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dataset/trajectory/Storagehouse/task_x-000012_y-005902_z000098_t1_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Search the warehouse for the flat wheeled cart with red-and-white striped markings and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -11.962,
+        -5901.574,
+        98.15,
+        0,
+        26.88,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11.962,
+            -5901.574,
+            98.15,
+            0,
+            26.88,
+            0
+        ],
+        [
+            -11.962,
+            -5901.574,
+            98.15,
+            0.0,
+            1.88,
+            -0.0
+        ],
+        [
+            -11.962,
+            -5901.574,
+            98.15,
+            0.0,
+            -23.12,
+            0.0
+        ],
+        [
+            -11.962,
+            -5901.574,
+            98.15,
+            0.0,
+            -48.12,
+            0.0
+        ],
+        [
+            -11.962,
+            -5901.574,
+            98.15,
+            0.0,
+            -73.12,
+            0.0
+        ],
+        [
+            -11.962,
+            -5901.574,
+            98.15,
+            0.0,
+            -98.12,
+            0.0
+        ],
+        [
+            -29.739,
+            -6026.171,
+            98.15,
+            0.0,
+            -98.12,
+            0.0
+        ],
+        [
+            -47.516,
+            -6150.769,
+            98.15,
+            0.0,
+            -98.12,
+            0.0
+        ],
+        [
+            -65.294,
+            -6275.366,
+            98.15,
+            0.0,
+            -98.12,
+            0.0
+        ],
+        [
+            -65.294,
+            -6275.366,
+            98.15,
+            0.0,
+            -98.12,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "A large red conveyor frame fills most of my view and blocks any sight line into the aisle beyond, so I cannot see any low flat cart from here. I will turn left to begin a steady scan of the warehouse floor for the red-and-white striped cart.",
+        "The conveyor structure still dominates the right of my view and the shelving on the left holds only bins and cartons, with no flat wheeled cart in sight. I will keep rotating in the same leftward direction to open up more of the floor area.",
+        "More open floor and a brick wall with tall racks are now coming into view, but the ground here shows only scattered small boxes and papers. I will continue the same leftward scan to check the remaining floor along that wall.",
+        "The wide floor along the brick wall is now visible and still shows no cart, though a hint of red-and-white striping is appearing at the far left edge of my view. I will keep turning left in the same direction to bring that area fully into view.",
+        "I can now see a low flat platform on small wheels sitting on red-and-white striped floor marking at the base of the racking, left of my heading. I will turn left once more to bring that cart toward the center of my view so I can walk straight at it.",
+        "The flat wheeled cart with red-and-white striped edging is centered ahead of me next to the yellow rack guard, with clear floor in between. I will walk forward to close the distance toward it.",
+        "The cart is noticeably larger and its striped border is clearly legible, but it is still a few paces away near the rack base. I will continue walking forward to get properly close to it.",
+        "The flat cart now fills the lower right of my view with its rollers and striped edge in plain sight, so I am nearly at it. I will take one more step forward to stand directly beside it.",
+        "The flat wheeled cart with red-and-white striped edging is directly in front of me, filling the lower view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Explore the area to find the red door beneath the D Sector sign, then walk toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -96.698,
+        -60.394,
+        98.15,
+        0.0,
+        68.96,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -96.698,
+            -60.394,
+            98.15,
+            0.0,
+            68.96,
+            -0.0
+        ],
+        [
+            -96.698,
+            -60.394,
+            98.15,
+            0.0,
+            43.96,
+            -0.0
+        ],
+        [
+            -96.698,
+            -60.394,
+            98.15,
+            0.0,
+            18.96,
+            -0.0
+        ],
+        [
+            -96.698,
+            -60.394,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ],
+        [
+            28.462,
+            -73.637,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ],
+        [
+            153.623,
+            -86.88,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ],
+        [
+            278.783,
+            -100.124,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ],
+        [
+            403.943,
+            -113.367,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ],
+        [
+            403.943,
+            -113.367,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see storage racks, a yellow covered pallet and an A1 bay marker, so neither the D Sector sign nor a red door is in view. I will turn left to begin a steady scan of the surrounding bays for that signage.",
+        "Rotating has opened up an aisle to the left where large wall lettering ending in TOR is partially visible above a workbench area, which looks like a sector sign. I will keep turning left in the same direction to bring that lettering and the wall beneath it fully into view.",
+        "The D SECTOR sign is now readable on the far wall and a red door sits directly beneath it, but both are off to my left with racking crowding the right side of my view. I will turn left once more to place that red door near the center of my heading before walking.",
+        "The red door under the D SECTOR sign is now centered ahead of me with clear blue floor between us. I will walk forward along this open lane to close the distance to the door.",
+        "The red door has grown larger and stays aligned with my heading, and the floor in front of me is still clear of pallets and boxes. I will keep walking forward to continue closing on it.",
+        "I am now close enough to see the door's handle, threshold and the EXIT light above it, with the boxes and shelving remaining to my right rather than in my path. Another step forward should bring me right up to the door.",
+        "The red door and its frame now dominate my view just a short step away, with the first aid board and table clear of my line of travel. I will take one more step forward to stand directly at the door.",
+        "The red door fills my view at arm's length, its handle directly in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_c/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Scan the warehouse for the fire extinguisher mounted on the wall beside the red door, then head toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -96.698,
+        -60.394,
+        98.15,
+        0,
+        68.96,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -96.698,
+            -60.394,
+            98.15,
+            0,
+            68.96,
+            0
+        ],
+        [
+            -96.698,
+            -60.394,
+            98.15,
+            0.0,
+            43.96,
+            -0.0
+        ],
+        [
+            -96.698,
+            -60.394,
+            98.15,
+            0.0,
+            18.96,
+            -0.0
+        ],
+        [
+            22.333,
+            -19.501,
+            98.15,
+            0.0,
+            18.96,
+            -0.0
+        ],
+        [
+            141.363,
+            21.391,
+            98.15,
+            0.0,
+            18.96,
+            -0.0
+        ],
+        [
+            141.363,
+            21.391,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ],
+        [
+            266.524,
+            8.148,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ],
+        [
+            373.04,
+            -4.22,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ],
+        [
+            373.04,
+            -4.22,
+            98.15,
+            0.0,
+            -6.04,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Straight ahead I only see pallet racking, a tarp-covered load and a blank aisle wall, with no red door or extinguisher anywhere in view. I will turn left to sweep an unseen part of the warehouse for the mounted extinguisher.",
+        "Swinging left has opened up a far corner where a wall board with red equipment and a first aid sign sits, but it is squeezed against the edge of my view behind shelving. Another left turn should bring that corner and any adjacent door fully into sight.",
+        "Now the red door under the exit sign is clearly in front of me, and the extinguisher board hangs on the wall right beside it. The target is identified, so I will stop searching and walk forward to close the distance.",
+        "The red door and the extinguisher panel beside it have grown noticeably larger, confirming I am on a clear line toward them across the open blue floor. Nothing blocks the lane, so I keep walking forward.",
+        "Getting closer has pushed the red door out to the far left edge, and the extinguisher board now sits well left of my heading. I will turn left to bring the door and its mounted extinguisher back into the center of my view before advancing further.",
+        "The turn has recentered the red door with the extinguisher panel mounted on the wall immediately beside it. The floor ahead is clear apart from boxes off to the side, so I walk forward to close in on the extinguisher.",
+        "The extinguisher on its wall board is now plainly visible just right of the red door, though a workbench and shelving still separate me from it. One more step forward should bring me right up to the mounted extinguisher.",
+        "The wall-mounted fire extinguisher beside the red door fills my view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000106_y-006079_z000098_t1_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Search the warehouse for the red wheeled metal cage cart holding blue drums, then approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -106.168,
+        -6078.898,
+        98.15,
+        0.0,
+        -5.76,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -5.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -30.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -55.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -80.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -105.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -130.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -155.76,
+            0.0
+        ],
+        [
+            -220.93,
+            -6130.571,
+            98.15,
+            0.0,
+            -155.76,
+            0.0
+        ],
+        [
+            -220.93,
+            -6130.571,
+            98.15,
+            0.0,
+            179.24,
+            -0.0
+        ],
+        [
+            -346.778,
+            -6128.901,
+            98.15,
+            0.0,
+            179.24,
+            -0.0
+        ],
+        [
+            -472.626,
+            -6127.232,
+            98.15,
+            0.0,
+            179.24,
+            -0.0
+        ],
+        [
+            -598.474,
+            -6125.562,
+            101.596,
+            0.0,
+            179.24,
+            -0.0
+        ],
+        [
+            -724.322,
+            -6123.893,
+            98.15,
+            0.0,
+            179.24,
+            -0.0
+        ],
+        [
+            -825.614,
+            -6125.438,
+            98.15,
+            0.0,
+            179.24,
+            -0.0
+        ],
+        [
+            -825.614,
+            -6125.438,
+            98.15,
+            0.0,
+            179.24,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand I only see tall storage racks labelled 03 and 04, a leaning conveyor section, and a floor littered with cardboard boxes, with no red wheeled cage cart carrying blue drums anywhere in sight. I will turn left to begin a steady scan of the warehouse in one consistent direction so I can sweep the areas hidden outside my current view.",
+        "The new heading shows mostly a long dark brick wall with electrical cabinets and conduit, plus the same rack bays and loose boxes on the floor, so the target cart is still not here. I will keep turning left in the same direction to continue the sweep toward the unseen part of the hall.",
+        "Ahead there is only the brick wall with switch boxes and a low grey flatbed dolly near the floor marking, and racking is just beginning to enter the left edge of my view. Since neither the red cage cart nor blue drums appear yet, I will continue the same leftward scan to bring that racking area fully into sight.",
+        "Now a pallet rack fills the left half of my view with yellow and dark red barrels stacked on it, but those are shelved containers, not blue drums on a red wheeled cage cart. I will turn left again to keep the sweep going and look past this rack face toward the aisle beyond it.",
+        "The racking with its barrels, crates and stacked panels now dominates the frame and blocks my line of sight to whatever lies further left. Continuing the same leftward rotation should open up the aisle running past this rack, which is a plausible place for a wheeled cart to be parked.",
+        "The rack row is sliding to my right and an open floor lane with what looks like small wheeled trolleys is appearing at the far left of my view. I will turn left once more to bring that lane and its carts squarely in front of me so I can check whether the red cage cart with blue drums is among them.",
+        "Looking down the aisle between the racks, I can now see a low cart with a red tubular frame parked against the far brick wall, carrying two blue drums, which matches the target. I will walk forward along this clear lane to close the distance and confirm it up close.",
+        "After stepping forward, the red railed cart with its blue drums sits noticeably left of my heading, while the rack row on my right takes up most of the frame. I will turn left to centre the cart so my remaining approach runs straight at it.",
+        "Down the aisle ahead I can see a red railed cart on casters carrying two blue drums, which matches the target described in my task. It sits well down the lane between the pallet racks, so I will walk forward along the open floor to close that distance.",
+        "The red wheeled cart with the blue drums is now larger and near the center of my view, confirming I am tracking the correct object. The aisle floor between the racks stays clear, so I will keep walking straight toward it.",
+        "The blue drums and their red tubular railing are clearly resolved now, and the cart's casters are visible against the back wall of the aisle. I am still several paces short of it, so I will continue advancing straight ahead.",
+        "The red railed cart with its two blue drums now fills much of my forward view and is directly on my heading. I will step forward again to bring myself right up beside it.",
+        "The two blue drums and the red rail of the cart are close in front of me, with the brick wall just behind them. One more short step should place me immediately at the cart, so I will advance.",
+        "The blue drums and the cart's red rail are directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000106_y-006079_z000098_t1_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Explore the area to locate the white electrical panel on the brick wall and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -106.168,
+        -6078.898,
+        98.15,
+        0.0,
+        -5.76,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -5.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            19.24,
+            -0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            44.24,
+            -0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            69.24,
+            -0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            94.24,
+            -0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            119.24,
+            -0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            144.24,
+            -0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            169.24,
+            -0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -165.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -140.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -115.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -90.76,
+            0.0
+        ],
+        [
+            -106.168,
+            -6078.898,
+            98.15,
+            0.0,
+            -65.76,
+            0.0
+        ],
+        [
+            -54.495,
+            -6193.66,
+            98.15,
+            0.0,
+            -65.76,
+            0.0
+        ],
+        [
+            -2.621,
+            -6308.132,
+            99.658,
+            0.0,
+            -65.76,
+            0.0
+        ],
+        [
+            49.052,
+            -6422.894,
+            98.15,
+            0.0,
+            -65.76,
+            0.0
+        ],
+        [
+            89.355,
+            -6512.047,
+            98.15,
+            0.0,
+            -65.76,
+            0.0
+        ],
+        [
+            89.355,
+            -6512.047,
+            98.15,
+            0.0,
+            -40.76,
+            0.0
+        ],
+        [
+            89.355,
+            -6512.047,
+            98.15,
+            0.0,
+            -40.76,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot I can see a dark brick wall along my left and two storage bays ahead, but nothing that looks like a white electrical panel mounted on the brickwork. The floor here is cluttered with spilled cartons and a leaning conveyor section, so there is no useful forward view to gain yet. I will turn right to begin a steady scan of the surrounding bays for the panel.",
+        "The new heading shows more racking, the collapsed conveyor run, and a sheeted pallet, but still no white panel box on any brick surface. The brick that is visible here is partly hidden behind shelving uprights and stacked cartons. I will continue turning right in the same direction to keep the scan consistent and uncover the next portion of the room.",
+        "Ahead of me now is the tilted conveyor and an open aisle marked by yellow floor tape, with warehouse racking receding into the distance and no wall panel in sight. The brick strip at the far left of this view is too shallow and too distant to inspect properly. I will keep rotating right so the scan advances toward the unexamined side of the aisle.",
+        "A red fire extinguisher on a post now sits close on my right and blocks a good part of this heading, while the rest of the view is aisle floor and pallet racking. I still cannot see a white electrical panel on any brick wall from here. I will turn right again to move past this near obstruction in my sightline and continue the sweep.",
+        "The extinguisher and its post are now large in the near field, and beyond them I only see loaded shelving and a large FRAGILE carton, so most of this heading is closed off. There is no brick wall surface exposed here that could carry the panel. I will keep turning right to clear this cluttered near view and open onto the next bay.",
+        "This heading is almost entirely taken up by close pallet racking, stacked totes and a FRAGILE carton, leaving no line of sight to any wall. The panel cannot be confirmed or ruled out from such a blocked view. I will continue the rightward turn to reach a heading with more open depth.",
+        "The view is opening up now, and past the rack upright I can make out a brick wall section at the back of the hall with a drum trolley parked against it. I do not yet see a white panel box on that brickwork, but exposed wall is exactly the kind of surface the target should be on. I will turn right again to bring more of that brick wall into view.",
+        "More of the rear brick wall is now visible between the two rack rows, with the blue drum trolley and a pallet in front of it, but the wall fittings I can pick out are a small extinguisher and pipework rather than a white panel. The wall likely continues further to my right, outside the current view. I will turn right once more to follow this brick wall and look for the panel along it.",
+        "From here I only see tall pallet racking, a cart of blue drums, and a short stretch of dark brick blocked by shelving, with no white electrical panel anywhere in view. Since the brick wall is the surface I need to inspect, I will keep the scan turning consistently to the right to bring more of that wall line into view.",
+        "More brick wall has come into the left side of my view, but it carries only pipework and the drum cart, and no panel is visible on it. Continuing the same rightward sweep should swing the yet unseen stretch of brick beyond the racking into view.",
+        "A promising section of dark brick wall has appeared at the right edge, carrying conduit and what looks like a small mounted enclosure. I will turn right again to bring that wall fitting toward the center of my view and confirm whether it is the electrical panel.",
+        "I can now clearly see a pale electrical cabinet mounted on the brick wall, with conduit and junction boxes running to it, sitting right of my current heading. One more turn to the right should place it near the center of my view so I can walk straight toward it.",
+        "The panel on the brick wall is now roughly ahead of me, with the racking cleared to my left and open floor in between. I will walk forward to close the fairly large gap to that wall.",
+        "The brick wall and its mounted cabinet now fill more of my view, so my heading toward the panel is holding well. I will step forward again to keep reducing the remaining distance.",
+        "The cabinet with its warning label and adjacent junction box is clearly readable now, confirming this is the electrical panel on the brick wall. I am still a few steps short of it, so I will continue walking forward.",
+        "The panel is close and large in front of me, sitting slightly right of center on the brick wall. One more short step forward should bring me right up beside it at a proper approach distance.",
+        "I am now right up against the brick wall, with the conduit and cable clamps filling most of my view and only the pale edge of the enclosure showing at the right side. Turning right should swing that panel back into the center of my view so I am squarely facing it at close range.",
+        "The white electrical panel on the brick wall now fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t5_a_pd/infos.json

@@ -0,0 +1,411 @@
+{
+    "Instruction": "Pick up the trash bag by the yellow tarp on the floor, then place it by the electrical panel.",
+    "Type": 5,
+    "Start_Pose": [
+        -111.036,
+        -662.089,
+        98.15,
+        0,
+        103.52,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -15.023,
+        0,
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+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -111.036,
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+            0,
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+        ],
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+    ],
+    "PD_Pose_Trajectory": [
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+        ],
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+        ],
+        [
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -616.983,
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+        ],
+        [
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+        ],
+        [
+            -614.898,
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+            58.042,
+            0.0,
+            178.52,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        669.0,
+        554.1,
+        554.1,
+        428.3,
+        302.6,
+        177.0,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.5,
+        21.4,
+        22.1,
+        21.4,
+        21.4,
+        20.3,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The dark trash bag sits far ahead on the blue floor, next to the yellow tarp draped over the pallet under the racking. It is well out of reach from here, so I will walk straight ahead to close that gap before worrying about fine alignment.",
+        "After advancing, the trash bag and the yellow tarp behind it now sit left of my heading, while my view is centered on the empty floor and the right-hand shelving. I will turn left to bring the bag onto my forward axis so the remaining approach stays straight.",
+        "The turn has put the trash bag and the yellow tarp near the middle of my view, with clear painted floor between us. Nothing blocks the lane, so I will step forward along this heading to keep closing on the bag.",
+        "The bag is noticeably larger and still centered in front of the tarp-covered pallet, but it is not yet within grabbing distance. I will keep walking straight so the gap continues to shrink without needing another heading change.",
+        "The bag now stands clearly in the lower center of my view against the yellow tarp, yet it still sits a couple of paces off. One more step forward should place it directly at my front where a grasp becomes feasible.",
+        "The trash bag fills the bottom center of my view, immediately in front of me beside the yellow tarp, with nothing between us. My hands are empty and the target is the correct one named in the task, so I will attempt to pick it up now.",
+        "The grasp worked: the trash bag is now held with me instead of resting on the painted floor. The electrical panel is on the wall well off to my right, not along my current heading, so I will turn right to begin swinging my heading toward it.",
+        "The bag is still secured with me while I rotate. This heading only shows the tarp-covered pallet and the racking with drums, and no electrical panel yet, so I will continue turning right to bring the panel wall into view.",
+        "The trash bag is in my hands, so now I need the electrical panel on the far wall. From this heading I only see storage racks, pallets and a cart, with no panel in sight. I will keep rotating right to bring the open floor and the far wall into view.",
+        "Carrying the bag, I can now see two gray electrical cabinets mounted on the wall to the right of my heading, past the yellow railing cart. They sit off center, so I am not yet aimed at them. Another right turn should bring that panel wall roughly ahead of me.",
+        "The electrical panel cabinets are now ahead of me across the open blue floor, with a clear lane between me and that wall. Holding the bag, distance is the only thing left to reduce. I will walk forward to close in on the panel area.",
+        "I am closer now, but a cart loaded with cardboard boxes is parked directly under the panel cabinets, blocking a straight approach from here. The aisle to my right runs alongside that wall past the marked keep clear zone. I will turn right to take that open lane instead.",
+        "The aisle ahead is clear, with the electrical cabinets now on my left along the wall. Carrying the bag, I need to travel past the parked cart before I can face the panel. I will step forward along this lane.",
+        "The panel cabinets are still off to my left and I am not yet level with the clear floor beside them. The lane in front stays open past the guardrail and hazard barriers. I will walk forward once more to reach a position alongside the panel.",
+        "I have reached the bay beside the electrical panel, and the mounted cabinet is now at the far left edge of my view while I face down the racking aisle. To set the bag by the panel I must square up with it. I will turn left toward the cabinet wall.",
+        "The electrical panel cabinets are now directly ahead on the wall, with only clear floor and hazard barriers between us. I am still holding the bag and am a little too far back to place it against that wall. I will step forward to get within dropping range.",
+        "The grey electrical panel boxes with their warning label now fill the wall directly ahead, so I am nearly at the intended drop spot while still carrying the trash bag. I will take one more short step forward to close the remaining gap and stand right beside the panel before releasing the bag.",
+        "I am pressed right up against the wall carrying the electrical panel, with its enclosure and conduit immediately in front of me and the bag still in my hands. This is the position the task specifies, so I will release the trash bag here and it should come to rest beside the panel.",
+        "The trash bag is resting on the floor directly beneath the electrical panel and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t5_b_pd/infos.json

@@ -0,0 +1,430 @@
+{
+    "Instruction": "Grab the ceramic pot at the middle red shelf, then set it down near the wall-mounted junction box.",
+    "Type": 5,
+    "Start_Pose": [
+        -111.036,
+        -662.089,
+        98.15,
+        0,
+        103.52,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -137.032,
+        51.483,
+        18.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -111.036,
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+        ],
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+        ],
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+        ],
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+        ],
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+        ],
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+        ],
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+    ],
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -195.771,
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+            0.0,
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+    ],
+    "PD_Dist_2D": [
+        714.0,
+        591.2,
+        470.0,
+        352.0,
+        352.0,
+        226.2,
+        226.2,
+        100.5,
+        21.4,
+        22.3,
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+        22.5,
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+        21.4,
+        21.4,
+        20.3,
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+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "From this doorway-side position the red shelving units stand far across the wide blue floor, and the ceramic pot I need sits near the middle red shelf at that distance. Nothing blocks the open lane ahead, so I will walk forward to close the gap before I can judge the pot's exact position.",
+        "The shelving bays are noticeably larger now and a rounded ceramic pot is discernible on the floor in front of the middle red shelf. I am still far too distant to reach it, so I will keep walking straight along this clear stretch of floor.",
+        "The middle red shelf and its jars are clearly resolved, and the ceramic pot now stands out on the floor slightly left of my heading. The distance is still well beyond arm's reach, so I will advance again to bring the pot into a workable range.",
+        "The ceramic pot sits low on the left side of my view while my heading points past it toward the right-hand racks. Walking straight would carry me by it, so I will turn left to place the pot near the center of my view for a direct approach.",
+        "The ceramic pot is now centered ahead of me on the floor in front of the middle red shelf, with clear space between us. It remains too far to grasp, so I will step forward to close that remaining gap.",
+        "The ceramic pot stands on the floor just in front of the middle red shelf, centered in my view, so I judge it may already be within reach. I will attempt to grab it now rather than step closer and risk bumping the shelf leg. If my hands close on nothing, I still have room to advance.",
+        "My hands are empty and the pot was not lifted, so that grab attempt came up short. The pot was still a couple of paces beyond me at the shelf base, so the likely reason is distance. I will walk forward to close that gap before trying again.",
+        "I am now right at the middle red shelf, close enough that its crossbeam and pallets fill my view, which is a much shorter reach than my earlier failed attempt. The ceramic pot should be at my feet on this near side of the shelf. I will try the grab again from this closer stance.",
+        "The grab worked, and the ceramic pot is now held in my hands. The wall-mounted junction box is not on this shelving wall, so I need a new heading before carrying it anywhere. I will turn right to swing my view off the racks and look for that wall.",
+        "Holding the pot, my view still shows the red racking with drums and stacked trays, so no junction box wall is in sight yet. One turn was not enough to clear the shelving. I will keep rotating right to bring the open aisle and the service wall into view.",
