diff --git a/dataset/trajectory/Storagehouse/task_x-000012_y-005902_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000012_y-005902_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..364fec0a888b08743e01441c3a73bffa6f236153 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d373c8a161bd304f956f1a360adb76aa758af207 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8b15f8ae15ceb17171296d4a047d5406b9a539dc --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000106_y-006079_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000106_y-006079_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8eb9cb9afe5f2572c520ab022b32de093818dc --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000106_y-006079_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000106_y-006079_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7c498d82bb29dc46e4392ed35566cf840680070a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..249c52cb92630996cac22e59cb0942bbe8c5c59b --- /dev/null +++ b/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, + 12.15, + 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, + -662.089, + 98.15, + 0, + 103.52, + 0 + ], + [ + -140.46, + -539.718, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -140.46, + -539.718, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -115.411, + -416.377, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -90.362, + -293.036, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -65.312, + -169.694, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -65.312, + -169.694, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -65.312, + -169.694, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -65.312, + -169.694, + 98.15, + 0.0, + 128.52, + -0.0 + ], + [ + -65.312, + -169.694, + 98.15, + 0.0, + 153.52, + -0.0 + ], + [ + -65.312, + -169.694, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -191.129, + -166.443, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -191.129, + -166.443, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -306.532, + -216.669, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -421.935, + -266.895, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -421.935, + -266.895, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -547.752, + -263.644, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -616.897, + -263.813, + 98.042, + 0.0, + 178.52, + -0.0 + ], + [ + -544.921, + -265.673, + 98.042, + 0.0, + 178.52, + -0.0 + ], + [ + -544.921, + -265.673, + 98.042, + 0.0, + 178.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -15.023, + 0.0, + 12.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15.023, + 0.0, + 12.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15.023, + 0.0, + 12.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15.023, + 0.0, + 12.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15.023, + 0.0, + 12.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15.023, + 0.0, + 12.15, + 0.0, + 0.0, + 0.0 + ], + [ + -86.36, + -166.042, + 68.256, + -28.202, + 128.664, + 1.862 + ], + [ + -86.862, + -175.511, + 68.529, + -28.189, + 153.677, + 1.872 + ], + [ + -83.03, + -183.602, + 67.862, + -28.215, + 178.647, + 1.849 + ], + [ + -82.041, + -191.015, + 67.916, + -14.092, + -164.137, + 6.87 + ], + [ + -65.43, + -191.165, + 67.932, + -28.208, + -131.338, + 1.851 + ], + [ + -190.983, + -187.815, + 68.353, + -28.189, + -131.322, + 1.869 + ], + [ + -181.991, + -186.571, + 68.07, + -28.198, + -106.334, + 1.862 + ], + [ + -297.727, + -236.126, + 67.683, + -28.202, + -106.339, + 1.86 + ], + [ + -413.092, + -286.338, + 67.797, + -28.201, + -106.336, + 1.857 + ], + [ + -421.752, + -287.176, + 68.748, + -28.211, + -131.342, + 1.853 + ], + [ + -547.677, + -285.009, + 68.292, + -28.199, + -131.336, + 1.863 + ], + [ + -616.983, + -285.17, + 67.974, + -28.207, + -131.342, + 1.855 + ], + [ + -614.898, + -263.865, + 58.042, + 0.0, + 178.52, + -0.0 + ], + [ + -614.898, + -263.865, + 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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t5_b_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4da5ac33879e342dd60c0296d5523e6936953496 --- /dev/null +++ b/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, + -662.089, + 98.15, + 0, + 103.52, + 0 + ], + [ + -140.46, + -539.718, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -169.884, + -417.346, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -199.308, + -294.975, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -199.308, + -294.975, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -174.259, + -171.634, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -174.259, + -171.634, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -149.209, + -48.293, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -149.209, + -48.293, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -149.209, + -48.293, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -149.209, + -48.293, + 98.15, + 0.0, + 128.52, + -0.0 + ], + [ + -149.209, + -48.293, + 98.15, + 0.0, + 153.52, + -0.0 + ], + [ + -149.209, + -48.293, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -149.209, + -48.293, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -264.612, + -98.519, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -380.015, + -148.745, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -495.418, + -198.971, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -495.418, + -198.971, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -621.235, + -195.719, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -549.259, + -197.579, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -549.259, + -197.579, + 98.15, + 0.0, + 178.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -137.032, + 51.483, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -137.032, + 51.483, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -137.032, + 51.483, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -137.032, + 51.483, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -137.032, + 51.483, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -137.032, + 51.483, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -137.032, + 51.483, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -137.032, + 51.483, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -170.257, + -44.641, + 68.256, + -28.202, + 128.664, + 1.862 + ], + [ + -170.759, + -54.109, + 68.529, + -28.189, + 153.676, + 1.872 + ], + [ + -166.927, + -62.2, + 67.862, + -28.215, + 178.647, + 1.849 + ], + [ + -165.938, + -69.614, + 67.916, + -14.092, + -164.137, + 6.87 + ], + [ + -149.327, + -69.763, + 67.932, + -28.208, + -131.338, + 1.851 + ], + [ + -139.745, + -68.722, + 68.6, + -28.198, + -106.334, + 1.867 + ], + [ + -255.62, + -117.897, + 68.07, + -28.198, + -106.335, + 1.862 + ], + [ + -371.21, + -168.201, + 67.683, + -28.202, + -106.339, + 1.86 + ], + [ + -486.575, + -218.413, + 67.797, + -28.201, + -106.336, + 1.857 + ], + [ + -495.235, + -219.251, + 68.748, + -28.211, + -131.343, + 1.853 + ], + [ + -621.16, + -217.084, + 68.292, + -28.199, + -131.336, + 1.863 + ], + [ + -619.236, + -195.771, + 78.15, + 0.0, + 178.52, + -0.0 + ], + [ + -619.236, + -195.771, + 78.15, + 0.0, + 178.52, + -0.0 + ] + ], + "PD_Dist_2D": [ + 714.0, + 591.2, + 470.0, + 352.0, + 352.0, + 226.2, + 226.2, + 100.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 20.3, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85a99593439254d4ffcb0d25c4152bd7fc64c5aa --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b4c5866d39490e84b68f2361a4955bdcf34f6ed4 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000190_y-003484_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000190_y-003484_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cac6a3ebbf7e0015b2ef0f2a70729693c90fcfa5 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000218_y-002030_z000398_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000218_y-002030_z000398_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f948410f088abf50f26b19fd731b36a69cdbdc50 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..74a5c943e9e52cb8602bf1281605f6346ea30634 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t5_a_p/infos.json b/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c16009a6814aa416938bd2fb4643b67cce7edea --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000237_y-002215_z000398_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000237_y-002215_z000398_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff522ec674ab786589bc7f9e34be1b30af2e7984 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000238_y-003727_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000238_y-003727_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b3911e0a7d147fa9e2effa42cfe003a0167750c8 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000246_y-001715_z000398_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000246_y-001715_z000398_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91449ee664bf9c4af6751fcbe1849bce0d04bfd3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60de4cd334c0f19905ee3ce5c042756cef6baecf --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9dfa2db973c74a9a9a6e9bf6a66e68485d0b4add --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7cae15d651306c5882d0aff23322fcecba73cef2 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..26a2a8014e42fb360628f936e6853ca028433c00 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..79545798f43364a69313ed4887c82f6a133e76f5 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ecfba6416efb3216a44b4a76c25ffb9fe26727d7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aabd15062291c3c1fb60c215ac17e33118b07338 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb0ff220faee93d12c6dadfcd3c57005c6c8708c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000291_y-000395_z000098_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000291_y-000395_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7602150ccae2ba4a1ce7e159bdf9f82a0f5da44e --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000291_y-000395_z000098_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000291_y-000395_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5eef5b73ba273fc78516f786cbdd40454eb2961e --- /dev/null +++ b/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, + -96.16, + 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, + -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 + ], + [ + -434.7, + -736.026, + 98.15, + 0.0, + -121.16, + 0.0 + ], + [ + -434.7, + -736.026, + 98.15, + 0.0, + -96.16, + 0.0 + ], + [ + -434.7, + -736.026, + 