0 + ] + ], + "Rationale": [ + "Counting across the row in front of me, my target is the column standing immediately to the right of the outermost one on the left. They all carry the same carved bands, so I will keep it fixed as the near neighbour of that outer column rather than recounting later. It lies ahead and a little left, so I step forward.", + "The columns have grown taller in my view and their carved surfaces are clearer, so my heading is carrying me into the colonnade. My target still sits just right of the outer column on the left side, ahead of me. I walk forward again to close more of the gap.", + "I am now close enough that the carved reliefs on the shafts read clearly, and the column I want, the one beside the outer left column, sits ahead and slightly to my left. Nothing blocks the sand between us. Another step forward should bring me nearer before I correct my heading.", + "Walking straight has pushed my target off toward the left side of my view, while a different shaft now sits near the center of my heading. To keep approaching the right one, I need my body pointed at the column next to the outer left one. I turn left to bring it back in front of me.", + "The turn has placed the column I want back near the middle of my view, with clear sand leading to its base. My heading now points along the approach rather than past it. I step forward to shorten the remaining distance.", + "My target column now dominates the center of my view and its base is visible on the sand ahead. I am still several strides short of standing beside it. I keep walking straight toward it.", + "From this close the row no longer reads as a countable line; only my target and its outer neighbour fill the left of my view. That pairing still tells me I am facing the correct shaft. I advance again to reach its base.", + "The carved shaft I am heading for now fills much of my view and its foot in the sand is only a short walk away. A little more distance remains before I would be standing right at it. I take another step forward.", + "The hieroglyph bands on my column are sharp enough to read individual signs, with its neighbour's darker shaft just showing past its left edge. Its foot in the sand still sits a stride ahead rather than beside me. One more step should put me right against it.", + "The carved column stands directly beside me, close enough to touch its painted reliefs. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_d/infos.json b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..faaa951e139e5878ab6cf7f9759c5f3775a3caad --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the third column from the left.", + "Type": 2, + "Start_Pose": [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1212.903, + 4357.283, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1233.373, + 4233.099, + 196.587, + 0.0, + -80.64, + 0.0 + ], + [ + 1253.842, + 4108.916, + 195.773, + 0.0, + -80.64, + 0.0 + ], + [ + 1274.311, + 3984.733, + 195.227, + 0.0, + -80.64, + 0.0 + ], + [ + 1294.781, + 3860.549, + 194.391, + 0.0, + -80.64, + 0.0 + ], + [ + 1315.25, + 3736.366, + 193.85, + 0.0, + -80.64, + 0.0 + ], + [ + 1335.719, + 3612.183, + 193.315, + 0.0, + -80.64, + 0.0 + ], + [ + 1335.719, + 3612.183, + 193.315, + 0.0, + -55.64, + 0.0 + ], + [ + 1406.753, + 3508.285, + 192.758, + 0.0, + -55.64, + 0.0 + ], + [ + 1406.753, + 3508.285, + 192.758, + 0.0, + -55.64, + 0.0 + ] + ], + "Rationale": [ + "A row of carved columns rises from the sand ahead, and counting from the left, the third is the one standing clear in the middle of my view with a lone palm on the horizon at its left shoulder. The shafts look alike, so I hold onto that pairing. I step forward to close the distance.", + "The column I picked out still sits near the center of my view, its carved shaft noticeably larger than a moment ago. The sand between us is flat and unobstructed, so I keep walking straight at it.", + "As I close in, the columns spread apart across my view while my target stays centered with the palm rising just behind its left side. Nothing blocks the way, so another stride forward should shorten the gap further.", + "My column now dominates the middle of my view, its banded carvings clearly readable, while the neighbouring shafts are pushed toward the edges. I hold the same line and walk on.", + "The base of my column is now distinct against the bright sand, and the ground in front of me is clear. I keep stepping forward to cut down the remaining distance to it.", + "The far left end of the colonnade has slid out of my view, so I can no longer count the row from here, but I am still tracking the same shaft, which now looms just right of center. I advance again to bring myself close to it.", + "Only my column fills the middle of my view now, its hieroglyph bands close enough to read in detail. I keep moving forward to bring myself right up beside its base.", + "From this close range the column's carved face sits across the right half of my view rather than in front of me, so walking on as I am aimed would slide me past its side. I will turn right a notch to square my heading with its base.", + "The turn has brought the carved shaft squarely ahead of me, its hieroglyph bands filling most of my view with open sand right up to its base. Only a short gap of ground remains, so one more stride should put me directly beside it.", + "The carved column stands right against me, its stone filling my view at arm's length. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_e/infos.json b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..55cd7858b8158ed5318704794598cea6444de3d3 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t2_e/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Proceed to the rightmost column's base near the sand.", + "Type": 2, + "Start_Pose": [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1212.903, + 4357.283, + 197.902, + 0.0, + -80.64, + 0.0 + ], + [ + 1212.903, + 4357.283, + 197.902, + 0.0, + -55.64, + 0.0 + ], + [ + 1283.937, + 4253.385, + 196.553, + 0.0, + -55.64, + 0.0 + ], + [ + 1354.971, + 4149.487, + 195.749, + 0.0, + -55.64, + 0.0 + ], + [ + 1426.004, + 4045.59, + 195.178, + 0.0, + -55.64, + 0.0 + ], + [ + 1497.038, + 3941.692, + 194.649, + 0.0, + -55.64, + 0.0 + ], + [ + 1568.072, + 3837.795, + 193.873, + 0.0, + -55.64, + 0.0 + ], + [ + 1639.105, + 3733.897, + 193.621, + 0.0, + -55.64, + 0.0 + ], + [ + 1710.139, + 3629.999, + 193.066, + 0.0, + -55.64, + 0.0 + ], + [ + 1781.173, + 3526.102, + 192.804, + 0.0, + -55.64, + 0.0 + ], + [ + 1852.206, + 3422.204, + 192.282, + 0.0, + -55.64, + 0.0 + ], + [ + 1852.206, + 3422.204, + 192.282, + 0.0, + -55.64, + 0.0 + ] + ], + "Rationale": [ + "Counting the row of columns ahead, the last one on the right stands hard against the tall masonry block, and that pairing is what I will keep following rather than a position in the line. Its base is still far off across the open sand, so I walk straight ahead to close distance before fixing my heading.", + "Walking straight has brought the colonnade closer, but the column set against the tall wall now sits off to my right instead of on my line of travel. I turn right so that column and the sunlit gap beside it come into the middle of my path.", + "The turn has placed the column beside the tall wall roughly ahead of me, with clear sand between us. I step forward along that line to begin closing on its base.", + "The column standing against the wall has grown slightly and stays near the middle of my view, so my heading is still good. I keep walking forward across the sand to shorten the remaining distance.", + "More of the wall-side column's carved shaft is visible now, which tells me I am gaining ground on it. Nothing blocks the sand between us, so I continue straight forward.", + "The column beside the wall is noticeably wider in view, yet its base is still several strides off. I walk forward again to keep closing on it.", + "From this close the row no longer reads as a countable line, but the carved column pressed against the tall wall is unmistakable in front of me and remains my target. Its base rests on the sand just ahead, so I step forward once more.", + "The carved column fills much of my view and its base sits plainly on the sand a short way ahead. I advance again to bring myself right up against that base.", + "The hieroglyph bands on the shaft are sharp enough to read now, and its footing meets the sand a couple of paces off. I keep walking straight at it to close that last gap.", + "The shaft has swelled to fill most of my view and its shadow now runs back beneath my feet, so I am nearly against the stone. One more stride forward should put me at the footing itself.", + "Only the carved surface of the shaft is left in front of me, with the sand of its footing sliding low out of view. I step forward a final time to stand right at the base rather than a stride short of it.", + "The carved shaft rises immediately beside me with its footing set in the sand at my feet. I have reached the base I was heading for, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t5_a_p/infos.json b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..59450165397e6cbe5fc909167fdc1a123afceb1b --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001192_y004481_z000198_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Lift the green bell pepper near the leftmost hieroglyphic column in the row.", + "Type": 5, + "Start_Pose": [ + 1192.434, + 4481.466, + 197.902, + 0, + -80.64, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 896.74, + 3644.189, + 139.227, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1192.434, + 4481.466, + 197.902, + 0, + -80.64, + 0 + ], + [ + 1192.434, + 4481.466, + 197.902, + 0.0, + -105.64, + 0.0 + ], + [ + 1158.503, + 4360.267, + 197.902, + 0.0, + -105.64, + 0.0 + ], + [ + 1124.573, + 4239.068, + 196.867, + 0.0, + -105.64, + 0.0 + ], + [ + 1090.642, + 4117.869, + 196.076, + 0.0, + -105.64, + 0.0 + ], + [ + 1056.712, + 3996.67, + 195.553, + 0.0, + -105.64, + 0.0 + ], + [ + 1022.781, + 3875.471, + 195.03, + 0.0, + -105.64, + 0.0 + ], + [ + 988.85, + 3754.272, + 194.229, + 0.0, + -105.64, + 0.0 + ], + [ + 988.85, + 3754.272, + 194.229, + 0.0, + -105.64, + 0.0 + ], + [ + 988.85, + 3754.272, + 194.229, + 0.0, + -105.64, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 896.74, + 3644.189, + 139.227, + 0.0, + 0.0, + 0.0 + ], + [ + 896.74, + 3644.189, + 139.227, + 0.0, + 0.0, + 0.0 + ], + [ + 896.74, + 3644.189, + 139.227, + 0.0, + 0.0, + 0.0 + ], + [ + 896.74, + 3644.189, + 139.227, + 0.0, + 0.0, + 0.0 + ], + [ + 896.74, + 3644.189, + 139.227, + 0.0, + 0.0, + 0.0 + ], + [ + 896.74, + 3644.189, + 139.227, + 0.0, + 0.0, + 0.0 + ], + [ + 896.74, + 3644.189, + 139.227, + 0.0, + 0.0, + 0.0 + ], + [ + 896.74, + 3644.189, + 139.227, + 0.0, + 0.0, + 0.0 + ], + [ + 1009.578, + 3749.102, + 164.32, + -28.202, + -55.496, + 1.862 + ], + [ + 1009.578, + 3749.102, + 164.32, + -28.202, + -55.496, + 1.862 + ] + ], + "PD_Dist_2D": [ + 888.0, + 888.0, + 762.4, + 637.0, + 511.8, + 387.1, + 263.4, + 143.5, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the small green bell pepper sitting on the sand at the base of the hieroglyphic column row, but it sits well off to the left of my heading. I will turn left to bring it toward the center of my view before walking in.", + "The pepper now sits near the middle of my view, beside the leftmost carved column in the row, with open sand between me and it. I will walk forward to close the long distance separating us.", + "The pepper has grown slightly larger and stays close to my center line, so my heading is still good. I will keep walking forward since it remains too far to reach.", + "From where I stand, the pepper is clearly visible at the foot of the column and holds its position slightly left of center. I still cannot reach it, so I will continue advancing along this heading.", + "The pepper is noticeably bigger now and sits low in front of me, but it is still several strides away. I will step forward again to keep closing the gap.", + "The pepper is close enough that I can make out its stem, yet it remains slightly beyond a comfortable grasp. I will take another step forward before attempting to lift it.", + "The pepper now fills a good part of the lower view right beside the columns, but it is not yet directly at my feet. One more forward step should place it within reach.", + "The green bell pepper is now immediately in front of me at the bottom of my view, right at the base of the leftmost hieroglyphic column. My hands are empty and nothing blocks it, so I will attempt to pick it up.", + "The green bell pepper is now held in my hands, no longer resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..73e37926d2cb31675a7394209162fd95cf2f6f48 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the leftmost column in the front row.", + "Type": 2, + "Start_Pose": [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 88.28, + -0.0 + ], + [ + 1882.674, + 1471.381, + 181.198, + 0.0, + 88.28, + -0.0 + ], + [ + 1886.451, + 1597.184, + 182.408, + 0.0, + 88.28, + -0.0 + ], + [ + 1890.229, + 1722.986, + 183.44, + 0.0, + 88.28, + -0.0 + ], + [ + 1890.229, + 1722.986, + 183.44, + 0.0, + 63.28, + -0.0 + ], + [ + 1946.819, + 1835.405, + 184.268, + 0.0, + 63.28, + -0.0 + ], + [ + 2003.409, + 1947.824, + 185.072, + 0.0, + 63.28, + -0.0 + ], + [ + 2059.999, + 2060.243, + 185.595, + 0.0, + 63.28, + -0.0 + ], + [ + 2116.589, + 2172.662, + 186.114, + 0.0, + 63.28, + -0.0 + ], + [ + 2173.179, + 2285.081, + 186.904, + 0.0, + 63.28, + -0.0 + ], + [ + 2173.179, + 2285.081, + 186.904, + 0.0, + 88.28, + -0.0 + ], + [ + 2176.957, + 2410.884, + 187.94, + 0.0, + 88.28, + -0.0 + ], + [ + 2180.735, + 2536.686, + 188.22, + 0.0, + 88.28, + -0.0 + ], + [ + 2184.513, + 2662.488, + 189.252, + 0.0, + 88.28, + -0.0 + ], + [ + 2188.29, + 2788.291, + 189.53, + 0.0, + 88.28, + -0.0 + ], + [ + 2188.29, + 2788.291, + 189.53, + 0.0, + 63.28, + -0.0 + ], + [ + 2244.88, + 2900.71, + 190.08, + 0.0, + 63.28, + -0.0 + ], + [ + 2301.47, + 3013.129, + 190.342, + 0.0, + 63.28, + -0.0 + ], + [ + 2358.06, + 3125.548, + 190.874, + 0.0, + 63.28, + -0.0 + ], + [ + 2414.651, + 3237.967, + 191.385, + 0.0, + 63.28, + -0.0 + ], + [ + 2414.651, + 3237.967, + 191.385, + 0.0, + 63.28, + -0.0 + ] + ], + "Rationale": [ + "The front row of columns runs across ahead of me, and I count its left end as the shaft standing hard against the tall pale block wall on that side, which is the one I want. That end lies well off to my left, outside my current heading. I will turn left so my path opens toward the wall corner where it stands.", + "The turn has brought the tall pale wall and the columns beside it into the center of my view, so my heading now points into the open sand in front of that end of the row. The column I want, the one hugging the wall corner, is still far off. I will walk forward to close that distance.", + "The column shafts and the wall beside them have grown noticeably larger, confirming my heading carries me toward that end of the row. There is still a long stretch of flat sand between me and the wall corner. I will keep walking forward.", + "The carved shafts now fill much more of my view and the shaded column tucked against the wall corner is clearer, so I am closing steadily on the end of the row I chose. I am still short of it. Another step forward should bring me nearer.", + "As I have come closer, the shaft standing against the pale wall has drifted toward the left side of my view while my heading runs past it into the row's middle. I need to face the wall corner itself rather than the open bays. I will turn left to bring that column back in front of me.", + "The turn has swung the tall wall and its corner into the middle of my view, with the column I am after standing in shadow just past that corner. The ground between us is open, level sand. I will step forward along this heading.", + "The wall face and the column beside it have grown larger, so this heading is taking me toward the end of the row I picked. I am still several strides short of that shaft. I will continue walking forward.", + "The carved column beside the wall corner now stands tall in the right of my view and the wall's edge is close, so I am nearly at that end of the colonnade. A little more ground remains. I will keep stepping forward toward it.", + "The pale wall block now looms close on my left and the shadowed shaft beside its corner sits just a bay or two off. Only open sand lies between, so I will keep walking toward it.", + "The wall and the dark shaft beyond its corner keep growing in front of me, so my line still runs to the end of the colonnade I picked out. A further stride should bring that shaft's base within a short approach.", + "As I have closed in, my heading now runs at the blank stone face rather than into the gap beside it where the shadowed shaft stands. Swinging right should set the open sand running along the wall in front of me and keep that shaft reachable.", + "The turn has taken the wall out of my path, and the shadowed shaft hugging its corner now sits just left of center with unbroken sand leading to it. I will step forward along this clear line.", + "This close the shafts no longer read as a neat row, yet the one I want stays obvious as the single shadowed shaft pressed against the wall, while the sunlit pair rise out in the open to my right. I will keep walking toward it.", + "The dark shaft at the wall broadens as I close on it, and the bright column crowding my right is merely one I am passing. Several strides of sand still lie ahead, so I will press on.", + "Only a short run of sand now separates me from the shadowed shaft at the wall corner, though the sunlit neighbour fills much of my right. I will walk on to draw level with the shaft I chose.", + "Coming alongside has pushed the shaft I want to the left edge of my view, leaving the sunlit neighbour straight in front of me. A turn left should set the wall corner shaft squarely ahead for the final few steps.", + "The turn has set the shadowed shaft at the wall corner near the middle of my view, with clean sand running up to its base. Only a short approach remains, so I will step forward toward it.", + "The carved shaft now fills the center of my view and its banded decoration is legible, so my line is holding straight onto it. A little sand still lies between my feet and its base, and I will cover it.", + "Its base is close enough now that the wall behind it has narrowed to a dark strip on my left. I am not yet standing at the shaft, so I will take another step in.", + "The shaft's carved drum now spans nearly my whole view and its foot sits just ahead in the sand. One more stride should put me right up against it.", + "The carved shaft at the wall corner fills my view at arm's length. I have arrived at it, so there is nothing left to walk toward." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0d1df47c916376478eb75f62ff3669ffa7c3067f --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_b/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Approach the third column from the left in the row.", + "Type": 2, + "Start_Pose": [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + [ + 1829.153, + 1461.191, + 181.403, + 0.0, + 113.28, + -0.0 + ], + [ + 1779.411, + 1576.803, + 182.181, + 0.0, + 113.28, + -0.0 + ], + [ + 1729.668, + 1692.415, + 182.959, + 0.0, + 113.28, + -0.0 + ], + [ + 1679.926, + 1808.027, + 184.034, + 0.0, + 113.28, + -0.0 + ], + [ + 1630.183, + 1923.64, + 184.808, + 0.0, + 113.28, + -0.0 + ], + [ + 1580.44, + 2039.252, + 185.872, + 0.0, + 113.28, + -0.0 + ], + [ + 1530.698, + 2154.864, + 186.393, + 0.0, + 113.28, + -0.0 + ], + [ + 1480.955, + 2270.476, + 187.194, + 0.0, + 113.28, + -0.0 + ], + [ + 1431.213, + 2386.088, + 187.721, + 0.0, + 113.28, + -0.0 + ], + [ + 1381.47, + 2501.7, + 188.765, + 0.0, + 113.28, + -0.0 + ], + [ + 1381.47, + 2501.7, + 188.765, + 0.0, + 88.28, + -0.0 + ], + [ + 1385.248, + 2627.502, + 188.765, + 0.0, + 88.28, + -0.0 + ], + [ + 1389.025, + 2753.305, + 189.297, + 0.0, + 88.28, + -0.0 + ], + [ + 1392.803, + 2879.107, + 190.107, + 0.0, + 88.28, + -0.0 + ], + [ + 1396.581, + 3004.909, + 190.361, + 0.0, + 88.28, + -0.0 + ], + [ + 1400.358, + 3130.712, + 190.89, + 0.0, + 88.28, + -0.0 + ], + [ + 1400.358, + 3130.712, + 190.89, + 0.0, + 88.28, + -0.0 + ] + ], + "Rationale": [ + "The row of carved columns stands across the courtyard ahead, and counting in from its left end I settle on the third shaft, slightly left of my heading in front of the scaffolded wall. They all share the same carving, so I hold that one by its place beside the scaffolding rather than recounting later. I step forward to close the open sand.", + "The columns have grown slightly and the shadow line still runs across the sand between me and them, so plenty of distance remains. My chosen column sits a little left of straight ahead, close enough to my heading that walking on keeps closing the gap. I move forward again.", + "The shafts now read clearly with their banded capitals, and the row is spreading wider across my view as I near it. My column remains just left of my path, so no turn is needed yet. I keep walking straight toward the row.", + "The nearer columns are tall enough now to cut the sky, and the gaps between them open into the hall beyond. My target still stands ahead and slightly left, unblocked by anything on the sand. Another step forward should bring me appreciably nearer.", + "The bases of the columns are now visible where they meet the sand, which tells me I am well within the courtyard. The column I picked continues to sit left of center as the row widens around me. I advance again.", + "The shafts are close enough that their engraved figures show, and the near ones are beginning to crowd the edges of my view. I stay with the same carved column ahead on my left rather than recounting from where I now stand. Walking on should carry me into the row.", + "The far right end of the row is sliding out of my view as the near shafts loom, so I simply keep following the column I chose beside the scaffolded wall. It stands a little to my left with clear sand leading to it. I step forward again.", + "The columns tower over me now and their carved bands fill much of the view, so I am entering the row itself. My column lies ahead and off to the left, with open ground between us. I keep advancing to close the remaining distance.", + "Two shafts flank my path now, and the carved one I am after still stands ahead and slightly left, with the scaffolded wall visible behind it. The sand between us is open and level. I keep walking to close that gap.", + "The carved shaft I am heading for now shows its base and the full band of figures around it, so only a short stretch of sand remains. Nothing stands between me and it. Another stride forward should bring me close.", + "At this range my column has slid toward the left side of my view while my heading points into the gap past it. A small swing to the left should put the shaft squarely in front of me before I close the last stretch. I turn that way.", + "The turn has set the carved shaft near the middle of my view, with the scaffolding on the wall beyond it just as before. My path to its base is clear sand. I step forward along this new heading.", + "The shaft ahead is widening steadily and its hieroglyph bands read clearly from top to base. My heading still points straight at it, so no further adjustment is needed. I keep advancing.", + "Only this one shaft occupies the center of my view now, its stone blocks fully in sunlight and its base a short stretch of sand away. Its shadow runs back toward my feet. I walk on toward it.", + "The carved figures on the shaft are large enough to read individually, so I am nearly on top of it. A little sand still separates me from its curved base. I advance again to stand beside it.", + "The shaft now fills most of my view and its base sits just in front of my feet. One more short step should place me right against the column rather than a stride short of it. I move forward.", + "The carved column fills the left of my view at arm's reach. I have arrived at it, so the task is complete and no further movement is needed." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_c/infos.json b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6bceac013e75131fdf4c9a917320bebc15266092 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Approach the second column from the left in the row.", + "Type": 2, + "Start_Pose": [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 88.28, + -0.0 + ], + [ + 1882.674, + 1471.381, + 181.198, + 0.0, + 88.28, + -0.0 + ], + [ + 1886.451, + 1597.184, + 182.408, + 0.0, + 88.28, + -0.0 + ], + [ + 1890.229, + 1722.986, + 183.44, + 0.0, + 88.28, + -0.0 + ], + [ + 1894.007, + 1848.788, + 184.247, + 0.0, + 88.28, + -0.0 + ], + [ + 1897.784, + 1974.59, + 185.306, + 0.0, + 88.28, + -0.0 + ], + [ + 1901.562, + 2100.393, + 185.558, + 0.0, + 88.28, + -0.0 + ], + [ + 1905.34, + 2226.195, + 186.621, + 0.0, + 88.28, + -0.0 + ], + [ + 1909.117, + 2351.997, + 187.402, + 0.0, + 88.28, + -0.0 + ], + [ + 1912.895, + 2477.8, + 187.931, + 0.0, + 88.28, + -0.0 + ], + [ + 1916.673, + 2603.602, + 188.741, + 0.0, + 88.28, + -0.0 + ], + [ + 1920.45, + 2729.404, + 189.522, + 0.0, + 88.28, + -0.0 + ], + [ + 1924.228, + 2855.207, + 189.802, + 0.0, + 88.28, + -0.0 + ], + [ + 1928.006, + 2981.009, + 190.321, + 0.0, + 88.28, + -0.0 + ], + [ + 1931.784, + 3106.811, + 191.1, + 0.0, + 88.28, + -0.0 + ], + [ + 1932.231, + 3224.849, + 191.295, + 0.0, + 88.28, + -0.0 + ], + [ + 1932.231, + 3224.849, + 191.295, + 0.0, + 88.28, + -0.0 + ] + ], + "Rationale": [ + "The row of columns runs across in front of me, but its left end is clipped by the edge of my view, so I cannot yet settle which one counts as second. I will turn left to bring the left end of the colonnade into view and fix my target before walking.", + "The left end of the row is now clear: the tall pale wall block, the shadowed column pressed against it, then the next column along, which is my target. The columns look nearly identical, so I hold that one by its place just right of the wall-side end column. It sits almost straight ahead, so I step forward.", + "The column I chose, the one standing just right of the shadowed end column beside the wall, remains near the middle of my view and has grown slightly larger. Open sand lies between us with nothing in the way, so I keep walking straight at it.", + "The colonnade fills more of my view now and my target still holds its place next to the shadowed column against the wall. I am still well short of it, so another straight stride is the most direct way to close the distance.", + "The column bases are becoming distinct and my heading still points at the one beside the shadowed end column. No turn is needed and considerable ground remains, so I continue forward.", + "The architrave overhead is close enough that its carvings read clearly, yet my target column is still a good distance off. My line is unchanged and unobstructed, so I walk on toward it.", + "From this close the columns crowd my view and the row no longer reads as a countable line, so I simply keep following the same shaft, the one just right of the shadowed column against the wall. It stands ahead of me and still several strides away, so I advance again.", + "The wall-side end column has drifted toward the left of my view while my target rises large and slightly right of center. I am not yet close enough to call this an arrival, so I take another step toward it.", + "My column stands near the middle of my view with its full base resting on open sand, and nothing lies between us. The distance still reads as several strides, so I keep my line and walk on.", + "The banded carvings on my column now separate into distinct registers, a sign the gap is shrinking, but its whole height still fits my view. That means I am not close enough yet, so another straight stride follows.", + "The shaft I am walking to now towers over the neighbouring stone, though a broad stretch of sand still separates its base from me. No adjustment in heading is needed, so I press straight ahead.", + "Only the lower drums of my column fit my view now, and the sunlit sand at its foot is close but not yet underfoot. The straight line still holds, so I continue walking toward it.", + "Individual hieroglyphs on my column are legible and its base sits a short run ahead of me, slightly left of my line. Nothing blocks the sand between us, so I take another step toward the shaft.", + "The painted bird figure on my column reads in full colour and the stone now spans most of what I can see, yet its foot is still a couple of strides off. Close as it is, arriving needs one more advance.", + "The shadowed shaft beside the wall has slipped out of my view, leaving only my column filling the centre with bare wall behind it. Its base is nearly at my feet but not quite, so I move up one more step.", + "The carved stone now occupies the whole left half of my view, close enough that I read single glyphs rather than whole bands. A final short step should bring me right alongside the shaft.", + "The carved shaft I chose is at arm's length, its surface filling my view. I have arrived beside it, so the approach is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_d/infos.json b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..73c8c242980aadaf0faca89eeac3feb7bb5fceee --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_d/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Proceed to the third column from the right in front.", + "Type": 2, + "Start_Pose": [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + [ + 1829.153, + 1461.191, + 181.403, + 0.0, + 113.28, + -0.0 + ], + [ + 1829.153, + 1461.191, + 181.403, + 0.0, + 138.28, + -0.0 + ], + [ + 1735.211, + 1544.949, + 181.94, + 0.0, + 138.28, + -0.0 + ], + [ + 1641.27, + 1628.707, + 183.034, + 0.0, + 138.28, + -0.0 + ], + [ + 1547.328, + 1712.465, + 183.864, + 0.0, + 138.28, + -0.0 + ], + [ + 1453.386, + 1796.223, + 184.674, + 0.0, + 138.28, + -0.0 + ], + [ + 1359.444, + 1879.981, + 185.441, + 0.0, + 138.28, + -0.0 + ], + [ + 1265.502, + 1963.739, + 185.949, + 0.0, + 138.28, + -0.0 + ], + [ + 1171.56, + 2047.497, + 186.204, + 0.0, + 138.28, + -0.0 + ], + [ + 1077.618, + 2131.255, + 187.011, + 0.0, + 138.28, + -0.0 + ], + [ + 983.676, + 2215.013, + 187.267, + 0.0, + 138.28, + -0.0 + ], + [ + 889.734, + 2298.771, + 187.791, + 0.0, + 138.28, + -0.0 + ], + [ + 795.792, + 2382.529, + 188.568, + 0.0, + 138.28, + -0.0 + ], + [ + 701.851, + 2466.287, + 189.138, + 0.0, + 138.28, + -0.0 + ], + [ + 607.909, + 2550.045, + 189.405, + 0.0, + 138.28, + -0.0 + ], + [ + 607.909, + 2550.045, + 189.405, + 0.0, + 113.28, + -0.0 + ], + [ + 558.166, + 2665.658, + 190.208, + 0.0, + 113.28, + -0.0 + ], + [ + 508.423, + 2781.27, + 190.769, + 0.0, + 113.28, + -0.0 + ], + [ + 458.681, + 2896.882, + 191.03, + 0.0, + 113.28, + -0.0 + ], + [ + 408.938, + 3012.494, + 191.819, + 0.0, + 113.28, + -0.0 + ], + [ + 359.196, + 3128.106, + 192.597, + 0.0, + 113.28, + -0.0 + ], + [ + 309.453, + 3243.718, + 192.876, + 0.0, + 113.28, + -0.0 + ], + [ + 309.453, + 3243.718, + 192.876, + 0.0, + 113.28, + -0.0 + ] + ], + "Rationale": [ + "From here the front row of temple columns runs across the courtyard, and counting in from its right end, where the row meets the tall carved wall, the third shaft is my target; the columns are near identical, so I hold it by that wall end rather than by looks. It stands far off across open sand, so I step forward to begin closing the gap.", + "My heading points at the middle of the colonnade, while the column I want sits farther right, near where the row meets the carved wall. I will turn right to swing that end of the row toward the center of my view and face the open sand lane running toward it.", + "The turn has put the carved wall on my right and the column row angling away to my left, with an unobstructed strip of sand leading straight ahead. I will walk forward along this lane to close on the column I chose near the wall end of the row.", + "The pale columns standing beside the carved wall have grown slightly but are still a long stretch away down the lane. Nothing blocks the sand in front of me, so I keep walking straight toward them.", + "The two sunlit shafts at the wall end of the row are now clearly separated, which keeps my count anchored on that end. I am still well short of them, so I continue forward along the same line.", + "The shadowed columns on my left and the lit ones by the wall are both filling more of my view, so the distance is shrinking steadily. The lane stays clear of rubble, and I walk on toward the column I picked.", + "The wall reliefs on my right are now close enough to read and the columns loom higher, yet I am still outside the row itself. I press forward to reach the shaft I marked in from the wall end.", + "The end of the row against the carved wall is still in sight, so my chosen column remains identifiable as I close in. The sand ahead stays open, and I keep walking toward it.", + "The pale shafts against the carved wall now rise well past the lintel line, so the gap is genuinely shrinking. Drifted ripples cover the sand to my right, but the packed strip under my feet runs on unobstructed. I take another stride toward the column I marked.", + "Dune ridges have spread further across the court on my right, yet the shaded lane I am following stays flat and open. My column is still some way in, so I walk on rather than adjust heading.", + "The dark shafts on my left now climb past the top of my view, which tells me I am coming alongside the row instead of meeting it head on. The one I chose lies deeper in toward the wall end, so I continue forward.", + "Only two lit shafts by the wall stay framed ahead and the far end of the row has dropped out of my view, so I can no longer count across it and simply hold onto the shaft I already fixed beside that wall. It remains ahead of me, and I keep walking.", + "The carved frieze slides past at close range on my right, confirming I am running along the row rather than into it. My column sits just further on among the shaded shafts, so I step forward again.", + "The nearest shaft on my left is huge now, its painted bands readable, and the sand between the columns is opening into a gap. I am not yet level with my column, so I press on along the same line.", + "Between the dark shaft on my left and the pale pair by the wall a passage leads inward among the columns. My column stands at the mouth of that opening, so one more step forward should bring me level with it.", + "I am level with the opening now, but my heading still runs along the wall and would carry me straight past it. The shaft I want stands off to my left, so I turn left to put it in front of me and face the lane between the columns.", + "Facing into the hall now, the shaded shafts stand ahead of me with clear sand between them, and my column is the near dark one on this side of the gap. Nothing blocks the way in, so I walk straight at it.", + "The shaft I am aiming for now sits squarely in the middle of my view with its carved bands sharpening. Several strides of open floor still separate us, so I keep advancing on the same line.", + "Its painted register of birds and hieroglyphs is legible now and the base is coming into view below. I am still a few paces short of standing at it, so another stride forward is right.", + "The shaft has widened to fill the center of my view and its foot rests on the sand just ahead. Since I want to end up beside it rather than looking at it from afar, I continue closing.", + "Only a short stretch of floor now lies between me and the curved face of this column, whose lower drum I can read band by band. I step forward again to bring myself right up against it.", + "The carved surface now spans most of my view, though a little floor still remains before I am truly at its foot. One more step should place me alongside the column I chose.", + "The carved shaft fills my view at arm's length, its inscribed drum right beside me. I have reached the column I chose, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_e/infos.json b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d2f5b439fdb77967644a447857f32b14e1691817 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t2_e/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Proceed to the second column from the right in front.", + "Type": 2, + "Start_Pose": [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 113.28, + -0.0 + ], + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 138.28, + -0.0 + ], + [ + 1784.954, + 1429.337, + 181.093, + 0.0, + 138.28, + -0.0 + ], + [ + 1691.012, + 1513.095, + 181.878, + 0.0, + 138.28, + -0.0 + ], + [ + 1597.07, + 1596.853, + 183.018, + 0.0, + 138.28, + -0.0 + ], + [ + 1503.128, + 1680.611, + 183.801, + 0.0, + 138.28, + -0.0 + ], + [ + 1409.186, + 1764.369, + 184.338, + 0.0, + 138.28, + -0.0 + ], + [ + 1315.245, + 1848.127, + 185.105, + 0.0, + 138.28, + -0.0 + ], + [ + 1221.303, + 1931.885, + 185.627, + 0.0, + 138.28, + -0.0 + ], + [ + 1127.361, + 2015.643, + 186.41, + 0.0, + 138.28, + -0.0 + ], + [ + 1033.419, + 2099.401, + 187.182, + 0.0, + 138.28, + -0.0 + ], + [ + 939.477, + 2183.159, + 187.475, + 0.0, + 138.28, + -0.0 + ], + [ + 845.535, + 2266.917, + 187.737, + 0.0, + 138.28, + -0.0 + ], + [ + 751.593, + 2350.675, + 188.517, + 0.0, + 138.28, + -0.0 + ], + [ + 657.651, + 2434.433, + 189.034, + 0.0, + 138.28, + -0.0 + ], + [ + 563.709, + 2518.191, + 189.298, + 0.0, + 138.28, + -0.0 + ], + [ + 469.767, + 2601.949, + 190.107, + 0.0, + 138.28, + -0.0 + ], + [ + 375.825, + 2685.707, + 190.382, + 0.0, + 138.28, + -0.0 + ], + [ + 281.884, + 2769.466, + 190.961, + 0.0, + 138.28, + -0.0 + ], + [ + 187.942, + 2853.224, + 191.479, + 0.0, + 138.28, + -0.0 + ], + [ + 94.0, + 2936.982, + 192.026, + 0.0, + 138.28, + -0.0 + ], + [ + 0.058, + 3020.74, + 192.81, + 0.0, + 138.28, + -0.0 + ], + [ + -93.884, + 3104.498, + 193.397, + 0.0, + 138.28, + -0.0 + ], + [ + -187.826, + 3188.256, + 194.782, + 0.0, + 138.28, + -0.0 + ], + [ + -187.826, + 3188.256, + 194.782, + 0.0, + 138.28, + -0.0 + ] + ], + "Rationale": [ + "The colonnade stretches across my front, and its right end is marked by the two columns standing against the tall carved wall; my goal is the inner one of that pair, since the shafts otherwise look alike. Turning right swings my heading onto them so I can walk a straight line in.", + "The two columns flanking the carved wall now sit near the middle of my view, so my heading points at the inner one of them. Open sand lies between us, so I will step forward along this line.", + "The pair of columns by the carved wall has grown slightly larger and stays just left of my centre, which tells me the heading is holding. Nothing stands in the open ground, so another stride forward should close more of the distance to the inner column.", + "The two shafts against the carved wall keep growing while my line to them stays unchanged. The courtyard ahead is still flat and empty, so I continue walking straight toward the inner one.", + "I am still well short of the colonnade, though the pair beside the carved wall now rises noticeably higher in my view. Keeping the same heading, I take another step forward toward the inner column of that pair.", + "The carved wall on my right is filling more of the view as I advance, and the two columns set against it remain squarely ahead. I press forward, since the inner column of that pair is still some distance off.", + "The nearer columns of the row are sliding off toward my left edge, while the two beside the carved wall stay dead ahead. That confirms my line, so I keep walking toward the inner column of that pair.", + "The two shafts against the carved wall now read clearly apart from each other, and my target is the nearer inner one. Open rippled sand still separates me from it, so I continue advancing.", + "The inner shaft of the pair beside the carved wall sits just left of my centre and keeps swelling, so my line has not drifted. Only rippled sand lies between us, so I take another stride.", + "Carving on the wall beside the two columns is starting to resolve into figures, a sign the gap is shrinking rather than my heading wandering. I keep walking toward the inner column of that pair.", + "The shadowed shafts on my left have widened out toward the frame edge while the pale pair by the wall stays on my path. Distance still remains, so I press on toward the inner one.", + "The dark column at my left has grown close enough that the row no longer reads as a countable line from here, so I hold to the shaft standing second in from the carved wall. It is still several strides off, and I keep moving.", + "A clear slot of daylight now separates my target from the shaft behind it against the wall, which confirms I am tracking the right one. The sand ahead stays clear, so I continue.", + "My target's painted bands are becoming readable and its base meets the drifted sand slightly right of my path. That is close but not yet arrival, so another step forward is due.", + "Only my target and the shaft behind it now stand out from the wall, both rising past the top of my view. I am close, yet several body lengths of sand remain, so I keep walking.", + "The architrave above has swung overhead and my target's drum now dominates the middle of my view. Since I want to stand at its foot, I advance again.", + "My target and the shaft behind it against the carved wall are both fully lit now, but their bases still sit a good stretch of sand away. Nothing blocks the lane between the dark shaft on my left and the wall, so I step on.", + "The painted register on the wall beside my target is now legible figure by figure, so the remaining gap is short. My target's base sits slightly right of centre and clear of drift, so I advance again.", + "The shaft I am walking to fills the upper middle of my view while the one behind it against the wall peeks out to its right, so I still have the correct one. A few strides of rippled sand remain, so I keep going.", + "Individual birds and hieroglyphs on my target's drum are now sharp, and its foot sits just beyond my own shadow. I am not yet standing at it, so another stride is warranted.", + "My target's painted drum now spans the centre of my view and its base rises out of the sand only a step or two ahead. I move forward again to close that last bit and stand at its foot.", + "My shadow already falls onto the carved surface of the shaft, which means I am nearly touching distance. One more step should bring me right against its base.", + "The painted band of my target now covers most of my view, with the neighbouring shaft by the wall still showing to the right, so I am at the correct one. A final short step should settle me squarely at its foot.", + "The carved shaft fills my view at arm's length, with the wall-side column just beyond it. I have reached my target, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t5_a_p/infos.json b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c118d3c26b0fd2eafaf886d8351ff2e5f8bbcbc --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x001879_y001346_z000180_t5_a_p/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Pick up the wicker basket from beside the leftmost column in the front row.", + "Type": 5, + "Start_Pose": [ + 1878.896, + 1345.579, + 180.129, + 0, + 113.28, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2281.161, + 3210.171, + 131.089, + 90, + 53.28, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1878.896, + 1345.579, + 180.129, + 0, + 113.28, + 0 + ], + [ + 1878.896, + 1345.579, + 180.129, + 0.0, + 88.28, + -0.0 + ], + [ + 1882.674, + 1471.381, + 181.198, + 0.0, + 88.28, + -0.0 + ], + [ + 1886.451, + 1597.184, + 182.408, + 0.0, + 88.28, + -0.0 + ], + [ + 1890.229, + 1722.986, + 183.44, + 0.0, + 88.28, + -0.0 + ], + [ + 1894.007, + 1848.788, + 184.247, + 0.0, + 88.28, + -0.0 + ], + [ + 1897.784, + 1974.59, + 185.306, + 0.0, + 88.28, + -0.0 + ], + [ + 1901.562, + 2100.393, + 185.558, + 0.0, + 88.28, + -0.0 + ], + [ + 1905.34, + 2226.195, + 186.621, + 0.0, + 88.28, + -0.0 + ], + [ + 1909.117, + 2351.997, + 187.402, + 0.0, + 88.28, + -0.0 + ], + [ + 1912.895, + 2477.8, + 187.931, + 0.0, + 88.28, + -0.0 + ], + [ + 1912.895, + 2477.8, + 187.931, + 0.0, + 63.28, + -0.0 + ], + [ + 1969.485, + 2590.219, + 188.465, + 0.0, + 63.28, + -0.0 + ], + [ + 2026.075, + 2702.638, + 189.535, + 0.0, + 63.28, + -0.0 + ], + [ + 2082.665, + 2815.057, + 189.535, + 0.0, + 63.28, + -0.0 + ], + [ + 2139.255, + 2927.476, + 190.321, + 0.0, + 63.28, + -0.0 + ], + [ + 2195.846, + 3039.895, + 190.586, + 0.0, + 63.28, + -0.0 + ], + [ + 2195.846, + 3039.895, + 190.586, + 0.0, + 63.28, + -0.0 + ], + [ + 2195.846, + 3039.895, + 190.586, + 0.0, + 63.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2281.161, + 3210.171, + 131.089, + 90.0, + 53.28, + 0.0 + ], + [ + 2176.498, + 3048.952, + 160.645, + -28.202, + 113.424, + 1.862 + ], + [ + 2176.498, + 3048.952, + 160.645, + -28.202, + 113.424, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1907.5, + 1907.5, + 1783.9, + 1660.6, + 1537.7, + 1415.4, + 1293.7, + 1172.9, + 1053.3, + 935.3, + 819.7, + 819.7, + 693.9, + 568.0, + 442.2, + 316.3, + 190.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The colonnade stretches across my view and the small wicker basket sits far off on the left, near the base of the front row's leftmost column. My current heading points at the middle of the row instead of that corner. I will turn left so the basket and its column sit ahead of me before I start walking.", + "After the turn, the leftmost column of the front row and the small basket beside it are now framed ahead of me, with open sand in between. Nothing blocks the way, so I will walk forward to close the long distance.", + "The columns have grown slightly larger and the basket still reads as a tiny shape at the foot of the near-left column. I am still far from grasping range, so I will keep walking straight along this heading.", + "The colonnade fills more of my view and the basket remains centered a little left of my path, beside the column I am aiming for. The ground ahead stays open, so another step forward should keep shrinking the gap.", + "The basket is now clearly distinguishable as a rounded wicker shape resting on the sand at the column's base. It is still too far to reach, and my heading needs no correction yet, so I continue advancing.", + "The column shafts are noticeably wider and taller in front of me, showing that the distance is dropping steadily. The basket sits just left of my forward line with clear sand between us, so I will step forward again.", + "The near columns now tower past the top of my view and the basket's woven rim is visible against the shaded wall behind it. I am still several paces short of a comfortable grasp, so I keep walking toward it.", + "The basket has grown into a clear open-topped wicker shape at the foot of the leftmost front column, drifting slightly left of center as I close in. Nothing obstructs the remaining sand, so I will advance again and reassess my alignment once nearer.", + "The wicker basket is visible ahead on the left, resting on the paving at the foot of the front row of columns, still well out of reach. My path across the open sand toward it is clear of obstacles. I will keep walking forward to close the remaining distance.", + "The basket has grown noticeably larger near the base of the leftmost column, so my approach is working. It sits off to my left rather than dead ahead, but I am not yet close enough for that offset to matter. Another step forward should continue shortening the gap.", + "I am now fairly near the front row, and the basket has drifted well to the left edge of my view while my heading points past it into the colonnade. Continuing straight would carry me by it instead of to it. Turning left should bring the basket back toward the center of my view for a direct approach.", + "The turn brought the basket into the middle of my view, sitting on the paved strip beside the leftmost column with the wall behind it. My heading now points straight at it. I will walk forward along this line to close in.", + "The basket stays centered ahead and is clearly bigger, confirming I am on a straight line toward it. Nothing stands between me and the column base. I will step forward again to shorten the remaining distance.", + "The wicker weave of the basket is now distinguishable where it rests against the leftmost column, but it is still beyond arm's reach. My alignment needs no adjustment. I will advance again rather than attempt a grasp from here.", + "The basket now fills a good part of the lower center of my view, tipped on the sand beside the column, yet it is not quite close enough to take. Holding this heading keeps it squarely in front of me. One more step forward should bring it within reach.", + "The basket sits just ahead at the base of the leftmost column, close enough that its rim and weave dominate the lower view. A final short step should place it directly at my feet for a reliable grasp. I will move forward once more before attempting the pick.", + "The wicker basket now fills the near foreground at the base of the leftmost column of the front row, close enough that no further stepping is useful. Nothing stands between me and it, so I will reach out and attempt to grasp it now.", + "The wicker basket is now held in my hands rather than resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d687ff81ff72c8e5332b5da273aefd589f7f4f --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_a/infos.json @@ -0,0 +1,406 @@ +{ + "Instruction": "Walk to the left statue flanking the temple entrance.", + "Type": 2, + "Start_Pose": [ + 5773.941, + -2596.194, + 30.159, + 0.0, + 62.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5773.941, + -2596.194, + 30.159, + 0.0, + 62.4, + -0.0 + ], + [ + 5832.251, + -2484.657, + 39.402, + 0.0, + 62.4, + -0.0 + ], + [ + 5890.561, + -2373.121, + 48.413, + 0.0, + 62.4, + -0.0 + ], + [ + 5948.871, + -2261.584, + 57.086, + 0.0, + 62.4, + -0.0 + ], + [ + 6007.181, + -2150.047, + 66.332, + 0.0, + 62.4, + -0.0 + ], + [ + 6065.491, + -2038.511, + 75.597, + 0.0, + 62.4, + -0.0 + ], + [ + 6123.801, + -1926.974, + 84.852, + 0.0, + 62.4, + -0.0 + ], + [ + 6182.111, + -1815.437, + 93.419, + 0.0, + 62.4, + -0.0 + ], + [ + 6240.421, + -1703.9, + 102.547, + 0.0, + 62.4, + -0.0 + ], + [ + 6298.731, + -1592.364, + 111.709, + 0.0, + 62.4, + -0.0 + ], + [ + 6357.041, + -1480.827, + 120.535, + 0.0, + 62.4, + -0.0 + ], + [ + 6415.351, + -1369.29, + 129.228, + 0.0, + 62.4, + -0.0 + ], + [ + 6473.661, + -1257.754, + 137.61, + 0.0, + 62.4, + -0.0 + ], + [ + 6531.971, + -1146.217, + 145.983, + 0.0, + 62.4, + -0.0 + ], + [ + 6590.281, + -1034.68, + 153.834, + 0.0, + 62.4, + -0.0 + ], + [ + 6648.591, + -923.144, + 161.345, + 0.0, + 62.4, + -0.0 + ], + [ + 6706.901, + -811.607, + 169.48, + 0.0, + 62.4, + -0.0 + ], + [ + 6765.211, + -700.07, + 175.792, + 0.0, + 62.4, + -0.0 + ], + [ + 6823.52, + -588.533, + 181.879, + 0.0, + 62.4, + -0.0 + ], + [ + 6881.83, + -476.997, + 186.939, + 0.0, + 62.4, + -0.0 + ], + [ + 6940.14, + -365.46, + 189.736, + 0.0, + 62.4, + -0.0 + ], + [ + 6998.45, + -253.923, + 192.372, + 0.0, + 62.4, + -0.0 + ], + [ + 7056.76, + -142.387, + 194.565, + 0.0, + 62.4, + -0.0 + ], + [ + 7115.07, + -30.85, + 195.586, + 0.0, + 62.4, + -0.0 + ], + [ + 7173.38, + 80.687, + 195.586, + 0.0, + 62.4, + -0.0 + ], + [ + 7231.69, + 192.223, + 195.84, + 0.0, + 62.4, + -0.0 + ], + [ + 7290.0, + 303.76, + 196.343, + 0.0, + 62.4, + -0.0 + ], + [ + 7348.31, + 415.297, + 196.622, + 0.0, + 62.4, + -0.0 + ], + [ + 7406.62, + 526.834, + 197.411, + 0.0, + 62.4, + -0.0 + ], + [ + 7464.93, + 638.37, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7523.24, + 749.907, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7581.55, + 861.444, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7639.86, + 972.98, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7698.17, + 1084.517, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7756.48, + 1196.054, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7814.79, + 1307.591, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7873.1, + 1419.127, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7931.41, + 1530.664, + 197.942, + 0.0, + 62.4, + -0.0 + ], + [ + 7931.41, + 1530.664, + 197.942, + 0.0, + 62.4, + -0.0 + ] + ], + "Rationale": [ + "Two carved figures stand on plinths on either side of the dark temple doorway, and the one I want is the figure to the left of that entrance, raised on a square block against the pylon wall. It sits almost straight ahead across the open sand, so I will walk forward to close the distance.", + "The statue on its plinth beside the doorway sits a little higher and larger in my view now, which tells me my heading is carrying me toward it. The sand between us is still open, so another step forward should keep shrinking that gap.", + "The temple wall and its flanking figures now fill more of my view, and my target remains just about centered ahead of me. Nothing blocks the flat sand, so I continue walking straight toward it.", + "I can pick out the pose of the figure standing on the plinth beside the entrance more clearly, meaning I am steadily closing in. The approach line is still clean, so I keep stepping forward without adjusting my heading.", + "The obelisk on my left and the colonnade behind it are sliding outward as the facade grows, the normal sign of a straight approach. My target still stands ahead, so I advance again.", + "The plinth under my target is now clearly separated from the rubble blocks at the wall base, so I can judge exactly where I need to stop. There is still a long stretch of sand to cover, so I keep walking forward.", + "The figure I am heading for sits slightly left of straight ahead while the doorway and its opposite companion drift toward my right edge, which confirms I am tracking the correct one. The ground stays flat and open, so I continue forward.", + "The statue on its carved plinth is noticeably taller in my view and the terrace edge ahead is becoming visible, so my line stays good. I press on with another step to keep closing the remaining distance.", + "The carved figure on its block beside the dark doorway now reads with real depth, its striding pose and the painted band above the entrance both distinct. That growth without any sideways drift tells me my heading is still true, so I take another step across the sand.", + "Detail on the pylon face is resolving into individual carved panels, and my target keeps its place just left of the doorway while its companion pushes toward my right edge. A good deal of open sand still lies between me and the wall, so I walk on.", + "A strip of smooth paved terrace is now visible where the sand meets the base of the temple, which marks how far I still have to cover. The striding figure on its plinth remains slightly left of my center line, so I continue straight ahead.", + "The colonnade off to my left has separated into individual columns and the rubble slabs beside the doorway stand out from the wall behind them, both signs of a closing distance. My footing across the dune remains clear, so I press forward again.", + "Carving is beginning to show on the face of the block that carries my target, so I am within a reasonable stretch of it now. Nothing on the sand interrupts the straight line I am holding, and I step forward once more.", + "The paved apron at the foot of the temple is widening in front of me as the loose sand falls away toward my feet. My target still stands ahead and a little to the left, so I keep walking toward the base of its plinth.", + "I can make out the moulded cap of the plinth and the figure's forward leg above it, so the last part of the crossing is short. The companion figure across the doorway is being crowded off my right edge, which is exactly what a close approach on my side should look like. I advance again.", + "The other flanking figure is nearly out of my view at the right, so from here I simply follow the striding statue on the carved block set against the pylon in front of me. It is still a few strides off across the paving, and I keep moving toward it.", + "The loose dune has given way to flat paving under my feet, so the remaining stretch to the temple front is easy going. The striding figure on its block still rises just left of my heading with nothing between us, so I keep walking toward it.", + "Carved bands and painted panels on the pylon above my target now read clearly, a fair sign the gap keeps shrinking. The statue holds its place ahead of me on the open court, so I take another stride.", + "Long column shadows now stripe the paving between me and the wall, but they are only shade, not anything to step around. My target grows steadily in front of me, so I continue walking.", + "The figure's raised knee and pleated kilt stand out against the relief-covered pylon, so I am within a short run of its base. My heading needs no correction, and I press on.", + "Through the dark entrance beside my target I can now make out the grille and the court beyond, which tells me how near the facade has come. The statue on its block remains the thing I am walking to, so I advance again.", + "Sunlight is catching the carved panel on the front face of the plinth, and the whole block now sits well above my eye line's lower half. A few more strides should bring me to its foot, so I keep going.", + "The figure towers over me now, its stone base squared off against the paving directly in my path. I still have a little ground to cover before I stand beside it, so I step forward once more.", + "Individual hieroglyphs on the plinth's side are readable and the block fills the middle of what I see, so only a short walk remains. I continue straight in to close the last of it.", + "The dark entrance has slid well off to my right while the carved block stands squarely ahead of me, so my line into its base is unchanged. Only a short run of paving separates us now, so I walk on.", + "The figure's head and shoulders are now cut off by the top of my view, which only happens when I am nearly beneath it. The paving up to the front face of its pedestal is unobstructed, so I keep moving in.", + "At this range the base reads as a freestanding block of inscribed panels rather than something merged with the wall behind it. I am not yet standing at its foot, so I advance again.", + "Only the striding legs of the figure remain visible above the block, a sure sign I am almost at the foot of the pedestal. A last stretch of paving still lies between me and its front edge, so I continue in.", + "The moulded cap of the base now cuts across my sightline and its near corner is edging toward my left, so I am closing on the block itself rather than viewing it from afar. The ground stays clear, so I step in further.", + "The pedestal keeps growing while drifting leftward, which is what happens as I come up close along its front. I am still a little short of standing beside the statue, so I press ahead.", + "Individual carved figures in the sunlit panel on the pedestal's near face are sharply legible from here, so only a stride or two remains. The route in front of me is clear, so I keep walking.", + "The block now masks much of the pylon behind it, and its front corner sits just ahead and slightly to my left, so I am nearly alongside the statue. One more short advance should bring me right against its base.", + "The pedestal's corner column and its two inscribed faces now dominate what I see, with the figure above cut off entirely. I am not quite at the stone yet, so I take another step in.", + "The near face of the base has swung wider across my view and its far corner has slid toward the middle, the geometry of coming right up on it. A short bit of paving still separates me from the stone, so I keep walking in.", + "The moulded plinth and the slab it rests on now sit low and close in front of me, and individual glyph columns run at arm's-length scale. I close the last of the gap with another step.", + "The inscribed face fills my left side and the corner pilaster is nearly beside me, so I am practically against the statue's base. One more short advance should put me right at it.", + "The glyph-covered stone now runs past me on the left rather than standing ahead, which means I am alongside the base. A final small step should settle me right against it.", + "I stand right against the inscribed pedestal of the statue left of the temple doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66c072176631ea7cdf2f1ee6c0eb9c997e4ad60e --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_b/infos.json @@ -0,0 +1,396 @@ +{ + "Instruction": "Approach the right statue guarding the central doorway.", + "Type": 2, + "Start_Pose": [ + 5773.941, + -2596.194, + 30.159, + 0.0, + 62.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5773.941, + -2596.194, + 30.159, + 0.0, + 62.4, + -0.0 + ], + [ + 5832.251, + -2484.657, + 39.402, + 0.0, + 62.4, + -0.0 + ], + [ + 5890.561, + -2373.121, + 48.413, + 0.0, + 62.4, + -0.0 + ], + [ + 5890.561, + -2373.121, + 48.413, + 0.0, + 87.4, + -0.0 + ], + [ + 5896.27, + -2247.391, + 55.949, + 0.0, + 87.4, + -0.0 + ], + [ + 5901.98, + -2121.662, + 64.013, + 0.0, + 87.4, + -0.0 + ], + [ + 5907.689, + -1995.932, + 72.094, + 0.0, + 87.4, + -0.0 + ], + [ + 5913.398, + -1870.203, + 80.174, + 0.0, + 87.4, + -0.0 + ], + [ + 5919.108, + -1744.473, + 87.809, + 0.0, + 87.4, + -0.0 + ], + [ + 5924.817, + -1618.744, + 95.535, + 0.0, + 87.4, + -0.0 + ], + [ + 5930.526, + -1493.015, + 103.563, + 0.0, + 87.4, + -0.0 + ], + [ + 5936.236, + -1367.285, + 110.673, + 0.0, + 87.4, + -0.0 + ], + [ + 5941.945, + -1241.556, + 118.541, + 0.0, + 87.4, + -0.0 + ], + [ + 5947.654, + -1115.826, + 125.619, + 0.0, + 87.4, + -0.0 + ], + [ + 5953.364, + -990.097, + 133.063, + 0.0, + 87.4, + -0.0 + ], + [ + 5959.073, + -864.367, + 140.129, + 0.0, + 87.4, + -0.0 + ], + [ + 5964.782, + -738.638, + 147.171, + 0.0, + 87.4, + -0.0 + ], + [ + 5970.492, + -612.908, + 153.528, + 0.0, + 87.4, + -0.0 + ], + [ + 5976.201, + -487.179, + 159.856, + 0.0, + 87.4, + -0.0 + ], + [ + 5981.91, + -361.45, + 166.418, + 0.0, + 87.4, + -0.0 + ], + [ + 5987.62, + -235.72, + 171.97, + 0.0, + 87.4, + -0.0 + ], + [ + 5993.329, + -109.991, + 177.33, + 0.0, + 87.4, + -0.0 + ], + [ + 5999.038, + 15.739, + 182.174, + 0.0, + 87.4, + -0.0 + ], + [ + 6004.748, + 141.468, + 185.199, + 0.0, + 87.4, + -0.0 + ], + [ + 6010.457, + 267.198, + 187.734, + 0.0, + 87.4, + -0.0 + ], + [ + 6016.166, + 392.927, + 189.635, + 0.0, + 87.4, + -0.0 + ], + [ + 6016.166, + 392.927, + 189.635, + 0.0, + 62.4, + -0.0 + ], + [ + 6074.476, + 504.464, + 192.294, + 0.0, + 62.4, + -0.0 + ], + [ + 6132.786, + 616.0, + 192.699, + 0.0, + 62.4, + -0.0 + ], + [ + 6191.096, + 727.537, + 193.463, + 0.0, + 62.4, + -0.0 + ], + [ + 6249.406, + 839.074, + 194.489, + 0.0, + 62.4, + -0.0 + ], + [ + 6249.406, + 839.074, + 194.489, + 0.0, + 87.4, + -0.0 + ], + [ + 6255.116, + 964.803, + 194.489, + 0.0, + 87.4, + -0.0 + ], + [ + 6260.825, + 1090.533, + 194.747, + 0.0, + 87.4, + -0.0 + ], + [ + 6266.534, + 1216.262, + 195.542, + 0.0, + 87.4, + -0.0 + ], + [ + 6272.244, + 1341.992, + 196.095, + 0.0, + 87.4, + -0.0 + ], + [ + 6277.953, + 1467.721, + 196.346, + 0.0, + 87.4, + -0.0 + ], + [ + 6277.953, + 1467.721, + 196.346, + 0.0, + 87.4, + -0.0 + ] + ], + "Rationale": [ + "Across the sand I can see the temple facade with its dark central doorway flanked by two standing figures on pedestals; the two look much alike, so I fix on the one standing to the right of that doorway. It is still far off, so I walk forward to close the open sand.", + "The facade has grown slightly but the statue right of the doorway is still small and distant. Nothing blocks the sand ahead, so I keep walking straight to gain ground.", + "The temple front and its doorway sit off to the right of my heading, so walking straight would carry me past the entrance rather than toward it. I turn right to bring the doorway and the statue beside it toward the center of my view before continuing.", + "The turn worked: the doorway and both flanking figures now sit near the middle of my view, with my statue on the right side of that opening. With the heading corrected, I walk forward to close the distance.", + "The statue on the right of the doorway is growing steadily and stays just right of my path. The sand between us is flat and clear, so I continue straight ahead.", + "My heading still points at the doorway with the target figure on its right, so no correction is needed. I take another step forward to keep closing on it.", + "The wall carvings behind the statue are becoming legible, which tells me the gap is shrinking but I am not yet beside the pedestal. I keep advancing on the same line.", + "Both flanking figures now loom large, and the one I want still stands to the right of the dark doorway. The approach line remains clear, so I walk forward again to draw closer to its pedestal.", + "The pedestal of the figure to the right of the dark doorway is now clearly separated from the wall behind it, so I can judge my line onto it. The sand ahead is unbroken, so I press on toward that pedestal.", + "I can now pick out the block courses under the statue on the doorway's right, which means I am close enough for the base to read but still short of it. My heading holds it just right of center, so I keep walking.", + "A colonnade has come into view on the far right of the wall, but that changes nothing about my aim: I am still going to the statue standing beside the right edge of the dark doorway. The ground stays flat, so I take another stride toward it.", + "The carved wall now fills most of my view and the statue's kilt and shoulders are sharply detailed, so the remaining gap is modest. Nothing lies across the sand in front of me, so I continue closing on its pedestal.", + "The figure beside the doorway keeps rising in my view while its base stays a little right of my path, telling me my line is good. I walk on rather than adjust heading yet.", + "The loose blocks scattered around the statue's plinth are now individually visible, a sign I am within a short walk of it. I step forward again to shrink that last stretch of sand.", + "The doorway's shadowed recess and the statue beside it are both well above me now, so I am nearly at the foot of the facade. I advance once more toward the plinth of that right-hand figure.", + "The statue's carved plinth now sits close ahead and slightly right, with the sand between us clear of the fallen blocks. I keep walking straight to bring myself up beside it.", + "The carved face of the plinth under the guardian reads clearly now, and the shadowed doorway sits just to its left, confirming I am aimed at the correct figure. Open sand still lies between me and that base, so I walk on.", + "My figure sits almost dead ahead with the doorway's dark slot beside it on the left, which is exactly the geometry I want for this approach. No correction is needed, so I take another stride toward the base.", + "The other guardian has slid to the far edge of my view as I close in, but the one I want is unmistakably the figure framed beside the shadowed entrance. I continue straight ahead toward its plinth.", + "The pedestal now stands well clear of the sand line and its stacked stones are sharply separated, so only a short run of ground is left. The way in front is open, so I advance again.", + "The guardian and the carved wall behind it now fill nearly everything ahead, and it keeps swelling with each stride. I keep walking to bring myself up to the plinth.", + "Slim columns at the corners of the plinth have resolved, which tells me only a couple of strides remain. The tumbled stones sit off to the right of my line, leaving clear sand directly ahead, so I move on.", + "The statue's upper body now reaches the top of my view and its pedestal sits squarely in front of me, with the debris pile skirting my right. Ground between us is still open, so I press ahead toward the base.", + "At this range the figure's legs and the ornamented pedestal occupy the middle of my view, with the doorway's dark opening still just to the left. A short stretch of sand separates me from the base, so I keep walking.", + "The decorated pedestal now fills the middle of my view with the figure's legs rising above it, but a line of tumbled blocks is banked against its front face. Clear ground still lies between me and that debris, so I take another stride toward the base.", + "The heap of fallen stones now sits squarely between me and the foot of the guardian, so holding this line would run me into rubble instead of up to its plinth. I turn left toward the open apron in front of the shadowed entrance, which should give me a cleaner path around to the base.", + "With this heading the paving ahead runs clear, the dark entrance sits near the middle, and the guardian I am after stands on its plinth toward the right edge. I walk forward along that unobstructed ground to draw level with its base.", + "The pedestal on my right grows steadily while nothing lies across the paving in front of me. I keep striding along this clear line rather than cutting back over the fallen stones.", + "The carved face of my guardian's pedestal is now close on my right, its corner columns clearly separated from the wall behind. The ground straight ahead is still smooth, so I advance again to come level with that base.", + "The shadowed entrance has slid toward the left of my view while the ornamented pedestal now dominates the right, which tells me I am nearly abreast of it. I step forward once more to reach that level.", + "I have come level with the guardian's plinth, which now stands off to my right with open paving between us. I turn right to put that carved base directly in front of me before covering the last stretch.", + "The turn has set the winged relief of the pedestal squarely ahead with the figure's feet above it, and only a short run of paving is left. I walk forward to bring myself up against that base.", + "The winged emblem on the pedestal fills much of my view and the dark entrance stays off to the left, so I am lined up on the correct guardian's base. A last band of smooth paving remains before I reach the stone, so I step forward again.", + "The pedestal's corner column now stands out sharply and the relief spreads past the edges of my view, which means only a stride or two of paving is left. Nothing lies on the ground in front of me, so I keep walking in.", + "The carved column at the plinth's corner has slid toward the middle of my view and the hieroglyphs on it read individually, so I am nearly touching the base. I advance once more to close that last bit of ground.", + "Only the plinth's column and its carved face remain in front of me, with the paving strip beside it narrowing to a sliver. One more step should bring me right up against the guardian's base.", + "The carved stone of the right-hand guardian's pedestal fills my view at arm's length. I have reached it, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_c/infos.json b/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5ada0265de1f1ccd347bb4fb541ca37a5ab1362a --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x005774_y-002596_z000030_t2_c/infos.json @@ -0,0 +1,406 @@ +{ + "Instruction": "Head toward the tall obelisk on the far left.", + "Type": 2, + "Start_Pose": [ + 5773.941, + -2596.194, + 30.159, + 0.0, + 62.4, + -0.0 + ], + "Action": [ + "LookUp", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5773.941, + -2596.194, + 30.159, + 0.0, + 62.4, + -0.0 + ], + [ + 5773.941, + -2596.194, + 30.159, + 0.0, + 62.4, + -0.0 + ], + [ + 5832.251, + -2484.657, + 39.402, + 0.0, + 62.4, + -0.0 + ], + [ + 5890.561, + -2373.121, + 48.413, + 0.0, + 62.4, + -0.0 + ], + [ + 5890.561, + -2373.121, + 48.413, + 0.0, + 37.4, + -0.0 + ], + [ + 5990.545, + -2296.677, + 56.529, + 0.0, + 37.4, + -0.0 + ], + [ + 6090.529, + -2220.233, + 65.236, + 0.0, + 37.4, + -0.0 + ], + [ + 6190.514, + -2143.79, + 73.913, + 0.0, + 37.4, + -0.0 + ], + [ + 6290.498, + -2067.346, + 82.587, + 0.0, + 37.4, + -0.0 + ], + [ + 6390.482, + -1990.902, + 91.261, + 0.0, + 37.4, + -0.0 + ], + [ + 6490.466, + -1914.458, + 100.657, + 0.0, + 37.4, + -0.0 + ], + [ + 6590.45, + -1838.015, + 109.386, + 0.0, + 37.4, + -0.0 + ], + [ + 6690.435, + -1761.571, + 118.451, + 0.0, + 37.4, + -0.0 + ], + [ + 6790.419, + -1685.127, + 127.424, + 0.0, + 37.4, + -0.0 + ], + [ + 6890.403, + -1608.683, + 136.873, + 0.0, + 37.4, + -0.0 + ], + [ + 6990.387, + -1532.24, + 146.532, + 0.0, + 37.4, + -0.0 + ], + [ + 7090.372, + -1455.796, + 156.538, + 0.0, + 37.4, + -0.0 + ], + [ + 7190.356, + -1379.352, + 165.812, + 0.0, + 37.4, + -0.0 + ], + [ + 7290.34, + -1302.909, + 174.723, + 0.0, + 37.4, + -0.0 + ], + [ + 7390.324, + -1226.465, + 182.077, + 0.0, + 37.4, + -0.0 + ], + [ + 7490.309, + -1150.021, + 188.339, + 0.0, + 37.4, + -0.0 + ], + [ + 7590.293, + -1073.577, + 191.83, + 0.0, + 37.4, + -0.0 + ], + [ + 7690.277, + -997.134, + 193.998, + 0.0, + 37.4, + -0.0 + ], + [ + 7790.261, + -920.69, + 195.315, + 0.0, + 37.4, + -0.0 + ], + [ + 7890.246, + -844.246, + 195.58, + 0.0, + 37.4, + -0.0 + ], + [ + 7990.23, + -767.803, + 195.832, + 0.0, + 37.4, + -0.0 + ], + [ + 8090.214, + -691.359, + 196.342, + 0.0, + 37.4, + -0.0 + ], + [ + 8190.198, + -614.915, + 196.342, + 0.0, + 37.4, + -0.0 + ], + [ + 8190.198, + -614.915, + 196.342, + 0.0, + 12.4, + -0.0 + ], + [ + 8313.121, + -587.889, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 8436.044, + -560.862, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 8558.967, + -533.836, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 8681.89, + -506.81, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 8804.813, + -479.783, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 8927.736, + -452.757, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 9050.659, + -425.73, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 9173.582, + -398.704, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 9296.505, + -371.678, + 198.178, + 0.0, + 12.4, + -0.0 + ], + [ + 9296.505, + -371.678, + 198.178, + 0.0, + 12.4, + -0.0 + ] + ], + "Rationale": [ + "Out on the open sand to the left of the carved pylon stands a single slender stone needle, and my view clips off its upper shaft. I will look up to take in its full height and be sure that lone spire beside the temple front is what I am heading for.", + "With my gaze raised, the whole obelisk now stands clear against the sky, well out from the pylon wall on my right. The sand between us is flat and unobstructed, so I will walk forward to start closing that distance.", + "The obelisk still rises ahead of me and off to the left, with the statued temple facade holding the right of my view. The ground stays open, so I will keep walking forward before I worry about correcting my heading.", + "My present heading carries me toward the temple front rather than the obelisk, which stands noticeably to the left of that wall. I will turn left so the stone shaft sits closer to straight ahead and my forward steps actually gain on it.", + "The turn has brought the obelisk much nearer the middle of my view, with palms far off on the left and the temple wall pushed to the right. Open sand runs straight toward its base, so I will walk forward along this heading.", + "The obelisk sits squarely ahead and has thickened slightly, so my heading is carrying me onto it. Nothing stands in the sand between us, and I will keep stepping forward.", + "The statue on the temple wall to my right is drifting past as I gain ground, while the obelisk holds its place near the center of my view. That steady bearing tells me to simply continue walking forward.", + "The obelisk is still centered ahead, though its base remains distant across the dunes. The route stays clear, so I will take another step forward to keep closing on it.", + "The lone stone needle sits just left of my heading while the carved wall and its statue slide further to the right, so my line is still good. Its foot is hidden behind the dune crest, meaning plenty of ground is left to cover, and I will stride on.", + "The shaft has broadened slightly against the sky without sliding sideways, which tells me this bearing feeds straight onto it. With nothing but rippled sand between us, another stride forward is the plain next move.", + "A row of squat columns has risen out of the haze to my left, none of them anything like the tall needle I am walking to. That shaft keeps its place a little left of straight ahead, so I press on without adjusting my heading.", + "Palm fronds now hang into the upper left corner as I draw level with those trees, a sign of real ground gained. The obelisk sits wider than before and still on my line, so I continue walking.", + "The temple's carved face keeps swelling along my right while the stone shaft holds its spot in the left half of my view, so I have not drifted off course. A good stretch of sand still lies between me and its foot, and I keep going.", + "Faint banding of carving is starting to resolve on the shaft, the first hint that I am getting within real closing range. The route across the ripples remains clear, so I take another step ahead.", + "Its foot now reads against the paved strip along the temple line instead of the far ridge, so the gap is shrinking steadily. I hold this bearing and push forward again.", + "The shaft has thickened enough to dominate the left of my view, and the dark plinth at its foot is coming clear where the sand meets stone. Open ground runs the whole way, so I walk on toward it.", + "The needle's dark base block now sits plainly on the paving, no longer lost against the far ridge, and it holds just left of my heading. The sand ahead runs unbroken to that pavement, so I keep walking.", + "The carved wall on my right has grown large enough that its statue nearly fills that side, while the stone needle keeps its bearing a little left of straight ahead. Nothing interrupts the sand, so another stride is the plain continuation.", + "Long shadow bars now stripe the paving where the needle stands, meaning I am close enough to read detail on the ground at its foot. My bearing onto the shaft has not slipped, so I walk on.", + "The shaft has widened noticeably and its inscribed banding is now legible as separate courses of stone. That growth confirms the gap is closing on this heading, so I take another step ahead.", + "Small blocks and low ruins along the left edge have come into view without offering anything like the tall needle, so there is no doubt about which stone I am walking to. It stands nearly straight ahead and still distinct, and I continue forward.", + "The shaft's dark plinth now reads as a solid band of stone sitting on the pavement a short way off. That short remaining gap is straight along my line, so I walk on.", + "Hieroglyph columns cut into the shaft are now readable, which tells me I am within a few strides of the stone. My path onto it stays clear of the temple wall on my right, so I keep advancing.", + "The needle has grown until it takes up much of the middle of my view, its base only a little way ahead across the drifted sand. Nothing blocks that last stretch, so I press forward again.", + "The shaft now runs off the top of my view and its dark plinth rests on open paving just left of my line. The last sand between us is smooth and clear, so I will walk forward again.", + "Individual carved courses on the near face separate cleanly now, which only happens at close range. Nothing sits between me and the plinth, so I take another stride toward it.", + "The stone has swelled until it takes up the whole left half of my view, its foot only a short walk off across the drifted sand. The route is open, so I press on.", + "Closing the gap has pushed the shaft well over toward the left edge, so walking straight would carry me past its side rather than onto it. I turn left to swing the stone back to the middle of my heading.", + "The turn has set the shaft squarely in front of me, with a crumbled block wall off to the left and the colonnade to the right of it. That is the bearing I want for the last stretch, so I walk ahead.", + "The plinth has grown wider without sliding off center, so this line feeds straight onto the stone. A few paces of rippled sand remain, and I keep walking.", + "Figures cut into the dark base band are now distinct, the sort of detail I can only read from close by. The last of the sand runs unbroken to the foot, so I advance again.", + "The base block now spreads across the middle of my view and the sky above it is gone behind the shaft, so I am nearly at the stone. One more step forward should bring me right up to it.", + "The engraved plinth fills the middle of my view and its near corner sits just a couple of paces off across the sand. Nothing lies between me and that stone, so I step forward again.", + "The carved band around the base now reads figure by figure and the shaft above spills past the top of my view. That closeness says only a short stretch of sand is left, so I walk on.", + "The plinth's near face has widened across most of my view and the sand runs right up against its edge. I take another stride to bring myself against the stone.", + "The base corner now stands almost within arm's reach, its decorated courses filling the frame while only a sliver of open ground shows on the left. One more step should put me right at the foot of the shaft.", + "The carved stonework now blocks nearly everything but a thin wedge of sky and ruin at the left, so I am pressed almost against the shaft. A final short step should bring me flush with it.", + "The obelisk's engraved base fills my view at arm's length, nothing else visible. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x007029_y-001133_z000169_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x007029_y-001133_z000169_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f79844be8114444734a1e3452da2ba9220920c71 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x007029_y-001133_z000169_t2_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Go to the second statue from the left guarding the temple entrance.", + "Type": 2, + "Start_Pose": [ + 7029.181, + -1133.3, + 169.03, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7029.181, + -1133.3, + 169.03, + 0.0, + 89.28, + -0.0 + ], + [ + 7030.763, + -1007.451, + 174.248, + 0.0, + 89.28, + -0.0 + ], + [ + 7032.344, + -881.602, + 178.416, + 0.0, + 89.28, + -0.0 + ], + [ + 7033.926, + -755.753, + 182.301, + 0.0, + 89.28, + -0.0 + ], + [ + 7035.507, + -629.904, + 186.425, + 0.0, + 89.28, + -0.0 + ], + [ + 7037.089, + -504.055, + 189.324, + 0.0, + 89.28, + -0.0 + ], + [ + 7038.67, + -378.206, + 191.335, + 0.0, + 89.28, + -0.0 + ], + [ + 7040.252, + -252.357, + 193.003, + 0.0, + 89.28, + -0.0 + ], + [ + 7041.834, + -126.507, + 194.766, + 0.0, + 89.28, + -0.0 + ], + [ + 7043.415, + -0.658, + 195.851, + 0.0, + 89.28, + -0.0 + ], + [ + 7044.997, + 125.191, + 195.905, + 0.0, + 89.28, + -0.0 + ], + [ + 7044.997, + 125.191, + 195.905, + 0.0, + 114.28, + -0.0 + ], + [ + 6993.244, + 239.917, + 195.905, + 0.0, + 114.28, + -0.0 + ], + [ + 6941.491, + 354.643, + 195.905, + 0.0, + 114.28, + -0.0 + ], + [ + 6889.738, + 469.37, + 195.905, + 0.0, + 114.28, + -0.0 + ], + [ + 6837.986, + 584.096, + 196.426, + 0.0, + 114.28, + -0.0 + ], + [ + 6786.233, + 698.823, + 196.426, + 0.0, + 114.28, + -0.0 + ], + [ + 6734.48, + 813.549, + 196.426, + 0.0, + 114.28, + -0.0 + ], + [ + 6682.727, + 928.275, + 196.685, + 0.0, + 114.28, + -0.0 + ], + [ + 6630.975, + 1043.002, + 196.939, + 0.0, + 114.28, + -0.0 + ], + [ + 6579.222, + 1157.728, + 197.729, + 0.0, + 114.28, + -0.0 + ], + [ + 6527.469, + 1272.454, + 197.983, + 0.0, + 114.28, + -0.0 + ], + [ + 6475.717, + 1387.181, + 197.634, + 0.0, + 114.28, + -0.0 + ], + [ + 6423.964, + 1501.907, + 196.829, + 0.0, + 114.28, + -0.0 + ], + [ + 6423.964, + 1501.907, + 196.829, + 0.0, + 114.28, + -0.0 + ] + ], + "Rationale": [ + "Two stone figures flank the dark temple doorway, and counting from the left the second one is the figure standing on the right side of that entrance. The two look nearly identical, so I fix my target by its place beside the gate rather than by appearance. It lies far across open sand, so I walk forward.", + "The temple wall has grown slightly larger, confirming my heading is closing the gap. The statue on the right of the gate is still far off, with clear flat sand ahead. I continue straight forward.", + "The carved pedestals beneath both figures are becoming legible, so distance is shrinking steadily. My goal, the statue standing right of the doorway, remains well ahead. Another forward step keeps the approach efficient.", + "The gateway and its steps are clearer now and both figures rise higher against the pylon wall. I still have considerable ground to cover before reaching the statue beside the right of the entrance. I walk on.", + "The two figures are spreading toward the edges of my view, a sign I am genuinely closing on the facade. Nothing obstructs the sand, and holding this straight line keeps the right-hand statue comfortably in sight. I advance again.", + "The pedestals now read as solid blocks at eye level and the wall carvings are sharp, so I am close to the entrance frontage. My target figure stands to the right of that doorway and is still a few strides away. I keep walking forward.", + "The pylon fills nearly all of my view and both plinths sit low in the frame, showing I am nearly at the base of the facade. The statue on the right of the gate is still not within reach, so I press forward before adjusting my heading toward it.", + "The two guardians now sit at the far left and right edges of my view, and the doorway is directly ahead. Closing a little more ground on this line should put the right-hand figure close enough to turn toward it cleanly. I step forward again.", + "The grille inside the dark gateway is readable now, so I am only a short distance from the frontage. My guardian beside the right jamb of that entrance sits high at the frame edge, still too far off to angle toward. I take another straight step.", + "Both plinth blocks now sit low and wide at the sides of my view, meaning I am nearly level with the entrance frontage. Before swinging toward the guardian on the right of the gate, closing a bit more ground keeps the turn small. Forward once more.", + "Walking straight would carry me into the doorway itself, while the guardian I want stands off to my right, its plinth pushed against the edge of my view. A modest swing to the right should place that figure ahead of me instead of beside me. I turn right.", + "The new heading puts the guardian and its inscribed pedestal squarely ahead, with the gateway now off to my left and the other figure gone from view, so there is no row left to count from. I hold to this one figure beside the entrance and walk toward it.", + "The carved base of my guardian is widening in front of me and the loose stone blocks stay well clear to the right. Nothing lies between me and it but flat ground. I keep advancing.", + "The figure's raised knee and the small flight of steps beside its plinth are now distinct, so only a handful of strides remain. My line still meets the pedestal face without drifting into the wall. Another step forward.", + "The statue's upper body has climbed out of the top of my view and its plinth dominates the middle ground, a sure sign of how near I am. I am not yet standing at the pedestal, so I continue walking toward it.", + "Only the plinth and the guardian's legs remain framed, and the sunlit strip of ground before its base is shrinking. A couple more strides should bring me right up against the pedestal of this figure beside the gate. I step forward.", + "The pedestal's near corner and its column mouldings are sharp in front of me, with only the guardian's legs and skirt showing above. A stretch of open ground still separates me from its base, so I keep walking toward the figure beside the gate.", + "The plinth's corner columns are now resolved in relief and the shadow pattern on its face is crisp, so my line is meeting the pedestal squarely. A short gap of paving still remains. I step forward again.", + "Only the guardian's lower legs remain framed above the plinth, and the small stone steps at the wall sit close on my left. I have not yet reached the pedestal face, so I continue advancing toward it.", + "The carved block now spans most of my view and its lower moulding is close to the ground line in front of me. Another stride or two should bring me right against this guardian's pedestal, so I keep going.", + "The hieroglyphs on the pedestal panel are individually legible and its corner column stands almost within arm's reach. I am close but not yet standing at the guardian's base, so I press on.", + "The pedestal's near face and its rounded corner shaft now dominate everything ahead, and the small steps sit just to my left. A final short closing keeps me right at this guardian rather than short of it, so I move forward.", + "I am nearly touching the carved wall of the plinth, with its base ledge running along the paving just below me. One more step should place me directly at the foot of this guardian beside the gate.", + "I stand right at the inscribed pedestal of the guardian flanking the temple gate, its stone filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x007029_y-001133_z000169_t5_a_p/infos.json b/dataset/trajectory/Pyramid/task_x007029_y-001133_z000169_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a4a89b9debbd1e773237388b58e8f3138bb23f9f --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x007029_y-001133_z000169_t5_a_p/infos.json @@ -0,0 +1,582 @@ +{ + "Instruction": "Lift the tomato at the second statue from the left guarding the temple entrance.", + "Type": 5, + "Start_Pose": [ + 7029.181, + -1133.3, + 169.03, + 0, + 89.28, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 6474.021, + 1603.406, + 167.493, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", 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], + [ + 6458.084, + 1503.693, + 167.682, + -28.202, + 164.424, + 1.862 + ] + ], + "PD_Dist_2D": [ + 2792.4, + 2669.6, + 2547.0, + 2424.7, + 2302.8, + 2181.4, + 2060.5, + 1940.2, + 1820.7, + 1702.1, + 1702.1, + 1576.7, + 1451.4, + 1326.2, + 1201.1, + 1076.2, + 951.6, + 827.3, + 703.6, + 580.8, + 580.8, + 457.9, + 337.2, + 337.2, + 212.4, + 212.4, + 90.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The temple facade with its guardian statues stands well ahead across open sand, and from here no tomato is discernible at any statue base. I will walk straight forward to close that distance and bring the row of statues into a range where I can count them from the left. Nothing blocks the sand between me and the entrance.", + "The facade now fills slightly more of my view, so my previous step was effective and the heading is good. The statue pedestals are still too distant for me to see any tomato resting beside one. I will keep walking forward along the same line toward the entrance.", + "Carved detail on the wall and the two flanking statues is becoming legible, confirming steady progress toward the temple entrance. I still cannot see the ground beside the pedestals clearly enough to locate a tomato. Another step forward should continue closing the gap.", + "The two statue pedestals near the gateway are now distinctly separated and the sand in front of them is coming into view, but no tomato stands out yet. The facade is also wide enough that statues beyond these two may lie outside my current field of view. I will advance again to improve that view.", + "I am close enough now that the pedestals fill much of the lower facade, yet the ground beside them still shows no tomato from this angle. Continuing forward should let me inspect the bases directly and judge which statue is second counting from the left. The open sand ahead remains unobstructed.", + "The temple facade with its guarding statues fills more of my view, but I am still far out on the open sand and no small object is resolvable at any pedestal base. I keep walking straight toward the gateway to close distance before I can identify the tomato at the second statue from the left.", + "The pedestals are now clearly separated at the base of the facade, yet nothing small enough to be a tomato stands out beside them from here. Advancing again should bring the statue bases close enough for me to inspect the ground around each one.", + "From here the doorway and both pedestals are large in my view, and I can just begin to make out small items on the ground near the right pedestal. I keep stepping forward so I can confirm which statue holds the tomato I was sent to lift.", + "A small dark red object is now visible on the ground beside the pedestal to the right of the gateway, which fits the tomato I need. I advance once more to shorten the remaining distance before committing to a heading toward it.", + "Walking straight has kept me aimed at the gateway, while the reddish tomato sits off to the right at the foot of that pedestal. I turn right so my heading points at the statue and its base rather than the doorway, which should let me approach the object directly.", + "After turning, the statue standing second from the left of the entrance is now framed ahead of me, and a small red object rests on the ground at the base of its pedestal. I will walk forward to close the still considerable gap toward that pedestal.", + "The pedestal of the second statue keeps growing in my view and the small red item beside its left corner is becoming clearer. Nothing blocks the open sand between me and it, so I keep walking forward.", + "I can see the reddish item sitting on the sand at the near left corner of the second statue's pedestal, but it is still too far for me to reach. I will step forward again along this clear line to shorten that distance.", + "The base of the second statue's pedestal now fills much of the view and the small red object beside it is clearly resolved. It remains out of arm's reach, so I continue walking straight toward it.", + "The red target beside the pedestal of the second statue is close now and slightly left of my heading, yet still short of grasping range. I will advance one more step before considering any grasp.", + "I can see the red tomato sitting on the ground at the base of this statue's inscribed pedestal, still well out of reach. I will keep walking forward to close that gap before I attempt any grasp.", + "The tomato at the foot of this statue's pedestal has grown larger in my view, so my heading is carrying me toward it. I am still several paces short of grasping range, so I will step forward again.", + "The tomato beside the carved pedestal is clearly closer now, but it still sits well ahead of me and slightly to my left. I will continue walking forward to shorten the remaining distance.", + "The tomato is now near the lower left of my view, close to the pedestal's base, and my current heading still points past it rather than at it. Another step forward should bring me alongside the target before I adjust my facing.", + "The tomato has drifted to my left side while my body still faces the pedestal wall ahead, so walking straight would carry me past it. I will turn left to bring the tomato back toward the center of my view for a controlled approach.", + "The dark red tomato is now clearly visible on the ground at the corner of the inscribed pedestal ahead and slightly to my right, matching the statue I was sent to. It is still several paces off, too far for my hands to reach. I will walk forward to close that gap.", + "The tomato has grown noticeably larger against the pedestal corner, so my heading is carrying me straight toward it. There is open, flat sand between me and the plinth with nothing blocking the way. Another step forward should bring it within grasping range.", + "The tomato sits noticeably right of my center of view, hugging the pedestal's carved face, so walking straight ahead would carry me past its left side. I will turn right to swing my heading onto it. That should place it directly in front of me for a clean approach.", + "After turning, the tomato now sits low and near the middle of my view against the pedestal base, so my heading lines up with it. It is still a stride away, slightly too distant to grasp. I will step forward to close the last of that gap.", + "The tomato now fills the lower part of my view right beside the pedestal of this statue, and my hands are empty. It looks close enough that a grasp may connect. I will try to pick it up.", + "My hands are still empty, so the grasp attempt did not take hold of the tomato beside the second statue's pedestal. The likely reason is that I stopped short of the fruit's reach range rather than misidentifying it. I will step forward once more to close that remaining gap before trying again.", + "I am now standing right against the carved pedestal corner where the tomato lies, much nearer than when my earlier grasp came up empty. From this contact distance the fruit should fall inside my reach envelope. I will attempt the pick again.", + "The tomato from the second statue's pedestal is now held in my hand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19caf31c25ae210d2b4a08ac4a987c275d649e5d --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_a/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Proceed to the second pillar right of the doorway.", + "Type": 2, + "Start_Pose": [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -31.64, + 0.0 + ], + [ + 9539.632, + -8284.807, + 161.627, + 0.0, + -31.64, + 0.0 + ], + [ + 9646.783, + -8350.831, + 165.04, + 0.0, + -31.64, + 0.0 + ], + [ + 9753.935, + -8416.854, + 168.422, + 0.0, + -31.64, + 0.0 + ], + [ + 9861.086, + -8482.877, + 171.449, + 0.0, + -31.64, + 0.0 + ], + [ + 9968.238, + -8548.9, + 174.465, + 0.0, + -31.64, + 0.0 + ], + [ + 10075.389, + -8614.923, + 177.474, + 0.0, + -31.64, + 0.0 + ], + [ + 10182.541, + -8680.946, + 179.703, + 0.0, + -31.64, + 0.0 + ], + [ + 10289.692, + -8746.97, + 181.889, + 0.0, + -31.64, + 0.0 + ], + [ + 10396.843, + -8812.993, + 184.143, + 0.0, + -31.64, + 0.0 + ], + [ + 10503.995, + -8879.016, + 186.344, + 0.0, + -31.64, + 0.0 + ], + [ + 10611.146, + -8945.039, + 188.528, + 0.0, + -31.64, + 0.0 + ], + [ + 10718.298, + -9011.062, + 190.327, + 0.0, + -31.64, + 0.0 + ], + [ + 10825.449, + -9077.085, + 192.307, + 0.0, + -31.64, + 0.0 + ], + [ + 10932.601, + -9143.109, + 194.297, + 0.0, + -31.64, + 0.0 + ], + [ + 11039.752, + -9209.132, + 195.716, + 0.0, + -31.64, + 0.0 + ], + [ + 11146.903, + -9275.155, + 196.329, + 0.0, + -31.64, + 0.0 + ], + [ + 11254.055, + -9341.178, + 196.329, + 0.0, + -31.64, + 0.0 + ], + [ + 11361.206, + -9407.201, + 196.329, + 0.0, + -31.64, + 0.0 + ], + [ + 11468.358, + -9473.224, + 196.863, + 0.0, + -31.64, + 0.0 + ], + [ + 11575.509, + -9539.248, + 197.12, + 0.0, + -31.64, + 0.0 + ], + [ + 11682.661, + -9605.271, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 11789.812, + -9671.294, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 11896.964, + -9737.317, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12004.115, + -9803.34, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12111.266, + -9869.363, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12218.418, + -9935.387, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12325.569, + -10001.41, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12432.721, + -10067.433, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12539.872, + -10133.456, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12647.024, + -10199.479, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12754.175, + -10265.502, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12861.327, + -10331.526, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 12968.478, + -10397.549, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 13075.629, + -10463.572, + 197.922, + 0.0, + -31.64, + 0.0 + ], + [ + 13075.629, + -10463.572, + 197.922, + 0.0, + -31.64, + 0.0 + ] + ], + "Rationale": [ + "The dark doorway breaks the decorated wall ahead of me, and counting rightward from it, the second pillar is where I must end up. The pillars all look alike, so I hold that one by its place beside the doorway. The wall runs off to my right, so I turn right to face along its length before setting out.", + "The turn has set the pillared wall along my left with open sand running ahead, giving me a clear lane down the row. The pillar I chose is still far off along that wall, so I step forward to start closing the distance.", + "The pillars have grown only slightly, so I am still well short of the one I picked out. The sand ahead shows no obstruction, so I keep walking straight along the wall.", + "The wall holds a steady angle on my left, which tells me my heading is still carrying me down the row rather than into it. Another step forward should shrink the remaining gap.", + "The carved band of the wall is widening on my left as I gain on it, yet the pillar I am aiming for still lies further along. Nothing stands in the sand ahead, so I continue forward.", + "Two pillar shafts now stand out plainly ahead on my left, with the rough stone blocks beyond them. I have not reached my pillar yet, so I keep advancing instead of turning in toward the wall.", + "The pillar faces on my left are noticeably larger, so I am steadily eating into the distance. I am not yet level with the pillar I chose, so another stride forward is the right move.", + "Nearer stretches of the wall are already sliding past my left shoulder while my pillar remains ahead down the row. The doorway I counted from is no longer in my view, so I simply hold to that pillar itself. The sand stays clear, so I walk on.", + "The two shafts standing proud of the wall on my left are still ahead of me rather than beside me, so I have not drawn level with my pillar. The open sand between me and them carries no obstruction. I take another stride along the same heading.", + "The blue base band under the pillars is broadening as I close, a sign the gap is shrinking steadily. My pillar still sits forward of my shoulder line, so stopping now would leave me short. I press on straight.", + "Sunlight now catches the near faces of the two shafts, and their dark capitals sit higher in my view than before. That growth tells me the walk is working, and the pillar I want is still further along. Another step forward.", + "The wall's angle on my left stays constant, so my line is running parallel to it instead of drifting into the stone. The pillar I chose still stands ahead of me down that line. I keep walking rather than adjusting heading.", + "Earlier stretches of the wall have already passed behind me, so the row can no longer be counted from where I stand and I simply follow the pillar itself. It rises ahead on my left, still not abeam. I continue forward.", + "The bases of the two shafts are visible now where the wall meets the sand, meaning I am close enough to read detail but not yet standing at them. Nothing blocks the ground between us. I advance again.", + "My pillar has grown enough to fill much of the left side of my view, though its foot still lies forward of me. A few more strides should bring me alongside it. I keep moving straight.", + "The carved frieze above the shafts is passing out of the top of my view, which happens only when I am nearly under the wall. Even so, the pillar I am heading for sits slightly ahead of my shoulder. One more step closes that remainder.", + "The two shafts on my left now break clear of the wall face with their dark caps near the top edge of my view, so the gap is small but real. My pillar's base still sits ahead of my feet rather than beside them. I walk on.", + "Individual masonry courses in the wall are readable now, which only happens at close range, yet my pillar leans past the left frame instead of standing abeam. The rubble blocks on the right keep well clear of my line. Another stride is warranted.", + "The wall's carved upper band has climbed out of view entirely, leaving only the shafts and the blue base in front of me. That means I am running close alongside, with my pillar still a short way down the line. I continue on the same heading.", + "The nearer of the two shafts now leans across a good part of my left view, its foot still short of my shoulder line. Stopping here would leave me standing between pillars rather than at the one I want. I keep stepping.", + "Sunlit sand opens on my right while the wall crowds my left, confirming my line stays parallel and safe. My pillar's dark boot is now low and forward in the view, close but not yet at my side. I press ahead.", + "The blocky rubble on the right has swung noticeably wider apart, a sign of how fast I am covering ground here. The pillar I am after still stands a little forward of me along the wall. One more stride should bring me nearer its foot.", + "Up this close the wall no longer reads as a row of evenly spaced shafts, so I simply follow the near pillar I have been tracking. Its base still lies a step or two ahead of me on the left. I keep walking.", + "The pillar's stone blocks and its dark base are large and detailed on my left, meaning only a short gap remains. I am not yet standing level with it, so I take another step rather than stopping early.", + "One shaft is already sliding past my left edge, and the pillar I am tracking now stands slightly ahead of me with its dark boot still forward of my feet. The sand between us is smooth and open. I step forward again.", + "The wall's hieroglyph band is filling my left view while my pillar leans into the middle of the frame, so I am nearly under it but not beside it. The rubble course on the right stays well off my path. Another stride should bring me to its foot.", + "My pillar now rises from the sand just left of centre, tall enough that its capital is cut off above me. Its base is still a short reach ahead rather than at my shoulder, so I keep walking straight instead of stopping here.", + "The blue band at the wall's foot runs unbroken beside me and the pillar's shaft is thickening in front, which means I am closing the last of the gap. Nothing on the sand interrupts the line. I advance once more.", + "The carved figures on the wall are readable one by one now, so I am practically brushing the stone. My pillar's dark footing still sits a pace forward of me, not yet beside my leg. I take another step to reach it.", + "My pillar has swung to fill the centre of my view with its blocks large and shadowed at the base. The remaining distance is short but I am still standing off it. Continuing straight should close it.", + "The pillar's stone courses now dominate my forward view and the wall behind it has narrowed to a strip of blue. I am nearly at its base but not yet standing against it, so I step ahead once more.", + "The shaft fills the left half of my view from sand to sky, which only happens within a stride of it. A little sand still separates me from its footing. I move forward to stand right at the pillar.", + "Individual stone blocks of the shaft read clearly now, and the dark shadow pooling at its foot sits just beyond my toes. A narrow band of sand still lies between me and that footing. I take another step to close it.", + "The shaft's corner and its shadowed foot now sit almost within arm's reach, with the blue wall band reduced to a sliver behind it. I am not quite standing against the stone yet, so one more stride should put me at its base.", + "Only the lower masonry of the pillar remains in front of me, its sloped footing rising out of the sand a pace away. That last pace is all that separates me from standing at the stone, so I step once more.", + "The pillar's base fills my view at arm's length, and I am standing right at its foot. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..453313e25f776d8a66864b370b153f7fd651c23c --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_b/infos.json @@ -0,0 +1,346 @@ +{ + "Instruction": "Approach the third pillar from the left along the wall.", + "Type": 2, + "Start_Pose": [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + [ + 9501.69, + -8323.906, + 161.208, + 0.0, + -56.64, + 0.0 + ], + [ + 9501.69, + -8323.906, + 161.208, + 0.0, + -31.64, + 0.0 + ], + [ + 9608.841, + -8389.929, + 164.745, + 0.0, + -31.64, + 0.0 + ], + [ + 9715.993, + -8455.952, + 167.817, + 0.0, + -31.64, + 0.0 + ], + [ + 9823.144, + -8521.975, + 171.003, + 0.0, + -31.64, + 0.0 + ], + [ + 9930.296, + -8587.998, + 173.861, + 0.0, + -31.64, + 0.0 + ], + [ + 10037.447, + -8654.021, + 176.885, + 0.0, + -31.64, + 0.0 + ], + [ + 10144.599, + -8720.045, + 179.1, + 0.0, + -31.64, + 0.0 + ], + [ + 10251.75, + -8786.068, + 181.331, + 0.0, + -31.64, + 0.0 + ], + [ + 10358.902, + -8852.091, + 183.886, + 0.0, + -31.64, + 0.0 + ], + [ + 10466.053, + -8918.114, + 186.08, + 0.0, + -31.64, + 0.0 + ], + [ + 10573.204, + -8984.137, + 188.27, + 0.0, + -31.64, + 0.0 + ], + [ + 10680.356, + -9050.16, + 190.449, + 0.0, + -31.64, + 0.0 + ], + [ + 10787.507, + -9116.184, + 191.713, + 0.0, + -31.64, + 0.0 + ], + [ + 10894.659, + -9182.207, + 193.882, + 0.0, + -31.64, + 0.0 + ], + [ + 11001.81, + -9248.23, + 195.233, + 0.0, + -31.64, + 0.0 + ], + [ + 11108.962, + -9314.253, + 196.382, + 0.0, + -31.64, + 0.0 + ], + [ + 11216.113, + -9380.276, + 196.382, + 0.0, + -31.64, + 0.0 + ], + [ + 11323.265, + -9446.299, + 196.382, + 0.0, + -31.64, + 0.0 + ], + [ + 11430.416, + -9512.323, + 196.667, + 0.0, + -31.64, + 0.0 + ], + [ + 11537.567, + -9578.346, + 197.191, + 0.0, + -31.64, + 0.0 + ], + [ + 11644.719, + -9644.369, + 197.458, + 0.0, + -31.64, + 0.0 + ], + [ + 11644.719, + -9644.369, + 197.458, + 0.0, + -56.64, + 0.0 + ], + [ + 11713.928, + -9749.49, + 197.965, + 0.0, + -56.64, + 0.0 + ], + [ + 11783.138, + -9854.612, + 197.965, + 0.0, + -56.64, + 0.0 + ], + [ + 11852.348, + -9959.733, + 197.965, + 0.0, + -56.64, + 0.0 + ], + [ + 11921.557, + -10064.855, + 197.965, + 0.0, + -56.64, + 0.0 + ], + [ + 11990.767, + -10169.976, + 197.965, + 0.0, + -56.64, + 0.0 + ], + [ + 12059.976, + -10275.098, + 197.965, + 0.0, + -56.64, + 0.0 + ], + [ + 12129.186, + -10380.219, + 197.965, + 0.0, + -56.64, + 0.0 + ], + [ + 12198.396, + -10485.341, + 197.965, + 0.0, + -56.64, + 0.0 + ], + [ + 12198.396, + -10485.341, + 197.965, + 0.0, + -56.64, + 0.0 + ] + ], + "Rationale": [ + "From this open sand the whole row of pillars along the decorated wall is readable, and counting in from the left end the third one is the one that stands just past the dark doorway recess. The pillars are near enough identical, so I hold my target by that doorway rather than by its shape. It lies well off to my right front, so I step forward to close ground first.", + "Walking straight on would carry me into the wall face rather than along it, and the pillar I picked lies off to my right down the run of the wall. I turn right so my heading follows the wall line and brings that pillar into the path ahead of me.", + "The turn has opened a clear corridor of sand running parallel to the wall, which now falls away on my left. My target pillar sits down that run beside the doorway recess, so I walk forward to start closing the long stretch.", + "The wall is sliding past on my left and the pillars ahead are still small, so I have plenty of distance left to cover. The sand between me and them is flat and unobstructed, so I keep walking on this heading.", + "The decorated wall and its doorway are growing steadily, which tells me this heading is carrying me along the row instead of away from it. My chosen pillar is still ahead down the wall, so another stride forward is the simple continuation.", + "The nearer pillars of the row have begun sliding off to my left as I pass them, so I now track my target by the doorway recess still ahead on the wall. The route stays clear, so I keep advancing along it.", + "The pair of tall pillars ahead on my left is noticeably closer and the low blocky ruins on my right mark the open lane I am following. My target is not yet within reach, so I continue forward at this heading.", + "The wall carvings are resolving into individual glyphs, confirming the gap to the pillars is shrinking with each stride. I am still short of standing beside my target, so I press on along the wall.", + "The dark doorway recess sits squarely in the wall on my left, and the pillar standing just past it is the one I am walking to. That pillar still reads small against the stonework and the sand lane in front of me is clear, so I keep striding on this heading.", + "The pillars I have already walked past have dropped behind my shoulder, so the left end of the row is no longer something I can count from here. Holding my target by the doorway beside it keeps that settled, and the remaining gap is long, so I walk on.", + "The blue painted band at the wall base is breaking into separate blocks, which tells me the distance is dropping steadily. My pillar and the one beside it stand well ahead on the left rather than near me, so another stride is the obvious continuation.", + "The two shafts ahead have grown tall enough that their dark capitals ride high in my view, yet they remain several strides off down the wall. The sand between stays flat and open, so I press on without changing heading.", + "The blocky ruins off to my right are sliding past at a steady rate, which confirms my pace along the wall face is unbroken. My pillar is still out in front of me rather than at my side, so I keep moving.", + "The feet of the pillars ahead now show plainly where their shadowed bases meet the sand, a sure sign the gap is closing. I am not yet level with the one I chose, so I keep walking along the wall.", + "From this angle the row stops reading as a tidy line, with the nearer shaft overlapping the one behind it. That costs me nothing, since the recessed doorway just before my pillar still marks it on the wall to my left, so I continue forward.", + "The pair of pillars now fills a good share of my view and the sand runs unbroken right up to their feet. I am still a handful of strides short of standing beside the one I want, so I advance again.", + "The shafts on my left have risen tall enough that their dark capitals crowd the top of my view, and the blue band at the wall base reads as individual blocks. I am still short of drawing level with the pillar I chose, so I take another stride along the open sand.", + "The glyph row carved above the blue band is now legible block by block, so the wall face is only a short distance off my left shoulder. My pillar still sits forward of me rather than beside me, and nothing blocks the sand, so I keep walking.", + "Both shafts now stand clear of the wall in full relief, with the shadow at each foot showing where the stone meets sand. That geometry says I am close but not yet abreast of the one I want, so I advance again on the same line.", + "The near shaft has climbed past the top edge of my view while the blocky ruins on my right slide steadily rearward, both signs of good pace along the wall. A few strides of sand still separate me from the pillar, so I continue.", + "The wall now dominates the left half of my view and the pillar I picked is drawing nearly abeam of me. I want to be alongside it before I swing in toward the wall, so I step forward once more.", + "The two shafts sit high and close on my left, with the low ruins opposite marking how narrow the lane has become. One more stride should place me squarely off the pillar's foot, so I take it before changing heading.", + "I am now level with the pillar standing beside the doorway recess, and it lies off my left shoulder rather than in front of me, so walking on would only carry me past it. Turning left should put that shaft and the wall behind it straight down my path.", + "The turn has swung the wall square into my view, with my pillar and its neighbour rising directly ahead across a short stretch of open sand. Nothing stands between me and its base, so I walk straight in to close the remaining gap.", + "The wall fills my view now and the shaft I want rises just left of centre, its base still a short walk out across the sand. Nothing interrupts the ground between us, so I take another step straight at it.", + "The blue band along the wall base has widened until it spans most of my view, and the carved glyph row above it reads clearly, both signs the stonework is only a couple of strides off. My pillar's foot is not yet within arm's reach, so I advance again.", + "The shaft ahead has swollen so that its individual blocks and the flare of its base stand out against the painted wall. A little sand still lies between my feet and that base, so I close it with one more step.", + "The pillar now cuts a broad column through the middle of my view and its neighbour has been pushed to the edge, so my heading is holding on the right shaft. Since I am aiming to stand at its foot rather than merely near it, I keep walking in.", + "Only the lower stonework and the blue band remain visible, the capital long since above my view, which tells me I am nearly against the shaft. A short gap of sand is still under me before its plinth, so I press in.", + "The flared base and its dark shadow now sit low and wide right in front of me, close enough that the wall's block joints are individually readable. One more step should bring me right up against the stone.", + "The shaft's masonry is almost filling my view with the sand nearly out of sight beneath it, so I am practically touching the base. A final short step should settle me directly at the pillar beside the doorway recess.", + "The pillar's stonework fills my view at arm's length, with me standing right at its base. The approach is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_c/infos.json b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d39ee2e272cf556408b421cac674fdf31849de79 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_c/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Head toward the third pillar from the right along the wall.", + "Type": 2, + "Start_Pose": [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + [ + 9501.69, + -8323.906, + 161.208, + 0.0, + -56.64, + 0.0 + ], + [ + 9570.9, + -8429.027, + 164.228, + 0.0, + -56.64, + 0.0 + ], + [ + 9640.109, + -8534.149, + 167.127, + 0.0, + -56.64, + 0.0 + ], + [ + 9709.319, + -8639.27, + 169.832, + 0.0, + -56.64, + 0.0 + ], + [ + 9778.528, + -8744.392, + 172.409, + 0.0, + -56.64, + 0.0 + ], + [ + 9847.738, + -8849.513, + 175.064, + 0.0, + -56.64, + 0.0 + ], + [ + 9916.948, + -8954.634, + 176.982, + 0.0, + -56.64, + 0.0 + ], + [ + 9986.157, + -9059.756, + 179.329, + 0.0, + -56.64, + 0.0 + ], + [ + 9986.157, + -9059.756, + 179.329, + 0.0, + -81.64, + 0.0 + ], + [ + 10004.456, + -9184.278, + 180.903, + 0.0, + -81.64, + 0.0 + ], + [ + 10022.755, + -9308.799, + 182.209, + 0.0, + -81.64, + 0.0 + ], + [ + 10041.054, + -9433.321, + 183.814, + 0.0, + -81.64, + 0.0 + ], + [ + 10059.353, + -9557.842, + 185.456, + 0.0, + -81.64, + 0.0 + ], + [ + 10077.652, + -9682.364, + 186.713, + 0.0, + -81.64, + 0.0 + ], + [ + 10095.951, + -9806.886, + 187.915, + 0.0, + -81.64, + 0.0 + ], + [ + 10114.25, + -9931.407, + 189.144, + 0.0, + -81.64, + 0.0 + ], + [ + 10132.549, + -10055.929, + 190.388, + 0.0, + -81.64, + 0.0 + ], + [ + 10150.848, + -10180.451, + 191.284, + 0.0, + -81.64, + 0.0 + ], + [ + 10169.147, + -10304.972, + 192.415, + 0.0, + -81.64, + 0.0 + ], + [ + 10187.445, + -10429.494, + 193.235, + 0.0, + -81.64, + 0.0 + ], + [ + 10187.445, + -10429.494, + 193.235, + 0.0, + -81.64, + 0.0 + ] + ], + "Rationale": [ + "The colonnaded wall runs off to a corner on my right, and counting inward from that end, the third pillar is the one standing just left of the recessed doorway in the wall. Those pillars all look alike, so I hold my target by that doorway rather than by its place in the row. It lies far ahead across open sand, so I will walk forward.", + "The wall has grown slightly larger, and the pillar beside the recessed doorway sits a little left of my heading. The sand between us is flat and unobstructed, so no turn is needed yet. I will keep walking forward.", + "Carved bands on the wall are becoming legible, which tells me the gap is closing steadily. My pillar, the one flanking the recessed doorway, is still well ahead and only mildly off my heading. Another forward step is the most direct way to shorten the distance.", + "The blue lower band of the wall now spans a wide part of my view, so I am noticeably closer. The doorway with my pillar beside it remains left of straight ahead, but I am still far enough out that a heading change would be premature. I will advance again.", + "The nearer pillars are looming taller as I approach the wall face. The doorway that pins my target is still visible and slightly to my left, so my identification holds without recounting. I continue straight to close the remaining sand.", + "The far right end of the wall is sliding toward the edge of my view, so counting inward from it is no longer dependable. I keep following the pillar that stands immediately left of the recessed doorway. Walking forward again is the direct way to reach it.", + "The pillar beside the doorway now rises large in the left half of my view, its base clearly visible above the sand. The ground between us is still open, so continued forward motion is the efficient move before any alignment. I step ahead once more.", + "I am close enough that the wall's carved friezes fill much of my view, and the pillar next to the recessed doorway stands off to my left. Closing more distance first should make the eventual heading correction small. I will take another step forward.", + "The wall now fills nearly my whole view, and the pillar standing beside the recessed doorway sits well off to my left instead of in front of me. A modest swing to the left should bring it onto my heading so the last stretch is a straight walk.", + "The turn has placed my pillar near the middle of my view, with the recessed doorway sitting just to its right as expected. With the heading corrected and open sand between, walking straight ahead should carry me toward its base.", + "The pillar holds its place slightly right of center and its shaft is thickening as I close in. Nothing about my heading needs adjusting, so I take another step toward it.", + "Only two pillars remain in my view now, so the wall no longer reads as a countable row, but the doorway beside my target keeps it identified. Its base is clearly set on the sand a short way off, and I keep walking toward it.", + "Individual masonry blocks in the pillar and the blue dado are now distinct, so the remaining gap is small. My target stays just right of straight ahead, so a further step continues to close on it.", + "The pillar's crown has risen out of the top of my view, which means I am within a few strides of it. Its shaft is still centered on my path, so I press ahead without changing direction.", + "Only a narrow band of sand separates me from the pillar's footing, and the shaft dominates the middle of my view. Continuing straight should bring me right up against it.", + "The pillar and the dark shadow at its foot now sit almost within arm's reach ahead of me, with the doorway well off to the right. One more step forward should place me at its base.", + "The pillar's shaft now fills the centre of my view with its shadowed footing plainly on the sand ahead. Nothing blocks the last stretch and my heading is already on it, so I step forward again.", + "Individual stone courses of the shaft and the carved glyph band beside it read sharply, so only a stride or two of sand remains. My target sits squarely in front of me, so I advance once more.", + "The pillar's dark base now spreads across the lower middle of my view and the blue dado has widened to either side of it. I am nearly against the stone, so another short step should close the last gap.", + "The shaft and its footing block almost everything ahead of me, with only a sliver of sand left at the bottom of my view. A final step forward should bring me right up against the pillar.", + "The pillar's stone blocks fill my view at arm's length, its base right in front of me. I have arrived at my target, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_d/infos.json b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a94ab8047ad46a942ae368c4b4b8ea8d8533730 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_d/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Navigate to the second pillar from the left along the wall.", + "Type": 2, + "Start_Pose": [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + [ + 9501.69, + -8323.906, + 161.208, + 0.0, + -56.64, + 0.0 + ], + [ + 9570.9, + -8429.027, + 164.228, + 0.0, + -56.64, + 0.0 + ], + [ + 9640.109, + -8534.149, + 167.127, + 0.0, + -56.64, + 0.0 + ], + [ + 9709.319, + -8639.27, + 169.832, + 0.0, + -56.64, + 0.0 + ], + [ + 9778.528, + -8744.392, + 172.409, + 0.0, + -56.64, + 0.0 + ], + [ + 9847.738, + -8849.513, + 175.064, + 0.0, + -56.64, + 0.0 + ], + [ + 9916.948, + -8954.634, + 176.982, + 0.0, + -56.64, + 0.0 + ], + [ + 9986.157, + -9059.756, + 179.329, + 0.0, + -56.64, + 0.0 + ], + [ + 10055.367, + -9164.877, + 181.565, + 0.0, + -56.64, + 0.0 + ], + [ + 10124.576, + -9269.999, + 183.474, + 0.0, + -56.64, + 0.0 + ], + [ + 10124.576, + -9269.999, + 183.474, + 0.0, + -81.64, + 0.0 + ], + [ + 10142.875, + -9394.52, + 184.731, + 0.0, + -81.64, + 0.0 + ], + [ + 10161.174, + -9519.042, + 186.212, + 0.0, + -81.64, + 0.0 + ], + [ + 10179.473, + -9643.564, + 187.315, + 0.0, + -81.64, + 0.0 + ], + [ + 10197.772, + -9768.085, + 188.903, + 0.0, + -81.64, + 0.0 + ], + [ + 10216.071, + -9892.607, + 190.239, + 0.0, + -81.64, + 0.0 + ], + [ + 10234.37, + -10017.129, + 191.351, + 0.0, + -81.64, + 0.0 + ], + [ + 10252.669, + -10141.65, + 192.159, + 0.0, + -81.64, + 0.0 + ], + [ + 10270.968, + -10266.172, + 192.723, + 0.0, + -81.64, + 0.0 + ], + [ + 10289.267, + -10390.694, + 194.004, + 0.0, + -81.64, + 0.0 + ], + [ + 10289.267, + -10390.694, + 194.004, + 0.0, + -81.64, + 0.0 + ] + ], + "Rationale": [ + "From here the whole decorated wall is visible, so I count the pillars along it from the left end and settle on the one standing immediately right of the corner pillar. They share the same shape and paint, so I hold my target by that neighbour and its place near the left end of the run rather than any marking. The sand between us is open, so I walk forward.", + "The wall has grown slightly taller in my view, but I am still far out on the open sand. My chosen pillar keeps its place just right of the corner one, so I keep walking straight ahead.", + "The pillars are noticeably nearer now, and the one I am heading for still sits left of centre in my view with the corner pillar beside it. Distance is the only thing separating me from it, so another forward step is the right move.", + "The corner pillar is drifting toward the left edge of my view as I close in, while my pillar stands clear beside it. I keep advancing across the sand toward it.", + "Only a sliver of the corner pillar remains at the left of my view, but my pillar is now large and easy to track on its own. Since I am following that pillar rather than a position in a row, I simply keep walking toward it.", + "The corner pillar has slipped out of my view, so my pillar now leads the visible run of the wall; I stay locked on that same column instead of recounting. There is still a good stretch of sand to cross, so I step forward again.", + "My pillar rises well left of the doorway and grows steadily as I close on it. The ground ahead stays flat and clear, so I continue walking straight toward its base.", + "The pillar I am after now fills much of the left side of my view and its blue base is clearly resolved. I am still several strides short of it, so I press forward before worrying about final heading.", + "The pillar I want stands off to the left of my heading, its base planted on open sand with nothing between us. Distance is still the limiting factor, so I walk on and leave any heading correction until I am closer.", + "My pillar now towers past the decorated bands of the wall, though it sits noticeably left of where I am pointed. Another straight stride closes the gap cheaply before I bother swinging my body toward it.", + "Walking straight from here would carry me past my pillar toward the doorway and the columns further right, because the one I am after has drifted well into the left half of my view. A modest swing to the left should set its base near the middle of my path.", + "The new heading puts my pillar squarely ahead, with the neighbouring column reappearing at the far left edge behind it, so I stay locked on the one centred in my path. The sand in front of it is clear, and I step forward.", + "My pillar keeps growing straight in front of me while the doorway slides off to the right, confirming my line is good. Several strides of sand remain, so I keep walking without touching my heading.", + "At this range the wall reads as blocks and glyph bands rather than a row of columns, but the shaft directly before me is the pillar I have been tracking. Its footing is still a short stretch of sand away, so I advance again.", + "The shaft now rises out of the top of my view and its dark-shadowed base sits just left of my line. A couple more steps should bring me right up against it, so I continue.", + "The blue wainscot runs close behind the pillar and its stone blocks are sharp, which tells me I am nearly on top of it. I take another step to bring myself right to the foot of this column.", + "The glyph band beside the shaft reads block by block now, and the pillar's plinth sits just left of my line with clear sand in front of it. That plinth is still a stride or two off, so I walk on rather than stopping short.", + "The shaft has widened enough that its stone courses dominate my view and the shadowed footing spreads across the middle. A short gap of sand still lies between me and that footing, so I take another step in.", + "The plinth of my pillar now occupies most of the lower half of my view and the blue wainscot flanks it on both sides. I am close but not yet at its foot, so one more step forward.", + "The base block is nearly at my feet, its masonry filling the frame with the shaft rising straight above me. A final short step should put me right against the pillar, so I advance once more.", + "The pillar's stone shaft and plinth fill my view at arm's length, with its wall directly behind. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_e/infos.json b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e8fae9b6cd0c96e63ffc3d60b7614744b009c3d --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t2_e/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Proceed to the first pillar left of the doorway.", + "Type": 2, + "Start_Pose": [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9432.48, + -8218.784, + 157.95, + 0.0, + -56.64, + 0.0 + ], + [ + 9501.69, + -8323.906, + 161.208, + 0.0, + -56.64, + 0.0 + ], + [ + 9570.9, + -8429.027, + 164.228, + 0.0, + -56.64, + 0.0 + ], + [ + 9640.109, + -8534.149, + 167.127, + 0.0, + -56.64, + 0.0 + ], + [ + 9709.319, + -8639.27, + 169.832, + 0.0, + -56.64, + 0.0 + ], + [ + 9778.528, + -8744.392, + 172.409, + 0.0, + -56.64, + 0.0 + ], + [ + 9847.738, + -8849.513, + 175.064, + 0.0, + -56.64, + 0.0 + ], + [ + 9916.948, + -8954.634, + 176.982, + 0.0, + -56.64, + 0.0 + ], + [ + 9986.157, + -9059.756, + 179.329, + 0.0, + -56.64, + 0.0 + ], + [ + 10055.367, + -9164.877, + 181.565, + 0.0, + -56.64, + 0.0 + ], + [ + 10055.367, + -9164.877, + 181.565, + 0.0, + -81.64, + 0.0 + ], + [ + 10073.666, + -9289.399, + 182.828, + 0.0, + -81.64, + 0.0 + ], + [ + 10091.965, + -9413.921, + 184.134, + 0.0, + -81.64, + 0.0 + ], + [ + 10110.264, + -9538.442, + 185.879, + 0.0, + -81.64, + 0.0 + ], + [ + 10128.563, + -9662.964, + 186.982, + 0.0, + -81.64, + 0.0 + ], + [ + 10146.861, + -9787.486, + 188.29, + 0.0, + -81.64, + 0.0 + ], + [ + 10165.16, + -9912.007, + 189.661, + 0.0, + -81.64, + 0.0 + ], + [ + 10183.459, + -10036.529, + 190.737, + 0.0, + -81.64, + 0.0 + ], + [ + 10201.758, + -10161.05, + 191.567, + 0.0, + -81.64, + 0.0 + ], + [ + 10220.057, + -10285.572, + 192.479, + 0.0, + -81.64, + 0.0 + ], + [ + 10238.356, + -10410.094, + 193.508, + 0.0, + -81.64, + 0.0 + ], + [ + 10238.356, + -10410.094, + 193.508, + 0.0, + -81.64, + 0.0 + ] + ], + "Rationale": [ + "The long decorated wall ahead has a recessed doorway near the middle of my view, with a row of similar pillars standing along it. Since the pillars look alike, I fix my target as the one standing immediately to the left of that doorway opening. I walk forward across the open sand to begin closing that distance.", + "The wall has grown slightly larger, confirming my heading is carrying me toward it. The doorway stays near the center of my view and the pillar just left of it remains clearly in sight. I keep stepping forward over the unobstructed sand.", + "The pillars are rising taller in my view as the facade nears, and the doorway remains a dark recess slightly right of my path. The pillar immediately left of that opening is still the one I am walking toward. Another straight step should keep shrinking the gap.", + "I am still well out on the open ground, with the wall filling more of my view each step. The doorway holds its place ahead and the pillar bordering it on the left stays identifiable. I continue advancing straight rather than adjusting my heading yet.", + "The far left end of the colonnade is beginning to slide past the edge of my view as I close in, so I keep holding onto the pillar that borders the doorway on its left rather than any count from the end. That doorway is still plainly ahead of me. I take another forward step.", + "The pillars are noticeably closer and the doorway sits a little right of my heading, with my chosen pillar just to its left. Nothing blocks the sand between us. I keep walking forward to shorten the remaining distance before any turn is worth making.", + "My heading is carrying me toward the wall a bit to the right of the pillar I want, which stands just left of the doorway recess. There is still open distance to cover before that offset matters. I advance again on the same line.", + "The pillar bordering the doorway on its left now rises well above my view line and is drifting toward the left side as I close in. The ground ahead remains clear of obstructions. I step forward once more to keep gaining on it.", + "The sand between me and the facade is nearly gone, and the pillar I chose now stands well to the left of where my heading points, with the doorway recess opening just past its right side. The way in is still clear, so I step forward once more before correcting my line.", + "Walking straight would carry me into the wall well to the right of my pillar, since it now sits off to my left with the dark doorway opening beyond its right edge. A leftward swing of my heading should put that pillar in front of me instead.", + "The turn has swung my pillar toward the middle of my view, and the doorway now reads clearly as the opening just off its right side, which confirms I am aimed at the right one. Open sand runs unbroken to its base, so I walk forward on this corrected line.", + "The pillar ahead keeps growing while the doorway holds steady just to its right, so my heading is still true. Its base is far from my feet yet, and I continue straight to eat into that distance.", + "Only two pillars still fit in my view, so the colonnade no longer reads as a row I could count along; what keeps my target fixed is the doorway sitting just off its right shoulder. I press forward on the same line.", + "I am close enough now that individual carved glyphs on the wall bands are legible, and my pillar rises past the top of my view slightly right of center. The doorway still frames it from the right, so I keep walking in.", + "The neighbouring pillar has slid almost entirely off my left edge, leaving my target dominating the middle with the doorway beyond it on the right. A few more strides should bring me right up against its base.", + "My pillar now fills the center of my view with its blue-banded plinth visible, yet its base is still short of my feet. The doorway remains just past its right side, so I continue straight in to stand at it.", + "The shaft now blocks most of the wall behind it, and only a sliver of the dark opening shows past its right edge, which still confirms this is the one I want. Its plinth sits a few strides beyond my feet, so I walk in closer.", + "The blue band and the carved glyph course above it are close enough that individual blocks read clearly, and the stone base is squarely in front of me. I am not yet standing against it, so another stride forward should close the last of the gap.", + "The plinth now spreads across the bottom of my view with the shaft rising straight out of it, and the sand between us has narrowed to a short stretch. I step in again to bring myself right up against the stone.", + "Almost nothing but the pillar and its plinth remains in front of me, with the wall's blue band flanking it on both sides. One more short step should put me flush at its foot rather than a pace short.", + "The pillar's plinth fills my view directly at my feet, close enough to touch. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t5_a_p/infos.json b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6ed9486ce5c29fa0bfccaa5e9da7c5473fc23906 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x009432_y-008219_z000158_t5_a_p/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the plate near the second pillar right of the doorway.", + "Type": 5, + "Start_Pose": [ + 9432.48, + -8218.784, + 157.95, + 0, + -56.64, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 10210.956, + -10330.854, + 142.188, + -90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9432.48, + -8218.784, + 157.95, + 0, + -56.64, + 0 + ], + [ + 9501.69, + -8323.906, + 161.208, + 0.0, + -56.64, + 0.0 + ], + [ + 9570.9, + -8429.027, + 164.228, + 0.0, + -56.64, + 0.0 + ], + [ + 9640.109, + -8534.149, + 167.127, + 0.0, + -56.64, + 0.0 + ], + [ + 9709.319, + -8639.27, + 169.832, + 0.0, + -56.64, + 0.0 + ], + [ + 9778.528, + -8744.392, + 172.409, + 0.0, + -56.64, + 0.0 + ], + [ + 9847.738, + -8849.513, + 175.064, + 0.0, + -56.64, + 0.0 + ], + [ + 9916.948, + -8954.634, + 176.982, + 0.0, + -56.64, + 0.0 + ], + [ + 9986.157, + -9059.756, + 179.329, + 0.0, + -56.64, + 0.0 + ], + [ + 10055.367, + -9164.877, + 181.565, + 0.0, + -56.64, + 0.0 + ], + [ + 10055.367, + -9164.877, + 181.565, + 0.0, + -81.64, + 0.0 + ], + [ + 10073.666, + -9289.399, + 182.828, + 0.0, + -81.64, + 0.0 + ], + [ + 10091.965, + -9413.921, + 184.134, + 0.0, + -81.64, + 0.0 + ], + [ + 10110.264, + -9538.442, + 185.879, + 0.0, + -81.64, + 0.0 + ], + [ + 10128.563, + -9662.964, + 186.982, + 0.0, + -81.64, + 0.0 + ], + [ + 10146.861, + -9787.486, + 188.29, + 0.0, + -81.64, + 0.0 + ], + [ + 10165.16, + -9912.007, + 189.661, + 0.0, + -81.64, + 0.0 + ], + [ + 10183.459, + -10036.529, + 190.737, + 0.0, + -81.64, + 0.0 + ], + [ + 10201.758, + -10161.05, + 191.567, + 0.0, + -81.64, + 0.0 + ], + [ + 10201.758, + -10161.05, + 191.567, + 0.0, + -81.64, + 0.0 + ], + [ + 10201.758, + -10161.05, + 191.567, + 0.0, + -81.64, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10210.956, + -10330.854, + 142.188, + -90.0, + 90.0, + 0.0 + ], + [ + 10222.797, + -10157.342, + 161.548, + -28.202, + -31.496, + 1.862 + ], + [ + 10222.797, + -10157.342, + 161.548, + -28.202, + -31.496, + 1.862 + ] + ], + "PD_Dist_2D": [ + 2251.0, + 2128.6, + 2006.6, + 1885.2, + 1764.4, + 1644.3, + 1525.2, + 1407.3, + 1290.8, + 1176.3, + 1176.3, + 1050.5, + 924.6, + 798.8, + 673.0, + 547.1, + 421.3, + 295.6, + 170.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The colonnaded wall with its recessed doorway stands far across the open sand, and I can just make out a small pale disc resting at the foot of one of the columns beside that doorway. That is the plate I need, but it is much too distant to reach. I will walk straight ahead to close the gap.", + "The columns and the decorated frieze have grown slightly larger, confirming my heading is carrying me toward the wall section that holds the plate. The pale disc at the column base is still only a speck, so no turning is needed yet. I continue walking forward.", + "The doorway recess and the columns flanking it are becoming clearer as I close in, and the small round plate remains visible near the base of a column to the left of that opening. Nothing blocks the sand between me and the wall. I keep advancing on the same line.", + "The wall now fills more of my view and the carved bands are readable, showing steady progress toward the target column. The plate is still a distant round shape at ground level, well beyond arm's reach. Another step forward should keep shrinking that distance.", + "I am roughly halfway to the wall, with the near columns rising tall on my left and the doorway holding position slightly right of center. The pale plate at the column base is larger but still far off. Continuing straight remains the most direct way in.", + "The plate is now clearly a round white object sitting on the sand at the foot of the column beside the doorway. My current heading points at that stretch of wall, so no adjustment is warranted yet. I step forward again to keep closing.", + "The nearest column now looms with its capital cut off at the top of my view, showing how much ground I have covered. The plate still sits low at its base, too far for any grasp attempt. I keep walking straight toward it.", + "The wall and its columns dominate my view and the white plate is plainly visible resting against the column base ahead and slightly left. It is still several strides away, so I am not yet in reach for a pick. I advance again before considering any alignment.", + "The white plate is still a small pale disc resting at the base of the pillar to the left of my heading, well short of grasping range. My path across the open sand is clear, so I will keep walking forward to close the remaining distance. The pillars and the doorway keep growing, confirming I am heading toward the right stretch of wall.", + "Walking straight has drifted the plate and its pillar toward the left edge of my view, so continuing on this heading would carry me past them. I will turn left to bring the pillar with the plate back toward the center of my path before advancing again.", + "The turn worked, and the pillar with the plate at its base now sits near the center of my view with the doorway off to the right. With the target lined up and clear sand in front of me, I will walk forward to shorten the gap.", + "The plate is noticeably larger against the blue base of the pillar, so my heading is still good but I am not yet close enough to reach it. I will step forward again to keep closing on the target.", + "The wall now fills much of my view and the plate is clearly resting on the sand against the pillar just ahead. It is still several paces away, so I will continue walking straight toward it.", + "The plate's rim and dished face are now distinct at the foot of the pillar slightly left of my heading, which confirms I am closing on the correct object. Nothing blocks the sand between us, so I will advance another step.", + "The plate is large in front of me now, but it still sits low and a bit beyond comfortable reach at the pillar base. I will keep stepping forward so it comes within grasping range before I attempt to take it.", + "The plate fills a good part of my lower view, propped against the pillar just ahead and slightly left of center. A little more distance remains before it is within arm's reach, so I will walk forward again.", + "The white plate is propped against the base of the pillar just left of center and now fills a good part of my view, but it still sits a little too far ahead for a grasp. I will keep walking straight toward it to close the last of the gap.", + "The plate now sits low and close in front of me at the foot of the pillar, its rim clearly detailed. One more step forward should bring it within arm's reach before I attempt to take it.", + "The plate is directly in front of me at the base of the pillar, large in view and within arm's reach, with nothing between us. My hands are empty, so I will reach out and try to pick it up.", + "The plate is now held in my hand instead of resting against the pillar. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x012012_y001534_z000198_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x012012_y001534_z000198_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ea215289e82b45f37d32c88fd38bca90a6e709a4 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x012012_y001534_z000198_t2_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the third pillar from the right in the colonnade ahead.", + "Type": 2, + "Start_Pose": [ + 12011.959, + 1534.403, + 198.105, + 0, + 59.52, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 12011.959, + 1534.403, + 198.105, + 0, + 59.52, + 0 + ], + [ + 12075.799, + 1642.869, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12139.64, + 1751.335, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12203.48, + 1859.801, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12267.321, + 1968.267, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12331.161, + 2076.733, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12395.001, + 2185.199, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12458.842, + 2293.666, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12522.682, + 2402.132, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12586.523, + 2510.598, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12650.363, + 2619.064, + 198.105, + 0.0, + 59.52, + -0.0 + ], + [ + 12650.363, + 2619.064, + 198.105, + 0.0, + 84.52, + -0.0 + ], + [ + 12662.382, + 2744.348, + 198.105, + 0.0, + 84.52, + -0.0 + ], + [ + 12674.402, + 2869.631, + 198.105, + 0.0, + 84.52, + -0.0 + ], + [ + 12686.421, + 2994.915, + 198.105, + 0.0, + 84.52, + -0.0 + ], + [ + 12698.44, + 3120.199, + 198.105, + 0.0, + 84.52, + -0.0 + ], + [ + 12698.44, + 3120.199, + 198.105, + 0.0, + 84.52, + -0.0 + ] + ], + "Rationale": [ + "Counting the colonnade from its right end, I pass the nearest column at the right edge, then the next inward, and land on the third, the pale sunlit shaft with the standing figure carved against it. That statue marks my target clearly enough that I can follow it rather than recount. It lies well ahead across the sand, so I step forward.", + "The statue-backed column I chose still stands ahead and slightly right of center, with its carved figure clearly visible against the bright wall behind. Nothing blocks the open sand between us. I keep walking straight toward it.", + "The columns are noticeably taller in my view now, and the shaft carrying the standing figure remains just right of my heading. My current line still leads into the colonnade near it. Another step forward closes the distance.", + "More slender columns are resolving on the left side of the row as I close in, but I am not recounting; I am following the shaft with the carved standing figure. It stays ahead and a little to my right. I continue forward over the open sand.", + "The column bases are now clearly above the sand line, so I can judge the ground I still have to cover. My target, the shaft with the standing figure at its side, remains ahead and slightly right. I keep advancing.", + "The huge column at the right edge is beginning to crowd my view, so counting from the row's right end is getting unreliable from here. I stay locked on the carved standing figure that marks my column instead. Forward again.", + "The colonnade now towers over me and the shaft bearing the standing figure sits just right of my center, its base clearly on the paved floor. The sand between us is still clear. I press forward toward it.", + "I am close enough now to read the carving on the shaft with the standing figure, which stands ahead and to my right. My heading still runs a little left of it, but the remaining gap is best closed by continuing straight for now. I take another step forward.", + "The shaft with the standing figure fills much of my view now, its carved bands legible from base to capital, and it sits just right of my line. Open sand still runs up to its foot. I keep walking toward it.", + "At this range the colonnade no longer reads as a countable row, so I rely on the carved figure standing above my column to hold my target. It is close and slightly right of my heading. Another step closes most of what remains.", + "My column with the standing figure has drifted to the right side of my view as I closed in, so walking straight would carry me past its left face. A modest pivot to the right should put it back in front of me.", + "The pivot worked: the shaft carrying the standing figure now sits near the middle of my view with clear sand leading to its base. Only a short stretch separates us. I walk straight in.", + "The carved shaft ahead is close enough that its lower drum dominates my view and the figure above it is passing out of sight behind the capital. I am still short of standing at its foot. I press on.", + "My column now shows only its banded lower section, so I judge distance by its base rather than the figure overhead. A little sand still lies between me and that base. One more step should bring me alongside it.", + "The hieroglyph bands on my column fill the left half of my view and its foot is nearly under me. A final short step should set me right against the shaft. I move forward.", + "I stand right against the carved shaft I singled out, its stonework filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f73e3d2653e20a9615c12b27122adcb6fc8d388c --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Walk to the leftmost stone column along the temple wall.", + "Type": 2, + "Start_Pose": [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + [ + 24467.973, + -20269.104, + 247.536, + 0.0, + 128.64, + -0.0 + ], + [ + 24467.973, + -20269.104, + 247.536, + 0.0, + 153.64, + -0.0 + ], + [ + 24355.201, + -20213.221, + 208.238, + 0.0, + 153.64, + -0.0 + ], + [ + 24242.428, + -20157.338, + 172.221, + 0.0, + 153.64, + -0.0 + ], + [ + 24129.656, + -20101.456, + 113.898, + 0.0, + 153.64, + -0.0 + ], + [ + 24016.883, + -20045.573, + 59.097, + 0.0, + 153.64, + -0.0 + ], + [ + 23904.111, + -19989.69, + 29.061, + 0.0, + 153.64, + -0.0 + ], + [ + 23791.338, + -19933.808, + -12.636, + 0.0, + 153.64, + -0.0 + ], + [ + 23678.566, + -19877.925, + -53.966, + 0.0, + 153.64, + -0.0 + ], + [ + 23565.794, + -19822.043, + -92.647, + 0.0, + 153.64, + -0.0 + ], + [ + 23453.021, + -19766.16, + -124.886, + 0.0, + 153.64, + -0.0 + ], + [ + 23453.021, + -19766.16, + -124.886, + 0.0, + 128.64, + -0.0 + ], + [ + 23374.432, + -19667.853, + -135.598, + 0.0, + 128.64, + -0.0 + ], + [ + 23295.842, + -19569.547, + -143.043, + 0.0, + 128.64, + -0.0 + ], + [ + 23217.253, + -19471.24, + -148.84, + 0.0, + 128.64, + -0.0 + ], + [ + 23138.663, + -19372.934, + -153.623, + 0.0, + 128.64, + -0.0 + ], + [ + 23060.074, + -19274.627, + -156.608, + 0.0, + 128.64, + -0.0 + ], + [ + 22981.484, + -19176.321, + -157.11, + 0.0, + 128.64, + -0.0 + ], + [ + 22981.484, + -19176.321, + -157.11, + 0.0, + 153.64, + -0.0 + ], + [ + 22868.712, + -19120.438, + -172.624, + 0.0, + 153.64, + -0.0 + ], + [ + 22755.939, + -19064.555, + -184.396, + 0.0, + 153.64, + -0.0 + ], + [ + 22643.167, + -19008.673, + -194.523, + 0.0, + 153.64, + -0.0 + ], + [ + 22643.167, + -19008.673, + -194.523, + 0.0, + 153.64, + -0.0 + ] + ], + "Rationale": [ + "A row of stone columns stands along the carved temple wall to my right, and the one at the far left of that row is the pale column beside the dark shaded recess where the wall ends toward the pyramid. A high sand ridge fills the foreground between us, so I walk forward to close distance and open up that end of the wall.", + "From this heading the temple wall runs away edge-on at the right of my view, so walking straight would carry me past it across open sand. I turn right to bring the wall and its columns in front of me, which should put the column beside the shadowed recess within a clear forward path.", + "The wall now faces me, with the dark recess and its neighbouring column at the left of the facade and two nearer columns to the right. The sand between us is unobstructed, so I step forward to close on that end of the colonnade.", + "The carved frieze and column shafts have grown slightly larger, confirming my last step gained ground on the wall. The column by the shadowed recess still sits ahead and to my left, so I keep walking forward.", + "I am still well out on the sand, with the wall's base only partly emerging above the dune. The recess end of the facade remains open ahead of me and nothing blocks the slope, so I advance again.", + "The hieroglyph bands are becoming legible and the nearer column shafts now rise well above the sand, so the distance is falling steadily. The column beside the dark recess is still further along to my left, and I continue forward.", + "The facade now fills most of my view and the two nearest columns stand tall, yet the shaded recess with its adjoining column is still set back at the left edge. I press forward along the wall to keep reducing that remaining gap.", + "The stonework is close enough that individual blocks and the carved band read clearly, and the nearer columns are starting to slide toward the right of my view. My destination remains the column beside the dark recess further along the wall, so I keep advancing.", + "The two nearest shafts have drifted toward the right side of my view, while the shaded break where the facade ends still shows low at the left with the pyramid slope behind it. The sand shelf below the wall runs clear ahead, so I walk on toward that end.", + "Block courses and the painted band read sharply now, so the last stride clearly gained ground on the stonework. The shadowed end of the facade is still a stretch off to my left, and I continue forward.", + "At this range the shafts loom past the top of my view and the colonnade no longer reads as a countable row, so I hold onto the shadowed break at the wall's end as my mark, still low on the left. Another step forward should set me alongside the wall base.", + "I stand close under the facade with one shaft filling the right of my view and the far end of the wall pushed out of sight beyond my left shoulder. Turning left should set the wall running away beside me and bring the shadowed end of the colonnade back onto a straight walking line.", + "The facade now recedes along my right and the dark opening at its end sits small in the distance straight ahead. The dune slope between is smooth and unbroken, so I stride out along it.", + "The column beside me on the right is swelling as I close on it, while the pale shaft standing by the shaded end of the wall is still well up the run. I keep walking beside the stonework.", + "The sand banks up across the foreground but stays walkable, and the far shaft next to the dark recess is picked out more distinctly against the lit wall. I advance again to eat into that remaining stretch.", + "The shaft at the shadowed end of the wall is noticeably closer, and the column on my right is starting to slide back past my shoulder. Nothing interrupts the sand between me and that end of the colonnade, so I press on.", + "The pale shaft I am bound for now swells against the near edge of the wall, its lower drum sunk in the facade's shadow. The banked sand ahead still runs clear toward its base, so I stride on.", + "Only a short stretch of dune separates me from that shaft now, and the carved band beside it reads plainly at this range. I walk on to bring myself within reach of its base before squaring up.", + "The shaft sits off to the right of my heading, so continuing straight would slide me past its face and on along the sand. I turn right to put it squarely in front of me together with the shadowed corner it stands in.", + "The shaft is now centered, its curved courses splitting the lit wall from the shaded blocks behind it. With a clear line to its foot, I step forward to take the last of the sand between us.", + "Its stonework spreads across most of my view, yet a little sand still lies between my feet and the base. I advance again to stand right against the column.", + "The shaded drum of the shaft now fills nearly everything ahead, with the scarab band of the wall almost at arm's length to the right. A last short step should set me at its foot.", + "I stand against the shaded stone column at the far end of the temple wall, its blocks filling my view. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..52c5660eccfce6669b6bf903bca2402c45231388 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the rightmost pillar against the carved wall.", + "Type": 2, + "Start_Pose": [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + [ + 24546.562, + -20367.41, + 267.987, + 0.0, + 153.64, + -0.0 + ], + [ + 24433.79, + -20311.528, + 214.958, + 0.0, + 153.64, + -0.0 + ], + [ + 24321.018, + -20255.645, + 177.826, + 0.0, + 153.64, + -0.0 + ], + [ + 24208.245, + -20199.762, + 135.925, + 0.0, + 153.64, + -0.0 + ], + [ + 24095.473, + -20143.88, + 83.53, + 0.0, + 153.64, + -0.0 + ], + [ + 24095.473, + -20143.88, + 83.53, + 0.0, + 178.64, + -0.0 + ], + [ + 23969.649, + -20140.892, + 12.791, + 0.0, + 178.64, + -0.0 + ], + [ + 23843.826, + -20137.905, + -43.48, + 0.0, + 178.64, + -0.0 + ], + [ + 23718.002, + -20134.918, + -86.05, + 0.0, + 178.64, + -0.0 + ], + [ + 23592.179, + -20131.931, + -126.905, + 0.0, + 178.64, + -0.0 + ], + [ + 23466.355, + -20128.944, + -167.175, + 0.0, + 178.64, + -0.0 + ], + [ + 23340.531, + -20125.957, + -195.871, + 0.0, + 178.64, + -0.0 + ], + [ + 23214.708, + -20122.969, + -220.385, + 0.0, + 178.64, + -0.0 + ], + [ + 23088.884, + -20119.982, + -240.63, + 0.0, + 178.64, + -0.0 + ], + [ + 22963.061, + -20116.995, + -257.784, + 0.0, + 178.64, + -0.0 + ], + [ + 22963.061, + -20116.995, + -257.784, + 0.0, + 153.64, + -0.0 + ], + [ + 22850.288, + -20061.112, + -270.291, + 0.0, + 153.64, + -0.0 + ], + [ + 22737.516, + -20005.23, + -282.922, + 0.0, + 153.64, + -0.0 + ], + [ + 22737.516, + -20005.23, + -282.922, + 0.0, + 153.64, + -0.0 + ] + ], + "Rationale": [ + "The carved wall with its hieroglyph friezes runs off to my right, and the last pillar in that row is the tall one standing nearest the wall's right-hand end, just short of where the stonework stops. My body is aimed across the open dune instead, so I turn right to put that wall and its end pillar in front of me.", + "The turn has brought the carved facade squarely ahead, with the pillar I chose standing at the near end of the wall, closer to the palms. Nothing but open sand lies between me and it, so I walk forward to cut down that distance.", + "The facade has grown wider and the pillar at the wall's near end now stands clearly in front of the shaded lower band. The slope of sand still runs uphill toward it without obstruction, so I keep walking forward.", + "The end pillar is now noticeably thicker in my view, though its base is still buried behind the dune crest ahead of me. I continue forward to crest the sand and reach the level ground at the foot of the wall.", + "The carved wall now fills most of my view and the pillar I am heading to rises close on my center-right, its lower shaft emerging above the sand. Another step forward should bring me near enough to work along the wall face.", + "At this range my heading points into the flat of the carved wall rather than along it, which would only bring me against the stone. I turn right so my line of travel opens onto the sand beside the wall and runs toward the pillar at its near end.", + "The turn has opened a clear stretch of flat sand running past the foot of the wall, with the pillar at its near end standing to my left front and its base now fully visible. I walk forward along this open ground to close on it.", + "The pillar I am heading for has grown taller and its shaft now cuts across the shadowed band of the wall just ahead of me. The sand underfoot stays level and clear, so I keep stepping forward toward its base.", + "The end pillar now stands ahead and slightly left, its shaft rising from the plinth line where the wall's corner turns away to my right. That corner confirms I am tracking the last column of the row rather than one further along. I advance again to shorten the remaining gap.", + "The neighboring column has slipped out of my view on the left, so nothing behind me can be counted from here; I simply hold to this pillar at the wall's outer corner. It rises taller with each step and its footing is clearly exposed. Walking on keeps closing the distance.", + "The pillar's stone base now sits plainly on the sand a short way ahead of me, with the hieroglyph band running level behind it. My heading still passes just to the right of that base, which keeps me clear of the wall face. Another stride forward is straightforward.", + "The upper frieze has climbed out of my view as the pillar grows, which tells me how much ground I have taken off. The shaft and its block courses are now legible in detail. I keep walking to bring myself right up beside it.", + "Only a couple of body lengths of sand separate me from the pillar's footing, and the wall's shadowed lower band spreads across the whole right side of my view. Nothing blocks the last stretch. I step forward again.", + "The pillar now occupies the left portion of my view from ground to well above my head, and its base slab juts toward me. I am close but not yet standing at it. One more step should put me almost against the shaft.", + "The shaft's curvature and the seams of its blocks are right in front of me, with the base slab only a stride or two off. Closing that last bit of sand puts me properly at the foot of the pillar, so I move forward once more.", + "At this range the pillar has slid to the left edge of my view while the plain wall face fills everything ahead of me. Continuing on this heading would carry me past it and into the stonework. Turning left should bring the pillar back in front of me before I close the final steps.", + "The turn has recentred the pillar, and its square base slab now sits on the sand directly along my heading. The strip of ground beside the wall is open right up to that slab, so I walk forward.", + "The shaft has swelled to fill most of my view and its plinth is barely a stride off, still slightly ahead rather than beside me. One more step should set me right at the foot of it.", + "The pillar's blockwork fills my view and its plinth lies right at my feet against the carved wall. I am at the target, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_c/infos.json b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b90d1cbdcfcb2804f2e84822b15feba317ffa1f7 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_c/infos.json @@ -0,0 +1,376 @@ +{ + "Instruction": "Approach the palm tree on the far left hill.", + "Type": 2, + "Start_Pose": [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + [ + 24467.973, + -20269.104, + 247.536, + 0.0, + 128.64, + -0.0 + ], + [ + 24389.383, + -20170.797, + 240.305, + 0.0, + 128.64, + -0.0 + ], + [ + 24389.383, + -20170.797, + 240.305, + 0.0, + 103.64, + -0.0 + ], + [ + 24359.703, + -20048.488, + 262.358, + 0.0, + 103.64, + -0.0 + ], + [ + 24330.023, + -19926.178, + 275.159, + 0.0, + 103.64, + -0.0 + ], + [ + 24300.343, + -19803.869, + 286.274, + 0.0, + 103.64, + -0.0 + ], + [ + 24270.663, + -19681.56, + 286.812, + 0.0, + 103.64, + -0.0 + ], + [ + 24240.983, + -19559.25, + 296.308, + 0.0, + 103.64, + -0.0 + ], + [ + 24211.303, + -19436.941, + 308.155, + 0.0, + 103.64, + -0.0 + ], + [ + 24181.622, + -19314.632, + 311.213, + 0.0, + 103.64, + -0.0 + ], + [ + 24151.942, + -19192.322, + 325.84, + 0.0, + 103.64, + -0.0 + ], + [ + 24122.262, + -19070.013, + 336.31, + 0.0, + 103.64, + -0.0 + ], + [ + 24092.582, + -18947.704, + 348.377, + 0.0, + 103.64, + -0.0 + ], + [ + 24062.902, + -18825.394, + 354.903, + 0.0, + 103.64, + -0.0 + ], + [ + 24033.222, + -18703.085, + 357.369, + 0.0, + 103.64, + -0.0 + ], + [ + 24003.542, + -18580.775, + 356.248, + 0.0, + 103.64, + -0.0 + ], + [ + 23973.861, + -18458.466, + 355.103, + 0.0, + 103.64, + -0.0 + ], + [ + 23944.181, + -18336.157, + 352.752, + 0.0, + 103.64, + -0.0 + ], + [ + 23944.181, + -18336.157, + 352.752, + 0.0, + 78.64, + -0.0 + ], + [ + 23968.972, + -18212.763, + 367.483, + 0.0, + 78.64, + -0.0 + ], + [ + 23993.763, + -18089.37, + 378.336, + 0.0, + 78.64, + -0.0 + ], + [ + 24018.554, + -17965.977, + 384.545, + 0.0, + 78.64, + -0.0 + ], + [ + 24043.345, + -17842.584, + 389.797, + 0.0, + 78.64, + -0.0 + ], + [ + 24068.135, + -17719.19, + 392.347, + 0.0, + 78.64, + -0.0 + ], + [ + 24092.926, + -17595.797, + 393.566, + 0.0, + 78.64, + -0.0 + ], + [ + 24117.717, + -17472.404, + 394.013, + 0.0, + 78.64, + -0.0 + ], + [ + 24142.508, + -17349.01, + 397.067, + 0.0, + 78.64, + -0.0 + ], + [ + 24167.299, + -17225.617, + 397.787, + 0.0, + 78.64, + -0.0 + ], + [ + 24192.089, + -17102.224, + 393.034, + 0.0, + 78.64, + -0.0 + ], + [ + 24216.88, + -16978.831, + 393.478, + 0.0, + 78.64, + -0.0 + ], + [ + 24241.671, + -16855.437, + 397.006, + 0.0, + 78.64, + -0.0 + ], + [ + 24266.462, + -16732.044, + 401.155, + 0.0, + 78.64, + -0.0 + ], + [ + 24291.253, + -16608.651, + 407.153, + 0.0, + 78.64, + -0.0 + ], + [ + 24316.044, + -16485.257, + 409.961, + 0.0, + 78.64, + -0.0 + ], + [ + 24316.044, + -16485.257, + 409.961, + 0.0, + 78.64, + -0.0 + ] + ], + "Rationale": [ + "The tall solitary palm crowning the sand ridge at the far left edge of my view is my target, and I fix on that slender crested trunk standing alone above the dune rather than on any position in a row. The carved temple wall runs off to my right, so my path lies across the open sand ahead and left. I step forward to begin closing the distance.", + "The palm on the left dune still sits well off to my left and remains distant against the sky. Nothing blocks the sand slope in front of me, so another stride forward continues to shorten the gap before I correct my heading.", + "My heading runs along the decorated wall toward the pyramid, while the palm I want hangs at the very left margin of my view. Walking straight would carry me past it, so I turn left to swing that dune-top palm toward the center of my path.", + "The turn has brought the tall dune palm near the middle of my view, and I can now see shorter palm crowns further left that were hidden before. Those low crowns are not mine; I stay with the single tall trunk standing on the ridge. With it lined up ahead, I walk forward.", + "The tall palm ahead has grown slightly and its trunk now reads clearly against the sky, confirming I am gaining on it. The dune surface in front of me is unbroken sand, so I keep walking straight toward it.", + "My own long shadow stretches across the sand to my right, and the crested palm remains squarely ahead with its fronds spreading wider than before. No correction is needed yet, so I advance again along the same line.", + "The palm continues to rise in my view as the ridge under it flattens out, which tells me the ground stays walkable straight ahead. I hold my heading on that tall trunk and take another step forward.", + "The tall palm sits just left of center and is now clearly the nearest of the trees on this rise, with the smaller crowns still far behind it. The distance is still considerable, so I keep moving forward toward it.", + "Individual fronds on the crested palm are starting to separate against the sky, so the gap is genuinely shrinking. It sits just left of my heading with open rippled sand between us, close enough to my line that no correction is warranted. I take another stride toward it.", + "The clustered crowns off to my left stay small and low, which keeps confirming the tall ridge palm ahead as the one I want. My heading still runs at it across clean dune sand. I walk on.", + "A second, smaller pyramid edge has emerged from behind the low palms on my left, new scenery that changes nothing about which tree I am going to. The tall trunk ahead is still the closest and largest by far. I press forward along the same line.", + "The trunk now reads as a solid column rather than a thin line, and its crown spreads well above the ridge crest. Sand between me and it stays smooth and climbable. Another step should keep cutting the remaining distance.", + "I can pick out where the trunk meets the dune now, which tells me the ground runs continuously up to its base. That base sits a little left of straight ahead but well within my forward path. I keep walking.", + "A low sand-coloured wall has come up behind the palm, sitting beyond it rather than across my route. The tree itself stands clear on open dune with nothing between us. I advance again.", + "The crown has swelled until its fronds crowd the upper part of my view, a clear sign I am getting close. Still, a good stretch of rippled sand separates me from the trunk. I continue forward.", + "The fronds are now cut off by the top edge of my view and the trunk stands thick and dark just left of my path. I am not yet at its foot, so a few more strides are needed. I step ahead.", + "The trunk has slid toward the left side of my view as I close, which tells me my line runs slightly to its right, though not yet enough to cost me anything. Open sand still rises between us. I keep walking.", + "The foot of the trunk is now tucked behind the crest of the dune I am climbing, so I need to top this rise before I can judge what remains. Nothing on the slope blocks a straight stride. I move on.", + "The trunk has drifted hard against the left margin while my heading now points at the columns and carved wall off to the right. Continuing straight would slide me past the tree, so I turn left to bring it back in front of me for the final stretch.", + "The turn has put the tall trunk back near the middle of my path, with its base sitting on open sand a short way up the dune. The smaller crowns behind it stay lower and further off, so my target is unmistakable. I walk toward it.", + "With the trunk lined up dead ahead and its base now clearly meeting the sand, I can see the ground runs unbroken to its foot. There is still a fair stretch of rippled dune to cover. I stride on.", + "The crown has climbed out of the top of my view again and the trunk reads thick and dark against the pale slope, so the gap is closing steadily. My heading needs no correction. Another stride forward.", + "A shorter palm has crept up close beside my target and now looks almost as large from here, but the one I want is the taller trunk on the right of that pair, standing free on the open dune. I hold my line and keep moving.", + "The trunk fills a good part of my view now and the sand at its foot is plainly visible, so only a short run of dune remains. I am not close enough to stand at its base yet. I press ahead.", + "The bark scars on the trunk are becoming legible and its foot sits just right of my line on the open slope. A short stretch of dune still lies between me and that base, so I keep walking.", + "The trunk now stands nearly upright through the middle of my view and the smaller crown behind it has dropped noticeably lower by comparison, confirming which tree I am closing on. Nothing interrupts the sand between us, so another stride is warranted.", + "The column has thickened again and I can make out the ringed pattern running up it, which means only a modest gap remains. My heading still points at its foot, so I step ahead.", + "The trunk has widened enough that its shaded side and sunlit side read separately, so I am within a handful of paces. The sand ahead of it is unbroken and level enough to keep walking. I advance again.", + "Where the trunk enters the sand is now plainly in front of me and slightly left of my path, close but not yet within reach. A couple more paces should put me at its foot, so I continue.", + "The base flares out where it meets the dune and its shadow now falls across the sand toward me, both signs of very short range. I am still a stride or two off, so I keep moving in.", + "The trunk dominates the middle of my view with individual bark ridges standing out, and the pyramids beyond have shrunk to background. Only a short run of sand separates me from standing beside it, so I step on.", + "The column is close enough now that it is wider than my shoulders would be beside it, and its foot lies barely ahead and a touch left. One more stride should bring me right up against it.", + "Each notch in the bark now resolves separately and the flared foot sits planted in the sand only a pace or two ahead, slightly left of my line. Smooth dune runs right up to it with nothing in between, so I step forward again.", + "The rough column now spans a large part of my view with its foot set into the sand just ahead and to the left, so I am within touching distance. A single further stride should bring me level with the trunk.", + "The palm's trunk stands at arm's length, filling the left of my view with its base in the sand beside me. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_d/infos.json b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5827ca7c496c0e46f8d71ba994caff401b008d62 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_d/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Navigate to the second column from the left on the wall.", + "Type": 2, + "Start_Pose": [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + [ + 24546.562, + -20367.41, + 267.987, + 0.0, + 153.64, + -0.0 + ], + [ + 24433.79, + -20311.528, + 214.958, + 0.0, + 153.64, + -0.0 + ], + [ + 24321.018, + -20255.645, + 177.826, + 0.0, + 153.64, + -0.0 + ], + [ + 24321.018, + -20255.645, + 177.826, + 0.0, + 178.64, + -0.0 + ], + [ + 24195.194, + -20252.658, + 116.593, + 0.0, + 178.64, + -0.0 + ], + [ + 24069.371, + -20249.671, + 50.379, + 0.0, + 178.64, + -0.0 + ], + [ + 23943.547, + -20246.683, + -12.669, + 0.0, + 178.64, + -0.0 + ], + [ + 23817.723, + -20243.696, + -70.644, + 0.0, + 178.64, + -0.0 + ], + [ + 23691.9, + -20240.709, + -113.761, + 0.0, + 178.64, + -0.0 + ], + [ + 23566.076, + -20237.722, + -143.992, + 0.0, + 178.64, + -0.0 + ], + [ + 23440.253, + -20234.735, + -177.694, + 0.0, + 178.64, + -0.0 + ], + [ + 23314.429, + -20231.748, + -204.812, + 0.0, + 178.64, + -0.0 + ], + [ + 23188.606, + -20228.76, + -226.394, + 0.0, + 178.64, + -0.0 + ], + [ + 23062.782, + -20225.773, + -243.538, + 0.0, + 178.64, + -0.0 + ], + [ + 22936.959, + -20222.786, + -257.45, + 0.0, + 178.64, + -0.0 + ], + [ + 22936.959, + -20222.786, + -257.45, + 0.0, + 153.64, + -0.0 + ], + [ + 22824.186, + -20166.903, + -270.538, + 0.0, + 153.64, + -0.0 + ], + [ + 22711.414, + -20111.021, + -283.382, + 0.0, + 153.64, + -0.0 + ], + [ + 22598.641, + -20055.138, + -294.815, + 0.0, + 153.64, + -0.0 + ], + [ + 22598.641, + -20055.138, + -294.815, + 0.0, + 153.64, + -0.0 + ] + ], + "Rationale": [ + "The carved wall runs away to my right with its columns half cut off by the dune, so I turn right to face it and settle my count. The columns look alike, so I fix on the second one in from the left end of the wall, the one standing immediately beside the end column.", + "Facing the wall squarely now, its columns stand clear above the sand slope that still separates us. I am far from the base, so I walk forward to close that distance toward the column I chose, the second in from the left end.", + "The wall has grown and the columns read distinctly against the carved panels, but the sand still runs down between me and their bases. I step forward again to keep closing on my column.", + "I am nearly at the wall and my heading runs straight into its face, which would only press me against the stretch of masonry beside my column. I turn right to put my heading onto the open sand lane along the frontage, so I can travel down it toward that column.", + "With the wall now on my left and open sand stretching ahead past the palms, the route along its base is clear. I walk forward to advance along the frontage toward my column.", + "The wall slides past on my left and the two columns are growing, yet I am still short of them. I keep walking forward along the open sand.", + "The base of the wall is close on my left and my column now rises tall, but I have not drawn level with it yet. I continue forward along the sand beside the frontage.", + "The end column is sliding off the left edge of my view, so I stop counting the row and simply hold to the column itself, which stands large just ahead on my left. I walk forward again to bring myself level with its base.", + "The shaft ahead on my left is close enough that its carved collar sits above my eyeline, but its foot is still a stride or two off along the sand. I walk forward to keep closing on it.", + "The base of the column is now visible where it meets the sand, slightly ahead of me rather than beside me. I step forward again to bring myself alongside it.", + "The column fills much of the left half of my view and the decorated band behind it is close enough to read, yet I have not yet drawn level with the shaft. Another step forward should shorten that remaining gap.", + "Its stone slab foot lies just ahead and left, so I am nearly abreast of the shaft. I keep walking to close the last of that distance.", + "The shaft has slid toward the left side of my view as I come up beside it, and the wall corner beyond it is now in sight. I advance again to reach the recess where it meets the wall.", + "I am practically level with the column now, its lower drum crowding the left of my view against the carved blocks. One more step should put me at the sand right beneath it.", + "The shaft has been pushed to the very edge on my left while the plain wall face takes over the view. I step forward once more to bring myself into the pocket beside its base.", + "The column has passed out of my view behind my left shoulder, leaving only the flat carved wall and its corner ahead of me. I turn left to swing that shaft back in front of me so I can stand squarely at it.", + "The turn brought the shaft back into the middle of my view, standing in its own shadow where it meets the wall. Its slab foot is still a couple of paces off, so I walk forward to close on it.", + "The shaft now dominates the near half of my view and its base plate sits low and close on the sand. I step forward again to bring myself right up against it.", + "Only the curved stone of the shaft and the carved blocks behind it fill my view, with the gap between them narrowing to a dark seam. One more step should set me right at its foot.", + "The column's stone fills my view at arm's length, its base directly at my feet. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_e/infos.json b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..befd97d6c2f55f11aeb8060f5ec8492283763cfa --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t2_e/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Navigate to the second column from the right on the wall.", + "Type": 2, + "Start_Pose": [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 24546.562, + -20367.411, + 267.987, + 0.0, + 128.64, + -0.0 + ], + [ + 24467.973, + -20269.104, + 247.536, + 0.0, + 128.64, + -0.0 + ], + [ + 24389.383, + -20170.797, + 240.305, + 0.0, + 128.64, + -0.0 + ], + [ + 24310.794, + -20072.491, + 235.068, + 0.0, + 128.64, + -0.0 + ], + [ + 24232.204, + -19974.184, + 213.937, + 0.0, + 128.64, + -0.0 + ], + [ + 24153.615, + -19875.877, + 186.161, + 0.0, + 128.64, + -0.0 + ], + [ + 24075.025, + -19777.571, + 157.771, + 0.0, + 128.64, + -0.0 + ], + [ + 23996.436, + -19679.264, + 147.042, + 0.0, + 128.64, + -0.0 + ], + [ + 23996.436, + -19679.264, + 147.042, + 0.0, + 153.64, + -0.0 + ], + [ + 23883.663, + -19623.382, + 92.423, + 0.0, + 153.64, + -0.0 + ], + [ + 23770.891, + -19567.499, + 50.046, + 0.0, + 153.64, + -0.0 + ], + [ + 23658.119, + -19511.616, + 8.566, + 0.0, + 153.64, + -0.0 + ], + [ + 23545.346, + -19455.734, + -26.317, + 0.0, + 153.64, + -0.0 + ], + [ + 23432.574, + -19399.851, + -60.607, + 0.0, + 153.64, + -0.0 + ], + [ + 23319.801, + -19343.969, + -90.315, + 0.0, + 153.64, + -0.0 + ], + [ + 23207.029, + -19288.086, + -116.358, + 0.0, + 153.64, + -0.0 + ], + [ + 23094.256, + -19232.203, + -138.797, + 0.0, + 153.64, + -0.0 + ], + [ + 22981.484, + -19176.321, + -157.216, + 0.0, + 153.64, + -0.0 + ], + [ + 22868.712, + -19120.438, + -172.475, + 0.0, + 153.64, + -0.0 + ], + [ + 22755.939, + -19064.555, + -184.247, + 0.0, + 153.64, + -0.0 + ], + [ + 22755.939, + -19064.555, + -184.247, + 0.0, + 153.64, + -0.0 + ] + ], + "Rationale": [ + "Two engaged columns show along the wall to my right, the last one at the very edge of my view, so the one just inward from it is my target. Their carvings are identical, so I hold it by its place along the wall. I step forward across the open sand toward it.", + "The column I picked still stands well ahead and to my right, with a long stretch of sand between us. The slope is open and nothing bars the way, so I keep walking straight to cut down that distance.", + "The carved bands on the wall are reading larger now, which tells me the gap is shrinking. My column sits off to the right of my heading but is still too far to close on directly, so I continue forward along the sand.", + "The wall now occupies most of the right half of my view and its base is closer. I am still short of the column I am heading for, so another step forward is the plain way to keep closing.", + "The far end of the wall has slid out past my right shoulder, so I can no longer read the row from its end. That does not matter, because I am following the same column I chose and it is plainly in front of me to the right. I keep walking toward it.", + "My column now rises well above the wall's shadow line and sits clearly to my right. The sand between us is still open, so I take another step forward rather than turning yet.", + "The column is close enough now that its fluted collar and shadow are sharp, but my heading still carries me past it on the left. I advance once more to gain ground before correcting my facing.", + "Walking straight has pushed my column well over toward the right edge of my view, so my heading no longer points at it. I turn right to bring it back in front of me and set up a direct line for the last of the approach.", + "The turn has settled my column near the middle of my view, with the carved courses running away to my left and its neighbour standing bulky at my right. That gives me a clean line across the sand toward it. I step forward along that line.", + "My column's banded collar and the dark plinth beneath it are noticeably larger than a moment ago, so the heading is paying off. Nothing on the slope stands between me and its base. I walk on without adjusting my facing.", + "The neighbouring column is swelling toward the right edge while mine holds steady near the centre of my view, which is exactly the geometry I want. The sand ramp underfoot still runs smoothly toward the wall. Another stride forward.", + "Close in like this the wall no longer reads as a countable row, since only a couple of shafts fit in my view at once, but the column I picked is the one squarely ahead. Its zigzag banding is sharp now. I keep closing on it.", + "My column now stands taller than the frieze band behind it and its stonework blocks are individually clear. A short stretch of sand still separates me from its base. I press ahead to take that up.", + "The shaft dominates the centre of my view and its shadowed lower half is close enough to show mortar lines. Ground between us is only a few paces of level sand. I continue straight in.", + "Little is left in view but my column and the wall it belongs to, so I am nearly on top of it. The base still sits a short walk beyond my feet. I take another step toward it.", + "The column's rounded face now fills much of my view and the line where its dark base meets the sand is plain in front of me. I am not yet standing at it. A further step should bring me right up against the shaft.", + "The shaft's curved face and the darker masonry of its lower drum now stand right in front of me, with sand still running up to it. A little ground remains before I am at the stone itself. I step in again.", + "The column's blocks are large enough now that only a few courses fit across my view, and the corner where it meets the recessed wall is just ahead. I am close but not yet against it. Another short step should place me at its foot.", + "The shaft now spans most of my view and its shadowed drum is nearly within arm's reach, with only a narrow strip of sand at its foot. That last bit of distance is worth taking up so I am truly standing at the column. I move in once more.", + "The chosen column's base fills my view at arm's length. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t5_a_p/infos.json b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..670015a78b2f9f88829c202c383810ea7bc68d57 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t5_a_p/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Pick up the trash bag from the base of the leftmost stone column along the temple wall.", + "Type": 5, + "Start_Pose": [ + 24546.562, + -20367.411, + 267.987, + 0, + 128.64, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 22737.811, + -19151.014, + -270.709, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 24546.562, + -20367.411, + 267.987, + 0, + 128.64, + 0 + ], + [ + 24467.973, + -20269.104, + 247.536, + 0.0, + 128.64, + -0.0 + ], + [ + 24389.383, + -20170.797, + 240.305, + 0.0, + 128.64, + -0.0 + ], + [ + 24389.383, + -20170.797, + 240.305, + 0.0, + 153.64, + -0.0 + ], + [ + 24276.611, + -20114.914, + 208.355, + 0.0, + 153.64, + -0.0 + ], + [ + 24163.839, + -20059.032, + 149.568, + 0.0, + 153.64, + -0.0 + ], + [ + 24051.066, + -20003.149, + 89.186, + 0.0, + 153.64, + -0.0 + ], + [ + 23938.294, + -19947.267, + 54.765, + 0.0, + 153.64, + -0.0 + ], + [ + 23825.521, + -19891.384, + 13.301, + 0.0, + 153.64, + -0.0 + ], + [ + 23712.749, + -19835.501, + -30.927, + 0.0, + 153.64, + -0.0 + ], + [ + 23599.976, + -19779.619, + -71.996, + 0.0, + 153.64, + -0.0 + ], + [ + 23487.204, + -19723.736, + -105.956, + 0.0, + 153.64, + -0.0 + ], + [ + 23374.432, + -19667.853, + -135.747, + 0.0, + 153.64, + -0.0 + ], + [ + 23261.659, + -19611.971, + -160.712, + 0.0, + 153.64, + -0.0 + ], + [ + 23148.887, + -19556.088, + -181.949, + 0.0, + 153.64, + -0.0 + ], + [ + 23036.114, + -19500.206, + -201.929, + 0.0, + 153.64, + -0.0 + ], + [ + 23036.114, + -19500.206, + -201.929, + 0.0, + 128.64, + -0.0 + ], + [ + 22957.525, + -19401.899, + -204.417, + 0.0, + 128.64, + -0.0 + ], + [ + 22878.935, + -19303.592, + -205.249, + 0.0, + 128.64, + -0.0 + ], + [ + 22800.346, + -19205.286, + -203.523, + 0.0, + 128.64, + -0.0 + ], + [ + 22800.346, + -19205.286, + -203.523, + 0.0, + 128.64, + -0.0 + ], + [ + 22800.346, + -19205.286, + -203.523, + 0.0, + 128.64, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22737.811, + -19151.014, + -270.709, + 0.0, + 0.0, + 0.0 + ], + [ + 22784.048, + -19219.097, + -238.963, + -28.202, + 178.785, + 1.862 + ], + [ + 22784.048, + -19219.097, + -238.963, + -28.202, + 178.785, + 1.862 + ] + ], + "PD_Dist_2D": [ + 2179.7, + 2060.0, + 1941.0, + 1941.0, + 1815.8, + 1690.6, + 1565.5, + 1440.5, + 1315.8, + 1191.2, + 1067.0, + 943.2, + 820.0, + 697.8, + 577.1, + 459.3, + 459.3, + 333.5, + 207.8, + 82.8, + 21.4, + 21.4 + ], + "Rationale": [ + "From this sand rise I can see the temple wall with its row of carved stone columns running off to my right, and a small dark bundle sitting in the shade at the foot of one of them. That is almost certainly the trash bag I need, but it is far off, so I walk forward across the dune to begin closing the distance.", + "The colonnade has grown slightly larger, yet the dark bag at the base of the wall is still only a small speck in the shadow. I keep stepping forward over the sand to shorten the gap before committing to a heading along the wall.", + "Walking straight is carrying me along the dune crest while the temple wall and its columns stay off to my right, with the dark bag low against the stonework on that side. I turn right so my heading points across the sand toward that stretch of wall instead of past it.", + "The turn has swung the columned wall around to face me, and the dark bag is now visible slightly left of center at the base between the near columns. With a clear line over the sand, I walk forward to approach it.", + "The wall carvings are resolving more clearly and the bag remains a small dark shape near the foot of the column ahead. My heading still points at it, so another stride forward is the direct way to keep closing in.", + "The columns loom taller now and the trash bag stays parked in the shadow at the wall base, roughly straight ahead of me. Nothing blocks the sand slope, so I continue walking toward it.", + "I am close enough that the wall fills most of my view, though the bag is still several strides away at the column base slightly left of my path. I press forward to keep reducing that remaining distance.", + "The bag is clearly a dark sack tucked against the base of the wall near the leftward column, and it is growing steadily in my view. It remains out of reach, so I take another step forward along the sand toward it.", + "The dark trash bag sits low against the wall at the foot of the far column, still small and distant in my view. My heading keeps it just left of center along the sand, so another walking step should close the gap without needing a turn yet.", + "The bag has grown noticeably larger against the shadowed wall base, confirming I am closing on it along a clear sandy slope. Nothing blocks the line ahead, so I will keep walking straight to shorten the remaining distance.", + "The trash bag is now a distinct rounded shape tucked where the column meets the wall, still several strides away. My current heading holds it steadily in the left half of my view, so continuing forward remains the most direct approach.", + "The columns loom taller and the bag is clearly resting on the sand at the leftmost column's base. I am still too far to reach it, so I will take another step forward along the same line.", + "The bag is now plainly visible as a blue sack against the pale sand at the column's foot, but it sits toward my left side rather than dead ahead. Walking forward again should bring me close enough that only a small heading correction remains.", + "The wall carvings and the column edge are close now, and the bag stands out sharply in the lower left of my view. I will step forward again to cut down the last stretch of open sand before positioning for the grab.", + "The bag is large in my view and only a short stretch of sand separates us, though my heading still points past it toward the wall. Another forward step should place me near enough that a small turn will square me up on it.", + "I am now close to the column base, but the trash bag sits off to my left while my gaze points along the wall. Turning left should bring the bag toward the center of my view so I can walk straight into reaching range.", + "The dark trash bag now sits near the middle of my view at the foot of the pale column, so my heading is right for a straight approach. I walk forward to close the remaining gap along the sand toward it.", + "The bag has grown noticeably and stays just left of center, confirming I am closing on it directly. I step forward again since it is still a few paces away from grasping range.", + "The trash bag now fills much of the lower view against the column corner, but it is still slightly beyond comfortable reach. One more step forward should place me right over it for a grasp attempt.", + "The trash bag is directly in front of me at the base of the leftmost column, close enough that its knotted top dominates the near view. I attempt to pick it up now, since standing any closer would only crowd the stonework.", + "The trash bag is now in my hands rather than resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t5_b_p/infos.json b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5cf7d43b98bd8582e10dac92a3b117d41311eec1 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x024547_y-020367_z000268_t5_b_p/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Grab the tomato at the rightmost pillar against the carved wall.", + "Type": 5, + "Start_Pose": [ + 24546.562, + -20367.411, + 267.987, + 0, + 128.64, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 22911.229, + -19691.9, + -267.098, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 24546.562, + -20367.411, + 267.987, + 0, + 128.64, + 0 + ], + [ + 24467.973, + -20269.104, + 247.536, + 0.0, + 128.64, + -0.0 + ], + [ + 24389.383, + -20170.797, + 240.305, + 0.0, + 128.64, + -0.0 + ], + [ + 24389.383, + -20170.797, + 240.305, + 0.0, + 153.64, + -0.0 + ], + [ + 24276.611, + -20114.914, + 208.355, + 0.0, + 153.64, + -0.0 + ], + [ + 24163.839, + -20059.032, + 149.568, + 0.0, + 153.64, + -0.0 + ], + [ + 24051.066, + -20003.149, + 89.186, + 0.0, + 153.64, + -0.0 + ], + [ + 23938.294, + -19947.267, + 54.765, + 0.0, + 153.64, + -0.0 + ], + [ + 23825.521, + -19891.384, + 13.301, + 0.0, + 153.64, + -0.0 + ], + [ + 23712.749, + -19835.501, + -30.927, + 0.0, + 153.64, + -0.0 + ], + [ + 23599.976, + -19779.619, + -71.996, + 0.0, + 153.64, + -0.0 + ], + [ + 23599.976, + -19779.619, + -71.996, + 0.0, + 178.64, + -0.0 + ], + [ + 23474.153, + -19776.631, + -119.817, + 0.0, + 178.64, + -0.0 + ], + [ + 23348.329, + -19773.644, + -159.72, + 0.0, + 178.64, + -0.0 + ], + [ + 23222.506, + -19770.657, + -192.423, + 0.0, + 178.64, + -0.0 + ], + [ + 23096.682, + -19767.67, + -220.695, + 0.0, + 178.64, + -0.0 + ], + [ + 23096.682, + -19767.67, + -220.695, + 0.0, + 178.64, + -0.0 + ], + [ + 23096.682, + -19767.67, + -220.695, + 0.0, + 178.64, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 22911.229, + -19691.9, + -267.098, + 0.0, + 0.0, + 0.0 + ], + [ + 23096.786, + -19789.032, + -252.178, + -28.202, + -131.215, + 1.862 + ], + [ + 23096.786, + -19789.032, + -252.178, + -28.202, + -131.215, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1769.4, + 1660.3, + 1553.8, + 1553.8, + 1429.4, + 1305.3, + 1181.6, + 1058.3, + 935.8, + 814.3, + 694.3, + 694.3, + 569.3, + 444.7, + 321.1, + 200.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The carved wall with its row of pillars runs along my right, and at the base of the rightmost pillar I can make out a small dark red tomato resting on the sand. It is far off across the dune, so I will walk forward to close that distance before worrying about fine alignment.", + "The pillars and the red speck at the rightmost one look slightly larger, so my last step did shorten the gap along a clear stretch of sand. Nothing blocks the way ahead, so I will keep walking forward toward the wall.", + "The tomato sits low on the right edge of my view while my heading still points along the dune past the wall. Turning right should swing the carved facade and the target pillar toward the center of my view so my forward steps run straight at the tomato.", + "After the turn the wall now fills the view ahead and the tomato sits near the base of the rightmost pillar, roughly in front of me. With the heading corrected, I will walk forward across the sand to shorten the remaining distance.", + "The pillars have grown noticeably and the tomato still holds near the middle-right of my view, so my heading remains good. I will take another step forward toward the target pillar.", + "The tomato is clearly a round red object now, sitting on the sand just left of the tall rightmost pillar. It is still several strides away, so I continue walking straight ahead.", + "The carved wall now dominates my view and the tomato is plainly on the shaded sand at the foot of the rightmost pillar. Since it stays centered as I advance, I keep stepping forward to close the gap.", + "The tomato is bigger and lower in my view, which tells me I am getting close but am not yet within reach. I will walk forward again toward the base of that rightmost pillar.", + "The dark tomato is still visible on the sand at the foot of the last pillar on the carved wall, but it remains well ahead of me. My path along the sand slope is clear of obstruction, so I keep walking forward to close the gap.", + "The pillars and the tomato at the wall's base now fill more of my view, confirming I am closing on the correct end of the carved wall. Nothing blocks the sand between me and that pillar, so I take another step forward.", + "The tomato sits at the foot of the pillar slightly to the right of where my current heading points, and the wall keeps drawing my line of travel past it. I turn right to square my approach onto that last pillar so continued walking should lead straight to the fruit.", + "After adjusting my heading, the rightmost pillar and the tomato resting beside its base are framed ahead of me with open sand between us. I walk forward to shorten that distance for a grasp.", + "The tomato is clearly larger now and sits just left of the pillar base directly ahead of me. It is still out of arm's reach, so I continue stepping forward.", + "The ripe tomato is now plainly resting on the sand beside the pillar, with its stem visible, but it is still a couple of paces away. I advance again to bring it within reach.", + "The tomato fills the lower part of my view near the pillar, yet it is not quite close enough for a confident grasp. One more step forward should place it right at my feet.", + "The tomato is now directly at the base of the rightmost pillar in front of me, filling the near corner of my view at close range. This is the target named in the task, so I reach down and attempt to pick it up.", + "The tomato is now held in my hand rather than resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x034675_y-033245_z-001230_t1_a/infos.json b/dataset/trajectory/Pyramid/task_x034675_y-033245_z-001230_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c7ed925e61ed61eb89973495e53078d0cea5ef --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x034675_y-033245_z-001230_t1_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Search for the full-body statue of a standing figure, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 34675.28, + -33245.4, + -1230.316, + 0.0, + -163.52, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 34675.28, + -33245.4, + -1230.316, + 0.0, + -163.52, + 0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + -138.52, + 0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + -113.52, + 0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + -88.52, + 0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + -63.52, + 0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + -38.52, + 0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + -13.52, + 0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + 11.48, + -0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + 36.48, + -0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + 61.48, + -0.0 + ], + [ + 34675.281, + -33245.398, + -1230.316, + 0.0, + 86.48, + -0.0 + ], + [ + 34683.009, + -33119.777, + -1227.008, + 0.0, + 86.48, + -0.0 + ], + [ + 34690.736, + -32994.155, + -1224.92, + 0.0, + 86.48, + -0.0 + ], + [ + 34698.463, + -32868.534, + -1204.036, + 0.0, + 86.48, + -0.0 + ], + [ + 34698.463, + -32868.534, + -1204.036, + 0.0, + 111.48, + -0.0 + ], + [ + 34652.377, + -32751.416, + -1182.793, + 0.0, + 111.48, + -0.0 + ], + [ + 34606.29, + -32634.299, + -1168.543, + 0.0, + 111.48, + -0.0 + ], + [ + 34560.204, + -32517.181, + -1165.81, + 0.0, + 111.48, + -0.0 + ], + [ + 34514.117, + -32400.064, + -1173.091, + 0.0, + 111.48, + -0.0 + ], + [ + 34468.03, + -32282.946, + -1169.518, + 0.0, + 111.48, + -0.0 + ], + [ + 34421.944, + -32165.829, + -1181.066, + 0.0, + 111.48, + -0.0 + ], + [ + 34375.857, + -32048.711, + -1182.045, + 0.0, + 111.48, + -0.0 + ], + [ + 34375.857, + -32048.711, + -1182.045, + 0.0, + 111.48, + -0.0 + ] + ], + "Rationale": [ + "From this open stretch of dune I can see only palms, low ruins, and a few slender pillars in the distance, with no full-body statue of a standing figure anywhere in view. I will turn to my right to sweep new ground into sight and continue the search.", + "The view now holds a boulder, more palms, and the same thin obelisks off to my left, but still nothing resembling a standing figure carved at full height. Turning further right should bring the unexamined side of this basin into view.", + "A stone wall and taller structures are beginning to enter the right edge of my view, which looks like a more promising direction than the empty dunes behind me. I will keep rotating right to bring that built-up area fully in front of me.", + "The temple facade and its pillars now sit clearly ahead of me, so this built complex is the best place to look for a carved standing figure. Continuing to rotate right should let me scan along the length of the structure.", + "The tall obelisk in front of me is a plain shaft rather than a figure, and the low sun glare makes this heading hard to read. I will keep turning right so the brightness falls behind me and more of the complex becomes legible.", + "I can make out several obelisks and a long temple wall, but every tall shape here is a pillar or spire, none of them a full-body standing statue. Another turn to the right should carry my gaze past the glare toward the rocky ground on that side.", + "The obelisk has swung to my left and rocky outcrops with wooden framing now dominate the right side of my view, an area I have not inspected. I will turn right again to bring that rocky, built-up stretch to the center.", + "Ahead of me are cliffs, scaffolding, and palms, with the monuments I have already ruled out receding to my left. Turning right once more should reveal what stands behind the near rock face on that side.", + "The large reclining sphinx head and the wooden scaffolding now dominate the right half of my view, but a couchant sphinx is not the standing full-body figure I am looking for. Open sand and rock fill the rest of the frame, so I will keep rotating right to bring the still hidden area beyond the scaffolding into view.", + "At the far right edge of my view I can just make out the legs and torso of a carved upright figure standing beside the timber platform, partly cut off by the frame. I will turn right again to swing that candidate into the center where I can confirm it is the full-body standing statue.", + "The standing figure is now fully in view ahead and slightly right, a tall pharaonic statue on two legs beside the scaffold platform, clearly distinct from the reclining sphinx on my left. The search is satisfied, so I will stop rotating and walk forward across the open sand to close distance on it.", + "The standing statue has grown noticeably larger and its legs and skirt are now clearly resolved beyond the timber framework, confirming I am closing on it. The sand ahead stays flat and unobstructed, so I will keep walking forward along this heading.", + "The statue's upper body and headdress now rise above the scaffold beams, showing that each step is meaningfully reducing the gap. Nothing blocks the sand between me and its base, so I will advance again.", + "As I have drawn closer, the standing statue has drifted toward the right side of my view while my path is aimed at empty sand and scaffolding to the left. I will turn right to put the figure back near the center of my heading before continuing the approach.", + "The standing statue is now roughly centered in front of me, its legs and torso framed by the wooden canopy posts. With the heading corrected and the sand ahead clear, I will step forward to continue closing on it.", + "The statue now towers directly ahead and its lower legs fill much of the center of my view, so my alignment is holding well. I will keep walking forward to bring myself close to its base.", + "The standing stone figure fills the center of my view, its legs and torso now clearly close ahead beneath the timber canopy. The sand between us is open and flat, so I will keep walking straight to close the remaining gap toward the statue.", + "The statue's lower body now dominates the frame, confirming that my heading is still locked onto the standing figure. Nothing blocks the sand directly in front of me, so another step forward should bring me closer to its base.", + "I am now under the wooden canopy with the standing statue's legs looming just ahead and slightly left of center. The ground stays clear, so I will advance again to shorten the distance to the figure.", + "The statue is close enough that only its legs and lower torso fit in my view, which tells me I am nearly at its base. I will step forward once more to settle into a proper viewing distance beside the standing figure.", + "The statue's legs tower directly in front of me and the sand ahead is still open, so I have not yet reached its pedestal. One more step should place me right at the foot of the standing figure.", + "The standing figure's leg is directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x038824_y-032276_z-001388_t1_a/infos.json b/dataset/trajectory/Pyramid/task_x038824_y-032276_z-001388_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4db413ea17e6e41a732cb95657fe6f881c478ad8 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x038824_y-032276_z-001388_t1_a/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Locate the two-tier metal scaffolding erected beneath the stone statue, then navigate your way over to it.", + "Type": 1, + "Start_Pose": [ + 38823.922, + -32275.563, + -1387.926, + 0.0, + 36.48, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 38823.922, + -32275.563, + -1387.926, + 0.0, + 36.48, + -0.0 + ], + [ + 38823.922, + -32275.562, + -1387.926, + 0.0, + 61.48, + -0.0 + ], + [ + 38823.922, + -32275.562, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38831.649, + -32149.941, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38839.377, + -32024.319, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38847.104, + -31898.698, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38854.831, + -31773.076, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38862.559, + -31647.455, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38870.286, + -31521.833, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38878.013, + -31396.212, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38885.741, + -31270.59, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38893.468, + -31144.968, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38901.195, + -31019.347, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38908.923, + -30893.725, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38916.65, + -30768.104, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38924.378, + -30642.482, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38932.105, + -30516.861, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38939.832, + -30391.239, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38947.56, + -30265.617, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38955.287, + -30139.996, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38963.014, + -30014.374, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38970.742, + -29888.753, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38978.469, + -29763.131, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38986.196, + -29637.51, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 38993.924, + -29511.888, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 39001.651, + -29386.267, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 39009.379, + -29260.645, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 39017.106, + -29135.023, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 39024.833, + -29009.402, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 39032.561, + -28883.78, + -1387.926, + 0.0, + 86.48, + -0.0 + ], + [ + 39032.561, + -28883.78, + -1387.926, + 0.0, + 86.48, + -0.0 + ] + ], + "Rationale": [ + "From this spot I only see palms, sand and a low cluster of stone blocks ahead, with no scaffolding anywhere in my forward field of view. The large rock mass at the right edge suggests the monumental stonework continues in that direction, so I will turn right to sweep that unseen sector.", + "Turning has brought a dark metal frame into view near the right side, tucked against the tall rock mass, which looks like the scaffolding I am after. It is still off center and partly hidden by the rock edge, so I will turn right once more to bring it and the structure above it fully in front of me.", + "Now the statue rises directly ahead and the two-tier metal scaffolding stands clearly at its base, roughly centered in my view. The open sand between the block cluster on the left and the boulder on the right gives a clear lane, so I will walk forward and commit to closing the distance.", + "The scaffolding under the statue has grown slightly larger and stays near the middle of my view, confirming my heading is good. The ground ahead is still clear sand, so I will keep walking straight toward it.", + "I am still well short of the statue's base, though the metal frame beneath it is now more distinct. Nothing blocks the lane between the stone blocks on my left and the rock slope on my right, so I will continue advancing.", + "The scaffolding's two levels are becoming easier to distinguish as the statue fills more of my view. My heading remains aimed at it, so another step forward should keep shrinking the gap.", + "The large stone blocks now pass close along my left while the packed ground ahead stays open toward the statue. The scaffolding is still some distance away at the rock face, so I will keep walking straight at it.", + "The scaffolding is clearly framed ahead against the statue's base, with its uprights and cross braces now visible. I am still outside it, so I will continue forward along this open corridor.", + "The dark two-tier metal scaffolding standing against the base of the statue is clearly visible ahead and centered in my view, so the search is over and I am committed to closing distance. The sand corridor between the large stone blocks on my left and the rock wall on my right runs straight toward it, so I will keep walking forward along it.", + "The scaffolding has grown slightly larger and its two horizontal decks are now easier to distinguish, confirming I am still gaining ground on the correct structure. The path ahead remains clear sand, so another step forward should continue shrinking the gap.", + "The metal frame under the statue keeps expanding in my view and its upright legs are now separable from the rock behind it. My heading is still aimed straight at it, so I will keep advancing without adjusting direction.", + "The scaffolding sits squarely in the middle of my view with both tiers visible, and no obstacle blocks the flat sand between me and it. Continuing straight ahead is the most direct way to reduce the remaining distance.", + "The stone blocks that framed the left side are falling behind and the scaffold now dominates the center of my view, so my alignment is still good. I will take another step forward to keep closing on it.", + "The scaffold's upper deck and cross bracing are clearly resolved against the statue's stone body, confirming this is the two-tier metal structure I was told to reach. The lane ahead is still open, so I will keep walking toward it.", + "I am close enough now that the individual poles of the lower tier stand out clearly, but the structure is still some distance away across the sand. Another forward step should bring me nearer to standing beneath it.", + "The scaffolding fills more of my view with its legs planted on the sand just ahead, and nothing interrupts the straight route to it. I will continue forward to draw right up to the structure.", + "The two-tier metal scaffolding standing against the statue's stone base is clearly identified ahead and slightly left of my heading, and the sand corridor between the block walls is open and level. Since the target is already confirmed, no further searching is needed and I will keep walking straight toward it.", + "The scaffolding now fills a larger part of my view and its upright poles and cross braces are much more distinct, confirming I am closing on it. The ground in front remains clear sand, so I will continue advancing without altering my heading.", + "The scaffold's legs are now visibly planted on the sand at the foot of the statue, giving me a solid target to walk up to. My heading still points between them, so another forward step should shorten the remaining gap.", + "The upper and lower platforms of the metal frame are clearly separated in my view, which matches the two-tier structure I am meant to reach. The path stays flat and free of obstacles, so I will keep walking directly toward it.", + "The scaffolding now towers over the upper part of my view and its near legs are only a short distance away. I will continue forward to close that last stretch rather than adjusting my heading.", + "The top of the frame has risen out of my view and the vertical supports now dominate the scene, so I am nearly beneath the structure. A further step forward should bring me right in among its legs.", + "The lower deck of the scaffolding is now overhead and its poles stand on both sides of my path, showing I am arriving at the structure. I will step forward again to settle fully at its base.", + "I am at the edge of the scaffolding with its braces and decking spanning above me and the sand underneath still clear. One more step forward should place me squarely under the two-tier frame.", + "The metal scaffolding beneath the statue now fills the upper half of my view, with its vertical posts standing just ahead of me on the sand. Since the ground between me and those posts is open and flat, I will keep walking straight to close the last of the gap.", + "I am nearly under the lower tier now, with the horizontal rails passing overhead and the nearest post standing slightly left of my path. Another step forward should place me right at the base of the structure.", + "The scaffold decking is now directly above me and the posts are spread to either side, so I am entering the space beneath the structure. I will step forward again to settle firmly at the scaffolding rather than stopping short of it.", + "I am standing under the two-tier frame with its beams and diagonal braces overhead, and the sand ahead remains clear. One more step should bring me squarely to the scaffolding's footing.", + "The nearest posts have passed to my left and the decking above continues over my head, so I am well within the scaffolding footprint. I will take a final short step to stand right among its supports.", + "I am standing directly beneath the two-tier metal scaffolding, with its posts beside me and decking overhead. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x045796_y-039655_z-001222_t1_a/infos.json b/dataset/trajectory/Pyramid/task_x045796_y-039655_z-001222_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a069bb1e17e5de66d8a7e7f7a2fb69b716fb3b4 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x045796_y-039655_z-001222_t1_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Search for a ladder leaning against the wooden scaffolding, then approach its base.", + "Type": 1, + "Start_Pose": [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 176.48, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 176.48, + -0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 151.48, + -0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 126.48, + -0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 101.48, + -0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 76.48, + -0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 51.48, + -0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 26.48, + -0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + 1.48, + -0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + -23.52, + 0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + -48.52, + 0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + -73.52, + 0.0 + ], + [ + 45795.645, + -39655.066, + -1221.85, + 0.0, + -98.52, + 0.0 + ], + [ + 45776.998, + -39779.536, + -1221.85, + 0.0, + -98.52, + 0.0 + ], + [ + 45758.351, + -39904.007, + -1221.85, + 0.0, + -98.52, + 0.0 + ], + [ + 45739.705, + -40028.477, + -1221.85, + 0.0, + -98.52, + 0.0 + ], + [ + 45721.058, + -40152.947, + -1221.85, + 0.0, + -98.52, + 0.0 + ], + [ + 45702.412, + -40277.417, + -1221.85, + 0.0, + -98.52, + 0.0 + ], + [ + 45702.412, + -40277.417, + -1221.85, + 0.0, + -123.52, + 0.0 + ], + [ + 45632.909, + -40382.344, + -1221.85, + 0.0, + -123.52, + 0.0 + ], + [ + 45563.406, + -40487.272, + -1221.85, + 0.0, + -123.52, + 0.0 + ], + [ + 45493.903, + -40592.2, + -1221.85, + 0.0, + -123.52, + 0.0 + ], + [ + 45493.903, + -40592.2, + -1221.85, + 0.0, + -148.52, + 0.0 + ], + [ + 45386.568, + -40657.924, + -1221.85, + 0.0, + -148.52, + 0.0 + ], + [ + 45279.232, + -40723.647, + -1221.85, + 0.0, + -148.52, + 0.0 + ], + [ + 45279.232, + -40723.647, + -1221.85, + 0.0, + -148.52, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, my view is filled with large stone blocks and a colonnade ahead, with no ladder or wooden scaffolding anywhere in sight. I will turn left to sweep new ground into view rather than commit to a direction I cannot yet justify.", + "The rotation opened up a wider stretch of the colonnade and the sunlit ground beyond it, but there is still no ladder propped against any scaffolding. I will keep turning left to continue the sweep into the unexamined side of the courtyard.", + "I can see between the columns to the open desert and rocks outside, and nothing there resembles wooden scaffolding with a ladder. Turning left again should bring the shadowed inner side of the hall into view, which I have not inspected yet.", + "A tall carved wall now occupies the left half of my view and blocks any sight line in that direction. I will continue rotating left so my gaze passes along that wall toward whatever lies further around it.", + "The engraved wall surface is now close in front of me and takes up most of my view, leaving only a narrow strip of open floor and columns at the right. Since nothing useful can be seen against this stone face, I will keep turning left to carry the sweep past it.", + "I am facing the carved stone almost head on and can barely make out anything beyond it, so this heading gives me no information about the ladder. I will turn left again to keep the search sweep moving through this blind arc.", + "My view is still filled entirely by the shadowed carved surface with no floor or sky to orient by. Continuing to turn left is the quickest way to rotate out of this blind stretch and recover a usable line of sight.", + "The wall still blocks nearly everything, though the pattern of the carving is shifting as I rotate, which tells me I am steadily coming around its face. I will turn left once more, expecting the open corridor beyond the wall to begin entering my view.", + "My view is still filled by the carved stone surface right in front of me, so nothing useful about scaffolding or a ladder can be judged from here. I will keep rotating left to sweep my heading off this wall and open up the surrounding courtyard again.", + "The carved wall is beginning to slide toward the right of my view and a column and a strip of paved ground are appearing on the left, so the rotation is pulling my gaze off the stone face. Another left turn should bring more of the open area beside the wall into view where scaffolding might stand.", + "A long wooden and timber scaffolding structure has come into the upper left of my view, running along the far wall of the passage, which matches the structure named in the task. I will turn left once more to bring that scaffolding line closer to the center of my view so I can spot a ladder leaning against it.", + "Now I can see the scaffolding running down the left side of the corridor with a ladder leaning up against it, so the search target is identified. The paved passage ahead between the carved wall and the scaffolding is clear, so I will start walking forward to close the distance toward the ladder.", + "The ladder against the scaffolding is a little larger and lower in my view, confirming that walking this line is closing the gap. The corridor floor ahead remains open, so I will keep stepping forward toward it.", + "The scaffolding bays and the leaning ladder are drawing nearer on my left while the carved column stays on my right, so my heading is still good along the passage. I will continue forward, since the ladder's base is still some distance away.", + "The ladder is noticeably closer and its foot on the paving is becoming visible off to my left, but I am not yet beside it. Another forward step should bring me nearer to the point where its base is within easy reach.", + "The ladder now sits well forward on my left with its lower end resting on the paving, and the corridor ahead is still open. I will keep advancing to draw level with the scaffolding bay where the ladder is planted.", + "The ladder leaning against the scaffolding along the left wall is clearly in view, but it sits well to the left of my heading while a large carved column crowds my right side. I will turn left to put the ladder closer to the center of my path so a straight approach becomes possible.", + "With the turn done, the scaffolding run and the leaning ladder now sit ahead and slightly left, and the paved corridor in front of me is clear. I will walk forward to close the distance toward the ladder's base.", + "The ladder has grown noticeably larger and its feet on the pavement are now visible beneath the scaffolding beams. I will keep walking forward since the route stays open and the base is still several strides away.", + "The ladder is close now, angled from the pavement up to the scaffolding platform along the inscribed wall. I will advance again to bring myself nearer to where its rails meet the ground.", + "From here the ladder stands to my left rather than straight ahead, so continuing forward would carry me past it along the corridor. I will turn left to face the ladder directly before covering the last short distance to its base.", + "The ladder is now centered in front of me, leaning from the flagstones against the scaffolding and the carved wall. I will step forward to close the remaining gap to its footing.", + "The ladder's lower rungs and feet fill much of the near view, so only a short step remains to stand at its base. I will move forward once more to finish the approach.", + "The ladder leaning against the wooden scaffolding stands directly in front of me with its base at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x049471_y-009998_z-000566_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x049471_y-009998_z-000566_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6bded9653cf43393c7615ded24ad2ff321a9922c --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x049471_y-009998_z-000566_t2_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Walk to the left pillar of the stone gate.", + "Type": 2, + "Start_Pose": [ + 49471.1, + -9997.6, + -566.102, + 0.0, + -112.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 49471.1, + -9997.6, + -566.102, + 0.0, + -112.32, + 0.0 + ], + [ + 49423.303, + -10114.029, + -568.174, + 0.0, + -112.32, + 0.0 + ], + [ + 49375.504, + -10230.458, + -570.843, + 0.0, + -112.32, + 0.0 + ], + [ + 49327.706, + -10346.888, + -572.827, + 0.0, + -112.32, + 0.0 + ], + [ + 49279.907, + -10463.317, + -574.976, + 0.0, + -112.32, + 0.0 + ], + [ + 49232.108, + -10579.746, + -577.377, + 0.0, + -112.32, + 0.0 + ], + [ + 49184.31, + -10696.175, + -579.672, + 0.0, + -112.32, + 0.0 + ], + [ + 49136.511, + -10812.605, + -582.27, + 0.0, + -112.32, + 0.0 + ], + [ + 49088.713, + -10929.034, + -584.459, + 0.0, + -112.32, + 0.0 + ], + [ + 49040.914, + -11045.463, + -587.336, + 0.0, + -112.32, + 0.0 + ], + [ + 48993.115, + -11161.893, + -589.811, + 0.0, + -112.32, + 0.0 + ], + [ + 48945.317, + -11278.322, + -592.563, + 0.0, + -112.32, + 0.0 + ], + [ + 48897.518, + -11394.751, + -595.297, + 0.0, + -112.32, + 0.0 + ], + [ + 48849.72, + -11511.18, + -597.684, + 0.0, + -112.32, + 0.0 + ], + [ + 48849.72, + -11511.18, + -597.684, + 0.0, + -137.32, + 0.0 + ], + [ + 48757.194, + -11596.501, + -599.305, + 0.0, + -137.32, + 0.0 + ], + [ + 48664.669, + -11681.821, + -600.813, + 0.0, + -137.32, + 0.0 + ], + [ + 48572.143, + -11767.141, + -602.236, + 0.0, + -137.32, + 0.0 + ], + [ + 48479.618, + -11852.461, + -603.522, + 0.0, + -137.32, + 0.0 + ], + [ + 48387.092, + -11937.782, + -604.793, + 0.0, + -137.32, + 0.0 + ], + [ + 48294.567, + -12023.102, + -606.182, + 0.0, + -137.32, + 0.0 + ], + [ + 48294.567, + -12023.102, + -606.182, + 0.0, + -112.32, + 0.0 + ], + [ + 48246.768, + -12139.531, + -609.072, + 0.0, + -112.32, + 0.0 + ], + [ + 48198.97, + -12255.96, + -611.548, + 0.0, + -112.32, + 0.0 + ], + [ + 48151.171, + -12372.39, + -614.43, + 0.0, + -112.32, + 0.0 + ], + [ + 48103.373, + -12488.819, + -617.022, + 0.0, + -112.32, + 0.0 + ], + [ + 48055.574, + -12605.248, + -620.172, + 0.0, + -112.32, + 0.0 + ], + [ + 48007.775, + -12721.678, + -623.272, + 0.0, + -112.32, + 0.0 + ], + [ + 48007.775, + -12721.678, + -623.272, + 0.0, + -112.32, + 0.0 + ] + ], + "Rationale": [ + "The stone gate stands ahead across the sand, one lintel resting on two uprights, and of those two the left one is the slimmer, sunlit pale block beside the broad dark one. That pale upright is what I am walking to. I step forward over the open sand to close the distance.", + "The gate has grown slightly in front of me and the pale left upright stays just left of my heading, so my line of travel is still good. Nothing blocks the sand between us. I keep walking forward.", + "The lintel now spans a good part of my view and the two uprights are clearly separated, with the pale one I want on the left of the opening. I am still well short of it. Another step forward continues the approach.", + "The gate keeps growing and the pale upright's base is still far off across level sand. There is no reason to change heading yet, since it remains a little left of straight ahead. I advance again.", + "The lintel is now cut off by the top of my view, which tells me I have closed a fair amount of ground. The pale upright I am heading for still stands to the left of the darker one. I continue walking toward it.", + "The gate now dominates the middle of my view, yet its footing is still several strides away. My heading keeps the pale upright comfortably in frame on the left side of the opening. I press forward.", + "Only the underside of the lintel is visible now, and the pale upright's sunlit face is broad in front of me but not yet within reach. The sand between us stays clear. I take another step toward it.", + "The two uprights loom close together and the pale one sits just left of my path, so I still have ground to cover before I stand beside it. Nothing obstructs the approach. I keep moving forward.", + "The pale upright's footing sits well beyond the shadow line on the sand, so I am not yet standing beside it. Its darker partner crowds the right of my view but leaves my lane clear. I walk on toward the pale stone.", + "Both stones now rise past the top of my view, and the pale one's sunlit face has widened noticeably, a sign the gap is shrinking. Its base still lies beyond a few strides of flat sand. Another step forward closes more of that gap.", + "The pale stone's foot is clearly resting on the sand a short way off, slightly left of where I am pointed. The ground between is smooth and open. I keep walking to bring myself alongside it.", + "My heading is carrying me toward the opening rather than straight at the pale stone, which now sits noticeably to the left of centre. There is still ground to cover before any turn is worth spending. I advance again.", + "The dark stone fills the right half of my view and the pale one stands close on the left, both far too tall now to read as a pair from a distance. A little more ground remains before I am level with the pale stone. I step forward.", + "Straight ahead lies the empty gap between the stones, and the pale upright I want has slid off to the left of my heading. Continuing as I am would carry me through the opening instead of up to it. I turn left to put that pale stone in front of me.", + "The turn has swung the pale stone into the middle of my view, with only bare rock and dunes beyond it now that its darker neighbour has dropped out of sight behind my shoulder. My line runs straight to its sunlit face. I walk toward it.", + "The pale stone's face is broadening ahead of me and its foot still sits a couple of strides off across clean sand. Nothing stands between us. I keep stepping toward it.", + "The pale stone's footing now meets the ground just past the shaded band in front of me, so only a short run of flat sand is left. Its face has widened until it takes up the middle of my view. I step in closer.", + "The stone has swelled again, its rough face and dark weathered flank now reading as separate surfaces rather than one slab, which tells me I am nearly on top of it. Its foot still sits ahead of my toes. Another stride should carry me nearer.", + "The rock ledges away to my left have dropped low on the horizon, another sign of how much ground I have taken, while the pale upright towers over the centre of my view. I am close but not yet level with its base. I walk on.", + "The stone's near corner sits almost dead ahead now, its sunlit face running off to the right and its shaded side to the left. A last stretch of sand still lies between my feet and its footing. I advance again.", + "Pressing straight on would walk me into the flat shaded side of the stone instead of bringing me up beside it. Swinging my heading right sets my line along its near corner, past the sunlit face. I turn right to open that approach.", + "The turn has laid the pale stone along my left, with open ground and distant palms visible past its edge, so my path now runs beside it rather than into it. Its base is still a short way off. I step forward along that line.", + "The stone's corner is closing on my left shoulder and its pitted surface is plain at this range, yet I am not quite level with it. The sand ahead is untouched and open. I keep walking in.", + "The base of the pale stone now sits barely a stride to my left front, its shadow spilling across the sand toward me. A little more forward motion should put me right alongside it. I take that step.", + "The pale stone's corner is right at my shoulder now, its pitted grain readable grain by grain, but the corner still sits slightly ahead of me rather than beside me. One more step should bring me flush with its face.", + "I am now hard against the pale upright, its rough surface running away down my left in steep perspective. The corner has just slipped behind me, so a short step more sets me squarely along its flank.", + "Only the flat sunlit flank of the pale upright remains beside me, near enough to touch, with clear ground opening to the right. A final short step settles me alongside its middle rather than at its edge.", + "The pale left upright of the stone gate stands directly against my shoulder, close enough to touch. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x049471_y-009998_z-000566_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x049471_y-009998_z-000566_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..013fd01976bd6303d2efa49fb865c0e184e039c3 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x049471_y-009998_z-000566_t2_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Approach the right pillar of the stone gate.", + "Type": 2, + "Start_Pose": [ + 49471.1, + -9997.6, + -566.102, + 0.0, + -112.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 49471.1, + -9997.6, + -566.102, + 0.0, + -112.32, + 0.0 + ], + [ + 49423.303, + -10114.029, + -568.174, + 0.0, + -112.32, + 0.0 + ], + [ + 49375.504, + -10230.458, + -570.843, + 0.0, + -112.32, + 0.0 + ], + [ + 49327.706, + -10346.888, + -572.827, + 0.0, + -112.32, + 0.0 + ], + [ + 49279.907, + -10463.317, + -574.976, + 0.0, + -112.32, + 0.0 + ], + [ + 49232.108, + -10579.746, + -577.377, + 0.0, + -112.32, + 0.0 + ], + [ + 49232.108, + -10579.746, + -577.377, + 0.0, + -87.32, + 0.0 + ], + [ + 49237.993, + -10705.467, + -580.623, + 0.0, + -87.32, + 0.0 + ], + [ + 49243.878, + -10831.189, + -584.076, + 0.0, + -87.32, + 0.0 + ], + [ + 49249.763, + -10956.91, + -587.085, + 0.0, + -87.32, + 0.0 + ], + [ + 49255.648, + -11082.631, + -590.816, + 0.0, + -87.32, + 0.0 + ], + [ + 49261.533, + -11208.353, + -593.801, + 0.0, + -87.32, + 0.0 + ], + [ + 49267.418, + -11334.074, + -597.532, + 0.0, + -87.32, + 0.0 + ], + [ + 49273.303, + -11459.796, + -600.516, + 0.0, + -87.32, + 0.0 + ], + [ + 49279.188, + -11585.517, + -603.984, + 0.0, + -87.32, + 0.0 + ], + [ + 49285.072, + -11711.238, + -607.313, + 0.0, + -87.32, + 0.0 + ], + [ + 49290.957, + -11836.96, + -611.03, + 0.0, + -87.32, + 0.0 + ], + [ + 49296.842, + -11962.681, + -614.474, + 0.0, + -87.32, + 0.0 + ], + [ + 49302.727, + -12088.402, + -617.77, + 0.0, + -87.32, + 0.0 + ], + [ + 49302.727, + -12088.402, + -617.77, + 0.0, + -112.32, + 0.0 + ], + [ + 49254.928, + -12204.832, + -620.581, + 0.0, + -112.32, + 0.0 + ], + [ + 49207.13, + -12321.261, + -623.252, + 0.0, + -112.32, + 0.0 + ], + [ + 49159.331, + -12437.69, + -625.617, + 0.0, + -112.32, + 0.0 + ], + [ + 49159.331, + -12437.69, + -625.617, + 0.0, + -112.32, + 0.0 + ] + ], + "Rationale": [ + "The stone gate ahead carries its lintel on two uprights, and I settle on the right-hand one, the broad sunlit upright standing nearest the low stone terrace that runs off to the right. It is still far across the open sand, so I walk forward to begin closing that distance.", + "The gate has grown slightly larger, so my heading is carrying me toward it as intended. The sand between me and the sunlit right upright is flat and unobstructed, so I continue walking forward.", + "The lintel now spans a wider part of my view and its right upright is clearly thicker than the far one, confirming I am gaining ground on the correct stone. Nothing blocks the sand ahead, so I step forward again.", + "The gate keeps expanding and its right upright, the one flanked by the low terrace, sits just right of my line of travel. Distance is still the main gap, so I keep walking forward before adjusting my heading.", + "The uprights now rise past the top of my view, so I am getting close to the gate. My target upright, the near one on the right beside the terrace, is still ahead and slightly off my path, so I advance another step.", + "From here my straight-ahead path aims at the gap between the two uprights rather than at the stone I want. The right-hand upright, the thick one beside the terrace, lies off to my right, so I turn right to put it in front of me before continuing.", + "The turn has brought the thick right-hand upright of this gate near the middle of my view, with the open sand and terrace clear to its right. With my heading now on it, I walk forward to close in.", + "The upright I am heading for keeps growing in front of me while other stone structures sit far off across the plaza, so there is no doubt about which stone I am walking to. The ground remains open, so I step forward again.", + "The shaded face of my upright now fills much of the left half of my view, with the raised stone kerb running parallel on my right. Its base is still a good stretch of sand away, so I keep walking straight at it.", + "Each step widens the stone in front of me and pushes the far obelisks and the smaller structures further to the right of my view. Nothing stands between me and the column, so another stride forward is the simplest gain.", + "My line of travel runs a little to the right of the column, passing along its sunlit near corner rather than into it. That small offset costs nothing yet, so I close distance first and keep advancing.", + "The column is tall enough now that its top passes out of my view and only the lower shaft and the lintel edge remain. Since I am still several strides off, I press forward without changing heading.", + "Pitting and streaks in the stone are becoming readable, which tells me the gap is genuinely shrinking. The sand in front stays flat and open, so I take another step toward the column.", + "The rough vertical corner of the column stands out clearly against the bright plaza beyond it, marking exactly where the stone ends. I am not yet within arm's reach of it, so I continue walking.", + "The stone now blocks the whole left side of my view while the plaza and its obelisks stay open on the right. A few more paces should bring me alongside the column, so I keep moving.", + "Its shadow already stretches across the sand toward my feet, and the base of the shaft sits low in my view. Still not close enough to call this an arrival, so I advance again.", + "The column's near corner sits just left of my path, so my current heading takes me along its flank rather than into it. That is fine while there is still open sand between us, so I keep walking to shorten the gap.", + "The stone's rough edge now reads at close range and its base line runs almost to my feet. A stride or two more should bring me level with the shaft, so I advance again.", + "Walking straight would carry me past the corner of the upright and out into the open plaza toward the obelisks. The stone lies to my left now, so I turn left to face it squarely before covering the last stretch.", + "Facing the shaft directly, its shaded face and rough corner now sit centered in front of me with the far upright showing behind on the left. A short walk should put me right against it.", + "The stone now takes up most of my view, though I can still see sand beyond its corner on the right. That margin means I am not yet beside it, so I step closer.", + "Only a narrow strip of bright plaza remains past the corner, and the pitted surface is close enough to read grain by grain. One more step should put me directly at the foot of the shaft.", + "The rough face of the gate's right upright fills my whole view at arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x050407_y-014123_z-000683_t0_a/infos.json b/dataset/trajectory/Pyramid/task_x050407_y-014123_z-000683_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3970c211ca23ea7bc293c80b3d22f57980fe41c6 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x050407_y-014123_z-000683_t0_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Walk to the base of the tall stone obelisk.", + "Type": 0, + "Start_Pose": [ + 50407.269, + -14123.131, + -682.938, + 0.0, + -70.08, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 50407.269, + -14123.131, + -682.938, + 0.0, + -70.08, + 0.0 + ], + [ + 50450.151, + -14241.46, + -686.354, + 0.0, + -70.08, + 0.0 + ], + [ + 50493.032, + -14359.788, + -689.54, + 0.0, + -70.08, + 0.0 + ], + [ + 50535.913, + -14478.117, + -692.975, + 0.0, + -70.08, + 0.0 + ], + [ + 50578.794, + -14596.446, + -696.629, + 0.0, + -70.08, + 0.0 + ], + [ + 50621.675, + -14714.775, + -699.959, + 0.0, + -70.08, + 0.0 + ], + [ + 50664.556, + -14833.103, + -703.066, + 0.0, + -70.08, + 0.0 + ], + [ + 50707.437, + -14951.432, + -706.597, + 0.0, + -70.08, + 0.0 + ], + [ + 50750.319, + -15069.761, + -710.059, + 0.0, + -70.08, + 0.0 + ], + [ + 50750.319, + -15069.761, + -710.059, + 0.0, + -95.08, + 0.0 + ], + [ + 50739.174, + -15195.126, + -712.904, + 0.0, + -95.08, + 0.0 + ], + [ + 50728.03, + -15320.49, + -715.762, + 0.0, + -95.08, + 0.0 + ], + [ + 50716.885, + -15445.855, + -719.068, + 0.0, + -95.08, + 0.0 + ], + [ + 50705.741, + -15571.22, + -722.255, + 0.0, + -95.08, + 0.0 + ], + [ + 50694.597, + -15696.584, + -725.099, + 0.0, + -95.08, + 0.0 + ], + [ + 50683.452, + -15821.949, + -728.738, + 0.0, + -95.08, + 0.0 + ], + [ + 50672.308, + -15947.313, + -731.581, + 0.0, + -95.08, + 0.0 + ], + [ + 50661.163, + -16072.678, + -734.727, + 0.0, + -95.08, + 0.0 + ], + [ + 50650.019, + -16198.043, + -738.02, + 0.0, + -95.08, + 0.0 + ], + [ + 50638.875, + -16323.407, + -741.033, + 0.0, + -95.08, + 0.0 + ], + [ + 50627.73, + -16448.772, + -744.299, + 0.0, + -95.08, + 0.0 + ], + [ + 50616.586, + -16574.137, + -747.368, + 0.0, + -95.08, + 0.0 + ], + [ + 50605.442, + -16699.501, + -750.939, + 0.0, + -95.08, + 0.0 + ], + [ + 50594.297, + -16824.866, + -753.828, + 0.0, + -95.08, + 0.0 + ], + [ + 50583.153, + -16950.231, + -757.051, + 0.0, + -95.08, + 0.0 + ], + [ + 50583.153, + -16950.231, + -757.051, + 0.0, + -95.08, + 0.0 + ] + ], + "Rationale": [ + "The tall stone obelisk stands well ahead of me, slightly left of my heading, rising above the sand court beyond the massive stone gateway on my right. Nothing blocks the open sand between us, so I will step forward to begin closing that long distance. Its offset is small enough that straight travel should keep it in view while I approach.", + "The obelisk now looks marginally taller and its base area is still far off across the sand. My heading remains clear, so another forward step is the simplest way to keep reducing the gap. I will continue straight rather than adjusting yaw at this range.", + "The obelisk shaft has grown noticeably against the sky while the stone pillared structure on my left slides slowly past, confirming I am making real ground. The route ahead is still uninterrupted sand. I will take another forward step toward the monument.", + "The obelisk is now clearly the dominant slender monument on my left-forward side, and its lower shaft is starting to be distinguishable above the sand ridge. Distance is still substantial, so I will keep pushing forward on this heading. Any heading correction can wait until the base is closer and better resolved.", + "The obelisk stands taller and more detailed now, with a second smaller obelisk visible further behind it on the left, so I am confident about which monument is the tall one. Continuing straight keeps closing the range without wasting a turn. I will step forward again.", + "The obelisk's tip now nearly reaches the top of my view, showing that the remaining distance has shrunk considerably. The sand court in front of me is still flat and clear, so forward motion remains the efficient choice. I will advance again before considering an alignment turn.", + "The obelisk now towers on my left-forward side and the big gateway block on my right is passing closer, so I still have room to move straight between them. Another forward step should bring the monument's base into clearer view. I will continue on this heading.", + "The obelisk is close enough that its shaft dominates the left part of my view, yet its base still sits ahead of me across open sand. I will take one more forward step to keep shortening the range before adjusting my heading toward the monument. The path directly in front stays clear.", + "The tall stone obelisk now stands well left of my heading, with the massive lintel-topped stonework filling the space straight ahead of me. Continuing forward on this heading would carry me past it, so I will turn left to bring the obelisk toward the center of my view. That should give me a straight open lane of sand to walk along toward its base.", + "After the turn the tall obelisk sits close to the center of my view with clear flat sand between me and it. Nothing blocks this lane, since the heavy stone gateway is now off to my right and the columned ruins to my left. I will walk forward to start closing the distance on this heading.", + "The obelisk is holding its position slightly left of center and its shaft has grown a little taller in my view, so my heading is still good. The corridor of sand between the ruins on either side remains clear. I will keep walking forward to reduce the remaining distance.", + "The obelisk continues to loom larger and its base is now visible where it meets the sand, confirming I am steadily closing in. The stone gateway on my right is passing by without crowding my path. Another step forward should bring me noticeably nearer to the shaft.", + "My heading still points along the open sand toward the obelisk, which stands just left of straight ahead with a second, smaller obelisk further beyond it. The ground here is flat and free of debris. I will advance again to keep shortening the gap.", + "The obelisk shaft now rises past the top of my view, so I am getting close, though its base is still a fair walk away across the sand. The massive stone blocks on my right stay clear of my line of travel. I will continue forward toward the base.", + "Carved detail on the obelisk is becoming readable, which tells me I am within a short distance of it. Its base sits slightly left of my heading on open, level sand. I will step forward again to draw up to the foot of the shaft.", + "The obelisk now dominates the left half of my view and its lower shaft is close in front of me, but I am not yet standing at its foot. The path there remains open sand with the ruined colonnade well off to the side. I will keep moving forward to close the last of the gap.", + "The tall carved obelisk stands just left of my heading with clear open sand between us, so my current course still leads straight to it. The massive stone posts on my right stay well clear of my path, giving me room to keep going. I will step forward to shrink the remaining distance.", + "The obelisk shaft now reads as textured stone rather than a distant silhouette, confirming I am closing in on the correct monument. Nothing blocks the sand between me and its foot, so no heading change is needed. I will continue forward.", + "Carved markings on the near obelisk are now legible and it towers above the smaller second obelisk behind it, so my target is clearly identified and still ahead. My heading keeps its foot slightly left of straight ahead, which is fine for a walk-up approach. I will take another step forward.", + "The obelisk shaft now dominates the left half of my view and its lower section is broadening quickly, a sign that only a short stretch of sand remains. The ground in front of me is flat and clear. I will keep advancing toward its foot.", + "Individual carved panels on the shaft are sharply detailed, so I am within a few paces of the stone itself. I still cannot see the lowest plinth clearly, which suggests a little more distance to cover. I will move forward again.", + "The stepped base of the obelisk has come into view at ground level just ahead and to my left, which is exactly the spot the task points me to. A couple more paces should place me right beside it. I will continue forward.", + "The plinth and its projecting ledge fill the left side of my view, so the base is now very near but not yet at my feet. Closing this last short gap should put me directly at the foot of the monument. I will step forward once more.", + "I am almost touching the carved stone, with the base blocks and their ledge only a pace or so to my left front. One final step should bring me level with the base rather than just short of it. I will advance that last increment.", + "The obelisk's carved plinth fills the left of my view within arm's reach. I am at its base, so the task is complete and further movement is unnecessary." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x050562_y-010756_z-000602_t1_a/infos.json b/dataset/trajectory/Pyramid/task_x050562_y-010756_z-000602_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a1e27dfaefbb00cfebe8beeb7d62863dd8298bd --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x050562_y-010756_z-000602_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Locate the entrance opening at the base of the ornate hieroglyph-covered wall between the dark columns, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 50561.588, + -10755.845, + -602.379, + 0.0, + 56.48, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 50561.588, + -10755.845, + -602.379, + 0.0, + 56.48, + -0.0 + ], + [ + 50561.59, + -10755.845, + -602.379, + 0.0, + 31.48, + -0.0 + ], + [ + 50561.59, + -10755.845, + -602.379, + 0.0, + 6.48, + -0.0 + ], + [ + 50561.59, + -10755.845, + -602.379, + 0.0, + -18.52, + 0.0 + ], + [ + 50680.931, + -10795.822, + -606.192, + 0.0, + -18.52, + 0.0 + ], + [ + 50800.272, + -10835.799, + -609.736, + 0.0, + -18.52, + 0.0 + ], + [ + 50919.613, + -10875.777, + -612.986, + 0.0, + -18.52, + 0.0 + ], + [ + 51038.954, + -10915.754, + -617.016, + 0.0, + -18.52, + 0.0 + ], + [ + 51158.295, + -10955.731, + -621.222, + 0.0, + -18.52, + 0.0 + ], + [ + 51277.637, + -10995.709, + -625.201, + 0.0, + -18.52, + 0.0 + ], + [ + 51396.978, + -11035.686, + -630.312, + 0.0, + -18.52, + 0.0 + ], + [ + 51516.319, + -11075.663, + -634.955, + 0.0, + -18.52, + 0.0 + ], + [ + 51635.66, + -11115.641, + -640.688, + 0.0, + -18.52, + 0.0 + ], + [ + 51755.001, + -11155.618, + -646.04, + 0.0, + -18.52, + 0.0 + ], + [ + 51874.342, + -11195.595, + -651.873, + 0.0, + -18.52, + 0.0 + ], + [ + 51993.683, + -11235.572, + -657.83, + 0.0, + -18.52, + 0.0 + ], + [ + 52113.024, + -11275.55, + -663.164, + 0.0, + -18.52, + 0.0 + ], + [ + 52232.366, + -11315.527, + -669.278, + 0.0, + -18.52, + 0.0 + ], + [ + 52232.366, + -11315.527, + -669.278, + 0.0, + -18.52, + 0.0 + ] + ], + "Rationale": [ + "The hieroglyph-covered wall runs off to my left edge and I can only see two columns before the facade leaves my view, with no doorway visible at its base. I will turn left to swing my heading along the wall and expose more of the column line where an entrance opening is likely to be. Open sand and palms fill the right half of my view, so nothing of interest lies that way.", + "Turning has brought more of the carved facade into view, and I can now see a third column, but the wall base still shows no clear gap. I will turn left again to keep sweeping along the structure and bring the still-hidden stretch of wall in front of me.", + "The wall now spans my whole view and a low dark recess appears near the base to the left of the central column, which looks like the entrance I am searching for. I will turn left once more to bring that opening closer to the center of my heading before committing to an approach.", + "The doorway gap at the base of the wall now sits near the middle of my view, framed between the dark columns, so my heading is committed to it. I will walk forward across the sand to close the distance toward that opening.", + "The wall has grown larger and the recessed opening remains just ahead of my heading with unobstructed sand between us. I will keep walking forward to continue closing on the entrance.", + "The carved courses are resolving into clearer detail and the shadowed gap at the base stays aligned slightly ahead of me. Another forward step should bring me closer to that entrance without needing to adjust my heading.", + "The entrance gap is now distinctly framed by its stone jambs a short way ahead and my line of travel points straight at it. I will continue walking forward toward the opening.", + "The opening in the wall base is clearly defined and noticeably larger, so my approach is on track. I will step forward again to keep reducing the remaining distance to the entrance.", + "The dark rectangular opening at the base of the hieroglyph wall sits just left of my heading, framed by the pale stone jambs beneath the carved lintel band. Since the target is already identified and my path across the open sand is clear, I will keep walking straight to close the remaining distance.", + "The entrance opening has grown noticeably wider in my view and its right jamb now stands out clearly against the lit blockwork. My heading still points at it, so another step forward should continue shrinking the gap without any turn.", + "The hieroglyph frieze above the doorway is now readable and the columns have slid toward the left edge, confirming I am closing on the opening rather than drifting along the wall. I will continue advancing straight ahead toward the shadowed gap.", + "The doorway now occupies a large part of my forward view, with both jambs and the sand floor inside it clearly visible. Nothing blocks the approach line, so I keep stepping forward to reach the threshold.", + "I am close enough that the lintel above the entrance fills the upper part of my view and the passage interior is plainly open. Another forward step should bring me nearly to the doorway mouth.", + "Through the opening I can now see a blue painted band on an inner wall, which tells me the passage leads into a chamber rather than a shallow recess. I will keep walking forward toward that gap.", + "The threshold is directly ahead, with the shadowed underside of the lintel and the inner wall's blue stripe framed inside the opening. Continuing straight should carry me right up to the entrance mouth.", + "The opening is now immediately in front of me, wide enough to walk through, and I can see the chamber floor and a pale block standing inside. I will step forward again to move into the entrance.", + "The doorway lintel and its carved band are now passing overhead on my left, and the interior chamber with its blue wall stripe fills most of my view. One more step forward should carry me fully through the opening and clear of the threshold stonework.", + "I stand inside the entrance chamber with the ceiling beams overhead and the banded interior walls around me. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x050598_y-012866_z-000653_t0_a/infos.json b/dataset/trajectory/Pyramid/task_x050598_y-012866_z-000653_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..56625f6d00a56c2bfe7999fe82025e388468bab1 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x050598_y-012866_z-000653_t0_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the dark doorway in the ancient temple wall.", + "Type": 0, + "Start_Pose": [ + 50598.113, + -12865.693, + -653.391, + 0.0, + 36.