+        "The ceramic pot is secured in my hands, so my remaining job is to find the wall-mounted junction box. This heading still shows only pallet racks, stacked panels and blue bins against the grey wall, with no electrical panel in sight. I turn right again to keep sweeping the room for that fixture.",
+        "Still carrying the pot, I now face a shelf of stacked panels and a loaded cart parked along the grey wall, and nothing here reads clearly as the junction box I need. Rotating further should bring the next stretch of that wall into view. I turn right once more.",
+        "I can now see grey wall panels and a boxed electrical fitting on the wall ahead, which matches the junction box I must set the pot near. A railed cart loaded with cartons stands right along that stretch, so a straight walk at it is awkward. I turn right to face the open painted lane leading toward that corner.",
+        "With the pot in my hands, the junction box and its conduit now sit on the wall to my left while the marked floor ahead is clear of pallets and barriers. Walking forward along this lane should carry me toward that wall section. I step forward.",
+        "The two grey wall boxes with their conduit are noticeably larger and nearer on my left, so the approach is working. The keep clear lane in front of me is still unobstructed. I keep walking forward to get close enough beside the junction box to place the pot.",
+        "The ceramic pot is still in my hands and the gray wall-mounted boxes with their conduit are visible ahead on the left, a few paces away past the yellow guard posts. I will keep walking forward to close that remaining distance before setting the pot down.",
+        "I am now near the wall, but the two junction boxes sit off toward the left side of my view while I face the blank panel and the corner column. Turning left should bring the boxes squarely in front of me so the pot can be released right beside them.",
+        "The junction box and the smaller enclosure beside it are now centered ahead, with clear floor at the wall base below them. Still holding the pot, I will step forward so my release point sits directly against that wall section.",
+        "I am right up against the wall, with the enclosure and its conduit filling my view and the pot still in my hands. This is the placement the task asks for, so I will release the pot here beside the wall-mounted junction box, and it should come to rest at the wall base.",
+        "The ceramic pot now stands on the floor directly under the wall-mounted junction box, and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_c/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Navigate to the fire extinguisher mounted on the far wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -140.724,
+        -3886.087,
+        100.9,
+        0.0,
+        119.04,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -140.724,
+            -3886.087,
+            100.9,
+            0.0,
+            119.04,
+            -0.0
+        ],
+        [
+            -140.724,
+            -3886.087,
+            100.9,
+            0.0,
+            144.04,
+            -0.0
+        ],
+        [
+            -242.598,
+            -3812.18,
+            98.15,
+            0.0,
+            144.04,
+            -0.0
+        ],
+        [
+            -344.471,
+            -3738.273,
+            98.15,
+            0.0,
+            144.04,
+            -0.0
+        ],
+        [
+            -446.345,
+            -3664.366,
+            98.15,
+            0.0,
+            144.04,
+            -0.0
+        ],
+        [
+            -446.345,
+            -3664.366,
+            98.15,
+            0.0,
+            169.04,
+            -0.0
+        ],
+        [
+            -569.908,
+            -3640.437,
+            98.15,
+            0.0,
+            169.04,
+            -0.0
+        ],
+        [
+            -693.472,
+            -3616.508,
+            98.15,
+            0.0,
+            169.04,
+            -0.0
+        ],
+        [
+            -817.035,
+            -3592.58,
+            98.15,
+            0.0,
+            169.04,
+            -0.0
+        ],
+        [
+            -846.473,
+            -3596.511,
+            98.15,
+            0.0,
+            169.04,
+            -0.0
+        ],
+        [
+            -938.432,
+            -3588.756,
+            169.77,
+            0.0,
+            169.04,
+            -0.0
+        ],
+        [
+            -938.432,
+            -3588.756,
+            169.77,
+            0.0,
+            169.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see the far dark brick wall on the right side of the aisle, with a red extinguisher and its signage panel near the right edge of my view. My body is pointed straight down the open floor instead of at that wall, so I will turn right to bring the mounted extinguisher toward the center of my heading. That should give me a clean straight line to travel before I start closing distance.",
+        "The turn has put the dark brick wall with the extinguisher panel and the lit exit doorway ahead of me, slightly right of center. The floor between me and that wall is clear open aisle with only the painted lane markings, so I will move forward to start closing the distance. The target is still small and far, so I expect several more advances.",
+        "The brick wall with the red extinguisher beside the doorway has grown larger and the pallet trolley in front of it is now clearly resolved, confirming I am gaining ground. My path is still open floor with nothing between me and that wall, so I will continue forward. The extinguisher remains a bit right of center, which I can correct once I am closer.",
+        "The red extinguisher on the black brick wall is now clearly distinguishable next to its white signage board and the doorway, and it sits to the right of my current heading. There is still a fair stretch of empty floor before the wall, so another forward step should keep reducing that gap. I will hold this heading for now and refine my aim once the wall fills more of my view.",
+        "I am now close enough that the tall pallet rack dominates my left view while the extinguisher panel has drifted toward the right edge, near the exit doorway. Continuing straight would carry me past the target along the rack, so I will turn right to place the wall-mounted extinguisher back near the center of my heading. That should let me approach it directly.",
+        "After the turn the brick wall with the extinguisher, its sign, and the marked keep-clear zone sits squarely ahead of me. The floor in front is clear apart from the pallet trolley standing off to my left of the target, so I will advance straight toward the wall. Each step should bring the extinguisher into closer reach.",
+        "The extinguisher is now large and centered slightly left of the bright doorway, with the keep-clear markings just ahead of my feet. Nothing blocks the lane I am on, since the pallet trolley sits to the side of my line, so I will keep moving forward. I still need to be nearer before I can call this reached.",
+        "The red extinguisher and its wall panel now fill much of my view, mounted on the brick just left of the open doorway. I am close but not yet standing at the wall, and the pallet trolley remains clear of my direct line, so I will take another step forward. That should place me right in front of the mounted extinguisher.",
+        "The red fire extinguisher on its wall bracket now fills the center of my view against the dark brick, so my heading is already aligned with the target. A short gap of floor still separates me from that wall, with the loaded pallet sitting off to my left rather than in my path, so I will step forward again to close the remaining distance.",
+        "The extinguisher and its signage panel are directly ahead and noticeably larger, confirming I am closing on the mounting point with the correct heading. A small amount of clearance remains before the wall, so one more forward step should bring me to a proper standing distance in front of the extinguisher.",
+        "The mounted extinguisher fills my view at arm's length on the wall directly in front of me. The navigation goal is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Look around for the electrical panel boxes mounted on the wall and go to them.",
+    "Type": 1,
+    "Start_Pose": [
+        -148.037,
+        -28.381,
+        98.15,
+        0.0,
+        133.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -148.037,
+            -28.381,
+            98.15,
+            0.0,
+            133.28,
+            -0.0
+        ],
+        [
+            -148.037,
+            -28.381,
+            98.15,
+            0.0,
+            158.28,
+            -0.0
+        ],
+        [
+            -148.037,
+            -28.381,
+            98.15,
+            0.0,
+            -176.72,
+            0.0
+        ],
+        [
+            -273.69,
+            -35.582,
+            98.15,
+            0.0,
+            -176.72,
+            0.0
+        ],
+        [
+            -273.69,
+            -35.582,
+            98.15,
+            0.0,
+            -151.72,
+            0.0
+        ],
+        [
+            -384.527,
+            -95.212,
+            98.15,
+            0.0,
+            -151.72,
+            0.0
+        ],
+        [
+            -495.363,
+            -154.841,
+            98.15,
+            0.0,
+            -151.72,
+            0.0
+        ],
+        [
+            -606.2,
+            -214.471,
+            98.15,
+            0.0,
+            -151.72,
+            0.0
+        ],
+        [
+            -606.2,
+            -214.471,
+            98.15,
+            0.0,
+            -151.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am boxed in by red pallet racking and stacked bins, and no wall-mounted electrical panel is visible on the grey wall ahead of me. Turning right should swing my view along the open bay wall to the right, where cable conduit already runs, which is a plausible place for panel boxes.",
+        "The rotation has brought a stretch of grey wall into view with conduit and a small white box, and further right I can just make out a larger grey cabinet near the trolley. I will keep turning right in the same direction to bring that promising wall section fully in front of me.",
+        "Now I can clearly see grey metal enclosures mounted on the wall ahead, beside the yellow trolley and the emergency stop button. The floor between me and that wall is open turquoise aisle, so I will walk forward to close the distance to those panels.",
+        "The panel boxes are now larger and sit slightly right of my heading, with the loaded trolley and yellow rail directly in my path. A right turn should place the enclosures more centrally ahead and open a clearer walking line past the trolley.",
+        "The wall-mounted panel boxes with their conduit and stop button now sit ahead and slightly left of my heading, with clear turquoise floor leading toward them. I will step forward to keep closing on the panels while staying clear of the trolley and the yellow barrier.",
+        "The two grey enclosures and the red emergency button are close on the wall to my left front, but I am still a few paces short of standing at them. Another step forward should bring me right up beside the panel boxes.",
+        "The panel boxes with the yellow warning label and latched grey doors now fill the left side of my view at arm's length range. One more forward step should put me directly at the panels, close enough to count as reaching them.",
+        "The wall-mounted electrical panel box is directly beside me, filling my view at contact range. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000190_y-003484_z000098_t1_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Look around the warehouse for the gray lidded trash bin sitting on a wooden pallet beneath a metal shelving unit, then approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -189.854,
+        -3484.068,
+        98.275,
+        0.0,
+        -29.76,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -189.854,
+            -3484.068,
+            98.275,
+            0.0,
+            -29.76,
+            0.0
+        ],
+        [
+            -189.854,
+            -3484.068,
+            98.275,
+            0.0,
+            -4.76,
+            0.0
+        ],
+        [
+            -189.854,
+            -3484.068,
+            98.275,
+            0.0,
+            20.24,
+            -0.0
+        ],
+        [
+            -189.854,
+            -3484.068,
+            98.275,
+            0.0,
+            45.24,
+            -0.0
+        ],
+        [
+            -189.854,
+            -3484.068,
+            98.275,
+            0.0,
+            70.24,
+            -0.0
+        ],
+        [
+            -189.854,
+            -3484.068,
+            98.275,
+            0.0,
+            95.24,
+            -0.0
+        ],
+        [
+            -201.348,
+            -3358.735,
+            98.275,
+            0.0,
+            95.24,
+            -0.0
+        ],
+        [
+            -212.843,
+            -3233.402,
+            98.275,
+            0.0,
+            95.24,
+            -0.0
+        ],
+        [
+            -212.843,
+            -3233.402,
+            98.275,
+            0.0,
+            95.24,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this starting spot I only see stacked cartons, pallet racking and an empty metal shelf ahead, with no gray lidded bin anywhere in view. I will turn right to begin a steady scan of the surrounding aisles for a trash bin resting on a pallet under a shelving unit.",
+        "This heading shows a wall of labeled cartons on blue pallets across two rack levels, but still no gray lidded bin at floor level. I will continue turning right in the same direction to keep the scan consistent and reveal the next section of the warehouse.",
+        "The racking in front of me is still packed with cartons and the open floor along the yellow line is empty, so the bin is not here. I will keep rotating right to bring the far end of this bay and the space beyond the racking into view.",
+        "The scan has now reached the end of the box stacks, where a dark brick wall and bare wooden pallets under blue racking appear on the right. That kind of open under-shelf pallet area is a promising place for a trash bin, so I will keep turning right to expose it fully.",
+        "I can now see a gray lidded trash bin standing on a wooden pallet under the metal shelving, sitting to the right of my heading against the brick wall. I will turn right once more to bring it closer to the center of my view before walking toward it.",
+        "The gray lidded bin on its wooden pallet under the shelving is now roughly centered ahead of me, with clear open floor between us. I will walk forward to close the distance toward it.",
+        "The bin now fills much of the view directly ahead, framed between the teal rack uprights and resting on its pallet, but I am still a step short of being right at it. I will step forward again to finish closing in.",
+        "The gray lidded bin is directly in front of me on its wooden pallet beneath the shelving, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000218_y-002030_z000398_t1_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Search this warehouse section for the red fire extinguisher mounted on the wall and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -218.357,
+        -2030.043,
+        398.15,
+        0,
+        -9.6,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -218.357,
+            -2030.043,
+            398.15,
+            0,
+            -9.6,
+            0
+        ],
+        [
+            -218.357,
+            -2030.043,
+            398.15,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -218.357,
+            -2030.043,
+            398.15,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -218.357,
+            -2030.043,
+            398.15,
+            0.0,
+            -84.6,
+            0.0
+        ],
+        [
+            -218.357,
+            -2030.043,
+            398.15,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -260.577,
+            -2148.609,
+            398.15,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -302.796,
+            -2267.176,
+            398.15,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -345.016,
+            -2385.742,
+            398.15,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -345.016,
+            -2385.742,
+            398.15,
+            0.0,
+            -109.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing close to a dark red partition marked with yellow sector lettering, and nothing of the wall-mounted extinguisher is visible from this cramped angle. I will turn left to begin a consistent scan of this warehouse section and open up more of the surrounding wall space.",
+        "The large yellow 'A SECTOR' marking and a strip of floor are now visible, but there is still no red extinguisher on any surface in front of me. I will keep turning left in the same direction to sweep further along this wall and reveal the rest of the bay.",
+        "A lit doorway with a green exit sign has come into view on the left, showing that the room continues that way, but I still do not see the extinguisher. Continuing the same leftward scan should expose the wall panels beside that doorway where safety equipment is usually mounted.",
+        "On the left wall I can now make out shelving and a dark safety board with what looks like a small red cylinder mounted on it, which is a strong cue for the extinguisher. I will turn left once more to bring that board nearer the centre of my view before walking toward it.",
+        "The wall-mounted safety board with a red extinguisher hanging on it now sits ahead and slightly left, with clear floor between me and it. I will step forward to close the distance and confirm the target as it grows in view.",
+        "The board is larger now and the red extinguisher beside the first aid placard is clearly the target I was sent to find. I will keep walking forward along the open floor to bring myself right up to it.",
+        "The red extinguisher is directly ahead on the left wall, unmistakable next to the mounting board, and I am only a short distance from it. One more step forward should place me close enough to count as having reached it.",
+        "The red wall-mounted fire extinguisher now fills the near left of my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_c/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Navigate to the yellow and black hazard striped bollard near the door.",
+    "Type": 0,
+    "Start_Pose": [
+        -230.735,
+        -1771.592,
+        398.15,
+        0.0,
+        -98.88,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookDown",
+        "MoveBackward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -230.735,
+            -1771.592,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -250.163,
+            -1895.942,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -269.592,
+            -2020.293,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -289.02,
+            -2144.643,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -308.448,
+            -2268.994,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -308.448,
+            -2268.994,
+            398.15,
+            0.0,
+            -123.88,
+            0.0
+        ],
+        [
+            -358.757,
+            -2358.155,
+            398.15,
+            0.0,
+            -123.88,
+            0.0
+        ],
+        [
+            -358.757,
+            -2358.155,
+            398.15,
+            0.0,
+            -123.88,
+            0.0
+        ],
+        [
+            -307.248,
+            -2281.444,
+            398.15,
+            0.0,
+            -123.88,
+            0.0
+        ],
+        [
+            -307.248,
+            -2281.444,
+            398.15,
+            0.0,
+            -123.88,
+            0.0
+        ],
+        [
+            -307.248,
+            -2281.444,
+            398.15,
+            0.0,
+            -123.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the head of this red corridor I can see the lit exit doorway straight ahead, and a yellow and black hazard striped corner guard sits on the floor to the left of it beside the stacked cartons. That striped bollard is my target, so I will step forward along the open middle of the corridor to close the long gap. The path ahead looks clear of clutter.",
+        "The shelving and cartons on the left are larger now and the striped corner guard beside them is more distinct, so my heading is still good. The doorway remains ahead with clear floor between me and it. I will continue forward to keep reducing the distance to the bollard.",
+        "I can now read the labels on the cartons to my left, and the striped corner guard near the doorway wall is clearly resolved along with the red and white hazard marking on the floor. Nothing blocks the center of the corridor. Another step forward should bring me within a short distance of the bollard.",
+        "The doorway is close ahead on my right side and the striped corner guard has dropped toward the lower left of my view near the KEEP CLEAR floor marking. I am still a stride or two away from it, so I will move forward once more to reach that near wall area.",
+        "The hazard striped bollard has slipped to the lower left edge of my view while my heading points at the doorway ahead. I will turn left to bring the bollard and the wall it stands against squarely in front of me before closing the last of the distance.",
+        "Now the yellow and black striped guard sits near the bottom center of my view against the red wall below the first aid board, so my heading lines up with it. I will step forward to stand right beside the bollard.",
+        "I am standing very close to the wall, and my gaze is filling with the pegboard, disinfectant bottle, and fire extinguisher at chest height. The bollard sits on the floor below that, so I will tilt my gaze downward to bring the striped guard back into sight and confirm I am beside it.",
+        "Even with my gaze tilted down I am too close to the wall to see the striped bollard properly, with only a sliver of hazard tape at the lower right. I will step backward to open up enough distance for the floor level guard to sit clearly in front of me.",
+        "From this standing spot the yellow and black striped bollard sits low against the red wall just left of the open doorway, only partly visible at the bottom of my view. I tilt my gaze downward to bring it fully into sight and confirm I am standing right beside it.",
+        "The yellow and black hazard striped bollard is directly at my feet beside the open door. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t5_a_p/infos.json

@@ -0,0 +1,202 @@
+{
+    "Instruction": "Grab the jerry can at the door under the green exit sign.",
+    "Type": 5,
+    "Start_Pose": [
+        -230.735,
+        -1771.592,
+        398.15,
+        0,
+        -98.88,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -228.784,
+        -2557.149,
+        318.15,
+        0,
+        -30,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -230.735,
+            -1771.592,
+            398.15,
+            0,
+            -98.88,
+            0
+        ],
+        [
+            -250.163,
+            -1895.942,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -269.592,
+            -2020.293,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -289.02,
+            -2144.643,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -308.448,
+            -2268.994,
+            398.15,
+            0.0,
+            -98.88,
+            0.0
+        ],
+        [
+            -308.448,
+            -2268.994,
+            398.15,
+            0.0,
+            -73.88,
+            0.0
+        ],
+        [
+            -273.503,
+            -2389.904,
+            398.15,
+            0.0,
+            -73.88,
+            0.0
+        ],
+        [
+            -273.503,
+            -2389.904,
+            398.15,
+            0.0,
+            -73.88,
+            0.0
+        ],
+        [
+            -273.503,
+            -2389.904,
+            398.15,
+            0.0,
+            -73.88,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -228.784,
+            -2557.149,
+            318.15,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            -228.784,
+            -2557.149,
+            318.15,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            -228.784,
+            -2557.149,
+            318.15,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            -228.784,
+            -2557.149,
+            318.15,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            -228.784,
+            -2557.149,
+            318.15,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            -228.784,
+            -2557.149,
+            318.15,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            -228.784,
+            -2557.149,
+            318.15,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            -253.159,
+            -2383.389,
+            368.256,
+            -28.202,
+            -23.735,
+            1.862
+        ],
+        [
+            -253.159,
+            -2383.389,
+            368.256,
+            -28.202,
+            -23.735,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        785.6,
+        661.6,
+        538.4,
+        416.9,
+        299.0,
+        299.0,
+        173.1,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The green exit sign glows above an open doorway far down this red corridor, which matches the door named in my task. The floor ahead is clear, so I will walk straight toward that doorway to bring the jerry can area into closer view.",
+        "The lit doorway under the exit sign is noticeably nearer, and a pinkish jerry can is now discernible just to the right of that opening. Nothing blocks my path, so I will keep walking forward to close the remaining distance.",
+        "The jerry can beside the doorway under the exit sign is clearly identifiable now, but still several strides away and too distant to grasp. I will continue walking forward along the open middle of the corridor toward it.",
+        "The can sits to the right of the bright doorway and is still beyond arm's reach from here. Advancing once more should put me close enough that only a small heading correction remains before I can attempt the grab.",
+        "From this close range the jerry can sits well off to the right side of my view while I am facing the doorway itself. Turning right should center the can in front of me so a straight step will lead directly to it.",
+        "The jerry can is now centered ahead of me, just short of the threshold beneath the exit sign, but still a stride too far to grasp. I will step forward to bring it within reach.",
+        "The jerry can now fills the near foreground directly in front of me at the doorway under the glowing exit sign, well inside reach. My hands are empty, so I will attempt to pick it up now.",
+        "The jerry can is held in my hands and no longer resting on the floor. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000237_y-002215_z000398_t1_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Look around the red-walled room for the yellow-and-black striped corner guard beside the red-and-white KEEP CLEAR floor marking, then approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -236.825,
+        -2215.064,
+        398.15,
+        0.0,
+        -18.24,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            31.76,
+            -0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            56.76,
+            -0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            81.76,
+            -0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            106.76,
+            -0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            131.76,
+            -0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            156.76,
+            -0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            -178.24,
+            0.0
+        ],
+        [
+            -236.825,
+            -2215.064,
+            398.15,
+            0.0,
+            -153.24,
+            0.0
+        ],
+        [
+            -349.205,
+            -2271.733,
+            398.15,
+            0.0,
+            -153.24,
+            0.0
+        ],
+        [
+            -349.205,
+            -2271.733,
+            398.15,
+            0.0,
+            -128.24,
+            0.0
+        ],
+        [
+            -349.205,
+            -2271.733,
+            398.15,
+            0.0,
+            -128.24,
+            0.0
+        ],
+        [
+            -349.205,
+            -2271.733,
+            398.15,
+            0.0,
+            -128.24,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing very close to a red wall covered by a large painted yellow letter, so almost my whole view is blocked and neither the striped corner guard nor any KEEP CLEAR floor marking is visible. I will turn right to begin a consistent scan of this red-walled room and open up the surrounding floor and corners.",
+        "The rotation only revealed more of the same red wall, with the painted letter and the start of a SECTOR label, and still no striped corner guard. I will keep turning right in the same direction so the scan stays consistent and eventually reaches the floor corners of this room.",
+        "The wall with the SECTOR marking now slides to my left and the space to the right is falling into darkness, but no yellow-and-black corner guard has appeared yet. Continuing to turn right should carry my view off this flat wall and toward the open part of the room where floor markings would be.",
+        "The room is finally opening up, with a lit doorway under a green EXIT sign to my right and floor visible along the base of the red wall. Since the striped corner guard is still not in view, I will turn right again to bring that brighter doorway area and its adjacent corners in front of me.",
+        "The doorway is now roughly centered and I can see dark wall and floor continuing to its right, but the striped corner guard and the KEEP CLEAR marking are still not in view. I will continue the rightward scan to inspect the wall base and corner on the far side of this doorway.",
+        "A yellow-and-black striped corner guard has just come into view at the lower right of my view, sitting against the red wall. I will turn right toward it to bring it closer to the center and to check whether the red-and-white KEEP CLEAR floor marking lies beside it.",
+        "The striped corner guard is now clearly in front of me beside a shelving unit, but the floor around it shows no red-and-white KEEP CLEAR marking, so I cannot yet confirm this is the one described. I will turn right to reveal more of the floor and wall on that side and look for the striped marking that should accompany the target.",
+        "The guard beside the shelving has shifted to my left and the right side of my view opens onto more racking and a lit doorway, still with no red-and-white striped floor marking in sight. I will keep turning right to sweep the remaining floor of this red-walled room where the KEEP CLEAR marking and its adjacent corner guard are most likely to be.",
+        "From this heading I see the doorway ahead flanked by two storage racks, and only the faint edge of a yellow-and-black striped guard at the far left margin of my view, with no KEEP CLEAR marking in sight. I will continue the same rightward scan of this red-walled room to bring the right-hand corner and its floor area fully into view.",
+        "The striped corner guard is now clearly visible at the base of the red wall on my right, directly beside the red-and-white KEEP CLEAR floor marking, so the target is confirmed. It sits some distance away past the shelving unit, so I will walk forward to close that gap.",
+        "Stepping forward brought me close to the shelving, and the striped guard and floor marking have slid out of my view to the right while the rack and its bottles now fill the frame. I will turn right to bring the corner guard back in front of me.",
+        "Turning has brought the top of the yellow striped guard into the lower right of my view, but it is cut off by the bottom edge because the object sits on the floor close to me. I will look down to bring the corner guard and the adjacent floor marking fully into view and confirm I am standing beside it.",
+        "The yellow-and-black striped corner guard is right at my feet beside the red-and-white KEEP CLEAR floor marking. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000238_y-003727_z000098_t1_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Explore the warehouse to find the stacked wooden pallets leaning upright and move toward them.",