98.15, + 0.0, + -71.16, + 0.0 + ], + [ + -434.7, + -736.026, + 98.15, + 0.0, + -46.16, + 0.0 + ], + [ + -434.7, + -736.026, + 98.15, + 0.0, + -21.16, + 0.0 + ], + [ + -317.327, + -781.458, + 98.15, + 0.0, + -21.16, + 0.0 + ], + [ + -199.954, + -826.89, + 98.15, + 0.0, + -21.16, + 0.0 + ], + [ + -199.954, + -826.89, + 98.15, + 0.0, + 3.84, + -0.0 + ], + [ + -74.377, + -818.462, + 98.15, + 0.0, + 3.84, + -0.0 + ], + [ + -146.216, + -823.283, + 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, + -901.801, + 33.15, + 90.0, + -96.16, + 0.0 + ], + [ + -453.546, + -901.801, + 33.15, + 90.0, + -96.16, + 0.0 + ], + [ + -453.546, + -901.801, + 33.15, + 90.0, + -96.16, + 0.0 + ], + [ + -453.546, + -901.801, + 33.15, + 90.0, + -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, + -761.286, + 68.353, + -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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000350_y-000495_z000098_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000350_y-000495_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..56e7ce124d56bd076fe914b1b0582384ecd0107b --- /dev/null +++ b/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, + -494.868, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -473.49, + -520.606, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -596.69, + -546.343, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -719.889, + -572.081, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -843.088, + -597.819, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -843.088, + -597.819, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -965.622, + -569.079, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -1088.155, + -540.339, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -1203.469, + -506.696, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -1203.469, + -506.696, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -1203.469, + -506.696, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -1203.469, + -506.696, + 98.15, + 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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..236011c84e9c0d09fec639dc30e1109570ae0735 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7bd6d1dec26b0df51031e9a6e798c221bcae4783 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t5_b_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c1f2007998f4bfd4268b99cd77019e9a8af3a99 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5f16e111a3126c5f5da63dc4140e545a7fdaec93 --- /dev/null +++ b/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, + 98.15, + 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, + -824.963, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -102.15, + -732.566, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -102.15, + -732.566, + 98.15, + 0.0, + -64.52, + 0.0 + ], + [ + -102.15, + -732.566, + 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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88cb77c7460be395467a0d5c36ac12bc8d6f7c7c --- /dev/null +++ b/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": [ + 428.127, + -186.901, + 48.15, + 90, + 0, + 0 + ], + "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": [ + [ + -417.149, + -38.694, + 98.15, + 0, + -39.52, + 0 + ], + [ + -417.149, + -38.694, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -295.31, + -70.249, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -173.471, + -101.804, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -51.632, + -133.359, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 70.207, + -164.914, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 192.046, + -196.47, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 192.046, + -196.47, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 315.806, + -173.577, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 315.806, + -173.577, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 315.806, + -173.577, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 315.806, + -173.577, + 98.15, + 0.0, + -39.52, + 0.0 + ], + [ + 315.806, + -173.577, + 98.15, + 0.0, + -64.52, + 0.0 + ], + [ + 315.806, + -173.577, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + 315.806, + -173.577, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + 315.806, + -173.577, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + 220.073, + -255.282, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + 124.34, + -336.987, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + 28.608, + -418.692, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + -69.83, + -464.273, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + -69.83, + -464.273, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + -69.83, + -464.273, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -68.776, + -590.128, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -67.723, + -715.982, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -66.669, + -841.837, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -87.379, + -948.732, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -87.982, + -876.734, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -87.982, + -876.734, + 98.15, + 0.0, + -89.52, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 428.127, + -186.901, + 48.15, + 90.0, + 0.0, + 0.0 + ], + [ + 311.322, + -152.69, + 68.256, + -28.202, + 60.624, + 1.862 + ], + [ + 320.325, + -153.672, + 68.529, + -28.189, + 35.637, + 1.872 + ], + [ + 328.764, + -158.114, + 67.862, + -28.215, + 10.607, + 1.849 + ], + [ + 342.488, + -166.873, + 68.043, + -14.175, + -22.328, + 6.959 + ], + [ + 336.791, + -173.007, + 67.932, + -28.208, + -39.378, + 1.851 + ], + [ + 334.025, + -181.529, + 68.6, + -28.198, + -64.374, + 1.867 + ], + [ + 329.187, + -197.615, + 68.043, + -14.175, + -97.328, + 6.959 + ], + [ + 234.491, + -271.052, + 68.482, + -28.198, + -89.375, + 1.865 + ], + [ + 138.535, + -352.951, + 67.945, + -28.191, + -89.362, + 1.871 + ], + [ + 42.7, + -434.731, + 67.664, + -28.214, + -89.39, + 1.852 + ], + [ + -55.544, + -480.154, + 68.125, + -28.2, + -89.378, + 1.862 + ], + [ + -49.407, + -473.079, + 68.357, + -28.193, + -64.371, + 1.872 + ], + [ + -46.808, + -464.015, + 68.452, + -28.22, + -39.391, + 1.843 + ], + [ + -47.43, + -588.951, + 68.801, + -28.195, + -39.372, + 1.871 + ], + [ + -46.375, + -714.804, + 68.869, + -28.193, + -39.374, + 1.868 + ], + [ + -45.325, + -840.868, + 68.563, + -28.207, + -39.381, + 1.858 + ], + [ + -66.03, + -948.176, + 67.791, + -28.207, + -39.38, + 1.857 + ], + [ + -87.396, + -946.732, + 68.15, + 90.0, + -89.52, + 0.0 + ], + [ + -87.396, + -946.732, + 68.15, + 90.0, + -89.52, + 0.0 + ] + ], + "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, + 21.0, + 19.9, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 22.2, + 23.0, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000461_y-000212_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000461_y-000212_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fcc8bc3b9565f7d844b3f4976229853656729a48 --- /dev/null +++ b/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 + ], + [ + -461.194, + -211.972, + 98.15, + 0.0, + 112.12, + -0.0 + ], + [ + -461.194, + -211.972, + 98.15, + 0.0, + 87.12, + -0.0 + ], + [ + -461.194, + -211.972, + 98.15, + 0.0, + 62.12, + -0.0 + ], + [ + -461.194, + -211.972, + 98.15, + 0.0, + 37.12, + -0.0 + ], + [ + -360.837, + -136.018, + 98.15, + 0.0, + 37.12, + -0.0 + ], + [ + -260.481, + -60.064, + 98.15, + 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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000461_y-000212_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000461_y-000212_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cc3bfdf725c211da4648daec886efbb3c390add9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..038aaa0859b54238ae3db692c72368fc746682b6 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000794_y-002204_z000398_t0_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000794_y-002204_z000398_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..496bfafe3ff0e45fd22992d799f9c2cd555e7dff --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-001603_y-003724_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-001603_y-003724_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f3bc0f95da13dbcf65187830ebd7f3559e2b4603 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-001790_y-003655_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x-001790_y-003655_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7cc575b45123650a16df3841c2d37b820ab78a9d --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000041_y-000092_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x000041_y-000092_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83aa07cd32ec8e542072cd4c07ec237727050753 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..183ac7b8cdf6a21e9c5ff15bd6ef3febaea5aeb0 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_b/infos.json b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f3134d414f27b2192c3911bc152bdcc207bbc59 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_c/infos.json b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aaaaacf749d976631083e35afdb33a13ad341736 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5149c9f5af6b74a4c96f7443c503579d10fa32d8 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22416af982183cc596c42a4a58c54449325309c0 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t3_b/infos.json b/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..34a07ae8cc6a223e4594ebd52b8d0f16dd6c879b --- /dev/null +++ b/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, + -255.69, + 98.15, + 0.0, + -93.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -93.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -93.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -118.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -143.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -178.461, + -352.613, + 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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000162_y-004110_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x000162_y-004110_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..65db01042a8a9e4b6fab7b224c079bf2be3cbbbf --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000236_y-000102_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x000236_y-000102_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3fc90707fc988bc23a4486988db8d308b41adde2 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000290_y-004737_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x000290_y-004737_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3a59c4ef145d598c5686c4456555ec756fedd282 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35d98e47dc20d067fdbb07970405efcbef1ac4ed --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fec5fa0c68bce76a3e989a347a8435d3784bd5ee --- /dev/null +++ b/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 + ], + [ + 336.942, + -4496.296, + 98.15, + 0.0, + -101.72, + 0.0 + ], + [ + 336.942, + -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." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_c/infos.json b/dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..64b4b5fd2c2872d809580f30eeb2ee3b013831f0 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x000337_y-004496_z000098_t1_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Search the warehouse shelves for the large reddish-brown plastic storage jars grouped on a green metal shelving unit, then approach them.", + "Type": 1, + "Start_Pose": [ + 336.942, + -4496.296, + 98.15, + 0.0, + 55.68, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 336.942, + -4496.296, + 98.15, + 0.0, + 55.68, + -0.0 + ], + [ + 336.942, + -4496.296, + 98.15, + 0.0, + 30.68, + -0.0 + ], + [ + 336.942, + -4496.296, + 98.15, + 0.0, + 5.68, + -0.0 + ], + [ + 462.183, + -4483.839, + 98.15, + 0.0, + 5.68, + -0.0 + ], + [ + 587.424, + -4471.383, + 98.15, + 0.0, + 5.68, + -0.0 + ], + [ + 668.697, + -4459.273, + 98.15, + 0.0, + 5.68, + -0.0 + ], + [ + 668.697, + -4459.273, + 98.15, + 0.0, + 5.68, + -0.0 + ] + ], + "Rationale": [ + "From this spot I only see tall pallet racking with cartons and crates ahead, and no reddish-brown storage jars anywhere in view. The open floor and aisle continue toward my left, so I will turn left to scan that unexplored part of the warehouse.", + "Turning has brought a small green metal shelf into the left part of my view, holding several large reddish-brown jars against the brick wall. Since the target sits well off to my left, I will turn left again to bring it toward the center of my view before walking to it.", + "The green shelving unit with the large reddish-brown jars is now centered at the end of the aisle between the two racks. The floor ahead is clear, so I will walk forward to close the distance to them.", + "The green shelf and its reddish-brown jars are much larger now and still directly ahead of me. I am not yet close enough to count as standing at them, so I will keep walking straight forward.", + "The two upper reddish-brown jars and the capped one below now fill most of my view on the green metal shelving. A short step more should place me right at the shelf, so I will move forward again.", + "The large reddish-brown jars on the green shelf fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/000.jpg b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e3beba8b0bc48676879fc2f6a8197f5d1b4b72ad --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08e6479e4c3cf5582f10c75cc8f460c21db596f6eee9cb2bceeec8e81e7b7a7c +size 86468 diff --git a/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/001.jpg b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..28f89509157dc3d872465d5e352d118f9be3f3d5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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"MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -291.791, + 121.977, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -417.293, + 131.457, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -542.794, + 140.938, + 128.15, + 0.0, + 175.68, + -0.0 + ], + [ + -542.794, + 140.938, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -652.531, + 202.569, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -762.267, + 264.201, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -872.003, + 325.832, + 128.15, + 0.0, + 150.68, + -0.0 + ], + [ + -981.739, + 387.464, + 128.77, + 0.0, + 150.68, + -0.0 + ], + [ + -981.739, + 387.464, + 128.77, + 0.0, + 125.68, + -0.0 + ], 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+ [ + -1161.0, + -165.551, + 144.792, + 0.0, + -109.32, + 0.0 + ], + [ + -1161.0, + -165.551, + 144.792, + 0.0, + -84.32, + 0.0 + ], + [ + -1148.544, + -290.792, + 138.185, + 0.0, + -84.32, + 0.0 + ], + [ + -1148.544, + -290.792, + 138.185, + 0.0, + -59.32, + 0.0 + ], + [ + -1084.325, + -399.035, + 138.185, + 0.0, + -59.32, + 0.0 + ], + [ + -1020.106, + -507.277, + 138.185, + 0.0, + -59.32, + 0.0 + ], + [ + -1020.106, + -507.277, + 138.185, + 0.0, + -59.32, + 0.0 + ] + ], + "Rationale": [ + "Down the tree-lined street I can pick out a green awning over a shopfront on the left side, still some distance ahead. The road ahead is clear of traffic and obstacles, so walking straight is the simplest way to close that gap. I step forward along the street toward it.", + "The green awning on the left has grown noticeably larger, confirming that this heading is carrying me toward the right storefront. Nothing blocks the lane between me and it apart from a traffic cone well off to the side. I continue walking forward to shorten the remaining distance.", + "The green awning and its glass double doors are now clearly resolved just ahead on my left, but I am still out in the roadway rather than beside the entrance. Another forward step should bring me level with the shopfront before I need to turn toward it.", + "The green-awninged shop is now off to my left while my body still points straight down the street, so continuing forward would only carry me past it. I turn left to bring that storefront and its doorway into the middle of my view.", + "The turn has put the green awning and its entrance squarely in front of me, with clear sidewalk between us. I walk forward to close on the shop frontage.", + "The green awning now fills much of the upper left of my view and the shop's glass doors are plainly visible, so I am gaining ground on it. A cone stands off to the right of my line and does not block me. I keep walking toward the frontage.", + "The posters and glass doors under the green awning are close enough to read detail on, yet I am not yet standing at the storefront itself. The sidewalk ahead of me remains open, so another step should bring me right up beside the entrance.", + "The green-awninged shop's frontage now dominates my left side and its doors are almost within arm's reach, but my line still runs slightly past them. Stepping forward once more should place me directly at the storefront.", + "The glass doors and green sign of the awning shop are now beside me on the left rather than ahead, so walking straight would carry me past its entrance. I will turn left to square up with those doors and put the frontage directly in front of me.", + "The turn has placed the green shop's double glass doors and the posters beside them squarely ahead of me. Walking forward should close the remaining gap across the sidewalk to its entrance.", + "The doorframe and handles now dominate my view, but I am still a stride short of the threshold. One more step forward should bring me right up against the green awning shop's entrance.", + "The door handles and the green shop sign are right in front of me at arm's length, with nothing but the entrance filling my view. I have arrived at the storefront under the green awning. I mark reaching it and turn my attention to the storefront with the blue awning.", + "Pressed against this green shop's doors, I can see nothing of the street or the other frontages I need. I will turn right to swing my view off the glass and back toward the open roadway.", + "The turn has opened a sliver of sidewalk and the sunlit street at the right edge, but the shop wall still blocks most of my view. Continuing right should bring the roadway and the buildings across it into sight.", + "More of the tree-lined sidewalk and the far side of the street are now visible, yet the green shop's frontage still occupies my left half. Another right turn should carry my heading fully onto the street and the storefronts opposite.", + "I am now looking along the sidewalk with awninged shopfronts appearing across the road on my right, though no blue awning is in view yet. Turning further right should sweep more of that opposite row into sight so I can pick out the blue one.", + "My view has swung off the green awning frontage and out onto the street, where a row of shops faces me from across the road. The storefront under the blue awning is still far over on my right edge, so I will turn right again to bring it further toward the middle of my view.", + "The blue awning shopfront with its glass doors now sits to the right of center, past the cream awning neighbour. It is not yet squarely ahead, so one more turn right should put my heading on it before I cross the roadway.", + "The blue awning storefront is now framed almost straight ahead across the road, with open asphalt and crossing markings between us. I will step forward to start closing that distance.", + "The blue awning and its glass doors have grown larger and stay centered as I advance, so my line across the road is good. I will keep walking forward toward that frontage.", + "The blue shopfront now fills much of my view, with its posters on the glass becoming readable and the far kerb approaching. Another step forward should bring me up near the storefront.", + "I am nearly at the far kerb, with the blue awning directly above the recessed doorway ahead of me. I will advance again to reach the edge of the walkway in front of it.", + "The doorway under the blue awning sits slightly left of my heading, and a run of bollards and railing stands squarely in the way straight ahead. Turning left should point me at the open stretch of pavement beside that railing and put the entrance back in front of me.", + "From this heading the paved walkway opens ahead of me with the railing now off to my right, and the blue awning frontage stands just beyond it. I will step forward onto that pavement to close on the shop entrance.", + "The shopfront with the blue canopy and its glazed, poster-covered doors now stands ahead and slightly to my right, still a short distance off across the tiled pavement. I will keep walking forward to close that gap before squaring up to its entrance.", + "I have drawn level with the pink and yellow shop on my left, and the blue-fronted store sits off my right side rather than straight ahead. Turning right should bring its glass entrance into the middle of my view so I can walk directly at it.", + "The blue store's glazed doors and hanging signs now sit squarely in front of me, with only a stretch of tiled forecourt between us. A step forward should carry me right up to that frontage.", + "I am close enough that the glazing fills nearly my whole view, but much of what faces me is fixed panelling rather than the doorway itself. Turning right should open up the walkway running along this frontage so I can draw right in beside the entrance.", + "The handled doors and their posters now run along my left, and the tiled strip ahead is clear apart from a barrier set off to the side. I will step forward to bring myself level with the entrance of this blue-fronted shop.", + "The poster-covered glass of the blue shopfront is almost at my shoulder on the left, so I am practically against its frontage. One more step forward should place me right at the doorway.", + "I am standing right against the blue shop's glazed front, its poster within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..208560b136d0720ff411762a71597c84fdf3e134 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the leftmost tree along the building.