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 50598.113, + -12865.693, + -653.391, + 0.0, + 36.48, + -0.0 + ], + [ + 50699.312, + -12790.865, + -652.431, + 0.0, + 36.48, + -0.0 + ], + [ + 50800.511, + -12716.036, + -652.262, + 0.0, + 36.48, + -0.0 + ], + [ + 50901.71, + -12641.208, + -652.067, + 0.0, + 36.48, + -0.0 + ], + [ + 51002.908, + -12566.379, + -651.132, + 0.0, + 36.48, + -0.0 + ], + [ + 51104.107, + -12491.551, + -651.729, + 0.0, + 36.48, + -0.0 + ], + [ + 51205.306, + -12416.722, + -651.559, + 0.0, + 36.48, + -0.0 + ], + [ + 51306.505, + -12341.894, + -651.87, + 0.0, + 36.48, + -0.0 + ], + [ + 51407.703, + -12267.065, + -653.023, + 0.0, + 36.48, + -0.0 + ], + [ + 51508.902, + -12192.237, + -653.433, + 0.0, + 36.48, + -0.0 + ], + [ + 51610.101, + -12117.409, + -654.069, + 0.0, + 36.48, + -0.0 + ], + [ + 51711.3, + -12042.58, + -655.854, + 0.0, + 36.48, + -0.0 + ], + [ + 51812.498, + -11967.752, + -657.407, + 0.0, + 36.48, + -0.0 + ], + [ + 51913.697, + -11892.923, + -660.054, + 0.0, + 36.48, + -0.0 + ], + [ + 51913.697, + -11892.923, + -660.054, + 0.0, + 61.48, + -0.0 + ], + [ + 51973.79, + -11782.337, + -661.529, + 0.0, + 61.48, + -0.0 + ], + [ + 52033.884, + -11671.751, + -663.015, + 0.0, + 61.48, + -0.0 + ], + [ + 52093.977, + -11561.165, + -664.474, + 0.0, + 61.48, + -0.0 + ], + [ + 52093.977, + -11561.165, + -664.474, + 0.0, + 36.48, + -0.0 + ], + [ + 52195.176, + -11486.336, + -668.613, + 0.0, + 36.48, + -0.0 + ], + [ + 52296.375, + -11411.508, + -673.504, + 0.0, + 36.48, + -0.0 + ], + [ + 52296.375, + -11411.508, + -673.504, + 0.0, + 36.48, + -0.0 + ] + ], + "Rationale": [ + "Ahead of me the long carved temple wall runs across the sand, and near its middle I can pick out a small dark rectangular opening set between the columns. That shadowed gap is the doorway named in my task, so I will step forward over the dunes to close the large gap between us.", + "The wall's carvings are slightly larger now, confirming that my heading is taking me toward it rather than along it. The dark doorway still sits roughly ahead and a bit right of center, so another step forward keeps me closing distance without needing to reorient yet.", + "The columns are becoming taller in my view and the shadowed doorway remains the only break in this decorated stone face. Since nothing blocks the sand in front of me, I will continue straight to keep shrinking the distance.", + "I am still some distance out, with the dark entry a small notch at the base of the wall ahead of me. My current heading points at that part of the wall, so I will keep walking forward instead of adjusting my facing.", + "The hieroglyph bands are now readable and the doorway shows a faint warm glow inside its shadow, which tells me it is a real passage rather than a recess. I will press forward along the same line to continue closing in.", + "The wall now fills most of my view and the opening sits ahead and slightly right, still comfortably reachable on my current line. Another forward step should bring me near enough to judge my final approach angle.", + "The dark doorway with its lit interior edge is now clearly resolved just right of my heading, with smooth sand leading to it. I will keep moving forward to reduce the remaining distance before making any turn.", + "I am close to the wall now, and the doorway's jamb and threshold are distinct slightly to my right. Continuing straight should carry me nearer to the opening before I fine tune my heading toward it.", + "The carved temple wall now fills most of my forward view, and the low dark opening with its thin sliver of warm light sits ahead near the middle of my path. Nothing blocks the sand between me and that gap, so I step forward again to keep closing the remaining distance.", + "The hieroglyph band and stone courses have grown noticeably larger, confirming my heading is carrying me straight at the wall section that holds the dark gap. The opening still reads clearly ahead of me, so another forward step should shorten the approach further.", + "I can now make out the inner jamb of the opening and the shadowed space behind it, which means I am getting close to the wall face. The ground remains clear and level, so I continue walking forward toward the entrance.", + "The carvings are close enough to read individually and the dark doorway is only a short distance ahead of me along the wall. I take another step forward to keep reducing that gap before I need to fine tune my heading.", + "The stone blocks now dominate my view and the dark entrance is very near, though I am seeing it at a slanted angle rather than head on. One more forward step should bring me almost level with the wall face in front of the opening.", + "I am right up against the wall and the projecting stone jamb of the entrance stands between me and the sand directly in front of the opening, so walking straight on would only press me into the masonry. I turn right to swing my heading out along the wall face, which should give me a clear line to step across to the front of the doorway.", + "With my heading swung outward, clear sand now runs ahead alongside the wall and the dark opening sits off to my left. I step forward to move along the wall face and get level with that entrance.", + "The near jamb has slid further left as I advance, showing I am tracking past it along the wall front rather than into it. I continue forward so my position lines up with the ground just outside the shadowed opening.", + "The recessed dark opening in the temple wall now sits close on my left, with its shadowed interior just visible past the near jamb. I will step forward once more to bring myself level with that opening before swinging toward it.", + "I am now beside the opening, and its shadowed interior lies off to my left while my heading still points along the wall face. Turning left should put the dark doorway directly ahead so I can walk straight into it.", + "The dark passage is squarely ahead of me now, with the shadowed ceiling and the blue painted band running inside above the sand floor. I will move forward to close the last of the distance into that opening.", + "The beamed ceiling of the passage is already overhead and the interior wall with its blue band fills my view, so I have essentially reached the threshold. One more step forward should place me properly inside the dark doorway.", + "I stand inside the shadowed doorway, enclosed by its beamed ceiling and inner walls. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x050598_y-012866_z-000653_t5_a_p/infos.json b/dataset/trajectory/Pyramid/task_x050598_y-012866_z-000653_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96b973b087c40cb41d20286581f0499f7f6585ee --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x050598_y-012866_z-000653_t5_a_p/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the ceramic vase at the dark doorway in the ancient temple wall.", + "Type": 5, + "Start_Pose": [ + 50598.113, + -12865.693, + -653.391, + 0, + 36.48, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 51924.344, + -11418.025, + -727.427, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 50598.113, + -12865.693, + -653.391, + 0, + 36.48, + 0 + ], + [ + 50699.312, + -12790.865, + -652.431, + 0.0, + 36.48, + -0.0 + ], + [ + 50800.511, + -12716.036, + -652.262, + 0.0, + 36.48, + -0.0 + ], + [ + 50901.71, + -12641.208, + -652.067, + 0.0, + 36.48, + -0.0 + ], + [ + 51002.908, + -12566.379, + -651.132, + 0.0, + 36.48, + -0.0 + ], + [ + 51104.107, + -12491.551, + -651.729, + 0.0, + 36.48, + -0.0 + ], + [ + 51104.107, + -12491.551, + -651.729, + 0.0, + 61.48, + -0.0 + ], + [ + 51164.2, + -12380.965, + -650.219, + 0.0, + 61.48, + -0.0 + ], + [ + 51224.294, + -12270.379, + -649.382, + 0.0, + 61.48, + -0.0 + ], + [ + 51284.387, + -12159.793, + -648.205, + 0.0, + 61.48, + -0.0 + ], + [ + 51344.48, + -12049.207, + -647.434, + 0.0, + 61.48, + -0.0 + ], + [ + 51404.574, + -11938.621, + -646.64, + 0.0, + 61.48, + -0.0 + ], + [ + 51464.667, + -11828.034, + -645.529, + 0.0, + 61.48, + -0.0 + ], + [ + 51524.76, + -11717.448, + -645.068, + 0.0, + 61.48, + -0.0 + ], + [ + 51524.76, + -11717.448, + -645.068, + 0.0, + 36.48, + -0.0 + ], + [ + 51625.959, + -11642.62, + -647.242, + 0.0, + 36.48, + -0.0 + ], + [ + 51727.158, + -11567.791, + -650.018, + 0.0, + 36.48, + -0.0 + ], + [ + 51828.357, + -11492.963, + -652.826, + 0.0, + 36.48, + -0.0 + ], + [ + 51828.357, + -11492.963, + -652.826, + 0.0, + 36.48, + -0.0 + ], + [ + 51828.357, + -11492.963, + -652.826, + 0.0, + 36.48, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51924.344, + -11418.025, + -727.427, + 0.0, + 0.0, + 0.0 + ], + [ + 51815.17, + -11476.156, + -683.103, + -28.202, + 86.624, + 1.862 + ], + [ + 51815.17, + -11476.156, + -683.103, + -28.202, + 86.624, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1963.3, + 1839.9, + 1716.9, + 1594.4, + 1472.3, + 1351.0, + 1351.0, + 1226.8, + 1103.0, + 979.7, + 857.1, + 735.7, + 616.0, + 499.3, + 499.3, + 373.5, + 247.6, + 121.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The temple wall stretches ahead of me and I can just make out a small pale vase standing at a dark doorway gap in that wall. It is far off across open sand, so I will walk forward to close the distance before worrying about fine alignment.", + "The wall and its shadowed doorway have grown slightly larger, confirming my heading is carrying me toward the target. The vase is still a tiny sliver at that opening, so I will keep walking straight ahead.", + "The doorway gap in the carved wall is clearer now and the slim vase beside it is becoming distinguishable from the stonework. Nothing blocks the sand in front of me, so I will continue advancing.", + "I am steadily closing on the section of wall where the dark doorway sits, and the pale vase remains visible just in front of it. Another straight step should bring me meaningfully nearer without needing a turn yet.", + "The wall now fills much of my view and the vase at the doorway is a clear upright shape ahead and slightly right. I will keep walking forward since the gap is still large.", + "The vase at the dark doorway sits off to the right of where I am facing, so continuing straight would drift me along the wall past it. I will turn right to bring the target and its doorway more centrally in front of me.", + "With my heading swung right, the doorway and the slim vase in front of it now lie ahead of me across open sand. I will walk forward to close in on that target.", + "The vase is noticeably taller in view and the shadowed doorway beside it is clearly resolved, so my current heading is good. I will continue stepping forward to shorten the remaining distance.", + "The pale ceramic vase stands ahead near the base of the carved temple wall, still small and well beyond arm's reach. My heading keeps it slightly left of center with open sand in between, so another step forward should close the gap without any turn.", + "The vase has grown noticeably larger against the wall, confirming that my straight heading is closing on it. Nothing blocks the sand between us, so I will keep walking forward rather than adjust my facing yet.", + "The dark doorway opening in the wall is now resolving just left of the vase, matching the described target location. The vase remains a few strides away, so I continue advancing on the same line.", + "The vase is clearly recognizable now, sitting on the sand beside the shadowed doorway, but it is still too far to reach. I will take another forward step to shorten the remaining distance.", + "The vase now shows its patterned body plainly and sits low and left in my view, meaning I am close but not yet within grasping range. One more forward step should bring me near enough to work on final alignment.", + "At this range the vase sits off to the left of my facing, with the wall and doorway sliding toward the edge of my view. A left turn should swing my heading onto the vase so the last steps carry me straight into reach.", + "The turn has placed the vase near the middle of my view, standing just in front of the dark doorway. With the heading now aimed at it, I will step forward to close the short remaining gap.", + "The vase is centered and much larger, yet it still stands beyond arm's reach on the open sand. I will advance once more to get close enough for a grasp attempt.", + "The ceramic vase stands directly ahead of me beside the dark doorway, centered in my view but still a couple of paces off. One more step forward should bring it within arm's reach so a grasp becomes possible.", + "The vase now fills the lower center of my view, close enough that I am standing right at it by the doorway in the temple wall. My heading is already aligned with it, so I will attempt the grasp now rather than step closer and risk knocking it.", + "The ceramic vase is now held in my hands rather than resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t3_a/infos.json b/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1738a25e16a3a7543e71425731cceea7118292dd --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t3_a/infos.json @@ -0,0 +1,416 @@ +{ + "Instruction": "Walk to the left tall obelisk, then head toward the right obelisk.", + "Type": 3, + "Start_Pose": [ + 52049.636, + -15438.253, + -731.989, + 0.0, + -112.32, + 0.0 + ], + "Action": [ + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 52049.636, + -15438.253, + -731.989, + 0.0, + -112.32, + 0.0 + ], + [ + 52049.637, + -15438.253, + -731.989, + 0.0, + -112.32, + 0.0 + ], + [ + 52001.838, + -15554.682, + -734.454, + 0.0, + -112.32, + 0.0 + ], + [ + 51954.039, + -15671.112, + -736.445, + 0.0, + -112.32, + 0.0 + ], + [ + 51906.241, + -15787.541, + -739.093, + 0.0, + -112.32, + 0.0 + ], + [ + 51858.442, + -15903.97, + -741.187, + 0.0, + -112.32, + 0.0 + ], + [ + 51810.644, + -16020.399, + -743.164, + 0.0, + -112.32, + 0.0 + ], + [ + 51762.845, + -16136.829, + -745.462, + 0.0, + -112.32, + 0.0 + ], + [ + 51762.845, + -16136.829, + -745.462, + 0.0, + -137.32, + 0.0 + ], + [ + 51670.32, + -16222.149, + -746.732, + 0.0, + -137.32, + 0.0 + ], + [ + 51577.794, + -16307.469, + -748.038, + 0.0, + -137.32, + 0.0 + ], + [ + 51485.269, + -16392.789, + -749.971, + 0.0, + -137.32, + 0.0 + ], + [ + 51392.743, + -16478.11, + -751.337, + 0.0, + -137.32, + 0.0 + ], + [ + 51300.218, + -16563.43, + -752.604, + 0.0, + -137.32, + 0.0 + ], + [ + 51207.693, + -16648.75, + -754.242, + 0.0, + -137.32, + 0.0 + ], + [ + 51115.167, + -16734.07, + -755.533, + 0.0, + -137.32, + 0.0 + ], + [ + 51022.642, + -16819.39, + -757.213, + 0.0, + -137.32, + 0.0 + ], + [ + 50930.116, + -16904.711, + -758.491, + 0.0, + -137.32, + 0.0 + ], + [ + 50837.591, + -16990.031, + -760.445, + 0.0, + -137.32, + 0.0 + ], + [ + 50745.066, + -17075.351, + -761.809, + 0.0, + -137.32, + 0.0 + ], + [ + 50652.54, + -17160.671, + -763.089, + 0.0, + -137.32, + 0.0 + ], + [ + 50652.54, + -17160.671, + -763.089, + 0.0, + -137.32, + 0.0 + ], + [ + 50652.54, + -17160.671, + -763.089, + 0.0, + -112.32, + 0.0 + ], + [ + 50604.741, + -17277.101, + -766.024, + 0.0, + -112.32, + 0.0 + ], + [ + 50562.779, + -17393.822, + -768.578, + 0.0, + -112.32, + 0.0 + ], + [ + 50562.779, + -17393.822, + -768.578, + 0.0, + -87.32, + 0.0 + ], + [ + 50568.664, + -17519.544, + -771.849, + 0.0, + -87.32, + 0.0 + ], + [ + 50574.548, + -17645.265, + -775.341, + 0.0, + -87.32, + 0.0 + ], + [ + 50580.433, + -17770.986, + -778.853, + 0.0, + -87.32, + 0.0 + ], + [ + 50586.318, + -17896.708, + -782.097, + 0.0, + -87.32, + 0.0 + ], + [ + 50592.203, + -18022.429, + -785.839, + 0.0, + -87.32, + 0.0 + ], + [ + 50598.088, + -18148.15, + -788.831, + 0.0, + -87.32, + 0.0 + ], + [ + 50603.973, + -18273.872, + -792.376, + 0.0, + -87.32, + 0.0 + ], + [ + 50609.858, + -18399.593, + -795.538, + 0.0, + -87.32, + 0.0 + ], + [ + 50615.743, + -18525.314, + -798.732, + 0.0, + -87.32, + 0.0 + ], + [ + 50621.628, + -18651.036, + -802.308, + 0.0, + -87.32, + 0.0 + ], + [ + 50621.628, + -18651.036, + -802.308, + 0.0, + -112.32, + 0.0 + ], + [ + 50573.829, + -18767.465, + -804.662, + 0.0, + -112.32, + 0.0 + ], + [ + 50526.975, + -18868.993, + -806.716, + 0.0, + -112.32, + 0.0 + ], + [ + 50526.975, + -18868.993, + -806.716, + 0.0, + -112.32, + 0.0 + ] + ], + "Rationale": [ + "My gaze sits low, with sand filling most of the frame and the obelisk tips crowding the top edge. I will look up so both slender obelisks are fully in view, letting me judge which one stands left before I set off toward it.", + "With my view raised, the tall obelisk on the left and the smaller one beside it stand clearly ahead across open sand. Nothing blocks the ground between us, so I will walk forward to begin closing on the left obelisk.", + "The left obelisk sits slightly left of my heading and is still distant, its base far off across the sand. The route ahead stays clear of the heavy stone pillars on my right, so I will keep walking forward.", + "The tall left obelisk has grown noticeably and its shaft now fills more of the frame, confirming my heading is closing the gap. I will continue stepping forward along the same line.", + "I am still some distance from the tall obelisk, whose base remains well ahead across the open sand. The massive block on my right passes beside me without narrowing my route, so another forward step is the direct choice.", + "The tall obelisk is drifting toward the left of my view as I draw nearer, but it is still comfortably framed and reachable straight ahead. I will take another step forward before considering any turn.", + "The tall obelisk now looms clearly on my left and the smaller one stands near the center, so ground is being covered steadily. I will advance once more to keep shortening the distance.", + "The tall obelisk I am heading for has slid well off to my left as I closed in, so walking straight would carry me past it. I will turn left to bring its shaft back toward the center of my view and keep a direct line to it.", + "The turn has brought the taller obelisk of the pair into the middle of my view with open sand between us. Nothing blocks the lane, so I will walk straight ahead to begin closing that gap.", + "The tall obelisk ahead has grown noticeably taller in my view, confirming my heading is carrying me toward it. The sand in front stays flat and unobstructed, so another step forward should close more distance.", + "The tall obelisk still sits just left of my centerline and now dominates the upper part of my view. Its base is becoming visible above the dunes, so I will keep walking straight rather than adjust heading.", + "The columned hall and rocks behind the obelisk are dropping lower as the shaft rises, a clear sign I am gaining ground on it. My path remains clear sand, so I continue forward without turning.", + "The obelisk's plinth now stands out plainly at the end of the open sand, and the second, slimmer obelisk stays well off to my right. Since I am aiming for the taller one, I will step forward again.", + "Carved detail is starting to resolve on the near face of the tall obelisk, so I am within a short walk of it. Alignment is still good, so another straight step should bring me nearly to its base.", + "The tall obelisk now fills much of my view with its stepped base sitting clearly on the sand ahead. There is still a stretch of open ground before it, so I will keep advancing.", + "The inscribed stone of the tall obelisk towers just ahead of me and its plinth is only a few paces off. I will step forward again to finish closing on it.", + "The tall carved obelisk on the left now towers over me, its base and plinth clearly resolved just ahead across the open sand. Nothing blocks the sand between us, so I will keep walking straight at it to close the remaining gap.", + "The obelisk's inscribed shaft and stepped base are close enough that individual carvings stand out, yet I am still several paces short of standing at its foot. I will step forward again along the same heading to shorten that gap.", + "The carved shaft and its wide plinth now dominate the left of my view, and the sand in front of the base is clear. Another step forward should bring me right up against the monument.", + "The inscribed stone face fills the left side of my view at close range, so I am nearly at the foot of this tall obelisk. One more step should put me level with its base rather than still short of it.", + "The inscribed stone of the tall left obelisk stands directly beside me, close enough to read every carved row, and its plinth is at my feet. I have arrived at this obelisk. I mark reaching it, and now I set out for the other obelisk standing off to my right beyond the ruins.", + "My heading still runs along the flank of the obelisk I am standing beside, while the other obelisk shows through the open gap to my right, past the stone. Turning right should swing that far monument toward the center of my view and give me a clear line of sand to walk.", + "The turn has opened the view: the far obelisk now stands ahead beyond the palms, with only flat sand between us and the near stone slipping off to my left. I will walk forward on this heading to begin closing that distance.", + "The near monument has fallen behind and the open court stretches ahead toward the slim obelisk beyond the colonnade. My heading still points along that stretch of sand, so I will keep walking forward.", + "The tall obelisk I am making for now rises close on my forward line, while the ground to my left is crowded with the low colonnade and boulders. Swinging right puts the broad open sand lane in front of me, which should give me an unobstructed run at the monument.", + "With the turn done, the sand ahead is flat and empty, and the tall obelisk stands clear just left of my heading with palms lining the ground beyond it. I will walk forward to start closing that gap.", + "The obelisk is a little broader in my view than before, so my line is working and it is still well out in front. Nothing blocks the sand between us, so I keep walking.", + "The monument still sits some distance off, its base resting where the shadow line crosses the sand ahead and to my left. I press forward along the same open lane to cut the remaining distance.", + "The shaft and the squat stone marker beside it are drawing nearer and taller in my view. The sand stays flat and clear, so another stride forward is the simplest way to keep closing.", + "The obelisk now reaches well up out of my view and sits a little to my left, which tells me I am genuinely gaining on it. I continue walking rather than adjusting heading yet.", + "Its base is clearly planted in the sand not far ahead on my left, and the carved surface is beginning to separate into detail. I step forward again to bring myself alongside it.", + "The hieroglyph bands on the shaft are now readable, so only a few strides of open sand remain between me and the monument. I keep moving forward to close that last stretch.", + "The tall carved obelisk I am heading for now stands just left of my path, its base and lower shaft clearly resolved against the palm line. I am still several strides short of it, so I keep walking forward to close the remaining gap.", + "The obelisk's pedestal and the carved bands on its shaft are sharper and larger than a moment ago, confirming I am gaining on it. The sand between us is flat and clear, so another step forward should bring me nearer.", + "The obelisk now fills the left side of my view from base to beyond the top of my sight, so I am within a few paces of it. I keep advancing to draw level with its foot.", + "My straight heading has carried the obelisk out to the left edge, with only its corner still in view while open ground lies ahead. Turning left should swing the monument back in front of me so my remaining steps close on it directly.", + "The turn worked: the inscribed shaft and its stepped plinth now sit squarely in front of me. With that face centered and only a short stretch of sand left, I step forward to reach it.", + "The carved stone face is close enough that individual glyphs and the plinth moulding dominate my view. One more step should put me right at the monument's foot.", + "The obelisk's carved face fills my whole view at arm's length, so I am standing at its foot. The task is complete and there is nothing further to reach." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t3_b/infos.json b/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2d4ab408f1808a7eda9b2b20ef27243ae5db4fb6 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t3_b/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Approach the right tall obelisk, then move to the left tall obelisk.", + "Type": 3, + "Start_Pose": [ + 52049.636, + -15438.253, + -731.989, + 0.0, + -112.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 52049.636, + -15438.253, + -731.989, + 0.0, + -112.32, + 0.0 + ], + [ + 52001.838, + -15554.682, + -734.454, + 0.0, + -112.32, + 0.0 + ], + [ + 51954.039, + -15671.112, + -736.445, + 0.0, + -112.32, + 0.0 + ], + [ + 51906.241, + -15787.541, + -739.093, + 0.0, + -112.32, + 0.0 + ], + [ + 51858.442, + -15903.97, + -741.187, + 0.0, + -112.32, + 0.0 + ], + [ + 51810.644, + -16020.399, + -743.164, + 0.0, + -112.32, + 0.0 + ], + [ + 51762.845, + -16136.829, + -745.462, + 0.0, + -112.32, + 0.0 + ], + [ + 51715.046, + 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"Rationale": [ + "Two slim obelisks rise ahead of me across the open sand, one to the left and the further one to the right of my heading. My errand starts at the right-hand one, and it already sits close to the center of my view. The sand between us looks clear, so I will walk straight forward.", + "The right-hand obelisk has grown slightly taller in my view, confirming my heading points at it. Nothing blocks the flat sand ahead, so another forward step should keep closing the gap.", + "The massive lintel-topped block on my right is drifting outward as I advance, while the slender obelisk I am heading for stays near the middle of my view. That geometry tells me my line is still good, so I keep walking forward.", + "My destination obelisk is still distant, standing beyond the row of columns, but it grows steadily as I press ahead. The other tall shaft remains off to my left for later. I continue straight forward.", + "The sand ahead is open and level, and the obelisk I want keeps rising in my view without drifting sideways. No correction of heading is needed, so I take another stride forward.", + "The tall stone slab on my right edge is sliding past me as I gain ground, and my target obelisk is clearly nearer than before. Distance is still the only thing between us, so I walk on.", + "The palms and columns beyond my target are resolving into more detail, another sign I am steadily closing in. My chosen obelisk still stands squarely ahead with clear sand in between, so I keep advancing.", + "The other obelisk has slipped to my left margin while the one I am approaching holds the middle of my path. That separation makes my current heading unambiguous, so I continue straight forward toward it.", + "The tall obelisk of the right-hand pair rises straight ahead down the open sand corridor, while the other tall shaft sits far off at my left edge. Nothing blocks the lane between the massive block on my right and the colonnade on my left, so I walk forward to close the gap on the right one first.", + "The obelisk ahead has grown noticeably taller in my view, confirming my heading is carrying me toward it. The sand between me and its base is still empty, so I keep walking forward without adjusting my direction.", + "The shaft ahead now reaches well up the sky and its base sits clearly on the sand, so I am still well short of it. My line stays centered on it between the columned ruin on the left and the stone mass on the right, and I step forward again.", + "The obelisk continues to swell in front of me while the palms and wall behind it stay small, showing there is still distance to cover. My path is flat and open, so another forward step should keep shrinking that gap.", + "The tall shaft ahead is now the dominant object in my view, but its foot is still several strides away across the sand. I have no reason to turn since it sits squarely on my heading, so I walk forward again.", + "Detail is starting to show on the obelisk's stone as I close in, and it remains centered slightly left of the large block on my right. Since I am not yet beside it, I keep advancing straight.", + "The obelisk's top now runs off the upper edge of my view, so I am getting close, though its base is still ahead of me on the sand. I continue walking forward along the same clear line.", + "The shaft ahead has widened and its carved face is catching the light, yet I am still a few strides from standing at it. The colonnade on my left and the block on my right leave the lane open, so I press forward again.", + "The tall obelisk on the right side of the plaza now rises just left of my heading and its shaft fills more of my view than before. It is still well ahead across open sand, so I will keep walking straight toward it.", + "The obelisk I am closing on keeps growing and the colonnade beside it slides outward, confirming steady gain on it. Nothing blocks the sand between us, so another forward step is the direct way to shorten the remaining distance.", + "My path is still aimed slightly right of the tall shaft, and its base is now visible above the sand ahead. Walking forward again should continue to bring me in on it.", + "The obelisk ahead keeps thickening in my view while the palms on the right drift outward, which tells me I am still gaining ground on it. I will take another step forward along this same line.", + "The tall shaft now sits just left of my center of view and its footing is clearly closer than a few paces ago. Continuing straight ahead should keep narrowing the gap without any need to turn yet.", + "I am still several paces short of the tall obelisk, though its carved shaft now dominates the middle of my view. Another forward step is the simplest way to keep closing.", + "The obelisk's plinth is now clearly resolved ahead of me and its surface detail is becoming legible, so the remaining distance is small but not yet closed. I will walk forward again to draw up to it.", + "Carved bands on the shaft are now readable, confirming I am only a short walk from the tall obelisk on this side of the plaza. I will step forward once more to bring myself right up beside it.", + "The tall obelisk on the right side of the colonnade now rises directly ahead of me, its carved shaft and base clearly resolved. Open sand lies between us with nothing blocking the line, so I keep walking straight at it to close the remaining gap.", + "The obelisk has grown taller in my view and its hieroglyph bands are now legible, confirming I am steadily closing on it. It still stands several strides off, so another forward step should bring me nearer.", + "The obelisk shaft now spans much of the center of my view and its plinth sits just ahead on the sand. My heading is still square on it, so I keep advancing rather than adjusting direction.", + "The carved face has drifted toward my left as I come alongside it, and the base is only a short walk away. I step forward again to bring myself right up against this obelisk.", + "The obelisk now towers over the left half of my view with its inscribed plinth close enough to see individual figures. One more stride should put me at its foot.", + "The inscribed stone of the right-hand tall obelisk fills my view at arm's length, its plinth carvings right beside me. I am standing at this obelisk. I mark reaching it and turn my attention to the other tall obelisk, which stands off behind my left shoulder.", + "Standing this close, the inscribed stone blocks nearly everything ahead and the other tall obelisk is nowhere in my view. Swinging left should sweep my gaze off this shaft and open up the ground where that second obelisk stands.", + "The turn has already peeled my view off the carved corner and brought open sand and a rock outcrop into the left of my sight, but the second tall obelisk is still not in front of me. I keep rotating left to carry my heading further around toward it.", + "The carved shaft I just reached still fills the right side of my view, and only bare sand and a low rock outcrop lie ahead of me. Since the other tall obelisk is not yet anywhere in sight, I will keep swinging left to sweep more of the open ground into view.", + "My view has opened onto dunes, a rocky ridge and a distant pyramid, but no slender stone shaft stands anywhere in it. I will continue turning left to keep uncovering ground until the other tall obelisk comes into sight.", + "Ahead of me now are a squat stone gateway on the left, the rock ridge on the right and the pyramid between them, still no tall shaft. I will turn left once more to bring the next stretch of the plaza into my view.", + "A tall inscribed obelisk has come into view on the left side of my sight, standing beside the stone gateway. Turning left again should bring that shaft closer to the middle of my view so I can walk straight at it.", + "The tall obelisk now rises just left of center with unbroken sand running up to its base. With my heading good enough, I will start walking straight ahead to close the distance to it.", + "The obelisk sits slightly larger in my view and remains near the center of my path. Nothing blocks the sand between us, so I will keep walking toward it.", + "The shaft ahead is noticeably taller in my view and its base is now clearly resolved against the sand. I am still some way off, so I will take another step forward along the same line.", + "The carved obelisk fills more of my view and its pedestal is coming clear, yet I am not yet standing at it. I will continue walking straight ahead to close the remaining gap.", + "The tall inscribed obelisk stands just left of center ahead, its carved shaft now filling much of my view while the trilithon gateway sits off to its right. My heading is already lined up on it, so I will walk forward to close the remaining sand.", + "The obelisk has grown wider and its base is now clearly visible on the open sand, confirming the last step brought me nearer. Nothing blocks the direct line, so another stride forward should keep shrinking the gap.", + "The engraved column is dead ahead and its hieroglyph bands are readable now, so my heading needs no adjustment. I keep walking straight toward it.", + "The obelisk's plinth is now plainly visible at the bottom of the shaft, but I am still several strides short of standing at it. I advance again along the same straight line.", + "The tall stone now towers over most of my view and the gateway behind it is being eclipsed, showing I am closing fast. A little more ground remains before I am beside it, so I step forward once more.", + "Only the lower portion of the carved obelisk and its stepped base still fit in my view, so I am very close. I move forward again to bring myself right up against it.", + "The base block and its decorated band nearly fill my view, leaving only a short stretch of sand before the stone. One more step forward should place me directly at the obelisk.", + "The carved face of the tall left obelisk fills my view at arm's reach. Both destinations have been reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t5_a_p/infos.json b/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a06800f51ec5e9f438265dee531e20bed0fa0e3 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x052050_y-015438_z-000732_t5_a_p/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Pick up the green bell pepper at the left tall obelisk.", + "Type": 5, + "Start_Pose": [ + 52049.636, + -15438.253, + -731.989, + 0, + -112.32, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 50799.961, + -17015.568, + -804.5, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 52049.636, + -15438.253, + -731.989, + 0, + -112.32, + 0 + ], + [ + 52001.838, + -15554.682, + -734.454, + 0.0, + -112.32, + 0.0 + ], + [ + 51954.039, + -15671.112, + -736.445, + 0.0, + -112.32, + 0.0 + ], + [ + 51906.241, + -15787.541, + -739.093, + 0.0, + -112.32, + 0.0 + ], + [ + 51858.442, + -15903.97, + -741.187, + 0.0, + -112.32, + 0.0 + ], + [ + 51810.644, + -16020.399, + -743.164, + 0.0, + -112.32, + 0.0 + ], + [ + 51762.845, + -16136.829, + -745.462, + 0.0, + -112.32, + 0.0 + ], + [ + 51715.046, + -16253.258, + -748.311, + 0.0, + -112.32, + 0.0 + ], + [ + 51667.248, + -16369.687, + -750.925, + 0.0, + -112.32, + 0.0 + ], + [ + 51667.248, + -16369.687, + -750.925, + 0.0, + -137.32, + 0.0 + ], + [ + 51574.722, + -16455.008, + -752.201, + 0.0, + -137.32, + 0.0 + ], + [ + 51482.197, + -16540.328, + -753.487, + 0.0, + -137.32, + 0.0 + ], + [ + 51389.672, + -16625.648, + -754.825, + 0.0, + -137.32, + 0.0 + ], + [ + 51297.146, + -16710.968, + -756.807, + 0.0, + -137.32, + 0.0 + ], + [ + 51204.621, + -16796.288, + -758.105, + 0.0, + -137.32, + 0.0 + ], + [ + 51112.095, + -16881.609, + -759.375, + 0.0, + -137.32, + 0.0 + ], + [ + 51019.57, + -16966.929, + -761.149, + 0.0, + -137.32, + 0.0 + ], + [ + 51019.57, + -16966.929, + -761.149, + 0.0, + -137.32, + 0.0 + ], + [ + 51019.57, + -16966.929, + -761.149, + 0.0, + -162.32, + 0.0 + ], + [ + 50899.656, + -17005.152, + -761.37, + 0.0, + -162.32, + 0.0 + ], + [ + 50899.656, + -17005.152, + -761.37, + 0.0, + -162.32, + 0.0 + ], + [ + 50899.656, + -17005.152, + -761.37, + 0.0, + -162.32, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50799.961, + -17015.568, + -804.5, + 0.0, + 0.0, + 0.0 + ], + [ + 50906.722, + -17025.312, + -791.622, + -28.202, + -112.175, + 1.862 + ], + [ + 50906.722, + -17025.312, + -791.622, + -28.202, + -112.175, + 1.862 + ] + ], + "PD_Dist_2D": [ + 2012.4, + 1891.7, + 1771.9, + 1652.8, + 1534.9, + 1418.4, + 1303.6, + 1191.0, + 1081.4, + 1081.4, + 956.3, + 831.4, + 707.0, + 583.1, + 460.3, + 339.7, + 224.9, + 224.9, + 224.9, + 100.2, + 21.4, + 21.4 + ], + "Rationale": [ + "Two tall obelisks rise ahead across the sand, and a small green speck sits at the base of the left one. That green item matches the bell pepper I need, so I will walk straight forward to close the long gap.", + "The obelisks have grown slightly larger, confirming my heading carries me toward them. The green object at the left obelisk's base is still tiny and far, so I keep walking forward on this straight line.", + "The path across the sand stays clear, with the massive stone block well off to my right rather than in my way. The green pepper at the left obelisk remains distant, so another forward step is the direct way to reduce the range.", + "The left obelisk is noticeably nearer and the green pepper at its base is now a clearer round spot. Nothing blocks my line of travel, so I continue advancing before making any heading adjustment.", + "I am still several strides short of the left obelisk, though its base and the green pepper beside it keep resolving more clearly. Walking straight ahead again should bring me close enough to judge a turn toward the pepper.", + "The small dark green shape at the foot of the tall left obelisk is still far off across the open sand, though it grows a little with each step. Nothing blocks the lane between me and that obelisk, so I will keep walking straight ahead to close the gap.", + "The green pepper beside the left obelisk base is now clearer and slightly larger, confirming I am closing on the right target. The straight path stays open with the large stone block well off to my right, so another forward step is the simplest way to continue.", + "The green pepper resting at the foot of the left obelisk is clearly recognizable now, sitting left of my heading. I am still too far to reach it, so I will advance again before adjusting my facing.", + "Continuing straight would carry me past the pepper, since it now sits well to the left of my heading near the obelisk base while my path leads into the open corridor ahead. I will turn left to point my walking direction at the pepper before covering the remaining distance.", + "After the turn the green pepper sits close to the center of my view at the base of the tall obelisk, so my heading now points at it. The sand between us is flat and clear, so I will walk forward to shorten the remaining distance.", + "The green bell pepper sits at the base of the tall obelisk slightly left of my heading, still too far for a grasp. I will walk forward to close that gap while keeping the pepper in view beside the obelisk shaft.", + "The pepper by the obelisk base has grown noticeably larger, so my current heading is carrying me straight toward it. Nothing blocks the open sand between us, so I will keep walking to shorten the remaining distance.", + "The bell pepper is clearly resolved now against the obelisk plinth, but it is still several paces beyond arm's reach. I will step forward again to keep reducing the distance before attempting any grasp.", + "The pepper now sits low and just left of center, its stem visible, which confirms I am closing on the correct object at the tall obelisk. I will advance again since it remains too distant to pick.", + "The pepper fills a good part of the lower view but still sits ahead of my feet rather than within grabbing range. I will take another step forward to bring it close enough for a reliable grasp attempt.", + "The green bell pepper stands out clearly on the sand at the foot of the left tall obelisk, close and slightly left of my heading. It is still a little too far out for a reliable grasp, so I take another step to close that remaining gap.", + "The pepper is now very near, filling the lower left of my view at the base of the tall obelisk. From this range it should be within reach, so I will reach down and attempt to grasp it, even though it sits toward my left side rather than squarely ahead.", + "My hands are still empty, so that attempt did not secure the pepper. It was sitting off at my left edge rather than centered in front of me, so I turn left to put it squarely on my heading before trying again.", + "The pepper is now centered directly ahead of me against the obelisk base, correcting the off-center geometry that left my previous grasp empty-handed. I will step forward so it lies right at my feet and well inside reach.", + "The pepper is now immediately in front of me at the obelisk base, so close that only its top edge shows at the bottom of my view. My hands remain empty after the earlier attempt from farther out, so I will reach down and try to grasp it from this closer, centered stance.", + "The green bell pepper is now held in my hand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_a/infos.json b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3a8113725f520af00eccb20a45e3378ca6f71c59 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the first palm tree on the left near the cliff.", + "Type": 2, + "Start_Pose": [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + [ + 53558.994, + -28063.442, + -966.463, + 0.0, + 54.72, + -0.0 + ], + [ + 53631.686, + -27960.698, + -968.093, + 0.0, + 54.72, + -0.0 + ], + [ + 53704.379, + -27857.955, + -972.992, + 0.0, + 54.72, + -0.0 + ], + [ + 53777.072, + -27755.211, + -976.832, + 0.0, + 54.72, + -0.0 + ], + [ + 53777.072, + -27755.211, + -976.832, + 0.0, + 29.72, + -0.0 + ], + [ + 53886.375, + -27692.815, + -981.586, + 0.0, + 29.72, + -0.0 + ], + [ + 53995.678, + -27630.419, + -982.393, + 0.0, + 29.72, + -0.0 + ], + [ + 54104.982, + -27568.023, + -981.27, + 0.0, + 29.72, + -0.0 + ], + [ + 54214.285, + -27505.627, + -977.177, + 0.0, + 29.72, + -0.0 + ], + [ + 54323.588, + -27443.23, + -967.458, + 0.0, + 29.72, + -0.0 + ], + [ + 54432.892, + -27380.834, + -960.354, + 0.0, + 29.72, + -0.0 + ], + [ + 54542.195, + -27318.438, + -961.906, + 0.0, + 29.72, + -0.0 + ], + [ + 54651.498, + -27256.042, + -974.742, + 0.0, + 29.72, + -0.0 + ], + [ + 54760.802, + -27193.646, + -989.8, + 0.0, + 29.72, + -0.0 + ], + [ + 54870.105, + -27131.25, + -999.532, + 0.0, + 29.72, + -0.0 + ], + [ + 54870.105, + -27131.25, + -999.532, + 0.0, + 29.72, + -0.0 + ] + ], + "Rationale": [ + "Along the rock wall on my left, several palms rise from the sand and they look much alike, so I fix on the nearest one at the left end of that line, its slender trunk standing free against the dark cliff face. Low ferns fill the ground between us. I walk forward to close that gap.", + "The cliff face and the palm I chose at its near end have grown slightly larger ahead and left of my heading. Nothing blocks the sand strip in front of me. I keep walking forward to shorten the distance before adjusting my direction.", + "The fern clumps that crowded my view have dropped lower and the bare trunk of the palm beside the cliff is now clearly separated from the rock behind it. It still lies to the left of where I am pointed, but distance matters more than heading right now. I step forward again.", + "Open sand now runs ahead of me toward the base of the rock wall, and the palm I am heading for stands at its near left with its trunk reaching down to the ground. A straight step keeps closing the range without committing to a turn yet. I move forward once more.", + "My chosen palm now sits well off to the left side of my view while my heading points at empty sand and the far buildings. Continuing straight would carry me past it. I turn left to bring that trunk toward the middle of my path.", + "The turn worked, and the palm I picked out is now near the center of my view with its trunk running down to the sand at the foot of the cliff. Two further palms stand behind and right of it, but the thick trunk directly ahead is the one I am following. I walk forward along that line.", + "The rock wall has spread wider across my view and the palm trunk ahead of me is noticeably thicker, so my heading is carrying me straight at it. Only low ferns lie between us. I continue forward.", + "The palm I am walking to still holds the center of my view and its base is clearly planted in the sand short of the rock wall. There is still a stretch of open ground before I am beside it. I step forward again to close in.", + "The trunk I am following now cuts across the middle of my view with the two farther palms tucked close behind it against the rock. Sand runs clear up to its base with only scattered fern clumps to either side. I keep walking straight at it.", + "The trunk has thickened again and the ferns that were level with it have slid outward toward my flanks, so the ground between us is shrinking steadily. Nothing stands in the lane I am walking. I advance once more.", + "My palm's trunk now reads clearly in front of the shadowed rock rather than merging with it, and the neighbouring trunks sit distinctly farther back and to the right. The gap is still more than a stride or two. I step forward again.", + "The bark texture on the trunk ahead is starting to resolve into ridges, which tells me I am getting close, though its base still sits beyond the nearest fern clumps. I continue straight toward it.", + "The trunk now fills a broad band of my view and its ringed bark is plainly legible, while the ferns have opened a gap on the sand directly in front of me. A little more ground remains before I am standing beside it. I walk on.", + "I can see the foot of the trunk meeting the sand just ahead, with its shadow stretching toward me. That base is where I want to end up, and it is still a short walk off. I step forward again.", + "The trunk towers over my view now and its base is only a stride or so beyond the fern at my feet. One more step should bring me right up against it.", + "The palm's trunk fills my view at arm's length, its base in the sand right before me against the cliff. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_b/infos.json b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1bb3de70c471935a1697768f6991f080e9d3566 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_b/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Head toward the second palm tree from the left in the cluster.", + "Type": 2, + "Start_Pose": [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + [ + 53558.994, + -28063.442, + -966.463, + 0.0, + 54.72, + -0.0 + ], + [ + 53631.686, + -27960.698, + -968.093, + 0.0, + 54.72, + -0.0 + ], + [ + 53704.379, + -27857.955, + -972.992, + 0.0, + 54.72, + -0.0 + ], + [ + 53777.072, + -27755.211, + -976.832, + 0.0, + 54.72, + -0.0 + ], + [ + 53849.764, + -27652.467, + -979.247, + 0.0, + 54.72, + -0.0 + ], + [ + 53922.457, + -27549.724, + -979.458, + 0.0, + 54.72, + -0.0 + ], + [ + 53995.15, + -27446.98, + -976.806, + 0.0, + 54.72, + -0.0 + ], + [ + 54067.843, + -27344.236, + -971.781, + 0.0, + 54.72, + -0.0 + ], + [ + 54140.535, + -27241.493, + -962.559, + 0.0, + 54.72, + -0.0 + ], + [ + 54213.228, + -27138.749, + -951.373, + 0.0, + 54.72, + -0.0 + ], + [ + 54285.921, + -27036.005, + -941.176, + 0.0, + 54.72, + -0.0 + ], + [ + 54285.921, + -27036.005, + -941.176, + 0.0, + 29.72, + -0.0 + ], + [ + 54395.224, + -26973.609, + -941.547, + 0.0, + 29.72, + -0.0 + ], + [ + 54504.527, + -26911.213, + -949.828, + 0.0, + 29.72, + -0.0 + ], + [ + 54613.831, + -26848.817, + -963.32, + 0.0, + 29.72, + -0.0 + ], + [ + 54723.134, + -26786.421, + -977.109, + 0.0, + 29.72, + -0.0 + ], + [ + 54832.437, + -26724.025, + -986.09, + 0.0, + 29.72, + -0.0 + ], + [ + 54941.741, + -26661.629, + -992.039, + 0.0, + 29.72, + -0.0 + ], + [ + 55051.044, + -26599.233, + -993.778, + 0.0, + 29.72, + -0.0 + ], + [ + 55160.347, + -26536.837, + -992.689, + 0.0, + 29.72, + -0.0 + ], + [ + 55269.651, + -26474.441, + -991.807, + 0.0, + 29.72, + -0.0 + ], + [ + 55378.954, + -26412.044, + -991.205, + 0.0, + 29.72, + -0.0 + ], + [ + 55488.257, + -26349.648, + -990.846, + 0.0, + 29.72, + -0.0 + ], + [ + 55597.561, + -26287.252, + -990.617, + 0.0, + 29.72, + -0.0 + ], + [ + 55706.864, + -26224.856, + -990.128, + 0.0, + 29.72, + -0.0 + ], + [ + 55816.167, + -26162.46, + -989.25, + 0.0, + 29.72, + -0.0 + ], + [ + 55925.471, + -26100.064, + -987.95, + 0.0, + 29.72, + -0.0 + ], + [ + 56034.774, + -26037.668, + -986.481, + 0.0, + 29.72, + -0.0 + ], + [ + 56144.077, + -25975.272, + -984.822, + 0.0, + 29.72, + -0.0 + ], + [ + 56144.077, + -25975.272, + -984.822, + 0.0, + 54.72, + -0.0 + ], + [ + 56216.77, + -25872.528, + -981.712, + 0.0, + 54.72, + -0.0 + ], + [ + 56289.463, + -25769.784, + -979.086, + 0.0, + 54.72, + -0.0 + ], + [ + 56362.155, + -25667.041, + -975.968, + 0.0, + 54.72, + -0.0 + ], + [ + 56434.848, + -25564.297, + -972.238, + 0.0, + 54.72, + -0.0 + ], + [ + 56507.541, + -25461.554, + -967.89, + 0.0, + 54.72, + -0.0 + ], + [ + 56507.541, + -25461.554, + -967.89, + 0.0, + 54.72, + -0.0 + ] + ], + "Rationale": [ + "Reading the cluster from its left edge, the first crown hangs at the top corner, and next to it stands a taller palm whose bare trunk drops straight down in front of the pale rock ridge. That second one is my target, and I will hold onto that trunk against the rock rather than a count. The sand ahead is open, so I step toward it.", + "The palm I picked still sits slightly left of center with its trunk set against the rock face, and the shrub tops in front of me have dropped lower in view. My heading already points that way, so another straight stride is the shortest closing move.", + "More of my palm's trunk is now exposed down toward the shrub line, which tells me the gap is closing. The sand between us stays clear of anything I would have to walk around, so I keep going forward.", + "The rock ridge and my target palm both fill more of the view, and the fronds that crowded the near ground are sliding out to the sides. Nothing about my heading needs changing yet, so I walk straight on.", + "The low shrubs that masked the base of my palm have thinned, and its trunk now reads all the way down to the sand in front of the rock. Only distance separates us, so I take another step forward.", + "My palm is noticeably nearer, its trunk standing dark against the sunlit rock wall behind it. The stretch of open sand in front of me is unobstructed, so continuing straight remains the efficient way in.", + "The ridge now spans most of my view and my palm's trunk rises well left of center, still planted in front of that rock face. I am closer but not yet beside it, so I keep advancing on the same line.", + "The palm at the far left of the cluster has drawn close along my left edge, so I stop counting from that end and simply track the trunk standing against the sunlit rock face ahead. That is still my tree and it lies straight in front, so I step forward again.", + "My tree's trunk still rises just left of center with the sunlit rock shoulder directly behind it, so my heading needs no correction. The low sand between the scattered cycads is open, and I keep walking straight in.", + "The rock ridge has grown taller in view and my palm's trunk now reads as a thick dark column rather than a distant stem, so distance is falling steadily. Nothing blocks the sand ahead, so I take another stride.", + "A second trunk from the same cluster now shares the frame near my tree, but mine is the one whose base sits directly in front of the pale sunlit boulder. I hold that pairing and keep advancing along the same line.", + "My palm has drifted toward the right of center as I closed in, and the shrubs directly ahead now sit off my line to it. A modest swing to the left should recenter its trunk in my path before I press on.", + "The turn has brought my palm's trunk back into the middle of my view with the bright rock wall rising just behind it. With the heading corrected, I walk straight ahead again.", + "The crown of my palm is climbing past the top edge of my view, which means I am well inside the last stretch. The sand between the low cycads stays open, so I keep closing.", + "Only the paired trunks of the cluster remain in front of me now, and mine is the nearer one standing right against the rock shoulder. Distance is all that is left, so I keep stepping toward it.", + "The fronds have lifted entirely out of my view and the trunks now run as bare columns from the top of the frame down to the sand, a sign I am nearly beneath them. My route stays clear, so I continue forward.", + "Both crowns sit above my field of view now, so I read the pair by their trunks alone: mine is the left one, square on my line, with its neighbour standing a little to its right. The sand between the cycads is open, so I keep walking in.", + "The rock ridge has risen higher across my view, which tells me the ground between us is shortening. My trunk still holds near the middle of my path, so no correction is needed and I stride on.", + "The spacing between the two trunks has opened out as I close, with the farther one easing toward the right side of my view. Mine stays where my stride is aimed, so I continue straight ahead.", + "The pitted rock face behind my tree now shows its texture plainly, and the scattered cycads leave my lane clear. Only distance stands between me and that trunk, so I walk on.", + "My trunk is thickening in view while the second one slides further right, just what I expect while closing on the nearer left-hand tree. Nothing needs steering around, so another stride forward.", + "The foot of my trunk now reads behind the low cycads rather than far out on the open flat, so I am into the last stretch. I keep advancing on the same bearing.", + "The other trunk has drifted near my right edge, so the two no longer read as a pair from here and I simply follow the one standing ahead of me. The sand in front stays clear, so I press on.", + "That companion trunk sits at the very margin of my view now, leaving my tree alone against the rock wall ahead. It is still short of arm's reach, so I take another step toward it.", + "Only scattered cycads lie between me and my tree now, its trunk holding just right of my line against the shadowed rock. Nothing on that strip of sand needs going around, so I walk in.", + "The companion trunk has slipped past my right shoulder and out of sight, leaving a single bare column ahead, and that is the one I have been following. The ground to it stays clear, so I keep closing.", + "My trunk has thickened noticeably and its foot now reads plainly among the cycads rather than blending into the rock behind. Distance alone remains, so another stride toward it.", + "The banding on the bark is starting to resolve, which tells me only a short run of sand is left. My heading still points at that trunk, so I press on without adjusting.", + "The rock ridge behind has spread wide and low while my trunk rises well clear of the cycads, both signs I am into the final few paces. The sand in front is unbroken, so I keep walking.", + "As I have closed in, the trunk has settled off to the right of where my stride is pointed, and walking on straight would take me past its left side. A short swing right should put it back on my line for the last approach.", + "The swing has brought the trunk squarely into my path, standing tall and near with open sand running right up to its base. With the heading set, I step in.", + "The bark's ridges are now clear enough to read individually and the trunk towers over the cycads beside it, so I am within a couple of paces. It is still not at arm's length, so I keep advancing.", + "The trunk fills a wide band just left of my line now, its ringed bark reading at close range against the rock. A short stretch of open sand still lies between me and its base, so I step in again.", + "The trunk has swung further toward my left side and grown broad enough that the rock behind it is mostly hidden. One more stride should bring me level with its base rather than leave me short of it.", + "The bark now dominates the left edge and I can see the sand curling around its foot, so I am nearly alongside. A last short step should put me right beside the trunk.", + "The palm's trunk stands at arm's length along my left side, filling the near edge of my view. I have reached it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_c/infos.json b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e55920eefe3b1ff86170da4bea12dbb5cc56fc --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_c/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Approach the third palm tree counting from the left side.", + "Type": 2, + "Start_Pose": [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + [ + 53558.994, + -28063.442, + -966.463, + 0.0, + 54.72, + -0.0 + ], + [ + 53631.686, + -27960.698, + -968.093, + 0.0, + 54.72, + -0.0 + ], + [ + 53704.379, + -27857.955, + -972.992, + 0.0, + 54.72, + -0.0 + ], + [ + 53777.072, + -27755.211, + -976.832, + 0.0, + 54.72, + -0.0 + ], + [ + 53849.764, + -27652.467, + -979.247, + 0.0, + 54.72, + -0.0 + ], + [ + 53922.457, + -27549.724, + -979.458, + 0.0, + 54.72, + -0.0 + ], + [ + 53995.15, + -27446.98, + -976.806, + 0.0, + 54.72, + -0.0 + ], + [ + 54067.843, + -27344.236, + -971.781, + 0.0, + 54.72, + -0.0 + ], + [ + 54140.535, + -27241.493, + -962.559, + 0.0, + 54.72, + -0.0 + ], + [ + 54213.228, + -27138.749, + -951.373, + 0.0, + 54.72, + -0.0 + ], + [ + 54285.921, + -27036.005, + -941.176, + 0.0, + 54.72, + -0.0 + ], + [ + 54358.613, + -26933.262, + -939.729, + 0.0, + 54.72, + -0.0 + ], + [ + 54431.306, + -26830.518, + -943.602, + 0.0, + 54.72, + -0.0 + ], + [ + 54503.999, + -26727.774, + -949.861, + 0.0, + 54.72, + -0.0 + ], + [ + 54576.692, + -26625.031, + -958.863, + 0.0, + 54.72, + -0.0 + ], + [ + 54649.384, + -26522.287, + -966.026, + 0.0, + 54.72, + -0.0 + ], + [ + 54722.077, + -26419.544, + -971.758, + 0.0, + 54.72, + -0.0 + ], + [ + 54794.77, + -26316.8, + -977.279, + 0.0, + 54.72, + -0.0 + ], + [ + 54867.463, + -26214.056, + -979.659, + 0.0, + 54.72, + -0.0 + ], + [ + 54940.155, + -26111.313, + -979.0, + 0.0, + 54.72, + -0.0 + ], + [ + 55012.848, + -26008.569, + -976.513, + 0.0, + 54.72, + -0.0 + ], + [ + 55085.541, + -25905.825, + -975.033, + 0.0, + 54.72, + -0.0 + ], + [ + 55158.233, + -25803.082, + -970.57, + 0.0, + 54.72, + -0.0 + ], + [ + 55158.233, + -25803.082, + -970.57, + 0.0, + 29.72, + -0.0 + ], + [ + 55267.537, + -25740.686, + -968.223, + 0.0, + 29.72, + -0.0 + ], + [ + 55376.84, + -25678.289, + -966.344, + 0.0, + 29.72, + -0.0 + ], + [ + 55486.143, + -25615.893, + -965.052, + 0.0, + 29.72, + -0.0 + ], + [ + 55595.447, + -25553.497, + -963.222, + 0.0, + 29.72, + -0.0 + ], + [ + 55704.75, + -25491.101, + -961.279, + 0.0, + 29.72, + -0.0 + ], + [ + 55814.053, + -25428.705, + -960.444, + 0.0, + 29.72, + -0.0 + ], + [ + 55814.053, + -25428.705, + -960.444, + 0.0, + 29.72, + -0.0 + ] + ], + "Rationale": [ + "Counting the palms across my view from the left, three stand clustered together against the rock ridge and two more rise further right, so my target is the rightmost trunk of that near cluster. It is far off across open sand, roughly straight ahead and a little left. I will start walking toward it.", + "The palm I chose, the rightmost of the clustered group by the rock face, is still distant and only slightly left of my heading. The low ferns in front of me are scattered rather than blocking, so nothing forces a detour. I will take another step forward.", + "More open sand has opened between the shrubs and the palm cluster, and my tree still lines up close to my current heading. There is no reason to correct direction yet, so I will keep advancing.", + "The clustered trunks are separating more clearly as I get nearer, and the one I am after remains the right-hand member of that group, standing before the sunlit rock. The route ahead is flat and clear. Another forward step should keep closing the gap.", + "The palms are noticeably taller in my view now, and the trunk I am tracking still sits just left of my heading with clear sand in front of it. Distance is the only thing left to remove, so I will continue straight ahead.", + "As I close in, the leftmost palm of the group is sliding toward the edge of my view, so I keep following the specific trunk itself rather than recounting the row. It still stands ahead and a little left against the rock wall. I will walk on.", + "My palm is still clearly ahead with its neighbour beside it, and the ground between us is bare sand broken only by low ferns. Nothing calls for a turn at this range. I will press forward again.", + "The gap to my palm is shrinking but I am still well short of standing beside it. My heading keeps it comfortably in view alongside the rock ridge, so no adjustment is worthwhile yet. I will keep advancing.", + "The two trunks of the near group rise close together ahead and a little left, and mine is the right-hand one standing before the pale sunlit rock. Only scattered ferns lie on that line, so a straight approach still works. I will step forward again.", + "The left end of the group has dropped out of my view, so there is no row left to count from here; I hold instead to the trunk that stands beside the bright rock face. It is still a good way off along open ground. I will keep walking.", + "Clear space now shows between my palm and the one beside it, and the ridge behind them has grown taller across my view, both signs the gap is shrinking. The sand in front stays open apart from knee-high ferns. Another step should bring me closer.", + "I am still short of the trunk I am after, though its bark reads as texture now rather than a dark silhouette. It sits just left of straight ahead and nothing between us needs skirting. My heading stays as it is while I advance.", + "The crowns of my palm and its neighbour have climbed toward the top edge of my view, which only happens as I close in. The ferns underfoot are short and easily walked past. I will continue on the same line.", + "The fronds are now cut off above me, so I follow the bare trunks at their bases instead of the crowns. Mine and its companion both stand left of center with clean sand running up to them. I will walk on.", + "The base of my trunk still sits well back against the rock wall, so more ground remains than the height of the tree suggests. The sand on that line is flat and unobstructed. I will take another step toward it.", + "The rock wall behind my palm now fills most of my view, and the trunk itself stands ahead and slightly left with only sparse ferns beneath it. Nothing at this range calls for a change of heading. I will press forward.", + "My trunk and its companion now rise past the top of my view, cut off well above the fronds, which tells me the remaining distance is modest. The sand between us is smooth with only a few low ferns off to the side. I will keep walking on this line.", + "The pair of trunks is drifting toward the left third of my view as I pass along the ridge, and mine remains the right one of that pair. Their bases still sit back from me on open ground. Another stride should shorten that.", + "The ridge face has swollen across my view and the shaded rock behind the two trunks reads in detail now, so I am genuinely closing. Nothing on the sand between us needs going around. I will continue straight.", + "Both trunks stand well over to my left now, and I judge my position still short of being level with the right-hand one. Holding my heading keeps eating into that remaining gap without a wasted turn. I will step forward again.", + "The bark on my trunk is coarse and legible from here, its neighbour just behind and to its left. Since I am not yet beside it, straight walking remains the cheapest way to close in. I will press on.", + "My trunk has slid near the left border of my view, though its base still lies ahead of me rather than behind. A little more forward travel brings me abreast before any turn is worth spending. I will keep going.", + "The two trunks are now crowded against my left edge, so my heading is carrying me past their line rather than into it. One more step still gains ground on them before I correct my facing. I will take it.", + "My trunk has been squeezed to the very left margin, with open sand and the distant stone terrace filling everything ahead, so walking on would carry me wide of it. Swinging my facing to the left should bring the trunk back toward the middle of my view for a straight final approach.", + "The turn has brought my trunk back into the middle of my view, standing just right of its companion against the shaded rock. Open sand runs straight to its base with only low ferns beside it. I will walk in on this corrected line.", + "My trunk sits squarely ahead and its bark has widened noticeably, though I am not yet close enough to stand beside it. The heading needs no further correction. Another step should tighten the gap.", + "The rock behind has slid down my view while the trunk keeps growing, so I am closing steadily on it. Its base is still several strides off across bare sand. I will continue straight in.", + "The bark now shows its ringed banding clearly and the trunk fills a broad slice of my view. Standing this far back still is not being at the tree. I will step in closer.", + "The fern at the foot of my palm is now near enough to make out blade by blade, which places its base only a stride or two away. A little more travel puts me right against it. I will keep going.", + "My palm's trunk now towers over most of my view with its base and surrounding ferns close underfoot. One last short step should bring me right up beside it.", + "The trunk I chose fills my view at arm's length, its base and ferns directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_d/infos.json b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20a59621b2fe2bdaa70f33ede4150b9e0204b50d --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_d/infos.json @@ -0,0 +1,346 @@ +{ + "Instruction": "Navigate to the second palm tree standing alone on the right.", + "Type": 2, + "Start_Pose": [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + [ + 53558.994, + -28063.442, + -966.463, + 0.0, + 54.72, + -0.0 + ], + [ + 53631.686, + -27960.698, + -968.093, + 0.0, + 54.72, + -0.0 + ], + [ + 53631.686, + -27960.698, + -968.093, + 0.0, + 79.72, + -0.0 + ], + [ + 53654.147, + -27836.86, + -967.785, + 0.0, + 79.72, + -0.0 + ], + [ + 53676.608, + -27713.021, + -967.694, + 0.0, + 79.72, + -0.0 + ], + [ + 53699.068, + -27589.182, + -967.132, + 0.0, + 79.72, + -0.0 + ], + [ + 53721.529, + -27465.344, + -967.268, + 0.0, + 79.72, + -0.0 + ], + [ + 53743.989, + -27341.505, + -967.491, + 0.0, + 79.72, + -0.0 + ], + [ + 53766.45, + -27217.666, + -966.78, + 0.0, + 79.72, + -0.0 + ], + [ + 53788.911, + -27093.828, + -964.74, + 0.0, + 79.72, + -0.0 + ], + [ + 53811.371, + -26969.989, + -960.815, + 0.0, + 79.72, + -0.0 + ], + [ + 53833.832, + -26846.15, + -955.336, + 0.0, + 79.72, + -0.0 + ], + [ + 53856.293, + -26722.312, + -948.612, + 0.0, + 79.72, + -0.0 + ], + [ + 53878.753, + -26598.473, + -941.238, + 0.0, + 79.72, + -0.0 + ], + [ + 53901.214, + -26474.635, + -933.398, + 0.0, + 79.72, + -0.0 + ], + [ + 53923.675, + -26350.796, + -927.231, + 0.0, + 79.72, + -0.0 + ], + [ + 53946.135, + -26226.957, + -922.846, + 0.0, + 79.72, + -0.0 + ], + [ + 53968.596, + -26103.119, + -922.687, + 0.0, + 79.72, + -0.0 + ], + [ + 53991.056, + -25979.28, + -924.687, + 0.0, + 79.72, + -0.0 + ], + [ + 54013.517, + -25855.441, + -923.712, + 0.0, + 79.72, + -0.0 + ], + [ + 54035.978, + -25731.603, + -918.557, + 0.0, + 79.72, + -0.0 + ], + [ + 54058.438, + -25607.764, + -914.137, + 0.0, + 79.72, + -0.0 + ], + [ + 54080.899, + -25483.925, + -913.76, + 0.0, + 79.72, + -0.0 + ], + [ + 54103.36, + -25360.087, + -922.02, + 0.0, + 79.72, + -0.0 + ], + [ + 54125.82, + -25236.248, + -931.654, + 0.0, + 79.72, + -0.0 + ], + [ + 54148.281, + -25112.409, + -938.953, + 0.0, + 79.72, + -0.0 + ], + [ + 54170.742, + -24988.571, + -940.865, + 0.0, + 79.72, + -0.0 + ], + [ + 54193.202, + -24864.732, + -940.143, + 0.0, + 79.72, + -0.0 + ], + [ + 54193.202, + -24864.732, + -940.143, + 0.0, + 54.72, + -0.0 + ], + [ + 54265.895, + -24761.989, + -939.19, + 0.0, + 54.72, + -0.0 + ], + [ + 54338.588, + -24659.245, + -937.971, + 0.0, + 54.72, + -0.0 + ], + [ + 54338.588, + -24659.245, + -937.971, + 0.0, + 54.72, + -0.0 + ] + ], + "Rationale": [ + "Away from the clustered palms on the left, two stand alone over on the right side of the sand, and the second of those is the farther one whose bare trunk rises at the right edge beside the sandstone walls. Broad ferns crowd my view here, so I step forward over the open sand to close distance and keep that tall palm in sight.", + "The lone palm I chose still stands well off to my right, near the pale ruin wall, and nothing blocks the sand between us. I take another step forward to cut down that distance before adjusting my heading.", + "Walking straight is carrying me left of where I want to go, since the lone palm beside the ruins sits off to my right rather than ahead. I turn right by a notch so my heading points at that palm and I can advance in a straight line toward it.", + "After the turn, the tall solitary palm with the thick trunk now sits just right of center in front of me, with the stone ruins behind it. The sand between us is open, so I walk forward along this heading.", + "My target palm holds its place slightly right of center and its trunk is thickening as I gain ground, which tells me this heading is good. I continue forward across the sand.", + "The lone palm ahead on my right keeps growing in my view while the rock ridge slides away to the left, so my line is still true. Another step forward should bring me nearer without any need to reorient.", + "The trunk of the palm I am heading for now cuts through the right of my view at close to full height, and the ruins beyond it are sharpening. I step forward again to keep closing on it.", + "The palms I first picked from have fallen behind or out of my view, so I simply keep following this tall trunk standing clear on the sand to my right. It is still some way off, so I walk forward again.", + "The thick trunk I am following rises at the right edge of my view, with the columned ruin wall behind it, and open sand lies between us. I keep walking straight since nothing about this heading needs changing yet.", + "My palm's trunk is broadening on the right as the stepped pyramid and colonnade behind it grow larger, confirming I am closing rather than drifting. I take another stride across the sand.", + "Low fern clumps dot the sand but leave a clear lane straight ahead, and the tall trunk stays fixed at my right. I continue forward on the same line.", + "The rocky outcrop on my left is sliding wider and further behind, which tells me I am still gaining ground rather than circling. The palm I want remains the near one on the right, so I press on.", + "The trunk on my right now fills a good part of that edge, but I am not yet standing beside it. Another stride over the sand should shrink the remaining gap.", + "Nothing stands between me and the base of that palm except low ferns I can walk past. I hold the heading and step forward again.", + "The palm's crown has risen out of the top of my view while its trunk stays anchored on my right, a sign I am getting close underneath it. I keep advancing to reach its base.", + "The ruin's gateway and obelisk sit dead ahead across open sand, and my palm still marks the right side of my path. I walk on, since a little more ground remains before I stand at its trunk.", + "Now that I am nearer, the solitary palm I am walking to sits ahead of me rather than off at my right edge, its bare trunk rising alone from open sand with no other palm beside it. Only low fern clumps lie in the lane, so I walk on.", + "Its crown is already brushing the upper edge of my view and the stone gateway beyond has resolved into separate lintels, both signs that I am gaining ground on it. The sand between the fern clumps stays clear, so I take another stride.", + "The trunk ahead has thickened noticeably and sits squarely on my line of travel, so no adjustment is called for. I step forward again over the smooth sand.", + "The rocky bluff on my left has slid further back while the palm keeps its place just left of my centre, which tells me I am closing on it head-on. I walk on across the bare sand.", + "Its crown has passed above the top of my view, so the smooth trunk is all that marks the tree now and the base is what I should aim for. I keep walking straight at it.", + "Behind the palm the obelisk and the squared stone lintels stand out sharply, yet a good stretch of sand still separates me from the trunk. Another step forward on this line.", + "The trunk is broad enough now that I can read the ridges in its bark, but I am not yet standing alongside it. I press on over the open sand.", + "Only a scatter of fern clumps sits between me and the point where the trunk meets the sand, and none of them cuts across my line. I keep advancing toward its base.", + "The bare trunk stands just left of my centre with clear sand running up to it, and the fern clump ahead is low enough to walk through. I take another stride to shorten what remains.", + "The trunk's bark pattern is coarse and dark now, showing I am within a few strides of it. Nothing stands between me and its base, so I advance once more.", + "I can now see where the trunk meets the sand, which gives me a definite point to stand beside. A short gap of bare ground still lies in front of it, so I keep walking.", + "The trunk has widened into a solid column and its flared base sits plainly on the sand ahead of me. One more step should bring me almost level with it.", + "At this range the trunk has drifted off to the left of my heading, so walking straight would carry me past its side rather than up to it. I turn left by one notch to put the base back in front of me.", + "The turn has swung the palm's base into the middle of my view, with unbroken sand between us. I step forward along this corrected heading to close the last of the distance.", + "The trunk now towers over most of my view, though I am still a stride short of standing at it. I take one more step to arrive at its base.", + "The lone palm's trunk fills my view from just a step away, its base in the sand beside me. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_e/infos.json b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..400117e4e1ee84e5b0b887bd3f050667e49f6b24 --- /dev/null +++ b/dataset/trajectory/Pyramid/task_x053486_y-028166_z-000969_t2_e/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Proceed to the palm tree standing closest to the rock ridge.", + "Type": 2, + "Start_Pose": [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 53486.3, + -28166.186, + -969.479, + 0.0, + 54.72, + -0.0 + ], + [ + 53558.994, + -28063.442, + -966.463, + 0.0, + 54.72, + -0.0 + ], + [ + 53631.686, + -27960.698, + -968.093, + 0.0, + 54.72, + -0.0 + ], + [ + 53631.686, + -27960.698, + -968.093, + 0.0, + 29.72, + -0.0 + ], + [ + 53740.99, + -27898.302, + -976.786, + 0.0, + 29.72, + -0.0 + ], + [ + 53850.293, + -27835.906, + -983.236, + 0.0, + 29.72, + -0.0 + ], + [ + 53959.596, + -27773.51, + -985.799, + 0.0, + 29.72, + -0.0 + ], + [ + 54068.9, + -27711.114, + -985.533, + 0.0, + 29.72, + -0.0 + ], + [ + 54178.203, + -27648.718, + -984.094, + 0.0, + 29.72, + -0.0 + ], + [ + 54287.506, + -27586.322, + -979.428, + 0.0, + 29.72, + -0.0 + ], + [ + 54396.809, + -27523.926, + -970.968, + 0.0, + 29.72, + -0.0 + ], + [ + 54506.113, + -27461.529, + -967.872, + 0.0, + 29.72, + -0.0 + ], + [ + 54615.416, + -27399.133, + -974.044, + 0.0, + 29.72, + -0.0 + ], + [ + 54724.719, + -27336.737, + -988.882, + 0.0, + 29.72, + -0.0 + ], + [ + 54834.023, + -27274.341, + -1000.991, + 0.0, + 29.72, + -0.0 + ], + [ + 54943.326, + -27211.945, + -1007.472, + 0.0, + 29.72, + -0.0 + ], + [ + 54943.326, + -27211.945, + -1007.472, + 0.0, + 29.72, + -0.0 + ] + ], + "Rationale": [ + "Several palms rise ahead of me, and the long rock ridge runs across the background behind them. The ones whose trunks stand right at the foot of that rock wall are my target, while the nearer palms sit out on open sand. I will walk forward to close distance and read their spacing better.", + "The ridge and the palms rooted against it are still a long way off, and low ferns cover the ground between us. My heading currently carries me toward the open sand and the distant buildings rather than the ridge itself. Another step forward should shorten the gap before I correct my direction.", + "The palms whose bases meet the rock wall lie to the left of where I am pointed, since my straight path would carry me past them toward the open sand and the buildings on the right. Turning left should place that ridge-side group squarely in front of me for a direct approach.", + "The turn has centered the palms that stand tight against the rock ridge, their trunks rising straight out of the sand at its base. The ground between us is flat and clear of obstacles. I will walk straight ahead toward them.", + "The palms at the foot of the rock wall are growing larger dead ahead, and the ridge itself now fills much of the view. Their trunks are still far out of reach across the sand. I will keep walking forward on this heading.", + "The tall fronds that crowded my foreground have dropped away, leaving a clear stretch of sand toward the palms rooted at the rock face. The nearest of those trunks sits just right of center and remains many strides off. Another forward step should keep closing on it.", + "Only the palms standing against the rock wall are still in front of me now, the others having slipped out of view to the sides. The closest of those trunks is clearly the one hugging the ridge, and it is still well ahead. I will continue walking toward it.", + "The near trunk at the base of the rock wall is thickening in my view, and the low ferns around its roots are becoming distinct. I am still several strides short of standing beside it. I will advance again on the same line.", + "The small fern clumps scattered along the foot of the rock wall now read as separate plants, which tells me the gap is genuinely shrinking. The palm growing hard against that wall still stands beyond them, right of center. I will step forward again.", + "Ridged banding is starting to show on the bark of the palm rooted at the rock face, and the sand between us is smooth and open. Nothing crosses my line toward it. Another stride on this heading should bring me appreciably nearer.", + "I can now see where the trunk meets the sand at the base of the ridge, with low ferns growing around it on both sides. That contact point is what I want to stand beside, and it is still ahead of me. I keep walking.", + "The trunk against the rock wall has thickened noticeably and its crown has risen past the top of my view, a sign I am closing in. The ferns in front of it are nearly at my feet. I will advance once more.", + "Only a short apron of sand and a couple of fern clumps separate me from the palm standing at the rock wall. The shaded ridge rises directly behind its trunk, confirming this is the one hugging the stone. I will step in closer.", + "The trunk now fills the middle of my view from the sand upward, its ringed bark plainly detailed. I am close, but not yet standing at its base. One more step should put me right beside it.", + "The trunk of the ridge-side palm towers just ahead and slightly right, wide enough now to block part of the rock behind it. A final short stride should bring me level with its base rather than leaving me short of it.", + "The trunk of the palm at the foot of the rock ridge stands within arm's reach along my right side. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_a_p/infos.json b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d6eb20892b1cedddc5bb4638046bbc116e07b99 --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_a_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the ceramic pot near the base of the tall white-bark tree.", + "Type": 5, + "Start_Pose": [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3388.893, + 4637.021, + 4472.177, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "LookDown", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + [ + 3557.002, + 3974.097, + 4536.863, + 0.0, + 120.0, + -0.0 + ], + [ + 3494.073, + 4083.094, + 4577.208, + 0.0, + 120.0, + -0.0 + ], + [ + 3431.143, + 4192.091, + 4617.384, + 0.0, + 120.0, + -0.0 + ], + [ + 3368.214, + 4301.088, + 4632.749, + 0.0, + 120.0, + -0.0 + ], + [ + 3368.214, + 4301.088, + 4632.749, + 0.0, + 120.0, + -0.0 + ], + [ + 3368.214, + 4301.088, + 4632.749, + 0.0, + 95.0, + -0.0 + ], + [ + 3357.245, + 4426.469, + 4626.776, + 0.0, + 95.0, + -0.0 + ], + [ + 3357.245, + 4426.469, + 4626.776, + 0.0, + 95.0, + -0.0 + ], + [ + 3357.245, + 4426.469, + 4626.776, + 0.0, + 95.0, + -0.0 + ], + [ + 3346.275, + 4551.849, + 4620.803, + 0.0, + 95.0, + -0.0 + ], + [ + 3346.275, + 4551.849, + 4620.803, + 0.0, + 95.0, + -0.0 + ], + [ + 3346.275, + 4551.849, + 4620.803, + 0.0, + 95.0, + -0.0 + ], + [ + 3346.275, + 4551.849, + 4620.803, + 0.0, + 95.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3388.893, + 4637.021, + 4472.177, + 0.0, + 0.0, + 0.0 + ], + [ + 3325.056, + 4549.38, + 4587.141, + -28.202, + 145.145, + 1.862 + ], + [ + 3325.056, + 4549.38, + 4587.141, + -28.202, + 145.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 805.8, + 683.9, + 563.8, + 446.9, + 336.6, + 336.6, + 336.6, + 212.9, + 212.9, + 212.9, + 95.2, + 95.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The tall pale-barked tree stands ahead on my left, but the ceramic pot at its base is not yet resolvable from this distance across the rock shelf. My heading already points toward that tree, so I will walk straight forward to close the gap and bring the ground near its trunk into clearer view.", + "The white-barked tree has grown noticeably larger and the rock shelf near its roots is opening up ahead of me, though the small pot is still too far to identify. My current heading remains aimed at that tree base, so another straight step forward should keep reducing the distance.", + "I am now close enough that the tree's roots and the debris around its base fill the left of my view, yet no ceramic pot is clearly separable from the scattered stones. Continuing straight ahead should bring the ground beside the trunk near enough to pick out the target.", + "I can now make out the small reddish ceramic pot sitting low on the rock beside the tree's roots, ahead and to my left. It is still well beyond arm's reach, so I will step forward again to shorten the distance before attempting a grasp.", + "The ceramic pot now sits at the lower left edge of my view on the rock by the tree roots, and my hands are still empty. I will attempt to pick it up from here to see whether it is already within grasping range.", + "My hands are empty, so that grasp attempt did not take hold. The pot sat far off to the left edge of my heading, well outside a comfortable reach line. I will turn left to bring it squarely in front of me before trying again.", + "The ceramic pot now sits near the middle of my view at the foot of the pale-barked tree, so my heading is right. It is still several paces off across the open rock shelf, too far to reach. I will walk forward to close that gap.", + "After stepping closer, the pot has dropped out of the bottom of my view and I only see the tree trunk and open rock ahead. I need it framed in front of me to judge the reach. I will look down to bring the pot back into sight.", + "The ceramic pot is back in view, sitting on the rock just left of center below the tree. It looks close enough that a grasp may connect from here. I will try to pick it up.", + "My hands are still empty, so that attempt did not secure the pot. The likely reason is that it was slightly beyond my reach rather than misaligned. I will step forward to shorten the remaining distance before trying once more.", + "My hands are still empty and the pot is no longer in my level view, since I now stand right beside the tree base where it sits low on the rock. An earlier grasp from farther back came up empty, so I need the pot framed close in front of me. I will look down to bring it into reach and view.", + "With my gaze lowered, the ceramic pot's rim is now directly at the near edge of my view, just at my feet by the tree base. My hands are still empty, so this is the moment to close on it. I will attempt the pick, which should lift the pot into my hands.", + "The ceramic pot is now held in my hands and no longer resting on the rock. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_b_p/infos.json b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..290aea06ef38f34d5c82f9359f8a641f77363872 --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_b_p/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the jerry can beside the rock ledge.", + "Type": 5, + "Start_Pose": [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3044.51, + 5215.47, + 4536.118, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + [ + 3557.002, + 3974.097, + 4536.863, + 0.0, + 120.0, + -0.0 + ], + [ + 3494.073, + 4083.094, + 4577.208, + 0.0, + 120.0, + -0.0 + ], + [ + 3431.143, + 4192.091, + 4617.384, + 0.0, + 120.0, + -0.0 + ], + [ + 3368.214, + 4301.088, + 4632.749, + 0.0, + 120.0, + -0.0 + ], + [ + 3305.284, + 4410.086, + 4638.553, + 0.0, + 120.0, + -0.0 + ], + [ + 3242.355, + 4519.083, + 4643.632, + 0.0, + 120.0, + -0.0 + ], + [ + 3179.425, + 4628.08, + 4634.609, + 0.0, + 120.0, + -0.0 + ], + [ + 3116.496, + 4737.077, + 4596.271, + 0.0, + 120.0, + -0.0 + ], + [ + 3053.566, + 4846.074, + 4606.889, + 0.0, + 120.0, + -0.0 + ], + [ + 3053.566, + 4846.074, + 4606.889, + 0.0, + 95.0, + -0.0 + ], + [ + 3042.597, + 4971.454, + 4613.055, + 0.0, + 95.0, + -0.0 + ], + [ + 3031.628, + 5096.834, + 4618.622, + 0.0, + 95.0, + -0.0 + ], + [ + 3031.628, + 5096.834, + 4618.622, + 0.0, + 95.0, + -0.0 + ], + [ + 3031.628, + 5096.834, + 4618.622, + 0.0, + 95.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3044.51, + 5215.47, + 4536.118, + 0.0, + 0.0, + 0.0 + ], + [ + 3010.408, + 5094.365, + 4585.779, + -28.202, + 145.144, + 1.862 + ], + [ + 3010.408, + 5094.365, + 4585.779, + -28.202, + 145.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1467.9, + 1343.0, + 1218.4, + 1094.0, + 970.0, + 846.5, + 723.9, + 602.7, + 483.8, + 369.5, + 369.5, + 244.0, + 119.3, + 21.4, + 21.4 + ], + "Rationale": [ + "Far ahead, past the broken rock terrace, I can just make out a small dark can standing near the low flat ledge slab. The stone in front of me is uneven but walkable straight ahead, so I will step forward to close that long gap and get a clearer look at the can.", + "The can beside the flat ledge slab is a bit larger now and still sits near the center of my view, so my heading is good. The rock shelf ahead continues without any blocking step, so I will keep walking forward to shorten the remaining distance.", + "The target can is still well left of the big ledge slab and holding its place in my view as it grows, confirming I am tracking straight toward it. Nothing on this stone terrace blocks my line, so another forward step is the simplest way to keep closing in.", + "The can now reads clearly as an upright container resting on the open rock beside the ledge, and it is still comfortably within my forward path. There is a fair stretch of flat stone between us, so I will advance again rather than adjust my heading yet.", + "The jerry can is unmistakable now, sitting slightly left of my heading on the bare rock next to the ledge. Distance, not alignment, is what still separates me from it, so I will keep stepping forward and leave any turn until I am close.", + "The can has drifted a little further toward the left side of my view as I gain ground, but it stays well inside my forward corridor. The rock ahead remains flat and clear, so another straight step is still the most efficient way to close in.", + "The jerry can now shows its ribbed body and handle plainly on the open stone left of the big slab, so I am within a few strides. I will advance again to bring it into comfortable reach before making any heading correction.", + "The can stands close by on my left-forward side with nothing between us but flat rock. Since it is still ahead of my shoulder rather than beside me, I will take another forward step to reduce the gap before fine-tuning my facing.", + "The rusty jerry can stands clearly on the open rock shelf to my left of center, still several strides away and too far to grasp. My path across this flat slab is unobstructed, so I will keep walking forward to close the remaining distance before worrying about fine alignment.", + "The jerry can now sits noticeably left of my heading, near the edge of the ledge, while my body points past it toward the large boulder on the right. A left turn should bring the can into the center of my view so the last steps carry me straight to it.", + "After the turn the jerry can sits centered ahead on the bare rock with nothing between us. It is still a couple of strides out of reach, so I will walk forward to close that gap.", + "The jerry can now fills much of the lower center of my view, but its handle still sits slightly beyond comfortable arm's reach. One more forward step should place me directly over it so a grasp becomes plausible.", + "The jerry can is right at my feet, its handle filling the bottom of my view at grasping distance. I will reach down and attempt to pick it up, which should place it in my hands as the task requires.", + "The jerry can is now held in my hands and no longer resting on the rock. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_c_p/infos.json b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_c_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f13963553f217ad9813e4cd82116ce558982278d --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_c_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the candelabra.", + "Type": 5, + "Start_Pose": [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 3239.795, + 4415.649, + 4548.484, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + [ + 3557.002, + 3974.097, + 4536.863, + 0.0, + 120.0, + -0.0 + ], + [ + 3494.073, + 4083.094, + 4577.208, + 0.0, + 120.0, + -0.0 + ], + [ + 3431.143, + 4192.091, + 4617.384, + 0.0, + 120.0, + -0.0 + ], + [ + 3368.214, + 4301.088, + 4632.749, + 0.0, + 120.0, + -0.0 + ], + [ + 3368.214, + 4301.088, + 4632.749, + 0.0, + 120.0, + -0.0 + ], + [ + 3368.214, + 4301.088, + 4632.749, + 0.0, + 120.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3239.795, + 4415.649, + 4548.484, + 0.0, + 0.0, + 0.0 + ], + [ + 3239.795, + 4415.649, + 4548.484, + 0.0, + 0.0, + 0.0 + ], + [ + 3239.795, + 4415.649, + 4548.484, + 0.0, + 0.0, + 0.0 + ], + [ + 3239.795, + 4415.649, + 4548.484, + 0.0, + 0.0, + 0.0 + ], + [ + 3239.795, + 4415.649, + 4548.484, + 0.0, + 0.0, + 0.0 + ], + [ + 3350.026, + 4289.883, + 4598.528, + -28.202, + 170.145, + 1.862 + ], + [ + 3350.026, + 4289.883, + 4598.528, + -28.202, + 170.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 669.0, + 543.7, + 418.6, + 294.3, + 172.1, + 21.4, + 21.4 + ], + "Rationale": [ + "I can just make out a small dark object with upright candle arms resting on the flat rock shelf ahead of me, matching the candelabra I need to pick up. It is far too distant to reach from here, so I will walk straight forward along the open stone to close the gap.", + "The candelabra is now clearly resolved on the flat rock ahead, its candles standing out against the sky, and it sits almost straight in front of my heading. Nothing blocks the stone between us, so I will keep walking forward to shorten the remaining distance.", + "The candelabra has grown noticeably larger and stays near the middle of my view, confirming my heading is good. I am still several paces short of grasping range, so I will continue straight forward rather than adjust my facing.", + "The candelabra now stands out plainly on the rock just ahead, close but still beyond arm's reach. One more step forward should place me directly over it so a grasp becomes possible.", + "The candelabra is now right at the near edge of my view, its base and candle arms filling the bottom of my field of vision, which means I am standing directly beside it. This is close enough to reach it, so I will attempt to pick it up.", + "The candelabra is now held in my hands rather than resting on the rock. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_d_p/infos.json b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_d_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..085ba1e7ab3c47b30db2cd59aefbcb18bc7f23c2 --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_d_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the metal bucket.", + "Type": 5, + "Start_Pose": [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3381.453, + 4369.881, + 4517.301, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + [ + 3557.002, + 3974.097, + 4536.863, + 0.0, + 120.0, + -0.0 + ], + [ + 3494.073, + 4083.094, + 4577.208, + 0.0, + 120.0, + -0.0 + ], + [ + 3431.143, + 4192.091, + 4617.384, + 0.0, + 120.0, + -0.0 + ], + [ + 3431.143, + 4192.091, + 4617.384, + 0.0, + 120.0, + -0.0 + ], + [ + 3431.143, + 4192.091, + 4617.384, + 0.0, + 120.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3381.453, + 4369.881, + 4517.301, + 0.0, + 0.0, + 0.0 + ], + [ + 3381.453, + 4369.881, + 4517.301, + 0.0, + 0.0, + 0.0 + ], + [ + 3381.453, + 4369.881, + 4517.301, + 0.0, + 0.0, + 0.0 + ], + [ + 3381.453, + 4369.881, + 4517.301, + 0.0, + 0.0, + 0.0 + ], + [ + 3412.956, + 4180.886, + 4580.263, + -28.202, + 170.145, + 1.862 + ], + [ + 3412.956, + 4180.886, + 4580.263, + -28.202, + 170.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 558.3, + 433.0, + 308.1, + 184.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The dark metal bucket sits on the raised rock shelf ahead of me, small and far off but centered in my heading. Nothing blocks the rocky ground between us, so I will walk straight forward to close the distance before any grasp is possible.", + "The bucket now appears noticeably larger on the ledge, confirming my heading is taking me toward it. It is still well out of reach, so I will keep walking forward on this same line.", + "The bucket stands clearly on the slab just left of center and fills much more of my view, but it remains a few paces beyond arm's length. I will step forward once more to reach a position where a grasp becomes plausible.", + "The metal bucket is now directly in front of me at the near edge of the slab, large in view and within arm's reach. My hands are empty, so I will attempt to grasp and lift it now.", + "The metal bucket is now held in my hands rather than resting on the rock. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_e_p/infos.json b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_e_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..941dacc583d90329fa706257b91baa5d6c0e70d5 --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_02/task_x003620_y003865_z004497_t5_e_p/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3805.997, + 4953.951, + 4457.33, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3619.932, + 3865.1, + 4496.518, + 0, + 120, + 0 + ], + [ + 3619.932, + 3865.1, + 4496.518, + 0.0, + 95.0, + -0.0 + ], + [ + 3608.963, + 3990.48, + 4523.417, + 0.0, + 95.0, + -0.0 + ], + [ + 3597.993, + 4115.86, + 4550.316, + 0.0, + 95.0, + -0.0 + ], + [ + 3587.024, + 4241.24, + 4573.06, + 0.0, + 95.0, + -0.0 + ], + [ + 3576.055, + 4366.62, + 4585.733, + 0.0, + 95.0, + -0.0 + ], + [ + 3565.085, + 4492.0, + 4579.76, + 0.0, + 95.0, + -0.0 + ], + [ + 3565.085, + 4492.0, + 4579.76, + 0.0, + 70.0, + -0.0 + ], + [ + 3608.132, + 4610.269, + 4563.13, + 0.0, + 70.0, + -0.0 + ], + [ + 3608.132, + 4610.269, + 4563.13, + 0.0, + 70.0, + -0.0 + ], + [ + 3651.178, + 4728.538, + 4542.687, + 0.0, + 70.0, + -0.0 + ], + [ + 3651.178, + 4728.538, + 4542.687, + 0.0, + 70.0, + -0.0 + ], + [ + 3694.224, + 4846.807, + 4515.533, + 0.0, + 70.0, + -0.0 + ], + [ + 3694.224, + 4846.807, + 4515.533, + 0.0, + 70.0, + -0.0 + ], + [ + 3694.224, + 4846.807, + 4515.533, + 0.0, + 70.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3805.997, + 4953.951, + 4457.33, + 0.0, + 0.0, + 0.0 + ], + [ + 3673.949, + 4853.537, + 4483.803, + -28.202, + 120.145, + 1.862 + ], + [ + 3673.949, + 4853.537, + 4483.803, + -28.202, + 120.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1104.6, + 1104.6, + 983.4, + 863.5, + 745.6, + 630.7, + 521.0, + 521.0, + 396.6, + 396.6, + 273.5, + 273.5, + 154.8, + 21.4, + 21.4 + ], + "Rationale": [ + "I spot a small red tomato far off at the left edge of my view, near the base of the leaning tree, while my heading points across the rocky ridge to the right of it. Turning left should swing that target toward the middle of my view so I can walk straight at it.", + "The tomato now sits ahead and slightly left of center, small and distant beside the tree trunk on the open rock shelf. The ground in front of me looks flat and unobstructed, so I will walk forward to close that long gap.", + "The tomato has grown slightly larger and stays left of the tree trunk, confirming my heading is carrying me toward it. It is still well out of reach, so I keep stepping forward over the open stone.", + "The red tomato is clearly resting on the rock beside the tree, closer now but still several strides away. My line of travel remains clear, so another forward step should keep shrinking the distance.", + "The tomato is now plainly visible on the ground to the left of the tree and noticeably nearer, yet still beyond arm's reach. I continue walking forward to bring myself close enough for a grasp attempt.", + "The red tomato sits on the stony ground at the base of the pale tree, still several paces ahead and to my left. It is far too distant to reach from here, so I will keep walking straight to close the gap.", + "The tomato has drifted to the far left edge of my view as I advanced, nearly out of sight behind the near rocks. Turning left should swing my heading back onto it so further steps carry me directly toward the fruit rather than past it.", + "The tomato now sits clearly ahead of me, left of the tree trunk, with open rocky ground between us. My heading lines up with it, so I will step forward to shorten the remaining distance toward a reachable position.", + "The tomato lies straight in front of me on the stony ground, large and centered in my view with nothing between us. I will try to grasp it now, since it may already be within reach.", + "That grasp attempt did not take hold, as my hands are empty. I was evidently still short of reaching range on the rock. I will walk one step further toward it before trying again.", + "An earlier reach for the tomato left my hands empty, and it still rests untouched on the rock ahead of me. Now it sits large and centered low in my view, close enough that a grasp should connect. I will attempt to pick it up.", + "That grasp did not take hold, since my hands are still empty. I am evidently not yet close enough for the reach to register. I will step forward once more to shorten the remaining gap before trying again.", + "The tomato is now right at the bottom edge of my view, directly in front of my feet and clearly nearer than at my last reach. At this distance it should finally fall inside my grasping range. I will try to pick it up.", + "The tomato is now held in my hands rather than resting on the rock. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_a_p/infos.json b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe29f068e61e58065b4d8b8c95d36f31ce4808c2 --- /dev/null +++ b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the candelabra.", + "Type": 5, + "Start_Pose": [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 4463.395, + -6532.876, + 23.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + [ + 3991.623, + -6511.351, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 3991.623, + -6511.351, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4117.003, + -6522.32, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4242.383, + -6533.289, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4367.763, + -6544.259, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4367.763, + -6544.259, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4367.763, + -6544.259, + 98.15, + 0.0, + -5.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4463.395, + -6532.876, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4463.395, + -6532.876, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4463.395, + -6532.876, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4463.395, + -6532.876, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4463.395, + -6532.876, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4463.395, + -6532.876, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4369.016, + -6522.933, + 68.256, + -28.202, + 45.144, + 1.862 + ], + [ + 4369.016, + -6522.933, + 68.256, + -28.202, + 45.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 590.4, + 472.3, + 472.3, + 346.6, + 221.0, + 96.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the candelabra standing on the pitch ahead of me, small and distant near the illuminated advertising boards. It is far too far away to reach, so I will walk forward to close that gap before worrying about fine alignment.", + "The candelabra is now larger and clearly nearer, but it sits left of my heading rather than centered in front of me. I will turn left so my path lines up with it and further forward steps carry me straight to it.", + "After turning, the candelabra sits close to the middle of my view with open grass in between. Nothing blocks the lane, so I will step forward along this heading to keep shrinking the distance.", + "The candelabra is noticeably bigger and still centered ahead, so my heading is good. It remains out of arm's reach, so I will keep walking straight toward it.", + "The candelabra now stands prominently on the grass just ahead, its candles clearly detailed. One more step forward should bring it within grasping range directly in front of me.", + "The candelabra is right at my feet, its candle tips filling the near foreground of my view. My hands are empty and nothing separates me from it, so I will attempt to pick it up now.", + "The candelabra is now held in my hands, no longer resting on the grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_a_pd/infos.json b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27af3df24559ce66b7ca97b96f687721d42f604b --- /dev/null +++ b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the plate, then place it next to the corner flag.", + "Type": 5, + "Start_Pose": [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4469.989, + -6716.697, + 68.15, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + [ + 3991.623, + -6511.351, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 3991.623, + -6511.351, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4117.003, + -6522.32, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4242.383, + -6533.289, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4242.383, + -6533.289, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4242.383, + -6533.289, + 98.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4351.38, + -6596.219, + 98.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4351.38, + -6596.219, + 98.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4351.38, + -6596.219, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4351.38, + -6596.219, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 4351.38, + -6596.219, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4351.38, + -6596.219, + 98.15, + 0.0, + 70.0, + -0.0 + ], + [ + 4394.427, + -6477.95, + 98.15, + 0.0, + 70.0, + -0.0 + ], + [ + 4437.475, + -6359.682, + 98.15, + 0.0, + 70.0, + -0.0 + ], + [ + 4437.475, + -6359.682, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + 4426.506, + -6234.302, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + 4415.538, + -6108.922, + 98.15, + 0.0, + 95.0, + -0.0 + ], + [ + 4415.538, + -6108.922, + 98.15, + 0.0, + 70.0, + -0.0 + ], + [ + 4390.912, + -6176.579, + 98.15, + 0.0, + 70.0, + -0.0 + ], + [ + 4390.912, + -6176.579, + 98.15, + 0.0, + 70.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4469.989, + -6716.697, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4469.989, + -6716.697, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4469.989, + -6716.697, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4469.989, + -6716.697, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4469.989, + -6716.697, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4469.989, + -6716.697, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4469.989, + -6716.697, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4469.989, + -6716.697, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4361.529, + -6577.421, + 68.256, + -28.202, + 20.144, + 1.862 + ], + [ + 4352.71, + -6573.938, + 68.529, + -28.189, + 45.156, + 1.872 + ], + [ + 4343.821, + -6575.001, + 67.862, + -28.215, + 70.127, + 1.849 + ], + [ + 4336.477, + -6573.584, + 67.916, + -14.092, + 87.343, + 6.87 + ], + [ + 4331.059, + -6589.287, + 67.932, + -28.208, + 120.142, + 1.851 + ], + [ + 4374.116, + -6471.301, + 68.353, + -28.189, + 120.158, + 1.869 + ], + [ + 4417.079, + -6353.295, + 68.736, + -28.205, + 120.135, + 1.859 + ], + [ + 4415.64, + -6361.759, + 67.683, + -28.202, + 145.141, + 1.86 + ], + [ + 4405.262, + -6236.511, + 67.797, + -28.201, + 145.144, + 1.857 + ], + [ + 4394.32, + -6111.378, + 68.175, + -28.206, + 145.138, + 1.858 + ], + [ + 4396.117, + -6102.325, + 68.292, + -28.199, + 120.144, + 1.863 + ], + [ + 4414.854, + -6110.8, + 68.15, + 90.0, + 70.0, + 0.0 + ], + [ + 4414.854, + -6110.8, + 68.15, + 90.0, + 70.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 618.3, + 520.6, + 520.6, + 403.0, + 292.3, + 292.3, + 292.3, + 169.1, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.9, + 21.4, + 21.4, + 20.5, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate sits on the grass well ahead of me, off to the left near the advertising boards, and the corner flag stands further along the same touchline. It is far too distant to reach from here, so I will walk forward to close the gap before worrying about fine alignment.", + "After stepping forward, the plate has slid to the very edge of my view on the left and is nearly out of sight, while my heading points along the boards instead of at it. Turning left should bring the plate back toward the centre of my view so I can walk straight at it.", + "The turn worked and the plate now sits near the middle of my view against the lit boards. With my heading pointed at it, walking straight ahead is the direct way to shorten the remaining distance before I try to grasp it.", + "The plate is noticeably larger and slightly left of centre, so my heading is still good but it remains out of arm's reach. I will take another step forward to get close enough for a grasp attempt.", + "The plate now fills a good part of the lower left of my view, close to the boards and seemingly within reach. My hands are still empty, so I will attempt to pick it up from this position and see whether the grasp takes hold.", + "My hands are empty and the plate is not held, so that grasp attempt did not take it. The plate lies off to my left rather than straight ahead, which is likely why the reach missed. I will turn left to bring it back in front of me before trying again.", + "The plate now sits ahead of me against the advertising boards, but it still looks small and several paces away. My earlier reach from this kind of distance came up empty, so closing in first is the sensible fix. I will walk forward to get within arm's reach.", + "The plate now fills a large part of my view directly in front of me, close enough that its rim detail is clear. This is much nearer than where my earlier reach failed. I will attempt to pick it up from here.", + "The plate is now in my hands rather than resting on the turf, so that pick worked. The corner flag is not in front of me, though it stood off to the right of the plate when I first surveyed the pitch. I will turn right to bring the flag back into view.", + "I am carrying the plate, but my view still shows only the perimeter boards with no corner flag or corner arc. The flag should lie further around to my right along this touchline. I will keep turning right to bring it into view.", + "The plate is in my hands and stays with me as I pivot, so the grasp is holding. My heading still shows only the advertising boards and empty stands, with no corner flag anywhere in sight. I will keep rotating right to bring the corner of the pitch into view.", + "The corner flag with its corner arc markings has finally appeared, but it sits far over on the right side of my view. Turning right once more should place it near the middle of my heading so I can walk a straight line toward it while carrying the plate.", + "The corner flag now stands near the center of my view with the corner arc clearly marked around it, so my heading is good. It is still several strides away, too far to set the plate beside it. I will walk forward to close that distance.", + "The flag and the painted corner arc have grown noticeably larger and remain just ahead of me, confirming my line of travel is correct. I am still short of the spot where the plate could be released right beside the pole. Another step forward should bring me alongside the corner.", + "The flag pole is now only a stride ahead and slightly left, with the perimeter boards close behind it, so continuing straight would run me into them. I will turn right to angle my path onto the open grass beside the corner, where I can stand next to the flag with the plate.", + "I am still carrying the plate, and the corner flag with its white corner arc now sits just ahead and slightly to my left. I will step forward to close the remaining gap so the flag base comes within easy placing range.", + "The corner flag has slid to the near left edge of my view, so I am nearly level with it but not yet beside its base. I will take one more step forward to draw even with the pole before setting the plate down.", + "Moving forward has carried me past the flag, which is no longer in front of me, leaving only the empty corner arc and the boards ahead. I will turn left to bring the flag pole back into view so I can face the spot where the plate belongs.", + "The corner flag pole is now directly in front of me, close enough that its base and the corner arc fill the near ground. I am still holding the plate, so I will release it here, which should leave it resting right next to the flag as the task requires.", + "The plate is now resting on the grass immediately beside the corner flag pole. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_b_p/infos.json b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d081e9244b4d9ad24bda9b6dab81b24505a3df1a --- /dev/null +++ b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the ceramic pot.", + "Type": 5, + "Start_Pose": [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 4360.571, + -6174.841, + 23.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + [ + 3991.623, + -6511.351, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 3991.623, + -6511.351, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4080.619, + -6422.355, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4169.614, + -6333.359, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4169.614, + -6333.359, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4258.61, + -6244.363, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4258.61, + -6244.363, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4258.61, + -6244.363, + 98.15, + 0.0, + 45.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4360.571, + -6174.841, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4360.571, + -6174.841, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4360.571, + -6174.841, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4360.571, + -6174.841, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4360.571, + -6174.841, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4360.571, + -6174.841, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4360.571, + -6174.841, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4243.079, + -6229.695, + 68.256, + -28.202, + 95.145, + 1.862 + ], + [ + 4243.079, + -6229.695, + 68.256, + -28.202, + 95.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 617.6, + 499.4, + 499.4, + 373.7, + 248.2, + 248.2, + 123.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The ceramic pot sits at the base of the corner flag, far across the pitch and small in my view. Nothing blocks the open grass between us, so I will walk straight ahead to close that distance before worrying about fine alignment.", + "From here the pot and its flagpole sit right of my heading rather than straight in front of me. I will turn right so the pot moves toward the center of my view and my next steps carry me directly at it.", + "The pot now sits near the middle of my view at the foot of the corner flag, so my heading is usable. The gap is still too large for any grasp, and the turf ahead is clear, so I will step forward to shorten it.", + "The pot has grown noticeably larger and stays centered slightly left of the flagpole, confirming I am tracking it correctly. It remains beyond arm's reach, so I will advance another step to bring it into a workable grasping range.", + "The ceramic pot now fills the lower left of my view, close to the flag base and apparently within reach. My hands are still empty, so I will attempt the grasp now rather than step nearer and risk knocking it.", + "My hands are still empty and the ceramic pot was not taken, so that grasp attempt did not succeed. The likely reason is that I stopped short of reach, so I will step forward once more to close the remaining gap before trying again.", + "The pot now sits directly at the bottom edge of my view, right in front of my feet, much closer than when my earlier grasp came up empty. From this contact range the ceramic pot should be within reach, so I will attempt the pick again.", + "The ceramic pot is now held in my hands rather than resting on the grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_b_pd/infos.json b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..89e263fc6a185573a6f8fadf321a095264557858 --- /dev/null +++ b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_b_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the jerry can, then place it on the ground beside the rightmost camera.", + "Type": 5, + "Start_Pose": [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4303.217, + -6238.05, + 28.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + [ + 3991.623, + -6511.351, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 4109.892, + -6468.304, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 4109.892, + -6468.304, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4198.887, + -6379.309, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4198.887, + -6379.309, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4198.887, + -6379.309, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 4317.156, + -6336.263, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 4317.156, + -6336.263, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4442.536, + -6347.233, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4567.916, + -6358.203, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4693.296, + -6369.173, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4818.676, + -6380.142, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4944.056, + -6391.112, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4944.056, + -6391.112, + 98.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4997.627, + -6403.981, + 98.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4935.274, + -6367.981, + 98.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4935.274, + -6367.981, + 98.15, + 0.0, + -30.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4303.217, + -6238.05, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4303.217, + -6238.05, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4303.217, + -6238.05, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4303.217, + -6238.05, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4303.217, + -6238.05, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4183.356, + -6364.641, + 68.256, + -28.202, + 95.144, + 1.862 + ], + [ + 4191.331, + -6360.348, + 68.529, + -28.189, + 70.157, + 1.872 + ], + [ + 4308.897, + -6316.543, + 68.84, + -28.193, + 70.148, + 1.872 + ], + [ + 4318.822, + -6315.543, + 67.675, + -28.202, + 45.141, + 1.858 + ], + [ + 4443.955, + -6325.921, + 67.937, + -28.208, + 45.141, + 1.852 + ], + [ + 4569.077, + -6336.861, + 68.359, + -28.189, + 45.158, + 1.867 + ], + [ + 4694.182, + -6347.818, + 68.74, + -28.207, + 45.134, + 1.857 + ], + [ + 4819.522, + -6358.777, + 68.889, + -28.192, + 45.148, + 1.872 + ], + [ + 4945.073, + -6369.772, + 68.658, + -28.206, + 45.138, + 1.864 + ], + [ + 4953.971, + -6373.089, + 68.182, + -28.207, + 20.137, + 1.858 + ], + [ + 5007.668, + -6385.121, + 68.489, + -28.2, + 20.144, + 1.865 + ], + [ + 4995.896, + -6402.981, + 48.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4995.896, + -6402.981, + 48.15, + 0.0, + -30.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 533.7, + 414.5, + 300.7, + 300.7, + 175.6, + 21.4, + 20.4, + 21.4, + 20.8, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.6, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The jerry can stands on the grass near the corner flag, well ahead of me and slightly right of center. It is far too distant to grasp, so I will walk forward to close the gap before worrying about fine alignment.", + "The jerry can has grown noticeably larger and now sits just right of my heading, confirming my line of travel is good. I will keep walking to bring it within reach.", + "The jerry can is now close but sits off to the right of my forward line, so a straight step would carry me past its right side. I will turn right to place it directly ahead before advancing again.", + "After the turn the jerry can sits near the center of my view with the corner flag just behind it, so my heading is now correct. I will step forward once more to bring it within grasping range.", + "The jerry can now fills the lower center of my view, close enough that its handle is clearly distinguishable at arm's length. This is the right moment to attempt the grasp, so I will try to pick it up.", + "The jerry can is now held in my hands rather than resting on the grass, so the grasp worked. The cameras I need to reach stand along the advertising boards to my left, so I will turn left to face that line before carrying it over.", + "With the can in hand I am now facing along the perimeter boards where the tripod cameras are set up. I will walk forward to carry the can toward that camera line.", + "My heading has drifted so the boards run diagonally away and the tripods sit toward the left edge of my view. I will turn left to square up with the camera line and keep the remaining cameras in front of me.", + "The jerry can is secure in my hands, so I only need to carry it along the perimeter to the camera stands. From here the tripods are still far off to my left along the advertising boards, and my heading now runs parallel to that hoarding. Walking forward should close the remaining distance toward them.", + "The camera tripods have grown noticeably larger against the lit boards, confirming my current heading is carrying the can toward them. Nothing blocks the strip of grass in front of me. I will keep walking forward to shorten the remaining distance.", + "I am still holding the jerry can and the pair of camera stands ahead keeps growing in my view. I am not yet close enough to set the can down beside them. Another forward step should bring me nearer along the boards.", + "The two tripods now stand close to eye level in front of the illuminated hoarding, but they remain several paces off. Carrying the can, I stay on this straight line beside the boards. I will step forward again to approach the camera row.", + "One tripod now fills much of my left foreground, so I am nearly level with the camera row while still holding the can. I need to be beside the stands rather than short of them before releasing the load. A further step forward should place me alongside them.", + "I have drawn level with the camera stands, but my heading runs past them along the boards, leaving the nearest tripod off to my left edge. To set the can down beside a camera I must face the stands squarely. Turning left should bring the camera row in front of me.", + "The turn worked and two tripod cameras now stand directly ahead of me against the boards, the nearer one to my right side of the pair. I am still a stride short of the grass right beside it. A short step forward should put the drop point within reach.", + "I am now standing immediately in front of the camera tripods, with the rightmost stand close beside me and open grass at its base. This is the spot the task asks for, and I am still carrying the jerry can. I will release it here so it should come to rest beside that camera.", + "The jerry can now rests on the grass beside the nearest camera tripod, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_c_pd/infos.json b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cab77d4e389f357462e791ee4e88209e20e2e4a4 --- /dev/null +++ b/dataset/trajectory/stadium/task_x003873_y-006554_z000098_t5_c_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the tomato, then place it on the ground beside the leftmost camera.", + "Type": 5, + "Start_Pose": [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4529.278, + -6091.93, + 33.842, + -45.478, + 113.932, + 86.851 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3873.354, + -6554.397, + 98.393, + 0, + 20, + 0 + ], + [ + 3991.623, + -6511.351, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 4109.892, + -6468.304, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 4109.892, + -6468.304, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4198.887, + -6379.309, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4287.883, + -6290.313, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4376.879, + -6201.317, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4376.879, + -6201.317, + 98.15, + 0.0, + 45.0, + -0.0 + ], + [ + 4376.879, + -6201.317, + 98.15, + 0.0, + 20.0, + -0.0 + ], + [ + 4376.879, + -6201.317, + 98.15, + 0.0, + -5.0, + 0.0 + ], + [ + 4376.879, + -6201.317, + 98.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4485.876, + -6264.247, + 98.15, + 0.0, + -30.0, + 0.0 + ], + [ + 4485.876, + -6264.247, + 98.15, + 0.0, + -55.0, + 0.0 + ], + [ + 4558.066, + -6367.344, + 98.15, + 0.0, + -55.0, + 0.0 + ], + [ + 4630.255, + -6470.442, + 98.15, + 0.0, + -55.0, + 0.0 + ], + [ + 4702.445, + -6573.54, + 98.15, + 0.0, + -55.0, + 0.0 + ], + [ + 4750.84, + -6650.761, + 98.15, + 0.0, + -55.0, + 0.0 + ], + [ + 4750.84, + -6650.761, + 98.15, + 0.0, + -80.0, + 0.0 + ], + [ + 4706.61, + -6695.007, + 98.15, + 0.0, + -80.0, + 0.0 + ], + [ + 4694.107, + -6624.101, + 98.15, + 0.0, + -80.0, + 0.0 + ], + [ + 4694.107, + -6624.101, + 98.15, + 0.0, + -80.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4529.278, + -6091.93, + 33.842, + -45.478, + 113.932, + 86.851 + ], + [ + 4529.278, + -6091.93, + 33.842, + -45.478, + 113.932, + 86.851 + ], + [ + 4529.278, + -6091.93, + 33.842, + -45.478, + 113.932, + 86.851 + ], + [ + 4529.278, + -6091.93, + 33.842, + -45.478, + 113.932, + 86.851 + ], + [ + 4529.278, + -6091.93, + 33.842, + -45.478, + 113.932, + 86.851 + ], + [ + 4529.278, + -6091.93, + 33.842, + -45.478, + 113.932, + 86.851 + ], + [ + 4529.278, + -6091.93, + 33.842, + -45.478, + 113.932, + 86.851 + ], + [ + 4361.348, + -6186.649, + 68.256, + -28.202, + 95.145, + 1.862 + ], + [ + 4369.323, + -6182.356, + 68.529, + -28.189, + 70.157, + 1.872 + ], + [ + 4378.793, + -6181.234, + 67.862, + -28.215, + 45.127, + 1.849 + ], + [ + 4395.064, + -6180.673, + 68.043, + -14.175, + 12.192, + 6.959 + ], + [ + 4495.922, + -6245.388, + 68.482, + -28.198, + 20.145, + 1.865 + ], + [ + 4502.371, + -6252.075, + 68.353, + -28.189, + -4.842, + 1.869 + ], + [ + 4574.996, + -6354.3, + 68.736, + -28.205, + -4.865, + 1.859 + ], + [ + 4647.166, + -6457.356, + 68.889, + -28.191, + -4.85, + 1.872 + ], + [ + 4719.444, + -6560.597, + 68.664, + -28.206, + -4.863, + 1.863 + ], + [ + 4768.165, + -6638.269, + 67.68, + -28.204, + -4.859, + 1.854 + ], + [ + 4770.618, + -6646.482, + 68.872, + -28.194, + -29.854, + 1.866 + ], + [ + 4727.582, + -6690.996, + 67.71, + -28.208, + -29.861, + 1.856 + ], + [ + 4706.262, + -6693.038, + 113.15, + 0.0, + -80.0, + 0.0 + ], + [ + 4706.262, + -6693.038, + 113.15, + 0.0, + -80.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 802.6, + 681.9, + 563.5, + 563.5, + 437.9, + 312.5, + 187.6, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 20.5, + 21.4, + 21.4, + 21.4, + 21.4, + 20.2, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato is resting on the grass by the corner flag, well ahead of me near the advertising boards. It is far too distant to grasp from here, so I will walk straight forward to close the gap along my current heading.", + "The tomato has grown noticeably larger and sits slightly right of my heading, confirming the previous step brought me closer. Since nothing blocks the open turf between us, I will keep walking forward to shorten the remaining distance.", + "The tomato and the corner flag now sit off to the right of my forward heading, so continuing straight would carry me past them. I will turn right to bring the tomato closer to the center of my view before advancing further.", + "After the turn the tomato sits near the middle of my view beside the corner flag, so my heading now points at it. I will walk forward to keep closing on the target across the clear grass.", + "The tomato is clearly bigger and still aligned just left of the flagpole, so my heading remains good. It is still beyond arm's reach, so I will step forward again rather than attempt a grasp yet.", + "The tomato now fills a good part of the lower view beside the corner flag, but it still sits a stride away from my feet. I will move forward once more so it comes within grasping range.", + "The tomato is directly in front of me at the base of the corner flag, close enough that it dominates the near ground. Nothing stands between my hands and it, so I will attempt to pick it up now.", + "The grasp worked, and the tomato is now held in my hands rather than lying on the turf. The camera tripods stand along the boards away to my left, so I will turn left to begin swinging my heading toward that line of cameras.", + "The tomato is secured in my hands, so the remaining job is to find the camera row for the drop. From this heading I only see the corner flag and blank stretch of boards, with no tripod in sight. I keep rotating left to sweep the perimeter for the cameras.", + "Two tripod-mounted cameras have now entered the boards ahead of me, confirming the row I need. Their line clearly extends past the left edge of my view, so I turn left once more to bring more of that row, including its far end, in front of me.", + "The line of cameras on tripods is now framed ahead against the boards while the tomato stays in my hands. They are still some distance away across the grass, so I walk forward to close on the perimeter before picking out the leftmost one.", + "I am much closer to the advertising boards now, with several cameras standing along them. Walking straight would only take me into the barrier, so I turn left to set my heading parallel to the row and work toward its far left end.", + "My heading now runs along the boards, with the tripods strung out to my right. The end of the camera row lies further along this direction, so I step forward to travel down the line while carrying the tomato.", + "Cameras keep sliding past on the right as I move along the barrier, and the row still continues ahead. I have not reached its outer end yet, so I keep walking forward beside the boards.", + "Fewer tripods remain in front of me than before, which suggests I am nearing the end of the camera line. I continue forward so I can reach that outermost camera before setting the tomato down.", + "The two remaining tripods are close, the nearer one standing just ahead of me against the boards. One more step should place me right beside that end camera, where there is clear grass for the tomato.", + "I am still carrying the tomato and I have closed right up on the perimeter boards, with a tripod camera looming just left of center. Pressing straight ahead would only take me into the barrier, so I turn left to swing my heading along the row toward the end camera.", + "The turn has placed a tripod camera squarely ahead of me, its legs standing on open grass, and the tomato is still in my hands. I step forward to close the short remaining gap so the camera base is within reach for setting the tomato down beside it.", + "I am now right at the foot of the end camera, its tripod legs filling the near view with clear turf beside them, and the tomato is still held. This is the placement the task asks for, so I release it here and it should settle on the ground next to this camera.", + "The tomato now rests on the grass right beside the leftmost camera's tripod, and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_a_p/infos.json b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cceddc9998794e273732dd602084ac0e5662bffd --- /dev/null +++ b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 4945.176, + 2245.375, + 68.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + [ + 4323.432, + 2494.577, + 103.151, + 0.0, + 0.0, + 0.0 + ], + [ + 4449.291, + 2494.577, + 103.151, + 0.0, + 0.0, + 0.0 + ], + [ + 4575.15, + 2494.577, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4575.15, + 2494.577, + 98.15, + 0.0, + -25.0, + 0.0 + ], + [ + 4689.217, + 2441.387, + 98.15, + 0.0, + -25.0, + 0.0 + ], + [ + 4803.284, + 2388.196, + 98.15, + 0.0, + -25.0, + 0.0 + ], + [ + 4803.284, + 2388.196, + 98.15, + 0.0, + -25.0, + 0.0 + ], + [ + 4803.284, + 2388.196, + 98.15, + 0.0, + -25.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4945.176, + 2245.375, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4945.176, + 2245.375, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4945.176, + 2245.375, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4945.176, + 2245.375, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4945.176, + 2245.375, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4945.176, + 2245.375, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4945.176, + 2245.375, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4811.756, + 2407.807, + 68.256, + -28.202, + 25.144, + 1.862 + ], + [ + 4811.756, + 2407.807, + 68.256, + -28.202, + 25.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 788.0, + 669.8, + 555.0, + 446.1, + 446.1, + 322.4, + 201.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits on the grass in front of the team bench, still far across the pitch. It lies roughly ahead of my heading, so I will walk straight forward to close that distance.", + "The tomato and the bench now fill more of my view, confirming I am closing on the target. Nothing blocks the grass between us, so I will keep walking straight ahead.", + "The tomato is clearly nearer, resting at the front edge of the bench platform slightly left of center. It is still too far to reach, so another step forward should bring me into grasping range.", + "The tomato has drifted well toward the left edge of my view while my heading points along the bench. Turning left should swing it back toward the center so my remaining steps carry me straight to it.", + "The tomato now sits near the middle of my view on the grass beside the seats, so my heading lines up with it. It remains out of arm's reach, so I will step forward.", + "The tomato is much larger and just ahead and slightly left, but still short of a comfortable grasp. One more forward step should place it directly at my feet for picking.", + "The tomato is now close in front of me on the grass, filling the lower part of my view within arm's reach. This is the moment to attempt the grasp, so I will try to pick it up.", + "The tomato is held in my hands rather than resting on the grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_a_pd/infos.json b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..466ee16b4c53ff1ee515f478e72993d9c1d17588 --- /dev/null +++ b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Pick up the metal bucket, then place it next to the right end of the team bench.", + "Type": 5, + "Start_Pose": [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4938.057, + 2093.011, + 28.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + [ + 4323.432, + 2494.577, + 103.151, + 0.0, + 0.0, + 0.0 + ], + [ + 4323.432, + 2494.577, + 103.151, + 0.0, + -25.0, + 0.0 + ], + [ + 4437.499, + 2441.387, + 103.151, + 0.0, + -25.0, + 0.0 + ], + [ + 4551.566, + 2388.196, + 98.15, + 0.0, + -25.0, + 0.0 + ], + [ + 4665.633, + 2335.006, + 98.15, + 0.0, + -25.0, + 0.0 + ], + [ + 4779.7, + 2281.816, + 98.15, + 0.0, + -25.0, + 0.0 + ], + [ + 4779.7, + 2281.816, + 98.15, + 0.0, + -50.0, + 0.0 + ], + [ + 4860.601, + 2185.402, + 98.15, + 0.0, + -50.0, + 0.0 + ], + [ + 4860.601, + 2185.402, + 98.15, + 0.0, + -50.0, + 0.0 + ], + [ + 4860.601, + 2185.402, + 98.15, + 0.0, + -25.0, + 0.0 + ], + [ + 4860.601, + 2185.402, + 98.15, + 0.0, + 0.0, + -0.0 + ], + [ + 4860.601, + 2185.402, + 98.15, + 0.0, + 25.0, + -0.0 + ], + [ + 4860.601, + 2185.402, + 98.15, + 0.0, + 50.0, + -0.0 + ], + [ + 4860.601, + 2185.402, + 98.15, + 0.0, + 75.0, + -0.0 + ], + [ + 4893.175, + 2306.973, + 98.15, + 0.0, + 75.0, + -0.0 + ], + [ + 4925.749, + 2428.543, + 98.15, + 0.0, + 75.0, + -0.0 + ], + [ + 4958.323, + 2550.114, + 98.15, + 0.0, + 75.0, + -0.0 + ], + [ + 4990.897, + 2671.685, + 98.15, + 0.0, + 75.0, + -0.0 + ], + [ + 5023.471, + 2793.255, + 98.15, + 0.0, + 75.0, + -0.0 + ], + [ + 5023.471, + 2793.255, + 98.15, + 0.0, + 50.0, + -0.0 + ], + [ + 4977.191, + 2738.1, + 98.15, + 0.0, + 50.0, + -0.0 + ], + [ + 4977.191, + 2738.1, + 98.15, + 0.0, + 50.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4938.057, + 2093.011, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4876.567, + 2199.596, + 68.256, + -28.202, + 0.145, + 1.862 + ], + [ + 4869.471, + 2205.885, + 68.529, + -28.189, + 25.157, + 1.872 + ], + [ + 4860.754, + 2207.925, + 67.862, + -28.215, + 50.128, + 1.849 + ], + [ + 4854.338, + 2211.769, + 67.916, + -14.092, + 67.344, + 6.87 + ], + [ + 4843.876, + 2198.866, + 67.932, + -28.208, + 100.143, + 1.851 + ], + [ + 4838.723, + 2190.72, + 68.6, + -28.198, + 125.147, + 1.867 + ], + [ + 4872.413, + 2312.006, + 68.07, + -28.198, + 125.146, + 1.862 + ], + [ + 4905.043, + 2433.771, + 67.683, + -28.202, + 125.142, + 1.86 + ], + [ + 4937.604, + 2555.304, + 67.797, + -28.201, + 125.145, + 1.857 + ], + [ + 4970.118, + 2676.633, + 68.175, + -28.206, + 125.139, + 1.858 + ], + [ + 5002.617, + 2797.945, + 68.599, + -28.192, + 125.152, + 1.869 + ], + [ + 5007.443, + 2806.407, + 67.791, + -28.207, + 100.141, + 1.857 + ], + [ + 5022.186, + 2791.723, + 58.15, + 0.0, + 50.0, + -0.0 + ], + [ + 5022.186, + 2791.723, + 58.15, + 0.0, + 50.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 842.4, + 734.2, + 734.2, + 609.9, + 486.3, + 364.4, + 246.4, + 246.4, + 120.6, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.7, + 70.0, + 70.0 + ], + "Rationale": [ + "The team bench sits well ahead across the open grass, with a small pale bucket standing on the ground near its left end. That bucket is my pickup target, and it is far too distant to reach from here. I will walk forward to close the gap.", + "The bucket sits near the left end of the bench, offset from my current heading, so walking straight would carry me past it toward the middle of the shelter. I will turn left to bring the bucket and the near end of the bench into the center of my path.", + "With the turn done, the bucket and the near end of the bench now sit ahead of me rather than off to one side. Nothing blocks the grass between us. I will walk forward along this heading to keep closing on the bucket.", + "The bucket has grown noticeably larger and the bench seats are resolving into individual chairs, so my heading is carrying me correctly toward the target. It is still several strides away, well beyond arm's reach. I will keep walking forward.", + "The bucket now stands clearly on the grass just beyond the front edge of the bench platform, with the small bottle crate beside it. I am still not close enough to reach down and grasp it. Another step forward should bring me into range.", + "The bucket is now large in view and slightly left of my straight-ahead line, sitting at the curved end of the dugout. The remaining gap is still more than a grasp away. I will advance again to shorten it.", + "At this range the bucket has drifted to the left edge of my view while the seats fill the center, so a straight step would take me past it into the bench. I will turn left to put the bucket squarely in front of me before the final approach.", + "The bucket now sits centered ahead of me at the curved end of the dugout, close but still short of grasping distance. One more step should place me directly over it so a pickup becomes possible.", + "The metal bucket now fills the lower part of my view at the left end of the team bench, close enough that its rim is right in front of me. This is the grasp distance I approached for, so I will attempt to pick it up now.", + "The grasp worked and the metal bucket is in my hands rather than standing on the turf. My heading still points into the shelter's left corner, while the seat row runs off to my right toward the far end of the bench. I will turn right to begin swinging onto that line.", + "Carrying the bucket, I now face the near seats almost head on, with the row still continuing off to my right. That heading would walk me into the bench rather than along it, so I keep rotating right toward the far end.", + "The seat row still fills my view broadside, so I am not yet lined up with the bench's long axis. I continue turning right to bring the far end of the bench, and the open grass beside it, into my forward path.", + "The seats are beginning to fall away to my left as the row recedes into depth, which means my heading is close to the bench line but still angled into it. Another right turn should place the far end of the bench squarely ahead.", + "I can now see the curved end panel of the shelter and the pitch beyond it on my right, with the seats trailing off to my left. One more right turn should give me a clear walking lane along the front of the bench toward that end.", + "My heading now runs parallel to the bench, with the seats on my left and open turf and the touchline ahead. Still holding the bucket, I step forward to carry it along the bench toward its far end.", + "The bucket is still with me and the shelter's end curve has grown slightly larger ahead on my left, so I have not yet reached the bench's end. I keep walking forward along this lane to close the remaining distance.", + "The bucket is still in my hands and the bench row runs away to my left, with its curved end shell now visible ahead. I need to reach the far end of the bench before setting the bucket down, so I step forward along the seats.", + "The curved end panel of the bench has grown larger and shifted toward the center of my view, so I am closing on the last seat of the row. Still carrying the bucket, I advance another step to bring that end within placing range.", + "The final seat and the tall curved end wall now dominate my left side, meaning I am nearly level with the end of the team bench. I take one more step forward to draw alongside that end before releasing the bucket.", + "I am now level with the end structure of the bench, but it sits at the very left edge of my view while I face out toward the pitch. Turning left should bring that end of the bench in front of me so the bucket can be set right beside it.", + "The end seat and the curved end shell of the team bench are now directly in front of me at arm's length, with clear grass at their base. This is the placement spot the task asks for, so I release the bucket here and it should come to rest next to the bench end.", + "The metal bucket now rests on the ground beside the right end of the team bench and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_b_p/infos.json b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..303b0309f088b2dcaa59dbb92cffffc921293988 --- /dev/null +++ b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the plate.", + "Type": 5, + "Start_Pose": [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 4903.61, + 2751.553, + 58.15, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + [ + 4323.432, + 2494.577, + 103.151, + 0.0, + 0.0, + 0.0 + ], + [ + 4323.432, + 2494.577, + 103.151, + 0.0, + 25.0, + -0.0 + ], + [ + 4437.499, + 2547.767, + 103.151, + 0.0, + 25.0, + -0.0 + ], + [ + 4551.566, + 2600.958, + 98.15, + 0.0, + 25.0, + -0.0 + ], + [ + 4665.633, + 2654.148, + 98.15, + 0.0, + 25.0, + -0.0 + ], + [ + 4779.7, + 2707.338, + 98.15, + 0.0, + 25.0, + -0.0 + ], + [ + 4779.7, + 2707.338, + 98.15, + 0.0, + 25.0, + -0.0 + ], + [ + 4779.7, + 2707.338, + 98.15, + 0.0, + 25.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4903.61, + 2751.553, + 58.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4903.61, + 2751.553, + 58.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4903.61, + 2751.553, + 58.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4903.61, + 2751.553, + 58.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4903.61, + 2751.553, + 58.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4903.61, + 2751.553, + 58.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4903.61, + 2751.553, + 58.15, + 90.0, + 0.0, + 0.0 + ], + [ + 4770.123, + 2726.433, + 68.256, + -28.202, + 75.144, + 1.862 + ], + [ + 4770.123, + 2726.433, + 68.256, + -28.202, + 75.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 751.3, + 634.5, + 634.5, + 508.7, + 382.9, + 257.1, + 131.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate sits on the grass at the far right end of the players' bench, well out of reach across the pitch. I will walk straight ahead to cut down that distance before worrying about fine alignment.", + "I am closer to the bench now, but the plate lies right of my heading, so walking straight would carry me past it along the bench. I will turn right to bring the plate into the center of my view for a direct approach.", + "The plate now sits near the middle of my view at the end of the bench, so my heading points at it. I will step forward along this line to close the remaining gap.", + "The plate has grown larger and stays centered ahead, confirming my heading is still good. It remains too far to reach, so I will keep walking forward.", + "The plate leans against the end of the bench and now fills a good part of my view, but it is still beyond arm's length. Another step forward should bring me close enough to reach down for it.", + "The plate is large and low in front of me, just short of a comfortable grasp. I will take one more step so it sits directly at my feet before I try to pick it up.", + "The plate now dominates the lower part of my view, close beside the bench and within reach. I will attempt to pick it up, which should place it in my hands.", + "The plate is held in my hands rather than resting on the grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_b_pd/infos.json b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69293743f4e8f8c1d8179ddb22b357e7d19eaddd --- /dev/null +++ b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the wicker basket, then place it on the ground at the left end of the team bench.", + "Type": 5, + "Start_Pose": [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4766.352, + 2802.307, + 48.15, + 90, + 60, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + [ + 4197.573, + 2494.577, + 103.151, + 0.0, + 25.0, + -0.0 + ], + [ + 4311.64, + 2547.767, + 103.151, + 0.0, + 25.0, + -0.0 + ], + [ + 4425.707, + 2600.958, + 103.151, + 0.0, + 25.0, + -0.0 + ], + [ + 4539.774, + 2654.148, + 98.235, + 0.0, + 25.0, + -0.0 + ], + [ + 4653.841, + 2707.338, + 98.235, + 0.0, + 25.0, + -0.0 + ], + [ + 4653.841, + 2707.338, + 98.235, + 0.0, + 25.0, + -0.0 + ], + [ + 4653.841, + 2707.338, + 98.235, + 0.0, + 0.0, + -0.0 + ], + [ + 4653.841, + 2707.338, + 98.235, + 0.0, + -25.0, + 0.0 + ], + [ + 4653.841, + 2707.338, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4734.742, + 2610.925, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4815.642, + 2514.511, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4896.543, + 2418.097, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4977.444, + 2321.684, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4977.444, + 2321.684, + 98.235, + 0.0, + -75.0, + 0.0 + ], + [ + 5010.018, + 2200.113, + 98.235, + 0.0, + -75.0, + 0.0 + ], + [ + 5026.492, + 2079.173, + 98.235, + 0.0, + -75.0, + 0.0 + ], + [ + 5026.492, + 2079.173, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4980.211, + 2134.328, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4980.211, + 2134.328, + 98.235, + 0.0, + -50.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4766.352, + 2802.307, + 48.15, + 90.0, + 60.0, + 0.0 + ], + [ + 4766.352, + 2802.307, + 48.15, + 90.0, + 60.0, + 0.0 + ], + [ + 4766.352, + 2802.307, + 48.15, + 90.0, + 60.0, + 0.0 + ], + [ + 4766.352, + 2802.307, + 48.15, + 90.0, + 60.0, + 0.0 + ], + [ + 4766.352, + 2802.307, + 48.15, + 90.0, + 60.0, + 0.0 + ], + [ + 4766.352, + 2802.307, + 48.15, + 90.0, + 60.0, + 0.0 + ], + [ + 4644.264, + 2726.433, + 68.256, + -28.202, + 75.145, + 1.862 + ], + [ + 4653.226, + 2727.74, + 68.529, + -28.189, + 50.157, + 1.872 + ], + [ + 4662.509, + 2725.556, + 67.862, + -28.215, + 25.127, + 1.849 + ], + [ + 4677.991, + 2720.518, + 68.043, + -14.175, + -7.808, + 6.959 + ], + [ + 4750.632, + 2625.21, + 68.482, + -28.198, + 0.145, + 1.865 + ], + [ + 4831.725, + 2528.571, + 67.945, + -28.191, + 0.159, + 1.871 + ], + [ + 4912.7, + 2432.055, + 67.664, + -28.214, + 0.13, + 1.852 + ], + [ + 4993.547, + 2335.714, + 67.874, + -28.203, + 0.141, + 1.856 + ], + [ + 4996.897, + 2327.559, + 68.664, + -28.206, + -24.863, + 1.863 + ], + [ + 5030.501, + 2206.186, + 68.156, + -28.203, + -24.86, + 1.855 + ], + [ + 5047.038, + 2085.0, + 67.686, + -28.201, + -24.857, + 1.862 + ], + [ + 5043.195, + 2094.256, + 68.882, + -28.199, + 0.14, + 1.867 + ], + [ + 5025.206, + 2080.705, + 63.235, + 90.0, + -50.0, + 0.0 + ], + [ + 5025.206, + 2080.705, + 63.235, + 90.0, + -50.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 646.7, + 646.7, + 521.1, + 395.7, + 270.7, + 147.2, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 22.5, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket rests on the turf slightly right of my current heading, just past the near end of the team bench. I will turn right so the basket sits squarely ahead of me before I start walking toward it.", + "The basket now sits near the center of my view, with the bench running away to my left, so my heading is usable. It is still far down the touchline, so I will walk forward to close that distance.", + "The basket has grown and shifted slightly left as I advance along the bench line, confirming I am closing on it. It remains well beyond arm's reach, so I will keep walking forward.", + "The basket is clearly nearer now, sitting on the grass just off the bench platform ahead of me. It is still too distant to grasp, so another step forward is the direct way to reach it.", + "The basket now looms large in the lower part of my view, close but still short of grabbing range. One more step forward should place it right beside me for a grasp attempt.", + "The wicker basket fills the lower right of my view, its weave and open mouth close enough that it should be within arm's reach. I will attempt to pick it up so I can carry it toward the left end of the team bench.", + "The grasp worked: the wicker basket is no longer sitting on the turf but is held with me. Now I need to face along the bench toward its left end, so I will turn left to swing my heading back onto the bench line.", + "With the basket in hand, the bench now spans my view but its curved near end is off to the right, meaning I am still facing across the seats rather than along them. I will turn left again to bring the far left end of the bench into my path.", + "The wicker basket is in my hands, so the remaining job is to carry it to the end of the team bench. From here the seat row still sweeps far off to my right while the curved end shell and open turf sit toward my left. I will turn left again to line my heading up with the grass lane running alongside the bench.", + "My heading now runs along the front of the bench, with the curved end shell ahead on my left and unobstructed turf between me and it. Carrying the basket, I will walk forward along this lane to close distance toward that end of the bench.", + "The end shell of the bench has grown noticeably larger, confirming my line of travel is taking me toward it. The grass ahead remains open, so I will keep walking forward with the basket rather than adjusting my heading yet.", + "The seats beside me are passing by and the small crate of bottles sitting on the grass near the bench end is now clearly in view. That marks the area I need to reach, so I will step forward again while holding the basket.", + "The nearest seats loom large on my right and the end structure is close on my left, so only a short stretch of lane remains. I will advance once more to bring myself level with the ground at that end of the bench.", + "I am now beside the last seats, and continuing straight would simply run me deeper along the seat row instead of toward the open ground at the bench end. Turning left should swing the end shell and the free patch of grass beside it into the centre of my view.", + "The curved end of the bench and the strip of turf in front of it are now framed ahead of me, with the bottle crate marking that ground. Still carrying the basket, I will step forward to close the gap to that placement area.", + "The end shell and the bottles are close in front of me now, but I am not yet standing right at the ground beside that end of the bench. One more forward step should put the placement spot within easy reach for setting the basket down.", + "I am standing at the far left end of the team bench, with the curved end panel and the first seat close on my right while open grass lies ahead. Still carrying the basket, I need my body squared onto that end section rather than out toward the pitch, so I turn right to face the intended drop spot.", + "I am now squarely facing the leftmost seat of the team bench, with its end panel beside me and the ground directly in front within arm's reach. This is the placement target named in the task, so I release the basket here and it should settle on the ground at the bench's left end.", + "The wicker basket now rests on the ground at the left end of the team bench, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_c_pd/infos.json b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fad4a62b05988658846afc91525c32c4885bff47 --- /dev/null +++ b/dataset/trajectory/stadium/task_x004198_y002495_z000103_t5_c_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the candelabra, then place it on the ground beside the center of the team bench.", + "Type": 5, + "Start_Pose": [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4780.437, + 2005.496, + 23.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4197.573, + 2494.577, + 103.151, + 0, + 0, + 0 + ], + [ + 4197.573, + 2494.577, + 103.151, + 0.0, + -25.0, + 0.0 + ], + [ + 4311.64, + 2441.387, + 103.151, + 0.0, + -25.0, + 0.0 + ], + [ + 4425.707, + 2388.196, + 103.151, + 0.0, + -25.0, + 0.0 + ], + [ + 4539.774, + 2335.006, + 98.235, + 0.0, + -25.0, + 0.0 + ], + [ + 4539.774, + 2335.006, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4620.675, + 2238.592, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4701.575, + 2142.179, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4701.575, + 2142.179, + 98.235, + 0.0, + -50.0, + 0.0 + ], + [ + 4701.575, + 2142.179, + 98.235, + 0.0, + -25.0, + 0.0 + ], + [ + 4701.575, + 2142.179, + 98.235, + 0.0, + -0.0, + 0.0 + ], + [ + 4701.575, + 2142.179, + 98.235, + 0.0, + 25.0, + -0.0 + ], + [ + 4815.643, + 2195.368, + 98.235, + 0.0, + 25.0, + -0.0 + ], + [ + 4929.71, + 2248.558, + 98.235, + 0.0, + 25.0, + -0.0 + ], + [ + 5026.285, + 2301.017, + 98.235, + 0.0, + 25.0, + -0.0 + ], + [ + 4961.03, + 2270.589, + 98.235, + 0.0, + 25.0, + -0.0 + ], + [ + 4961.03, + 2270.589, + 98.235, + 0.0, + 25.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4780.437, + 2005.496, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4780.437, + 2005.496, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4780.437, + 2005.496, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4780.437, + 2005.496, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4780.437, + 2005.496, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4780.437, + 2005.496, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4780.437, + 2005.496, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4780.437, + 2005.496, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4717.541, + 2156.372, + 68.256, + -28.202, + 0.144, + 1.862 + ], + [ + 4710.446, + 2162.661, + 68.529, + -28.189, + 25.156, + 1.872 + ], + [ + 4701.729, + 2164.702, + 67.862, + -28.215, + 50.127, + 1.849 + ], + [ + 4695.313, + 2168.546, + 67.916, + -14.092, + 67.343, + 6.87 + ], + [ + 4805.957, + 2214.415, + 68.482, + -28.198, + 75.145, + 1.865 + ], + [ + 4920.292, + 2267.732, + 67.945, + -28.191, + 75.158, + 1.871 + ], + [ + 5016.91, + 2320.206, + 67.849, + -28.207, + 75.141, + 1.853 + ], + [ + 5024.472, + 2300.172, + 68.235, + 0.0, + -45.0, + 0.0 + ], + [ + 5024.472, + 2300.172, + 68.235, + 0.0, + -45.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 760.9, + 760.9, + 640.1, + 521.8, + 408.0, + 408.0, + 282.6, + 157.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The candelabra stands on the grass at the far left end of the team bench, well off my current heading. I will turn left to bring it toward the center of my view before walking out to it.", + "The candelabra now sits ahead and slightly left, small in the view and still far across the turf. I will walk forward to close that distance.", + "The candelabra has grown larger and remains slightly left of my heading, so my line of travel is good. I will keep stepping forward to shorten the remaining gap.", + "The candelabra is clearly resolved on the grass ahead of me but still beyond arm's reach. Another step forward should bring me close enough to work with it.", + "The candelabra sits low and left of my heading, so walking straight would pass to its right. I will turn left to line my body up with it before closing the last stretch.", + "The turn has placed the candelabra near the middle of my view with open grass between us. I will step forward to reach it.", + "The candelabra is close now, standing just ahead on the grass, but it is not yet within grasping range. One more step forward should put me right over it.", + "The candelabra is directly in front of me at the bottom of my view, close enough that its candles fill the foreground. I will attempt to pick it up now so I can carry it to the bench.", + "The candelabra is in my hands now, so the grasp succeeded and it is no longer resting on the turf. The team bench is off to my right and outside my current heading, so I will turn right to bring the seating row back in front of me before carrying the candelabra over.", + "The bench is back in view, but only its near curved end and the first few seats face me, so the middle of the row still lies to my right. I will turn right again to swing my heading further along the row toward its central section.", + "The seats now span the frame straight on, but I am square to the front face rather than aimed at the middle of the row. One more right turn should set my heading along the approach line to the bench center while I keep hold of the candelabra.", + "My heading now runs along the bench toward its middle, and the grass in front of the seat platform is clear. Carrying the candelabra, I will step forward to close the gap to the central seats.", + "The seats fill more of my view and their base plating is closer, yet I am still short of being level with the middle of the row. I will keep walking forward with the candelabra to reach the intended placement spot.", + "The central seats now loom close, with only a narrow band of turf still visible at the platform edge. One more forward step should bring me right beside the middle of the bench before I set the candelabra down.", + "I am now directly alongside the middle seats of the team bench, close enough that the ground at their base is within reach. The candelabra is still held, so I will release it here and it should come to rest on the ground beside the bench center.", + "The candelabra now stands on the ground beside the middle seats of the team bench, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-000178_y-000958_z000126_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-000178_y-000958_z000126_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2255b28f9d0e472f44218d116f12284c500ce4b6 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-000178_y-000958_z000126_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Cross the lawn to the dark front door on the lit covered porch and open it.", + "Type": 4, + "Start_Pose": [ + -177.636, + -957.556, + 126.277, + 0.0, + -80.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -177.636, + -957.556, + 126.277, + 0.0, + -80.0, + 0.0 + ], + [ + -177.636, + -957.556, + 126.277, + 0.0, + -55.0, + 0.0 + ], + [ + -105.446, + -1060.654, + 132.341, + 0.0, + -55.0, + 0.0 + ], + [ + -33.256, + -1163.751, + 138.404, + 0.0, + -55.0, + 0.0 + ], + [ + -33.256, + -1163.751, + 138.404, + 0.0, + -30.0, + 0.0 + ], + [ + 75.741, + -1226.681, + 163.559, + 0.0, + -30.0, + 0.0 + ], + [ + 184.738, + -1289.61, + 157.555, + 0.0, + -30.0, + 0.0 + ], + [ + 184.738, + -1289.61, + 157.555, + 0.0, + -55.0, + 0.0 + ], + [ + 256.927, + -1392.708, + 148.266, + 0.0, + -55.0, + 0.0 + ], + [ + 256.927, + -1392.708, + 148.266, + 0.0, + -80.0, + 0.0 + ], + [ + 278.783, + -1516.655, + 165.1, + 0.0, + -80.0, + 0.0 + ], + [ + 278.783, + -1516.655, + 165.1, + 0.0, + -80.0, + 0.0 + ], + [ + 297.889, + -1554.377, + 165.15, + 0.0, + -80.0, + 0.0 + ], + [ + 297.889, + -1554.377, + 165.15, + 0.0, + -80.0, + 0.0 + ], + [ + 297.889, + -1554.377, + 165.15, + 0.0, + -80.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the edge of the lawn I can see the lit covered porch, and the dark front door sits to the right of the window I am currently facing. I will turn right so that door and the porch decking in front of it come into the center of my view before I start crossing the grass.", + "The dark front door and its wall lamp are now roughly ahead of me, with open mown grass between us. I will move forward across the lawn to close that distance toward the porch.", + "The porch railing, planters and the dark door have grown noticeably larger, so my heading across the lawn is still good. I will keep moving forward to reach the paved area at the foot of the porch.", + "I am now close to the house, but a tall planter and dense shrub sit directly in front of the door I want, and the porch face has become nearly edge on from here. I will turn right toward the paved walkway and the open porch decking so I have a passable line onto the porch.", + "The concrete walkway now runs ahead of me toward the porch deck, clear of the planters on my left. I will move forward along it to step up beside the covered porch and get closer to the dark door.", + "I am now on the lit covered porch with clear decking running ahead of me and the dark front door at the left edge of my view. I will step forward along the boards to close the remaining distance before squaring up on the door.", + "The siding wall now fills most of my view and the dark door has slipped almost entirely off the left edge, so I am facing along the wall rather than at the target. I will turn left to bring the door back into the center of my view where I can approach it directly.", + "The dark paneled door with its glass lights is now clearly in view on my left with open decking between us. I will move forward to shorten that gap before making a final heading adjustment toward the door.", + "I have advanced close to the facade, but the door has drifted to the far left of my view while the blank siding sits directly in front of me. Turning left should put the door frame and its handle squarely ahead so I can reach the latch.", + "The dark front door is now centered in front of me with its brass knob and lock plate plainly visible under the porch light. I will step forward once more to get within arm's reach of that handle before trying to open it.", + "The dark front door fills my view with its brass knob directly ahead, so I am squarely in front of the target and ready to act. I will attempt to open it now, which should release the latch and swing the panel inward.", + "My attempt at the knob left the door unchanged, still shut with the same panel and latch plate in front of me. I will step forward slightly to tighten my distance to the handle, since I may simply be a little short of a reliable interaction range.", + "I am now right against the door edge, with the jamb and knob plate close beside me after my earlier attempt failed to move the panel. From this tighter position I will try the latch again, and it should now catch and let the door swing open.", + "The doorway now stands open, revealing the lit interior room beyond the frame. The task goal is met, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-000224_y001380_z000151_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-000224_y001380_z000151_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f924c1d16aece7a42bdd8459a207cb24d5b17aa --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-000224_y001380_z000151_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Open the paneled garage door directly ahead.", + "Type": 4, + "Start_Pose": [ + -224.351, + 1380.485, + 150.922, + 0.0, + 60.0, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -224.351, + 1380.485, + 150.922, + 0.0, + 60.0, + -0.0 + ], + [ + -157.297, + 1468.082, + 169.316, + 0.0, + 60.0, + -0.0 + ], + [ + -157.297, + 1468.082, + 169.115, + 0.0, + 60.0, + -0.0 + ], + [ + -157.297, + 1468.082, + 169.115, + 0.0, + 60.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The paneled garage door fills the left and center of my view, but I am still off to its side and slightly too far back to reach the panel surface. I will move forward to close that gap and place myself squarely in front of the door face. That should put the door within interaction range for opening it.", + "I am now right up against the paneled surface, with the raised panels and the horizontal seam of the garage door filling my whole view, so nothing else is within reach. This is the door named in my task and it still appears closed. I will trigger the opening interaction here and expect the panel to lift.", + "The garage door ahead is now open, revealing the garage interior with its shelving and floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001109_y000840_z000120_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001109_y000840_z000120_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..52e20cca8fec5bb59beb8cabcd6f2e4a67479780 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001109_y000840_z000120_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Cross the lawn to the front door on the covered porch and open it.", + "Type": 4, + "Start_Pose": [ + -1108.841, + 839.62, + 119.668, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1108.841, + 839.62, + 119.668, + 0.0, + 100.0, + -0.0 + ], + [ + -1108.841, + 839.62, + 119.668, + 0.0, + 125.0, + -0.0 + ], + [ + -1181.031, + 942.718, + 126.479, + 0.0, + 125.0, + -0.0 + ], + [ + -1253.22, + 1045.815, + 133.29, + 0.0, + 125.0, + -0.0 + ], + [ + -1325.41, + 1148.913, + 140.574, + 0.0, + 125.0, + -0.0 + ], + [ + -1397.6, + 1252.011, + 164.997, + 0.0, + 125.0, + -0.0 + ], + [ + -1397.6, + 1252.011, + 164.997, + 0.0, + 100.0, + -0.0 + ], + [ + -1419.455, + 1375.958, + 164.997, + 0.0, + 100.0, + -0.0 + ], + [ + -1419.455, + 1375.958, + 164.997, + 0.0, + 75.0, + -0.0 + ], + [ + -1386.88, + 1497.528, + 164.997, + 0.0, + 75.0, + -0.0 + ], + [ + -1358.1, + 1554.379, + 165.15, + 0.0, + 75.0, + -0.0 + ], + [ + -1358.1, + 1554.379, + 165.15, + 0.0, + 75.0, + -0.0 + ], + [ + -1358.1, + 1554.379, + 165.15, + 0.0, + 75.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the covered porch spans in front of me, but my current heading points straight into the dense flowerbed and the low rock border that edges the lawn. I will turn slightly right to line up with the more open stretch of grass leading toward the porch deck, so my approach is not blocked by that planting.", + "My heading now runs along the open grass toward the covered porch instead of into the flowerbed. I will move forward to cross the lawn and cut down the distance to the porch and its front door.", + "The porch posts and decking are noticeably nearer, and the panelled front door with its sidelight is now clear on the left side of the covered area. Nothing blocks the grass directly ahead, so I will keep advancing toward the porch edge.", + "I am right at the edge of the covered porch now, with the wooden decking, chairs, and the dark front door to my left all clearly lit. I will continue forward to step up onto the deck and get within working range of the door.", + "I am on the porch decking with clear boards ahead and the front door off at my left. I will move forward once more to reach the part of the deck that sits in front of the door before I turn to face it.", + "The door has slipped to the very left edge of my view while the porch wall and chairs fill the space in front of me. I will turn left to bring the front door back into the middle of my view so I can approach it head on.", + "The panelled front door with its glass panes and sidelight is now in view toward my left, and the deck between me and it is clear. I will move forward to close the remaining gap so the handle comes within reach.", + "I am close to the wall now and the door sits off to my left rather than squarely ahead, with the siding and a chair taking the center of my view. I will turn left to square up on the door and its handle before attempting to open it.", + "The paneled front door with its brass knob now sits squarely ahead of me, centered in my view with the sidelight to its left. I am still a couple of steps back on the porch decking, too far to reach the handle, so I will move forward to close that gap.", + "The door now fills my view and the brass knob is clearly on the right side of the panel, but I am still slightly short of comfortable contact range. One more short step forward should place me right at the threshold so the handle is within reach.", + "I am pressed right up at the door, with its glazed panel and frame filling my whole view, so the latch is directly in front of me. The door still reads as closed, so I will try to open it now.", + "I see the door swung inward with the lit interior room open before me. My task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001431_y002337_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001431_y002337_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a01e02e6247afc5a860cbeeae7ae6ddd54f38bad --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001431_y002337_z000168_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door in the side alcove.", + "Type": 4, + "Start_Pose": [ + -1431.295, + 2337.326, + 167.663, + 0.0, + -120.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1431.295, + 2337.326, + 167.663, + 0.0, + -120.0, + 0.0 + ], + [ + -1431.295, + 2337.326, + 167.663, + 0.0, + -145.0, + 0.0 + ], + [ + -1534.393, + 2265.136, + 168.15, + 0.0, + -145.0, + 0.0 + ], + [ + -1637.49, + 2192.946, + 168.808, + 0.0, + -145.0, + 0.0 + ], + [ + -1739.415, + 2146.951, + 168.15, + 0.0, + -145.0, + 0.0 + ], + [ + -1739.415, + 2146.951, + 168.191, + 0.0, + -145.0, + 0.0 + ], + [ + -1739.415, + 2146.951, + 168.191, + 0.0, + -145.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this entry area I can see a white paneled door set back in a recess toward my left, past the wall opening. I will turn left so that alcove and its doorway line up ahead of me instead of sitting at the edge of my view.", + "The alcove passage now runs straight ahead, with a white paneled door on the near right side of it and another farther down the corridor. I will move forward along the runner to close distance with the alcove door.", + "The paneled door in the alcove is clearly larger now and its dark lever handle is visible on my right, but I am still too far back to reach it. Another step forward should bring the handle within working distance.", + "The white paneled door and its lever now fill the right portion of my view, so only a short gap remains. I will advance once more to stand directly beside the latch before trying to operate it.", + "I am right up against the white paneled door in the alcove, with its jamb and panel edge filling my view at arm's length. I will attempt to open it now, which should release the latch and swing the door inward.", + "The alcove's white paneled door now stands open, revealing the tiled room behind it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001431_y002337_z000168_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001431_y002337_z000168_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35f293ca37fca3463c76fdbbda3f2e385cf15beb --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001431_y002337_z000168_t4_b/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Walk across the room to the dark glass-paned door at the far end and swing it open.", + "Type": 4, + "Start_Pose": [ + -1431.295, + 2337.326, + 167.663, + 0.0, + -120.