+    "Type": 1,
+    "Start_Pose": [
+        -237.667,
+        -3726.616,
+        98.275,
+        0,
+        -157.44,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -237.667,
+            -3726.616,
+            98.275,
+            0,
+            -157.44,
+            0
+        ],
+        [
+            -237.667,
+            -3726.616,
+            98.275,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -237.667,
+            -3726.616,
+            98.275,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -349.366,
+            -3668.618,
+            98.275,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -461.065,
+            -3610.619,
+            98.275,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -572.764,
+            -3552.621,
+            98.275,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -684.463,
+            -3494.623,
+            98.275,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -684.463,
+            -3494.623,
+            98.275,
+            0.0,
+            127.56,
+            -0.0
+        ],
+        [
+            -684.463,
+            -3494.623,
+            98.275,
+            0.0,
+            102.56,
+            -0.0
+        ],
+        [
+            -701.734,
+            -3375.694,
+            98.275,
+            0.0,
+            102.56,
+            -0.0
+        ],
+        [
+            -701.734,
+            -3375.694,
+            98.275,
+            0.0,
+            127.56,
+            -0.0
+        ],
+        [
+            -701.734,
+            -3375.694,
+            98.275,
+            0.0,
+            127.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I see a curved shelving unit with boxes and totes ahead, a green exit sign on the black brick wall, and open floor to the right, but no upright stacked pallets in view. The left side of the aisle is unexamined and warehouse pallet storage is usually racked along the perimeter, so I will turn left to begin a scan in that direction. This should bring the unseen left bays into view.",
+        "Turning has revealed pale wooden pallets stacked at the left edge of my view, next to a tall blue and orange rack. The target cue is real but still sits at the very edge, so I will continue turning left in the same direction to bring that pallet stack toward the center of my view.",
+        "Now the upright stacked wooden pallets stand clearly in the left portion of my view, leaning against the blue and orange rack, so the search target is identified. The floor between me and that rack is open and clear, so I will walk forward to close the distance rather than keep scanning.",
+        "The leaning pallet stack has grown larger and its slats are now clearly resolved beside the rack uprights, confirming I am closing on it. The lane ahead remains clear of the trolley and guard rail, so I will keep walking forward to shorten the remaining gap.",
+        "The upright pallets now dominate the left half of my view and the yellow floor marking at the rack base is close, so I am nearly alongside the target. I will step forward again to bring myself level with the pallet stack.",
+        "The leaning pallets and the rack columns are very close on my left, with the KEEP CLEAR floor marking just ahead of me. One more forward step should place me directly beside the stacked pallets instead of just short of them.",
+        "I am now right at the rack, with the pallet edges filling the left side and the shelf of grey panels straight ahead of me. Since the stacked pallets are off to my left rather than in front, I will turn left to face them squarely.",
+        "The turn has brought the upright pallets and their vertical slats into the center left of my view, but the rack frame with grey panels still occupies the middle. I will turn left once more so the pallet stack sits directly in front of me before I close the last bit of distance.",
+        "The upright stack of wooden pallets fills the right half of my view, close but still slightly off to the side with open floor ahead of me. I will step forward to close the remaining gap and bring the pallet stack fully within reach.",
+        "I am now right beside the leaning stack of wooden pallets, but they sit toward my right edge while the boxed racking dominates the left of my view. I will turn right so the pallet stack is centered in front of me.",
+        "The stacked wooden pallets standing upright now fill my view directly ahead at close range. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000246_y-001715_z000398_t5_a_pd/infos.json

@@ -0,0 +1,278 @@
+{
+    "Instruction": "Pick up the candelabra from the large yellow letter A, then drop it near the exit door.",
+    "Type": 5,
+    "Start_Pose": [
+        -246.343,
+        -1715.206,
+        398.15,
+        0,
+        -96,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -158.037,
+        -2322.469,
+        313.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -246.343,
+            -1715.206,
+            398.15,
+            0,
+            -96,
+            0
+        ],
+        [
+            -259.499,
+            -1840.376,
+            398.15,
+            0.0,
+            -96.0,
+            0.0
+        ],
+        [
+            -272.655,
+            -1965.545,
+            398.15,
+            0.0,
+            -96.0,
+            0.0
+        ],
+        [
+            -285.811,
+            -2090.715,
+            398.15,
+            0.0,
+            -96.0,
+            0.0
+        ],
+        [
+            -285.811,
+            -2090.715,
+            398.15,
+            0.0,
+            -71.0,
+            0.0
+        ],
+        [
+            -244.835,
+            -2209.717,
+            398.15,
+            0.0,
+            -71.0,
+            0.0
+        ],
+        [
+            -244.835,
+            -2209.717,
+            398.15,
+            0.0,
+            -71.0,
+            0.0
+        ],
+        [
+            -203.86,
+            -2328.719,
+            398.15,
+            0.0,
+            -71.0,
+            0.0
+        ],
+        [
+            -203.86,
+            -2328.719,
+            398.15,
+            0.0,
+            -96.0,
+            0.0
+        ],
+        [
+            -217.016,
+            -2453.888,
+            398.15,
+            0.0,
+            -96.0,
+            0.0
+        ],
+        [
+            -230.172,
+            -2579.058,
+            398.15,
+            0.0,
+            -96.0,
+            0.0
+        ],
+        [
+            -222.646,
+            -2507.452,
+            398.15,
+            0.0,
+            -96.0,
+            0.0
+        ],
+        [
+            -222.646,
+            -2507.452,
+            398.15,
+            0.0,
+            -96.0,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -158.037,
+            -2322.469,
+            313.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -158.037,
+            -2322.469,
+            313.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -158.037,
+            -2322.469,
+            313.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -158.037,
+            -2322.469,
+            313.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -158.037,
+            -2322.469,
+            313.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -158.037,
+            -2322.469,
+            313.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -224.843,
+            -2202.188,
+            368.256,
+            -28.202,
+            -20.856,
+            1.862
+        ],
+        [
+            -183.779,
+            -2321.432,
+            367.769,
+            -28.195,
+            -20.852,
+            1.862
+        ],
+        [
+            -183.646,
+            -2330.044,
+            368.84,
+            -28.193,
+            -45.852,
+            1.872
+        ],
+        [
+            -195.678,
+            -2455.152,
+            368.838,
+            -28.198,
+            -45.85,
+            1.868
+        ],
+        [
+            -208.857,
+            -2580.572,
+            368.475,
+            -28.196,
+            -45.853,
+            1.865
+        ],
+        [
+            -229.963,
+            -2577.069,
+            368.15,
+            0.0,
+            -166.0,
+            0.0
+        ],
+        [
+            -229.963,
+            -2577.069,
+            368.15,
+            0.0,
+            -166.0,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        613.6,
+        492.7,
+        374.9,
+        264.6,
+        264.6,
+        142.3,
+        21.4,
+        21.4,
+        20.3,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The candelabra with its lit candles stands on the floor far down this red corridor, beside the big yellow letter A painted on the right wall. I am much too far away to reach it, so I will walk straight ahead to close that distance.",
+        "The candelabra has grown noticeably larger ahead on the right, confirming my heading down the corridor is correct. The floor between us is still open, so I will keep walking forward to shorten the remaining gap.",
+        "The candelabra now sits clearly to my right against the wall with the yellow A, but it is still several paces off and drifting toward the edge of my view. Another step forward should bring me alongside it before I adjust my heading.",
+        "The candelabra has slid to the far right edge of my view, close to the wall with the yellow A, so walking straight would carry me past it. I will turn right to bring it back in front of me and face the approach line.",
+        "With the turn done, the candelabra sits ahead and slightly right on the floor, no longer at the edge of my view. It is still beyond arm's reach, so I will step forward to get close enough to attempt a grasp.",
+        "The candelabra is now directly at my feet in the lower part of my view, its three candles close and large. This is within reach, so I will attempt to pick it up before carrying it toward the lit exit doorway ahead.",
+        "The grasp worked: the candelabra is in my hands and no longer standing on the floor by the yellow A. The exit doorway with its green sign is still some distance ahead, so I will walk forward to carry the candelabra toward it.",
+        "The lit EXIT sign and its open doorway now sit well to my left while my heading points at the blank red wall. I will turn left so the doorway is squarely in front of me for the final approach with the candelabra.",
+        "The candelabra is in my hands and the green EXIT sign with its lit doorway now sits squarely ahead of me after my turn. I will walk forward along the corridor to close the remaining gap to that exit door before setting the candelabra down.",
+        "The doorway frame now fills much of my view with the yellow hazard chevrons on the floor just below the threshold, so I am close but not yet at the drop spot. I take another step forward to stand right at the exit door before releasing the candelabra.",
+        "I am standing inside the exit doorway itself, with the warehouse opening directly in front and the walls of the door recess on both sides. This is as near the exit door as I can place the object, so I will release the candelabra here.",
+        "The candelabra now stands on the floor within the exit doorway, out of my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_a/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Walk to the open door on the left with the green exit sign.",
+    "Type": 2,
+    "Start_Pose": [
+        -266.965,
+        -3770.551,
+        98.15,
+        0.0,
+        -157.44,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -266.965,
+            -3770.551,
+            98.15,
+            0.0,
+            -157.44,
+            0.0
+        ],
+        [
+            -266.965,
+            -3770.551,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -392.71,
+            -3765.193,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -518.455,
+            -3759.835,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -644.2,
+            -3754.476,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -769.945,
+            -3749.118,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -895.689,
+            -3743.76,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -895.689,
+            -3743.76,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The open doorway I want sits far to my left, the only gap in the dark brick wall, lit from within and capped by the glowing green exit sign. From this heading it hangs at the edge of my view behind the curved racking. I will turn left to bring that lit doorway toward the center of my path.",
+        "The exit doorway with its green sign now sits ahead of me, framed between the pallet racking on my left and the round shelving unit on my right. The blue floor between us is clear apart from a pallet trolley off to the side. I will walk forward to close the distance.",
+        "The green exit sign and the bright opening below it are growing larger and stay lined up with my heading. Nothing crosses the open floor between me and the black brick wall. I will keep walking forward toward that doorway.",
+        "I can now see through the opening into a lit corridor, so my line is still true to the exit doorway. The trolley and pallets stay well to my left and the racking to my right does not narrow my path. I will continue walking forward.",
+        "The doorway fills much of my view now, with the green sign directly above it and the yellow hazard chevrons on the threshold just ahead. I am close but still short of the opening itself. I will step forward again to reach it.",
+        "The exit sign is overhead and the doorframe spans nearly my whole view, with the corridor floor and shelved boxes plainly visible inside. One more step should carry me onto the threshold of this open door. I will walk forward.",
+        "I am standing in the open doorway, its frame flanking me on both sides with the corridor ahead. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_b/infos.json

@@ -0,0 +1,76 @@
+{
+    "Instruction": "Approach the yellow bollard nearest to the center shelving unit.",
+    "Type": 2,
+    "Start_Pose": [
+        -266.965,
+        -3770.551,
+        98.15,
+        0.0,
+        -157.44,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -266.965,
+            -3770.551,
+            98.15,
+            0.0,
+            -157.44,
+            0.0
+        ],
+        [
+            -383.193,
+            -3818.837,
+            98.15,
+            0.0,
+            -157.44,
+            0.0
+        ],
+        [
+            -499.421,
+            -3867.123,
+            98.15,
+            0.0,
+            -157.44,
+            0.0
+        ],
+        [
+            -615.649,
+            -3915.409,
+            98.15,
+            0.0,
+            -157.44,
+            0.0
+        ],
+        [
+            -615.649,
+            -3915.409,
+            98.15,
+            0.0,
+            -132.44,
+            0.0
+        ],
+        [
+            -615.649,
+            -3915.409,
+            98.15,
+            0.0,
+            -132.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Several yellow bollards stand on this warehouse floor, but the one hugging the round central shelving unit's blue upright is clearly the closest to it, so that yellow post is my target. It sits well ahead of me across open floor, so I will walk straight forward to close the gap.",
+        "The yellow post beside the round shelving unit's blue upright has grown larger and is still slightly right of my heading, confirming I am closing on it. The floor between us remains clear, so I will keep walking forward.",
+        "The curved shelving now fills much of my view and its yellow post stands just right of the blue upright, only a short distance away. I will step forward again to come alongside that bollard.",
+        "I am now right up against the shelving, and its boxes fill my view so the yellow post at the unit's edge has slipped out of sight to my right. I will turn right to bring that bollard back in front of me and face it squarely.",
+        "The yellow bollard beside the central shelving unit's upright stands directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_c/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Head toward the red fire extinguisher on the far left wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -266.965,
+        -3770.551,
+        98.15,
+        0.0,
+        -157.44,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -266.965,
+            -3770.551,
+            98.15,
+            0.0,
+            -157.44,
+            0.0
+        ],
+        [
+            -266.965,
+            -3770.551,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -392.71,
+            -3765.193,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -518.455,
+            -3759.835,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -644.2,
+            -3754.476,
+            98.15,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -644.2,
+            -3754.476,
+            98.15,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -755.899,
+            -3696.478,
+            98.15,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -867.598,
+            -3638.48,
+            98.15,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -952.458,
+            -3627.194,
+            98.15,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -952.458,
+            -3627.194,
+            98.15,
+            0.0,
+            127.56,
+            -0.0
+        ],
+        [
+            -952.458,
+            -3627.194,
+            98.15,
+            0.0,
+            127.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the dark brick wall on the far left carries the red fire extinguisher, mounted on a lit panel just left of the open exit doorway, while the racks and carousel fill the center and right. My body faces that shelving instead, so the extinguisher sits well off my heading. I will turn left to bring that wall in front of me.",
+        "The brick wall with the extinguisher panel and the glowing exit doorway now sits ahead of me, with open floor between us. Nothing blocks the lane, so I will walk forward to close that distance.",
+        "The extinguisher on its lit wall panel has grown larger and the doorway beside it is clearer, confirming I am closing on the right wall. The pallet trolley stays off to the left of my path and the floor ahead remains open. I will keep walking forward.",
+        "The red extinguisher on the brick wall is now plainly readable beside the doorway, but I am still several paces short of it. The floor ahead of the striped keep-clear marking is unobstructed. I will step forward again to shorten the gap.",
+        "Approaching this close has pushed the extinguisher panel out toward the left edge of my view while the doorway now sits ahead of me. To keep walking straight at the extinguisher rather than into the corridor, I need to swing my heading back toward it. I will turn left.",
+        "The turn has put the wall panel with the red extinguisher back in front of me, with the loaded pallet trolley sitting to its left and clear floor on my line. A few more paces should bring me right up to it. I will walk forward.",
+        "The extinguisher and its mounting board now dominate the wall directly ahead, and the trolley's pallets stay clear of my lane on the left. I am close but not yet at the wall. I will advance again.",
+        "At this range the panel shows two red items, and the tall cylinder with the black hose and brass valve is the fire extinguisher I came for, the slimmer red tube beside it being other wall equipment. It hangs just ahead within a short step. I will move forward to reach it.",
+        "I am right up against the brick, close enough that only the curved red flank of the extinguisher shows at the left edge while dark masonry fills the rest of my view. A small swing left should center the cylinder in front of me and confirm I have arrived at it.",
+        "The red fire extinguisher on its dark brick wall panel now stands directly before me, an arm's length away. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Head toward the fire safety equipment board on the wall, then proceed to the doorway.",
+    "Type": 3,
+    "Start_Pose": [
+        -268.474,
+        -1925.767,
+        398.15,
+        0.0,
+        -66.24,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -268.474,
+            -1925.767,
+            398.15,
+            0.0,
+            -66.24,
+            0.0
+        ],
+        [
+            -217.765,
+            -2040.958,
+            398.15,
+            0.0,
+            -66.24,
+            0.0
+        ],
+        [
+            -217.765,
+            -2040.958,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -217.765,
+            -2040.958,
+            398.15,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -273.411,
+            -2153.848,
+            398.15,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -329.057,
+            -2266.737,
+            398.15,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -359.992,
+            -2356.357,
+            398.224,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -359.992,
+            -2356.357,
+            398.224,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -359.992,
+            -2356.357,
+            398.224,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -359.992,
+            -2356.357,
+            398.224,
+            0.0,
+            -66.24,
+            0.0
+        ],
+        [
+            -305.733,
+            -2468.323,
+            398.15,
+            0.0,
+            -66.24,
+            0.0
+        ],
+        [
+            -255.023,
+            -2583.514,
+            398.15,
+            0.0,
+            -66.24,
+            0.0
+        ],
+        [
+            -255.023,
+            -2583.514,
+            398.15,
+            0.0,
+            -66.24,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Down this red corridor I can pick out the fire safety board with its extinguisher on the left wall, and the lit exit doorway ahead. Both destinations lie in the same direction, so I will walk forward to close the distance before angling toward the board.",
+        "The safety board with its extinguisher and mounted equipment sits well to my left, near the shelving, while my heading still points at the doorway. I will turn left to bring that board into the center of my view before advancing toward it.",
+        "The turn brought the wall panels and the extinguisher into view, but they still sit left of center behind the shelving. Another left turn should square me up with the safety board so I can walk straight at it.",
+        "The fire safety board with its extinguisher and hanging equipment now sits clearly ahead on the red wall between the shelves and the doorway. My heading is good, so I will walk forward to close on it.",
+        "The safety board is larger in view now, but I am still several paces short of standing at it. I will keep walking forward toward the extinguisher on that panel.",
+        "The extinguisher, the white container and the mounted tools on the board now fill much of my view just ahead and slightly left. One more short step forward should bring me right up to the board.",
+        "The extinguisher, the white canister and the mounted tools on the perforated panel are right in front of me at arm's length. I have reached the fire safety equipment board on the wall. I mark reaching it, and now I set off for the lit doorway off to my right.",
+        "With the safety board reached, the only thing left is the bright doorway glowing at the right edge of my view past the crate. I will turn right to swing that opening toward the center of my view.",
+        "The green exit sign and the opening beneath it have swung into view, but they still sit right of my heading with the red wall filling the middle. A second right turn should put that doorway straight ahead of me for a clean approach.",
+        "The doorway now sits squarely ahead, its yellow floor markings and the lit racking beyond framed in the middle of my view. Nothing blocks the floor between me and it, so I will walk straight forward.",
+        "The frame has grown to fill most of my view and the yellow chevrons on the floor are almost underfoot. One more step forward should carry me into the opening itself.",
+        "I am standing in the doorway with its jamb beside me and the warehouse floor opening out ahead. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_c/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Move to the yellow and black striped post, then approach the doorway.",
+    "Type": 3,
+    "Start_Pose": [
+        -268.474,
+        -1925.767,
+        398.15,
+        0.0,
+        -66.24,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -268.474,
+            -1925.767,
+            398.15,
+            0.0,
+            -66.24,
+            0.0
+        ],
+        [
+            -268.474,
+            -1925.767,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -271.198,
+            -2051.597,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -273.921,
+            -2177.426,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -273.921,
+            -2177.426,
+            398.15,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -329.568,
+            -2290.315,
+            398.15,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -329.568,
+            -2290.315,
+            398.15,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -329.568,
+            -2290.315,
+            398.15,
+            0.0,
+            -116.24,
+            0.0
+        ],
+        [
+            -329.568,
+            -2290.315,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -332.291,
+            -2416.145,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -330.849,
+            -2539.544,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -330.849,
+            -2539.544,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ],
+        [
+            -330.849,
+            -2539.544,
+            398.15,
+            0.0,
+            -91.24,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Down this red corridor I can see the lit doorway straight ahead, but the yellow and black chevron post sits low against the left wall, near the edge of my view. Since the striped post is my first destination, I will turn left to bring it and the left side of the corridor properly in front of me.",
+        "The striped post is now ahead on the left, low beside the shelving racks, and the floor between us is clear and open. I will walk forward to close that distance.",
+        "The chevron post has grown larger at the base of the left wall and the striped floor marking beside it is clearly readable now, so I am still short of it. I will keep walking forward along the open corridor to draw closer.",
+        "The striped post now sits well off to my left, close to the shelves, while my heading still points down the corridor at the doorway. I will turn left so the post is squarely in front of me before I finish closing on it.",
+        "Facing left, the yellow and black chevron post is directly ahead of me at the foot of the wall with the fire extinguisher board, only a short distance off. I will step forward to stand right at it.",
+        "I am now right up against the wall with the extinguisher board, and the striped post should be low and close, below my current line of sight. I will look down to confirm I am standing at it.",
+        "The yellow and black chevron post stands directly at my feet, with the striped keep clear marking on the floor beside it. I have reached the striped post. I mark reaching it before setting off for the lit doorway that opens into the warehouse.",
+        "Standing at the striped post, the bright opening into the warehouse lies off to my right, at the edge of my view past the crate. I will turn right to face that doorway before walking toward it.",
+        "The lit opening under the green exit sign now sits ahead of me with the racking visible through it, and the floor between here and the threshold is clear. I will walk forward to close on that doorway.",
+        "The opening has widened considerably, the yellow chevrons on its threshold are large in front of me, and I can see racking and pallets beyond. I am still a step short of the frame, so I will walk forward again.",
+        "The door frame is right beside me and the red wall fills my left, so the threshold itself has slipped below my line of sight. I will look down to check whether I am standing at the opening.",
+        "The chevron-marked threshold lies directly at my feet with the warehouse floor opening past the jamb. Both destinations are reached, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Approach the stacked wooden pallets, then move to the open doorway.",
+    "Type": 3,
+    "Start_Pose": [
+        -286.476,
+        -3728.443,
+        98.275,
+        0.0,
+        157.44,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -286.476,
+            -3728.443,
+            98.275,
+            0.0,
+            157.44,
+            -0.0
+        ],
+        [
+            -402.704,
+            -3680.157,
+            98.275,
+            0.0,
+            157.44,
+            -0.0
+        ],
+        [
+            -402.704,
+            -3680.157,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -487.636,
+            -3587.275,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -572.568,
+            -3494.393,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -657.5,
+            -3401.511,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -657.5,
+            -3401.511,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -595.147,
+            -3469.701,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -595.147,
+            -3469.701,
+            98.275,
+            0.0,
+            157.44,
+            -0.0
+        ],
+        [
+            -595.147,
+            -3469.701,
+            98.275,
+            0.0,
+            -177.56,
+            0.0
+        ],
+        [
+            -595.147,
+            -3469.701,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -706.846,
+            -3527.699,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -818.545,
+            -3585.698,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -926.044,
+            -3647.269,
+            98.15,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -926.044,
+            -3647.269,
+            98.15,
+            0.0,
+            -152.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see the tall stack of wooden pallets standing in the racking on the left and the lit open doorway in the black brick wall ahead to the right. The pallets are my first destination, so I will walk forward to cut down the open floor between us.",
+        "The pallet stack now sits off to my left while my heading still points at the open floor and the doorway. To walk straight into the pallets I need my body aimed at them, so I will turn left to bring that stack toward the center of my view.",
+        "The stack of wooden pallets now sits squarely ahead between the blue rack uprights, with clear floor leading up to it. I will walk forward to close that remaining gap.",
+        "The pallet slats are noticeably larger and the yellow floor marking at their base is coming into view, so I am closing well. Nothing blocks the lane between me and them, so I will keep walking forward.",
+        "The stacked pallets now fill most of my view and their boards are close enough to read individually. One more step forward should put me right at them.",
+        "The pale wooden slats of the stacked pallets fill my view at arm's length, with the rack beam and its labels right beside them. I am standing at the stacked pallets. I mark reaching them, and now I turn my attention to the lit open doorway in the brick wall.",
+        "The pallet boards are pressed so close that I can see almost nothing else, which leaves me no room to swing around toward the doorway. I will step back to open up space in front of me and let the aisle come back into view.",
+        "Backing off has given me the whole pallet stack and the floor beside it again, but my heading still faces the racking. The open doorway lies off to my right, so I will turn right to start bringing it back into view.",
+        "The black brick wall with its extinguisher panel and the wheeled pallet trolley have swung into view on my right, but the lit opening is still further around. I will turn right again to bring the doorway toward the middle of my heading.",
+        "The doorway with its green exit light is now visible under the brick wall, but it sits well to the right of straight ahead, with the trolley of pallets between me and it. One more turn right should line my heading up with that opening.",