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + [ + -141.829, + -171.787, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + -26.851, + -120.595, + 128.15, + 0.0, + 24.0, + -0.0 + ], + [ + -26.851, + -120.595, + 128.15, + 0.0, + -1.0, + 0.0 + ], + [ + 98.989, + -122.792, + 128.15, + 0.0, + -1.0, + 0.0 + ], + [ + 224.829, + -124.988, + 128.15, + 0.0, + -1.0, + 0.0 + ], + [ + 350.668, + -127.185, + 128.15, + 0.0, + -1.0, + 0.0 + ], + [ + 350.668, + -127.185, + 128.15, + 0.0, + -26.0, + 0.0 + ], + [ + 463.79, + -182.358, + 128.15, + 0.0, + -26.0, + 0.0 + ], + [ + 576.911, + -237.531, + 128.15, + 0.0, + -26.0, + 0.0 + ], + [ + 576.911, + -237.531, + 128.15, + 0.0, + -51.0, + 0.0 + ], + [ + 656.117, + -335.341, + 128.15, + 0.0, + -51.0, + 0.0 + ], + [ + 735.322, + -433.152, + 128.15, + 0.0, + -51.0, + 0.0 + ], + [ + 735.322, + -433.152, + 128.15, + 0.0, + -26.0, + 0.0 + ], + [ + 848.444, + -488.325, + 144.771, + 0.0, + -26.0, + 0.0 + ], + [ + 848.444, + -488.325, + 144.771, + 0.0, + -1.0, + 0.0 + ], + [ + 848.444, + -488.325, + 144.771, + 0.0, + 24.0, + -0.0 + ], + [ + 963.675, + -438.018, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 963.675, + -438.018, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1046.246, + -343.031, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1046.246, + -343.031, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1080.938, + -222.047, + 144.62, + 0.0, + 74.0, + -0.0 + ], + [ + 1095.538, + -127.537, + 149.959, + 0.0, + 74.0, + -0.0 + ], + [ + 1095.538, + -127.537, + 149.959, + 0.0, + 49.0, + -0.0 + ], + [ + 1095.538, + -127.537, + 149.959, + 0.0, + 49.0, + -0.0 + ] + ], + "Rationale": [ + "From the middle of the road I can see the row of trees standing along the light blue building ahead, and the one I want is the last one at the left end of that row. Nothing blocks the pavement in front of me, so I will step forward to close the gap toward the building frontage.", + "The building and its white railing are noticeably larger now, so the previous step gained real ground. The tree line is still ahead and slightly to my left, and I am not yet near its left end, so I will keep walking straight toward the facade.", + "I am close to the building frontage, but the trees I can see are the ones toward the right of the row, and the facade continues off to my left. Turning left should swing my heading along the building toward its far left end, where the leftmost tree should stand.", + "The turn opened up the left stretch of the building, with the crosswalk and barriers marking where the frontage runs on. Only one tree is visible along this section, so I will walk forward to travel down the facade toward its leftmost end.", + "The railing and the entrance doors have grown wider across my view, confirming I am tracking along the building rather than away from it. The left end of the frontage is still further on, so I will continue advancing.", + "I am nearly at the curb with the tree canopy now high above the railing, meaning this tree is one of the row I have already passed alongside. The building keeps running to my left, so I will step forward again to reach that end of it.", + "The wall and railing now fill most of my view straight ahead, and the trees here are behind and above me rather than at the left extreme of the row. Turning left should bring the far end of the building and whatever tree stands there into the front of my view.", + "The turn revealed the corner of the building with the crosswalk and cone barriers beside it, and the nearest tree is now off to my right where the row ends. The leftmost tree must lie further along past this corner, so I will walk forward toward it.", + "The glass frontage and its green railing still run away to my right, and the nearest canopy is already behind my shoulder, so the end of this building line lies further ahead. I will keep walking forward along the frontage to reach the far end where the last tree in the row should stand.", + "The railed frontage ends near the pillar in front of me and the paved way opens toward the left, past the barriers and cones. I will turn left so my heading follows the building line instead of running straight into the corner column.", + "With the covered bay and its line of barriers now stretching ahead of me, the way along the building is clear of obstacles. I will step forward along it to keep working toward the far end of the facade where the last tree should be.", + "This covered stretch is only barricades, cones and blank wall, so nothing here matches the tree I am looking for. I will continue walking forward to clear this bay and reach the open frontage beyond it.", + "The barrier row and the pillars close off the way straight ahead, while the building's glazed wall runs off to my right. I will turn right to face along that wall so I can follow the frontage toward its far end.", + "The open paved court now lies ahead with the building's windows and benches on my right and the barriers well to my left. I will walk forward across this paving to reach the far side of the frontage, where planting is more likely.", + "I have come out into the open court and the benched glass wall is now off to my right rather than in front of me. I will turn right to square up with that facade so I can trace it toward the end of the building.", + "Facing the benched facade, the only greenery in sight is the leaf edge and planter kerb at the far right of my view. I will turn right again to bring that planted corner in front of me, since the tree standing at that end of the building is what I need to reach.", + "The row of trees set against this facade begins with the one rising from the planter ahead on my right, and that end tree is my target. The paved plaza between us is clear of benches and obstacles, so I will walk forward to close the distance.", + "That step brought the planter and its tree noticeably nearer, but my heading still runs parallel to the window wall rather than at the tree. I will turn right so the end tree of the row sits ahead of me for a direct approach.", + "The turn has swung the planted bed and its tree into the centre of my view, with more of the tree line beyond it along the building. The pavement in front is open, so I will step forward toward that near end tree.", + "I have reached the edge of the planted bed, so I cannot walk straight through it to the trunk. The open walkway runs to my right alongside the planter, and turning right should set me on that lane so I can come level with the tree.", + "The walkway beside the planter is now clear ahead, and the trunk of the end tree in this facade row stands just to my left. I will walk forward along the paving to draw alongside it.", + "The trunk is large on my left but its base still sits slightly behind my shoulder line rather than beside me. One more step along the walkway should bring me even with the foot of this end tree.", + "I am now standing at the planter beside the first tree of the row that runs along this building wall, and it lies off to my left. I will turn left to face the trunk squarely and settle at it.", + "The trunk of the end tree in the row along this building fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0e0d607e919051bef1de4eeaf69a33b64e631e6d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000257_y-000223_z000138_t2_c/infos.json @@ -0,0 +1,346 @@ +{ + "Instruction": "Approach the rightmost tree visible across the street.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ], + [ + -256.807, + -222.978, + 138.152, + 0.0, + 49.0, + -0.0 + ], + [ + -174.236, + -127.991, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + -91.665, + -33.004, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + -9.094, + 61.983, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 73.477, + 156.97, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 156.048, + 251.957, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 238.619, + 346.944, + 128.15, + 0.0, + 49.0, + -0.0 + ], + [ + 238.619, + 346.944, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 273.31, + 467.927, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 308.002, + 588.911, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 342.693, + 709.894, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 377.384, + 830.878, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 412.076, + 951.861, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 446.767, + 1072.845, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 481.459, + 1193.828, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 516.15, + 1314.812, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 550.842, + 1435.795, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 585.533, + 1556.778, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 620.225, + 1677.762, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 654.916, + 1798.745, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 689.607, + 1919.729, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 724.299, + 2040.712, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 758.99, + 2161.696, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 793.682, + 2282.679, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 828.373, + 2403.662, + 128.15, + 0.0, + 74.0, + -0.0 + ], + [ + 863.065, + 2524.646, + 134.054, + 0.0, + 74.0, + -0.0 + ], + [ + 897.756, + 2645.629, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 932.448, + 2766.613, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 932.448, + 2766.613, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1015.018, + 