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1431.295, + 2337.326, + 167.663, + 0.0, + -120.0, + 0.0 + ], + [ + -1431.295, + 2337.326, + 167.663, + 0.0, + -95.0, + 0.0 + ], + [ + -1442.264, + 2211.946, + 168.15, + 0.0, + -95.0, + 0.0 + ], + [ + -1453.234, + 2086.566, + 168.15, + 0.0, + -95.0, + 0.0 + ], + [ + -1453.234, + 2086.566, + 168.15, + 0.0, + -70.0, + 0.0 + ], + [ + -1410.187, + 1968.297, + 168.15, + 0.0, + -70.0, + 0.0 + ], + [ + -1367.141, + 1850.028, + 168.15, + 0.0, + -70.0, + 0.0 + ], + [ + -1324.095, + 1731.759, + 168.15, + 0.0, + -70.0, + 0.0 + ], + [ + -1324.095, + 1731.759, + 168.15, + 0.0, + -95.0, + 0.0 + ], + [ + -1334.593, + 1645.576, + 168.15, + 0.0, + -95.0, + 0.0 + ], + [ + -1334.593, + 1645.576, + 168.15, + 0.0, + -95.0, + 0.0 + ], + [ + -1334.593, + 1645.576, + 168.15, + 0.0, + -95.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this spot in the room I can see the dark glass-paned door standing at the far end, but it sits off to my right beyond the cabinet and wall corner. I will turn right to bring that door nearer the center of my heading before I start crossing the open floor.", + "The dark paneled door with its glass lights is now roughly ahead of me down the open floor, with clear flooring between us. I will move forward to cut down that distance while keeping the door in view.", + "The door and its narrow sidelight have grown larger ahead of me, so my heading is still usable and I am not yet within reach. I will continue forward across the room toward it.", + "I am closer now, but the dark glass-paned door sits a little right of straight ahead, so walking on as I am would carry me past its face. I will turn right to square my heading onto the door before continuing.", + "The dark door with its grid of panes is now centered well in front of me with open floor leading up to it. I will move forward to close in on the doorway.", + "The doorway and its bright sidelight now fill much of the view, yet I am still a step or two short of an arm's reach from the handle. I will step forward again to get within interaction distance.", + "The dark paneled door with its brass knob is directly in front of me and very near, with the porch showing through the glass beside it. I will take one more step forward to bring the door within comfortable reach.", + "Standing this close, the door has slid to the left edge of my view while the frame and sidelight take up the center, so I am not facing its panels squarely. I will turn left to bring the door and its knob back in front of me for the opening attempt.", + "The dark glass-paned door now fills most of my view with its brass knob visible on the left stile, so my heading is squarely on it. I am still a short step back from the panel, so I will move forward to close that last gap and bring the handle within reach.", + "I am now right up against the dark door panel, with its glass panes and frame filling my view, which means I am within reach of the latch. The door still appears closed, so I will trigger the opening interaction and it should swing away from me.", + "The dark door now stands swung open with the porch and yard visible ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001599_y-001830_z000168_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001599_y-001830_z000168_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..edb4e04b07c81df9260f9757292dc452fec5fd7b --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001599_y-001830_z000168_t5_a_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Grab the plate near the wall lamp.", + "Type": 5, + "Start_Pose": [ + -1599.398, + -1830.451, + 168.15, + -0.051, + -98.045, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1637.111, + -2228.907, + 118.793, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1599.398, + -1830.451, + 168.15, + -0.051, + -98.045, + 0 + ], + [ + -1617.012, + -1955.071, + 168.15, + -0.051, + -98.045, + -0.0 + ], + [ + -1634.626, + -2079.692, + 168.15, + -0.051, + -98.045, + -0.0 + ], + [ + -1634.626, + -2079.692, + 168.15, + 0.0, + -98.045, + 0.0 + ], + [ + -1634.626, + -2079.692, + 168.15, + 0.0, + -98.045, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1637.111, + -2228.907, + 118.793, + 90.0, + 90.0, + 0.0 + ], + [ + -1637.111, + -2228.907, + 118.793, + 90.0, + 90.0, + 0.0 + ], + [ + -1637.111, + -2228.907, + 118.793, + 90.0, + 90.0, + 0.0 + ], + [ + -1613.397, + -2082.076, + 138.257, + -28.202, + -47.9, + 1.862 + ], + [ + -1613.397, + -2082.076, + 138.257, + -28.202, + -47.9, + 1.862 + ] + ], + "PD_Dist_2D": [ + 400.2, + 274.6, + 149.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The lit wall lamp is straight ahead on the corner pillar, with the large white plate leaning against the wall just below it, but both are still far across the room. My heading already points at them, so I will move forward to close that distance without turning.", + "The lamp and the plate below it now fill much more of my view, so my straight approach is working, but the plate is still beyond comfortable reach. I will step forward again to get close enough to the wall lamp for a grasp attempt on the plate.", + "I am now right at the wall lamp, which glows directly in front of me, and the plate's rim spans the lower part of my view within arm's reach. I will attempt to pick it up from here, since no further approach seems necessary.", + "My hand is holding the plate at the wall lamp position. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001603_y000013_z000098_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001603_y000013_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3161d5f8280a45403ec9c15b0c8df21eb88316a8 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001603_y000013_z000098_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Lift the plate where the white fence meets the green bushes, then place it by the gray car.", + "Type": 5, + "Start_Pose": [ + -1603.008, + 13.361, + 98.15, + 0, + -73.308, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1609.84, + -1056.998, + 69.921, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1603.008, + 13.361, + 98.15, + 0, + -73.308, + 0 + ], + [ + -1566.858, + -107.195, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1530.708, + -227.75, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1494.558, + -348.306, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1494.558, + -348.306, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1512.744, + -472.844, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1530.93, + -597.382, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1549.116, + -721.92, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1567.301, + -846.459, + 110.472, + 0.0, + -98.308, + 0.0 + ], + [ + -1585.487, + -970.997, + 122.622, + 0.0, + -98.308, + 0.0 + ], + [ + -1585.487, + -970.997, + 122.622, + 0.0, + -98.308, + 0.0 + ], + [ + -1585.487, + -970.997, + 122.622, + 0.0, + -73.308, + 0.0 + ], + [ + -1585.487, + -970.997, + 122.622, + 0.0, + -48.308, + 0.0 + ], + [ + -1585.487, + -970.997, + 122.622, + 0.0, + -23.308, + 0.0 + ], + [ + -1585.487, + -970.997, + 122.622, + 0.0, + 1.692, + -0.0 + ], + [ + -1585.487, + -970.997, + 122.622, + 0.0, + 26.692, + -0.0 + ], + [ + -1473.041, + -914.461, + 117.989, + 0.0, + 26.692, + -0.0 + ], + [ + -1473.041, + -914.461, + 117.989, + 0.0, + 51.692, + -0.0 + ], + [ + -1395.814, + -817.304, + 99.434, + 0.0, + 51.692, + -0.0 + ], + [ + -1440.445, + -873.802, + 113.537, + 0.0, + 51.692, + -0.0 + ], + [ + -1440.445, + -873.802, + 113.537, + 0.0, + 51.692, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1609.84, + -1056.998, + 69.921, + 90.0, + 90.0, + 0.0 + ], + [ + -1564.269, + -973.478, + 92.851, + -28.202, + -48.163, + 1.862 + ], + [ + -1564.293, + -963.997, + 93.119, + -28.189, + -23.151, + 1.872 + ], + [ + -1568.567, + -956.13, + 92.452, + -28.215, + 1.82, + 1.849 + ], + [ + -1569.964, + -948.783, + 89.869, + -14.092, + 19.036, + 6.87 + ], + [ + -1586.558, + -949.553, + 90.103, + -28.208, + 51.835, + 1.851 + ], + [ + -1596.068, + -951.123, + 90.772, + -28.198, + 76.839, + 1.867 + ], + [ + -1483.092, + -895.61, + 86.599, + -28.198, + 76.838, + 1.862 + ], + [ + -1491.032, + -901.14, + 87.187, + -28.195, + 101.842, + 1.87 + ], + [ + -1413.205, + -804.863, + 68.888, + -28.185, + 101.849, + 1.881 + ], + [ + -1397.053, + -818.874, + 83.537, + 90.0, + 51.692, + 0.0 + ], + [ + -1397.053, + -818.874, + 83.537, + 90.0, + 51.692, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1070.4, + 950.8, + 833.0, + 718.0, + 718.0, + 592.2, + 466.3, + 340.5, + 214.8, + 89.4, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 22.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the road I can see the white picket fence meeting the green hedge on the left side of the yard, with a pale round plate resting right at that junction. Nothing blocks the open pavement ahead, so I will move forward to close the large gap toward that fence and hedge boundary.", + "The house, fence line and the round plate beside the hedge all appear larger than a moment ago, confirming my heading is carrying me toward the target area. I will continue forward since the plate is still far off to my left front and the way is clear.", + "I am now near the edge of the road with the parked dark car to my right and the fence-hedge corner and its plate ahead on my left. Another step forward should bring me close enough to the yard edge before I adjust my heading.", + "The plate at the fence and hedge junction now sits off to the left of my heading, while straight ahead I would only pass beside the parked car. I will turn left to bring the plate and that fence corner into the center of my view for a direct approach.", + "After turning, the white fence, the hedge and the round plate between them are centered in front of me. I will move forward along this heading to shorten the remaining distance to the plate.", + "The plate has grown noticeably and still sits just ahead where the picket fence meets the green hedge. Nothing obstructs the walk in front of me, so I will keep moving forward to close in on it.", + "I am now at the grass strip with the plate clearly visible against the hedge, but it is still too far to reach. I will advance again to get within grasping range of the plate.", + "The plate fills a good part of my view now, standing right where the white fence ends and the hedge begins. One more step forward should place it close enough in front of me to attempt lifting it.", + "The plate now fills the lower middle of my view right where the white picket fence meets the green hedge, but it still sits slightly ahead of my feet. I will step forward once more to close that last bit of distance so the plate falls inside my grasp range.", + "I am standing right at the seam between the white fence and the hedge, and the plate has passed below my camera so only its rim shows at the bottom edge, meaning it is directly at my feet. I will attempt to pick it up now so I can carry it to the gray car.", + "The plate is now in my hands at waist level, so the lifting part of the task is done. I am facing into the hedge and house, and the street with the parked cars lies behind me to my right, so I will turn right to start swinging my heading around toward the delivery target.", + "I still see mostly the hedge and the lit windows of the white house ahead of me, with no car in view. Another right turn should keep rotating me toward the street side where the gray car should be.", + "The sidewalk running along the hedge has come into view, but I am still looking down the line of houses rather than at the roadway. I will continue turning right to bring the street and the parked cars into the front of my view.", + "The pavement and the edge of the roadway are opening up on the right side of my view while the hedge slides left. One more right turn should put the parked cars along the curb in front of me while I carry the plate.", + "A gray car is now visible at the right edge of my view, parked along the curb past the tree. Turning right again should center it ahead of me so I can walk straight to it with the plate.", + "The gray car is now clearly ahead of me on the near side of the road, and I am still carrying the plate. I will move forward along the curb to close the gap toward its body before positioning for the drop.", + "The gray car sits close on my right side, with its rear and side filling that half of my view while I hold the plate. I will turn right so the car body is centered ahead of me instead of angled off to the side. That heading should give me a clean line to step up to it for placement.", + "The gray car is now squarely ahead of me, its rear and side clearly framed in the center of my view, but still a short step away. I will move forward to close that last gap so the car body is within reach for placing the plate. This should put me directly at the delivery surface.", + "The gray car's roof and rear window now fill my view at arm's length, so I am right at the delivery target with the plate still in hand. I will release the plate here so it comes to rest on the car as the task requires.", + "The plate is resting against the gray car and no longer in my hands. The delivery is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001725_y000840_z000120_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001725_y000840_z000120_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..62cee7cbfa607f7aa07c73b85ad0d8dadf41319d --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001725_y000840_z000120_t4_a/infos.json @@ -0,0 +1,194 @@ +{ + "Instruction": "Open the front door on the porch with the hanging flower basket.", + "Type": 4, + "Start_Pose": [ + -1725.124, + 840.137, + 119.702, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1725.124, + 840.137, + 119.702, + 0.0, + 100.0, + -0.0 + ], + [ + -1725.124, + 840.137, + 119.702, + 0.0, + 75.0, + -0.0 + ], + [ + -1725.124, + 840.137, + 119.702, + 0.0, + 50.0, + -0.0 + ], + [ + -1725.124, + 840.137, + 119.702, + 0.0, + 25.0, + -0.0 + ], + [ + -1611.057, + 893.327, + 123.216, + 0.0, + 25.0, + -0.0 + ], + [ + -1496.99, + 946.518, + 126.73, + 0.0, + 25.0, + -0.0 + ], + [ + -1496.99, + 946.518, + 126.73, + 0.0, + 50.0, + -0.0 + ], + [ + -1496.99, + 946.518, + 126.73, + 0.0, + 75.0, + -0.0 + ], + [ + -1464.415, + 1068.088, + 134.762, + 0.0, + 75.0, + -0.0 + ], + [ + -1431.841, + 1189.659, + 142.793, + 0.0, + 75.0, + -0.0 + ], + [ + -1399.266, + 1311.229, + 164.988, + 0.0, + 75.0, + -0.0 + ], + [ + -1366.691, + 1432.8, + 164.988, + 0.0, + 75.0, + -0.0 + ], + [ + -1366.691, + 1432.8, + 164.988, + 0.0, + 100.0, + -0.0 + ], + [ + -1388.454, + 1554.374, + 165.15, + 0.0, + 100.0, + -0.0 + ], + [ + -1388.454, + 1554.374, + 165.15, + 0.0, + 100.0, + -0.0 + ], + [ + -1388.454, + 1554.374, + 165.15, + 0.0, + 100.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The hanging flower basket marks the covered porch ahead of me, but a dense bed of shrubs and stones sits directly between me and it, so I cannot walk straight in. I will turn left to swing my view along the porch front and look for the entry door and a clear path toward it.", + "The porch with the hanging basket is now more fully in view, and I can see a lit doorway further along to the left, but the planting bed still runs across my front. Another left turn should bring the walkway area near that door into view so I can plan an approach.", + "A paved walkway is appearing at the lower left, running alongside the flower beds toward the porch, which looks like the only unobstructed route. I will turn left once more so my heading follows that walkway instead of the shrubs.", + "My heading now runs along the front of the house with the walkway and open lawn ahead and the porch railing to my right. I will move forward to travel past the flower beds and get level with the porch entrance.", + "The path ahead is still open and the porch deck edge with its potted plant is drawing closer on my right. I will continue forward to reach the point where the porch steps and door are beside me.", + "I am now beside the porch, with the deck and its planter close on my right while my heading points along the house rather than at the entrance. I will turn right to begin facing the porch and the front door.", + "The front door is now visible on the porch ahead but still sits right of my center, with a walkway leading up to the deck. A second right turn should square me with that door for a straight approach.", + "The front door and its sidelight are now centered ahead of me with the hanging basket and porch lights confirming this is the target entrance. I will move forward across the walkway onto the deck to close the distance for reaching the handle.", + "I am now on the porch decking with the paneled front door and its narrow sidelight ahead of me, slightly left of center. The distance is still too great for any handle interaction, so I will move forward to close it.", + "The target door is larger in view and its brass knob is now discernible, but I am still several paces short of reaching it. Another forward step should bring me nearer to a workable interaction distance.", + "The door frame, sidelight, and gold knob are clearly resolved just ahead of me, with clear decking between us and the porch chair well off to the right. I will step forward again to get within arm's reach of the door face.", + "I am close to the door now, but my heading is biased toward the sidelight and shutter on the left while the brass knob sits off toward the right of my view. Turning right should bring the knob and latch side of the door into the center of my view for interaction.", + "The knob and its plate are now framed in my view with the door panel just left of center, so my heading is correct for the latch. I will take one short step forward to bring the knob within reach.", + "The brass knob and its plate now fill my view at arm's length, so I am squarely at the latch of this porch front door. I will attempt to open it, which should release the latch and swing the door inward.", + "The doorway now stands open with the lit interior living room visible through it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001725_y000840_z000120_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001725_y000840_z000120_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa9a1caafcf5f966894f94ac5f2d23f355736bb1 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001725_y000840_z000120_t4_b/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Go to the dark garage door set in the brick wall and open it.", + "Type": 4, + "Start_Pose": [ + -1725.124, + 840.137, + 119.702, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1725.124, + 840.137, + 119.702, + 0.0, + 100.0, + -0.0 + ], + [ + -1725.124, + 840.137, + 119.702, + 0.0, + 125.0, + -0.0 + ], + [ + -1797.314, + 943.235, + 126.513, + 0.0, + 125.0, + -0.0 + ], + [ + -1797.314, + 943.235, + 126.513, + 0.0, + 150.0, + -0.0 + ], + [ + -1906.311, + 1006.164, + 130.67, + 0.0, + 150.0, + -0.0 + ], + [ + -2015.308, + 1069.094, + 134.828, + 0.0, + 150.0, + -0.0 + ], + [ + -2113.668, + 1138.175, + 139.392, + 0.0, + 150.0, + -0.0 + ], + [ + -2222.665, + 1201.104, + 147.936, + 0.0, + 150.0, + -0.0 + ], + [ + -2222.665, + 1201.104, + 147.936, + 0.0, + 125.0, + -0.0 + ], + [ + -2294.855, + 1304.202, + 161.849, + 0.0, + 125.0, + -0.0 + ], + [ + -2294.855, + 1304.202, + 161.849, + 0.0, + 100.0, + -0.0 + ], + [ + -2314.261, + 1368.161, + 169.317, + 0.0, + 100.0, + -0.0 + ], + [ + -2314.261, + 1368.161, + 169.24, + 0.0, + 100.0, + -0.0 + ], + [ + -2314.261, + 1368.161, + 169.24, + 0.0, + 100.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I can see the dark paneled garage door set into the brick wing at the right edge of my view, while the porch and planting beds fill the space directly ahead. I will turn right to bring that brick section and its driveway into the center of my view before moving. This should give me a clear line toward the target instead of pushing into the shrubs.", + "The brick garage wing with its dark door now sits ahead of me, with open lawn and the lit bollard path between us. I will move forward to close that distance since nothing blocks this heading.", + "I am coming at the garage from an oblique angle off its corner, so the dark door is angled away from me rather than facing me. I will turn right to swing my heading onto the concrete driveway that runs out in front of the door, which should let me travel along it and reach the door face-on.", + "My heading now runs along the open driveway with the dark garage door and its brick surround off to my left. I will move forward over the clear concrete to shorten the distance to the door bay.", + "The garage door has grown noticeably and its white frame is now clearly on my left, but I am still short of standing in front of the bay. I will continue forward along the driveway to draw level with the door.", + "The dark paneled door now fills much of the left side of my view with the wall lamp above it, so I am close to the garage face but still offset along the driveway. Another step forward should bring me nearer to the middle of the bay before I turn to face it.", + "I am now beside the garage bay with the dark door and its brick jamb dominating my left, and the pavement ahead is still clear. I will take one more step forward so my position lines up with the door panel rather than its edge.", + "I am standing on the driveway right beside the bay, and the dark garage door lies almost entirely to my left instead of in front of me. I will turn left to square my heading onto the door panel so I can approach it directly for the interaction.", + "The dark paneled garage door set in the brick wall now fills most of my view just ahead on the driveway, so I still need to close the remaining gap before I can act on it. I will move forward along the concrete toward the door face to bring it within reach.", + "From this close position the door panels run away to my left at a steep angle, and the white frame and brick on my right show I am looking across the door rather than at it. I will turn left to square my heading onto the door surface for a clean interaction.", + "The paneled door surface now fills my view head on, so my heading is squared onto it. I will edge forward a short distance to settle within reliable reach of the door before trying to operate it.", + "I am pressed right up against the dark garage door, with its panel edges and bottom rail filling my view at close range. This is the interaction position I aimed for, so I will attempt to open the door now.", + "The garage interior with its shelving and block walls is now open in front of me, showing the door is open. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002146_y002338_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002146_y002338_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d025d704101ddac6a9b573708b4a8b468e7fde59 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002146_y002338_z000168_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white door to the left of the small dresser.", + "Type": 4, + "Start_Pose": [ + -2145.582, + 2337.926, + 168.15, + 0.0, + -60.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2145.582, + 2337.926, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2082.653, + 2228.929, + 168.943, + 0.0, + -60.0, + 0.0 + ], + [ + -2082.653, + 2228.929, + 168.943, + 0.0, + -85.0, + 0.0 + ], + [ + -2071.683, + 2103.549, + 168.297, + 0.0, + -85.0, + 0.0 + ], + [ + -2060.714, + 1978.169, + 168.297, + 0.0, + -85.0, + 0.0 + ], + [ + -2060.714, + 1978.169, + 168.297, + 0.0, + -85.0, + 0.0 + ], + [ + -2051.875, + 1951.622, + 168.15, + 0.0, + -85.0, + 0.0 + ], + [ + -2051.875, + 1951.622, + 168.15, + 0.0, + -85.0, + 0.0 + ], + [ + -2051.875, + 1951.622, + 168.15, + 0.0, + -85.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I can see the small dresser against the wall ahead, and the white paneled door sits to its left. I will move forward to close the distance across the room before I can line up with that door.", + "From this closer position the target white door is off to my left while my heading points at the corner beside the dresser. I will turn left so the door comes into the center of my view for a straight approach.", + "The white door is now centered ahead with the dresser off to my right, so my heading is good. I will move forward along this line to get within reach of the handle.", + "The door fills much of my view but I am still a step short of the panel and its lever handle. I will advance once more to reach a distance where the handle should be within interaction range.", + "I am right up against the white door panel with the lever handle plainly visible to my left. I will try to operate the handle now to open it.", + "My attempt to open this white door just now left it shut, with the handle and panels still filling my view unchanged. I am probably still slightly too far back for the interaction to register, so I will edge forward a small step to close the remaining gap to the handle.", + "The door surface now fills my entire view at very close range, so I am pressed right against the panel where the latch should be within reach. My earlier attempt from farther back did not move the door, so I will try opening it again from this tighter position.", + "I can see the door swung open with the garage and its shelving revealed beyond it. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002146_y002338_z000168_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002146_y002338_z000168_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22abf1dc2ca18c7e246b565d7e843d0c647baba2 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002146_y002338_z000168_t4_b/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Open the white door to the right of the small dresser.", + "Type": 4, + "Start_Pose": [ + -2145.582, + 2337.926, + 168.15, + 0.0, + -60.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2145.582, + 2337.926, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2145.582, + 2337.926, + 168.15, + 0.0, + -35.0, + 0.0 + ], + [ + -2042.484, + 2265.736, + 168.853, + 0.0, + -35.0, + 0.0 + ], + [ + -2042.484, + 2265.736, + 168.853, + 0.0, + -10.0, + 0.0 + ], + [ + -1918.537, + 2243.881, + 168.853, + 0.0, + -10.0, + 0.0 + ], + [ + -1918.537, + 2243.881, + 168.853, + 0.0, + -35.0, + 0.0 + ], + [ + -1815.44, + 2171.691, + 168.853, + 0.0, + -35.0, + 0.0 + ], + [ + -1718.255, + 2149.098, + 168.15, + 0.0, + -35.0, + 0.0 + ], + [ + -1718.255, + 2149.098, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -1718.255, + 2149.098, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -1718.255, + 2149.098, + 168.15, + 0.0, + -60.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I can see the small white dresser against the wall ahead, with a pale door standing to its right side toward the hallway. I will turn right so that door and the open floor leading to it come into the center of my view instead of sitting at the edge.", + "The dresser is now on my left and a white door sits ahead beside the corner, with a carpeted hallway running to the right. I will move forward to close the gap toward that door area while the route ahead looks clear.", + "I am close to the corner wall with the dresser at my left, so continuing straight would only bring me against that wall face. Turning right lines my heading up with the hallway and its runner, which is the passable route leading alongside the target door.", + "The hallway now runs straight ahead with the white door on my left and open doorways further on. I will move forward along this corridor to draw level with that door.", + "I have come far enough along the hallway that the white panel door is now off to my left rather than in front of me. I will turn left to face it squarely so its handle side is centered before I approach.", + "The white door is now directly in front of me but still a stride or two away. I will move forward to bring its handle within reach for the interaction.", + "The door fills most of my view and its knob is clearly visible, but I still seem a little short of contact distance. I will take one more short step forward so I am standing right at the door surface.", + "Standing this close, my view has drifted onto the patterned wall beside the door, with only the door frame edge at my left. I will turn left to bring the door panel and its handle back in front of me before attempting to open it.", + "The white door's panel and its two dark knobs now fill the left side of my view at arm's length, with the frame edge directly ahead. I am close enough and squared up on the latch side, so I will try the open action on this door now.", + "The doorway now stands open, revealing the tiled bathroom with its tub and window beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002242_y-001588_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002242_y-001588_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd333a70f31f18ca37848f3298c15abf509ced9 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002242_y-001588_z000168_t4_a/infos.json @@ -0,0 +1,194 @@ +{ + "Instruction": "The white door centered between the two framed pictures is the one to open.", + "Type": 4, + "Start_Pose": [ + -2241.699, + -1588.498, + 168.15, + 0.0, + -80.0, + 0.0 + ], + "Action": [ + "MoveForward", + "LookDown", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2241.699, + -1588.498, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2224.741, + -1588.498, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2224.741, + -1588.498, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2224.741, + -1588.498, + 168.15, + 0.0, + -55.0, + 0.0 + ], + [ + -2224.741, + -1588.498, + 168.15, + 0.0, + -30.0, + 0.0 + ], + [ + -2116.864, + -1618.062, + 168.15, + 0.0, + -30.0, + 0.0 + ], + [ + -2116.864, + -1618.062, + 168.15, + 0.0, + -55.0, + 0.0 + ], + [ + -2116.864, + -1618.062, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2095.009, + -1742.009, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2081.828, + -1865.798, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2081.828, + -1865.798, + 168.15, + 0.0, + -105.0, + 0.0 + ], + [ + -2114.403, + -1987.368, + 168.15, + 0.0, + -105.0, + 0.0 + ], + [ + -2114.403, + -1987.368, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2094.996, + -2048.381, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2094.996, + -2048.381, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2094.996, + -2048.381, + 168.15, + 0.0, + -80.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white door set in the far wall directly between the two framed pictures matches the target described in the task, and it lies almost straight ahead of me across the open bedroom floor. I will walk forward along that line to close the distance before I worry about fine alignment with the handle.", + "My step forward barely shifted the room, since the door, wardrobe and bed sit at almost the same size and angle as before, so something low must be stopping my feet. The pale striped shape at the bottom edge of my view suggests bedding or a mat lying on the floor right in front of me. I will look down to see exactly what is blocking the path.", + "Looking down confirms a mattress and a large rug spread flat across the floor immediately ahead, which explains why my forward step gained almost nothing. Continuing straight into that low pile is not workable, so I will turn right to scan for open floor I can actually walk on toward the target door.", + "This heading shows a bed and side table taking up much of the middle of the room, and the bedding I stalled against is still behind my left shoulder. I need a lane of clear floor to bypass that obstruction, so I will turn right again to bring more open ground into view.", + "From this heading the bed sits over on my left and the tall white wardrobe with drawers stands on my right, leaving a clear strip of bare floor straight down the middle. Nothing low lies across that strip, unlike the mattress that stopped me earlier, so I will walk forward here to get clear of the blocked corner before turning back toward the target door.", + "My step forward has carried me deep into the room, with the bed on my left and the tall white wardrobe and drawers close on my right, and the white door I need is no longer anywhere in my view. The door wall with its two framed pictures lies off to my left side, so I will turn left to swing that wall back into sight.", + "The turn has brought a white door into view at the far left edge of my sight, but it is clipped by the edge and the wall around it is only partly visible. I will turn left once more so that wall swings toward the center, which should let me confirm the door standing between the two framed pictures before I commit to walking toward it.", + "The wall ahead of me now shows a white door with a framed picture hanging on each side of it, which matches the door described in my task. It is still a long way across the open floor, so I will walk forward to close that distance while keeping the door slightly left of my center.", + "The white door and the two pictures flanking it have grown noticeably larger, confirming I am heading straight at the intended door. There is still open floor in front of me and the bed stays clear on my right, so I will walk forward again to get within reach of the handle.", + "I am now close enough to see the brass handle and the door's panel detail, but the door sits left of my center while plain wallpaper and the right-hand picture take up most of my view. I will turn left to square myself onto the door so the handle side comes into a workable position for the final approach.", + "The white door I need is now clearly ahead in the right half of my view, set into the wallpapered wall with a framed painting beside it and no furniture blocking the floor between us. I still have a couple of meters of open boards to cover before the handle is within reach, so I will walk straight forward. This should bring me close enough to judge the final alignment on the handle.", + "I am now close to the door, but its panels and brass lever sit in the right portion of my view while the wallpaper and light switch fill the left, so my heading is angled off the leaf. Turning right should swing my facing onto the center of the door and put the handle squarely in front of me. Getting this alignment right matters before I close the last bit of distance.", + "The white door now fills nearly my whole view with the brass lever on the left and the frame edge on the right, so my facing is on the leaf itself. I am still a short pace short of contact range for the handle, so I will take one more step forward. That small closing move should place me right at the door for an interaction attempt.", + "I am pressed right up against the panelled white leaf, with only its molded panel and painted surface in view, which means I am within arm's reach of the handle. This is the door set between the two framed pictures that the task names, and nothing stands between me and it. I will try the handle now and it should swing the door open.", + "The white door has swung inward and the lit space beyond it is open in front of me. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002262_y000732_z000114_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002262_y000732_z000114_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c07e2557503ffb2c0883657d06f93ad84f080d35 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002262_y000732_z000114_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Approach the brown garage door set into the brick facade and open it.", + "Type": 4, + "Start_Pose": [ + -2262.173, + 732.117, + 113.949, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2262.173, + 732.117, + 113.949, + 0.0, + 120.0, + -0.0 + ], + [ + -2325.103, + 841.114, + 119.594, + 0.0, + 120.0, + -0.0 + ], + [ + -2325.103, + 841.114, + 119.594, + 0.0, + 95.0, + -0.0 + ], + [ + -2336.072, + 966.494, + 127.877, + 0.0, + 95.0, + -0.0 + ], + [ + -2347.041, + 1091.874, + 136.16, + 0.0, + 95.0, + -0.0 + ], + [ + -2358.011, + 1217.254, + 150.441, + 0.0, + 95.0, + -0.0 + ], + [ + -2368.98, + 1342.634, + 166.951, + 0.0, + 95.0, + -0.0 + ], + [ + -2368.98, + 1342.634, + 166.951, + 0.0, + 95.0, + -0.0 + ], + [ + -2377.819, + 1368.158, + 169.317, + 0.0, + 95.0, + -0.0 + ], + [ + -2377.819, + 1368.158, + 169.234, + 0.0, + 95.0, + -0.0 + ], + [ + -2377.819, + 1368.158, + 169.234, + 0.0, + 95.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The brown garage door set into the brick facade is visible ahead on the left side of my view, with the open concrete driveway leading toward it. I will move forward along the driveway to close the distance before worrying about precise alignment.", + "After advancing, the garage door sits well off to the left edge of my view while my heading points down the driveway toward the fence and neighboring houses. I will turn left so the door comes into the center of my view and my path leads straight at it.", + "The garage door is now roughly centered ahead of me with the driveway apron running straight up to it. I will move forward to keep closing on the door while this clear heading holds.", + "The door now fills much more of my view and I can see its panel detail and the brick surround, but I am still short of touching range. Another step forward should bring me close enough to work on the door itself.", + "The garage door panels dominate my view and the base of the door with its concrete threshold is just ahead. I will step forward once more to stand directly at the door so an opening attempt can register.", + "The brown garage door now fills nearly all of my view, but I can still see the brick jamb at the right edge and a strip of driveway below, so I am not yet pressed up to the panel. I will move forward once more to close that last gap and put the door squarely within reach for an opening attempt.", + "I am directly in front of the brown garage door, with its raised panels filling my entire view and no gap or interior visible, so the door is still shut. Since I am aligned and close, I will try to open it now and expect the panel to lift.", + "My opening attempt did not move the door, since the same closed panels and seam are still right in front of me with no opening. I may still be a fraction too far back for the interaction to register, so I will edge forward to tighten my contact with the door face.", + "I am now pressed right against the garage door, with only its dark panel surface and the lower rail filling my view, so it remains closed after my earlier attempt failed. From this tighter position I will try the opening interaction again, which should now register on the door.", + "The doorway is now clear and I can see straight into the lit garage with its shelves and interior walls. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002334_y001256_z000155_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002334_y001256_z000155_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6fcd3fe2f2a35dd4df8d7a78ef31e4bed3e56d38 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002334_y001256_z000155_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Go to the dark wooden garage door with a row of small upper windows and open it.", + "Type": 4, + "Start_Pose": [ + -2333.513, + 1255.679, + 155.488, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2333.513, + 1255.679, + 155.488, + 0.0, + 120.0, + -0.0 + ], + [ + -2333.513, + 1255.679, + 155.488, + 0.0, + 95.0, + -0.0 + ], + [ + -2344.332, + 1368.112, + 169.316, + 0.0, + 95.0, + -0.0 + ], + [ + -2344.332, + 1368.112, + 169.23, + 0.0, + 95.0, + -0.0 + ], + [ + -2344.332, + 1368.112, + 169.23, + 0.0, + 95.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark wooden garage door with its row of small upper windows fills the left portion of my view, seen at a steep angle while the brick wall and driveway edge sit to my right. I will turn left to bring the door's face square in front of me so that a straight approach is possible.", + "The paneled garage door now spans my whole view with its upper window row along the top, so my heading is centered on the target. I will move forward to close the remaining gap and get within reach for an interaction.", + "I am right up against the dark wooden door, with only its panel moldings and grain filling my view at arm's length. This is close enough to act on it, so I will attempt to open the garage door now.", + "The garage door is now open, revealing the block-walled interior with its shelving and side door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002411_y002171_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002411_y002171_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..62281d28c4b538ba199f5834452482b00c8f1bb3 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002411_y002171_z000168_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "At the dresser topped with a potted plant, pull open the adjacent white door.", + "Type": 4, + "Start_Pose": [ + -2411.247, + 2171.238, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2411.247, + 2171.238, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + -2411.247, + 2171.238, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + -2289.677, + 2203.813, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + -2251.617, + 2232.594, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + -2251.617, + 2232.594, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + -2251.617, + 2232.594, + 168.15, + 0.0, + 15.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dresser with the potted plant sits to my right, and the white door I need to open is pushed to the far left edge of my view, only partly framed. I will turn left so the door and its handle come into the center of my view before I approach it.", + "The white door is now centered ahead of me with its lever handle clearly visible, and the dresser has moved off to my right. I am still several steps back across the carpet, so I will move forward to close that gap.", + "The door panel now fills my view and the lever handle is close on the left side, but I am still slightly short of a comfortable contact distance. I will take one more short step forward to be squarely within reach of the door.", + "I am right up against the white door, with its recessed panels filling my view, which means I am within reach of its latch. I will pull the door open now, which should swing it clear of the frame.", + "The white door now stands swung open beside me, exposing the hallway and rooms beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002454_y001979_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002454_y001979_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c298fe0543f51adc2d36d5a35cf872cc2c4d301c --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002454_y001979_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Cross the bedroom to the white paneled door and open it.", + "Type": 4, + "Start_Pose": [ + -2454.143, + 1979.025, + 168.15, + 0.0, + 20.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2454.143, + 1979.025, + 168.15, + 0.0, + 20.0, + -0.0 + ], + [ + -2454.143, + 1979.025, + 168.15, + 0.0, + 45.0, + -0.0 + ], + [ + -2375.862, + 2072.352, + 168.15, + 0.0, + 45.0, + -0.0 + ], + [ + -2286.866, + 2161.347, + 168.15, + 0.0, + 45.0, + -0.0 + ], + [ + -2251.546, + 2247.526, + 168.15, + 0.0, + 45.0, + -0.0 + ], + [ + -2251.546, + 2247.526, + 168.15, + 0.0, + 45.0, + -0.0 + ], + [ + -2251.546, + 2247.526, + 168.15, + 0.0, + 20.0, + -0.0 + ], + [ + -2251.546, + 2247.526, + 168.15, + 0.0, + -5.0, + 0.0 + ], + [ + -2251.546, + 2247.526, + 168.15, + 0.0, + -30.0, + 0.0 + ], + [ + -2251.546, + 2247.526, + 168.15, + 0.0, + -30.0, + 0.0 + ], + [ + -2251.546, + 2247.526, + 168.15, + 0.0, + -30.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this corner of the bedroom I can see the white paneled door set in the far wall to my right, past the desk and hutch. I will turn right to bring that doorway toward the center of my view so I have a clear straight path to walk toward it.", + "The white paneled door now sits ahead of me with open carpet between us and the dresser well off to its right. I will move forward to close that distance across the bedroom toward the door.", + "The door is noticeably larger now and I can make out its knob and lever handle, but I am still a couple of steps short of reaching them. I will continue forward to bring the handle within arm's reach.", + "I am close to the door and its knob and lever handle fill the left part of my view, though the panel still seems just beyond a comfortable interaction distance. I will step forward once more to stand right at the door before reaching for the handle.", + "I am now pressed right up against the white paneled surface, with the door frame edge at the right of my view and the handle no longer in sight. Since I judge myself to be within reach of the latch, I will attempt to open the door from here.", + "My attempt to open the door just now left it shut, and I can see why: I am facing the blank panel and the frame edge on the right, with no latch in front of me. I will turn left to swing my view back across the door toward the handle side so I can line up on the latch.", + "The frame edge has moved out of view and I am now looking straight at a plain raised panel, so the handle must still lie further to my left. I will turn left again to keep sweeping toward the latch side of this door.", + "I can now see the seam between two panels, which tells me I am shifting across the door face but the handle is still just outside my view on the left. One more left turn should bring the latch hardware into the centre of my view for a proper attempt.", + "The lever handle and deadbolt are now clearly in front of me, close enough to reach, with the door jamb and light switch visible at the left edge. My earlier attempt failed because I was squared onto a bare panel, but this alignment puts me on the latch itself, so I will try opening the door again.", + "The white paneled door now stands open, revealing the lit hallway beyond it. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002500_y-001341_z000164_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002500_y-001341_z000164_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb8579a79d9286ad9503842005f1494517001544 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002500_y-001341_z000164_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Pull open the red door with the large grid-patterned window.", + "Type": 4, + "Start_Pose": [ + -2499.754, + -1341.38, + 164.256, + 0.0, + -120.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2499.754, + -1341.38, + 164.256, + 0.0, + -120.0, + 0.0 + ], + [ + -2499.754, + -1341.38, + 164.256, + 0.0, + -95.0, + 0.0 + ], + [ + -2510.573, + -1451.959, + 165.15, + 0.0, + -95.0, + 0.0 + ], + [ + -2510.573, + -1451.959, + 165.15, + 0.0, + -95.0, + 0.0 + ], + [ + -2510.573, + -1451.959, + 165.15, + 0.0, + -95.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red door with the grid-patterned window sits at the right edge of my view, mostly seen at a steep angle along the porch wall. I will turn right to bring the door and its brass knob into the center of my view so I can face it squarely.", + "The red door with the grid-patterned window is now centered ahead of me, but I am still standing back on the porch, too far to reach the knob. I will move forward to close that gap and get within reach of the handle.", + "I am now right up against the red door, with the grid window pane and the brass knob filling my view at arm's length. I will pull the knob to open this door, which should swing it inward and reveal the space beyond.", + "The red door now stands swung open with the interior hallway clearly visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002500_y001804_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002500_y001804_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d66cda67b50d6e99ad3fd3f0330ce92ca21b894c --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002500_y001804_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "In the cinder-block garage, open the white door marked by black square hinges.", + "Type": 4, + "Start_Pose": [ + -2500.2, + 1803.982, + 168.15, + 0.0, + -60.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2500.2, + 1803.982, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2437.27, + 1694.985, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2374.341, + 1585.988, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2311.411, + 1476.991, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2311.411, + 1476.991, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2256.127, + 1456.353, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2256.127, + 1456.353, + 168.15, + 0.0, + -60.0, + 0.0 + ], + [ + -2256.127, + 1456.353, + 168.15, + 0.0, + -60.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the middle of the cinder-block garage I can see the large white door with its grid of black square hinge plates set in the left wall ahead. It is still several body lengths away, so I will move forward to close that distance before attempting any interaction.", + "The white door now fills much more of my view and its black hinge plates are clearly resolved, confirming it is the target described in the task. I am still too far back to reach the panel, so I continue forward along the open floor.", + "The door surface is close now, but the frame edge and the corner wall on the right show I am still slightly short of contact range. I will advance once more to bring myself directly against the panel for the opening attempt.", + "I am now facing the white panel at very close range, with a black square hinge plate and the frame edge visible right in front of me. This should be within reach of the door, so I will try to open it.", + "My opening attempt from this spot left the door unchanged, and the panel still sits closed in front of me with the frame edge to the right. I likely stopped just outside the effective interaction range, so I will edge forward a little to get closer to the panel.", + "My previous attempt from slightly farther back left the white panel unchanged, so I closed the remaining gap and now the black square hinge and the door edge against its frame fill my view at contact range. From this tighter position the interaction should register on the door, so I will try opening it again.", + "The white door now stands open with the street and yard visible through the opening. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002677_y000294_z000098_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002677_y000294_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c0d92d1372426ab36a9ce76665ae29053a1b5da2 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002677_y000294_z000098_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the candelabra from the trash bin, then drop it near the garage doorway.", + "Type": 5, + "Start_Pose": [ + -2676.662, + 294.225, + 98.15, + -0.051, + 28.303, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2090.138, + 452.158, + 27.369, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2676.662, + 294.225, + 98.15, + -0.051, + 28.303, + 0 + ], + [ + -2565.849, + 353.899, + 98.15, + -0.051, + 28.303, + -0.0 + ], + [ + -2455.036, + 413.573, + 99.724, + -0.051, + 28.303, + -0.0 + ], + [ + -2344.224, + 473.247, + 104.785, + -0.051, + 28.303, + -0.0 + ], + [ + -2344.224, + 473.247, + 104.785, + -0.051, + 3.303, + -0.0 + ], + [ + -2218.574, + 480.499, + 105.443, + -0.051, + 3.303, + -0.0 + ], + [ + -2218.574, + 480.499, + 105.443, + 0.0, + 3.303, + -0.0 + ], + [ + -2218.574, + 480.499, + 105.443, + 0.0, + 28.303, + -0.0 + ], + [ + -2218.574, + 480.499, + 105.443, + 0.0, + 53.303, + -0.0 + ], + [ + -2218.574, + 480.499, + 105.443, + 0.0, + 78.303, + -0.0 + ], + [ + -2193.058, + 603.744, + 115.818, + 0.0, + 78.303, + -0.0 + ], + [ + -2193.058, + 603.744, + 115.818, + 0.0, + 103.303, + -0.0 + ], + [ + -2222.019, + 726.226, + 113.949, + 0.0, + 103.303, + -0.0 + ], + [ + -2250.98, + 848.707, + 120.182, + 0.0, + 103.303, + -0.0 + ], + [ + -2279.941, + 971.189, + 128.274, + 0.0, + 103.303, + -0.0 + ], + [ + -2308.902, + 1093.671, + 136.366, + 0.0, + 103.303, + -0.0 + ], + [ + -2337.863, + 1216.152, + 150.28, + 0.0, + 103.303, + -0.0 + ], + [ + -2366.824, + 1338.634, + 166.408, + 0.0, + 103.303, + -0.0 + ], + [ + -2350.256, + 1268.566, + 157.181, + 0.0, + 103.303, + -0.0 + ], + [ + -2350.256, + 1268.566, + 157.181, + 0.0, + 103.303, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2090.138, + 452.158, + 27.369, + 0.0, + 0.0, + 0.0 + ], + [ + -2090.138, + 452.158, + 27.369, + 0.0, + 0.0, + 0.0 + ], + [ + -2090.138, + 452.158, + 27.369, + 0.0, + 0.0, + 0.0 + ], + [ + -2090.138, + 452.158, + 27.369, + 0.0, + 0.0, + 0.0 + ], + [ + -2090.138, + 452.158, + 27.369, + 0.0, + 0.0, + 0.0 + ], + [ + -2090.138, + 452.158, + 27.369, + 0.0, + 0.0, + 0.0 + ], + [ + -2220.413, + 501.782, + 74.302, + -28.202, + 53.448, + 1.862 + ], + [ + -2229.696, + 499.851, + 74.574, + -28.189, + 78.46, + 1.872 + ], + [ + -2236.542, + 494.081, + 73.907, + -28.215, + 103.431, + 1.849 + ], + [ + -2243.457, + 491.233, + 74.617, + -14.092, + 120.647, + 6.87 + ], + [ + -2214.118, + 607.36, + 85.459, + -28.198, + 128.449, + 1.865 + ], + [ + -2214.572, + 598.132, + 85.33, + -28.189, + 153.461, + 1.869 + ], + [ + -2242.572, + 720.365, + 84.534, + -28.205, + 153.439, + 1.859 + ], + [ + -2271.531, + 842.8, + 90.306, + -28.191, + 153.453, + 1.872 + ], + [ + -2300.52, + 965.448, + 98.173, + -28.206, + 153.441, + 1.863 + ], + [ + -2329.555, + 1088.208, + 105.756, + -28.203, + 153.443, + 1.855 + ], + [ + -2358.568, + 1210.92, + 113.967, + -28.201, + 153.45, + 1.862 + ], + [ + -2387.522, + 1333.395, + 134.451, + -28.211, + 153.437, + 1.853 + ], + [ + -2366.363, + 1336.688, + 127.181, + 0.0, + 33.303, + -0.0 + ], + [ + -2366.363, + 1336.688, + 127.181, + 0.0, + 33.303, + -0.0 + ] + ], + "PD_Dist_2D": [ + 607.4, + 485.8, + 366.9, + 255.0, + 255.0, + 131.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 22.2, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the curbside start I can see the dark trash bin standing on the grass strip ahead and slightly left, with faint pale candles beside it that match the candelabra I need. Nothing blocks the open sidewalk and driveway apron between me and that bin, so I will walk forward to close the long gap. Getting nearer should also let me confirm exactly where the candelabra sits relative to the bin.", + "The bin and the cluster of tall candles beside it have grown noticeably larger and sit just left of my heading, so my previous step brought me closer along the right line. The walkway ahead is still clear of obstacles. I will keep walking forward to shrink the remaining distance to the candelabra.", + "The candelabra with its three candles is now clearly resolved on the grass beside the trash bin, low and to my left, and the whole group keeps drifting toward the left edge as I advance. I am still too far away to reach it. I will step forward again to bring myself alongside the grass strip where it stands.", + "The candelabra has slid down to the far left corner of my view, right at the edge of what I can see, while my body still points straight along the walkway past it. If I keep walking on this heading I will pass beside the target instead of arriving in front of it. I will turn left to swing the candelabra and the bin back toward the middle of my view before approaching further.", + "After the turn, the trash bin and the candelabra are both back in view ahead of me, with the candles only slightly left of my heading and the bin just beyond them. The grass strip in front of the utility pole is open, so a straight step should carry me right up to the candelabra. I will walk forward to bring it within arm's reach.", + "I am now standing right at the grass strip, with the trash bin filling my lower left and the candelabra's candles rising directly in front of me, close enough that they cut across the near foreground. This is the reachable position I was aiming for, and no fence or clutter sits between my hands and the object. I will attempt to pick up the candelabra now.", + "The grasp worked: the candelabra is now in my hands, its brass arms and candles held out over the pavement in front of my feet. My body still faces the curb and the bin area, which points away from the garage frontage I need to reach. I will turn right to start swinging my heading back toward the house and its driveway side.", + "Carrying the candelabra, my view has come back up to the street level and shows the porch, the white picket fence, and the lawn stretching to my right. The garage and its driveway are still off beyond the right edge of what I can see, so this heading is not yet usable for transport. I will turn right again to bring the garage side of the house into view.", + "The candelabra is in my hands after lifting it from the bin, so my remaining job is to carry it to the garage doorway. From here I am facing the fenced front porch, and only the brick garage corner with its dark door edges into the far right side of my view. I will turn right again to swing that garage front and its driveway toward the middle of my view before walking on.", + "The turn has brought the brick garage and its dark paneled door into view just right of straight ahead, with the wide concrete driveway running from my feet up to it. Nothing blocks that open apron, so walking forward is the direct way to close the gap while carrying the candelabra. I will step forward along the driveway toward the door.", + "The garage door now sits noticeably right of straight ahead, and the driveway apron also widens off to my right rather than under my current heading. Turning right should put both the driveway centerline and the door opening in front of me for a straight walk in. I will turn right to correct that offset before advancing further.", + "The garage door is now framed straight ahead with the driveway running squarely up to its threshold. I am still too far back to set the candelabra down near the doorway, and the path is empty concrete. I will walk forward along the driveway to shrink that distance.", + "The garage door has grown larger and stays centered, confirming my heading up the driveway is still correct. The doorway threshold remains several paces away, too far to place the candelabra where the task wants it. I will keep walking forward on this line.", + "The brick surround and the paneled door now fill much more of my view, so I am closing in on the garage front. The base of the door is still short of arm's reach for a tidy placement beside the doorway. I will advance another step forward.", + "I am close enough now that the wall lamp and the door panels read clearly, with the concrete apron running right up to the threshold. Since I want the candelabra left near the garage doorway rather than out on the drive, I should get nearer before releasing it. I will step forward again.", + "The garage door now spans nearly my whole view and the concrete strip at its base is just ahead of my feet. One more step should bring me right against the doorway so the candelabra can be set down beside it. I will move forward.", + "The paneled garage door now fills nearly my whole view, with its right jamb and the concrete threshold showing at the lower right, so I am almost at the doorway with the candelabra still in hand. I will take one more short step forward to close the last bit of gap and stand right at the door opening. That should put me close enough that anything I set down counts as being at the garage doorway.", + "I am pressed right up against the garage door, with only its dark wooden panels and the seam between them filling my view, so I can get no nearer to the doorway. The candelabra is still in my hands and this spot is directly at the door opening, which satisfies the required placement. I will release it here so it should come to rest on the driveway against the garage doorway.", + "The candelabra now stands free on the ground directly against the garage door. The task goal is met, so I stop here rather than acting further." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002814_y-000896_z000123_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002814_y-000896_z000123_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1cb5394ad1255e899fb52e58668949745a66ae0 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002814_y-000896_z000123_t4_a/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Open the red front door on the covered porch.", + "Type": 4, + "Start_Pose": [ + -2813.989, + -895.88, + 123.385, + 0.0, + -100.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2813.989, + -895.88, + 123.385, + 0.0, + -100.0, + 0.0 + ], + [ + -2813.989, + -895.88, + 123.385, + 0.0, + -75.0, + 0.0 + ], + [ + -2781.414, + -1017.45, + 131.416, + 0.0, + -75.0, + 0.0 + ], + [ + -2781.414, + -1017.45, + 131.416, + 0.0, + -50.0, + 0.0 + ], + [ + -2700.514, + -1113.864, + 137.786, + 0.0, + -50.0, + 0.0 + ], + [ + -2619.613, + -1210.278, + 144.155, + 0.0, + -50.0, + 0.0 + ], + [ + -2538.712, + -1306.691, + 148.253, + 0.0, + -50.0, + 0.0 + ], + [ + -2538.712, + -1306.691, + 148.253, + 0.0, + -75.0, + 0.0 + ], + [ + -2506.138, + -1428.262, + 164.969, + 0.0, + -75.0, + 0.0 + ], + [ + -2506.138, + -1428.262, + 164.969, + 0.0, + -75.0, + 0.0 + ], + [ + -2506.138, + -1428.262, + 164.969, + 0.0, + -100.0, + 0.0 + ], + [ + -2524.073, + -1452.114, + 165.15, + 0.0, + -100.0, + 0.0 + ], + [ + -2524.073, + -1452.114, + 165.15, + 0.0, + -100.0, + 0.0 + ], + [ + -2524.073, + -1452.114, + 165.15, + 0.0, + -100.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red front door sits far to the right of my view on the covered porch, and a lamp post is partly cutting across that side of the scene. I will turn right to bring the porch and its red door nearer the center of my view before advancing.", + "The red door is now framed under the porch roof ahead of me, but I am still out on the grass at a considerable distance. I will move forward across the open lawn to close that gap toward the porch.", + "I am now close to the porch, but a raised brick planter box filled with plants stands directly between me and the door, so pushing straight ahead is not a usable route. The paved walkway continues to my right toward the porch steps, so I will turn right to face that passable approach.", + "The walkway is now open in front of me and the red door stands to my left along the porch wall, still well out of reach. I will move forward along this clear path to draw level with the door and its steps.", + "The red door is much larger in my view now, with the porch decking and step edge just ahead of me on the left. I will continue forward to step onto the porch and get within reach of the door.", + "The red front door is now close on my left with clear planking of the covered porch ahead of me. I will step forward once more to bring myself level with the door instead of standing short of it. That should put me within reach of its frame before I turn to face it.", + "My heading now runs down the porch along the siding, with only the edge of the red door still showing at the far left of my view. I will turn left so the door comes back in front of me rather than beside me. Facing it squarely is needed before any attempt at the handle.", + "The red door with its brass knob is now directly in front of me, but I am still standing back on the porch boards. I will move forward to close that gap so the handle falls within reach. Being right at the door should let me act on it.", + "I am pressed close to the red door with its brass knob and keyhole plate clearly visible just to my left. This is my chance to operate the handle, so I will try to open the door from here. If my position is a little too far toward the jamb, the attempt may not take hold.", + "My attempt at the handle left the red door exactly as it was, still shut in front of me. My view is skewed toward the jamb and the siding on the right, so I am not squarely on the door leaf. I will turn left to bring the door panel and knob properly in front of me before trying again.", + "My previous attempt at the handle left the red door still shut, so my stance was likely too oblique or too far off for the interaction to register. Now that the turn has brought the knob and its plate squarely into view ahead of me, I will edge forward a short step to close the remaining gap. Standing directly in front of the latch puts me on the line the handle expects.", + "I am now pressed right up against the red door panel with the frame and threshold filling my view, so I am as close to the latch as I can get. Since the earlier attempt from a wider stance did not move the door, I will try the handle again from this tight, square position. This contact distance should let the latch actually release.", + "I see the red door swung inward with the hallway beyond it open to me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-003191_y-000931_z000126_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-003191_y-000931_z000126_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8ebada1a5bc9bdbe47b51e669d5eba66ba314ef6 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-003191_y-000931_z000126_t5_a_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Grab the tomato near the wall lamp on the left side of the porch.", + "Type": 5, + "Start_Pose": [ + -3191.102, + -931.449, + 125.594, + -0.248, + -63.024, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2553.356, + -1396.23, + 120.688, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "MoveForward", + "TurnLeft", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3191.102, + -931.449, + 125.594, + -0.248, + -63.024, + 0 + ], + [ + -3134.011, + -1043.613, + 133.004, + -0.248, + -63.024, + -0.0 + ], + [ + -3134.011, + -1043.613, + 133.004, + -0.248, + -38.024, + -0.0 + ], + [ + -3034.866, + -1121.14, + 138.126, + -0.248, + -38.024, + -0.0 + ], + [ + -3034.866, + -1121.14, + 138.126, + -0.248, + -13.024, + -0.0 + ], + [ + -2912.246, + -1149.504, + 140.0, + -0.248, + -13.024, + -0.0 + ], + [ + -2789.626, + -1177.867, + 141.873, + -0.248, + -13.024, + -0.0 + ], + [ + -2667.005, + -1206.23, + 143.747, + -0.248, + -13.024, + -0.0 + ], + [ + -2667.005, + -1206.23, + 143.747, + -0.248, + -38.024, + -0.0 + ], + [ + -2667.005, + -1206.23, + 143.747, + -0.248, + -38.024, + -0.0 + ], + [ + -2567.86, + -1283.757, + 148.162, + -0.248, + -38.024, + -0.0 + ], + [ + -2567.86, + -1283.757, + 148.162, + -0.248, + -63.024, + -0.0 + ], + [ + -2567.86, + -1283.757, + 148.162, + 0.0, + -63.024, + 0.0 + ], + [ + -2567.86, + -1283.757, + 148.162, + 0.0, + -63.024, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2553.356, + -1396.23, + 120.688, + 0.0, + 0.0, + 0.0 + ], + [ + -2549.768, + -1274.066, + 117.999, + -28.202, + -12.879, + 1.862 + ], + [ + -2549.768, + -1274.066, + 117.999, + -28.202, + -12.879, + 1.862 + ] + ], + "PD_Dist_2D": [ + 789.1, + 679.3, + 679.3, + 554.6, + 554.6, + 435.5, + 321.7, + 221.4, + 221.4, + 221.4, + 113.4, + 113.4, + 20.5, + 20.5 + ], + "Rationale": [ + "From the driveway I can see the covered porch ahead on the right, with two wall lamps mounted on its siding, the leftmost one just beside the red door. Nothing blocks the paved surface in front of me, so I will move forward to close the large gap to that porch frontage.", + "The porch and its left wall lamp sit off to my right, while my heading still points along the garage wall. I will turn right to bring the porch railing and the lamp near the red door into the center of my view before continuing.", + "The porch front is now centered, with the wall lamp beside the red door clearly visible past the planter and shrubs. The walkway ahead looks clear, so I will move forward to shorten the remaining distance to that lamp.", + "Coming closer, the porch wall now sweeps across my left and the target lamp beside the red door has drifted toward the left edge of the framing while my path continues to the right along the house front. I will turn right to keep my heading parallel to the porch and hold the approach route to that lamp in view.", + "With the walkway along the porch edge open in front of me, the lamp and red door on the left side of the porch are still several steps away. I will move forward to continue closing on that left wall lamp.", + "The porch runs along my left with the wall lamp glowing above the siding, and I can already see the red tomato sitting near the planter at the deck edge. I am still well short of that corner, so I will keep moving forward along the walkway beside the railing. This should bring the lamp and the tomato within reachable range.", + "The lit wall lamp and the tomato on the porch deck are now close on my left, but the tomato is still off to the side rather than in front of me. Another step forward along the open path should put me level with the porch corner where it rests. Nothing blocks the walkway ahead, so I will continue advancing.", + "I am now beside the porch, and the tomato has slid to the very edge of my view on the left, with only a sliver of red still showing. My heading points down the yard instead of at the deck, so I will turn left to face the lamp wall and bring the tomato back into the center of my view. That alignment is needed before I can reach for it.", + "I am now facing the porch squarely, with the lit wall lamp on the wall ahead and the tomato resting on the deck boards in front of the red door. Since it sits centered in my view with nothing between us, I will try to grab it now. If my reach falls short, I can step closer afterwards.", + "My reach came up empty, with my hand closing on nothing and no tomato in my grasp, so the previous grab did not take it. That suggests I am still too far back from the deck edge where it sits. I will move forward to close the remaining gap before trying again.", + "I am now on the porch decking right beside the lit wall lamp on this left end, but the tomato has slipped out of my forward view and my earlier grab attempt left my hands empty. Turning left should swing the red door corner and the tomato back into the center of my reach.", + "The tomato's leafy top is now just below me at the foot of the red door, well inside the left wall lamp's pool of light. My earlier attempt from farther back closed on nothing, so from this closer, better aligned stance I will try the grab again.", + "The tomato is held in my hands at the left wall lamp position on the porch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-003358_y-001866_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-003358_y-001866_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05e2d5f231f3b76c3e96f3bd60ddf8dc762ae9a1 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-003358_y-001866_z000168_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Pull open the large white garage door covered with rows of square metal hinges.", + "Type": 4, + "Start_Pose": [ + -3358.154, + -1866.192, + 168.15, + 0.0, + 80.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3358.154, + -1866.192, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + -3336.299, + -1742.245, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + -3315.915, + -1656.361, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + -3315.915, + -1656.361, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + -3315.915, + -1656.361, + 168.15, + 0.0, + 80.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The large white garage door with its rows of square metal hinges fills the view ahead of me, but I am still standing well back from its surface. I will move forward to close that gap and get within reach of the panel.", + "The hinge rows and horizontal rails now dominate my view, so I am much closer, yet the panel still appears at a distance that may be outside my interaction range. I will advance once more, straight at the door, to settle into a contact position.", + "A single hinge plate and its rail are right in front of me at arm's length, so I am squarely against the closed garage door panel. I will pull on the door now, which should release it and swing the large panel open.", + "The garage door no longer blocks my view, and the open driveway and street lie ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-003439_y-002032_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-003439_y-002032_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8b0326883fa6fac2b59eed9ae2282e4609d2164d --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-003439_y-002032_z000168_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white paneled side door on the left side of the garage.", + "Type": 4, + "Start_Pose": [ + -3438.91, + -2031.743, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3438.91, + -2031.743, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + -3438.91, + -2031.743, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + -3317.339, + -1999.168, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + -3195.769, + -1966.594, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + -3074.199, + -1934.019, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + -3074.199, + -1934.019, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + -3001.618, + -1954.403, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + -3001.618, + -1954.403, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + -3001.618, + -1954.403, + 168.15, + 0.0, + -10.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the middle of the garage I can see the white paneled side door set in the left wall, well off to the left of my current heading. I will turn left so the door moves closer to the center of my view and gives me a straight approach line.", + "The paneled side door now sits ahead and slightly left, with open concrete floor between me and it. I will move forward to close that distance since nothing obstructs the route.", + "The door and its frame are noticeably larger now, so my heading is carrying me toward it correctly. I will continue forward to get within reach of the handle.", + "The door fills much of the left part of my view but I am still a step or two short of contact range for the lever handle. I will advance once more to close the remaining gap to the doorway.", + "I am right up against the wall, and the panels fill only the left portion of my view while the blank wall beside the frame takes the right. I will turn left to square my facing onto the door and bring the handle side into view.", + "The paneled door is now centered in front of me with its lever handle plainly visible on the left. I will edge forward slightly so I am within interaction distance of that handle.", + "I am pressed close to the door with the brass knob and lever handle right at the left edge of my view, so the latch is within reach. I will attempt to open it, which should release the latch and swing the panel inward.", + "The door now stands open, revealing the lit hallway beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-003439_y-002032_z000168_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-003439_y-002032_z000168_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0c4181de433cab645a0a376faf2016d138a150fc --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-003439_y-002032_z000168_t4_b/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the large white garage door on the right side of the garage.", + "Type": 4, + "Start_Pose": [ + -3438.91, + -2031.743, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3438.91, + -2031.743, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + -3438.91, + -2031.743, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + -3385.72, + -1917.676, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + -3332.529, + -1803.609, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + -3332.529, + -1803.609, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + -3332.529, + -1677.75, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + -3332.529, + -1677.75, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + -3332.529, + -1656.367, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + -3332.529, + -1656.367, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + -3332.529, + -1656.367, + 168.15, + 0.0, + 90.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The large white sectional garage door sits on the right side of the bay, well off to the side of my current heading, while a small interior door faces me on the left. I will turn right to bring that wide panel toward the center of my view so I can head straight at it.", + "The wide white garage door is now largely ahead of me with clear open concrete floor between us and no obstacles in the path. I will move forward to close that distance before attempting anything with the door.", + "The door panel now fills much of my view, but the floor track at its base is still several steps away and the panel is angled across my heading. I will keep moving forward to get near enough for a handle interaction.", + "I am close to the door, but I am viewing its panels at an angle, with the left jamb and side wall still cutting into my view. I will turn right to square my heading against the door face so an interaction point is directly in front of me.", + "The garage door now spans my view head on, its panel rows and hardware plates squarely in front of me, so my heading is right. I will step forward once more to bring the panel hardware within reach for an opening attempt.", + "The large white garage door panel now fills my entire view, with one of its metal brackets and track directly ahead of me, so I am squarely facing the target surface. I will trigger the open action here, since this should be close enough to engage the door mechanism.", + "My open attempt just now left the panel exactly as it was, unmoved and still sealed against the floor track, so my stance was likely still slightly outside the interaction range. I will step forward a little toward the same bracket to close that remaining gap before trying again.", + "After nudging closer, the panel surface and its lower rail are right in front of me, noticeably nearer than when my earlier open attempt failed to move the door at all. I will attempt to open it again from this tighter position, which may now be within reach of the mechanism.", + "The garage opening now shows the driveway and street outside, confirming the large white door stands open. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-004225_y-000155_z000098_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-004225_y-000155_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f4b4776a6160992fdc403e14efaad084bce64b12 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-004225_y-000155_z000098_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the trash bag at the left end of the light-brown wooden fence, then place it by the red car.", + "Type": 5, + "Start_Pose": [ + -4224.942, + -155.412, + 98.15, + -0.051, + -125.353, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4229.537, + -891.729, + 39.796, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4224.942, + -155.412, + 98.15, + -0.051, + -125.353, + 0 + ], + [ + -4224.942, + -155.412, + 98.15, + -0.051, + -100.353, + 0.0 + ], + [ + -4247.56, + -279.222, + 98.15, + -0.051, + -100.353, + 0.0 + ], + [ + -4270.179, + -403.032, + 111.189, + -0.051, + -100.353, + 0.0 + ], + [ + -4270.179, + -403.032, + 111.189, + -0.051, + -75.353, + -0.0 + ], + [ + -4238.354, + -524.801, + 122.232, + -0.051, + -75.353, + -0.0 + ], + [ + -4206.528, + -646.569, + 115.412, + -0.051, + -75.353, + -0.0 + ], + [ + -4174.703, + -768.338, + 116.159, + -0.051, + -75.353, + -0.0 + ], + [ + -4174.703, + -768.338, + 116.159, + -0.051, + -100.353, + 0.0 + ], + [ + -4174.703, + -768.338, + 116.159, + 0.0, + -100.353, + 0.0 + ], + [ + -4174.703, + -768.338, + 116.159, + 0.0, + -125.353, + 0.0 + ], + [ + -4174.703, + -768.338, + 116.159, + 0.0, + -150.353, + 0.0 + ], + [ + -4174.703, + -768.338, + 116.159, + 0.0, + -175.353, + 0.0 + ], + [ + -4300.149, + -778.535, + 116.999, + 0.0, + -175.353, + 0.0 + ], + [ + -4425.594, + -788.733, + 116.652, + 0.0, + -175.353, + 0.0 + ], + [ + -4551.039, + -798.93, + 115.628, + 0.0, + -175.353, + 0.0 + ], + [ + -4676.484, + -809.127, + 122.29, + 0.0, + -175.353, + 0.0 + ], + [ + -4785.574, + -820.562, + 115.88, + 0.0, + -175.353, + 0.0 + ], + [ + -4713.81, + -814.728, + 120.292, + 0.0, + -175.353, + 0.0 + ], + [ + -4713.81, + -814.728, + 120.292, + 0.0, + -175.353, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4229.537, + -891.729, + 39.796, + 0.0, + 0.0, + 0.0 + ], + [ + -4154.44, + -771.603, + 85.702, + -28.202, + -50.208, + 1.862 + ], + [ + -4158.681, + -779.643, + 85.975, + -28.189, + -75.196, + 1.872 + ], + [ + -4166.078, + -794.463, + 85.353, + -14.175, + -108.16, + 6.959 + ], + [ + -4172.61, + -789.227, + 85.242, + -28.208, + -125.21, + 1.851 + ], + [ + -4297.722, + -799.769, + 86.078, + -28.189, + -125.195, + 1.869 + ], + [ + -4422.893, + -809.934, + 87.135, + -28.205, + -125.218, + 1.859 + ], + [ + -4548.292, + -820.135, + 86.199, + -28.191, + -125.203, + 1.872 + ], + [ + -4673.905, + -830.336, + 92.405, + -28.206, + -125.215, + 1.863 + ], + [ + -4783.531, + -841.82, + 85.655, + -28.199, + -125.204, + 1.863 + ], + [ + -4783.58, + -820.399, + 80.292, + 0.0, + -175.353, + 0.0 + ], + [ + -4783.58, + -820.399, + 80.292, + 0.0, + -175.353, + 0.0 + ] + ], + "PD_Dist_2D": [ + 736.3, + 736.3, + 612.8, + 490.4, + 490.4, + 367.0, + 246.2, + 135.0, + 135.0, + 20.5, + 19.6, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the street I can see the light-brown wooden fence off to my right, and a dark trash bag sits on the grass near its left end. My current heading points too far along the road, so I will turn right to bring that fence section and the bag into the center of my view before advancing.", + "The wooden fence and the trash bag beside it are now roughly ahead of me, with open lawn and driveway between us. I will move forward to close that considerable distance toward the bag.", + "The fence panels have grown larger and the trash bag at their left end is clearer, but it is still several body lengths away. I will continue forward across the open ground to keep shrinking the gap.", + "The trash bag now sits right of my center line, next to the fence panel, so walking straight ahead would carry me past it. I will turn right to place the bag closer to the middle of my view before closing in further.", + "With the bag and the fence panel behind it now near the middle of my view, the route across the driveway and lawn looks clear. I will move forward to approach the bag directly.", + "The bag is clearly resolved against the fence boards and is only a short way off to my front left. I will step forward again to get within reach for a grasp.", + "The fence now dominates my view and the bag hangs low at the left edge, meaning I am nearly on top of it but not yet close enough to grip. I will advance once more to bring it within reach.", + "I am right up against the fence and only a sliver of the trash bag shows at the bottom left corner of my view. I will turn left to bring the bag back in front of me so a pick attempt has a clean line to it.", + "The black trash bag now fills the lower center of my view, right at the base of the light-brown wooden fence and within arm's reach after my final alignment turn. This is the leftmost bag along this fence line, so it is the pickup target named in the task. I will attempt the grasp now, which should put the bag in my hands for transport.", + "The bag is now held low in front of me and the view is dominated by it and the grass at the fence base, confirming the grasp took hold. The red car sits back out along the street to my left, away from this fence corner, so I need to swing my heading around before carrying anything. I will turn left to begin bringing that direction into view.", + "With the bag in hand, I can now see the fence running off to my right and only a sliver of red at the far left edge near the street. The car is still well outside my forward heading, so a single turn was not enough. I will turn left again to bring the red car closer to the center of my view.", + "The red car is now clearly visible on the left side of my view, parked at the curb beyond the lawn, but a bush and the fence corner still sit ahead of my current heading. Turning left once more should place the car near the center so I can walk straight to it while carrying the bag. I will make that adjustment now.", + "The red car is now centered ahead of me across the lawn and driveway, with a clear stretch of pavement between us. Holding the bag, I will move forward along this heading to close the distance toward the car.", + "The car has grown noticeably larger and stays centered, so my heading is carrying the bag straight toward it. There is still a gap of driveway and curb before I reach the vehicle body. I will continue forward.", + "The red car now spans much of my view but I am still short of contact range for setting the bag down on it. The approach lane over the grass and curb remains clear. Another forward step should bring me close enough to place the load.", + "I am nearly beside the red car, with its flank and rear wheel dominating my view from close range. To drop the bag onto the vehicle I need to be right up against it, so I will step forward once more to finish closing that last bit of distance.", + "The red car's side panel and windows now fill most of my view, but I am still a step off from being right against its body with the bag I am carrying. I will edge forward once more to close that last bit of gap so the car is squarely within reach for placing the bag.", + "I am pressed right up against the red car, with its roofline and window frame directly in front of me and nothing else between us. Since I am still holding the trash bag and the car surface is within arm's reach, I will release it here so it should come to rest on the target car.", + "The trash bag is resting on the red car directly in front of me. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000154_y-002153_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000154_y-002153_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fc89ecff5fe55d43af10fa070b1424d34a682cbc --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000154_y-002153_z000168_t4_a/infos.json @@ -0,0 +1,194 @@ +{ + "Instruction": "Follow the striped runner to the white door at the far end of the hallway and open it.", + "Type": 4, + "Start_Pose": [ + 154.099, + -2153.108, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 154.099, + -2153.108, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 154.099, + -2153.108, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + 275.669, + -2120.533, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + 397.24, + -2087.958, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + 397.24, + -2087.958, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + 521.187, + -2109.814, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + 645.134, + -2131.669, + 168.842, + 0.0, + -10.0, + 0.0 + ], + [ + 769.081, + -2153.524, + 168.842, + 0.0, + -10.0, + 0.0 + ], + [ + 893.028, + -2175.379, + 168.842, + 0.0, + -10.0, + 0.0 + ], + [ + 893.028, + -2175.379, + 168.842, + 0.0, + 15.0, + -0.0 + ], + [ + 1014.598, + -2142.805, + 168.842, + 0.0, + 15.0, + -0.0 + ], + [ + 1136.169, + -2110.23, + 168.842, + 0.0, + 15.0, + -0.0 + ], + [ + 1136.169, + -2110.23, + 168.842, + 0.0, + -10.0, + 0.0 + ], + [ + 1253.0, + -2131.785, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + 1253.0, + -2131.785, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + 1253.0, + -2131.785, + 168.15, + 0.0, + -10.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here a boxed wall corner takes up the middle of my view, and only a sliver of the striped runner and a pale door show off to my left. I will turn left so the runner and the hallway it leads down come into the center of my view before I start moving.", + "The hallway now opens straight ahead with the striped runner laid down its length and a white door closing off the far end. The path over the runner looks clear, so I will move forward along it toward that door.", + "The runner and the white door at the hall's end are both larger in view, which tells me I am closing on the target along the right route. I will keep moving forward down the runner since nothing blocks the corridor.", + "My heading has drifted toward the right wall, since the corridor and the white door now sit in the left part of my view while blank wall and a bench fill the right. I will turn left to bring the runner and the door back onto my forward axis.", + "The corridor is centered again with the striped runner leading straight to the white door ahead. With the lane clear between the console table on the left and the bench on the right, I will advance.", + "The white door at the end of the hall keeps growing in view and the runner still points directly at it. I will continue forward to close the remaining distance.", + "I am well down the hallway now, with the white door clearly ahead and its panels becoming distinct. Since I am still too far to reach the handle, I will keep moving forward along the runner.", + "The white door now fills much of the end wall and I can make out its handle, though I am still a step or two short of it. I will move forward again to get within reach for opening.", + "The white door at the end of this hallway now fills much of my view, but it sits right of my heading with the left wall crowding the frame. I will turn right to bring the door panel and its handle toward the center of my view before closing the remaining distance.", + "The white door is now roughly ahead of me with clear floor between us and no furniture in the path. I will move forward to shorten the gap toward the door.", + "The white door and its brass lever are large and clearly detailed now, so I am close but likely still short of reach. I will step forward again to close the last part of the approach.", + "At this short range the door has drifted to the left half of my view, with only bare wall and a light switch ahead of me. I will turn left so the door and its handle sit squarely in front of me for the interaction.", + "The white door is now centered in my view with its lever handle plainly visible slightly right of center. One more short step forward should place me within reach of that handle.", + "The door panel now fills my whole view at arm's length, which means I am standing directly at it and aligned with its face. I will attempt to open it, and the doorway should swing clear to reveal the space beyond.", + "I can see the white door standing open with the room beyond it in plain view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000207_y001964_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000207_y001964_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..328a8bcc3239017dbe077f61640ca9463c030cd3 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000207_y001964_z000168_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door on the same wall as the curved black pipe.", + "Type": 4, + "Start_Pose": [ + 207.381, + 1963.556, + 168.15, + 0.0, + -40.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 207.381, + 1963.556, + 168.15, + 0.0, + -40.0, + 0.0 + ], + [ + 207.381, + 1963.556, + 168.15, + 0.0, + -15.0, + 0.0 + ], + [ + 328.951, + 1930.981, + 168.15, + 0.0, + -15.0, + 0.0 + ], + [ + 328.951, + 1930.981, + 168.15, + 0.0, + -15.0, + 0.0 + ], + [ + 348.441, + 1914.776, + 168.15, + 0.0, + -15.0, + 0.0 + ], + [ + 348.441, + 1914.776, + 168.15, + 0.0, + -15.0, + 0.0 + ], + [ + 348.441, + 1914.776, + 168.15, + 0.0, + -15.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The curved black pipe runs down the concrete wall ahead of me, and the white paneled door on that same wall is cut off at the right edge of my view. I will turn right so the door and its handle sit centered in front of me before I move toward it.", + "The white paneled door is now framed squarely ahead with its brass lever handle plainly visible, and the pipe on the same wall confirms this is the target. I am still several steps back, so I will move forward to close the gap and bring the handle within reach.", + "The brass lever and deadbolt now fill my view, so I am standing right at the door face on the correct wall. I will try to operate the handle and open this white paneled door.", + "My attempt at the handle did not move the door, since it still sits closed and flush in its frame exactly as before. I may not be close enough for the interaction to register, so I will step forward a little to tighten my position against the handle.", + "After the earlier attempt left the door shut, I have closed in further and the lever and deadbolt are now large and directly in front of me. I will try the handle again from this tighter position, which should let the latch release and swing the door open.", + "I see the white paneled door standing open, with the room and staircase beyond it in clear view. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000265_y-001745_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000265_y-001745_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c4d08a9c812d817ea4d2aa9226ab19d9f91f1f2a --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000265_y-001745_z000168_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the dark wooden door with the large grid window.", + "Type": 4, + "Start_Pose": [ + 265.31, + -1744.923, + 168.15, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 265.31, + -1744.923, + 168.15, + 0.0, + 100.0, + -0.0 + ], + [ + 265.31, + -1744.923, + 168.15, + 0.0, + 100.0, + -0.0 + ], + [ + 243.755, + -1645.82, + 168.15, + 0.0, + 100.0, + -0.0 + ], + [ + 243.755, + -1645.82, + 168.15, + 0.0, + 100.0, + -0.0 + ], + [ + 243.755, + -1645.82, + 168.15, + 0.0, + 100.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark wooden door with the large grid window is directly ahead of me and its brass knob is clearly visible on the left stile, so this is my target. I am facing it squarely and will try the opening interaction from here, which should release the latch if I am close enough to reach the handle.", + "My attempt to open this door left it still shut, with the panel and knob unchanged in front of me, so I was likely standing too far back to reach the handle. The path straight ahead to the door is clear, so I will step forward to close that gap before trying the latch again.", + "The dark glass panes and their white muntins now fill my view, which tells me I am right up against the target door after my earlier attempt from farther back had no effect. From this contact distance the handle should be within reach, so I will attempt the opening interaction again.", + "The dark grid-window door now stands swung inward, revealing the lawn and walkway beyond the threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000332_y000298_z000098_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000332_y000298_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8bfc905f5ca788202667c215f01421dba559b704 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000332_y000298_z000098_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the green bell pepper by the large tree beside the driveway, then place it by the red car in front of the garage.", + "Type": 5, + "Start_Pose": [ + 331.653, + 298.049, + 98.112, + 0, + 127.514, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -175.531, + 522.511, + 60.727, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 331.653, + 298.049, + 98.112, + 0, + 127.514, + 0 + ], + [ + 331.653, + 298.049, + 98.112, + 0.0, + 152.514, + -0.0 + ], + [ + 220.001, + 356.137, + 98.112, + 0.0, + 152.514, + -0.0 + ], + [ + 108.348, + 414.225, + 99.932, + 0.0, + 152.514, + -0.0 + ], + [ + -3.304, + 472.313, + 104.774, + 0.0, + 152.514, + -0.0 + ], + [ + -3.304, + 472.313, + 104.774, + 0.0, + 152.514, + -0.0 + ], + [ + -3.304, + 472.313, + 104.774, + 0.0, + 127.514, + -0.0 + ], + [ + -3.304, + 472.313, + 104.774, + 0.0, + 102.514, + -0.0 + ], + [ + -30.575, + 595.182, + 115.096, + 0.0, + 102.514, + -0.0 + ], + [ + -30.575, + 595.182, + 115.096, + 0.0, + 77.514, + -0.0 + ], + [ + -3.363, + 718.064, + 113.949, + 0.0, + 77.514, + -0.0 + ], + [ + 21.295, + 789.303, + 116.345, + 0.0, + 77.514, + -0.0 + ], + [ + 5.728, + 719.006, + 113.913, + 0.0, + 77.514, + -0.0 + ], + [ + 5.728, + 719.006, + 113.913, + 0.0, + 77.514, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -175.531, + 522.511, + 60.727, + 0.0, + 0.0, + 0.0 + ], + [ + -175.531, + 522.511, + 60.727, + 0.0, + 0.0, + 0.0 + ], + [ + -175.531, + 522.511, + 60.727, + 0.0, + 0.0, + 0.0 + ], + [ + -175.531, + 522.511, + 60.727, + 0.0, + 0.0, + 0.0 + ], + [ + -175.531, + 522.511, + 60.727, + 0.0, + 0.0, + 0.0 + ], + [ + -12.619, + 453.088, + 73.482, + -28.202, + -157.342, + 1.862 + ], + [ + -19.113, + 459.401, + 73.754, + -28.189, + 177.67, + 1.872 + ], + [ + -23.033, + 468.095, + 73.087, + -28.215, + 152.641, + 1.849 + ], + [ + -51.359, + 590.27, + 83.813, + -28.202, + 152.655, + 1.858 + ], + [ + -50.483, + 598.785, + 85.014, + -28.198, + 127.658, + 1.865 + ], + [ + -24.385, + 721.901, + 84.391, + -28.2, + 127.658, + 1.865 + ], + [ + 0.384, + 793.618, + 85.216, + -28.209, + 127.652, + 1.855 + ], + [ + 20.862, + 787.35, + 103.913, + 0.0, + 77.514, + -0.0 + ], + [ + 20.862, + 787.35, + 103.913, + 0.0, + 77.514, + -0.0 + ] + ], + "PD_Dist_2D": [ + 554.6, + 554.6, + 429.1, + 303.8, + 179.4, + 21.4, + 20.4, + 20.2, + 21.4, + 20.2, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From here the driveway and the red car fill the left of my view, while the large tree with the greenery at its base sits off to the right edge. I will turn right to bring that tree and the ground beside it into the center of my view before walking toward the pepper.", + "The tall tree beside the driveway is now ahead of me, with a small green object resting on the grass at its base. It is still far off, so I will step forward along the pavement to close that distance.", + "The green pepper by the tree trunk is clearly larger in my view now, but it is still several paces beyond my reach. I will keep walking straight ahead to get close enough for a grasp.", + "The pepper now sits low and near the middle of my view at the foot of the tree, just short of arm's length. One more step forward should place it close enough beneath me to attempt the pick.", + "The green bell pepper is directly in front of me at the base of the large tree, filling the lower part of my view within reach. I will reach down and try to pick it up so I can carry it to the red car.", + "The pepper is now held in my hand, so the pick worked and my view is angled down at the pavement by the curb. I will turn left to swing my heading back toward the driveway and the garage where the red car is parked.", + "With the pepper in hand, I can see the garage and the red car near the left edge of my view, still off my heading. Another left turn should bring the car and its driveway squarely in front of me for the carry.", + "The red car is now centered ahead of me on the driveway in front of the garage, but it is still a good distance away. I will walk forward along the driveway to carry the pepper closer to the car.", + "The red car sits at the far left edge of my view while the driveway and garage door dominate the center, so my heading is skewed to the right of my delivery target. I am still carrying the green bell pepper, so I will turn left to bring the car back into the middle of my view. That should give me a straight line toward its rear for the placement.", + "The red car is now centered in front of me on the driveway, with its rear and license plate squarely in view and no obstruction between us. Since I am still holding the green bell pepper, I will step forward to close the remaining gap to the car.", + "The car's rear now fills much of my view, but there is still a short stretch of driveway between me and its bumper. I will take another step forward to get close enough that releasing the pepper leaves it at the car.", + "I am pressed right up against the red car, its rear body filling almost my whole view, so I am within reach of the intended placement spot. The green bell pepper is still in my hands, so I will release it here at the car in front of the garage.", + "I see the green bell pepper resting at the rear of the red car parked in front of the garage. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000564_y001915_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000564_y001915_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..37a901e3edd452dffe9d272c90ebdf2e6cf5fde6 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000564_y001915_z000168_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Go to the white paneled door beside the computer desk and open it.", + "Type": 4, + "Start_Pose": [ + 563.937, + 1914.862, + 168.15, + 0.0, + -160.0, + 0.0 + ], + "Action": [ + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 563.937, + 1914.862, + 168.15, + 0.0, + -160.0, + 0.0 + ], + [ + 563.937, + 1914.862, + 168.15, + 0.0, + -160.0, + 0.0 + ], + [ + 563.937, + 1914.862, + 168.15, + 0.0, + 175.0, + -0.0 + ], + [ + 447.108, + 1925.681, + 168.15, + 0.0, + 175.0, + -0.0 + ], + [ + 447.108, + 1925.681, + 168.15, + 0.0, + 175.0, + -0.0 + ], + [ + 447.108, + 1925.681, + 168.15, + 0.0, + 175.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door named in my task stands at the left of my view, with the computer desk and monitor to my right, so this is the correct target. Its lever handle is visible, so I will try the open interaction from here and see whether the door responds.", + "My interaction attempt left the door shut and unchanged, and I can see why: the door sits far off at the left edge of my view while I am facing the wall and desk area. Turning left should bring the door face and its handle into the center of my view for a better aligned attempt.", + "The paneled door is now centered ahead of me with its lever handle clearly in sight, but it still looks a short distance away across the corridor. Moving forward should close that gap so the handle is within interaction range.", + "I am now right up against the door, with its recessed panel filling my whole view, so the handle is squarely within reach. My earlier attempt from farther back and off to the side left the door closed, so I will trigger the open interaction again from this close, centered stance.", + "The door now stands swung open, revealing the garage with shelving and workbench beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000653_y002131_z000447_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000653_y002131_z000447_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..486e2f2eb7530b6add29513b7107b34fd300a0fe --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000653_y002131_z000447_t4_a/infos.json @@ -0,0 +1,194 @@ +{ + "Instruction": "On the upstairs landing, open the white door beside the console table.", + "Type": 4, + "Start_Pose": [ + 652.714, + 2131.094, + 447.033, + 0.0, + -60.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 652.714, + 2131.094, + 447.033, + 0.0, + -60.0, + 0.0 + ], + [ + 652.714, + 2131.094, + 447.033, + 0.0, + -85.0, + 0.0 + ], + [ + 652.714, + 2131.094, + 447.033, + 0.0, + -110.0, + 0.0 + ], + [ + 615.972, + 2081.919, + 464.994, + 0.0, + -110.0, + 0.0 + ], + [ + 576.413, + 2074.731, + 468.15, + 0.0, + -110.0, + 0.0 + ], + [ + 576.413, + 2074.731, + 468.15, + 0.0, + -85.0, + 0.0 + ], + [ + 558.547, + 1977.012, + 468.15, + 0.0, + -85.0, + 0.0 + ], + [ + 558.547, + 1977.012, + 468.15, + 0.0, + -60.0, + 0.0 + ], + [ + 558.547, + 1977.012, + 468.15, + 0.0, + -35.0, + 0.0 + ], + [ + 639.312, + 1900.217, + 468.15, + 0.0, + -35.0, + 0.0 + ], + [ + 738.255, + 1885.464, + 468.15, + 0.0, + -35.0, + 0.0 + ], + [ + 839.77, + 1851.63, + 468.15, + 0.0, + -35.0, + 0.0 + ], + [ + 839.77, + 1851.63, + 468.15, + 0.0, + -60.0, + 0.0 + ], + [ + 839.77, + 1851.63, + 468.15, + 0.0, + -85.0, + 0.0 + ], + [ + 839.77, + 1851.63, + 468.15, + 0.0, + -85.0, + 0.0 + ], + [ + 839.77, + 1851.63, + 468.15, + 0.0, + -85.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I can see the white door and the console table beside it across the landing, but the stair railing directly in front of me blocks any straight approach. I will turn left to look along the open side of the landing for a walkable route around the stairwell.", + "From this heading the railing and its diagonal handrail still fill the space in front of me, so I have not yet found the open floor. I will turn left again to bring the clear part of the landing into view before committing to any forward motion.", + "Now open floorboards stretch ahead to the left of the newel post, giving me a clear lane away from the stairwell. I will move forward along this open floor to work my way around toward the wall where the console table stands.", + "The newel post is passing close beside me and the console table with its framed picture is appearing off to my right. I will continue forward to clear the stair structure and gain room in the corner before reorienting toward the door wall.", + "I am now facing the blank corner wall with the plant, so there is nothing to gain by pressing further this way. The console table lies off to my right, so I will turn right to swing my heading toward that wall and the doorway near it.", + "The console table with its framed picture and vases is now ahead of me, and a pale door edge shows past it on the right. I will move forward to close the distance to that wall so the doorway beside the table comes within reach.", + "I have come close enough that the wall and pictures now fill most of my view and the console table sits at the lower right. Turning right should sweep my heading along this wall and bring the adjacent doorway into the center of view.", + "The white door beside the console table has come into view, but it still sits off toward the right edge rather than in front of me. I will turn right once more to put that doorway and the hallway leading to it squarely ahead.", + "The console table with its framed photo and vases sits just to my left, and the white door beside it stands ahead along this wall. I will move forward to close the remaining distance to that door panel before dealing with its handle.", + "The white door beside the console table is now clearly framed ahead on my left side, but I am still too far back to reach its handle. I will advance again to bring that door within arm's reach.", + "The brass lever handle of the white door is visible on the panel to my left, so I am nearly beside it. One more step forward should place me squarely at the door's leaf where I can act on the handle.", + "I am standing right at the door jamb, with the white door panel filling only the left edge of my view while the far doorway dominates the center. Turning left should swing my heading onto the door leaf so I face it directly.", + "The white door's panelling now fills most of my view, but the jamb on the right shows I am still angled slightly off the leaf. A second left turn should square me onto the door before I try the handle.", + "I am squared up close against the white door beside the console table, with its panel mouldings filling my view and no gap to the frame. This is the interaction position, so I will try the handle to open it.", + "The white door now stands open, revealing the room behind it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000770_y-000104_z000098_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000770_y-000104_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7f17ea1472524dcb544c7015c684ad34eff19040 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000770_y-000104_z000098_t5_a_p/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the jerry can near the red car.", + "Type": 5, + "Start_Pose": [ + 770.043, + -103.862, + 98.112, + 0, + 156.091, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -41.458, + 727.128, + 43.949, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 770.043, + -103.862, + 98.112, + 0, + 156.091, + 0 + ], + [ + 654.984, + -52.853, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 539.925, + -1.844, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 424.866, + 49.164, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 424.866, + 49.164, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 342.144, + 144.02, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 259.422, + 238.876, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 176.701, + 333.732, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 93.979, + 428.587, + 101.171, + 0.0, + 131.091, + -0.0 + ], + [ + 11.257, + 523.443, + 109.116, + 0.0, + 131.091, + -0.0 + ], + [ + 11.257, + 523.443, + 109.116, + 0.0, + 106.091, + -0.0 + ], + [ + 11.257, + 523.443, + 109.116, + 0.0, + 106.091, + -0.0 + ], + [ + -23.626, + 644.371, + 113.949, + 0.0, + 106.091, + -0.0 + ], + [ + -23.626, + 644.371, + 113.949, + 0.0, + 106.091, + -0.0 + ], + [ + -23.626, + 644.371, + 113.949, + 0.0, + 106.091, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -41.458, + 727.128, + 43.949, + 0.0, + 0.0, + 0.0 + ], + [ + -43.974, + 637.866, + 84.055, + -28.202, + 156.235, + 1.862 + ], + [ + -43.974, + 637.866, + 84.055, + -28.202, + 156.235, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1161.5, + 1045.7, + 932.4, + 822.9, + 822.9, + 698.0, + 573.5, + 449.8, + 327.8, + 210.4, + 210.4, + 210.4, + 84.7, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see a red car parked in a driveway ahead on the left side of the street, which matches the target I need to reach before grabbing the jerry can. The road ahead of me is clear, so I will move forward along it to close the large remaining distance.", + "The red car and its driveway now appear larger and closer on my left, confirming my previous step brought me nearer. Since I am still well short of the driveway entrance, I will continue straight along the road.", + "The red car is now off to my left with a small red container standing near it on the driveway, likely the jerry can I need. I am not yet abreast of the driveway, so another forward step should bring me level with the approach path.", + "My heading is running parallel along the street while the red car and the red container sit off to my left, so moving straight would carry me past them instead of toward them. I will turn left to point my body at the driveway and put the target in front of me.", + "After turning, the red car in the driveway and the red container beside it are now centered ahead of me instead of off to the side. With the driveway and sidewalk open in that direction, I will move forward to close the distance to the car and the can.", + "The red car is parked in the driveway ahead on my left, with the red jerry can standing on the pavement just beside its rear. I am still out on the street, too far for any grasp, so I will keep moving forward along the driveway approach to close that gap.", + "The red car and the jerry can beside it now appear noticeably larger and lower in my view, confirming my heading leads onto the driveway where they sit. Nothing blocks the pavement in front of me, so another forward step should bring the can closer to reach.", + "I am now on the driveway with the red car's rear bumper clearly ahead on my left and the jerry can standing right next to it. The can is still several steps away and off to the side, so I will continue forward to reduce that remaining distance before trying to reach it.", + "The red car fills the left part of my view and the jerry can sits low and close on the driveway just ahead of me. One more forward step should place me almost alongside the can so a grasp becomes plausible.", + "I am beside the red car now, but the jerry can has drifted to the far left edge of my view and is partly cut off, which is a poor position for reaching it. I will turn left to bring the can back into the center of my view so I can line up on it directly.", + "I am standing on the driveway right beside the red car with its plate clearly readable, so the first part of the task is satisfied, and the red jerry can sits directly ahead of me in the center of my view. I will attempt the pick now to try to take hold of the can while it is squarely in front of me.", + "My grasp attempt left my hands empty, so the can was evidently still out of reach from where I stand. I will step forward along the driveway to close the remaining gap so the can comes within grabbing range.", + "After stepping closer, the jerry can now fills the lower part of my view right at my feet beside the red car's rear bumper. Since my earlier attempt from farther back came up empty, this reduced distance should let the grab connect, so I will try the pick again.", + "The red jerry can is now held in my hands at the red car. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000835_y000909_z000124_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000835_y000909_z000124_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5b225f7b281cdff71e7f3a449a6689f1b3fec841 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000835_y000909_z000124_t4_a/infos.json @@ -0,0 +1,205 @@ +{ + "Instruction": "Open the white garage door on the right side of the house.", + "Type": 4, + "Start_Pose": [ + 835.479, + 909.145, + 124.261, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 835.479, + 909.145, + 124.261, + 0.0, + 120.0, + -0.0 + ], + [ + 772.55, + 1018.142, + 131.462, + 0.0, + 120.0, + -0.0 + ], + [ + 772.55, + 1018.142, + 131.462, + 0.0, + 145.0, + -0.0 + ], + [ + 669.452, + 1090.332, + 136.231, + 0.0, + 145.0, + -0.0 + ], + [ + 566.354, + 1162.522, + 141.0, + 0.0, + 145.0, + -0.0 + ], + [ + 566.354, + 1162.522, + 141.0, + 0.0, + 170.0, + -0.0 + ], + [ + 442.407, + 1184.377, + 142.444, + 0.0, + 170.0, + -0.0 + ], + [ + 318.813, + 1207.2, + 143.952, + 0.0, + 170.0, + -0.0 + ], + [ + 318.813, + 1207.2, + 143.952, + 0.0, + 145.0, + -0.0 + ], + [ + 318.813, + 1207.2, + 143.952, + 0.0, + 120.0, + -0.0 + ], + [ + 255.883, + 1316.197, + 150.304, + 0.0, + 120.0, + -0.0 + ], + [ + 255.883, + 1316.197, + 150.304, + 0.0, + 95.0, + -0.0 + ], + [ + 244.914, + 1441.577, + 166.813, + 0.0, + 95.0, + -0.0 + ], + [ + 244.914, + 1441.577, + 166.813, + 0.0, + 95.0, + -0.0 + ], + [ + 236.075, + 1468.157, + 169.317, + 0.0, + 95.0, + -0.0 + ], + [ + 236.075, + 1468.157, + 169.234, + 0.0, + 95.0, + -0.0 + ], + [ + 236.075, + 1468.157, + 169.234, + 0.0, + 95.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the lawn I can see the white garage door set into the right wing of the house, past the porch and the shrubs. It is still far off across the grass, so I will move forward to close distance toward that side of the building.", + "The garage door and its driveway sit to the right of my current heading, while straight ahead I would only run into the porch and the house wall. I will turn right to point myself toward the garage bay and the paved approach in front of it.", + "Now the garage bay and its concrete driveway are ahead of me on the right side of the house, with open grass between us. I will move forward to advance along this heading and get closer to the door.", + "The garage door is larger in view but I am still out on the lawn, short of the driveway apron. I will continue forward to keep closing the remaining distance toward the door.", + "My heading is drifting along the blank siding wall, which fills the left of my view while the garage door sits farther right. I will turn right to face the door panel and the driveway squarely before approaching further.", + "The white garage door now fills the left side of my view along the house wall, and the concrete driveway ahead of me is clear apart from the parked red car off to the right. I will move forward along the driveway to close the remaining distance to the door panels before turning to face them.", + "I am further onto the driveway, with the garage door still angled away on my left and the car's front end just off to my right rather than in my path. Another forward step should bring me even with the door bay so I can square up to it.", + "I have advanced far enough that the white garage door is off to my left while my heading points past it toward the car and fence. I will turn left to bring the door face into the center of my view for a straight approach.", + "The garage door has swung further into view but its panels still run away obliquely to my left, so I am not yet perpendicular to it. Another left turn should finish squaring my heading onto the door face.", + "The white garage door is now centered ahead of me with the driveway running straight into its bay. I will move forward to get within reach of the door before attempting to open it.", + "The white garage door now fills my view, but I am skimming along its surface at a shallow angle, with the nearer panels large on my left and the panel rows shrinking away to the right. Turning left should swing my heading toward the near part of the door and set me more squarely in front of its face for a straight approach.", + "I am now facing the door panels head on, with the siding wall and its lamp just off to my left and the concrete slab running up to the base of the door. I will move forward to close the remaining gap so the door is within reach for an opening attempt.", + "The white panel surface now fills my entire view, so I am directly in front of the garage door and squarely aligned with it. I will try to open it from here, expecting the panel to lift.", + "My attempt to open the door left it unchanged, and the panel joints in front of me look identical, so nothing moved. I may still be a little short of the effective interaction range, so I will edge forward to press right up against the door before trying again.", + "After nudging closer, the panel edge and lower rail are right at my face, so I am as near to the garage door as I can get. Since my earlier attempt from slightly farther back did not move it, I will try opening it again from this tighter position.", + "The garage door is open, with the interior shelving and workbenches now in clear view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000835_y000909_z000124_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000835_y000909_z000124_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c18773410d2ce57a26a61b4799ce7a7b8bee9b66 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000835_y000909_z000124_t4_b/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Open the white front door on the porch with the American flag.", + "Type": 4, + "Start_Pose": [ + 835.479, + 909.145, + 124.261, + 0.0, + 60.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 835.479, + 909.145, + 124.261, + 0.0, + 60.0, + -0.0 + ], + [ + 898.409, + 1018.142, + 131.462, + 0.0, + 60.0, + -0.0 + ], + [ + 898.409, + 1018.142, + 131.462, + 0.0, + 35.0, + -0.0 + ], + [ + 1001.506, + 1090.332, + 136.231, + 0.0, + 35.0, + -0.0 + ], + [ + 1104.604, + 1162.522, + 141.0, + 0.0, + 35.0, + -0.0 + ], + [ + 1207.701, + 1234.711, + 145.769, + 0.0, + 35.0, + -0.0 + ], + [ + 1207.701, + 1234.711, + 145.769, + 0.0, + 60.0, + -0.0 + ], + [ + 1280.532, + 1311.086, + 148.266, + 0.0, + 60.0, + -0.0 + ], + [ + 1280.532, + 1311.086, + 148.266, + 0.0, + 85.0, + -0.0 + ], + [ + 1308.267, + 1414.952, + 165.04, + 0.0, + 85.0, + -0.0 + ], + [ + 1317.755, + 1453.035, + 165.15, + 0.0, + 85.0, + -0.0 + ], + [ + 1317.755, + 1453.035, + 165.15, + 0.0, + 85.0, + -0.0 + ], + [ + 1317.755, + 1453.035, + 165.15, + 0.0, + 85.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the edge of the lawn I can see the covered porch with the American flag hanging from a post, and the white front door set back beneath it. The whole facade is still far away, so I will walk forward to close distance and get a clearer read on how to reach the entrance.", + "Straight ahead of me the porch railing and the long planter of white flowers run across my path, so I cannot walk directly onto the deck from here. The porch steps and the pale walkway leading to them sit off to my left, so I will turn left to face that open route toward the entrance.", + "Now the lit walkway and the wooden porch steps lie ahead of me instead of the railing, giving me a clear line toward the deck. I will walk forward along this open ground to reach the steps and the white door under the porch roof.", + "The porch steps and the potted plant beside them are noticeably nearer, and the white door with its narrow sidelight is now plainly visible under the roof. Nothing blocks the ground in front of me, so I keep walking forward to reach the deck.", + "I am close enough now to see the planked porch floor and the brass hardware on the white door off to my right. I will step forward again to get onto the deck and within working distance of that door.", + "Standing on the porch deck, the white front door with its brass handle sits well to my right while the open railing and the yard fill the left half of my view. I will turn right so that the door comes in front of me instead of off to the side.", + "The white front door is now roughly ahead of me across the porch deck, with the railing and a support post framing the open floor between us. I will walk forward over the planks to bring myself close enough to reach the door's hardware.", + "The door now fills much of my view, but I am seeing it obliquely from its hinge side, with the hinges near the left edge and the brass handle set far across the panel. I will turn right to square up with the door face so the latch side sits within comfortable reach.", + "The white panelled front door now fills most of my view squarely, with its brass deadbolt and handle set on the near side and the narrow sidelight beside the frame. I am still a stride or two back on the porch boards, too far to touch the hardware. I will step forward to close that remaining gap while keeping the door centred.", + "The door panel now dominates my view and the brass deadbolt and pull handle sit just right of centre, with the jamb and sidelight at the right edge. I am close but the hardware still looks slightly beyond a comfortable arm's reach. I will take one short step forward to settle at contact distance before touching the door.", + "The white door face now fills my view at contact distance, so close that the panel moulding on the left blurs and the brass lock cylinder and pull handle sit along the right edge, partly cut off but still within reach. This is the front door on the flag-hung porch that I was sent to open, and nothing blocks my hand. I will reach for the handle and try to open it.", + "The door has swung inward and the interior kitchen and dining room are now open in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000974_y001940_z000468_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000974_y001940_z000468_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af0d8dd377ca51dc0db1d58554a6bc7cefd63619 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000974_y001940_z000468_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the wicker basket near the plant.", + "Type": 5, + "Start_Pose": [ + 974.153, + 1939.513, + 468.149, + -0.301, + 172.836, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 397.976, + 1941.79, + 418.149, + 90, + 172.836, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 974.153, + 1939.513, + 468.149, + -0.301, + 172.836, + 0 + ], + [ + 849.575, + 1939.839, + 468.149, + -0.301, + 172.836, + -0.0 + ], + [ + 724.997, + 1939.839, + 468.149, + -0.301, + 172.836, + -0.0 + ], + [ + 600.475, + 1939.516, + 468.149, + -0.301, + 172.836, + -0.0 + ], + [ + 475.591, + 1954.894, + 468.149, + -0.301, + 172.836, + -0.0 + ], + [ + 475.591, + 1954.894, + 468.149, + 0.0, + 172.836, + -0.0 + ], + [ + 475.591, + 1954.894, + 468.149, + 0.0, + 172.836, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 397.976, + 1941.79, + 418.149, + 90.0, + 172.836, + 0.0 + ], + [ + 397.976, + 1941.79, + 418.149, + 90.0, + 172.836, + 0.0 + ], + [ + 397.976, + 1941.79, + 418.149, + 90.0, + 172.836, + 0.0 + ], + [ + 397.976, + 1941.79, + 418.149, + 90.0, + 172.836, + 0.0 + ], + [ + 397.976, + 1941.79, + 418.149, + 90.0, + 172.836, + 0.0 + ], + [ + 473.534, + 1933.631, + 438.257, + -28.202, + -137.019, + 1.862 + ], + [ + 473.534, + 1933.631, + 438.257, + -28.202, + -137.019, + 1.862 + ] + ], + "PD_Dist_2D": [ + 576.2, + 451.6, + 327.0, + 202.5, + 78.7, + 21.4, + 21.4 + ], + "Rationale": [ + "From this end of the upstairs hallway I can see the potted plant standing in the far corner with the round wicker basket resting against the wall beside it. Both targets lie straight ahead along the open floor, so I will move forward to close the long gap.", + "The plant and the wicker basket are noticeably larger now, but they are still several steps away at the end of the corridor. My heading is already lined up with them and nothing blocks the floor, so I will continue forward.", + "The corner wall, the plant on my right, and the basket leaning at the baseboard now fill much of my view, yet the basket is still out of arm's reach. I will keep advancing to reach a position where the basket sits directly in front of me.", + "I am close to the corner with the plant just to my right, and the wicker basket is centered low on the wall ahead of me. One more step forward should place the basket within grasping range.", + "I am standing right at the corner beside the plant, and the wicker basket now fills the lower part of my view at close range. This is close enough to reach it, so I will attempt to pick the basket up.", + "The wicker basket is now held in my hands at the plant corner. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000976_y001694_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000976_y001694_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f94c411cca0f0f7e9d2a520c30127f6dfa701a6 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000976_y001694_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white paneled door just beyond the staircase.", + "Type": 4, + "Start_Pose": [ + 975.617, + 1694.444, + 168.15, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 975.617, + 1694.444, + 168.15, + 0.0, + 120.0, + -0.0 + ], + [ + 912.688, + 1803.441, + 168.15, + 0.0, + 120.0, + -0.0 + ], + [ + 912.688, + 1803.441, + 168.15, + 0.0, + 145.0, + -0.0 + ], + [ + 809.59, + 1875.631, + 168.15, + 0.0, + 145.0, + -0.0 + ], + [ + 809.59, + 1875.631, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 685.643, + 1897.486, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 561.696, + 1919.341, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 447.15, + 1940.896, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 447.15, + 1940.896, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 447.15, + 1940.896, + 168.15, + 0.0, + 170.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The staircase rises across the room ahead of me and a pale paneled door sits in the wall past it on my right. I will move forward to cross the open floor and get near the far end of the staircase where that door is.", + "After closing distance, the target door has slipped to the far right edge of my view while the staircase wall dominates ahead. I will turn right to bring the paneled door into the center of my heading before advancing again.", + "The white paneled door is now clearly in view ahead and slightly right, set in the wall past the underside of the staircase. I will move forward along the open floor to shorten the distance to it.", + "From this closer position the door sits off to the right of my heading, with the blank wall taking up most of the space directly in front of me. I will turn right so my facing lines up squarely with the door and its handle.", + "The paneled door is now centered in my view with its frame fully visible and the handle on its right side. I will move forward along this heading to close the remaining gap.", + "The door now fills much of my view and the lever handle is clearly readable, but I am still short of comfortable reach. I will step forward again to bring the handle within interaction range.", + "The door slab and its lever handle are directly in front of me, and only a short step separates me from the panel. I will advance once more so I am close enough to operate the handle.", + "I am right up against the paneled slab, close enough that its raised panels fill my view and the closed door still blocks the way. I will attempt to open it now, which should swing the door clear.", + "The white paneled door now stands open with the room beyond fully visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001042_y002118_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001042_y002118_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aef08d432e7944ab89e75a3f6be620c9661cc42a --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001042_y002118_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Cross the kitchen area to the white paneled door and open it.", + "Type": 4, + "Start_Pose": [ + 1042.241, + 2117.765, + 168.15, + 0.0, + -80.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1042.241, + 2117.765, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + 1042.241, + 2117.765, + 168.15, + 0.0, + -55.0, + 0.0 + ], + [ + 1114.431, + 2014.667, + 168.15, + 0.0, + -55.0, + 0.0 + ], + [ + 1186.62, + 1911.57, + 168.15, + 0.0, + -55.0, + 0.0 + ], + [ + 1258.81, + 1808.472, + 168.15, + 0.0, + -55.0, + 0.0 + ], + [ + 1258.81, + 1808.472, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + 1280.665, + 1684.525, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + 1302.347, + 1565.233, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + 1339.531, + 1551.625, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + 1339.531, + 1551.625, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + 1339.531, + 1551.625, + 168.15, + 0.0, + -80.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the kitchen counters and cabinets sit to my right, and the white paneled door is partly hidden behind the structural column ahead. I will turn right to bring the kitchen area and that door into clearer view before crossing.", + "The white paneled door is now visible ahead beyond the kitchen counters, with open floor between me and it. I will move forward to begin crossing the kitchen area toward that door.", + "The paneled door with its two narrow side windows is larger now and the floor ahead remains unobstructed. I will keep moving forward to close the remaining distance across the kitchen.", + "The door now fills a good part of the view on the left side of my heading, and the counter run stays clear to my right. Another step forward should bring me close enough to work on alignment with the door.", + "I am close to the door, but it sits off to my left while my heading still points along the kitchen counters. I will turn left to square up with the door panel so a straight approach lands me at the handle.", + "The paneled door is now centered ahead between its two sidelights, so my heading looks correct. I will step forward to reduce the remaining gap before reaching for the handle.", + "The door now fills nearly the whole view and the brass lever handle is visible on its left edge. I will move forward again to get within arm's reach of that handle.", + "The lock and lever handle are right in front of me, so I am nearly at the door face. I will take one small step forward to settle into contact range for the handle.", + "The white paneled door now fills my entire view at arm's length, with its panel seams directly ahead, so I am squarely centered on the leaf and within reach of the latch I saw a moment ago. This is the closest useful interaction pose, so I will trigger the door now and expect the latch to release and the door to swing open.", + "The door leaf now stands swung inward with the porch, walkway and yard visible through the opening. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001068_y-000890_z000123_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001068_y-000890_z000123_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e437ba5e506452880f496de5b68e266566e8dda --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001068_y-000890_z000123_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Approach the dark wooden garage door with a row of square upper windows and open it.", + "Type": 4, + "Start_Pose": [ + 1067.864, + -889.659, + 122.739, + 0.0, + -120.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1067.864, + -889.659, + 122.739, + 0.0, + -120.0, + 0.0 + ], + [ + 1067.864, + -889.659, + 122.739, + 0.0, + -95.0, + 0.0 + ], + [ + 1056.895, + -1015.039, + 131.022, + 0.0, + -95.0, + 0.0 + ], + [ + 1045.925, + -1140.419, + 139.305, + 0.0, + -95.0, + 0.0 + ], + [ + 1045.925, + -1140.419, + 139.305, + 0.0, + -70.0, + 0.0 + ], + [ + 1088.972, + -1258.688, + 147.119, + 0.0, + -70.0, + 0.0 + ], + [ + 1132.018, + -1376.957, + 158.304, + 0.0, + -70.0, + 0.0 + ], + [ + 1132.018, + -1376.957, + 158.304, + 0.0, + -70.0, + 0.0 + ], + [ + 1174.473, + -1468.068, + 169.316, + 0.0, + -70.0, + 0.0 + ], + [ + 1174.473, + -1468.068, + 169.316, + 0.0, + -70.0, + 0.0 + ], + [ + 1174.473, + -1468.068, + 169.316, + 0.0, + -70.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark wooden garage door with the small square upper windows sits at the far right edge of my view, mostly cut off, while the porch fills the center. I will turn right to bring that door into the middle of my view so I can head straight up the driveway toward it.", + "The dark paneled garage door with its row of square windows is now centered ahead of me across open driveway concrete. Nothing blocks the path between me and it, so I will move forward to close distance toward the door.", + "The garage door is noticeably larger now but still several strides away, and the driveway ahead remains unobstructed. I will continue forward to keep closing the gap before I try to align squarely on the door.", + "As I have come closer, the garage door has drifted into the right half of my view, with the porch railing and downspout crowding the left side. I will turn right so the door face is centered in front of me and my heading runs straight into the bay.", + "The dark wooden door with its row of square upper windows now fills the center of my view and the white frame is squarely in front of me. I am still too far back on the driveway to reach it, so I will move forward to get within interaction range.", + "The dark wooden garage door with its row of square upper windows now fills most of my view and the driveway ahead is clear. I am still a step short of contact range, so I will move forward to close the final gap before trying the door.", + "The wooden panels of the target garage door now fill nearly the whole view, with only the white frame edge and siding visible at the right. I appear close enough to reach it, so I will attempt to open the door from here.", + "My attempt to open the door left it unchanged, since the same closed panels and jamb are still in front of me. I was likely just outside the usable interaction distance, so I will move forward to press closer against the door before trying again.", + "I am now pressed right up against the wooden door surface, with the view almost entirely filled by dark panel shadow. Having closed the gap after the earlier attempt failed to move the door, I will try the opening interaction again from this contact distance.", + "The garage door panel is raised overhead and the lit interior with shelving and boxes is open before me. The task is complete, so no further action is needed." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001068_y-000890_z000123_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001068_y-000890_z000123_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4617f31adf068b63923505cb7fdf9de2c86c58c4 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001068_y-000890_z000123_t4_b/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Walk up the lit porch to the front door and open it.", + "Type": 4, + "Start_Pose": [ + 1067.864, + -889.659, + 122.739, + 0.0, + -120.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1067.864, + -889.659, + 122.739, + 0.0, + -120.0, + 0.0 + ], + [ + 1004.935, + -998.656, + 129.94, + 0.0, + -120.0, + 0.0 + ], + [ + 942.005, + -1107.653, + 137.141, + 0.0, + -120.0, + 0.0 + ], + [ + 942.005, + -1107.653, + 137.141, + 0.0, + -145.0, + 0.0 + ], + [ + 853.984, + -1134.764, + 139.167, + 0.0, + -145.0, + 0.0 + ], + [ + 749.633, + -1203.946, + 143.737, + 0.0, + -145.0, + 0.0 + ], + [ + 646.535, + -1276.136, + 148.114, + 0.0, + -145.0, + 0.0 + ], + [ + 543.437, + -1348.326, + 148.114, + 0.0, + -145.0, + 0.0 + ], + [ + 443.915, + -1373.607, + 148.114, + 0.0, + -145.0, + 0.0 + ], + [ + 443.915, + -1373.607, + 148.114, + 0.0, + -120.0, + 0.0 + ], + [ + 376.563, + -1476.033, + 165.15, + 0.0, + -120.0, + 0.0 + ], + [ + 315.012, + -1554.689, + 165.15, + 0.0, + -120.0, + 0.0 + ], + [ + 315.012, + -1554.689, + 165.15, + 0.0, + -120.0, + 0.0 + ], + [ + 315.012, + -1554.689, + 165.15, + 0.0, + -120.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The lit porch with its string lights and sconce runs along the left half of the house, while the garage bay sits to my right. I am still out on the driveway apron, well short of the porch, so I will move forward along the paved surface to close that distance.", + "The porch railing, planter box, and the lit entry area are now noticeably larger ahead and to my left, confirming my heading is closing on the house. Nothing blocks the paving in front of me, so I will continue forward before turning toward the entry.", + "The garage wall and downspout now crowd the right side of my view, while the lit porch deck and the entry door lie to my left. Continuing straight would carry me into the side wall, so I will turn left to point my heading along the porch toward the front door.", + "After reorienting, the porch with its lit ceiling bulbs and railing stretches ahead along the right side of my view, and the front walk is open in front of me. I will move forward to travel down toward the porch entry.", + "The planter box and railing details are resolving more clearly, so my previous step did carry me nearer the house. The lit entry is still further along the porch, so another forward step is needed.", + "A dark entry door with a wall lantern beside it is now visible on the porch slightly right of my heading, matching the lit front door I am looking for. I will keep moving forward to bring that doorway within reach.", + "The porch deck now fills the lower part of my view and the front door with its glazed upper panel is clearly ahead on my right. I will step forward again to get onto the boards close to that doorway.", + "I am on the porch boards with the front door and its brass knob just ahead to my right, but a post and the wall still stand between me and a square-on position. One more forward step should bring me level with the door before I face it directly.", + "I am standing on the lit porch decking with the glass-paned front door sitting right of my heading, so walking straight ahead would carry me past it along the siding. I will turn right to bring the door and its handle into the center of my view before closing the last distance.", + "The front door with its nine-pane window now sits near the middle of my view, but it is still several steps away across the porch. I will move forward along this heading to close that gap and bring the handle within reach.", + "The door now fills much of my view and the brass knob is clearly visible, yet I am still slightly too far back for a comfortable interaction. One more step forward should place me directly at the door with the handle squarely in front of me.", + "I am right at the front door with the brass knob and latch plate filling my view at arm's length, so the alignment for handling it is as good as it can be. The door still looks shut, so I will operate the knob now and it should swing open.", + "The front door stands swung inward and the lit living room is visible through the open doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001095_y000014_z000098_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001095_y000014_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2af7f93c45b37498ef9a92ab1c55541f39d673bf --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001095_y000014_z000098_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the tomato near the trash bin visible on the left sidewalk.", + "Type": 5, + "Start_Pose": [ + 1094.716, + 13.984, + 98.112, + 0, + -176.815, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 530.045, + 279.111, + 68.112, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1094.716, + 13.984, + 98.112, + 0, + -176.815, + 0 + ], + [ + 1094.716, + 13.984, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 977.87, + 60.755, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 861.024, + 107.525, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 744.178, + 154.296, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 627.332, + 201.066, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 627.332, + 201.066, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 627.332, + 201.066, + 98.112, + 0.0, + 158.185, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 530.045, + 279.111, + 68.112, + 0.0, + 0.0, + 0.0 + ], + [ + 530.045, + 279.111, + 68.112, + 0.0, + 0.0, + 0.0 + ], + [ + 530.045, + 279.111, + 68.112, + 0.0, + 0.0, + 0.0 + ], + [ + 530.045, + 279.111, + 68.112, + 0.0, + 0.0, + 0.0 + ], + [ + 530.045, + 279.111, + 68.112, + 0.0, + 0.0, + 0.0 + ], + [ + 530.045, + 279.111, + 68.112, + 0.0, + 0.0, + 0.0 + ], + [ + 619.963, + 181.015, + 68.256, + -28.202, + -151.67, + 1.862 + ], + [ + 619.963, + 181.015, + 68.256, + -28.202, + -151.67, + 1.862 + ] + ], + "PD_Dist_2D": [ + 623.8, + 623.8, + 498.2, + 372.8, + 247.9, + 124.7, + 21.4, + 21.4 + ], + "Rationale": [ + "From the middle of the street I can see the trash bin with the red tomato beside it far ahead on the left sidewalk, well off my current heading. I will turn left so that the bin and tomato sit closer to the center of my view before I start walking toward them.", + "The trash bin and the tomato are now roughly ahead of me along the left curb, but still a long way off. I will walk forward to close that distance while keeping both in view.", + "The bin and the tomato beside it have grown noticeably larger, confirming I am closing on the correct spot on the left sidewalk. I will keep walking forward since the tomato is still too far to reach.", + "The tomato now sits clearly in front of the bin at the curb, slightly left of my path, and my heading still leads straight to it. Another step forward should bring me within reaching distance.", + "The bin is right beside me on the left and the tomato has slipped to the bottom edge of my view, so I am nearly on top of it. One more forward step should place the tomato directly at my feet for a grasp.", + "I am standing at the curb beside the trash bin with the tomato immediately at my feet, filling the lower part of my view. I will attempt to pick it up now that it is within arm's reach.", + "The tomato is held in my hand in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001100_y-001690_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001100_y-001690_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9af356681144df0a458dc5ea89d3ae610389e963 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001100_y-001690_z000168_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Pull open the white garage door marked by three rows of square metal hinges.", + "Type": 4, + "Start_Pose": [ + 1099.854, + -1690.382, + 168.15, + 0.0, + 80.0, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1099.854, + -1690.382, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + 1121.709, + -1566.435, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + 1121.709, + -1566.435, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + 1121.709, + -1566.435, + 168.15, + 0.0, + 80.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white garage door with its three rows of square metal hinges fills my view directly ahead, so it is already correctly centered and needs no reorientation. I will move forward to close the remaining gap and bring the panel within arm's reach for a pull. The door still reads as shut, so contact range is what I lack.", + "I am now pressed close to the pale door panel, with its seam and one hinge block visible at the right edge, so the surface is within reach. The door is still closed, so I will attempt to pull it open from this position. If my alignment is correct, the panel should release and swing clear.", + "The doorway now stands clear, showing the open street and houses beyond where the panel was. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001201_y-000745_z000114_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001201_y-000745_z000114_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ff39b6459a79edb9d3d3ab14236821aecfcca7 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001201_y-000745_z000114_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Follow the driveway to the dark wooden garage door and open it.", + "Type": 4, + "Start_Pose": [ + 1200.842, + -745.426, + 113.788, + 0.0, + -80.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1200.842, + -745.426, + 113.788, + 0.0, + -80.0, + 0.0 + ], + [ + 1222.697, + -869.373, + 121.423, + 0.0, + -80.0, + 0.0 + ], + [ + 1244.552, + -993.32, + 129.612, + 0.0, + -80.0, + 0.0 + ], + [ + 1244.552, + -993.32, + 129.612, + 0.0, + -105.0, + 0.0 + ], + [ + 1211.978, + -1114.89, + 137.643, + 0.0, + -105.0, + 0.0 + ], + [ + 1179.403, + -1236.461, + 145.675, + 0.0, + -105.0, + 0.0 + ], + [ + 1146.828, + -1358.031, + 155.622, + 0.0, + -105.0, + 0.0 + ], + [ + 1146.828, + -1358.031, + 155.622, + 0.0, + -105.0, + 0.0 + ], + [ + 1114.701, + -1468.079, + 169.316, + 0.0, + -105.0, + 0.0 + ], + [ + 1114.701, + -1468.079, + 169.244, + 0.0, + -105.0, + 0.0 + ], + [ + 1114.701, + -1468.079, + 169.244, + 0.0, + -105.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark wooden garage door is clearly visible ahead at the head of the driveway, slightly left of my heading. The paved driveway in front of me is open and unobstructed, so I will move forward along it to begin closing the distance to that door.", + "The garage door now appears larger, confirming that following the driveway is bringing me nearer to it. There is still a good stretch of concrete between me and the door frame, so I will continue straight forward.", + "From this closer position the wooden garage door has drifted to the left side of my view, with the blank siding and side fence filling the space straight ahead. I will turn left to bring the door back toward the center of my heading before pushing forward again.", + "After the turn the dark garage door sits much closer to the middle of my view with clear driveway leading up to it. I will move forward along that path to shorten the remaining distance to the door.", + "The paneled wooden door now dominates the view and its frame and threshold are plainly visible, but I am still a couple of steps short of touching range. I will advance once more to get close enough for a reliable interaction with the door.", + "The dark wooden garage door now fills most of my view and is squarely ahead of me at the end of the driveway. I am still a short distance off the door face, so I will advance once more to bring it within arm's reach for an opening attempt.", + "The dark wood panels of the garage door now span nearly my whole view, with the door frame and wall lamp just to my left. This looks close enough to reach the door, so I will try to open it.", + "My attempt to open the garage door left it unchanged, since the same closed wood panels are still in front of me. I am probably a little short of the reachable range, so I will step forward to press right up against the door before trying again.", + "I am now right against the garage door, with only its shadowed wood panel and frame edge filling my view. Since the earlier attempt from farther back did not move the door, this contact distance should let the interaction take hold, so I will try to open it.", + "The garage door is open and the interior with its workbench and inner door lies clearly before me. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001303_y001349_z000165_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001303_y001349_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fab969e82b22f67d73c30314db0e57bc899ac732 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001303_y001349_z000165_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Between the two narrow windows, open the white front door with the brass knocker.", + "Type": 4, + "Start_Pose": [ + 1303.162, + 1348.644, + 164.906, + 0.0, + 80.0, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1303.162, + 1348.644, + 164.906, + 0.0, + 80.0, + -0.0 + ], + [ + 1324.717, + 1452.888, + 165.15, + 0.0, + 80.0, + -0.0 + ], + [ + 1324.717, + 1452.888, + 165.15, + 0.0, + 80.0, + -0.0 + ], + [ + 1324.717, + 1452.888, + 165.15, + 0.0, + 80.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white front door with its brass knocker and handle stands directly ahead of me, framed by the two narrow windows on either side. I am still a step or so back from the porch threshold, so I will move forward to close that gap and bring the handle within reach for the opening interaction.", + "I am now pressed close against the white door panel, with its molded frame filling my view, which means I am within arm's reach of the latch. This is the correct target door between the two narrow windows, so I will attempt to open it and expect the latch to release inward.", + "The white door with the brass knocker now stands swung open, revealing the interior room beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001369_y002101_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001369_y002101_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dfccc5a8f1418ca2fa0ae111aac0160161c1c726 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001369_y002101_z000468_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Open the white door beside the louvered closet.", + "Type": 4, + "Start_Pose": [ + 1369.468, + 2101.347, + 468.15, + 0, + -100, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1369.468, + 2101.347, + 468.15, + 0, + -100, + 0 + ], + [ + 1352.51, + 2101.347, + 468.15, + 0.0, + -100.0, + 0.0 + ], + [ + 1335.552, + 2101.347, + 468.15, + 0.0, + -100.0, + 0.0 + ], + [ + 1335.552, + 2101.347, + 468.15, + 0.0, + -125.0, + 0.0 + ], + [ + 1263.57, + 2072.518, + 468.15, + 0.0, + -125.0, + 0.0 + ], + [ + 1263.57, + 2072.518, + 468.15, + 0.0, + -100.0, + 0.0 + ], + [ + 1241.715, + 1948.571, + 468.15, + 0.0, + -100.0, + 0.0 + ], + [ + 1241.715, + 1948.571, + 468.15, + 0.0, + -125.0, + 0.0 + ], + [ + 1201.597, + 1845.638, + 468.15, + 0.0, + -125.0, + 0.0 + ], + [ + 1201.597, + 1845.638, + 468.15, + 0.0, + -150.0, + 0.0 + ], + [ + 1201.597, + 1845.638, + 468.15, + 0.0, + -150.0, + 0.0 + ], + [ + 1201.597, + 1845.638, + 468.15, + 0.0, + -150.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this corner of the bedroom I can see the white paneled door set in the far left wall, right next to the tall louvered closet unit, so that is my target. I am still far back near the bed, so I will move forward to close the distance across the carpet.", + "The door and the louvered closet beside it are now slightly larger ahead on my left, so my previous advance did shorten the gap. The open carpet in front of me is still clear, so I will continue forward to get nearer the door before turning to face it.", + "The white door sits well off to my left while my heading still points down the room toward the window wall. I will turn left so the door and the adjacent louvered closet move toward the center of my view and I can walk straight at them.", + "After turning, the white paneled door and the louvered closet next to it are now clearly ahead of me with open carpet in between. I will move forward along this heading to bring myself within reach of the door.", + "That advance carried me close to the wall so the door edge now looms at the left of my view and the room beyond is squeezed off to the side. I will turn right to swing my heading back off the wall and keep the door face and the space in front of it inside a controllable part of my view.", + "The white paneled door stands along the wall on my left, immediately beside the tall louvered closet unit, matching the target described in the task. I am still several steps back down the open floor, so I will move forward to close that gap and bring the door within reach.", + "I am now level with the closet, and the target door has slid to the far left edge of my view where I see only its panels edge on. Turning left should swing my heading toward the door face so I can square up on it rather than continue past it.", + "The white door now fills most of my view with its brass lever handle clearly visible, and the louvered closet sits just to its right as expected. I am still a short distance off, so I will step forward to reach a proper interaction range at the door.", + "My forward step brought me right up against the woodwork, and now I see only a blank stretch of jamb and trim with the door's panel and handle pushed out of view to the left. Turning left should bring the door leaf back into the center of my view so I can address it for opening.", + "The recessed panel of the white door now sits squarely in front of me with its latch edge and jamb along the right, so I am close and aligned with the intended leaf rather than the closet. I will attempt to open this door now, which should release the latch and swing it inward.", + "The white door now stands swung inward, revealing the hallway and floor beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001371_y001851_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001371_y001851_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1b89946d0edd932cacfeb1fc689c7bea83c11287 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001371_y001851_z000468_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Beside the tall louvered wardrobe, pull open the white four-panel door.", + "Type": 4, + "Start_Pose": [ + 1370.924, + 1850.96, + 468.15, + 0.0, + -160.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1370.924, + 1850.96, + 468.15, + 0.0, + -160.0, + 0.0 + ], + [ + 1370.924, + 1850.96, + 468.15, + 0.0, + 175.0, + -0.0 + ], + [ + 1245.544, + 1861.929, + 468.15, + 0.0, + 175.0, + -0.0 + ], + [ + 1201.623, + 1871.417, + 468.15, + 0.0, + 175.0, + -0.0 + ], + [ + 1201.623, + 1871.417, + 468.15, + 0.0, + 175.0, + -0.0 + ], + [ + 1201.623, + 1871.417, + 468.15, + 0.0, + 175.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white four-panel door with the brass lever sits on the left edge of my view, while the tall louvered wardrobe stands to the right, confirming the target described in the task. I will turn left so the door moves toward the center of my heading before I approach it.", + "The four-panel door is now framed squarely ahead of me with clear carpet in between and no furniture blocking the path. I will move forward to close most of the distance to it.", + "The door panels and the brass lever now fill most of my view, so I am close but likely still a short step outside reliable reach. I will move forward again to bring the handle within interaction range.", + "The brass lever and lock are directly in front of me at close range, and the door is clearly still shut. I will attempt to open this white four-panel door now, which should swing it clear of the frame.", + "The four-panel door now stands open, revealing the hallway and stair railing beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001409_y002060_z000168_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001409_y002060_z000168_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c5093ed6cf06f8c5729c306986235f6cf88099e --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001409_y002060_z000168_t4_b/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white door on the right side of the kitchen area.", + "Type": 4, + "Start_Pose": [ + 1409.403, + 2059.694, + 168.15, + 0, + -140, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1409.403, + 2059.694, + 168.15, + 0, + -140, + 0 + ], + [ + 1409.403, + 2059.694, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 1356.213, + 1945.627, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 1303.022, + 1831.56, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 1303.022, + 1831.56, + 168.15, + 0.0, + -90.0, + 0.0 + ], + [ + 1303.022, + 1705.701, + 168.15, + 0.0, + -90.0, + 0.0 + ], + [ + 1303.022, + 1579.842, + 168.15, + 0.0, + -90.0, + 0.0 + ], + [ + 1319.184, + 1560.659, + 168.15, + 0.0, + -90.0, + 0.0 + ], + [ + 1319.184, + 1560.659, + 168.15, + 0.0, + -90.0, + 0.0 + ], + [ + 1319.184, + 1560.659, + 168.15, + 0.0, + -90.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From my current spot in the open kitchen area, a white panelled door with a brass handle sits at the far right edge of my view, mostly cut off by the frame. I will turn right so that door comes into the center of my view and I can head straight for it.", + "The white door is now clearly in view ahead and slightly right, flanked by two narrow sidelight windows. The floor between me and it is clear, so I will move forward to close the distance.", + "The door and its brass lever handle are larger in my view but still several steps away across the room. I will keep moving forward along this clear stretch of floor to get within reach of the handle.", + "As I have come closer, the door has drifted to the right side of my view, with the corner cabinets filling the left half. I will turn right to square my heading onto the door so my remaining steps carry me straight to its handle.", + "The white door is now centered in my view between its two sidelight windows, so my heading is good. I will move forward along this line to shorten the gap to the handle.", + "The door now fills most of my view and the brass lever handle is plainly visible on its left side, but I am still a step short of comfortable reach. I will move forward once more to bring the handle within interaction distance.", + "I am almost against the door, with the lever handle and deadbolt filling the right portion of my view, though the handle sits a little off to the side of my center. I will take one more short step forward to settle directly in front of the handle before trying it.", + "I am standing right at the white door with its brass lever handle centered and clearly within reach. I will operate the handle now, which should release the latch and swing the door open.", + "The white door now stands open with a clear view through the doorway to the porch and walkway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001485_y-001735_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001485_y-001735_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..52b6c2115ce26642e996c86a1c7405256425d230 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001485_y-001735_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Go to the white side door on the right and open it.", + "Type": 4, + "Start_Pose": [ + 1485.061, + -1735.235, + 168.15, + 0.0, + 180.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1485.061, + -1735.235, + 168.15, + 0.0, + 180.0, + -0.0 + ], + [ + 1485.061, + -1735.235, + 168.15, + 0.0, + -155.0, + 0.0 + ], + [ + 1370.994, + -1788.425, + 168.15, + 0.0, + -155.0, + 0.0 + ], + [ + 1256.927, + -1841.616, + 168.15, + 0.0, + -155.0, + 0.0 + ], + [ + 1256.927, + -1841.616, + 168.15, + 0.0, + -130.0, + 0.0 + ], + [ + 1176.026, + -1938.029, + 168.15, + 0.0, + -130.0, + 0.0 + ], + [ + 1176.026, + -1938.029, + 168.15, + 0.0, + -105.0, + 0.0 + ], + [ + 1148.811, + -1948.383, + 168.15, + 0.0, + -105.0, + 0.0 + ], + [ + 1148.811, + -1948.383, + 168.15, + 0.0, + -105.0, + 0.0 + ], + [ + 1148.811, + -1948.383, + 168.15, + 0.0, + -105.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this spot in the garage the white side door sits far off to my right, near the edge of what I can see, while the large paneled garage door dominates the left. I will turn right to bring that white door closer to the center of my heading before advancing. This should give me a straight approach line across the open floor.", + "The white side door now stands ahead and slightly to my right, with clear concrete floor between me and it. I will move forward to close the large remaining distance toward that door. The workbenches and bins sit well to the sides, so this path looks unobstructed.", + "The white door has grown noticeably larger and its brass handle is now discernible, but I am still several steps short of arm's reach. I will continue forward to keep shrinking that gap. The floor directly ahead remains clear, so another step should be safe.", + "I am close to the wall now and the white door has drifted to the right side of what I can see, so I am not squarely facing it. I will turn right to square my heading onto the door leaf and its handle. That alignment should let me step straight in rather than approach at an angle.", + "The door is now centered in front of me with its brass knob and lever plainly visible, though still slightly beyond comfortable reach. I will step forward to bring myself right up against the door face. From there the handle should be within interaction range.", + "At this close range the handle and door edge have shifted toward my left, meaning my heading is aimed past the leaf rather than perpendicular to it. I will turn right to face the door panel squarely instead of glancing along its edge. Being flush with the leaf should make the handle interaction reliable.", + "The white paneled leaf is directly in front of me and fills nearly everything I can see, but its handle is no longer within my forward reach envelope. I will take one short step forward to settle squarely against the door at interaction distance. That small adjustment should place the latch hardware within grasp.", + "I am pressed up against the white side door with its brass knob and lever clearly within reach on my left. The door still appears shut, so I will attempt to operate the handle and open it. If the latch releases, the doorway beyond should become passable.", + "The white side door now stands open, showing the lit interior hallway beyond its frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001538_y-001948_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001538_y-001948_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f790fb34e98912cbcd63f1306a7f875048496351 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001538_y-001948_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the large white garage door on the left.", + "Type": 4, + "Start_Pose": [ + 1537.884, + -1947.89, + 168.15, + 0.0, + 160.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1537.884, + -1947.89, + 168.15, + 0.0, + 160.0, + -0.0 + ], + [ + 1482.598, + -1908.44, + 168.15, + 0.0, + 160.0, + -0.0 + ], + [ + 1395.388, + -1854.794, + 168.15, + 0.0, + 160.0, + -0.0 + ], + [ + 1395.388, + -1854.794, + 168.15, + 0.0, + 135.0, + -0.0 + ], + [ + 1306.392, + -1765.798, + 168.15, + 0.0, + 135.0, + -0.0 + ], + [ + 1217.396, + -1676.802, + 168.15, + 0.0, + 135.0, + -0.0 + ], + [ + 1217.396, + -1676.802, + 168.15, + 0.0, + 110.0, + -0.0 + ], + [ + 1174.35, + -1558.534, + 168.15, + 0.0, + 110.0, + -0.0 + ], + [ + 1174.35, + -1558.534, + 168.15, + 0.0, + 110.0, + -0.0 + ], + [ + 1174.35, + -1558.534, + 168.15, + 0.0, + 110.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From inside the garage I can see the large white sectional door filling the wall on my left, well ahead of me. I will move forward across the open floor to close the gap before turning toward it.", + "The white garage door now appears larger on my left, but I am still too far from it to reach the panel. Continuing straight should bring me deeper into the bay and closer to the door's plane.", + "I am now well inside the bay, and the white garage door lies off to my left rather than in front of me. Turning left should swing my heading toward the door so I can approach it directly.", + "The white door is now framed ahead and slightly left, with clear floor between me and its bottom rail. I will move forward to close that remaining distance for an interaction.", + "The door panel already dominates the view but its bottom track is still a step or two away. Another forward move should place me close enough to reach the door surface.", + "I am close to the panel, yet it still runs off toward my left with the side wall and frame edge on the right of my view. A short left turn should square my facing onto the door before I try the handle.", + "The white panel now fills nearly the whole view, so my heading is essentially onto the door. One more small forward step should put me within contact range for opening it.", + "I am pressed right up against the smooth white panel of the large garage door, with only its seam line visible in front of me. Being this close and squared up, I will trigger the opening mechanism now.", + "The garage door panel is gone from in front of me and the open driveway and street lie clear ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001880_y000965_z000128_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001880_y000965_z000128_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dc9c4791c1b127d69217caadcc7b4a7f3fc1ecd9 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001880_y000965_z000128_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Walk along the porch of the white house to its front door and open it.", + "Type": 4, + "Start_Pose": [ + 1879.98, + 964.856, + 128.407, + 0.0, + 160.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1879.98, + 964.856, + 128.407, + 0.0, + 160.0, + -0.0 + ], + [ + 1761.711, + 1007.902, + 131.196, + 0.0, + 160.0, + -0.0 + ], + [ + 1643.442, + 1050.949, + 133.984, + 0.0, + 160.0, + -0.0 + ], + [ + 1525.174, + 1093.995, + 136.473, + 0.0, + 160.0, + -0.0 + ], + [ + 1406.905, + 1137.041, + 139.317, + 0.0, + 160.0, + -0.0 + ], + [ + 1406.905, + 1137.041, + 139.317, + 0.0, + 135.0, + -0.0 + ], + [ + 1406.905, + 1137.041, + 139.317, + 0.0, + 110.0, + -0.0 + ], + [ + 1363.859, + 1255.31, + 147.13, + 0.0, + 110.0, + -0.0 + ], + [ + 1320.812, + 1373.579, + 165.102, + 0.0, + 110.0, + -0.0 + ], + [ + 1320.812, + 1373.579, + 165.102, + 0.0, + 85.0, + -0.0 + ], + [ + 1330.982, + 1453.035, + 165.15, + 0.0, + 85.0, + -0.0 + ], + [ + 1330.982, + 1453.035, + 165.15, + 0.0, + 85.0, + -0.0 + ], + [ + 1330.982, + 1453.035, + 165.15, + 0.0, + 85.