+        "The bright opening in the brick wall now sits close to the center of my heading, with the shelved room beyond it clearly visible and open floor leading up to the yellow markings. I will walk forward toward it.",
+        "The frame of the opening has grown noticeably and I can pick out the boxes on the shelves inside, so my line is good. The pallet trolley stays off to my left of the entry, leaving the way clear, so I keep walking forward.",
+        "The doorway now fills much of my view and the yellow chevrons on its threshold are just ahead of my feet. One more step should carry me into the opening itself.",
+        "I am standing in the open doorway with the lit storage room and its shelves surrounding me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_c/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Navigate to the pallet on the floor, then reach the yellow safety barrier.",
+    "Type": 3,
+    "Start_Pose": [
+        -286.476,
+        -3728.443,
+        98.275,
+        0,
+        157.44,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -286.476,
+            -3728.443,
+            98.275,
+            0,
+            157.44,
+            0
+        ],
+        [
+            -402.704,
+            -3680.157,
+            98.275,
+            0.0,
+            157.44,
+            -0.0
+        ],
+        [
+            -518.932,
+            -3631.871,
+            98.275,
+            0.0,
+            157.44,
+            -0.0
+        ],
+        [
+            -635.16,
+            -3583.585,
+            98.275,
+            0.0,
+            157.44,
+            -0.0
+        ],
+        [
+            -635.16,
+            -3583.585,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -720.092,
+            -3490.703,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -720.092,
+            -3490.703,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -720.092,
+            -3490.703,
+            98.275,
+            0.0,
+            107.44,
+            -0.0
+        ],
+        [
+            -720.092,
+            -3490.703,
+            98.275,
+            0.0,
+            82.44,
+            -0.0
+        ],
+        [
+            -720.092,
+            -3490.703,
+            98.275,
+            0.0,
+            57.44,
+            -0.0
+        ],
+        [
+            -652.357,
+            -3384.626,
+            98.275,
+            0.0,
+            57.44,
+            -0.0
+        ],
+        [
+            -584.622,
+            -3278.548,
+            98.275,
+            0.0,
+            57.44,
+            -0.0
+        ],
+        [
+            -584.622,
+            -3278.548,
+            98.275,
+            0.0,
+            57.44,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the aisle is clear, with pallets stacked on the floor beside the racking to my left and a yellow safety barrier further along that same side. The pallets are still well down the aisle, so I walk forward to close that distance first.",
+        "The stacked pallets by the racking have grown noticeably larger and the brick wall with the extinguisher is nearer, so my heading is carrying me the right way. I keep walking forward to shorten the remaining gap to the pallets.",
+        "The pallets are close now, with the loaded trolley and the KEEP CLEAR marking just ahead of them. Nothing blocks my path, so another step forward should bring me within a body length of the pallets on the floor.",
+        "The pallets resting on the floor now sit off toward my left, while straight ahead I am facing only the black brick wall and its extinguisher board. I turn left to put those pallets in front of me before stepping in.",
+        "With the turn done, the upright pallets leaning against the blue and orange racking are square in front of me and the floor between us is clear. I walk forward to close the last of that gap and stand at them.",
+        "The pallets standing on the floor are right against me now, their slats filling the left of my view at the edge of the racking. I have reached the pallets, so I mark arriving here before setting off toward the yellow safety barrier.",
+        "Straight ahead there is only rack steel and stacked grey panels, so I cannot head onward on this bearing. The yellow safety barrier lies around to my left, and turning left starts swinging my heading toward it.",
+        "A section of yellow railing has come into view at my left, partly hidden behind the pallet slats beside me. I turn left again to bring that barrier fully in front of me and clear of the pallets before I advance.",
+        "The yellow railing now runs across the left half of my view, guarding the boxed pallets under the racking, while the pale slats still crowd my right side. One more turn left should centre that railing and give me an open stretch of floor to walk along.",
+        "The yellow railing sits squarely ahead of me now, with clear blue floor and the red and white striped marking between us. Nothing stands in the way, so I walk forward to cut down that gap.",
+        "The railing posts and their bolted base plates are much larger and I can already pick out individual cartons behind the bars. A further step should put me right up against the barrier.",
+        "The yellow barrier rail is directly in front of me, close enough that its tubing fills my view. I have reached it, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t5_a_pd/infos.json

@@ -0,0 +1,297 @@
+{
+    "Instruction": "Lift the green bell pepper by the yellow safety barrier, then leave it at the open doorway.",
+    "Type": 5,
+    "Start_Pose": [
+        -286.476,
+        -3728.443,
+        98.275,
+        0,
+        157.44,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -677.028,
+        -3369.815,
+        38.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -286.476,
+            -3728.443,
+            98.275,
+            0,
+            157.44,
+            0
+        ],
+        [
+            -402.704,
+            -3680.157,
+            98.275,
+            0.0,
+            157.44,
+            -0.0
+        ],
+        [
+            -402.704,
+            -3680.157,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -487.636,
+            -3587.275,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -572.568,
+            -3494.393,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -572.568,
+            -3494.393,
+            98.275,
+            0.0,
+            132.44,
+            -0.0
+        ],
+        [
+            -572.568,
+            -3494.393,
+            98.275,
+            0.0,
+            157.44,
+            -0.0
+        ],
+        [
+            -572.568,
+            -3494.393,
+            98.275,
+            0.0,
+            -177.56,
+            0.0
+        ],
+        [
+            -572.568,
+            -3494.393,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -684.267,
+            -3552.392,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -795.966,
+            -3610.39,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -907.665,
+            -3668.388,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -843.766,
+            -3635.209,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -843.766,
+            -3635.209,
+            98.275,
+            0.0,
+            -152.56,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -677.028,
+            -3369.815,
+            38.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -677.028,
+            -3369.815,
+            38.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -677.028,
+            -3369.815,
+            38.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -677.028,
+            -3369.815,
+            38.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -677.028,
+            -3369.815,
+            38.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -587.915,
+            -3509.254,
+            68.256,
+            -28.202,
+            -177.415,
+            1.862
+        ],
+        [
+            -580.558,
+            -3515.235,
+            68.529,
+            -28.189,
+            -152.403,
+            1.872
+        ],
+        [
+            -571.762,
+            -3516.903,
+            67.862,
+            -28.215,
+            -127.433,
+            1.849
+        ],
+        [
+            -565.188,
+            -3520.469,
+            67.916,
+            -14.092,
+            -110.216,
+            6.87
+        ],
+        [
+            -673.779,
+            -3571.008,
+            68.482,
+            -28.198,
+            -102.415,
+            1.865
+        ],
+        [
+            -785.74,
+            -3629.145,
+            67.945,
+            -28.191,
+            -102.401,
+            1.871
+        ],
+        [
+            -897.555,
+            -3687.193,
+            67.664,
+            -28.214,
+            -102.43,
+            1.852
+        ],
+        [
+            -905.891,
+            -3667.466,
+            88.275,
+            0.0,
+            -152.56,
+            0.0
+        ],
+        [
+            -905.891,
+            -3667.466,
+            88.275,
+            0.0,
+            -152.56,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        530.2,
+        414.2,
+        414.2,
+        288.4,
+        162.6,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The green bell pepper sits far ahead on the floor beside the yellow safety barrier, well out of reach from here. I will walk forward across the open bay to cut down that distance before worrying about fine alignment.",
+        "The pepper now sits noticeably to my left, near the yellow barrier and pallet stack, while my heading still points at the far wall and doorway. I will turn left so the pepper moves toward the center of my view and forward steps carry me straight at it.",
+        "The pepper is now roughly centered ahead of me on the blue floor with clear ground in between. I will step forward to close the remaining gap toward it.",
+        "The pepper has grown much larger and sits just ahead near the cardboard box and pallet stack, but it is still short of comfortable grabbing range. I will take one more step forward so it is right at my feet before attempting the grasp.",
+        "The green pepper is now directly in front of me at the base of the pallet stack, 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 doorway.",
+        "The grasp worked and the pepper is now held in my hands. The lit doorway I need lies well around to my right, behind the pallet racks currently in front of me. I will turn right to begin bringing that exit back into view.",
+        "I am still carrying the pepper, but my view remains dominated by the pallet stack and the dark brick wall with the extinguisher, and the doorway is not yet in front of me. I will keep turning right to swing my heading further toward that exit side of the bay.",
+        "The open doorway under the green exit sign is now visible, but it sits right of center while I still hold the pepper. I will turn right once more to line my heading up with that opening so I can walk straight through it.",
+        "The green pepper is in my hands, and the lit doorway with the green exit sign now sits ahead of me across the open floor. I will walk forward to close that gap and carry the pepper toward the doorway.",
+        "The doorway has grown larger and the yellow floor markings at its threshold are visible just ahead, so I am still short of it while carrying the pepper. I will step forward again to reach the opening.",
+        "I am right at the open doorway now, with the frame on both sides and the storage room lit beyond it. One more step should place me in the opening itself, where the pepper needs to be left.",
+        "I have passed into the open doorway with the pepper still in hand, and the destination named by the task is exactly this opening. I will release the pepper here so it settles at the doorway.",
+        "The green pepper now rests in the open doorway and my hands are empty. The task condition is satisfied, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000291_y-000395_z000098_t3_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Approach the black-yellow striped bollard, then move to the green container on the lower shelf.",
+    "Type": 3,
+    "Start_Pose": [
+        -290.948,
+        -395.492,
+        98.15,
+        0.0,
+        -96.16,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -290.948,
+            -395.492,
+            98.15,
+            0.0,
+            -96.16,
+            0.0
+        ],
+        [
+            -304.453,
+            -520.624,
+            98.15,
+            0.0,
+            -96.16,
+            0.0
+        ],
+        [
+            -304.453,
+            -520.624,
+            98.15,
+            0.0,
+            -121.16,
+            0.0
+        ],
+        [
+            -369.577,
+            -628.325,
+            98.15,
+            0.0,
+            -121.16,
+            0.0
+        ],
+        [
+            -434.7,
+            -736.026,
+            98.15,
+            0.0,
+            -121.16,
+            0.0
+        ],
+        [
+            -499.823,
+            -843.727,
+            98.15,
+            0.0,
+            -121.16,
+            0.0
+        ],
+        [
+            -499.823,
+            -843.727,
+            98.15,
+            0.0,
+            -121.16,
+            0.0
+        ],
+        [
+            -499.823,
+            -843.727,
+            98.15,
+            0.0,
+            -121.16,
+            0.0
+        ],
+        [
+            -499.823,
+            -843.727,
+            98.15,
+            0.0,
+            -96.16,
+            0.0
+        ],
+        [
+            -499.823,
+            -843.727,
+            98.15,
+            0.0,
+            -71.16,
+            0.0
+        ],
+        [
+            -499.823,
+            -843.727,
+            98.15,
+            0.0,
+            -46.16,
+            0.0
+        ],
+        [
+            -499.823,
+            -843.727,
+            98.15,
+            0.0,
+            -21.16,
+            0.0
+        ],
+        [
+            -499.823,
+            -843.727,
+            98.15,
+            0.0,
+            3.84,
+            -0.0
+        ],
+        [
+            -374.246,
+            -835.298,
+            98.15,
+            0.0,
+            3.84,
+            -0.0
+        ],
+        [
+            -248.67,
+            -826.869,
+            98.15,
+            0.0,
+            3.84,
+            -0.0
+        ],
+        [
+            -123.094,
+            -818.44,
+            98.15,
+            0.0,
+            3.84,
+            -0.0
+        ],
+        [
+            -123.094,
+            -818.44,
+            98.15,
+            0.0,
+            3.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The black and yellow striped bollard sits ahead on the left, at the corner of the low rack, with a wide stretch of open blue floor between us. Nothing blocks the direct line, so I will walk forward to cut that distance before refining my heading.",
+        "After closing some ground, the striped bollard now sits well off to my left near the low rack, while my heading points at the racking straight ahead. I will turn left so the bollard moves toward the middle of my view and I can walk straight at it.",
+        "The striped bollard now sits near the center left of my view beside the yellow guard rail, and the aisle floor in front of me is clear. I will step forward to keep closing on it.",
+        "The striped bollard is noticeably larger and lower in my view, so I am gaining on it but still a couple of strides short. I will keep walking forward along the same line.",
+        "The striped bollard now fills the lower left of my view at close range, just short of arm's length from my path. One more step forward should bring me right up beside it.",
+        "I have pulled in so close that the racking and the yellow guard rail fill my view and the striped bollard has slipped below my line of sight. I will look down to bring the floor at my feet into view and confirm I am standing right at it.",
+        "The black and yellow striped bollard is right at my feet in the lower left, with the yellow guard rail bolted to the floor beside me. I am standing at it. I mark reaching this bollard, then set off for the green container resting on the lower shelf.",
+        "From this spot the racking and guard rail crowd my view, and no green container shows on any lower shelf in front of me. I will turn right to sweep my heading across the shelving on that side and look for it.",
+        "Having marked reaching the striped bollard, my view is still filled with pallet racking and the yellow guardrail, with no green container in sight. I will keep turning right to sweep the aisle for the shelving that holds it.",
+        "The rotation has brought a long orange rack with cartons and pallets into view, but nothing green appears on its lower levels. I will continue the rightward sweep to open up more of the aisle beyond this rack.",
+        "At the far right edge of my view a rounded green drum sits on a low shelf beside yellow guardrails, which matches the green container I am after. Turning right again should bring it out of the periphery and into the middle of my view.",
+        "The green drum and its grey neighbour now sit on the lower shelf ahead of me, but slightly right of my heading and partly behind a guardrail. One more right turn should line my path down the open lane toward them.",
+        "My heading now runs straight down the open blue floor toward the racking where the green drum rests on the lower shelf. The lane ahead is clear of pallets and guardrails, so I will walk forward to close the distance.",
+        "The green drum on the lower shelf has grown noticeably larger and stays ahead of me beside the grey one. Nothing blocks the floor between us, so I will step forward again to close in.",
+        "The green container now fills a good part of my view on the lower shelf, just past the yellow guardrail post. A final step forward should bring me right up to it.",
+        "The green container stands directly in front of me at arm's length on the lower shelf. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000291_y-000395_z000098_t5_a_pd/infos.json

@@ -0,0 +1,335 @@
+{
+    "Instruction": "Grab the wicker basket by the black-and-yellow striped bollard, then place it near the green container on the lower shelf.",
+    "Type": 5,
+    "Start_Pose": [
+        -290.948,
+        -395.492,
+        98.15,
+        0,
+        -96.16,
+        0
+    ],
+    "PD_ID": 7,
+    "PD_Size": 2.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -453.546,
+        -901.801,
+        33.15,
+        90,
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+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -290.948,
+            -395.492,
+            98.15,
+            0,
+            -96.16,
+            0
+        ],
+        [
+            -304.453,
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+            0.0,
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+            0.0
+        ],
+        [
+            -304.453,
+            -520.624,
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+            0.0
+        ],
+        [
+            -369.577,
+            -628.325,
+            98.15,
+            0.0,
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+            0.0
+        ],
+        [
+            -434.7,
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+            98.15,
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            -21.16,
+            0.0
+        ],
+        [
+            -317.327,
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+            98.15,
+            0.0,
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+            0.0
+        ],
+        [
+            -199.954,
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+            0.0,
+            -21.16,
+            0.0
+        ],
+        [
+            -199.954,
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+            0.0,
+            3.84,
+            -0.0
+        ],
+        [
+            -74.377,
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+            98.15,
+            0.0,
+            3.84,
+            -0.0
+        ],
+        [
+            -146.216,
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+            98.15,
+            0.0,
+            3.84,
+            -0.0
+        ],
+        [
+            -146.216,
+            -823.283,
+            98.15,
+            0.0,
+            3.84,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -453.546,
+            -901.801,
+            33.15,
+            90.0,
+            -96.16,
+            0.0
+        ],
+        [
+            -453.546,
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+            0.0
+        ],
+        [
+            -453.546,
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+            33.15,
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+            -96.16,
+            0.0
+        ],
+        [
+            -453.546,
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+            33.15,
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+            -96.16,
+            0.0
+        ],
+        [
+            -453.546,
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+            -96.16,
+            0.0
+        ],
+        [
+            -416.111,
+            -746.553,
+            68.256,
+            -28.202,
+            -71.016,
+            1.862
+        ],
+        [
+            -412.45,
+            -737.807,
+            68.529,
+            -28.189,
+            -46.003,
+            1.872
+        ],
+        [
+            -413.333,
+            -728.898,
+            67.862,
+            -28.215,
+            -21.033,
+            1.849
+        ],
+        [
+            -411.768,
+            -721.584,
+            67.916,
+            -14.092,
+            -3.816,
+            6.87
+        ],
+        [
+            -427.358,
+            -715.849,
+            67.932,
+            -28.208,
+            28.982,
+            1.851
+        ],
+        [
+            -310.267,
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+            -28.189,
+            28.998,
+            1.869
+        ],
+        [
+            -193.155,
+            -806.628,
+            68.736,
+            -28.205,
+            28.975,
+            1.859
+        ],
+        [
+            -201.589,
+            -805.018,
+            67.683,
+            -28.202,
+            53.981,
+            1.86
+        ],
+        [
+            -76.156,
+            -797.177,
+            67.797,
+            -28.201,
+            53.984,
+            1.857
+        ],
+        [
+            -76.373,
+            -818.595,
+            63.15,
+            90.0,
+            3.84,
+            0.0
+        ],
+        [
+            -76.373,
+            -818.595,
+            63.15,
+            90.0,
+            3.84,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        531.8,
+        409.3,
+        409.3,
+        286.1,
+        166.8,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.5,
+        21.4,
+        21.4,
+        21.9,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The wicker basket is standing upright on the floor ahead, right beside the black-and-yellow striped bollard at the base of the racking. It is still far across the open blue floor, so I will walk forward to close that distance before any grasp is possible.",
+        "From here the basket and its striped bollard sit slightly left of my heading, with the yellow guardrail and racking crowding the path straight ahead. I will turn left to put the basket more centrally in front of me for a clean straight approach.",
+        "The basket now sits near the middle of my view beside the yellow guard and the striped corner protector, with clear floor in between. I will step forward along this heading to shorten the gap toward it.",
+        "I can see the basket clearly ahead on the floor, but it is still beyond comfortable reach for a grasp. I will take another step forward so it comes close enough in front of me to attempt the pick.",
+        "The wicker basket is now filling the near right of my view, close beside the striped bollard and well inside reach. My hands are empty, so I will attempt to grasp it now.",
+        "The grasp worked: the basket is held in my hands rather than resting on the floor. The green container on the lower shelf is not in front of me from this heading, so I will turn right to begin sweeping toward the shelving where it should be.",
+        "I am still carrying the basket, and this heading shows only pallet racks, a yellow guardrail and the sector wall, with no green container in sight. I will keep turning right to continue scanning the aisles for the lower shelf holding it.",
+        "With the basket still in hand, this view shows racking with cardboard boxes and yellow rails but no green container on any lower shelf. I will turn right again to bring more of the aisle into view and locate the drop target.",
+        "The wicker basket is in my hands, so I now need the drop site rather than the bollard. The green container and its grey neighbour have edged into the right side of my view on a lower pallet shelf, still off my heading. One more right turn should place that bay near the center before I walk toward it.",
+        "My heading now points down the aisle toward the lower shelf where the green container stands beside the grey one. Carrying the basket, I am still well short of placing range, so I walk forward to close that gap.",
+        "The green container and the pallet under it have grown noticeably larger, confirming I am tracking the right bay. There is still open floor between me and the racking, so another forward step should bring me close enough to work at the lower shelf.",
+        "I am close to the racking now, but the yellow guard rail sits directly across my path on the near left, so a straight step would run me into it. Turning right should swing my heading past the rail toward the open pallet space beside the green container.",
+        "With the rail no longer straight ahead, the pallet holding the green and grey drums lies clear in front of me. I step forward to reach the lower shelf so the basket can be set down right beside that green container.",
+        "I am now right at the lower shelf, with the green drum and its grey neighbour within arm's reach in front of me. This is the placement spot the task calls for, so I release the wicker basket here and it should come to rest next to the green container.",
+        "The wicker basket is resting on the lower shelf directly beside the green container, and my hands are empty. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000350_y-000495_z000098_t3_a/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Walk to the fire extinguisher on the wall, then head toward the fire extinguisher on 03 shelf.",
+    "Type": 3,
+    "Start_Pose": [
+        -350.291,
+        -494.868,
+        98.15,
+        0.0,
+        -143.2,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -350.291,
+            -494.868,
+            98.15,
+            0.0,
+            -143.2,
+            0.0
+        ],
+        [
+            -350.291,
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
+            -719.889,
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+            0.0
+        ],
+        [
+            -843.088,
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+            0.0
+        ],
+        [
+            -843.088,
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+            -0.0
+        ],
+        [
+            -965.622,
+            -569.079,
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+            0.0,
+            166.8,
+            -0.0
+        ],
+        [
+            -1088.155,
+            -540.339,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1203.469,
+            -506.696,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1203.469,
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+            0.0,
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+            0.0
+        ],
+        [
+            -1203.469,
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+            0.0
+        ],
+        [
+            -1203.469,
+            -506.696,
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+            0.0,
+            -143.2,
+            0.0
+        ],
+        [
+            -1203.469,
+            -506.696,
+            98.15,
+            0.0,
+            -118.2,
+            0.0
+        ],
+        [
+            -1203.469,
+            -506.696,
+            98.15,
+            0.0,
+            -93.2,
+            0.0
+        ],
+        [
+            -1203.469,
+            -506.696,
+            98.15,
+            0.0,
+            -68.2,
+            0.0
+        ],
+        [
+            -1203.469,
+            -506.696,
+            98.15,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            -1203.469,
+            -506.696,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -1083.906,
+            -546.006,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -964.343,
+            -585.316,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -844.781,
+            -624.627,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -725.218,
+            -663.937,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -725.218,
+            -663.937,
+            98.15,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            -725.218,
+            -663.937,
+            98.15,
+            0.0,
+            -68.2,
+            0.0
+        ],
+        [
+            -725.218,
+            -663.937,
+            98.15,
+            0.0,
+            -93.2,
+            0.0
+        ],
+        [
+            -737.825,
+            -710.136,
+            118.033,
+            0.0,
+            -93.2,
+            0.0
+        ],
+        [
+            -737.825,
+            -710.136,
+            118.033,
+            0.0,
+            -93.2,
+            0.0
+        ],
+        [
+            -737.825,
+            -710.136,
+            118.033,
+            0.0,
+            -93.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Straight ahead of me the racking and the barrier block any useful run, while an open lane between the shelving units lies off to my left. I turn left to line myself up with that aisle so I can head down it toward the far wall where an extinguisher should be mounted.",
+        "The aisle between the two racks now runs straight ahead of me and the far grey wall with its red safety signage closes the end of it. The blue floor is clear of pallets, so I walk forward to begin closing that distance.",
+        "The end wall has grown noticeably larger and I can now pick out a red extinguisher next to the notice board mounted there. Nothing intrudes into the lane, so I keep walking forward toward it.",
+        "The wall-mounted board with its red extinguisher is clearly visible ahead and slightly left, still well beyond reach. The corridor stays open between the racking, so I advance again.",
+        "The back wall with the first-aid board and the mounted extinguisher is much nearer, but the workbench and bins in front of it tell me I am still several paces short. I step forward once more to keep closing.",
+        "My heading is pointed at the workbench and shelving, while the red extinguisher on its wall board sits off to my left. I turn left so the mounted extinguisher comes into the middle of my view before I advance further.",
+        "The board carrying the red extinguisher now sits squarely ahead of me with open floor between us. I walk forward to close the remaining gap to the wall.",
+        "The extinguisher on its grey wall panel is close ahead, though a bin and cartons still mark a short gap of floor between me and the wall. I step forward again, which should bring me right up beside it.",
+        "The grey mounting board with the red extinguisher on it now dominates the wall directly ahead of me, only a short distance off. I will step forward again to close that remaining gap and stand right at the wall-mounted extinguisher.",
+        "I am close enough to the wall board that the colour-code chart fills my left side while the red extinguisher is pushed to the right edge and partly cut off. Turning right should bring the extinguisher squarely into the middle of my view.",
+        "The red extinguisher hangs squarely in front of me on its grey wall board, near enough to touch. I have reached the fire extinguisher mounted on the wall. I mark arriving here before heading off toward the extinguisher on the 03 shelf.",