2861.6, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 1097.589, + 2956.587, + 149.668, + 0.0, + 49.0, + -0.0 + ], + [ + 1097.589, + 2956.587, + 149.668, + 0.0, + 49.0, + -0.0 + ] + ], + "Rationale": [ + "Across the street a row of near identical street trees runs from left to right, and the last one on the right stands at the far edge of my view beside the tall arched overhead structure. Since they look alike, I hold that tree by the arch it stands under, and I turn right to bring it into the center of my view.", + "The arched structure and the tree I chose now sit ahead and slightly right, with open roadway and a crosswalk between us. Nothing blocks the way forward, so I step ahead to close the distance toward that far side.", + "The striped crossing on the right and the shopfront wall beyond it are noticeably larger, so my last step gained real ground. I keep walking forward toward the far side where my tree stands.", + "The green sign and the railings along the opposite kerb are drawing closer on my left while the crossing widens ahead on my right. The road is still clear, so I advance again toward that far sidewalk.", + "I am now near the middle of the roadway, with the far kerb and its crossing clearly ahead. Another step forward should carry me to the edge of that crossing.", + "The white stripes of the crossing now fill the lower right of my view and the far buildings loom large. I continue forward to reach the mouth of that crossing.", + "I am almost at the near end of the striped crossing that leads over to the far sidewalk. One more step forward should place me on it rather than short of it.", + "I am standing at the crossing, but the stripes run away diagonally, so my heading is angled across them instead of along them. I turn right to square up with the crossing and point myself at the far side where my tree stands.", + "Squared up now, the stripes run straight away from my feet to the far kerb, with no traffic on the lanes between. The arch spans overhead and my tree waits under it on the far side, so I walk onto the crossing.", + "The far kerb and the planters along it have grown, so I am well onto the crossing with a clear lane in front of me. I take another stride along the stripes.", + "The reddish paved strip and the marker post at the far kerb sit close ahead on my right, which puts me near the end of the stripes. Another stride should carry me off the roadway.", + "I have reached the far side, with the teal barrier line and its cone standing off to my right and the way in front of me open. The tree I am after rises ahead against the big lettered facade, so I press on toward it.", + "The other street trees have slipped off to my left and behind me, so there is no row left to read from here, only the single crown standing ahead by the lettered wall. That is the one I chose, and I keep walking straight at it.", + "The barriers hem my right while the railed kerb runs along my left, leaving a clean corridor toward the tree ahead. Its crown is bigger than a moment ago, so this heading is right and I keep going.", + "The tree now sits just left of straight ahead with its trunk visible above the low planting at its base. Nothing stands in the corridor, so I take another stride toward it.", + "The green surfaced lane has opened along my left and the tree's canopy fills more of the view, both signs of steady gain. I have distance still to cover, so I stride on.", + "The tree sits just off centre with the lettered facade behind it, and the roadway between us is empty apart from a cone hugging the barriers on my right. Its crown has grown again since my last stride, so the heading needs no adjustment and I press on.", + "A short yellow post now shows at the base of the tree, which tells me I am close enough to pick out ground detail there. The lane in front stays clear, so another stride should bring the trunk within easy reach of my path.", + "The green surfaced strip has swung around to my left with its kerb curving toward the tree's paved base. The canopy now spreads across the upper part of my view, so I keep walking straight at the trunk.", + "Cones and low barriers now line the kerb off to my left while the tree stands clear of them on its own paved patch. Nothing crosses my path, so I take another stride toward that trunk.", + "The trunk is now thick and unmistakable, rising from a small planting bed with the yellow post beside it. Distance still separates us, so I keep advancing along the open asphalt.", + "The crown has climbed past the top edge of my view, which means only a short stretch of road remains. The kerbed island holding the tree lies just ahead and slightly left, so I step on toward it.", + "The raised paved island and the shrubs around the trunk are close enough to read individually now. I still stand out on the road surface rather than beside the tree, so I close the remaining gap.", + "The curved kerb of the tree's island now sweeps across the lower left of my view with the trunk rising just beyond it. A couple more strides should put me right at its base, so I keep moving.", + "The tree's paved island now takes up the left half of my view, with the trunk lifting out of the low shrub bed just beyond its kerb. I am still standing on the asphalt at its edge, and nothing blocks the step up, so I move ahead.", + "The trunk has thickened noticeably and the striped bollard at the island's corner now sits close on my right. Only a short run of paving separates me from the base, so I keep advancing.", + "Individual leaves in the bed at the foot of the trunk are distinct now, and the bark dominates the left of my view. A few paces still stand between me and the base, so I continue.", + "The trunk rises just off my left shoulder and the brick walkway runs clear between the planting bed and the yellow railing on my right. One more stride should bring me level with the base.", + "Holding this heading has brought me alongside the tree rather than up to it, so the trunk sits at the left edge while only paving and teal barriers lie straight ahead. I turn left to put the trunk squarely in front of me again.", + "The trunk is centred once more, with its raised bed and greenery a couple of paces off. I step forward to close that last gap to the base.", + "The bark grain is plainly readable and the trunk now takes up most of my forward view, though the bed's kerb still lies between us. A final stride should place me right at the tree.", + "The trunk stands immediately in front of me, filling my view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..772e148a0acfb185d2db5a0f973e5d746adac575 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the third cone from the right on the street.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -672.539, + 2165.509, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -797.405, + 2181.284, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -922.272, + 2197.058, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -1047.138, + 2212.832, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -1172.005, + 2228.607, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -1296.871, + 2244.381, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -1296.871, + 2244.381, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1416.705, + 2205.906, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1536.54, + 2167.432, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1656.374, + 2128.957, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1776.208, + 2090.483, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1776.208, + 2090.483, + 128.149, + 0.0, + -162.2, + 0.0 + ] + ], + "Rationale": [ + "Three cones stand in a line along the right-hand curb, and counting from the near right edge inward, the third is the most distant one, far up the street where the curb runs past the flowering tree. They look alike, so I fix on that farthest cone by its place at the end of the run and walk forward toward it.", + "The nearest cone has swung out toward the right edge of my view as I close on it, while the cone I want still sits far ahead along the same curb line. The path down the middle of the street is open, so I keep walking forward.", + "Two nearer cones now crowd the right side of my view, and the one I am heading for remains the small distant marker beside the curb ahead. Nothing blocks the sidewalk, so I continue advancing along the street.", + "The closest cone is sliding out of my view at the right edge as I pass it, and the cone I chose still stands well ahead where the curb runs beside a parked bicycle. I keep moving forward to cut down that distance.", + "Only one cone is left in my view now, the one I picked out, standing on the curb line ahead beside the parked bicycle. It is still small at this range, so I walk forward again.", + "My cone is growing larger just right of center, sitting where the raised curb meets the pavement. There is still a good stretch of open ground between us, so I keep stepping forward.", + "Walking straight down the street has let my cone drift off to the right of my heading, close to the curb by the parked bicycles. I turn right a little so that it sits ahead of me and my next steps should carry me straight at it.", + "The cone I am after now sits close to the middle of my view, on the curb line with the bicycle leaning against the wall to its right. With my heading pointed at it, I walk forward to close the remaining gap.", + "The cone stands squarely ahead at the curb edge, noticeably taller in my view now that the bicycle beside it fills the right side. Several strides of pavement still separate us, so I keep walking straight at it.", + "The cone now reaches well up into my view, its base and reflective stripe clearly readable against the curb. I am close but not yet beside it, so another step forward should bring me within arm's reach.", + "The cone towers in the lower part of my view, nearly at my feet on the near side of the curb. One more short step should put me right up against it rather than a pace short.", + "The cone I chose stands directly at my feet, close enough to touch. I have reached it, so the approach is done and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a944c05ffe3e4fe51085734595481b5479b3799d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000548_y002150_z000128_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Move to the second yellow barrier on the right side.