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white house stands to my left with its covered porch running ahead, and I can see a white front door set back under that porch roof. I will move forward along the walkway to close the distance toward the porch entrance.", + "The porch railing and the lit front door are noticeably larger and closer on my left, so my heading along the walkway is productive. I will continue forward to draw level with the door before turning toward it.", + "I am now beside the porch steps area, with the door panel and its brass hardware clearly visible to my left. Another step forward should bring me alongside the walkway that leads up to the entrance.", + "The concrete path in front of me runs toward the porch, and the door is still slightly behind my left shoulder. I will advance once more so the entrance walkway is properly in front of me before I reorient.", + "Straight ahead I only see the porch railing, flower box, and lawn, while the house facade and its entrance lie off to my left. I will turn left to bring the porch and the front door back into the center of my view.", + "The white front door has come into view on the left side after rotating, but my heading is still angled along the porch rather than at it. A second left turn should square me up with the door and the walkway leading to it.", + "The white front door is now centered ahead across the porch decking, with the short concrete step directly in front of me. I will move forward to step up and close the remaining distance to the door.", + "The door and its brass lever handle fill much of my view but are still a stride away and a little to my left. I will advance again to bring the handle within reach before attempting to open it.", + "The white front door has slipped to the far left edge of my view, with siding and a sidelight window filling the center. I will turn left so the door panel and its handle sit squarely ahead of me, which should give me a clean line for the interaction.", + "The front door is now centered ahead with its handle and deadbolt clearly in view, but I am still standing back from it on the porch boards. I will step forward to close that last bit of distance so the door should be within reach for opening.", + "The door panel now fills my entire view, so I am pressed right up against the front door of the white house. I will attempt to open it from here, and the latch should release.", + "The front door stands swung inward and the interior room is open before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x002452_y-000794_z000121_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x002452_y-000794_z000121_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0ac43725f1715bfcc153177f07f67104da45061c --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x002452_y-000794_z000121_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Lift the wicker basket by the large side window of the white house, then place it by the tall street lamp near the tree.", + "Type": 5, + "Start_Pose": [ + 2452.183, + -794.414, + 121.108, + 0, + -34.99, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2861.18, + -977.544, + 91.971, + 90, + -14.99, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2452.183, + -794.414, + 121.108, + 0, + -34.99, + 0 + ], + [ + 2555.293, + -866.586, + 127.787, + 0.0, + -34.99, + 0.0 + ], + [ + 2555.293, + -866.586, + 127.787, + 0.0, + -9.99, + 0.0 + ], + [ + 2679.244, + -888.419, + 135.817, + 0.0, + -9.99, + 0.0 + ], + [ + 2803.195, + -910.253, + 143.846, + 0.0, + -9.99, + 0.0 + ], + [ + 2803.195, + -910.253, + 143.846, + 0.0, + -9.99, + 0.0 + ], + [ + 2803.195, + -910.253, + 143.846, + 0.0, + -34.99, + 0.0 + ], + [ + 2803.195, + -910.253, + 143.846, + 0.0, + -59.99, + 0.0 + ], + [ + 2803.195, + -910.253, + 143.846, + 0.0, + -84.99, + 0.0 + ], + [ + 2814.186, + -1035.631, + 144.558, + 0.0, + -84.99, + 0.0 + ], + [ + 2825.177, + -1161.009, + 145.27, + 0.0, + -84.99, + 0.0 + ], + [ + 2836.168, + -1286.387, + 148.088, + 0.0, + -84.99, + 0.0 + ], + [ + 2847.16, + -1411.766, + 148.088, + 0.0, + -84.99, + 0.0 + ], + [ + 2858.151, + -1537.144, + 148.088, + 0.0, + -84.99, + 0.0 + ], + [ + 2883.466, + -1617.244, + 148.15, + 0.0, + -84.99, + 0.0 + ], + [ + 2883.466, + -1617.244, + 148.15, + 0.0, + -109.99, + 0.0 + ], + [ + 2883.466, + -1617.244, + 148.15, + 0.0, + -134.99, + 0.0 + ], + [ + 2934.369, + -1566.324, + 148.15, + 0.0, + -134.99, + 0.0 + ], + [ + 2934.369, + -1566.324, + 148.15, + 0.0, + -134.99, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2861.18, + -977.544, + 91.971, + 90.0, + -14.99, + 0.0 + ], + [ + 2861.18, + -977.544, + 91.971, + 90.0, + -14.99, + 0.0 + ], + [ + 2861.18, + -977.544, + 91.971, + 90.0, + -14.99, + 0.0 + ], + [ + 2861.18, + -977.544, + 91.971, + 90.0, + -14.99, + 0.0 + ], + [ + 2861.18, + -977.544, + 91.971, + 90.0, + -14.99, + 0.0 + ], + [ + 2806.298, + -889.117, + 113.318, + -28.202, + 40.155, + 1.862 + ], + [ + 2814.39, + -893.186, + 113.591, + -28.189, + 15.167, + 1.872 + ], + [ + 2820.743, + -900.299, + 112.924, + -28.215, + -9.863, + 1.849 + ], + [ + 2830.537, + -913.304, + 112.591, + -14.175, + -42.798, + 6.959 + ], + [ + 2835.396, + -1033.04, + 113.797, + -28.198, + -34.845, + 1.865 + ], + [ + 2846.416, + -1158.713, + 113.971, + -28.191, + -34.831, + 1.871 + ], + [ + 2857.408, + -1284.217, + 117.665, + -28.214, + -34.86, + 1.852 + ], + [ + 2868.398, + -1409.505, + 117.875, + -28.203, + -34.849, + 1.856 + ], + [ + 2879.372, + -1534.635, + 118.283, + -28.187, + -34.833, + 1.872 + ], + [ + 2904.654, + -1614.38, + 118.871, + -28.194, + -34.844, + 1.867 + ], + [ + 2903.015, + -1624.103, + 117.866, + -28.204, + -59.848, + 1.855 + ], + [ + 2897.245, + -1630.95, + 118.673, + -28.206, + -84.853, + 1.863 + ], + [ + 2884.88, + -1615.83, + 113.15, + 90.0, + -134.99, + 0.0 + ], + [ + 2884.88, + -1615.83, + 113.15, + 90.0, + -134.99, + 0.0 + ] + ], + "PD_Dist_2D": [ + 448.1, + 325.4, + 325.4, + 202.6, + 88.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.7, + 19.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the lawn I can see the white clapboard house with its large lit side window, and the round wicker basket resting against the siding just below it. Nothing blocks the grass between me and that wall, so I will move forward to close the sizeable gap toward the basket.", + "I am closer to the siding now, but the window and the wicker basket sit off to the right of my heading rather than straight ahead. I will turn right so the basket is centered before I continue closing in.", + "The window and the wicker basket beneath it are now framed near the middle of my view, so my heading is good. I will move forward along the lawn to shorten the remaining distance to the basket.", + "The basket is directly ahead against the siding but still a step or two beyond comfortable reach. I will advance again to bring it close enough under me for a grasp attempt.", + "I am right up against the wall below the large side window, with the wicker basket's rim showing at the lower edge of my view. This is the closest reach position, so I will attempt to lift the basket now.", + "The wicker basket is now in my grasp right at the base of the white house wall, so the pickup part of the task is done. Facing this siding gives me nowhere to go, and the tall street lamp by the tree lies off to my left, so I will turn left to swing my heading away from the wall and toward open yard.", + "After the first turn I am still looking along the large lit window and the siding, with only a narrow strip of grass showing at the left edge. Since I am carrying the basket and need a clear route out along the yard, I will turn left again to bring more open ground into view.", + "The lawn and a tall lamp post beside a tree are now visible on the left side of my view, while the house corner still occupies the right half. One more left turn should place that lamp and tree closer to the center of my heading so I can walk straight toward the delivery point.", + "The tree and the tall street lamp now stand ahead of me across open lawn, with the house edge cleanly to my right. Carrying the basket, I will move forward along this grass to close the distance to the lamp.", + "The lamp head and its post have grown larger and remain roughly straight ahead, confirming my last step brought me nearer along the yard. I will keep moving forward, since the grass between me and the lamp base still looks clear.", + "With the wicker basket still in my grasp, the tall street lamp with its lit globe stands ahead of me beside the leafy tree, well across the open lawn. I will step forward again to keep closing the remaining gap along this clear grassy line.", + "The lamp post and its glowing head now loom larger and nearly fill the upper part of my view, so the delivery point is clearly closer than before. The grass ahead is still open, so I will advance once more toward the base of the pole.", + "The lamp pole now reads as a thick vertical shaft crossing my whole view, but its base in the tall grass is still a few paces off. I will move forward again to get close enough to set the basket down right at the foot of the lamp.", + "The lamp post is very near now, with the tree trunk and the small mulch patch at its foot just ahead in the grass. One more short step forward should bring me within placing range of the lamp base.", + "My last step forward gained noticeably less ground than the earlier ones, so I am pressed up close to the trunk and pole area and cannot simply keep pushing straight ahead. The lamp shaft has slipped out of the left side of my view, so I will turn left to bring its base back in front of me before releasing the basket.", + "I am standing at the base of the big tree with the basket still carried, and the tall street lamp's post is just out of the left edge of my view after my previous turn. I will turn left once more to bring the lamp post squarely in front of me so the basket can be set down right at its base. This should give me the clean placement heading I need before releasing the basket.", + "The tall lamp post now fills the center of my view at close range, with its base in the grass directly ahead of me. Since I am still holding the wicker basket, this is the delivery spot, so I will release it here at the foot of the lamp. The basket should come to rest against the post as the task requires.", + "The wicker basket now rests on the grass at the foot of the tall street lamp beside the tree. The delivery condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x002455_y-000008_z000122_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x002455_y-000008_z000122_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..189f53d299d4a988eda57e0d9b5aece9358edf26 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x002455_y-000008_z000122_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the ceramic vase near the wall lamp on the left side of the main door.", + "Type": 5, + "Start_Pose": [ + 2454.933, + -8.455, + 122.403, + 0, + 26.648, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3138.475, + -58.577, + 89.007, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2454.933, + -8.455, + 122.403, + 0, + 26.648, + 0 + ], + [ + 2567.423, + 47.994, + 130.338, + 0.0, + 26.648, + -0.0 + ], + [ + 2567.423, + 47.994, + 130.338, + 0.0, + 1.648, + -0.0 + ], + [ + 2693.23, + 51.613, + 139.211, + 0.0, + 1.648, + -0.0 + ], + [ + 2819.037, + 55.233, + 151.528, + 0.0, + 1.648, + -0.0 + ], + [ + 2819.037, + 55.233, + 151.528, + 0.0, + -23.352, + 0.0 + ], + [ + 2934.587, + 5.345, + 165.052, + 0.0, + -23.352, + 0.0 + ], + [ + 3050.136, + -44.543, + 165.052, + 0.0, + -23.352, + 0.0 + ], + [ + 3050.136, + -44.543, + 165.052, + 0.0, + -23.352, + 0.0 + ], + [ + 3050.136, + -44.543, + 165.052, + 0.0, + -23.352, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3138.475, + -58.577, + 89.007, + 0.0, + 0.0, + 0.0 + ], + [ + 3138.475, + -58.577, + 89.007, + 0.0, + 0.0, + 0.0 + ], + [ + 3138.475, + -58.577, + 89.007, + 0.0, + 0.0, + 0.0 + ], + [ + 3138.475, + -58.577, + 89.007, + 0.0, + 0.0, + 0.0 + ], + [ + 3138.475, + -58.577, + 89.007, + 0.0, + 0.0, + 0.0 + ], + [ + 3138.475, + -58.577, + 89.007, + 0.0, + 0.0, + 0.0 + ], + [ + 3138.475, + -58.577, + 89.007, + 0.0, + 0.0, + 0.0 + ], + [ + 3138.475, + -58.577, + 89.007, + 0.0, + 0.0, + 0.0 + ], + [ + 3058.04, + -24.696, + 135.256, + -28.202, + 26.792, + 1.862 + ], + [ + 3058.04, + -24.696, + 135.256, + -28.202, + 26.792, + 1.862 + ] + ], + "PD_Dist_2D": [ + 685.4, + 580.9, + 580.9, + 458.7, + 339.1, + 339.1, + 213.7, + 89.4, + 21.4, + 21.4 + ], + "Rationale": [ + "From the walkway I can see the covered porch ahead with the dark main door and a wall lamp mounted on each side of it. The target lamp and the ceramic vase beside it are still far off, so I will move forward along the paved path to close that distance.", + "Now that I am nearer the porch, the main door and its left-hand wall lamp sit off to the left of my heading while the flower bed and railing fill the right of my view. I will turn left to put the doorway and the tall ceramic vase beside it in front of me before continuing.", + "The door is now centered ahead with the porch steps directly in my path and the patterned ceramic vase visible just left of the doorway. I will move forward to climb toward the porch and keep shortening the distance to that vase.", + "I am on the porch decking with the door ahead, its left wall lamp clearly mounted on the siding, and the tall ceramic vase standing on the boards beside the sidelight. The vase is still several steps away, so I will advance again along the open decking.", + "Close to the entry now, the door fills the middle of my view while the lamp on its left and the ceramic vase sit toward the left of center. I will turn left so that lamp and the vase are squarely in front of me for the pickup.", + "The wall lamp to the left of the main door and the ceramic vase below it are now aligned ahead of me with clear decking in between. I will step forward to bring the vase within reach.", + "The tall ceramic vase now stands large in the lower center of my view, just under the lit wall lamp beside the door frame. One more step forward should place me close enough to grasp it.", + "I am right at the wall lamp on the left side of the main door, with the mouth of the ceramic vase directly in front of me at arm's length. I will attempt to pick it up from here, since nothing stands between me and the vase.", + "The ceramic vase is now held in my grasp beside the main door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x002614_y000387_z000132_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x002614_y000387_z000132_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b4c4ace30067e35c4a4f4c7acdbdbee4bca5786b --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x002614_y000387_z000132_t4_a/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Cross the garden path to the covered porch of the house on the right, then open its front door.", + "Type": 4, + "Start_Pose": [ + 2613.628, + 386.58, + 131.567, + 0.0, + -40.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2613.628, + 386.58, + 131.567, + 0.0, + -40.0, + 0.0 + ], + [ + 2710.042, + 305.679, + 137.813, + 0.0, + -40.0, + 0.0 + ], + [ + 2730.51, + 232.489, + 139.139, + 0.0, + -40.0, + 0.0 + ], + [ + 2730.51, + 161.039, + 139.701, + 0.0, + -40.0, + 0.0 + ], + [ + 2730.51, + 161.039, + 139.701, + 0.0, + -15.0, + 0.0 + ], + [ + 2737.918, + 125.752, + 142.139, + 0.0, + -15.0, + 0.0 + ], + [ + 2847.904, + 84.23, + 164.981, + 0.0, + -15.0, + 0.0 + ], + [ + 2969.475, + 51.655, + 164.981, + 0.0, + -15.0, + 0.0 + ], + [ + 2969.475, + 51.655, + 164.981, + 0.0, + 10.0, + -0.0 + ], + [ + 3093.422, + 73.51, + 164.981, + 0.0, + 10.0, + -0.0 + ], + [ + 3093.422, + 73.51, + 164.981, + 0.0, + 10.0, + -0.0 + ], + [ + 3152.973, + 92.815, + 165.15, + 0.0, + 10.0, + -0.0 + ], + [ + 3152.973, + 92.815, + 165.15, + 0.0, + 10.0, + -0.0 + ], + [ + 3152.973, + 92.815, + 165.15, + 0.0, + 10.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the start of the garden path I can see the covered porch of the house on my right, with a dark panelled front door set back under the roof beyond a bed of flowering shrubs. Nothing blocks the paved walkway directly ahead, so I will walk forward along it to close the distance to the porch. Getting nearer should also open a clearer line toward that door.", + "The porch is much closer now, but a tall flowering shrub has grown across the near edge of the walkway and fills the middle of my view, leaving only a narrow gap past it. The front door is still visible ahead and slightly right, beyond the porch railing, so continuing straight is still the right heading. I will step forward again, squeezing past the planting, even if the shrubs slow my progress.", + "I am now beside the porch decking, with the flower bed still pressing in from the right and partly hiding the doorway. The open boards of the porch floor lie just ahead, so another step forward should bring me clear of the planting and onto the deck level. I will keep walking straight before worrying about turning toward the door.", + "I am standing on the open porch deck now, and the dark front door with its brass handle sits well over to the right side of my view while my body still faces along the length of the porch. Walking straight would carry me past the door rather than toward it. I will turn right to bring the door nearer the center of my heading.", + "The turn has brought the front door much closer to the middle of my view, but a thick porch support column stands between me and it, cutting across the center of my path. The deck to the left of that post is open, so I will step forward and expect the column to shift aside as I advance. Any gain in distance should still be small while I work past the post.", + "I am now on the open porch decking with the dark front door in clear view slightly left of my heading, and nothing blocks the boards between me and it. The chairs and the potted plant sit well off to the sides, so a straight walk forward is safe. I will step ahead to close the remaining distance to the doorway.", + "The door with its narrow sidelight and the two wall lanterns is noticeably larger now, but I am still several strides short of reaching the handle. The deck in front of me remains clear, with the pot and chair pushed to the edges of my path. I will keep walking forward to bring the door within arm's reach.", + "The dark door panel and its brass handle sit to the right of my center line, with the sidelight just left of the door and the lantern off at the far left of my view. Walking straight from here would carry me past the door rather than square onto it. I will turn right so the door face lines up with my heading before I close the last distance.", + "After the turn the door face is squarely ahead of me on the left portion of my view, with the brass handle set clearly against the panel and the lantern and chair off to the right. I am still standing back on the decking, too far to touch the latch. I will walk forward to bring myself right up against the door.", + "The door panel now fills the left half of my view with the brass handle set and deadbolt almost straight ahead of me, and the siding of the wall runs off to the right. This is the front door named in the task, and the latch is directly in front of my center line. I will attempt to open it from here.", + "My attempt to open the door produced no change, since the dark panel ahead is still shut with the brass handle and deadbolt unmoved. The handle sits almost straight ahead of me, with the door panel filling the left half of my view and the pale siding on the right, so my heading onto the latch already looks correct and the likely problem is simply that I am still standing too far back. I will step forward to close that gap and bring the handle within reach before trying again.", + "The step forward brought me right up against the door, and the deadbolt and handle now fill the near left of my view against the frame edge on the right. The earlier attempt failed only because I was standing back from the latch, and that gap is now closed. I will try the handle again from this contact distance, which should let the latch actually engage.", + "The front door stands open and I can see the lit interior hallway with its rug and louvered closet. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x002905_y000574_z000165_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x002905_y000574_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fcedfbe546515dd1eb48640fe65690d9fc214aa0 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x002905_y000574_z000165_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Walk down the porch past the wooden chairs and open the door.", + "Type": 4, + "Start_Pose": [ + 2905.482, + 574.2, + 165.15, + 0.0, + -80.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2905.482, + 574.2, + 165.15, + 0.0, + -80.0, + 0.0 + ], + [ + 2927.337, + 450.253, + 165.15, + 0.0, + -80.0, + 0.0 + ], + [ + 2927.337, + 450.253, + 165.15, + 0.0, + -55.0, + 0.0 + ], + [ + 2999.527, + 347.155, + 165.15, + 0.0, + -55.0, + 0.0 + ], + [ + 3071.717, + 244.058, + 165.15, + 0.0, + -55.0, + 0.0 + ], + [ + 3113.336, + 147.359, + 189.224, + 0.0, + -55.0, + 0.0 + ], + [ + 3113.336, + 147.359, + 189.224, + 0.0, + -30.0, + 0.0 + ], + [ + 3152.982, + 89.532, + 165.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3152.982, + 89.532, + 165.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3152.982, + 89.532, + 165.15, + 0.0, + -30.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the near end of the porch I can see the plank decking running ahead with wooden chairs set along the house wall on my right and a dark front door beyond them. The deck ahead is clear, so I will move forward along the porch to close distance toward that door.", + "Advancing along the porch has left the front door and the chairs sitting off to my right while my heading points down the empty far end of the deck. I will turn right to bring the door side of the porch into the center of my view before continuing.", + "The dark door is now framed more centrally with the wooden chairs and their potted plants lining the wall to its right, and the deck between me and it is open. I will move forward to shorten that gap along the house wall.", + "The door and its lamp have grown noticeably larger, but I am still a couple of paces short of a comfortable reach, and the chair beside it stands clear of my path. I will continue forward to keep closing on the doorway.", + "The panelled door with its brass handle now fills much of the right side of my view, so I am nearly alongside it rather than in front of it. One more step forward should place me level with the doorway and its handle.", + "I am standing right beside the doorway, but the door face and its handle sit off to my right while my heading still runs along the porch. I will turn right to square up on the door before reaching for it.", + "Turning has put the panelled door and its brass handle directly in front of me, though there is still a small gap of decking before the threshold. I will step forward to bring the handle within reach for the opening attempt.", + "The door panels now fill my entire view, which means I am standing at the threshold squarely facing it. I will attempt to open the door from here, and it should swing inward to complete the task.", + "I see the door swung inward with the interior hallway open before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x002913_y-001923_z000148_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x002913_y-001923_z000148_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c79f0d0ffddee57b7326433a0afa264c3c3e9fc7 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x002913_y-001923_z000148_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Walk to the white side door under the covered entry and open it.", + "Type": 4, + "Start_Pose": [ + 2913.44, + -1922.869, + 148.15, + 0.0, + 60.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2913.44, + -1922.869, + 148.15, + 0.0, + 60.0, + -0.0 + ], + [ + 2976.369, + -1813.872, + 148.15, + 0.0, + 60.0, + -0.0 + ], + [ + 3039.299, + -1704.875, + 149.638, + 0.0, + 60.0, + -0.0 + ], + [ + 3039.299, + -1704.875, + 149.638, + 0.0, + 35.0, + -0.0 + ], + [ + 3142.397, + -1632.685, + 149.638, + 0.0, + 35.0, + -0.0 + ], + [ + 3245.494, + -1560.495, + 149.638, + 0.0, + 35.0, + -0.0 + ], + [ + 3245.494, + -1560.495, + 149.638, + 0.0, + 60.0, + -0.0 + ], + [ + 3308.424, + -1451.498, + 149.638, + 0.0, + 60.0, + -0.0 + ], + [ + 3362.591, + -1396.979, + 149.883, + 0.0, + 60.0, + -0.0 + ], + [ + 3362.591, + -1396.979, + 149.883, + 0.0, + 60.0, + -0.0 + ], + [ + 3362.591, + -1396.979, + 149.883, + 0.0, + 60.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white side door sits under the covered entry ahead of me, but I am still out on the walkway well short of it. I will move forward along the paved path to close that distance before worrying about precise alignment.", + "The door and its wall lamp are noticeably larger now, so the previous step brought me closer along the open concrete. The path in front of me is still clear, so I will continue forward to reach the covered entry.", + "The white door now sits left of my heading while my straight-ahead direction points at the plain siding and the planter to the right. I will turn left so the doorway comes toward the middle of my view and my next forward steps carry me under the covered entry rather than past it.", + "With the door now framed in the covered entry ahead of me, my heading points into the open porch area. I will move forward to advance under the roof and shorten the gap to the door.", + "I am now under the porch roof with the paneled white door clearly to my front right and the concrete floor open in front of me. Another forward step should bring me near enough to work on final alignment with the handle side.", + "The door has drifted to the right edge of my view and I am nearly alongside the wall rather than facing the opening. I will turn right to square my heading on the door and its brass handle before closing the last of the distance.", + "The door is now centered in front of me with its lever handle plainly visible, so my heading is good. I will step forward to bring the handle within reach.", + "The handle and its plate are close and slightly right of center, but I am still a small step back from contact range. I will edge forward once more so the door face is directly in front of me for the opening attempt.", + "The white panelled door now fills my entire view at arm's length, so I am squarely aligned with its face and within reach of the latch. Nothing else is in front of me to block the swing, so I will trigger the opening action now and it should release the latch and swing the door inward.", + "The door now stands swung inward with the interior hallway and furniture visible past its edge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x002919_y000564_z000165_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x002919_y000564_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5bd900ad91fad809ae49d2fac9a69680c69d0436 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x002919_y000564_z000165_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Walk past the porch chairs to the dark door between the two wall lanterns and open it.", + "Type": 4, + "Start_Pose": [ + 2918.962, + 564.041, + 165.15, + 0, + -80, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2918.962, + 564.041, + 165.15, + 0, + -80, + 0 + ], + [ + 2940.817, + 440.094, + 165.15, + 0.0, + -80.0, + 0.0 + ], + [ + 2962.672, + 316.147, + 165.15, + 0.0, + -80.0, + 0.0 + ], + [ + 2962.672, + 316.147, + 165.15, + 0.0, + -55.0, + 0.0 + ], + [ + 3034.862, + 213.05, + 165.15, + 0.0, + -55.0, + 0.0 + ], + [ + 3107.052, + 109.952, + 165.15, + 0.0, + -55.0, + 0.0 + ], + [ + 3107.052, + 109.952, + 165.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3107.052, + 109.952, + 165.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3152.981, + 52.628, + 165.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3152.981, + 52.628, + 165.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3152.981, + 52.628, + 165.15, + 0.0, + -30.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the open end of the porch I can see the dark panelled door set into the siding on my right, flanked by wall lanterns, with wooden chairs and a planter along that side. The decking ahead of me is clear, so I will move forward down the porch to close the distance instead of turning this early. Walking past the seating first should give me a straight line to the door.", + "The dark door and its lantern now sit noticeably larger on my right, so my heading along the porch is carrying me toward it. I am still slightly short of being level with the doorway, and the boards ahead remain unobstructed. I will step forward once more before turning toward the entrance.", + "I am now roughly beside the dark door, which is pressed against the right edge of my view with its brass handle visible, while my body still faces down the length of the porch. Continuing straight would carry me past the entrance, so I will turn right to bring the door into the front of my view. That should set up a direct approach to its handle.", + "After turning, the dark door with its lantern and sidelight is now in front of me, slightly right of center, but still several steps away across the decking. Nothing blocks the space between me and the threshold. I will move forward to get within reach of the handle.", + "The door panel and its brass handle now dominate the right side of my view, so I am close but approaching at an angle rather than squarely in front of it. One more step forward should bring me onto the threshold where the handle is within reach. I will advance before attempting the door.", + "The dark door is now immediately to my right, but I am seeing it edge-on with only its frame and glass sidelight in view. I will turn right to square up with the door face so its handle comes into reach for an opening attempt.", + "I am now facing the dark door head on, with its panels centered and the brass handle and deadbolt clearly visible to the right. Since the door appears within reach from here, I will try to open it.", + "My attempt to open this door left it closed, and the frame still occupies only part of my view, so I am probably standing slightly too far back to actually engage the handle. I will step forward to close that gap before trying the latch again.", + "The door panel now fills nearly my whole view with the jamb moulding right beside me, so I am pressed close against the latch side after the earlier attempt failed from farther back. From this contact distance I will try the handle again, which should let the door swing.", + "The dark door now stands swung inward, revealing the lit interior room beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003113_y-000038_z000165_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003113_y-000038_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef3f54e4f24e3a0d0e98c896b678dd254a4269d --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003113_y-000038_z000165_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Open the dark paneled door immediately to the left of the lit porch lantern.", + "Type": 4, + "Start_Pose": [ + 3112.682, + -37.759, + 165.15, + 0, + 40, + 0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3112.682, + -37.759, + 165.15, + 0, + 40, + 0 + ], + [ + 3152.992, + 37.628, + 165.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3152.992, + 37.628, + 165.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3152.992, + 37.628, + 165.15, + 0.0, + 40.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark paneled door fills most of my view with the lit lantern mounted on the siding just to its right, so this is the target described in the task. I am still a step back from the handle, so I will move forward to close that gap and put the latch within reach.", + "I am now right at the dark paneled door, with its brass knob and thumb latch large and centered in front of me. Since this is the door left of the lit lantern and the latch is within reach, I will try to open it.", + "The dark paneled door now stands open, revealing the interior room with its dresser and closet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003165_y-000857_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003165_y-000857_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ea8bd8148937527e45f9aa095389b6a5b9adb8a4 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003165_y-000857_z000168_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Cross the living room to the white front door and open it.", + "Type": 4, + "Start_Pose": [ + 3165.054, + -856.953, + 168.15, + 0.0, + -100.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3165.054, + -856.953, + 168.15, + 0.0, + -100.0, + 0.0 + ], + [ + 3165.054, + -856.953, + 168.15, + 0.0, + -75.0, + 0.0 + ], + [ + 3204.788, + -971.989, + 169.407, + 0.0, + -75.0, + 0.0 + ], + [ + 3237.362, + -1093.559, + 169.407, + 0.0, + -75.0, + 0.0 + ], + [ + 3237.362, + -1093.559, + 169.407, + 0.0, + -50.0, + 0.0 + ], + [ + 3318.263, + -1189.973, + 168.15, + 0.0, + -50.0, + 0.0 + ], + [ + 3399.163, + -1286.386, + 168.15, + 0.0, + -50.0, + 0.0 + ], + [ + 3399.163, + -1286.386, + 168.15, + 0.0, + -75.0, + 0.0 + ], + [ + 3399.163, + -1286.386, + 168.15, + 0.0, + -100.0, + 0.0 + ], + [ + 3381.228, + -1298.382, + 168.15, + 0.0, + -100.0, + 0.0 + ], + [ + 3381.228, + -1298.382, + 168.15, + 0.0, + -100.0, + 0.0 + ], + [ + 3381.228, + -1298.382, + 168.15, + 0.0, + -100.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here in the living room I can see the white front door set in the far wall to my right, past the television cabinet and the potted plant. Turning right should bring that doorway nearer the center of my view so I can head straight toward it instead of walking along the wall.", + "The white paneled front door with its side windows now sits ahead of me with open floor between us. I will move forward to cross the room and close that distance while the path stays clear of the plant stand and the side table.", + "The door and its window panels have grown larger, so my previous step carried me usefully across the room, but I am still several paces short of reach. I will continue forward since the floor ahead remains unobstructed.", + "I am close to the entry wall now, but the potted plant on its stand crowds the left of my path and my heading would carry me into the wall beside the door rather than along it. Turning right should open the clear stretch of floor in front of the entry so I can step up beside the door leaf.", + "With the turn complete, the front door stands ahead on my left and the floor along the entry is clear toward the window and side table. Moving forward should carry me into the entry area right beside the door.", + "The door panel now fills the left of my view and I can make out its brass lever and deadbolt, so I am nearly within reach. One more step forward should place me directly at the door before I turn to face it.", + "I am right up against the entry with the door leaf on my left and only its edge and the sidelight trim in front of me. Turning left should swing my view onto the door face so I can find the handle.", + "I am now looking at the blank paneling of the door, but the latch side is still out of view to my left. Another left turn should bring the handle into the center of my view so I can attempt to open it.", + "The white door's panels fill my view and its brass lever and deadbolt sit just left of center, so I am facing the correct part of the door. I will edge forward a small amount to close the remaining gap and bring the handle within comfortable reach for an interaction.", + "I am now right at the white front door with the brass lever handle large and clearly within reach in front of me. Since I am squarely aligned with the latch side, I will operate the handle and attempt to open the door.", + "I see the doorway standing open ahead of me with the outdoor yard in clear view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003296_y-000063_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003296_y-000063_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..14b81ef149f9b3485bac084d494044e6a7ad8dc3 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003296_y-000063_z000168_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the dark paneled door with the brass knob.", + "Type": 4, + "Start_Pose": [ + 3295.72, + -63.162, + 168.15, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3295.72, + -63.162, + 168.15, + 0.0, + 120.0, + -0.0 + ], + [ + 3295.72, + -63.162, + 168.15, + 0.0, + 120.0, + -0.0 + ], + [ + 3251.561, + 45.216, + 168.15, + 0.0, + 120.0, + -0.0 + ], + [ + 3251.561, + 45.216, + 168.396, + 0.0, + 120.0, + -0.0 + ], + [ + 3251.561, + 45.216, + 168.396, + 0.0, + 120.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark paneled door with the brass knob fills the right side of my view, so I will try to open it from where I stand. The knob looks reachable, and a direct interaction attempt should swing the panel if I am close enough.", + "My interaction attempt just now left the dark door still shut, so I am probably not yet within reach of its knob. I will step forward along the hallway to close the remaining distance to the panel and its brass knob.", + "Now the brass knob and lever fill the right of my view at arm's length, much closer than when my earlier attempt failed to move the door. From this position I will try the handle again, and the panel should swing open.", + "The dark door now stands open, revealing the porch railing and yard beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003308_y001131_z000168_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003308_y001131_z000168_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8cbcec77f517835cb92b7ee574c70fefd031bbc6 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003308_y001131_z000168_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Grab the plate at the refrigerator, then set it down near the chair with a back.", + "Type": 5, + "Start_Pose": [ + 3307.592, + 1131.473, + 168.15, + -0.301, + 31.053, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3511.746, + 1530.294, + 118.149, + 90, + 80, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookDown", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3307.592, + 1131.473, + 168.15, + -0.301, + 31.053, + 0 + ], + [ + 3307.592, + 1131.473, + 168.15, + -0.301, + 56.053, + -0.0 + ], + [ + 3377.874, + 1235.878, + 168.214, + -0.301, + 56.053, + -0.0 + ], + [ + 3448.156, + 1340.284, + 168.214, + -0.301, + 56.053, + -0.0 + ], + [ + 3448.156, + 1340.284, + 168.214, + -0.301, + 81.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + 81.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + 0.0, + 81.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + 0.0, + 56.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + 0.0, + 31.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + 0.0, + 6.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + 0.0, + -18.947, + 0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + 0.0, + -43.947, + 0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + 0.0, + -68.947, + 0.0 + ], + [ + 3512.942, + 1347.152, + 168.214, + 0.0, + -68.947, + 0.0 + ], + [ + 3512.942, + 1347.152, + 168.214, + 0.0, + -43.947, + 0.0 + ], + [ + 3532.502, + 1264.516, + 168.15, + 0.0, + -43.947, + 0.0 + ], + [ + 3532.502, + 1264.516, + 168.15, + 0.0, + -18.947, + 0.0 + ], + [ + 3651.542, + 1223.651, + 168.15, + 0.0, + -18.947, + 0.0 + ], + [ + 3754.283, + 1207.582, + 168.15, + 0.0, + -18.947, + 0.0 + ], + [ + 3754.283, + 1207.582, + 168.15, + 0.0, + -43.947, + 0.0 + ], + [ + 3754.283, + 1207.582, + 168.15, + 0.0, + -43.947, + 0.0 + ], + [ + 3702.444, + 1257.549, + 168.15, + 0.0, + -43.947, + 0.0 + ], + [ + 3702.444, + 1257.549, + 168.15, + 0.0, + -43.947, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3511.746, + 1530.294, + 118.149, + 90.0, + 80.0, + 0.0 + ], + [ + 3511.746, + 1530.294, + 118.149, + 90.0, + 80.0, + 0.0 + ], + [ + 3511.746, + 1530.294, + 118.149, + 90.0, + 80.0, + 0.0 + ], + [ + 3511.746, + 1530.294, + 118.149, + 90.0, + 80.0, + 0.0 + ], + [ + 3511.746, + 1530.294, + 118.149, + 90.0, + 80.0, + 0.0 + ], + [ + 3511.746, + 1530.294, + 118.149, + 90.0, + 80.0, + 0.0 + ], + [ + 3446.54, + 1467.328, + 138.257, + -28.202, + 131.198, + 1.862 + ], + [ + 3450.461, + 1475.492, + 138.529, + -28.189, + 106.21, + 1.872 + ], + [ + 3457.457, + 1481.973, + 137.862, + -28.215, + 81.181, + 1.849 + ], + [ + 3470.282, + 1492.003, + 138.043, + -14.175, + 48.246, + 6.959 + ], + [ + 3474.171, + 1484.59, + 137.932, + -28.208, + 31.196, + 1.851 + ], + [ + 3481.288, + 1479.147, + 138.6, + -28.198, + 6.199, + 1.867 + ], + [ + 3494.85, + 1469.234, + 138.043, + -14.175, + -26.754, + 6.959 + ], + [ + 3532.61, + 1355.504, + 138.482, + -28.198, + -18.801, + 1.865 + ], + [ + 3528.0, + 1363.511, + 138.353, + -28.189, + 6.211, + 1.869 + ], + [ + 3546.642, + 1280.543, + 138.77, + -28.21, + 6.19, + 1.852 + ], + [ + 3539.334, + 1285.501, + 138.042, + -28.213, + 31.186, + 1.854 + ], + [ + 3657.716, + 1244.109, + 138.473, + -28.206, + 31.196, + 1.854 + ], + [ + 3760.259, + 1228.108, + 138.876, + -28.198, + 31.198, + 1.865 + ], + [ + 3768.496, + 1222.662, + 137.852, + -28.207, + 6.195, + 1.853 + ], + [ + 3767.894, + 1222.653, + 138.689, + -28.207, + 6.188, + 1.861 + ], + [ + 3752.843, + 1208.969, + 138.15, + 90.0, + -43.947, + 0.0 + ], + [ + 3752.843, + 1208.969, + 138.15, + 90.0, + -43.947, + 0.0 + ] + ], + "PD_Dist_2D": [ + 448.0, + 448.0, + 323.4, + 200.4, + 200.4, + 79.1, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 21.4, + 22.2, + 21.4, + 22.1, + 21.4, + 21.4, + 20.7, + 20.3, + 70.0, + 70.0 + ], + "Rationale": [ + "From the kitchen entry I can see the tall refrigerator on the right side of the room with a large white plate leaning against its base. My current heading points down the middle of the room past the island, so I will turn right to put that refrigerator corner closer to the center of my view before advancing.", + "The refrigerator with the plate propped at its base now sits ahead of me, but it is still far across the room. The floor between the island and the counters looks clear, so I will move forward to close distance toward the plate.", + "The plate against the refrigerator is larger in view now, yet I am still several steps away and slightly to its left. Another forward step along this clear floor should bring me near enough to line up on it.", + "I am close to the counter run, but the refrigerator and the plate sit toward the right edge of my view while my heading runs down the cabinets. Turning right should square me up on the plate so a straight approach ends within reach of it.", + "The refrigerator is now directly ahead with the plate leaning against the cabinet base just below center, but it is still a stride beyond arm's reach. I will step forward to stand over the plate so a grasp can be attempted.", + "I am right up against the refrigerator, and the large plate is directly in front of me at the lower edge of my view, well within arm's reach. Since the task is to take the plate from the refrigerator area first, I will attempt the grasp now rather than adjust my stance further.", + "The plate is now in my hand, held low in front of me, so nothing more is needed at the refrigerator. I am still facing into the corner cabinetry, so I will turn left to swing my heading away from this wall and start looking for a chair with a back.", + "Rotating away from the fridge has only brought the sink counter and stove wall into view, with no seating in sight. Carrying the plate, I will keep turning left to sweep more of the room and hopefully bring a backed chair into view.", + "The sweep so far has revealed only cabinets, the oven, and countertops along this wall, none of which is a chair with a back. I will continue rotating left to reach the more open part of the kitchen where seating is more likely to stand.", + "Now the island with its candlesticks is entering the left side of my view, so I am finally looking across the open kitchen instead of at a wall. I will turn left once more to keep scanning past the island toward the far side where a backed chair may be standing.", + "The plate is in my grip and I am sweeping left across the kitchen to find a chair with a back. At the far left edge of my view I can just make out a tan seat standing by the counter, so I will rotate left again to bring that spot properly into view.", + "Now I can see the upholstered chair back standing against the counter beyond the island, so the drop target is confirmed. The island bulk still lies directly ahead of me, so I will turn left once more to face the open floor and the doorway area where I can actually walk.", + "My heading is now down the clear stretch of floor past the end of the island, with the chair back sitting off to my right by the counter. I will step forward along this open lane to get past the island before turning toward the chair.", + "I have cleared the island and the chair with the back now sits to my right against the counter, while I am facing down the hallway instead. I will turn right to bring that chair into the center of my view for the approach.", + "The chair with a back is now roughly ahead of me beside the counter, but still too far away to place the plate. I will step forward to close that gap while keeping the seat in view.", + "I am holding the plate and the chair with the back stands just ahead against the counter corner, but my heading points at the low partition and cabinet edge rather than the open floor beside it. I will turn right to face the clear walkway that runs along the counter, which should let me close in on the chair from its open side.", + "With my heading now down the open strip of floor, the chair sits to my left front and the counter corner lies further ahead. I will step forward to shorten the remaining distance before positioning myself for the placement.", + "The chair is now very close on my left and the countertop corner fills the space ahead, so I am nearly at the placement spot. One more step forward should bring me level with the chair so the plate can be set down within reach.", + "My last step carried me into the counter nook and the chair has slipped out of view behind my left shoulder, so I am now facing only bare cabinetry with nowhere useful to place the plate. I will turn left to bring the chair with the back into the front of my view again before releasing the plate.", + "Turning back has brought the chair's padded back into the lower left of my view, but most of my view is taken up by the wall and upper cabinets. I will look down to see the chair and the surface near it clearly so the plate can be released at a sensible spot.", + "The upholstered chair with its tall padded back is right beside me at the lower left, and my downward view confirms I am close enough to reach its seat. I am still carrying the plate from the refrigerator, so this is the moment to release it here at the chair. I will drop the plate now, and it should come to rest at the chair rather than out in the open floor.", + "The plate now rests at the backed chair, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003380_y-000030_z000469_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003380_y-000030_z000469_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9edc63048fab839a5194b413369c474bb3759f7b --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003380_y-000030_z000469_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door immediately to the left of the dresser beneath the two framed pictures.", + "Type": 4, + "Start_Pose": [ + 3379.615, + -30.331, + 468.725, + 0.0, + 20.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3379.615, + -30.331, + 468.725, + 0.0, + 20.0, + -0.0 + ], + [ + 3495.593, + 12.548, + 468.15, + 0.0, + 20.0, + -0.0 + ], + [ + 3408.765, + -19.055, + 468.717, + 0.0, + 20.0, + -0.0 + ], + [ + 3408.765, + -19.055, + 468.717, + 0.0, + -5.0, + 0.0 + ], + [ + 3502.862, + -29.873, + 468.15, + 0.0, + -5.0, + 0.0 + ], + [ + 3502.862, + -29.873, + 468.331, + 0.0, + -5.0, + 0.0 + ], + [ + 3502.862, + -29.873, + 468.331, + 0.0, + -5.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door with the brass lever sits on the left side of my view, just past the wall corner beside the dresser under the two framed pictures. I will move forward to close the distance toward that doorway before working on alignment.", + "My view is now completely filled by a flat pale surface, so I have pushed in too close and the door is no longer usable in front of me. I will move backward to regain clearance and bring the doorway and its surroundings back into view.", + "With distance restored I can see the paneled door and its brass lever again, but it sits off to the left edge while the dresser and pictures occupy the center right. I will turn left so the door face and handle move toward the middle of my view for a straight approach.", + "The paneled door is now centered ahead with its brass lever clearly in front of me, and the frame is squarely in view. I will move forward a short amount to get within reach of the handle for the opening attempt.", + "I am pressed right up against the paneled door face, close enough that only its recessed panel fills my view, which means the latch I lined up on should be within reach. I will attempt to open this door now.", + "The white paneled door now stands swung open, revealing the landing and stair railing beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003418_y-001495_z000150_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003418_y-001495_z000150_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8f829cc087a12f9d5cf609dc2b9d045c4ce12f01 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003418_y-001495_z000150_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Open the white side door immediately to the left of the narrow window.", + "Type": 4, + "Start_Pose": [ + 3417.881, + -1494.876, + 149.883, + 0, + 120, + 0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3417.881, + -1494.876, + 149.883, + 0, + 120, + 0 + ], + [ + 3417.881, + -1494.876, + 149.883, + 0.0, + 120.0, + -0.0 + ], + [ + 3355.816, + -1397.016, + 149.883, + 0.0, + 120.0, + -0.0 + ], + [ + 3355.816, + -1397.016, + 149.883, + 0.0, + 95.0, + -0.0 + ], + [ + 3355.816, + -1397.016, + 149.883, + 0.0, + 95.0, + -0.0 + ], + [ + 3355.816, + -1397.016, + 149.883, + 0.0, + 95.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white side door sits directly ahead on my left, with the narrow window just to its right, matching the target described in the task. Its brass lever handle is already visible in my view, so I will try to open it from here.", + "My attempt on the handle did not move the door at all, and the panel still stands closed in front of me. I am likely still too far from the latch, so I will move forward to close the gap to the door face.", + "Now that I am close to the wall, my view is filled by siding and the narrow window trim, and the target door has slipped to the left edge. I will turn left to bring the door and its handle back into the center of my view for a proper interaction.", + "The brass lever of the white side door is now large and centered right in front of me, well within reach. My earlier attempt from farther back left the door closed, so from this closer, squared-up position I will try the handle again and it should release the latch.", + "I can see the white side door standing open with the interior room visible beyond it. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003432_y000919_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003432_y000919_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97b4d1ac2f087fa2b3e54512d24dc925c02cda77 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003432_y000919_z000468_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door beside the wall switch.", + "Type": 4, + "Start_Pose": [ + 3432.204, + 919.289, + 468.15, + 0.0, + -120.0, + 0.0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "TurnRight", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3432.204, + 919.289, + 468.15, + 0.0, + -120.0, + 0.0 + ], + [ + 3432.204, + 919.289, + 468.15, + 0.0, + -120.0, + 0.0 + ], + [ + 3383.371, + 904.284, + 468.15, + 0.0, + -120.0, + 0.0 + ], + [ + 3383.371, + 904.284, + 468.15, + 0.0, + -95.0, + 0.0 + ], + [ + 3383.371, + 904.284, + 468.15, + 0.0, + -70.0, + 0.0 + ], + [ + 3383.371, + 904.284, + 468.15, + 0.0, + -70.0, + 0.0 + ], + [ + 3383.371, + 904.284, + 468.15, + 0.0, + -70.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am standing right at the white paneled door, with the wall switch on the left of the frame and the brass lever handle clearly in front of me. Since the target door and its handle are already within reach, I will attempt to operate it now rather than reposition first.", + "My attempt on the lever left the door still closed and flush in its frame, so my current standing position and reach do not seem workable. I will move forward to change my position relative to the doorway and get a better working distance on the handle side.", + "After moving up, I am facing a blank corner of plain wall and the door has slipped out of my view except for a pale frame edge at the lower right. I will turn right to bring that doorway back into the front of my view.", + "The wall switch is now visible on the left and the white door frame has come into the right part of my view, so I am rotating in the correct direction but the handle is still off screen. I will turn right again to center the door leaf and its lever in front of me.", + "The white paneled door is now squarely in front of me with the brass lever and keyhole centered and close, a much better geometry than my earlier attempt that left the door closed. I will try the handle again from this improved alignment, which should release the latch.", + "The white paneled door now stands swung open, revealing the tiled bathroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003460_y-000302_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003460_y-000302_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eadbc31452bb1063ca5d8686fd6dce52ea78482e --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003460_y-000302_z000468_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the white paneled door on the floral-patterned wall.", + "Type": 4, + "Start_Pose": [ + 3460.131, + -302.056, + 468.15, + 0.0, + -40.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3460.131, + -302.056, + 468.15, + 0.0, + -40.0, + 0.0 + ], + [ + 3498.399, + -377.683, + 468.15, + 0.0, + -40.0, + 0.0 + ], + [ + 3498.399, + -377.683, + 468.15, + 0.0, + -15.0, + 0.0 + ], + [ + 3498.399, + -377.683, + 468.15, + 0.0, + -15.0, + 0.0 + ], + [ + 3498.399, + -377.683, + 468.15, + 0.0, + -15.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door with its brass handle sits just to my right, set into the floral-patterned wallpaper, but I am still too far back to reach the handle. I will move forward along the wall to close that gap and bring the latch within arm's reach.", + "After closing in, my view is dominated by the floral wallpaper and the door frame, with only the edge of the brass hardware showing at the right. I will turn right to square up with the door panel and put its handle centered in front of me.", + "I am now facing the white paneled door straight on, close enough that the keyhole escutcheon and the brass lever handle fill my view. This is the right position to grip the lever, so I will attempt to open the door.", + "The paneled door now stands open, revealing the room beyond with its plant, side table, and wall sconce. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003502_y000631_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003502_y000631_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24aa670ebc8331dbca9a4a6d6ded79f6197398a0 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003502_y000631_z000168_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Follow the striped runner past the windows to the dark wooden door and open it.", + "Type": 4, + "Start_Pose": [ + 3502.433, + 631.357, + 168.15, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3502.433, + 631.357, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3502.433, + 631.357, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3449.243, + 517.29, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3396.052, + 403.223, + 168.774, + 0.0, + -115.0, + 0.0 + ], + [ + 3342.862, + 289.156, + 168.774, + 0.0, + -115.0, + 0.0 + ], + [ + 3289.672, + 175.089, + 168.774, + 0.0, + -115.0, + 0.0 + ], + [ + 3254.538, + 61.859, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3254.538, + 61.859, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3254.538, + 61.859, + 168.157, + 0.0, + -140.0, + 0.0 + ], + [ + 3254.538, + 61.859, + 168.157, + 0.0, + -165.0, + 0.0 + ], + [ + 3254.538, + 61.859, + 168.157, + 0.0, + 170.0, + -0.0 + ], + [ + 3254.538, + 61.859, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 3254.538, + 61.859, + 168.15, + 0.0, + 170.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The striped runner starts near my feet but its length stretches off to my right, and the dark wooden door sits further down that side of the hallway past the lit windows. My current heading points across the runner rather than along it, so I will turn right to line my body up with the corridor it follows. That should give me a straight path to walk toward the door.", + "Now the runner stretches straight ahead of me down the hallway, with the windows on my left and the dark wooden door set into the wall further along. Nothing blocks the corridor in front of me, so I will step forward to close distance toward that door.", + "The lit windows on my left and the cabinetry on my right have grown larger, confirming I am tracking along the runner in the right direction. The dark wooden door is still some distance ahead, so I will continue straight forward along the carpet.", + "The dark paneled door in its pale frame is clearly ahead on my left now, and the runner still leads that way with open floor between us. I am not yet close enough to reach a handle, so I will keep moving forward.", + "The door now fills a large part of my left view, its panels and frame close but still angled away from me. One more step forward should bring me alongside it, near enough to work its handle before I square up.", + "The dark wooden panelled door now fills the left side of my view along the striped runner, with its brass handle just visible, so I am nearly at it. I will step forward once more to close the last bit of distance and bring the door within reach for an interaction.", + "I am now beside the doorway, and my heading points along the wall so that only the pale jamb and trim fill the center while the dark door slab sits off to my left. I will turn left to square up with the door face before attempting to operate it.", + "The dark wooden door slab now occupies most of my view at arm's length, which suggests I am close enough to work its latch. I will attempt to open it from here, though my angle is still partly onto the jamb, so the grasp may not land on the handle.", + "My attempt to open the door left it unchanged, with the same closed panel and jamb in front of me and no gap appearing. I suspect I am aimed too far toward the frame edge, so I will turn left to bring more of the door face, and hopefully its latch side, into view.", + "The frame edge is out of the way now and only dark panelling fills my view, but I still cannot see a knob or lever to act on, and my earlier attempt on this door had no effect. I will turn left again to shift my aim further across the slab toward where the hardware should be.", + "My earlier interaction attempt left the dark wooden door shut, since I was squared up on a blank panel and the frame edge rather than the latch. After reorienting, the brass knob and lever handle are now clearly in front of me at close range. I will try opening the door again from this handle-centered alignment, which should engage the latch this time.", + "I can see the dark wooden door standing open with the porch and street beyond it. I consider my task complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003602_y000290_z000169_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003602_y000290_z000169_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8416b349a108a70dbde5bcf1ec67bc16f1140f7d --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003602_y000290_z000169_t5_a_pd/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Grab the trash bag at the bottom of the stairs, then set it down near the white door.", + "Type": 5, + "Start_Pose": [ + 3602.087, + 290.398, + 168.943, + 0, + 14.807, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3885.368, + 322.307, + 88.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3602.087, + 290.398, + 168.943, + 0, + 14.807, + 0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + 14.807, + -0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + 14.807, + -0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + 39.807, + -0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + 64.807, + -0.0 + ], + [ + 3777.341, + 436.45, + 168.257, + 0.0, + 64.807, + -0.0 + ], + [ + 3830.915, + 550.337, + 168.257, + 0.0, + 64.807, + -0.0 + ], + [ + 3800.267, + 485.186, + 168.257, + 0.0, + 64.807, + -0.0 + ], + [ + 3800.267, + 485.186, + 168.257, + 0.0, + 64.807, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3885.368, + 322.307, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3885.368, + 322.307, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3717.719, + 343.052, + 139.049, + -28.202, + 64.952, + 1.862 + ], + [ + 3709.008, + 339.308, + 139.322, + -28.189, + 89.964, + 1.872 + ], + [ + 3703.451, + 332.289, + 138.655, + -28.215, + 114.934, + 1.849 + ], + [ + 3757.893, + 445.277, + 137.676, + -28.202, + 114.948, + 1.858 + ], + [ + 3811.403, + 559.025, + 137.938, + -28.208, + 114.949, + 1.852 + ], + [ + 3830.064, + 548.528, + 128.257, + 0.0, + 64.807, + -0.0 + ], + [ + 3830.064, + 548.528, + 128.257, + 0.0, + 64.807, + -0.0 + ] + ], + "PD_Dist_2D": [ + 285.1, + 161.6, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the foot of the staircase I can see the black trash bag sitting against the wall at the bottom of the steps, still several paces away. I will move forward to close that gap so the bag comes within reach for grasping.", + "The trash bag is now directly in front of me at the base of the stairs, filling the lower part of my view within arm's reach. I will attempt to pick it up so I can carry it toward the white door.", + "The bag is now held in front of me, blocking most of my forward view of the floor, so the grasp took hold. The white door lies off to my right from this corner, so I will turn right to begin swinging my heading toward it.", + "The white paneled door has come into view but sits toward the right edge of my heading rather than straight ahead. I will turn right once more to bring the door closer to the center so I can walk straight to it while carrying the bag.", + "The white door is now roughly centered ahead of me with clear floor between us, and I am still holding the trash bag. I will move forward to carry it toward the door.", + "The door panels and handle now fill much of my view, but I am not yet close enough to set the bag right at its base. One more step forward should bring me to the threshold before I release the load.", + "I am pressed right up against the white door, with its panels filling my whole view, so I have reached the intended placement spot. I will release the trash bag here so it rests on the floor at the door.", + "The trash bag now rests on the floor directly against the white door, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003628_y-000597_z000169_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003628_y-000597_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8a60b6c491fbe90345a8e2cd0112fddf219d1758 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003628_y-000597_z000169_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the white paneled door with the brass lever handle.", + "Type": 4, + "Start_Pose": [ + 3627.762, + -597.249, + 168.789, + 0.0, + -160.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3627.762, + -597.249, + 168.789, + 0.0, + -160.0, + 0.0 + ], + [ + 3551.621, + -637.867, + 168.15, + 0.0, + -160.0, + 0.0 + ], + [ + 3551.621, + -637.867, + 168.15, + 0.0, + 175.0, + -0.0 + ], + [ + 3551.621, + -637.867, + 168.15, + 0.0, + 175.0, + -0.0 + ], + [ + 3551.621, + -637.867, + 168.15, + 0.0, + 175.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door with the brass lever handle fills most of my view, but I am still a step short of a comfortable reach to that handle. I will move forward to close the remaining gap to the door face so the lever comes within arm's range.", + "Now that I am close, the door panels crowd my view and the brass lever has slipped out of sight past the left edge. I will turn left to bring the handle side of the door back into view and square myself with it for the interaction.", + "The brass lever handle and its matching knob are now visible at the left of my view, close enough to reach from where I stand. I will operate the lever to try to open this white paneled door.", + "The white paneled door now stands open beside me, revealing the bathroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003756_y000544_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003756_y000544_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac21a8e7537cc85f0a125f400e3370cfe03614cd --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003756_y000544_z000168_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the paneled door fitted with a lever handle and deadbolt.", + "Type": 4, + "Start_Pose": [ + 3755.772, + 543.906, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3755.772, + 543.906, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3755.772, + 543.906, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3846.819, + 552.969, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3846.819, + 552.969, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3846.819, + 552.969, + 168.15, + 0.0, + 40.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The paneled door fills my view with its lever handle and deadbolt clearly visible slightly right of center, so this is the target I was told to open. I will attempt to operate the handle from here in the hope that the latch releases and the door swings.", + "My attempt on the lever left the door exactly as before, still shut with the handle and deadbolt unmoved, so I was probably not close enough for a solid grip. The door is squarely ahead of me, so I will step forward to close that gap before trying the handle again.", + "I am now right up against the door, with its frame edge and panel filling my view at arm's length, much closer than when my earlier attempt failed to move it. From this contact distance I will work the lever and deadbolt again, which should release the latch this time.", + "The door now stands swung open, revealing the room and stair railing beyond its edge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003816_y000766_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003816_y000766_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38319f41a398e62a06d6e20420055ebb741c96 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003816_y000766_z000468_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the paneled door beside the wall switch.", + "Type": 4, + "Start_Pose": [ + 3815.804, + 766.308, + 468.15, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3815.804, + 766.308, + 468.15, + 0.0, + 100.0, + -0.0 + ], + [ + 3815.804, + 766.308, + 468.15, + 0.0, + 100.0, + -0.0 + ], + [ + 3823.808, + 803.007, + 468.15, + 0.0, + 100.0, + -0.0 + ], + [ + 3823.808, + 803.007, + 468.15, + 0.0, + 100.0, + -0.0 + ], + [ + 3823.808, + 803.007, + 468.15, + 0.0, + 100.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The paneled door fills my view with its lever handle and deadbolt clearly visible, and the wall switch sits just to the right of the frame, so this is the door named in the task. I am facing it squarely, so I will try to open it from here.", + "My attempt to work the handle left the door shut, so I am likely still slightly too far from it to engage the latch. The door lies straight ahead with clear space in front of me, so I will step forward to close that gap before trying the handle again.", + "Now the deadbolt and the top of the lever handle fill my view, which means I am close enough to reach the hardware after my earlier attempt failed at a greater distance. From this contact range I will try the handle again, and it should release the latch this time.", + "I can see the door swung open with the room and closet beyond it. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003823_y-000965_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003823_y-000965_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b500eaccf45738f178a6440160e23ef744e73962 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003823_y-000965_z000468_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Open the right-hand white paneled door with the brass lever handle.", + "Type": 4, + "Start_Pose": [ + 3823.42, + -965.012, + 468.15, + 0.0, + 60.0, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3823.42, + -965.012, + 468.15, + 0.0, + 60.0, + -0.0 + ], + [ + 3878.361, + -901.671, + 468.15, + 0.0, + 60.0, + -0.0 + ], + [ + 3878.361, + -901.671, + 468.15, + 0.0, + 60.0, + -0.0 + ], + [ + 3878.361, + -901.671, + 468.15, + 0.0, + 60.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The right-hand white paneled door with its brass lever handle and keyhole escutcheon is directly ahead of me, but I am still a step short of touching distance. I will move forward to close that gap and bring the lever within reach for the handle interaction.", + "I am now right up against the target leaf, with the brass lever and keyhole filling the right side of my view at arm's length. Since the door is aligned and the handle is within reach, I will operate the lever, which should release the latch and swing the door open.", + "The target door now stands open, revealing the hallway with flooring, plant, and railing beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003843_y-000979_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003843_y-000979_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4af50962b19e9c0a6e964ee27bfd873ab026e208 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003843_y-000979_z000468_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Open the white paneled door beside the wall switch in the narrow passage.", + "Type": 4, + "Start_Pose": [ + 3843.169, + -979.276, + 468.15, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3843.169, + -979.276, + 468.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3804.392, + -1051.287, + 468.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3804.392, + -1051.287, + 468.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3804.392, + -1051.287, + 468.15, + 0.0, + -165.0, + 0.0 + ], + [ + 3804.392, + -1051.287, + 468.15, + 0.0, + -165.0, + 0.0 + ], + [ + 3804.392, + -1051.287, + 468.15, + 0.0, + -165.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door with its brass lever sits just ahead on my right, with the wall switch on the panel to my left confirming this is the narrow passage described in the task. I am still too far back to reach the handle, so I will move forward to close the gap and bring the latch within arm's reach.", + "I am now right up against the door leaf, with its panels filling my view and the brass lever just at the lower left edge. The handle appears close enough to grasp, so I will attempt to operate the latch and push the door open.", + "My attempt at the latch did not move the door, which still fills my view unchanged, and the lever is barely clipped at the lower left edge rather than in front of me. That suggests my heading is off toward the hinge side, so I will turn left to bring the handle area squarely into view for a better-aimed grasp.", + "After reorienting, the brass lever and deadbolt are now centered directly in front of me at close range, unlike the off-axis view during my earlier unsuccessful attempt. With the handle properly framed and within reach, I will try the latch again and expect the door to swing open.", + "The paneled door now stands swung open, revealing the bedroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003850_y001221_z000168_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003850_y001221_z000168_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ff4f310dae45f05c9da10b62cc3ec12f0e95465 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003850_y001221_z000168_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Lift the ceramic vase near the far right window.", + "Type": 5, + "Start_Pose": [ + 3849.805, + 1220.87, + 168.149, + -0.301, + 168.173, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2987.665, + 934.2, + 98.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3849.805, + 1220.87, + 168.149, + -0.301, + 168.173, + 0 + ], + [ + 3849.805, + 1220.87, + 168.149, + -0.301, + -166.827, + -0.0 + ], + [ + 3727.654, + 1205.248, + 168.149, + -0.301, + -166.827, + -0.0 + ], + [ + 3605.108, + 1176.566, + 168.149, + -0.301, + -166.827, + -0.0 + ], + [ + 3605.108, + 1176.566, + 168.149, + -0.301, + -141.827, + -0.0 + ], + [ + 3505.407, + 1100.476, + 168.149, + -0.301, + -141.827, + -0.0 + ], + [ + 3406.465, + 1022.692, + 168.942, + -0.301, + -141.827, + -0.0 + ], + [ + 3406.465, + 1022.692, + 168.942, + -0.301, + -166.827, + -0.0 + ], + [ + 3283.92, + 994.01, + 168.174, + -0.301, + -166.827, + -0.0 + ], + [ + 3161.374, + 965.328, + 168.174, + -0.301, + -166.827, + -0.0 + ], + [ + 3050.316, + 949.803, + 168.149, + -0.301, + -166.827, + -0.0 + ], + [ + 3050.316, + 949.803, + 168.149, + 0.0, + -166.826, + 0.0 + ], + [ + 3050.316, + 949.803, + 168.149, + 0.0, + -166.826, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2987.665, + 934.2, + 98.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3055.776, + 929.151, + 138.257, + -28.202, + -116.682, + 1.862 + ], + [ + 3055.776, + 929.151, + 138.257, + -28.202, + -116.682, + 1.862 + ] + ], + "PD_Dist_2D": [ + 908.6, + 908.6, + 788.1, + 663.3, + 663.3, + 543.8, + 428.0, + 428.0, + 302.2, + 176.5, + 64.6, + 21.4, + 21.4 + ], + "Rationale": [ + "From the kitchen counter I can see the open living and dining space ahead, with the window wall sitting toward the right side of the house. Since the task points me to the far right window, I will turn right to face that side of the floor plan and find an unobstructed line of travel. This should put the right-hand passage and window bank in front of me before I start moving.", + "Now the open floor stretches ahead past the end of the kitchen counter, with the dining area and its bright windows visible in the distance. Nothing blocks the lane in front of me, so I will step forward to close that gap. Moving along this heading should bring the window side of the room noticeably nearer.", + "The dining table under the chandelier and the tall windows behind it are clearly larger now, so my heading is still carrying me toward the window side of the house. The runner rug and open floor ahead stay free of furniture. I will continue forward to keep closing distance.", + "Straight ahead my path leads into the sofa and living room seating, while the open floor and the far window wall continue off to my right. I will turn right to pick up that clear lane and keep heading toward the right-hand windows rather than into the furniture. This should give me a straight approach without weaving around the couch.", + "With this heading the open floor runs clear ahead and the dining nook with its bay windows sits just to my left front. I will move forward along this lane to keep approaching the right side of the house. The window bay should come within easy reach of a short realignment afterward.", + "The dining nook windows and the small console table beside them are much closer now on my left, and the floor in front remains unobstructed. I will take another step forward to reduce the remaining distance before turning into the nook. This keeps my approach efficient rather than cutting the corner too early.", + "I am now level with the dining nook, and the window bay with the console holding ceramic vessels is off to my left while a blank wall and hallway windows fill my forward view. I will turn left to face into that nook so the window and the ceramics line up ahead of me. That should give me a straight approach for the pick.", + "The dining nook is now squarely in front of me, with the bright bay window and the console carrying the ceramic pieces along the right wall. I will step forward to enter the nook and get within reach of the window area. This should bring the ceramic vase close enough to grasp after a couple more steps.", + "The bay window on the left and the tall ceramic vase standing in the far corner beside it are now clearly ahead of me, but still several steps out of reach. I will keep moving forward along this open stretch of floor to close the remaining gap to that window corner.", + "The tall ceramic vase is now centered just ahead of me at the corner window, with only a short stretch of floor left between us. One more step forward should bring it within arm's reach so I can attempt the lift.", + "I am standing right at the far window and the ceramic vase's rim fills the lower part of my view, close enough to grasp. I will reach out and try to lift it now, since the task asks for the pick to happen at this window.", + "The ceramic vase is now raised in my hands at the far right window. The task is complete, so there is nothing further to do here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003874_y000714_z000125_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003874_y000714_z000125_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d54d996adc02dac2297752150167ef39ff2badaf --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003874_y000714_z000125_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Open the closed paneled door directly ahead.", + "Type": 4, + "Start_Pose": [ + 3874.044, + 713.639, + 124.523, + 0.0, + -100.0, + 0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3874.044, + 713.639, + 124.523, + 0.0, + -100.0, + 0.0 + ], + [ + 3854.637, + 651.619, + 169.033, + 0.0, + -100.0, + 0.0 + ], + [ + 3854.637, + 651.619, + 169.033, + 0.0, + -100.0, + 0.0 + ], + [ + 3854.637, + 651.619, + 169.033, + 0.0, + -100.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The closed paneled door fills the view directly ahead of me, with its full frame and floor edge still visible, so I am not yet within arm's reach of the handle. I will step forward along my current heading to close that remaining gap and place myself right at the door face for an interaction.", + "The door panels now fill my entire view at very close range, which means I am pressed up against the target and squarely aligned with it. I will attempt to open it from here, and the latch should release so the doorway ahead becomes passable.", + "The door now stands swung open at my right, revealing the hallway and staircase beyond. The task is complete, so no further action is needed." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003884_y-000042_z000410_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003884_y-000042_z000410_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60113a7f7135b2f575a39937240b346220d4a608 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003884_y-000042_z000410_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Grab the wicker basket near the tall plant.", + "Type": 5, + "Start_Pose": [ + 3883.94, + -41.771, + 409.766, + 0, + -87.687, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3879.676, + -555.802, + 407.15, + 90, + -87.687, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3883.94, + -41.771, + 409.766, + 0, + -87.687, + 0 + ], + [ + 3889.019, + -167.527, + 468.15, + 0.0, + -87.687, + 0.0 + ], + [ + 3894.099, + -293.284, + 468.15, + 0.0, + -87.687, + 0.0 + ], + [ + 3899.178, + -419.04, + 468.15, + 0.0, + -87.687, + 0.0 + ], + [ + 3899.178, + -419.04, + 468.15, + 0.0, + -87.687, + 0.0 + ], + [ + 3899.178, + -419.04, + 468.15, + 0.0, + -87.687, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3879.676, + -555.802, + 407.15, + 90.0, + -87.687, + 0.0 + ], + [ + 3879.676, + -555.802, + 407.15, + 90.0, + -87.687, + 0.0 + ], + [ + 3879.676, + -555.802, + 407.15, + 90.0, + -87.687, + 0.0 + ], + [ + 3879.676, + -555.802, + 407.15, + 90.0, + -87.687, + 0.0 + ], + [ + 3920.49, + -417.569, + 438.257, + -28.202, + -37.543, + 1.862 + ], + [ + 3920.49, + -417.569, + 438.257, + -28.202, + -37.543, + 1.862 + ] + ], + "PD_Dist_2D": [ + 514.0, + 388.4, + 262.9, + 138.1, + 21.4, + 21.4 + ], + "Rationale": [ + "From the doorway I can see the tall potted plant standing against the right wall at the far end of the hallway, with the round wicker basket leaning beside it. Both are far off and roughly straight ahead of my heading, so I will move forward through the threshold to close that distance.", + "I am now inside the hallway and the tall plant with its side table is clearly larger on the right, with the wicker basket resting on the floor next to it. The path across the wood floor looks clear, so I will continue straight forward to keep closing on the plant.", + "The plant's leaves now rise high in the right of my view and the wicker basket sits just ahead of me on the floor, but it is still a bit beyond comfortable reach. I will take one more step forward to bring the basket directly in front of me before attempting a grasp.", + "I am standing right at the tall plant, its leaves filling the right edge of my view beside the console table. The wicker basket is immediately in front of me at floor level, so I will attempt to grab it now.", + "The wicker basket is now held in my grasp beside the tall plant. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003938_y-000410_z000168_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003938_y-000410_z000168_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..467694aa93d59507f466d47501b268fe6f535553 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003938_y-000410_z000168_t4_b/infos.json @@ -0,0 +1,194 @@ +{ + "Instruction": "Follow the striped runner through the living area to the white door at the far end and open it.", + "Type": 4, + "Start_Pose": [ + 3937.888, + -409.989, + 168.15, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3937.888, + -409.989, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3841.474, + -490.89, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3745.061, + -571.79, + 168.779, + 0.0, + -140.0, + 0.0 + ], + [ + 3648.647, + -652.691, + 168.779, + 0.0, + -140.0, + 0.0 + ], + [ + 3648.647, + -652.691, + 168.779, + 0.0, + -115.0, + 0.0 + ], + [ + 3595.457, + -766.758, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3542.267, + -880.825, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3489.076, + -994.892, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3435.886, + -1108.959, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3435.886, + -1108.959, + 168.15, + 0.0, + -90.0, + 0.0 + ], + [ + 3435.886, + -1234.818, + 168.15, + 0.0, + -90.0, + 0.0 + ], + [ + 3435.886, + -1234.818, + 168.15, + 0.0, + -90.0, + 0.0 + ], + [ + 3435.886, + -1234.818, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3387.179, + -1298.386, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3387.179, + -1298.386, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 3387.179, + -1298.386, + 168.15, + 0.0, + -115.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The striped runner lies ahead of me on the wood floor and leads into the lit living area, where a white door stands on the far wall beyond the seating. I will move forward along that runner to begin closing the distance toward the door.", + "I am still in the hallway stretch with the interior door and wall panels on my left, and the target white door with its narrow side window remains far ahead across the living area. Continuing straight along the runner keeps me on the route toward it.", + "The nearby interior door on my left now fills much of my view, but the white door on the far wall stays visible to my right front, so I have not reached my goal yet. I will keep advancing to clear this wall section and gain a more open view of the living area ahead.", + "The wall edge on my left is now cutting off part of my forward view, and the white door with the flanking windows sits noticeably to the right of my heading. I will turn right to bring that door closer to the center of my view before continuing.", + "After turning, the living area is open in front of me and the white door with its side windows sits ahead near the center of my view. I will move forward across the open floor to shorten the distance to that door.", + "The white door at the far end of the living area stands clearly ahead of me, just left of my center of view, with narrow sidelights on either side. There is open floor between me and it, so I will keep closing the distance before worrying about fine alignment.", + "The door and its two flanking sidelights are noticeably larger now, so my heading is still carrying me toward the target. The floor ahead remains clear apart from the plant stand off to the left, so another step forward should bring me nearer to reaching range.", + "The door now fills much of my forward view and its brass knob and lever are becoming distinct, though it sits a little right of my center. I will advance again to get within arm's reach of the handle before adjusting my facing.", + "I am close to the door, but its panels and handle sit off to the right side of my view while the corner and plant crowd my left. Turning right should square my facing onto the door so the handle is centered ahead of me.", + "The white door is now squarely centered in front of me with the knob and lever plainly visible at its left edge. I am still a step short of contact distance, so I will move forward to close in on the handle before trying to open it.", + "The white door at the far end of the living area now fills most of my view, with its knob and lever handle just at the left edge and the sidelight window on my right. I am standing right at the panel, so I will try to operate the handle and open it from here.", + "My attempt at the handle did not move this door, and I can see why: the knob and lever sit right at the left margin of my view while my heading points across the panel toward the sidelight. Turning left should bring the handle side of the door in front of me for a better aligned grasp.", + "Now the door panel is squarely ahead of me with the knob and lever clearly in the middle-left of my view instead of clipped at the edge. Since my earlier attempt from the previous position did not move the door, I will close the remaining gap so the handle is directly within reach.", + "The brass knob and lever handle now fill the center of my view at arm's length, so I am properly squared on the latch side of this white door. My earlier attempt from a poorer angle did not move it, so I will operate the handle again from this closer, aligned stance.", + "The white door stands open with the outdoor patio and pool visible straight through the doorway. The task is complete, so I stop here." + ] +}