+        "Arrival at the wall extinguisher is already marked, and the board still fills my view at arm's length with no route forward. The 03 shelf lies back out in the racking aisle behind me, so I will turn right to start swinging away from this wall.",
+        "The extinguisher board has slid to my left edge, and ahead I only see the corner wall with its yellow bins and the parts table. There is still no walkable lane in front of me, so I will keep turning right toward the open aisle.",
+        "My heading now faces the bin rack and the cluttered work table hard against the wall, with shelving and boxes just appearing on the right. Another right turn should carry me further around toward the aisle leading back into the racking.",
+        "Pallet racking with boxes and equipment now fills most of my view, and a strip of blue aisle floor has appeared at the right edge. I will turn right again to bring that open lane closer to straight ahead.",
+        "The racking bays are sliding to my left and the wide blue aisle now opens across the right half of my view. One more right turn should put that clear lane in front of me for the walk toward the 03 shelf.",
+        "Having finished at the wall-mounted extinguisher, I am swinging my heading back out of this corner, and the racks still crowd the left while the open blue floor lies to my right. One more turn to the right should put that clear aisle straight in front of me for the walk toward the storage bays.",
+        "The aisle now opens straight ahead across the blue floor, with pallet racking on both sides and nothing blocking the lane. I will walk forward to cover the distance toward the shelving bays where the extinguisher I want is mounted.",
+        "The far racking and the sector doorway on the right have grown noticeably larger, so my heading is carrying me correctly down the open floor. Another step forward should keep closing on the shelving area ahead.",
+        "I am well into the open bay now, with the low racks and pallets ahead of me and the red door off to the right. The shelving I need is still further along this line, so I keep walking forward.",
+        "The sector lettering on the walls is now large on both sides, which means I am nearly level with the shelving rows rather than out in the middle of the floor. One more step forward should bring me close enough to turn in toward the bays.",
+        "I have arrived beside the shelving rows, and the racks I want to inspect run off to my left while my body still points down the open floor. I turn left to bring those bays and their uprights around into the front of my view.",
+        "The turn has brought the yellow sector wall and the pallet racks into frame, but the shelving column I need is still off past the left edge. I continue rotating left to bring that end of the bay into the center of my view.",
+        "A red fire extinguisher is now visible mounted on the shelf upright at the far left of my view, close beside the storage bay. One more left turn should center it so I can walk straight in toward it.",
+        "The red extinguisher clamped to the shelf upright is now centered just ahead of me, but a short gap of aisle floor still separates us. I will step forward to close that remaining distance and stand directly at the rack post where it hangs.",
+        "I am now right at the rack post, close enough that the extinguisher sits high and near the top edge of my view. I will look up so the mounted extinguisher is fully framed and I can confirm I am standing at it.",
+        "The extinguisher on the shelf upright fills my view at arm's reach. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Approach the white electrical box on the wall, then move to the shelf labeled 03.",
+    "Type": 3,
+    "Start_Pose": [
+        -369.185,
+        -5998.777,
+        98.15,
+        0.0,
+        -49.92,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -369.185,
+            -5998.777,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -288.15,
+            -6095.077,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -207.115,
+            -6191.378,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -207.115,
+            -6191.378,
+            98.15,
+            0.0,
+            -24.92,
+            0.0
+        ],
+        [
+            -92.974,
+            -6244.409,
+            98.15,
+            0.0,
+            -24.92,
+            0.0
+        ],
+        [
+            21.168,
+            -6297.44,
+            98.15,
+            0.0,
+            -24.92,
+            0.0
+        ],
+        [
+            21.168,
+            -6297.44,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            102.203,
+            -6393.74,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            102.203,
+            -6393.74,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            102.203,
+            -6393.74,
+            98.15,
+            0.0,
+            -24.92,
+            0.0
+        ],
+        [
+            102.203,
+            -6393.74,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            228.062,
+            -6393.565,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            353.921,
+            -6393.389,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            479.779,
+            -6393.213,
+            99.305,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            479.779,
+            -6393.213,
+            99.305,
+            0.0,
+            0.08,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the pale electrical box mounted on the dark brick wall well ahead of me, past the end of the pallet racking. It is far too distant to count as reached, so I will walk forward along the open floor to close that gap.",
+        "The electrical box on the brick wall has grown noticeably larger, confirming my heading is carrying me toward it. There is still open floor between us, so I will keep walking forward.",
+        "The pallet rack and the flat cart crowd the space directly in front of me on the left, so a straight advance would run into that corner. Turning right should swing my heading into the open aisle running along the brick wall, giving me a clear lane to continue toward the electrical box.",
+        "The floor ahead is now clear and the brick wall with the electrical box runs down my left side. I will step forward along this lane to bring myself alongside that box.",
+        "The beige electrical box with its yellow warning label is much closer now, sitting on the brick wall to my left. I am still short of standing beside it, so I will advance another step.",
+        "The electrical box has drifted to the far left edge of my view as I came alongside the brick wall. Turning left should bring the box back into the middle of my view so I can face it directly.",
+        "The electrical box now sits squarely in front of me on the brick wall, with its conduit running down beneath it. A short step forward should put me right up against it.",
+        "The white electrical box fills my view close enough to read its warning label and see its latch and the papers tucked beside it. I have reached it. I mark reaching this wall box and now turn my attention to the tall storage shelf labeled 03 off to my right.",
+        "The white electrical box fills my view at close range, so nothing more is needed here and I am heading for the tall rack marked 03. That rack sits well off to my right, beyond the edge of what I can see, so I will turn right to bring it back into view.",
+        "The rack with the 03 placard has come into view, but it sits toward the right side of my field of vision rather than in front of me. A further turn to the right should place it near the center so I can walk straight at it.",
+        "The rack bearing the 03 sign now stands roughly ahead of me with the neighboring 04 rack to its right. The floor between us is open apart from scattered cartons off to the side, so I will step forward to close the distance.",
+        "The 03 placard and the yellow base of that rack are noticeably larger now, and the aisle marking on the floor runs straight to it. I will keep walking forward to bring myself right up to the shelf.",
+        "I am close enough that the rack's frame, its fire extinguisher and the teal bin fill most of my view, though the yellow base still sits a short step away. One more step forward should put me right at the shelf.",
+        "The rack's frame, extinguisher and teal bin are directly against me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_c/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Head toward the yellow drum on the top shelf, then reach the white electrical box on the brick wall.",
+    "Type": 3,
+    "Start_Pose": [
+        -369.185,
+        -5998.777,
+        98.15,
+        0.0,
+        -49.92,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookUp",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -369.185,
+            -5998.777,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -288.15,
+            -6095.077,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -288.15,
+            -6095.077,
+            98.15,
+            0.0,
+            -74.92,
+            0.0
+        ],
+        [
+            -255.405,
+            -6216.602,
+            98.15,
+            0.0,
+            -74.92,
+            0.0
+        ],
+        [
+            -255.405,
+            -6216.602,
+            98.15,
+            0.0,
+            -74.92,
+            0.0
+        ],
+        [
+            -255.405,
+            -6216.602,
+            98.15,
+            0.0,
+            -74.92,
+            0.0
+        ],
+        [
+            -255.405,
+            -6216.602,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -255.405,
+            -6216.602,
+            98.15,
+            0.0,
+            -24.92,
+            0.0
+        ],
+        [
+            -255.405,
+            -6216.602,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            -129.547,
+            -6216.427,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            -129.547,
+            -6216.427,
+            98.15,
+            0.0,
+            -24.92,
+            0.0
+        ],
+        [
+            -15.405,
+            -6269.458,
+            98.15,
+            0.0,
+            -24.92,
+            0.0
+        ],
+        [
+            -15.405,
+            -6269.458,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            65.63,
+            -6365.758,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            146.665,
+            -6462.059,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            146.665,
+            -6462.059,
+            98.15,
+            0.0,
+            -74.92,
+            0.0
+        ],
+        [
+            146.665,
+            -6462.059,
+            98.15,
+            0.0,
+            -74.92,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The yellow drum sits on an upper shelf of the tall red racking ahead on my left, still a fair distance off across the open floor. I walk forward along the clear lane beside the rack to cut that distance before I need to angle in toward it.",
+        "Stepping ahead has pushed the racking with the yellow drum off to my left, while my heading now points at the far brick wall. I pivot left so the drum's bay sits squarely in front of me before I close in on it.",
+        "The bay holding the yellow drum is now centered ahead of me, with the shelves of grey panels below it and cartons at floor level. I step forward to bring myself right up under that upright before checking the drum on the high shelf.",
+        "I am close in against the rack now, and the beam and stacked grey panels fill my view so the drum is cut off overhead. I look up to raise my gaze over that beam and put the yellow drum on the top shelf clearly in sight.",
+        "The yellow drum stands directly above me on the top shelf between the two dark red barrels, close enough that the rack beam passes below it. I have reached the drum. I mark reaching it and turn my attention to the white electrical box mounted on the brick wall.",
+        "The drum overhead is reached, so holding this heading into the rack gains me nothing. I pivot right to swing my view off the shelving and back onto the open floor and the brick wall where the white electrical box is mounted.",
+        "The brick wall with its pale box is back in view, but the rack upright still cuts across the middle of my path and the floor ahead is partly hidden. I turn right again to clear the shelving edge and open the lane running along the wall.",
+        "The rack is now only at my left shoulder and the open floor with the numbered bays stretches ahead, but my heading still points into the corner rather than down the wall. One more turn right lines me up with the clear lane so I can walk out with the brick wall on my left.",
+        "With the shelving behind me, the open floor ahead is clear and the brick wall carrying the pale electrical box runs along my left. I will walk forward to close the gap toward that wall before swinging in on the box.",
+        "The white box on the brick wall sits well off to my left while my heading points down the aisle between the tall racks. I will turn left to bring that stretch of wall in front of me so my next steps carry me toward the box.",
+        "The brick wall now fills the left of my view and the pale electrical box with its cable conduit is clearly visible on it. The floor between us is clear, so I will step forward to shorten the distance.",
+        "The electrical box is now large and close but still sits to my left rather than ahead of me. I will turn left again to square up with it so I can walk straight in.",
+        "I am now facing the brick wall with the white electrical box and its conduit roughly ahead of me. Nothing blocks the floor between us, so I will walk forward to draw close to it.",
+        "The box and its warning placard now dominate the wall in front of me, but I am still a stride or so short of standing at it. I will take one more step forward to come right up to it.",
+        "I am right at the wall, but the box has slid to the far left edge of my view while I mostly face bare brick. I will turn left to bring it back to the center of my view.",
+        "The white electrical box on the brick wall fills my view at arm's length, its latch and warning placard plainly legible. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t5_b_pd/infos.json

@@ -0,0 +1,297 @@
+{
+    "Instruction": "Grab the tomato at the white electrical box on the wall, then place it near the shelf labeled 03.",
+    "Type": 5,
+    "Start_Pose": [
+        -369.185,
+        -5998.777,
+        98.15,
+        0,
+        -49.92,
+        0
+    ],
+    "PD_ID": 0,
+    "PD_Size": 8.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        91.23,
+        -6464.424,
+        68.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -369.185,
+            -5998.777,
+            98.15,
+            0,
+            -49.92,
+            0
+        ],
+        [
+            -288.15,
+            -6095.077,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -207.115,
+            -6191.378,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -126.017,
+            -6276.355,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            -51.528,
+            -6301.41,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            24.151,
+            -6336.188,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            24.151,
+            -6336.188,
+            98.15,
+            0.0,
+            -49.92,
+            0.0
+        ],
+        [
+            24.151,
+            -6336.188,
+            98.15,
+            0.0,
+            -24.92,
+            0.0
+        ],
+        [
+            24.151,
+            -6336.188,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            150.01,
+            -6336.013,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            275.869,
+            -6335.838,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            401.728,
+            -6335.663,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            329.728,
+            -6335.763,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            329.728,
+            -6335.763,
+            98.15,
+            0.0,
+            0.08,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            91.23,
+            -6464.424,
+            68.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            91.23,
+            -6464.424,
+            68.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            91.23,
+            -6464.424,
+            68.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            91.23,
+            -6464.424,
+            68.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            91.23,
+            -6464.424,
+            68.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            91.23,
+            -6464.424,
+            68.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            40.097,
+            -6321.972,
+            68.256,
+            -28.202,
+            0.224,
+            1.862
+        ],
+        [
+            32.993,
+            -6315.693,
+            68.529,
+            -28.189,
+            25.236,
+            1.872
+        ],
+        [
+            24.273,
+            -6313.664,
+            67.862,
+            -28.215,
+            50.207,
+            1.849
+        ],
+        [
+            149.689,
+            -6314.658,
+            67.675,
+            -28.202,
+            50.221,
+            1.858
+        ],
+        [
+            275.395,
+            -6314.485,
+            67.937,
+            -28.208,
+            50.221,
+            1.852
+        ],
+        [
+            400.995,
+            -6314.303,
+            68.359,
+            -28.189,
+            50.238,
+            1.867
+        ],
+        [
+            399.728,
+            -6335.665,
+            113.15,
+            0.0,
+            0.08,
+            -0.0
+        ],
+        [
+            399.728,
+            -6335.665,
+            113.15,
+            0.0,
+            0.08,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        654.8,
+        529.5,
+        404.4,
+        287.3,
+        216.7,
+        144.7,
+        21.4,
+        22.3,
+        22.5,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The tomato sits on the floor ahead beside the brick wall, just under the white electrical box I was told to look for. It is still far off across the open bay, so I will walk straight toward it along the clear floor beside the racking.",
+        "The tomato and the white box on the wall are noticeably larger now, confirming my heading is correct. Nothing blocks the lane between the pallet rack and the wall, so another step forward should close more of the gap.",
+        "The brick wall with the white electrical box now fills much of my view and the tomato rests just below it, slightly ahead. I am still too far to reach it, so I continue walking straight in.",
+        "The tomato is close and centered against the wall beneath the electrical box, but it still looks out of arm's reach. I will step forward once more to bring it into grabbing range rather than reaching prematurely.",
+        "The tomato now sits large and low in front of me, directly under the white electrical panel on the brick wall. One more short step should place it right at my feet so a grasp attempt is reliable.",
+        "The tomato is now immediately in front of me at the base of the wall below the white electrical box, filling the near foreground. This is the closest I can get without stepping over it, so I will attempt to pick it up.",
+        "The grasp worked: the tomato is in my hands and no longer resting on the floor by the wall. The delivery point is the rack marked 03, which lies off to my right rather than along this wall, so I will turn right to bring it into view.",
+        "The rack labeled 03 has come into view ahead and slightly right, with the tomato secure in my hands. My heading still points partly at the brick wall, so another right turn should square me with the open aisle in front of that shelf.",
+        "The tomato is in my hands and my heading now faces down the aisle where the rack marked 03 stands ahead on the left of the gap. I will walk forward to close the distance toward that shelf's base.",
+        "The rack labeled 03 is noticeably larger and closer now, with its yellow base guard and teal bin clearly resolved. Still carrying the tomato, I will step forward again since scattered boxes lie off to the right and my lane stays open.",
+        "The 03 rack now fills the left of my view, but I am still a stride short of standing beside its base where a drop would count as near the shelf. I will advance once more to reach that placement spot.",
+        "I am now right at the base of the rack marked 03, with its yellow guard and the teal bin immediately beside me. This is the position the task calls for, so I will release the tomato here and expect it to settle on the floor next to the shelf.",
+        "The tomato now rests on the floor beside the base of the rack labeled 03, and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_c/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Move to the yellow safety barrier, then approach the red door.",
+    "Type": 3,
+    "Start_Pose": [
+        -417.149,
+        -38.694,
+        98.15,
+        0.0,
+        -39.52,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -417.149,
+            -38.694,
+            98.15,
+            0.0,
+            -39.52,
+            0.0
+        ],
+        [
+            -320.061,
+            -118.784,
+            98.15,
+            0.0,
+            -39.52,
+            0.0
+        ],
+        [
+            -320.061,
+            -118.784,
+            98.15,
+            0.0,
+            -64.52,
+            0.0
+        ],
+        [
+            -265.917,
+            -232.401,
+            98.15,
+            0.0,
+            -64.52,
+            0.0
+        ],
+        [
+            -211.773,
+            -346.019,
+            98.15,
+            0.0,
+            -64.52,
+            0.0
+        ],
+        [
+            -157.629,
+            -459.636,
+            98.15,
+            0.0,
+            -64.52,
+            0.0
+        ],
+        [
+            -103.485,
+            -573.254,
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+            0.0,
+            -64.52,
+            0.0
+        ],
+        [
+            -103.485,
+            -573.254,
+            98.15,
+            0.0,
+            -89.52,
+            0.0
+        ],
+        [
+            -102.43,
+            -699.108,
+            98.15,
+            0.0,
+            -89.52,
+            0.0
+        ],
+        [
+            -101.376,
+            -824.963,
+            98.15,
+            0.0,
+            -89.52,
+            0.0
+        ],
+        [
+            -101.376,
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+            0.0,
+            -89.52,
+            0.0
+        ],
+        [
+            -102.15,
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+            0.0,
+            -89.52,
+            0.0
+        ],
+        [
+            -102.15,
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+            0.0,
+            -64.52,
+            0.0
+        ],
+        [
+            -102.15,
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+            98.15,
+            0.0,
+            -39.52,
+            0.0
+        ],
+        [
+            -102.15,
+            -732.566,
+            98.15,
+            0.0,
+            -14.52,
+            0.0
+        ],
+        [
+            -102.15,
+            -732.566,
+            98.15,
+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            -102.15,
+            -732.566,
+            98.15,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -102.15,
+            -732.566,
+            98.15,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -102.15,
+            -732.566,
+            98.15,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -92.232,
+            -607.098,
+            98.15,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -82.313,
+            -481.631,
+            98.15,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -82.313,
+            -481.631,
+            98.15,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -20.299,
+            -372.11,
+            98.15,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -20.299,
+            -372.11,
+            98.15,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            82.19,
+            -299.06,
+            98.15,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            184.68,
+            -226.009,
+            98.15,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            184.68,
+            -226.009,
+            98.15,
+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            308.439,
+            -203.116,
+            98.15,
+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            432.199,
+            -180.223,
+            98.15,
+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            432.199,
+            -180.223,
+            98.15,
+            0.0,
+            10.48,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the open blue floor I can see the yellow guard rail standing beside the pallet racking off to my left, and the red door sits far over on the right wall. The barrier is my first destination, so I walk forward across the clear floor to shorten the gap before angling toward it.",
+        "The yellow guard rail now sits well off to my left, near the end of the shelving, while my heading points straight down the open floor. I turn left to bring that barrier into the middle of my view so I can walk directly at it.",
+        "The turn has put the yellow barriers ahead of me on the left side of the aisle, with unobstructed blue floor between us. I step forward to close that distance along the racking.",
+        "The yellow guard rail beside the low pallet rack is noticeably larger and still slightly left of centre, so my heading remains usable. I keep walking forward since nothing blocks the lane between me and it.",
+        "The yellow rail now stands out clearly ahead beside the pallets, with the tall shelving passing on my right. I advance again to keep closing on it.",
+        "The yellow barrier is close enough now that I can see its individual posts and base plates on the floor to my left front. I take another step forward to bring myself right up beside it.",
+        "Walking along the racking has pushed the yellow barrier over to my left while my view is filling with bins and shelving straight ahead. I turn left to put the barrier squarely in front of me before covering the last stretch.",
+        "The yellow guard rail is now centred in front of me, bolted to the floor between the pallet racks. I walk forward to close the last short gap and stand at it.",
+        "The yellow guard railing now stands just ahead of me at the end of the rack aisle, only a short walk away. I will step forward once more to close that remaining gap and stand right at it.",
+        "The yellow guard railing fills the space directly in front of me, close enough to touch its painted tubing and floor plates. I have reached the yellow safety barrier. I mark reaching it and now turn my attention to the red door.",
+        "I am pressed right up against the yellow railing with racking on both sides, so there is no room here to swing around toward the red door. I will step back a little to gain clearance before changing my heading.",
+        "With a step of clearance behind the barrier, I still face into the dead end of shelving and pallets. The red door lies back across the open floor behind me, so I will begin swinging my heading to the right.",
+        "The turn has brought stacked drums and shelf labels into view, but I am still looking into storage rather than down an open route. I will keep rotating right to carry on reversing my heading toward the door.",
+        "My view is now filled by drums and rack beams at close range, so I am still aimed into the shelving. Another turn to the right should carry my heading further around toward the open warehouse floor.",
+        "The drums are sliding off to my left and blue bins on the rack are coming into view, so I am roughly halfway through reversing my heading. I will continue turning right toward the open floor that leads to the red door.",
+        "I am still looking straight into a shelf of blue bins with no walking route visible. One more turn to the right should bring the open aisle and the far side of the hall into my view.",
+        "The racking still fills most of my view, with only a narrow strip of open floor and a work bench appearing past the upright on the right. Since the red door lies out beyond this aisle, I will keep turning right to swing my heading off the shelves and onto that opening.",
+        "The rack edge has slipped to my left and a wide bay of open teal floor with low red shelving now sits ahead and to the right. One more turn right should place that clear floor squarely in front of me so I can walk out toward the door.",
+        "I am now facing the open bay with unobstructed teal floor stretching ahead between the racking on my left and the shelves along the far wall. Nothing blocks the lane, so I will step forward to cross into that open space on my way to the red door.",
+        "The bay has opened up further and the sector signage on the grey wall is now to my left, with the floor still clear straight ahead. I will keep walking forward to reach the middle of this space, where I should have a better line on the doorway wall.",
+        "Straight ahead I only see the shelving racks and the blank far wall, with no red door in sight. The doorway wall lies off to my left, so I will turn left to bring that side of the bay into view.",
+        "The red door is now visible under the sector sign at the left of my view, set into the grey wall across the bay. The floor between us is clear, so I will walk forward to close the gap toward it.",
+        "The red door sits near the left edge of my view rather than in front of me, so walking straight would carry me past it. I will turn left to bring the doorway toward the centre of my heading.",
+        "The red door now stands ahead of me in the grey wall beneath the exit sign, with open floor and marked lines leading up to it. I will step forward to close on the doorway.",
+        "The red door stands open in the wall ahead of me, still several paces off across the blue floor. My path toward it is clear of the workbench and shelving on the right, so I will walk forward again to cut the remaining distance.",
+        "Closer in, the red door has drifted to the left edge of my view while the table and shelves fill the center. A small turn to the left should put the doorway squarely in front of me before I press on.",
+        "The red door now sits centered ahead of me with its frame and caution sign in clear view. With the heading corrected, I will walk straight forward to close the last stretch of floor toward it.",
+        "The red door fills most of my view now, its handle and threshold plainly readable, but I am still a step short of standing at it. One more step forward should bring me right up against the door.",
+        "The red door's panel and handle fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t5_a_pd/infos.json

@@ -0,0 +1,563 @@
+{
+    "Instruction": "Pick up the plate at the red door, then drop it near the yellow safety barrier.",
+    "Type": 5,
+    "Start_Pose": [
+        -417.149,
+        -38.694,
+        98.15,
+        0,
+        -39.52,
+        0
+    ],
+    "PD_ID": 16,
+    "PD_Size": 3.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
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+        0,
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+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        [
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
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+        ],
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+        ],
+        [
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+        ],
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+        ],
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+            1.852
+        ],
+        [
+            -55.544,
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+        ],
+        [
+            -49.407,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -87.396,
+            -946.732,
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+            -89.52,
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+        ]
+    ],
+    "PD_Dist_2D": [
+        858.2,
+        858.2,
+        732.8,
+        607.6,
+        482.7,
+        358.6,
+        236.3,
+        236.3,
+        113.1,
+        21.4,
+        20.4,