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -672.539, + 2165.509, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -797.405, + 2181.284, + 128.149, + 0.0, + 172.8, + -0.0 + ], + [ + -797.405, + 2181.284, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -917.239, + 2142.809, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1037.073, + 2104.335, + 128.149, + 0.0, + -162.2, + 0.0 + ], + [ + -1037.073, + 2104.335, + 128.149, + 0.0, + -137.2, + 0.0 + ], + [ + -1130.901, + 2034.299, + 128.149, + 0.0, + -137.2, + 0.0 + ], + [ + -1223.248, + 1948.786, + 143.271, + 0.0, + -137.2, + 0.0 + ], + [ + -1313.821, + 1891.671, + 138.15, + 0.0, + -137.2, + 0.0 + ], + [ + -1313.821, + 1891.671, + 138.15, + 0.0, + -137.2, + 0.0 + ] + ], + "Rationale": [ + "Looking down the street, the right sidewalk runs past a line of orange cones to yellow barriers set against the shop wall, and I fix on the second one along that run, the one standing beside the recessed doorway under the green signboard. It is far off, so I walk forward along the open pavement.", + "The yellow railings on the right are larger now but still well ahead of me, with the cones lining the curb between us. I keep walking straight to close the remaining distance before I angle over toward the sidewalk.", + "Walking forward has pushed the barrier by the doorway out toward the right edge of my view, so straight ahead no longer points at it. I turn right to bring it back toward the center of my heading.", + "The turn has put the barrier under the green signboard ahead and slightly right, with clear paving and a cone beside the curb between us. I step forward to close on it.", + "The barrier beside the doorway is noticeably nearer, its yellow rails now clear against the blue wall, but I am still out on the open pavement. I keep advancing to bring myself up to the curb line.", + "As I closed in, the barrier under the green sign slipped to the right of my heading while my view now points along the street. Turning right should square me onto it for the final short walk.", + "The barrier under the green sign and blue poster now sits squarely ahead against the wall, while the cones and the nearer railing have fallen behind on my left, so the row no longer reads as a countable line from here. I walk forward toward the one I chose.", + "The yellow barrier fills much of my view now, with the grey doorway and the poster just beyond it. A last step or two forward should place me right at it.", + "The near end of the yellow railing is right at the bottom of my view with the grey doorway and the poster close on my left, so only a short gap of pavement is left. One more step should bring me level with it.", + "The yellow barrier is directly beside me at arm's length against the blue wall under the poster. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_c/infos.json b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..261ef984d7e8f6094ca65ea1e20d8485f8034f87 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-000750_y-000068_z000131_t1_c/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Look around the nearby alleys for the shop with the blue awning, then approach it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "LookUp", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -10.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 14.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 39.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 64.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 89.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 114.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 139.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + 164.48, + -0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -170.52, + 0.0 + ], + [ + -750.158, + -68.006, + 130.81, + 0.0, + -145.52, + 0.0 + ], + [ + -853.907, + -139.257, + 143.398, + 0.0, + -145.52, + 0.0 + ], + [ + -952.129, + -139.77, + 143.53, + 0.0, + -145.52, + 0.0 + ], + [ + -1050.326, + -139.769, + 143.53, + 0.0, + -145.52, + 0.0 + ], + [ + -1146.551, + -162.087, + 144.754, + 0.0, + -145.52, + 0.0 + ], + [ + -1146.551, + -162.087, + 144.754, + 0.0, + -120.52, + 0.0 + ], + [ + -1146.551, + -162.087, + 144.754, + 0.0, + -95.52, + 0.0 + ], + [ + -1158.658, + -287.362, + 138.231, + 0.0, + -95.52, + 0.0 + ], + [ + -1158.658, + -287.362, + 138.231, + 0.0, + -95.52, + 0.0 + ], + [ + -1158.658, + -287.362, + 138.231, + 0.0, + -70.52, + 0.0 + ], + [ + -1116.686, + -406.017, + 138.231, + 0.0, + -70.52, + 0.0 + ], + [ + -1074.715, + -524.672, + 138.231, + 0.0, + -70.52, + 0.0 + ], + [ + -1074.715, + -524.672, + 138.231, + 0.0, + -70.52, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a metal railing, a planted hedge and a wide open plaza ahead, with no shopfront carrying a blue awning anywhere in view. I will turn right to begin a steady scan of the surroundings in one consistent direction, which should bring the side streets and alley openings into view.", + "The view now shows a broad crossing and pale office blocks with street trees, but no storefront canopy of any colour is visible here. I will keep rotating right to continue the scan, since this open frontage is unlikely to hold the shop I am looking for.", + "Ahead is still the same open intersection with fenced planting and trees, and nothing resembling a blue awning stands out. Continuing the same rightward rotation should carry my view toward the darker built-up corner appearing at the edge of the scene.", + "A tiled building wall and a corner barrier are now entering the right side of my view, which looks more like a narrow shopping street than the open plaza behind me. I will turn right again to bring that building frontage fully in front of me and check it for awnings.", + "The grey tiled wall with an air conditioning unit and a traffic cone fills much of my view, but its shopfront entrance still lies beyond the right edge. Turning right once more should expose that storefront so I can judge the colour of its canopy.", + "The storefront is now visible and it has a green awning over its glass doors, not the blue one described in the task. Since this is not my target, I will continue turning right to look further along this street for other shopfronts.", + "The green-awning shop sits squarely in front of me and the road with its painted arrow runs off to the right, suggesting more frontages further down. I will keep the rotation going to the right so that stretch of street comes into view instead of dwelling on this non-matching shop.", + "Looking down the tree-lined lane I can see a row of shopfronts continuing into the distance, though the green awning nearest me is still the only canopy I can read clearly. I will turn right again to face further along that lane, where the remaining storefronts may reveal a blue awning.", + "Looking down this tree-lined alley, the storefronts on the near left carry green and red signage, and no blue awning stands out along the visible stretch. The shopfronts on my right side are still cut off at the edge of my view, so I will keep rotating right in the same consistent direction to bring that row of shops into sight.", + "Turning further right has revealed a row of shopfronts behind a railing, and I can now see blue paneling and a blue-fronted unit at the far right edge of my view. I will continue the rightward rotation to center that promising blue storefront and confirm whether it carries the awning I am looking for.", + "The blue-fronted shop with its posters is now clearly in view on my right, past the railing and the row of neighboring stores. Rather than keep scanning, I will commit to it and walk forward along the sidewalk to close the distance toward that frontage.", + "I have advanced along the walkway and the blue shopfront with its dark blue canopy edge is closer on my right, though a tree trunk and the railing still sit between us. I will keep walking forward to draw level with that storefront.", + "The blue storefront with its purple sign panel is now large on my right and the railing is thinning out ahead of me. I will continue stepping forward so I can reach the frontage rather than stopping short of it.", + "I am nearly alongside the target now, with the neighboring pink and yellow shopfront filling the center and the blue unit just beyond my right shoulder. One more step forward should place me directly in front of that blue-fronted shop.", + "I have walked past the railing and am now level with the shop row, but my heading points straight down the sidewalk instead of at the storefronts. I will turn right to face the frontages and bring the blue shop into the center of my view.", + "The turn has swung the shop row into view, and the blue-fronted unit with its purple sign sits at the right of my view while the pink and yellow neighbor takes the center. I will rotate right once more to square up directly on the blue shop entrance.", + "The blue-fronted storefront with its glass doors and purple sign now fills the space directly ahead of me, matching the blue shop I am looking for along this alley. I will walk forward to close the remaining sidewalk gap and get near its entrance.", + "I am now standing close to the blue glass doors, but my gaze is low and the upper part of the facade is cut off, so I cannot confirm the awning over the entrance. I will tilt my gaze upward to check whether this shop carries the blue awning described in the task.", + "With my gaze raised I can see the blue awning projecting over this storefront, confirming this is the shop I was told to find. The entrance doors sit toward the right side of what I can see, so I will turn right to square myself with them before closing in.", + "The blue awning shop's double doors are now centered in front of me with the sidewalk open right up to them. I will step forward to bring myself close to the entrance of the confirmed target.", + "I am nearly at the doors of the blue awning shop, with the handles and posted notice filling most of what I see. One more step forward should place me right at the entrance, close enough to count as having approached it.", + "I am standing right at the blue awning shop's door handles, close enough to touch them. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001096_y-000460_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-001096_y-000460_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..135af5892fe7f93992da113c453e831f6948f0fe --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001096_y-000460_z000138_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the red-and-white traffic cone.", + "Type": 0, + "Start_Pose": [ + -1096.273, + -459.932, + 138.15, + 0, + 113.28, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1096.273, + -459.932, + 138.15, + 0, + 113.28, + 0 + ], + [ + -1146.016, + -344.32, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -1195.758, + -228.708, + 138.15, + 0.0, + 113.28, + -0.0 + ], + [ + -1195.758, + -228.708, + 138.15, + 0.0, + 88.28, + -0.0 + ], + [ + -1191.98, + -102.905, + 128.15, + 0.0, + 88.28, + -0.0 + ], + [ + -1188.203, + 22.897, + 128.15, + 0.0, + 88.28, + -0.0 + ], + [ + -1184.425, + 148.699, + 128.915, + 0.0, + 88.28, + -0.0 + ], + [ + -1180.647, + 274.501, + 128.149, + 0.0, + 88.28, + -0.0 + ], + [ + -1180.647, + 274.501, + 128.149, + 0.0, + 88.28, + -0.0 + ] + ], + "Rationale": [ + "From the sidewalk I can see the small red-and-white traffic cone far ahead on the pavement in front of the green-awning storefront, just left of my center of view. My heading is roughly toward it with open paving between us, so I will step forward to begin closing that gap.", + "The cone now appears larger and clearer beside the storefront doors, confirming I am getting nearer. The route ahead across the paving remains open, so another forward step should continue reducing the distance.", + "The cone has drifted to the left portion of my view while my path is carrying me toward the road markings on the right. I will turn left to bring the cone back near the center of my view so my heading points straight at it.", + "After the turn the cone sits close to the middle of my view directly in front of the storefront doors, so my heading looks well aligned. I will walk forward along this line to keep closing in.", + "The cone is noticeably bigger and still centered ahead, with only the road and curb strip between us. Nothing blocks the way, so I will advance again toward it.", + "The cone now stands clearly on the sidewalk just ahead of me, close to the storefront doors and near the middle of my view. I am still a few steps short of it, so I will keep moving forward.", + "The cone fills a large part of the lower center of my view, so I am nearly beside it but not yet at arm's reach. One more forward step should place me right next to it.", + "The red-and-white cone stands immediately at my feet in the lower part of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c6ef8d2aa230d15d5f9ce55f506ccb2acd116fe --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_b/infos.json @@ -0,0 +1,356 @@ +{ + "Instruction": "Approach the blue awning shop, then move to the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1175.337, + 2681.803, + 138.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1192.679, + 2557.145, + 138.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1192.679, + 2557.145, + 138.15, + 0.0, + -72.92, + 0.0 + ], + [ + -1155.714, + 2436.837, + 128.15, + 0.0, + -72.92, + 0.0 + ], + [ + -1155.714, + 2436.837, + 128.15, + 0.0, + -47.92, + 0.0 + ], + [ + -1071.367, + 2343.423, + 128.15, + 0.0, + -47.92, + 0.0 + ], + [ + -987.02, + 2250.009, + 128.15, + 0.0, + -47.92, + 0.0 + ], + [ + -902.674, + 2156.595, + 128.15, + 0.0, + -47.92, + 0.0 + ], + [ + -818.327, + 2063.182, + 128.15, + 0.0, + -47.92, + 0.0 + ], + [ + -818.327, + 2063.182, + 128.15, + 0.0, + -72.92, + 0.0 + ], + [ + -781.362, + 1942.874, + 141.145, + 0.0, + -72.92, + 0.0 + ], + [ + -781.362, + 1942.874, + 141.145, + 0.0, + -72.92, + 0.0 + ], + [ + -808.5, + 2031.198, + 128.149, + 0.0, + -72.92, + 0.0 + ], + [ + -808.5, + 2031.198, + 128.149, + 0.0, + -97.92, + 0.0 + ], + [ + -808.5, + 2031.198, + 128.149, + 0.0, + -122.92, + 0.0 + ], + [ + -808.5, + 2031.198, + 128.149, + 0.0, + -147.92, + 0.0 + ], + [ + -808.5, + 2031.198, + 128.149, + 0.0, + -172.92, + 0.0 + ], + [ + -933.399, + 2015.686, + 131.198, + 0.0, + -172.92, + 0.0 + ], + [ + -933.399, + 2015.686, + 131.198, + 0.0, + 162.08, + -0.0 + ], + [ + -979.551, + 2057.851, + 131.198, + 0.0, + 162.08, + -0.0 + ], + [ + -1080.64, + 2111.499, + 128.149, + 0.0, + 162.08, + -0.0 + ], + [ + -1080.64, + 2111.499, + 128.149, + 0.0, + -172.92, + 0.0 + ], + [ + -1205.539, + 2095.987, + 128.149, + 0.0, + -172.92, + 0.0 + ], + [ + -1326.554, + 2089.858, + 128.149, + 0.0, + -172.92, + 0.0 + ], + [ + -1451.453, + 2074.346, + 128.149, + 0.0, + -172.92, + 0.0 + ], + [ + -1576.352, + 2058.833, + 128.149, + 0.0, + -172.92, + 0.0 + ], + [ + -1576.352, + 2058.833, + 128.149, + 0.0, + -147.92, + 0.0 + ], + [ + -1682.994, + 1991.989, + 143.048, + 0.0, + -147.92, + 0.0 + ], + [ + -1790.439, + 1927.907, + 138.15, + 0.0, + -147.92, + 0.0 + ], + [ + -1895.856, + 1897.732, + 138.15, + 0.0, + -147.92, + 0.0 + ], + [ + -2002.497, + 1830.888, + 138.15, + 0.0, + -147.92, + 0.0 + ], + [ + -2002.497, + 1830.888, + 138.15, + 0.0, + -172.92, + 0.0 + ], + [ + -2002.497, + 1830.888, + 138.15, + 0.0, + -172.92, + 0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the shop with the blue awning and glass doors set back on the right side of the street, past the cones and the yellow barriers. Nothing blocks the pavement directly ahead of me, so I will step forward to cut the distance to that frontage.", + "The blue awning and its glass doors have grown larger at the right edge of my view, confirming that walking straight is closing the gap. The tiled pavement in front of me is clear, so I will keep advancing before adjusting my heading.", + "I am now close to the row of shopfronts, but the blue awning sits off to my right while my heading points at the plain blue wall and its barriers. Turning right should swing that awning and its entrance toward the middle of my view so I can walk straight at it.", + "The blue awning and the glass double doors beneath it now sit ahead of me, slightly right of centre, with only open paving and a couple of cones between us. I will walk forward to close on that shopfront.", + "I am close enough that the shop's facade and its step fill much of my view, and holding this heading would bring me hard against the wall rather than up to the entrance. Turning right should line me up along the open pavement running past the awning so I can keep approaching its doors.", + "The blue awning now hangs above me to the left with its glass doors just ahead along the frontage, and the walkway in front of me is clear apart from a cone at the kerb. I will step forward to draw level with that entrance.", + "The glass doors under the blue awning are drawing nearer on my left as I move along the shopfront, and the poster in the window is becoming readable. The paving ahead stays open, so I will continue forward to reach the doorway.", + "The shop's glass front with its blue panels now dominates my left side and the entrance is only a short stretch further along the raised kerb. I will keep walking forward to bring myself right up beside that doorway.", + "The glass frontage under the blue awning now runs close along my left, with its poster and blue panels clearly visible. The pavement ahead is clear of cones and posts, so another step forward should bring me level with the shop entrance.", + "I am level with the shop now, but my heading runs along the frontage, leaving the doors and their poster off to my left. Turning left should square me with the entrance so I can close the last short gap head on.", + "The paired glass doors with their blue panels and the printed sign are now centered ahead of me. A short step forward should put me right at the shop entrance.", + "The frosted doors and bright blue panels of the shop under the blue awning fill my view from arm's length. I have reached this shop. I mark arriving here, and now I am heading for the cherry blossom tree back along the street.", + "Pressed this close, the shop doors take up everything in front of me and leave no room to swing my heading around. Backing up a step should open enough space to turn away from the frontage toward the street and the blossoming tree.", + "I have a little clearance off the glass now, yet I am still staring straight into the shopfront. Turning left begins swinging my heading away from these doors and back toward the open street where the pink blossom tree stands.", + "The blue panels and the tiled building corner still dominate my view, so I am not yet facing down the street. Another left turn should carry my heading further around toward the open pavement.", + "I can now see the side service door, the green box and the yellow barrier along the wall, which means I am close to parallel with the building rather than facing it. One more left turn should bring the open street and the blossom tree into view.", + "Having marked my arrival at the shop with the blue awning, I now need the cherry blossom tree, and its pale purple canopy has just come into view far down the sidewalk on my left. My heading still runs across the shop front, so I continue turning left to bring that tree line ahead of me.", + "The sidewalk now runs straight away from me with the blossom tree standing over it ahead, and the lane between the cones and the yellow railing is clear. I step forward to close some of that distance.", + "I am walking tight against the building wall, and the row of traffic cones along the curb crowds the narrow strip directly in front of me. Turning left should put me onto the wide open paving of the street, which gives a cleaner run toward the blossom tree.", + "From this heading the open pedestrian street stretches ahead of me with nothing blocking the paving. I walk forward along it, keeping the blossom canopy off to my right as I advance.", + "The last step gained only a little ground, and the blossom tree is still well up the street beyond the cones on my right. I take another forward step along the open lane to keep closing on it.", + "Walking down the middle of the street has pushed the blossom tree over to the right edge of my view, near the curb where the bicycle stands. I turn right to bring that canopy back in front of me before continuing.", + "The blossom tree now sits squarely ahead, its branches spreading over the pavement past the cones. The route in front of me is clear, so I walk forward toward it.", + "The canopy has grown larger and now fills the upper part of my view, but its trunk is still some way up the street past the manhole cover. I keep stepping forward to reach the base of the tree.", + "The pale pink canopy of the cherry blossom tree now hangs over the walkway just ahead on my right, with its trunk rising from the curb strip. The lane in front of me is clear apart from a cone at the curb, so I will keep walking straight to close the remaining distance.", + "The blossoms now spread across the top of my view and the trunk sits closer at the curb on my right, so I am still short of it. Another straight step along this open stretch should bring me nearer to the tree.", + "I am nearly level with the cherry tree, but its trunk