+        20.2,
+        27.5,
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+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "I can see the white plate resting against the red door on the far right side of the warehouse bay, well off my current heading. Before walking, I will turn right so that the door and plate move toward the middle of my view and give me a straight approach lane.",
+        "The red door with the plate propped against it now sits ahead of me, and the open blue floor between us is clear of racks and pallets. I will walk forward to cut down that distance.",
+        "The plate and the red door have grown larger and remain roughly centered, so my heading is still good. I will keep stepping forward across the open floor toward them.",
+        "The plate leaning against the red door is clearly closer now, with the exit sign and first aid board readable above it. Nothing blocks the lane, so I will continue advancing.",
+        "I am still several strides short of reaching the plate, which stands to the left of the door frame at floor level. The route stays open past the bins and cartons, so I will step forward again.",
+        "The red door now fills a good part of my view and the plate sits just in front of it, but it is still beyond arm's reach. I will walk forward once more to close in on grasping range.",
+        "The plate has drifted to the right half of my view as I closed in, so walking straight would carry me past its left edge. I will turn right to put the plate squarely in front of me before the final step.",
+        "The plate is now centered low in my view with the red door directly behind it, so my heading is right. It still looks a stride away from reach, so I will step forward to get close enough to attempt the grasp.",
+        "The red door fills my view and the plate is standing right in front of me, close enough that its rim overlaps the lower part of my view. This is the grasp position the task asked for, so I will attempt to pick it up now. If the grasp takes, the plate should come into my hands and be ready for transport.",
+        "The pick worked: the plate is now held in my hands and no longer resting against the door. The door corner is a dead end for carrying it, so I need to swing my heading around toward the open warehouse floor where the yellow safety barriers stand. I will begin that rotation with a left turn.",
+        "I still have the plate with me, but my view is dominated by the red door panel and the caution sign beside it, so my heading is still into the corner. Continuing to rotate left brings the storage bays and the open aisle into view. I will take another left turn.",
+        "The bin racks and the striped column now occupy the centre of my view, with only the door edge remaining on the right. That is closer to the direction I want, but still facing a shelving wall rather than a walkable lane. Another left turn should keep swinging me toward the open floor.",
+        "A stretch of blue floor and the yellow lane marking are appearing on the left side of my view, while racks still block straight ahead. I am not yet lined up with that lane while carrying the plate. I will turn left again to bring the aisle in front of me.",
+        "The aisle between the racks now opens toward my left front, with the 01 bay and the far end of the hall coming into view. My heading still favours the shelving on the right rather than the clear lane. One more left turn should centre that open route ahead of me.",
+        "The wide open floor of the hall is now spread in front of me, but the shelving unit with the 01 bay sits slightly right of my heading and the clearest walking lane runs a little further left. I will make one more left turn to settle onto that lane before moving off with the plate.",
+        "My heading is now down the open blue lane, with the racks safely off to my right and clear floor stretching toward the far bays. Carrying the plate, I need to cover ground toward the yellow safety barriers deeper in the storage area. I will step forward along this lane.",
+        "The plate is secure in my hands, so I only need to carry it toward a yellow safety barrier. The lane ahead past the workbench and red bin is clear, with yellow guard rails and marked zones further down the hall. I step forward to close that distance.",
+        "I am still carrying the plate down the open aisle, with the equipment cabinet and table passing on my right. The yellow rails near the far racking area are still some distance off. Another step forward keeps me advancing along this clear line.",
+        "The yellow guard rails in front of the pallet racking on my right are now clearly visible and much closer. Nothing blocks the floor between me and that zone, so I keep walking forward with the plate to shorten the remaining gap before turning toward it.",
+        "My heading points down the hall past the racking, while the yellow safety barrier sits off to my right in front of the pallet shelves. Walking straight on would carry me past it. I turn right to bring that barrier toward the center of my view.",
+        "The yellow barrier is now in view ahead but still sits right of my straight line, with the shelving edge on that side. One more rightward turn should put the barrier squarely in front of me so a direct walk-in approach is possible.",
+        "The yellow safety barrier now stands ahead of me in front of the pallet rack, with the aisle between the shelves open. My heading looks usable, so I step forward with the plate to get within dropping range of that barrier.",
+        "The barrier rail has grown noticeably larger and is centered slightly left of me, so my approach line is holding. There is still floor between us before a drop would count as near it. I advance another step with the plate.",
+        "The yellow barrier now fills much of my view just ahead, but I am not yet standing right beside it. Moving forward once more should bring me close enough that releasing the plate leaves it next to the barrier.",
+        "I am still carrying the plate, and the yellow safety barrier rail now fills the lower part of my view just ahead between the pallet racks. One more short step should bring me right up against the barrier so the plate can be set down beside it.",
+        "The yellow safety barrier rail is now immediately in front of me, spanning the bottom of my view at arm's reach, and I still hold the plate. This is the intended release spot, so I will drop the plate here and it should come to rest right next to the barrier.",
+        "The plate is no longer in my hands and rests on the floor right beside the yellow safety barrier. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000461_y-000212_z000098_t1_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Look around the warehouse for the yellow tarp covering items near the sector door and go to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -461.194,
+        -211.972,
+        98.15,
+        0.0,
+        137.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.194,
+            -211.972,
+            98.15,
+            0.0,
+            137.12,
+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
+            -360.837,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -260.481,
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+            0.0,
+            37.12,
+            -0.0
+        ],
+        [
+            -160.124,
+            15.891,
+            98.15,
+            0.0,
+            37.12,
+            -0.0
+        ],
+        [
+            -59.768,
+            91.845,
+            101.765,
+            0.0,
+            37.12,
+            -0.0
+        ],
+        [
+            -59.768,
+            91.845,
+            101.765,
+            0.0,
+            37.12,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see storage racking, a cart of cardboard boxes behind a yellow guard rail, and a wall with an electrical cabinet, so nothing resembling a yellow tarp or a sector door is in front of me. I will turn left to begin a steady scan of the warehouse in one consistent direction.",
+        "The new heading shows more shelving with bins and crates plus empty pallets on the floor, but still no yellow tarp and no door marking a sector. I will keep turning left to continue the scan into the unseen part of the room.",
+        "Now an open aisle with racks on both sides is opening up, which suggests the room continues further left toward areas I have not inspected yet. Since the yellow tarp is still not in view, I will turn left again to keep sweeping in the same direction.",
+        "Beyond the near racking on the left I can now make out a yellow covered bundle resting on a pallet under the shelves, which matches the tarp I am looking for. I will turn left once more to bring that yellow mass and the area beyond it toward the center of my view.",
+        "The heading now shows the D SECTOR wall with its red door on the left and the yellow tarp draped over items on a pallet just ahead to the right of it, so this is the target area described in the task. I will walk forward along the open blue floor to close the distance.",
+        "The yellow tarp on the pallet is larger and more centered now, and the sector door remains off to my left, confirming I am heading into the right part of the warehouse. I will continue walking forward since the floor between me and the pallet is clear.",
+        "The tarp-covered load on its pallet is clearly in front of me now, marked by the rack upright and the red and white floor striping. I will step forward again to come within close range of it.",
+        "The yellow tarp now fills much of my forward view, draped over the items on the pallet beneath the A1 rack bay. I will take one more step forward to finish closing the small remaining gap and stand right at it.",
+        "The yellow tarp draped over the pallet load fills my view right in front of me, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000461_y-000212_z000098_t1_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Explore the surrounding area to locate the red fire extinguisher mounted on the far wall and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -461.194,
+        -211.972,
+        98.15,
+        0.0,
+        137.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.194,
+            -211.972,
+            98.15,
+            0.0,
+            137.12,
+            -0.0
+        ],
+        [
+            -461.194,
+            -211.972,
+            98.15,
+            0.0,
+            162.12,
+            -0.0
+        ],
+        [
+            -461.194,
+            -211.972,
+            98.15,
+            0.0,
+            -172.88,
+            0.0
+        ],
+        [
+            -461.194,
+            -211.972,
+            98.15,
+            0.0,
+            -147.88,
+            0.0
+        ],
+        [
+            -461.194,
+            -211.972,
+            98.15,
+            0.0,
+            -122.88,
+            0.0
+        ],
+        [
+            -529.521,
+            -317.67,
+            98.15,
+            0.0,
+            -122.88,
+            0.0
+        ],
+        [
+            -597.847,
+            -423.367,
+            98.15,
+            0.0,
+            -122.88,
+            0.0
+        ],
+        [
+            -597.847,
+            -423.367,
+            98.15,
+            0.0,
+            -97.88,
+            0.0
+        ],
+        [
+            -615.102,
+            -548.038,
+            98.15,
+            0.0,
+            -97.88,
+            0.0
+        ],
+        [
+            -632.357,
+            -672.708,
+            98.15,
+            0.0,
+            -97.88,
+            0.0
+        ],
+        [
+            -632.357,
+            -672.708,
+            98.15,
+            0.0,
+            -122.88,
+            0.0
+        ],
+        [
+            -700.684,
+            -778.406,
+            113.279,
+            0.0,
+            -122.88,
+            0.0
+        ],
+        [
+            -700.684,
+            -778.406,
+            113.279,
+            0.0,
+            -122.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing a corner cluttered with a shelving unit, a loaded cart, and an electrical panel on the plain wall, and no red fire extinguisher is anywhere in this view. The space seems to open out toward my right past the cart, so I will turn right to begin a consistent scan for the target.",
+        "The wall ahead only carries cabinets, a warning label, and a red push button, none of which is the fire extinguisher I need. The scene keeps opening to the right where floor markings and a barrier suggest a wider aisle, so I will continue turning right in the same direction.",
+        "Tall pallet racking and an open aisle are now entering view on the right, which is a far more promising area than the blank equipment wall beside me. The extinguisher still is not in sight, so I will keep rotating right to bring that racking aisle fully in front of me.",
+        "The warehouse floor and the racking rows are opening up ahead, and I can just make out a small red shape on a rack upright deeper in the aisle. I will turn right once more to center that aisle before committing to move toward it.",
+        "The aisle toward the A sector bay is now centered in front of me, and it is clear of obstructions apart from the low barriers to the sides. Since the racking area ahead is the most likely place for a mounted extinguisher, I will walk forward to close distance and get a better look.",
+        "Ahead on the right side of the near rack I can see a small red canister shape that looks like a wall or column mounted extinguisher. The path is still open, so I will step forward again to reduce the distance and confirm the target.",
+        "The red extinguisher is now clearly visible mounted on the rack upright ahead and slightly to my right, near the A sector bay. I will turn right to bring it toward the center of my view so I can walk straight at it.",
+        "The extinguisher is now near the middle of my view on the column beside the pallet bay, and the lane in front of me is open. I will walk forward to close in on it.",
+        "The red fire extinguisher is now clearly visible ahead on my left, mounted on the upright of the pallet rack near the sector A corner. The aisle floor in front of me is clear of pallets and barriers, so I will step forward again to close the remaining distance to it.",
+        "I am close to the extinguisher now, but it hangs well off to the left edge of my view while my heading points at the pallet racks straight ahead. Turning left should bring the extinguisher toward the center of my view so I can walk straight at it.",
+        "The extinguisher is now roughly centered ahead of me on the rack upright, with only a short gap of open floor in between. I will step forward to finish closing that gap and stand right at it.",
+        "The red fire extinguisher fills my view directly in front of me at arm's reach. The task is complete, so I stop here rather than moving closer."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Explore the warehouse aisles to find the base of the shelf rack labeled A1 and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -567.194,
+        -3794.583,
+        98.15,
+        0.0,
+        72.0,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            72.0,
+            -0.0
+        ],
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            97.0,
+            -0.0
+        ],
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            122.0,
+            -0.0
+        ],
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            147.0,
+            -0.0
+        ],
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            172.0,
+            -0.0
+        ],
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            -163.0,
+            0.0
+        ],
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            -138.0,
+            0.0
+        ],
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            -113.0,
+            0.0
+        ],
+        [
+            -567.194,
+            -3794.583,
+            98.15,
+            0.0,
+            -88.0,
+            0.0
+        ],
+        [
+            -562.802,
+            -3920.365,
+            98.15,
+            0.0,
+            -88.0,
+            0.0
+        ],
+        [
+            -558.409,
+            -4046.148,
+            98.15,
+            0.0,
+            -88.0,
+            0.0
+        ],
+        [
+            -554.017,
+            -4171.93,
+            98.15,
+            0.0,
+            -88.0,
+            0.0
+        ],
+        [
+            -554.017,
+            -4171.93,
+            98.15,
+            0.0,
+            -63.0,
+            0.0
+        ],
+        [
+            -496.878,
+            -4284.071,
+            98.15,
+            0.0,
+            -63.0,
+            0.0
+        ],
+        [
+            -496.878,
+            -4284.071,
+            98.15,
+            0.0,
+            -63.0,
+            0.0
+        ],
+        [
+            -496.878,
+            -4284.071,
+            98.15,
+            0.0,
+            -63.0,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this starting corner I only see loaded shelving, stacked cartons and yellow guard rails, with no aisle placard identifying rack A1. There is no readable label ahead, so I will begin a steady rightward scan of the surroundings to look for aisle markings or an open aisle mouth.",
+        "This heading shows more pallet stacks and a tall rack of stored panels, still without any aisle identifier such as A1. I will keep rotating in the same rightward direction to sweep the remaining unseen part of this storage bay.",
+        "Ahead is a dark brick wall with a fire extinguisher panel and a parked pallet trolley, which is a closed side of the room rather than a shelving aisle. A brighter gap is just beginning to appear at the right edge, so I will continue turning right to bring that opening into view.",
+        "The opening turns out to be a lit doorway into an office style corridor under a green exit sign, not a warehouse aisle with rack labels. Since A1 should be on the storage floor, I will keep scanning to the right past this doorway toward the racking on that side.",
+        "A large curved rack loaded with green bins and cartons now fills the right half of my view, and it carries no visible aisle placard on this face. I will continue the same rightward sweep to see what lies beyond that rack.",
+        "The curved rack still blocks most of my forward view and I cannot read any bay label from this angle. Rotating further right should bring its end and whatever floor space lies past it into view.",
+        "Past the end of the curved rack I can now see brighter, high bay warehouse space with long shelving and hanging lights on the right. That looks like the labelled aisle area, so I will turn right again to face it directly.",
+        "I can now read aisle placards overhead, and on the yellow guard at the base of the rack to my right the marking A1 is clearly visible next to the red and white floor hatching. That is the target rack base, so I will turn right once more to line the aisle and that base up in front of me before walking in.",
+        "The scan has opened onto a long warehouse aisle, and I can read the yellow rack guard marked A1 on the base of the shelf column ahead of me. Since the target is now clearly visible down the aisle, I will stop scanning and walk forward along the open floor toward it.",
+        "The A1 base guard is larger and closer now, sitting just right of the aisle centerline with nothing blocking the floor between us. I will keep walking forward to close the remaining distance to the rack base.",
+        "The A1 label on the rack base is now clearly legible a short way ahead, slightly to my right along the aisle. I will take another step forward to bring myself alongside the base of that rack.",
+        "I am nearly level with the A1 rack base, but it sits off to my right rather than straight ahead, so walking on would carry me past it. Turning right should square my heading onto the labeled base before I close the last bit of distance.",
+        "The turn has placed the A1 base guard near the center of my view with the aisle floor open in front of it. I will step forward once more to come right up to the base of the rack.",
+        "I am now standing immediately at the rack, close enough that my forward view is filled with the upright frame and the fire extinguisher at chest height. Looking down should bring the labeled base guard and the pallet at floor level back into view to confirm I am at A1.",
+        "The A1 base guard and its pallet fill the view directly at my feet. The approach objective is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-000794_y-002204_z000398_t0_a/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Walk to the wall displaying the yellow letter A.",
+    "Type": 0,
+    "Start_Pose": [
+        -793.731,
+        -2203.713,
+        398.15,
+        0.0,
+        -15.36,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -793.731,
+            -2203.713,
+            398.15,
+            0.0,
+            -15.36,
+            0.0
+        ],
+        [
+            -672.368,
+            -2237.051,
+            398.15,
+            0.0,
+            -15.36,
+            0.0
+        ],
+        [
+            -551.431,
+            -2266.174,
+            398.15,
+            0.0,
+            -15.36,
+            0.0
+        ],
+        [
+            -440.183,
+            -2271.485,
+            398.15,
+            0.0,
+            -15.36,
+            0.0
+        ],
+        [
+            -320.467,
+            -2294.821,
+            398.15,
+            0.0,
+            -15.36,
+            0.0
+        ],
+        [
+            -320.467,
+            -2294.821,
+            398.15,
+            0.0,
+            9.64,
+            -0.0
+        ],
+        [
+            -196.385,
+            -2273.745,
+            398.15,
+            0.0,
+            9.64,
+            -0.0
+        ],
+        [
+            -196.385,
+            -2273.745,
+            398.15,
+            0.0,
+            9.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this doorway I can already see the red wall ahead bearing the large yellow letter A with the word SECTOR beside it. The corridor between the shelving and the open floor is clear, so I will move forward to begin closing the distance to that wall.",
+        "The lettered red wall is larger in my view now and the doorframe no longer restricts my path, with only storage racks and boxes off to my left. The floor straight ahead remains unobstructed, so I will continue forward toward the letter A.",
+        "The red wall with the yellow A now dominates the right half of my view, so I am considerably nearer but still several steps back from it. The open floor in front of me lets me keep advancing, so I will move forward again.",
+        "The red panel wall now spans my whole field of view with the yellow A rising on the right side. There is still a stretch of floor before the base of the wall, so I will step forward to close that remaining gap.",
+        "I am close to the red wall, but the yellow A is pushed to the right edge of my view and partly cut off, while blank panelling occupies the center. Turning right should swing my heading onto the letter itself so I face it squarely before closing the last distance.",
+        "The yellow A and the SECTOR label are now centered in front of me after the turn, so my heading is aligned with the marked wall. A short band of floor still remains below the wall, so one more forward step should bring me right up to it.",
+        "The yellow letter A fills my view at arm's length on the red wall directly in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-001603_y-003724_z000098_t1_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Look around this warehouse section for the doorway beneath the green illuminated EXIT sign, then approach the doorway.",
+    "Type": 1,
+    "Start_Pose": [
+        -1602.952,
+        -3723.762,
+        98.15,
+        0.0,
+        -56.64,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            -56.64,
+            0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            -81.64,
+            0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            -106.64,
+            0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            -131.64,
+            0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            -156.64,
+            0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            178.36,
+            -0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            153.36,
+            -0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            128.36,
+            -0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            103.36,
+            -0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            78.36,
+            -0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            53.36,
+            -0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            28.36,
+            -0.0
+        ],
+        [
+            -1602.952,
+            -3723.762,
+            98.15,
+            0.0,
+            3.36,
+            -0.0
+        ],
+        [
+            -1477.309,
+            -3716.385,
+            98.15,
+            0.0,
+            3.36,
+            -0.0
+        ],
+        [
+            -1351.667,
+            -3709.009,
+            98.15,
+            0.0,
+            3.36,
+            -0.0
+        ],
+        [
+            -1351.667,
+            -3709.009,
+            98.15,
+            0.0,
+            3.36,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing a corner of bare brick wall with stacked panels piled in front of me, and there is no green EXIT sign or doorway anywhere in this view. Since this heading is a dead end for the search, I will turn left to begin a steady scan of the surrounding warehouse section.",
+        "The view still shows only brickwork above a jumble of stacked panels, with no illuminated sign or opening. I will continue turning left to keep sweeping in the same direction toward parts of the room I have not yet inspected.",
+        "A cardboard box and more stacked panels have come into the left side of the view, but the wall behind them is still unbroken brick with no doorway. I will keep rotating left, since the scene is opening up in that direction and may reveal the exit.",
+        "Now I am looking straight at a tall stack of panels topped by an open cardboard box against the brick wall, which blocks any view further ahead. Nothing green or door shaped is visible here, so I will continue turning left to see past this storage stack.",
+        "The room is opening out on the left, where I can now see a teal rack upright and a lighter wall beyond the stacked panels, which suggests more open floor in that direction. There is still no green sign in view, so I will keep turning left toward that opening.",
+        "I can see a large flat sheet leaning against the wall and a strip of open floor at the left, but the wall ahead still carries no illuminated exit marker. Continuing the same leftward sweep should bring the rest of that open bay into view.",
+        "At the far left edge I can now make out a lit opening with shelving visible through it, which is a strong sign of a doorway on that side of the room. I will turn left again to bring that opening and the wall above it into the center of my view.",
+        "An open door with racking and stock beyond it is now clearly visible to my left, with a bin beside it, but I cannot yet see whether a green EXIT sign hangs above it. I will turn left again to face that opening squarely and check the wall above the frame.",
+        "An open doorway sits ahead of me, but no green EXIT sign is lit above it, so this is not yet the doorway I need. I will keep rotating left in the same consistent direction to bring the unseen wall on that side into view.",
+        "My view now faces a white brick wall with a first aid box and fire extinguisher signage, safety fittings that usually cluster near an exit route. I will continue turning left to reveal the wall corner beyond them where an EXIT sign may be mounted.",
+        "A green glow has appeared at the top left corner of my view, just above what looks like a dark opening in the wall. I will turn left again to bring that glowing sign and the doorway under it into the center of my view.",
+        "The illuminated green EXIT sign and the doorway beneath it are now clearly visible, but they sit off to my left rather than straight ahead. I will turn left once more to square my heading with that doorway before walking toward it.",
+        "The doorway under the green EXIT sign is now centered in my view with the corridor beyond it running straight ahead. With the floor clear between me and the threshold, I will step forward to close the distance to that doorway.",
+        "I have passed under the sign into the shelved passage, and the doorway opening onto the main warehouse floor is directly ahead of me. I will take another step forward to stand right at that doorway.",
+        "I am standing directly at the doorway below the green EXIT sign, its threshold markings a step away. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/Storagehouse/task_x-001790_y-003655_z000098_t1_b/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Scan the area for the large red trash bin near the open doorway, then move toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1790.483,
+        -3654.724,
+        98.15,
+        0.0,
+        -100.8,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1790.483,
+            -3654.724,
+            98.15,
+            0.0,
+            -100.8,
+            0.0
+        ],
+        [
+            -1790.483,
+            -3654.724,
+            98.15,
+            0.0,
+            -75.8,
+            0.0
+        ],
+        [
+            -1790.483,
+            -3654.724,
+            98.15,
+            0.0,
+            -50.8,
+            0.0
+        ],
+        [
+            -1790.483,
+            -3654.724,
+            98.15,
+            0.0,
+            -25.8,
+            0.0
+        ],
+        [
+            -1790.483,
+            -3654.724,
+            98.15,
+            0.0,
+            -0.8,
+            0.0
+        ],
+        [
+            -1790.483,
+            -3654.724,
+            98.15,
+            0.0,
+            24.2,
+            -0.0
+        ],
+        [
+            -1790.483,
+            -3654.724,
+            98.15,
+            0.0,
+            49.2,
+            -0.0
+        ],
+        [
+            -1790.483,
+            -3654.724,
+            98.15,
+            0.0,
+            74.2,
+            -0.0
+        ],
+        [
+            -1756.214,
+            -3533.62,
+            98.15,
+            0.0,
+            74.2,
+            -0.0
+        ],
+        [
+            -1756.214,
+            -3533.62,
+            98.15,
+            0.0,
+            49.2,
+            -0.0
+        ],
+        [
+            -1694.966,
+            -3449.669,
+            98.15,
+            0.0,
+            49.2,
+            -0.0
+        ],
+        [
+            -1694.966,
+            -3449.669,
+            98.15,
+            0.0,
+            49.2,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "My view is filled by stacked white panels, cardboard boxes, and a brick corner, so there is no trash bin or doorway anywhere in front of me. I will turn right to begin a steady scan of the room in one consistent direction.",
+        "The rotation only brought more of the same stacked panels and cartons against the dark brick wall into view, with no opening or red bin. I will keep turning right to continue sweeping past this storage pile.",
+        "Now the pile falls away to my left and I can see the far end of the room, where a lit green exit sign marks a bright opening on the right edge of my view. That is a strong cue for the doorway the task mentions, so I will turn right again to bring it toward my center.",
+        "The doorway under the green exit sign is now roughly centered, but I still see no red bin beside it, only a fire extinguisher and signage on the right wall. I will turn right once more to inspect the wall and corner to the right of this opening.",
+        "Turning has revealed a blue steel rack post and, at the right edge, the rounded rim of a large reddish bin standing against the wall. I will turn right again to bring that bin fully into view and check what is beside it.",
+        "The large red trash bin is now clearly visible ahead, standing right next to an open orange door that leads into a bright storage area. I will turn right a bit more to line my heading up with the bin and that doorway before walking over.",
+        "The red bin and the open door are now near the middle of my view, though the bin sits slightly left of my heading and the corridor ahead is clear. I will make one more small right turn to square up with the passage so I can walk straight toward the bin.",
+        "I am now facing the open doorway with the red trash bin standing just to its left, and the floor between us is clear. I will walk forward to close the distance to the bin.",
+        "The large red bin is now close but sits at the far left edge of my view, while the open doorway and its yellow door dominate the center. I will turn left to bring the bin into the middle of my view so my heading points at it rather than through the doorway.",
+        "The red bin now sits near the center of my view against the brick wall beside the open door, so my heading is lined up with it. I will walk forward to close the remaining gap and come up next to the bin.",
+        "The large red bin fills the lower part of my view directly in front of me, right beside the open doorway. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000041_y-000092_z000098_t1_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Explore the warehouse to find the white electrical box mounted on the wall and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        40.765,
+        -92.433,
+        98.15,
+        0,
+        53.6,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            40.765,
+            -92.433,
+            98.15,
+            0,
+            53.6,
+            0
+        ],
+        [
+            40.765,
+            -92.433,
+            98.15,
+            0.0,
+            78.6,
+            -0.0
+        ],
+        [
+            40.765,
+            -92.433,
+            98.15,
+            0.0,
+            103.6,
+            -0.0
+        ],
+        [
+            40.765,
+            -92.433,
+            98.15,
+            0.0,
+            128.6,
+            -0.0
+        ],
+        [
+            40.765,
+            -92.433,
+            98.15,
+            0.0,
+            153.6,
+            -0.0
+        ],
+        [
+            40.765,
+            -92.433,
+            98.15,
+            0.0,
+            178.6,
+            -0.0
+        ],
+        [
+            -85.056,
+            -89.358,
+            98.15,
+            0.0,
+            178.6,
+            -0.0
+        ],
+        [
+            -210.878,
+            -86.283,
+            98.15,
+            0.0,
+            178.6,
+            -0.0
+        ],
+        [
+            -210.878,
+            -86.283,
+            98.15,
+            0.0,
+            -156.4,
+            0.0
+        ],
+        [
+            -326.21,
+            -136.67,
+            98.15,
+            0.0,
+            -156.4,
+            0.0
+        ],
+        [
+            -441.543,
+            -187.058,
+            98.15,
+            0.0,
+            -156.4,
+            0.0
+        ],
+        [
+            -556.875,
+            -237.446,
+            98.15,
+            0.0,
+            -156.4,
+            0.0
+        ],
+        [
+            -556.875,
+            -237.446,
+            98.15,
+            0.0,
+            178.6,
+            -0.0
+        ],
+        [
+            -629.186,
+            -223.718,
+            98.15,
+            0.0,
+            178.6,
+            -0.0
+        ],
+        [
+            -629.186,
+            -223.718,
+            98.15,
+            0.0,
+            178.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, I only see storage racking, pallets, a covered yellow load, and a bay wall marked A1, with no white electrical box anywhere on the visible walls. I will turn right to begin a steady scan of the surrounding bay for wall-mounted equipment.",
+        "The bay wall ahead under the A1 sign is bare apart from painted arrows, so the target is still not in view. I will keep rotating to the right in the same direction to bring the next unseen section of wall into view.",
+        "I now see more racking loaded with drums and containers on my right, but the wall surfaces I can read still carry no electrical box. I will continue my rightward scan so the open floor and far walls beyond this rack come into view.",
+        "Turquoise floor opens to my right past the guard posts, suggesting a walkable aisle and more wall area on that side. I will turn right again to keep sweeping consistently toward that open space where a wall-mounted box is more likely to be exposed.",
+        "Ahead on the far grey wall I can now make out a pale panel with conduit running to it, which looks like the mounted electrical box I am after. I will turn right once more to bring that wall section closer to the centre of my view before walking toward it.",
+        "The grey wall with its conduit runs and a light-coloured mounted panel is now roughly ahead of me, and the turquoise floor lane between us is clear. I will walk forward to close the distance so I can confirm the panel is the white electrical box.",
+        "From closer in, the wall panel resolves into a white cabinet with conduit feeding it, next to a trolley of boxes. I will keep walking forward since the lane stays clear and the box is still some distance off.",
+        "The white electrical box is confirmed on the wall ahead but it sits to the right of my current heading, drifting toward the edge of my view. I will turn right to place it more centrally so my next steps carry me straight to it.",
+        "The white electrical enclosures mounted on the grey wall are now clearly in view ahead and slightly to my left, matching the box I was sent to find. The open blue floor between me and that wall is clear apart from the cart and low yellow guards off to the side, so I will walk forward to close the distance.",
+        "The pair of white boxes on the wall has grown noticeably larger and the warning label beside them is becoming readable, confirming I am closing on the right target. The floor ahead is still open, so I will keep walking forward to shorten the remaining gap.",
+        "The white electrical box with its red handle is close now on my left, and only a few steps of open floor remain before the wall. I will advance again to bring myself within an arm's reach of the enclosure.",
+        "The white box has drifted to the far left edge of my view while the structural column and racking dominate the center, so I am no longer facing my target. I will turn left to bring the wall-mounted enclosure back into the middle of my view before stepping any closer.",
+        "The white electrical box is now squarely centered in front of me with its handle, conduit and warning label all clearly visible on the wall. I will take one short step forward to finish closing the small remaining gap and stand directly at the box.",
+        "The white wall-mounted electrical box fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Walk to the fire extinguisher on rack 06, then head toward the blue barrel.",
+    "Type": 3,
+    "Start_Pose": [
+        54.452,
+        -6331.204,
+        98.15,
+        0.0,
+        154.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "MidwayTarget",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            54.452,
+            -6331.204,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -59.203,
+            -6277.139,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -172.858,
+            -6223.075,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -286.513,
+            -6169.01,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -286.513,
+            -6169.01,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -286.513,
+            -6169.01,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -526.024,
+            -6113.979,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -651.879,
+            -6113.012,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -777.735,
+            -6112.046,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -777.735,
+            -6112.046,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the head of the aisle I can read the 07 placard on the rack beside me and the 06 placard further down on the left-hand run, with a red extinguisher hanging on its upright. The lane between the racking is clear, so I walk forward to close on that rack.",
+        "The 06 placard and the red extinguisher mounted below it are noticeably larger now, confirming I am tracking the right rack. The aisle stays open ahead, so I keep walking to shorten the remaining distance.",
+        "The extinguisher on the 06 rack upright is close enough now that I can see its hose and bracket clearly, but I am still a few paces short of standing beside it. I step forward again to draw level with it.",
+        "I am standing right at the upright that carries the red extinguisher, but at this range the rack number sits above my level gaze. I look up to bring the placard into view and confirm this is rack 06 rather than a neighbouring bay.",
+        "The 06 placard is plainly readable on the frame right in front of me, with the red fire extinguisher hanging on the upright just below it. I have reached the fire extinguisher on rack 06. I mark reaching it and now set off for the blue barrels standing on the cart by the brick wall.",
+        "The blue barrels sit on a wheeled cart against the brick wall, low in my view and still well down the aisle. The floor between me and them is clear, so I walk forward to begin closing that gap.",
+        "The barrels and their railed cart now sit noticeably right of the centre of my view, while my heading runs past them along the racking. I turn right to put the barrels squarely in front of me before continuing.",
+        "The two blue barrels on their railed cart are now centred ahead of me against the brick wall. The open floor between us is clear, so I step forward to close on them.",
+        "The barrels and the red rail of their cart fill more of my view, yet a few paces of bare floor still separate me from the cart deck. Nothing blocks that stretch, so I walk on to shorten it.",
+        "The two blue barrels now tower directly in front of me with their grey lids and the brick wall behind them, but the cart's near rail is still a short step off. I advance once more to stand right at them.",
+        "The blue barrels fill my view just past the cart rail. I have arrived at them, so the task is done and I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_b/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Approach the blue barrel, then move to the fire extinguisher on rack 07.",
+    "Type": 3,
+    "Start_Pose": [
+        54.452,
+        -6331.204,
+        98.15,
+        0.0,
+        154.56,
+        -0.0
+    ],
+    "Action": [
+        "LookUp",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            54.452,
+            -6331.204,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            54.452,
+            -6331.204,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -59.203,
+            -6277.139,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -172.858,
+            -6223.075,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -172.858,
+            -6223.075,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -298.714,
+            -6222.108,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -424.569,
+            -6221.142,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -550.424,
+            -6220.175,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -676.28,
+            -6219.209,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -676.28,
+            -6219.209,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -786.231,
+            -6162.185,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -786.231,
+            -6162.185,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -786.231,
+            -6162.185,
+            98.15,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -786.231,
+            -6162.185,
+            98.15,
+            0.0,
+            104.56,
+            -0.0
+        ],
+        [
+            -786.231,
+            -6162.185,
+            98.15,
+            0.0,
+            79.56,
+            -0.0
+        ],
+        [
+            -786.231,
+            -6162.185,
+            98.15,
+            0.0,
+            54.56,
+            -0.0
+        ],
+        [
+            -786.231,
+            -6162.185,
+            98.15,
+            0.0,
+            29.56,
+            -0.0
+        ],
+        [
+            -786.231,
+            -6162.185,
+            98.15,
+            0.0,
+            4.56,
+            -0.0
+        ],
+        [
+            -660.77,
+            -6152.179,
+            98.15,
+            0.0,
+            4.56,
+            -0.0
+        ],
+        [
+            -535.309,
+            -6142.172,
+            98.15,
+            0.0,
+            4.56,
+            -0.0
+        ],
+        [
+            -409.849,
+            -6132.166,
+            98.15,
+            0.0,
+            4.56,
+            -0.0
+        ],
+        [
+            -409.849,
+            -6132.166,
+            98.15,
+            0.0,
+            29.56,
+            -0.0
+        ],
+        [
+            -300.372,
+            -6070.076,
+            98.15,
+            0.0,
+            29.56,
+            -0.0
+        ],
+        [
+            -225.196,
+            -6049.784,
+            98.15,
+            0.0,
+            29.56,
+            -0.0
+        ],
+        [
+            -225.196,
+            -6049.784,
+            98.15,
+            0.0,
+            29.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "My gaze sits low on the aisle floor, and the blue barrels I need are far off near the brick wall past the racks. I will look up to lift my view over the near floor markings so I can keep the barrels and the aisle ahead in sight while I walk.",
+        "With my view raised I can see the open aisle running between the racks toward the far wall where the blue barrels stand on their cart. Nothing blocks the floor in front of me, so I will walk forward to close that distance.",
+        "The blue barrels on the wheeled cart now sit clearly ahead of me against the brick wall, still some distance away. The aisle in front of me stays open, so I will keep walking to shorten the gap.",
+        "The barrel cart sits slightly right of my heading, and the rack edge on my left is crowding the line I am walking. Turning right should put the barrels closer to the center of my view and open the lane between the racks ahead.",
+        "After the turn the blue barrels sit near the middle of my view with a clear stretch of floor leading to them. I will walk forward along that lane to keep closing in.",
+        "The barrels are noticeably larger now and still lined up ahead of me between the racks. The floor stays clear apart from cables at the edges, so I will continue walking toward them.",
+        "The two teal barrels on their cart are now clearly in front of me against the brick wall, but I am still several paces short of them. I will step forward again to bring myself right up to the cart.",
+        "The barrel cart fills much of my view now, though a short stretch of floor still separates me from its red railing. One more step forward should bring me right beside the blue barrels.",
+        "The pair of blue barrels on their cart now sits close in front of me but offset to the left of my heading, with the brick wall filling the rest of the view. I will turn left so the barrels come to the center of my path before I close the last bit of distance.",
+        "The barrel cart is now squarely ahead of me with clear floor between us, so nothing blocks a straight advance. I will step forward to stand right at the blue barrels.",
+        "The two blue barrels fill my view at arm's length, their red cart rail right in front of me and the brick wall just beyond. I have reached the blue barrels. I mark reaching them and now set off for the fire extinguisher on rack 07.",
+        "I am pressed up against the barrels with the brick wall right behind them, so there is no way forward on this heading. I will turn left to swing my view off the wall toward the open aisle that shows at the edge of my sight, starting my heading change toward the extinguisher on rack 07.",
+        "The turn has brought the racking and a strip of open aisle floor into the left of my view, while the barrels still crowd my right side. I will keep turning left to clear the cart and bring the aisle further around in front of me.",
+        "The long aisle between the pallet racks is opening up ahead and to my left, but my heading still points partly at the rack end and the barrel cart. I will turn left again to keep swinging onto a line I can walk down.",
+        "The aisle now runs straight ahead of me between the loaded racks, yet I still need to face the side of the hall where the numbered rack fronts and their extinguishers stand. I will turn left once more to bring that side into view.",
+        "Turning has brought a rack end marked 06 into view on my left, with a red extinguisher hanging on its upright, so I am now looking along the numbered rack fronts. Rack 07 lies further around, so I will turn left again to face that stretch of the hall.",
+        "The barrels behind me are done with, and my heading still points across the racking rather than down the open aisle I need. One more step of rotation to the left should place that long clear lane squarely ahead so I can start walking toward the extinguisher rack.",
+        "The aisle now runs straight ahead between the shelving, with clear floor and no obstruction in the near stretch. I will walk forward to close distance toward the far bays where the extinguisher rack should be.",
+        "The far end of the aisle with its ladder and scattered cartons has grown noticeably nearer, so my heading down this lane is right. Another stride forward should keep closing on the racks at that end where I expect the extinguisher.",
+        "I am into the wider end of the aisle now, with loose cartons and paper on the floor but a passable line down the middle. I will keep walking to reach the bay fronts before turning to inspect the rack faces.",
+        "I have arrived at the end bays, and the racking that carries the mounted extinguisher stands off to my right rather than straight ahead. Turning right should bring that rack face into the center of my view so I can walk directly onto it.",
+        "The rack face is now centered ahead, with a red extinguisher visible on one of its uprights partway down. I will step forward along the bay to close on that upright.",
+        "The extinguisher on the blue upright is close and clearly in front of me, but still a stride away from arm's reach. One more short step forward should put me right at it.",
+        "The red extinguisher on the rack upright stands directly beside me at arm's length. Both destinations are reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_c/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Navigate to the yellow bollard near rack 06, then reach the fire extinguisher on rack 07.",
+    "Type": 3,
+    "Start_Pose": [
+        54.452,
+        -6331.204,
+        98.15,
+        0.0,
+        154.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            54.452,
+            -6331.204,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -59.203,
+            -6277.139,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -172.858,
+            -6223.075,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -286.513,
+            -6169.01,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            104.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            79.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            54.56,
+            -0.0
+        ],
+        [
+            -400.169,
+            -6114.945,
+            98.15,
+            0.0,
+            29.56,
+            -0.0
+        ],
+        [
+            -290.692,
+            -6052.855,
+            98.15,
+            0.0,
+            29.56,
+            -0.0
+        ],
+        [
+            -245.524,
+            -6038.23,
+            98.15,
+            0.0,
+            29.56,
+            -0.0
+        ],
+        [
+            -177.655,
+            -6044.991,
+            109.375,
+            0.0,
+            29.56,
+            -0.0
+        ],
+        [
+            -177.655,
+            -6044.991,
+            109.375,
+            0.0,
+            29.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The rack signed 06 stands ahead and slightly left, with a yellow bollard guarding the shelf leg near the taped floor corner. The lane in front of me is clear of pallets and cabling, so I will walk forward to close the distance to that bollard.",
+        "The 06 sign now reads larger and the yellow bollards along that rack line are clearer, but they are still several strides off across the open floor. I will keep walking forward on this heading to draw level with the bollard by that rack.",
+        "The yellow post standing at the end of rack 06, just left of the drum trolley, is now plainly ahead of me across the grey floor. My heading is already lined up on it, so another step forward should bring me close to it.",
+        "The yellow bollard beside the blue drum trolley is only a short distance ahead now, with the yellow floor arrow pointing across in front of it. I will advance once more to stand beside that bollard at rack 06.",
+        "I am right up on the rack 06 corner, with the yellow bollard just off my forward-right and the striped guard at my knee. I will look down to check the floor markings immediately around me and confirm I am level with that bollard rather than short of it.",
+        "The yellow bollard sits at arm's length on the floor beside me at the end of rack 06, with the lane markings running past my feet. I have arrived at the yellow bollard. I mark reaching it, then set off for the fire extinguisher on rack 07.",
+        "My heading still points out across the open floor toward the drum trolley and the brick wall, which leads nowhere useful now. The racking that carries the extinguishers lies back around to my left, so I will turn left to swing my view off this heading and onto the rack line.",
+        "The turn brought rack uprights and a red extinguisher on a nearby post into view, but I am still angled into the face of the shelving rather than into a walkable lane. I will keep turning left to bring the aisle between the racks in front of me and continue toward rack 07.",
+        "My heading now cuts across the long aisle that runs off to my left between the tall pallet racks, and the extinguisher hanging on the upright beside me is not the one on the far rack I want. I will keep swinging left so that open lane lines up straight ahead of me.",
+        "The aisle between the box-laden racks now runs roughly ahead, but its centre still sits slightly left of where I am pointed and a rack upright crowds my right edge. Another left step of rotation should place the clear lane squarely in front of me before I start walking.",
+        "Along the shelving to my left I can pick out a red extinguisher body mounted low on a rack frame, well off to the side of my current heading. I will turn left once more to bring that rack and its extinguisher into the middle of my view for a straight approach.",
+        "I am now squared onto the open floor beside the rack end, with the shelving line and its scattered boxes running away ahead of me. Walking forward should carry me along this rack toward the extinguisher mounted on its frame.",
+        "The red extinguisher is now clearly visible ahead on the blue upright of this rack, though still several strides off past the boxed shelves. I will step forward again to close that remaining gap.",
+        "The extinguisher on the rack upright has grown noticeably and sits just left of the frame in front of me, but I am not yet within arm's reach of it. One more step forward should bring me right up beside it.",
+        "The fire extinguisher on the rack fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t5_a_pd/infos.json

@@ -0,0 +1,278 @@
+{
+    "Instruction": "Pick up the ceramic pot near the fire extinguisher on rack 06, then place it near the blue barrel.",
+    "Type": 5,
+    "Start_Pose": [
+        54.452,
+        -6331.204,
+        98.15,
+        0,
+        154.56,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -468.894,
+        -6107.516,
+        13.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            54.452,
+            -6331.204,
+            98.15,
+            0,
+            154.56,
+            0
+        ],
+        [
+            -59.203,
+            -6277.139,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -172.858,
+            -6223.075,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -286.513,
+            -6169.01,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -286.513,
+            -6169.01,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -400.168,
+            -6114.945,
+            98.15,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -400.168,
+            -6114.945,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -526.024,
+            -6113.977,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -651.879,
+            -6113.01,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -777.734,
+            -6112.043,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -824.998,
+            -6119.896,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -753.0,
+            -6120.449,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -753.0,
+            -6120.449,
+            98.15,
+            0.0,
+            179.56,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -468.894,
+            -6107.516,
+            13.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -468.894,
+            -6107.516,
+            13.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -468.894,
+            -6107.516,
+            13.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -468.894,
+            -6107.516,
+            13.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -295.135,
+            -6188.555,
+            68.256,
+            -28.202,
+            -155.296,
+            1.862
+        ],
+        [
+            -409.025,
+            -6134.384,
+            67.769,
+            -28.195,
+            -155.293,
+            1.862
+        ],
+        [
+            -399.544,
+            -6137.42,
+            68.84,
+            -28.193,
+            -130.292,
+            1.872
+        ],
+        [
+            -525.214,
+            -6135.337,
+            68.838,
+            -28.198,
+            -130.29,
+            1.868
+        ],
+        [
+            -651.321,
+            -6134.372,
+            68.475,
+            -28.196,
+            -130.293,
+            1.865
+        ],
+        [
+            -777.467,
+            -6133.403,
+            67.937,
+            -28.193,
+            -130.285,
+            1.869
+        ],
+        [
+            -824.229,
+            -6141.254,
+            68.686,
+            -28.2,
+            -130.296,
+            1.866
+        ],
+        [
+            -822.998,
+            -6119.912,
+            78.15,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -822.998,
+            -6119.912,
+            78.15,
+            0.0,
+            179.56,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        569.1,
+        443.4,
+        317.8,
+        192.5,
+        21.4,
+        21.4,
+        22.5,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The ceramic pot sits on the floor ahead near rack 06, where the red fire extinguisher hangs on the upright, but it is still far down the aisle. I will walk straight forward along the open floor to close that distance before any grasp is possible.",
+        "The pot ahead has grown noticeably larger and the 06 rack label with its extinguisher is now clearly on my left, so my heading is good. The gap is still too large to reach the pot, so I continue walking straight ahead.",
+        "The ceramic pot is now close in the lower center of my view, just past the yellow rack guard and hazard tape. It still lies a couple of steps beyond comfortable reach, so I take another step forward to get within grasping range.",
+        "The pot now stands directly in front of me at the base of rack 06, well within arm's reach and no longer partly hidden by the rack guard. I will attempt to pick it up so I can carry it toward the blue barrels on the cart across the aisle.",
+        "The pot is now in my hands and no longer resting on the warehouse floor, so the grasp took hold. The blue barrels on their red-railed cart sit ahead and to my right across the aisle, so I step forward to begin carrying the pot toward them.",
+        "Carrying the pot, I see the blue barrel cart sitting off to my right while my heading still points down the aisle past it. I will turn right to bring the barrels toward the center of my view so my next steps carry the pot straight to them.",
+        "The turn has placed the blue barrels on their cart near the middle of my view with the yellow floor arrow pointing the same way. Still holding the pot, I walk forward to close the remaining distance to the barrels.",
+        "The blue barrels and their red railing now fill much more of my view, so my heading onto them is correct. The pot is still in my hands and I am not yet beside the cart, so I take another step forward to reach a drop position next to the barrels.",
+        "The ceramic pot is still in my hands, and the two blue barrels on their cart sit squarely ahead against the brick wall. I am not yet close enough for a placement that counts as near them, so I step forward again along this heading.",
+        "The blue barrels and their red railing now fill most of my view, so I am almost at the drop spot with the pot still carried. One more short step forward should bring me right beside the barrels before releasing it.",
+        "I am right up against the cart holding the two blue barrels, close enough that their lids and the red rail dominate my view. The pot is still in my hands, so this is the moment to release it here so it rests near the barrels.",
+        "The ceramic pot now stands on the floor directly beside the two blue barrels, and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t3_a/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Navigate to the gray electrical panel, then proceed to the small red bin on the floor.",
+    "Type": 3,
+    "Start_Pose": [
+        129.523,
+        77.07,
+        114.74,
+        0.0,
+        -143.2,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            129.523,
+            77.07,
+            114.74,
+            0.0,
+            -143.2,
+            0.0
+        ],
+        [
+            28.744,
+            1.677,
+            98.15,
+            0.0,
+            -143.2,
+            0.0
+        ],
+        [
+            -72.036,
+            -73.715,
+            98.15,
+            0.0,
+            -143.2,
+            0.0
+        ],
+        [
+            -172.815,
+            -149.108,
+            98.15,
+            0.0,
+            -143.2,
+            0.0
+        ],
+        [
+            -172.815,
+            -149.108,
+            98.15,
+            0.0,
+            -168.2,
+            0.0
+        ],
+        [
+            -296.014,
+            -174.845,
+            98.15,
+            0.0,
+            -168.2,
+            0.0
+        ],
+        [
+            -419.213,
+            -200.583,
+            98.15,
+            0.0,
+            -168.2,
+            0.0
+        ],
+        [
+            -542.413,
+            -226.321,
+            98.15,
+            0.0,
+            -168.2,
+            0.0
+        ],
+        [
+            -542.413,
+            -226.321,
+            98.15,
+            0.0,
+            -168.2,
+            0.0
+        ],
+        [
+            -542.413,
+            -226.321,
+            98.15,
+            0.0,
+            -143.2,
+            0.0
+        ],
+        [
+            -542.413,
+            -226.321,
+            98.15,
+            0.0,
+            -118.2,
+            0.0
+        ],
+        [
+            -542.413,
+            -226.321,
+            98.15,
+            0.0,
+            -93.2,
+            0.0
+        ],
+        [
+            -542.413,
+            -226.321,
+            98.15,
+            0.0,
+            -68.2,
+            0.0
+        ],
+        [
+            -542.413,
+            -226.321,
+            98.15,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            -542.413,
+            -226.321,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -422.85,
+            -265.631,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -303.288,
+            -304.941,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -183.725,
+            -344.251,
+            98.15,
+            0.0,
+            -18.2,
+            0.0
+        ],
+        [
+            -183.725,
+            -344.251,
+            98.15,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            -91.978,
+            -430.407,
+            98.15,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            -91.978,
+            -430.407,
+            98.15,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            -91.978,
+            -430.407,
+            98.15,
+            0.0,
+            -43.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open stretch of blue floor I can pick out small gray boxes mounted on the pale wall ahead and to my left, which look like the electrical panel I need to reach first. Nothing blocks the lane in front of me, so I will walk forward to close that distance.",
+        "The wall-mounted gray cabinets on the left have grown larger, confirming I am heading the right way toward the electrical panel. The floor stays clear ahead of me, so another step forward should keep shrinking the gap.",
+        "The gray panel boxes on the wall to my left are now clearly separate units with a red emergency button beside them, but they still sit off at an angle from my heading. I will keep advancing along this open lane before committing to a turn toward them.",
+        "The gray electrical panels sit on the wall to my left while my body still points down the aisle past them. Turning left should swing that wall section into the middle of my view so I can walk straight at the panel.",
+        "The turn has brought the gray panel cabinets and the red emergency button into the center of my view. With only the keep clear marking and open floor between us, I will step forward to close on the panel.",
+        "The two gray enclosures and the warning label are now large and directly in front of me, though still a few paces off past the yellow barrier posts. I will walk forward again to stand right at the panel.",
+        "The larger gray cabinet with its latch handle fills much of my view, so I am nearly at the wall. One more step forward should bring me right up in front of the panel.",
+        "The gray electrical panel with its warning label and side lever now stands directly in front of me, close enough to touch. I have reached it. I mark arriving at this panel before setting off toward the small red bin on the floor.",
+        "The gray electrical panel fills my view at close range, so there is nothing more for me at this wall. No small red bin can be anywhere on this flat gray surface, so I will turn right to swing my view off the wall and out over the open warehouse floor.",
+        "The wall edge and its panel have slid to my left and the racking aisle with the blue floor is opening on my right, but I see no small red bin yet. I will turn right again to keep sweeping my view across the bay.",
+        "So far my view shows only tall pallet racking, yellow guard rails and the painted floor, nothing low and red. Continuing to turn right should bring more of the open bay into view.",
+        "The large A marking and shelving span my view, with the wide blue floor stretching away to the right and still no small red bin. Another right turn should carry my heading further around toward the unseen part of the hall.",
+        "Shelving with cartons and blue totes occupies most of my view, and the floor ahead is clear but empty of the bin I want. I will turn right once more to bring the far side of the bay into view.",
+        "Across the bay I can now make out a small reddish bin resting on the floor beside the yellow barrier near the workbench. One more right turn should place that corner of the hall squarely ahead of me before I set off toward it.",
+        "The small red bin on the floor by the yellow barrier now lies ahead and a little to my left, with clear painted floor between us. I will walk forward to close that distance.",
+        "The red bin and the workbench beside it have grown larger, so my heading is carrying me straight toward them. Plenty of open floor still separates us, so I will keep walking forward.",
+        "The small red bin sits on the floor ahead and slightly to my left, beside the yellow rack guard under the workbench. It is still several paces off, so I will walk forward again to close that gap before making any fine heading adjustment.",
+        "The red bin has drifted into the lower left corner of my view as I closed in, so walking straight would take me past it. I will turn left to swing it back toward the center of my heading.",
+        "The red bin now sits ahead of me on the floor at the foot of the workbench, roughly in line with my heading. One more step forward should bring me right up beside it.",
+        "I am close enough that the gray equipment on the bench fills my view and the low bin has dropped below the bottom edge. I will look down to bring the floor directly in front of me into view and confirm the red bin is at my feet.",
+        "The small red bin rests on the floor directly at my feet, within arm's reach. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t3_b/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Move to the small red bin on the floor, then approach the gray electrical panel.",
+    "Type": 3,
+    "Start_Pose": [
+        129.523,
+        77.07,
+        114.74,
+        0.0,
+        -143.2,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            129.523,
+            77.07,
+            114.74,
+            0.0,
+            -143.2,
+            0.0
+        ],
+        [
+            129.523,
+            77.07,
+            114.74,
+            0.0,
+            -118.2,
+            0.0
+        ],
+        [
+            70.048,
+            -33.85,
+            98.15,
+            0.0,
+            -118.2,
+            0.0
+        ],
+        [
+            10.573,
+            -144.77,
+            98.15,
+            0.0,
+            -118.2,
+            0.0
+        ],
+        [
+            -48.901,
+            -255.69,
+            98.15,
+            0.0,
+            -118.2,
+            0.0
+        ],
+        [
+            -48.901,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -55.927,
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+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -55.927,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -55.927,
+            -381.353,
+            98.15,
+            0.0,
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+            -0.0
+        ],
+        [
+            -178.461,
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+            98.15,
+            0.0,
+            166.8,
+            -0.0
+        ],
+        [
+            -300.994,
+            -323.873,
+            98.15,
+            0.0,
+            166.8,
+            -0.0
+        ],
+        [
+            -423.528,
+            -295.133,
+            98.15,
+            0.0,
+            166.8,
+            -0.0
+        ],
+        [
+            -546.062,
+            -266.393,
+            98.15,
+            0.0,
+            166.8,
+            -0.0
+        ],
+        [
+            -629.191,
+            -226.263,
+            98.15,
+            0.0,
+            166.8,
+            -0.0
+        ],
+        [
+            -629.191,
+            -226.263,
+            98.15,
+            0.0,
+            166.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the open blue floor stretches ahead, and the small red bin I want sits far off to my right near the workbench and shelving. Facing the pale wall on my left would take me away from it, so I will turn right to bring that side of the bay into view and set a heading toward the bin.",
+        "The red bin now sits ahead and slightly right, low on the floor beside the workbench under the 01 sign. The blue floor between us is clear of pallets and railings, so I will walk forward to close the long gap.",
+        "The red bin has grown noticeably and now stands out against the yellow floor chevrons ahead on my right. Nothing blocks the lane between me and it, so I will keep walking forward to shorten the distance.",
+        "The red bin is clearly resting on the floor to my right front, beside the machine cabinet and the bench. I am still several strides short of it, so another forward step should bring me alongside that corner of the bay.",
+        "The red bin has slid to the far right edge of my view, close to the racking and the yellow floor marking, while my heading still points down the aisle past it. I will turn right so the bin sits ahead of me and I can walk straight onto it.",
+        "The red bin now sits low and ahead of me on the right, just past the yellow hatched kerb below the bench. One more step forward should put me right at it rather than a stride short.",
+        "The small red bin is right at my feet at the bottom of my view, hard against the yellow hatched kerb below the bench. I have reached it, so I mark arriving at the red bin before setting off across the bay toward the gray electrical panel on the wall.",
+        "Standing at the red bin, my view is filled by racking and the machine cabinet on my right, with no wall-mounted gray panel anywhere ahead. The pale wall with electrical fittings lies back around to my left, so I will turn left to begin swinging my heading that way.",
+        "The small red bin is behind me now and my view is filled with pallet racking and the yellow bay wall, with no gray electrical panel anywhere in it. I will turn left to sweep my view across the plainer wall where such a panel would be mounted.",
+        "The turn has brought the open aisle and the bays marked 02 and 03 into view, but I still see only shelving and stacked pallets. Continuing to rotate left should carry the flat gray wall on that side around into the centre of my view.",
+        "The gray wall on my left now shows conduit runs and small wall-mounted enclosures, which matches the electrical panel I am looking for. One more left turn should bring that wall squarely in front of me so I can walk straight at it.",
+        "The gray wall with its mounted enclosure and vertical conduit now sits ahead of me, with clear blue floor between us. I will walk forward to begin closing that distance.",
+        "The gray cabinet and its conduit have grown larger and stay near the middle of my view, so my heading is good. The trolley of boxes and the yellow guardrail sit clear of my line, so I will keep walking forward.",
+        "The gray panel box with its handle and drop conduit is clearly readable on the wall just ahead of me. The floor markings in front are open, so another step forward should bring me close to it.",
+        "The gray enclosure and the smaller box beside it now fill a large part of my view at wall height. I will step forward again to stand right at the panel.",
+        "The panel door with its latch and warning label is directly in front of me at close range. A last short step should put me right up against it.",
+        "The electrical panel's cabinet door and latch fill my view at arm's length. Both destinations are reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000162_y-004110_z000098_t1_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Look around the warehouse aisles for the base of the shelf rack labeled 05 and go to it.",
+    "Type": 1,
+    "Start_Pose": [
+        161.921,
+        -4110.094,
+        98.15,
+        0.0,
+        63.36,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            161.921,
+            -4110.094,
+            98.15,
+            0.0,
+            63.36,
+            -0.0
+        ],
+        [
+            161.921,
+            -4110.094,
+            98.15,
+            0.0,
+            38.36,
+            -0.0
+        ],
+        [
+            161.921,
+            -4110.094,
+            98.15,
+            0.0,
+            13.36,
+            -0.0
+        ],
+        [
+            161.921,
+            -4110.094,
+            98.15,
+            0.0,
+            -11.64,
+            0.0
+        ],
+        [
+            161.921,
+            -4110.094,
+            98.15,
+            0.0,
+            -36.64,
+            0.0
+        ],
+        [
+            262.91,
+            -4185.205,
+            98.15,
+            0.0,
+            -36.64,
+            0.0
+        ],
+        [
+            363.9,
+            -4260.316,
+            98.15,
+            0.0,
+            -36.64,
+            0.0
+        ],
+        [
+            363.9,
+            -4260.316,
+            98.15,
+            0.0,
+            -61.64,
+            0.0
+        ],
+        [
+            423.684,
+            -4371.069,
+            98.15,
+            0.0,
+            -61.64,
+            0.0
+        ],
+        [
+            483.468,
+            -4481.823,
+            100.368,
+            0.0,
+            -61.64,
+            0.0
+        ],
+        [
+            483.468,
+            -4481.823,
+            100.368,
+            0.0,
+            -61.64,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing at the mouth of an aisle with tall pallet racks to my left and stacked cartons to my right, but no rack label reading 05 is legible from here. I will turn left to begin a steady scan across the racking on that side, where uprights and shelf bases are most likely to carry identifying numbers.",
+        "The rack faces now in front of me show boxes, drums and a fire extinguisher, but still no readable number plate on any upright. I will continue turning left in the same direction to keep the scan consistent and bring the next stretch of racking into view.",
+        "Ahead of me the aisle opens between two rack rows with cables running across the floor, yet I still cannot read any shelf identifier from this angle. I will keep rotating left so that more of the rack ends on that side swing into view, since the labels tend to sit on the aisle-facing uprights.",
+        "On the far left edge of my view I can now make out a light placard on a rack upright that appears to read 05, though it sits at the very margin of what I can see. I will turn left once more to bring that labeled rack toward the center of my view before committing to an approach.",
+        "The rack bearing the 05 placard is now within my forward view, standing in the row of pallet racking to my left front with its yellow-guarded base at floor level. I will walk forward along the open aisle to close the remaining distance toward that rack base.",
+        "The 05 placard is clearer now on the rack upright to my left, but the yellow base guard beneath it is still several paces away across the aisle. I will step forward again to keep closing on that rack.",
+        "The 05 rack is now off to my left while a fire extinguisher and equipment cabinet fill the right side of my view, so my heading is drifting past the target. I will turn left to face the labeled rack and its base directly before advancing further.",
+        "Turning has put the rack carrying the 05 placard squarely ahead of me, with its yellow and black guarded base visible at floor level. I will walk forward along the clear aisle to reach that base.",
+        "The rack column carrying the 05 marker is now close on my right, but I am still standing off from its base with the aisle floor open ahead of me. I will step forward again to close the remaining gap and bring the labelled upright and its lowest bay right beside me.",
+        "The labelled rack upright and its base bay are directly beside me, filling my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000236_y-000102_z000098_t1_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Explore the area to find the yellow bollard near the empty wooden pallet and move toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        236.145,
+        -101.876,
+        98.15,
+        0,
+        68.96,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            236.145,
+            -101.876,
+            98.15,
+            0,
+            68.96,
+            0
+        ],
+        [
+            236.145,
+            -101.876,
+            98.15,
+            0.0,
+            93.96,
+            -0.0
+        ],
+        [
+            236.145,
+            -101.876,
+            98.15,
+            0.0,
+            118.96,
+            -0.0
+        ],
+        [
+            236.145,
+            -101.876,
+            98.15,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            134.375,
+            -27.827,
+            98.15,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            134.375,
+            -27.827,
+            98.15,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            10.845,
+            -3.726,
+            98.15,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -112.685,
+            20.376,
+            98.15,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -236.215,
+            44.477,
+            98.15,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -236.215,
+            44.477,
+            98.15,
+            0.0,
+            143.96,
+            -0.0
+        ],
+        [
+            -236.215,
+            44.477,
+            98.15,
+            0.0,
+            118.96,
+            -0.0
+        ],
+        [
+            -236.215,
+            44.477,
+            98.15,
+            0.0,
+            118.96,
+            -0.0
+        ],
+        [
+            -236.215,
+            44.477,
+            98.15,
+            0.0,
+            118.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this corner I only see loaded racking, chemical shelves and a pallet already occupied by boxes and bins, so there is no empty wooden pallet with a yellow bollard in front of me. I will turn right to begin a steady scan of the storage bay toward the open floor on that side.",
+        "The scan has opened onto a wider aisle with an A1 bay marker and a pallet under a yellow cover, but that pallet is loaded rather than empty. I will keep rotating right in the same direction to uncover more of the marked floor area where empty pallets and bollards are likely staged.",
+        "Ahead of me the covered pallet sits inside its red and white floor markings, and further right I can pick out slim yellow bollards standing along the blue aisle. I will continue turning right so that promising open aisle comes fully into view before I commit to walking.",
+        "The rotation has revealed a long clear stretch of blue floor with racking on the left and yellow guard posts further down the bay, which is the most plausible area for an empty pallet and its bollard. I will step forward along this open lane to get close enough to judge those yellow posts.",
+        "After advancing, the racking on my left crowds the view while the open aisle and the yellow posts sit toward my right side. I will turn right to line my heading up with that lane so I can keep walking straight toward the bollards.",
+        "I am now squared with the aisle, and a slender yellow bollard stands at the base of the racking ahead on the left with pallet stock beside it. The floor between us is clear, so I will walk forward to shorten the distance.",
+        "The bollard by the racking is larger in view now and I can make out bare pallet boards on the floor beside it, which matches the empty pallet I am looking for. I will keep stepping forward along the clear lane to close in on it.",
+        "The yellow bollard and the empty wooden pallet in the marked receiving zone are clearly on my left front, and the aisle in front of me is still open. I will take another step forward to bring the bollard within close range before settling my heading on it.",
+        "I have walked deep into this aisle and the racking with stacked grey panels now fills most of my view, while the pale wooden pallet slats have appeared at the lower left edge of my sight. The yellow bollard I am looking for should stand just beyond that pallet, outside my current field of view to the left. I will turn left to bring that pallet bay and its adjacent bollard into the middle of my view.",
+        "The empty wooden pallet is now clearly in the near foreground at the bottom of my view, and a yellow upright edge is just showing at the right of the rack behind it, so the bollard area lies slightly further left of my heading. Centering that floor zone will let me confirm the bollard next to the pallet. I will turn left once more to square up on it.",
+        "The yellow bollard now stands directly in front of me at close range, with the empty wooden pallet resting on the floor right beside it. Its base and the pallet deck are cut off at the bottom of my view, so tilting my gaze down should show the full post and its footing on the marked floor. I will look down to confirm I am standing at the bollard.",
+        "The yellow bollard stands directly before me at arm's reach, with the empty wooden pallet beside it on the marked floor. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000290_y-004737_z000098_t1_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Scan the warehouse for the small trash bin near the red-and-white barrier tape and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        289.967,
+        -4736.96,
+        98.15,
+        0,
+        -11.52,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            289.967,
+            -4736.96,
+            98.15,
+            0,
+            -11.52,
+            0
+        ],
+        [
+            289.967,
+            -4736.96,
+            98.15,
+            0.0,
+            13.48,
+            -0.0
+        ],
+        [
+            289.967,
+            -4736.96,
+            98.15,
+            0.0,
+            38.48,
+            -0.0
+        ],
+        [
+            289.967,
+            -4736.96,
+            98.15,
+            0.0,
+            63.48,
+            -0.0
+        ],
+        [
+            289.967,
+            -4736.96,
+            98.15,
+            0.0,
+            88.48,
+            -0.0
+        ],
+        [
+            289.967,
+            -4736.96,
+            98.15,
+            0.0,
+            113.48,
+            -0.0
+        ],
+        [
+            239.821,
+            -4621.522,
+            98.15,
+            0.0,
+            113.48,
+            -0.0
+        ],
+        [
+            212.039,
+            -4507.539,
+            98.15,
+            0.0,
+            113.48,
+            -0.0
+        ],
+        [
+            212.039,
+            -4507.539,
+            98.15,
+            0.0,
+            113.48,
+            -0.0
+        ],
+        [
+            212.039,
+            -4507.539,
+            98.15,
+            0.0,
+            113.48,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, the aisle ahead is blocked by a parked flatbed cart and tall racking, and I see no small trash bin or red-and-white barrier tape anywhere in this view. I will turn right to begin a steady scan of the surrounding bays for that marked area.",
+        "This heading only reveals more pallet racking, stacked cartons and the cart, with no bin or striped hazard tape in sight. I will continue turning right in the same direction to keep the scan consistent and open up the next section of the warehouse.",
+        "I am now looking down a narrow gap between two racks where only crates, drums and floor cables are visible, and there is still no small bin or red-and-white tape. I will keep rotating right so the open aisle beyond these racks can come into view.",
+        "The main aisle is opening up on my right with a long lane running toward the back wall, which is a promising area for floor-level items like a trash bin. I will turn right again to bring that aisle and the racking along it fully in front of me.",
+        "Down the aisle on the right side I can now make out a dark trash bin standing beside a yellow post with red-and-white striped marking on the floor. I will turn right once more to place that bin closer to the center of my heading before walking to it.",
+        "The small trash bin is now roughly ahead of me next to the yellow rack guard with red-and-white hazard striping, and the aisle floor between us is clear. I will walk forward to close the distance toward it.",
+        "The bin is clearly larger now, sitting against the yellow column guard with the red-and-white striped tape marking on the floor around it, and nothing blocks the path. I will step forward again to come within close range of it.",
+        "I am very close to the bin now, so close that the racking beam fills my upper view and only the bin's dark rim shows at the bottom edge. I will look down to bring the trash bin and the red-and-white striped marking fully into view and confirm I have reached it.",
+        "The small black trash bin sits directly in front of me beside the red-and-white striped barrier tape, within arm's reach. The approach condition is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Search the surrounding aisles for the toppled orange shelf rack amid scattered debris and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        336.942,
+        -4496.296,
+        98.15,
+        0,
+        55.68,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0,
+            55.68,
+            0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            80.68,
+            -0.0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            105.68,
+            -0.0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            130.68,
+            -0.0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            155.68,
+            -0.0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            -179.32,
+            0.0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            -154.32,
+            0.0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            -129.32,
+            0.0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            -104.32,
+            0.0
+        ],
+        [
+            305.812,
+            -4618.244,
+            98.15,
+            0.0,
+            -104.32,
+            0.0
+        ],
+        [
+            274.683,
+            -4740.193,
+            98.15,
+            0.0,
+            -104.32,
+            0.0
+        ],
+        [
+            243.553,
+            -4862.141,
+            110.146,
+            0.0,
+            -104.32,
+            0.0
+        ],
+        [
+            243.553,
+            -4862.141,
+            110.146,
+            0.0,
+            -79.32,
+            0.0
+        ],
+        [
+            266.878,
+            -4985.82,
+            98.15,
+            0.0,
+            -79.32,
+            0.0
+        ],
+        [
+            290.202,
+            -5109.499,
+            117.489,
+            0.0,
+            -79.32,
+            0.0
+        ],
+        [
+            290.202,
+            -5109.499,
+            117.489,
+            0.0,
+            -79.32,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see intact red and grey racking directly ahead with clear floor and no toppled orange structure or scattered debris. I will turn right to begin a consistent scan of the surrounding aisles for the collapsed rack.",
+        "The aisle now opening ahead is clean, with stacked pallets and orderly shelving on both sides and nothing overturned. I will keep rotating right to bring the next section of the warehouse into view.",
+        "This heading shows another orderly bay of blue and orange racking with goods still on the shelves and a taped floor marking, but no wreckage. Continuing the same rightward rotation should reveal the aisles still hidden behind me.",
+        "A support column, a bin and a low shelf edge now block much of my view, so I cannot judge this bay from where I stand. I will continue turning right in the same direction to keep the scan consistent and open up the next aisle.",
+        "I am looking straight into the side of a loaded rack with a covered pallet, which hides whatever lies beyond it. Turning right again should carry my gaze past this obstruction toward the open aisles further around.",
+        "The shelving still fills most of my view, with drums and boxes sitting normally on the levels and only floor markings beyond. I will keep rotating right so the scan continues in one direction until something matching the toppled rack appears.",
+        "Toward the right edge of my view I can now make out tilted blue and orange beams and small items strewn across the floor beyond the rack end. I will turn right once more to bring that damaged area into the center of my view before committing to it.",
+        "The toppled orange and blue rack is clearly in view ahead with debris, cartons and loose goods spilled across the aisle floor. One more right turn should center it in my path so I can walk straight toward it.",
+        "Scanning around the aisle has brought a collapsed orange and blue rack into view ahead, tilted over a floor covered with spilled cartons and small debris. Since the target is now visible rather than merely suspected, I stop scanning and walk forward down this open aisle lane toward it.",
+        "The toppled rack is larger in my view now, with its orange beams clearly resting against the standing shelving on the right. The gap between us is still considerable, so I keep walking straight ahead along the debris-strewn lane.",
+        "The fallen rack now dominates the middle of my view, with its bent blue frame and orange decking angled across the aisle. I continue forward to close the remaining distance before I need to adjust my heading.",
+        "As I have advanced, the collapsed rack has drifted toward the right side of my view while tall pallet shelving crowds my left. I turn right to bring the fallen structure back to the center of my heading so my next steps carry me straight into it.",
+        "The turn has centered the toppled rack, with its orange shelf panels and leaning blue uprights squarely ahead of me. I walk forward to close the last stretch of debris-covered floor between us.",
+        "The fallen rack fills most of my view now, its orange decking and crossed blue beams only a short distance ahead. One more step forward should place me right at the toppled structure.",
+        "The toppled orange rack is directly in front of me, close enough that its beams fill my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_b/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Explore the warehouse to locate the cart with a blue base and yellow railings, then go to it.",
+    "Type": 1,
+    "Start_Pose": [
+        336.942,
+        -4496.296,
+        98.15,
+        0.0,
+        -126.72,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            -126.72,
+            0.0
+        ],
+        [
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+            -4496.296,
+            98.15,
+            0.0,
+            -101.72,
+            0.0
+        ],
+        [
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+            -4496.296,
+            98.15,
+            0.0,
+            -76.72,
+            0.0
+        ],
+        [
+            336.942,
+            -4496.296,
+            98.15,
+            0.0,
+            -51.72,
+            0.0
+        ],
+        [
+            414.912,
+            -4595.094,
+            98.15,
+            0.0,
+            -51.72,
+            0.0
+        ],
+        [
+            489.372,
+            -4695.203,
+            98.15,
+            0.0,
+            -51.72,
+            0.0
+        ],
+        [
+            489.372,
+            -4695.203,
+            98.15,
+            0.0,
+            -51.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Straight ahead I only see tall pallet racking with drums and cardboard boxes, and no cart with a blue base and yellow railings anywhere in this view. The floor stays open toward my right, so I will turn right to begin a steady scan of the warehouse in one consistent direction.",
+        "The aisle ahead shows collapsed shelving, scattered cartons and a bay marked 04, but still no cart matching a blue base with yellow railings. I will keep turning right in the same direction to bring the next unseen stretch of floor into view.",
+        "At the right edge of my view I can now make out a flat cart with a teal blue deck and bright yellow tubular railings parked beside the racking. I will turn right once more to bring that cart into the center of my heading before walking toward it.",
+        "The cart with the blue base and yellow safety railings is now roughly ahead of me, standing against the racking with striped guards near its wheels. The lane in front looks clear of the scattered debris, so I will walk forward to close the distance to it.",
+        "The blue based cart with yellow railings is much closer now, its teal deck and caster wheels filling the lower part of my view. I am still a couple of paces short of standing at it, so I will step forward again to finish the approach.",
+        "The blue based cart with yellow railings is directly in front of me, filling my view at arm's reach. The task is complete, so I stop here."
+    ]
+}