sits off to my right at the curb while I am heading straight down the street past it. Turning right should swing my heading onto the trunk so my next steps carry me toward it rather than past it.", + "With my heading swung over, the blossom trunk now stands ahead of me on the raised walkway, its branches spilling overhead. The strip between the parked bicycle and the curb is clear, so I will step forward toward the tree.", + "The trunk has grown larger ahead on my left and the canopy now reaches over my path, but I am still a few paces from its base. I will continue straight along the wall to shorten that gap.", + "Fallen petals now cover the pavement in front of me and the trunk stands close on my left where the walkway opens onto the plaza. Stepping forward again should put me level with the base of the blossom tree.", + "The blossom tree's trunk and its planter bed are right beside me on the left, with the open plaza and barriers just ahead. One more step forward should bring me fully alongside the tree.", + "I am standing right at the planter, but my view is filled with the plaza barriers and a pillar while the blossom branches sit off at the left edge. Turning left should place the cherry blossom tree squarely in front of me.", + "The cherry blossom tree's trunk stands right in front of me, its blossoms overhead and petals scattered at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91d284ba100bfd79a87f68237317c344c7f06c8a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t3_c/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Navigate to the white AC unit on the ground, then go to the blue awning shop.", + "Type": 3, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1175.337, + 2681.803, + 138.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1192.679, + 2557.145, + 138.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1192.679, + 2557.145, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1261.08, + 2451.495, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1329.48, + 2345.845, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1397.88, + 2240.195, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1466.28, + 2134.546, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1534.681, + 2028.896, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1534.681, + 2028.896, + 128.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1550.815, + 1938.247, + 138.723, + 0.0, + -97.92, + 0.0 + ], + [ + -1550.815, + 1938.247, + 138.723, + 0.0, + -97.92, + 0.0 + ], + [ + -1538.083, + 2029.766, + 128.149, + 0.0, + -97.92, + 0.0 + ], + [ + -1525.351, + 2121.285, + 128.149, + 0.0, + -97.92, + 0.0 + ], + [ + -1525.351, + 2121.285, + 128.149, + 0.0, + -72.92, + 0.0 + ], + [ + -1525.351, + 2121.285, + 128.149, + 0.0, + -47.92, + 0.0 + ], + [ + -1525.351, + 2121.285, + 128.149, + 0.0, + -22.92, + 0.0 + ], + [ + -1525.351, + 2121.285, + 128.149, + 0.0, + 2.08, + -0.0 + ], + [ + -1399.575, + 2125.853, + 128.149, + 0.0, + 2.08, + -0.0 + ], + [ + -1273.799, + 2130.421, + 128.149, + 0.0, + 2.08, + -0.0 + ], + [ + -1148.023, + 2134.989, + 128.149, + 0.0, + 2.08, + -0.0 + ], + [ + -1022.247, + 2139.557, + 128.149, + 0.0, + 2.08, + -0.0 + ], + [ + -1022.247, + 2139.557, + 128.149, + 0.0, + -22.92, + 0.0 + ], + [ + -1022.247, + 2139.557, + 128.149, + 0.0, + -47.92, + 0.0 + ], + [ + -937.9, + 2046.143, + 131.2, + 0.0, + -47.92, + 0.0 + ], + [ + -937.9, + 2046.143, + 131.2, + 0.0, + -72.92, + 0.0 + ], + [ + -900.935, + 1925.835, + 138.15, + 0.0, + -72.92, + 0.0 + ], + [ + -868.131, + 1875.461, + 138.15, + 0.0, + -72.92, + 0.0 + ], + [ + -868.131, + 1875.461, + 138.15, + 0.0, + -72.92, + 0.0 + ] + ], + "Rationale": [ + "Across the road the blue-walled frontage shows a leaning bicycle and pale equipment set low against the wall, which matches the white unit I have to reach first. The roadway in front of me is empty, so I will walk forward toward that frontage.", + "The wall and its cones and yellow railings are noticeably larger, so my heading is carrying me straight at the frontage. The white boxy unit low by the bicycle is still some distance off, so I will keep stepping forward across the open pavement.", + "Facing straight ahead I am aimed at blank blue wall and the yellow railings, while the bicycle and the pale ground unit sit off toward my left. Turning left should swing that white unit into the middle of my view before I walk any further.", + "The turn has lined me up with the stretch of sidewalk where the bicycle rests beside the white ground-level unit under the green sign. The walkway between us is clear apart from a cone well to the side, so I will walk forward along it.", + "The white boxy unit against the base of the blue wall keeps growing in front of me, confirming this heading points at it. Nothing stands between me and the curb, so I will take another step forward.", + "I can now pick out the panelled face of the white unit and the dark grille beside it, just past the parked bicycle. Since it is still a few paces off, I will continue walking straight toward it.", + "The bicycle and the white housing at the foot of the wall are close now, sitting on the raised curbside slightly right of my line. Holding this heading, I will step forward again to close the remaining gap.", + "The white unit beside the barred window now dominates my view, only a short walk beyond the bicycle. I will advance once more so that I am standing right at it.", + "The orange bicycle now fills the left of my view and the pale wall is close ahead, while the boxy white unit standing on the pavement sits off to my right. I will turn right to bring that ground-level white unit squarely in front of me before I close the last stretch.", + "The white unit with its dark grille now sits centered in front of me, resting on the pavement beside the wall. The gap is only a couple of paces, so I will step forward to stand right at it.", + "The pale panelled side of the white unit fills my whole view, with only its edge and the wall grille at the right, so I am standing directly against it. I have reached the white unit on the ground. I mark reaching it, and now I am setting off for the shop with the blue awning.", + "Pressed this close, the white casing blocks almost everything and I cannot see the street or the awninged storefront I now want. I will step back to open up the view and give myself room to swing onto a new heading.", + "Backing off has already restored some context: the white unit, the leaning bicycle and a yellow barrier at the right are visible again. I am still tight against the frontage, so I will step back once more to clear the wall before turning toward the awninged shop.", + "I now have clearance from the wall, with the bicycle to my left and the yellow railing and green signboard running off to my right. The shopfronts continue that way along the pavement, so I will turn right to face down the street toward the blue awning.", + "The turn has brought the yellow barriers and the green and grey signboards in front of me, but the frontage still runs on past the right edge of my view. I will keep turning right to bring the further storefronts and their awnings into sight.", + "A dark blue awning over a glass shopfront has appeared ahead to my right, with orange cones lining the kerb before it. I will turn right again to bring that awninged shop and the open pavement leading to it in front of me.", + "Having marked the white unit at the wall, I now need the shop with the blue awning, which sits ahead along this frontage with cones lining the curb. My heading still crowds the wall, so I will turn right once more to swing onto the open sidewalk that runs past that awning.", + "The walkway ahead is clear apart from two cones near the curb, and the blue awning storefront now sits along my left. I will walk forward to close the gap toward that shop front.", + "The awning and its blue panelled windows have grown larger on my left, so my line of travel is right. I will keep walking forward along the open pavement to draw level with the shop entrance.", + "The shop's blue shutters and its awning now fill much of my left side, but the doorway is still slightly ahead of me. Another step forward should bring me alongside the entrance rather than its side window.", + "I am nearly abreast of the awning frontage, with the open plaza and its railings opening ahead of me. I will take one more step forward so I stand squarely beside the shop before turning to face it.", + "The blue awning shop has slipped to the far left edge of my view while I am now looking out into the open plaza. I will turn left to bring that storefront back in front of me.", + "The awning and its blue glass frontage are back in view but still angled off to my left, with the plaza taking the center. A second left turn should square me onto the shop entrance for a straight approach.", + "The blue awning now hangs directly above the glass doors ahead of me and the frontage fills my view. With the step up and the pavement clear, I will walk forward to close on the entrance.", + "The shop under the blue awning is right beside me, but its glass frontage runs off obliquely and my heading is skewed across it rather than into it. I will turn left to square up with the storefront so the entrance sits ahead of me for a straight approach.", + "The blue-panelled doors of the awning shop now sit squarely ahead with the poster beside them clearly legible. I will walk forward to close the remaining gap to the entrance.", + "The blue door panels and their handles now fill most of my view, so I am only a stride from the shop front. I will step forward once more to stand right at the entrance of this awning shop.", + "I am standing directly at the blue-panelled entrance of the awning shop, its glass filling my view. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96367e301131b2065e42091eb2dee444a4ca8355 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001158_y002806_z000138_t5_a_pd/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Grab the trash bag at the yellow bicycle, then set it down near the blue awning shop.", + "Type": 5, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0, + -97.92, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1575.205, + 2022.892, + 41.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1157.995, + 2806.462, + 138.15, + 0, + -97.92, + 0 + ], + [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1226.395, + 2700.812, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1294.796, + 2595.162, + 138.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1363.196, + 2489.512, + 143.465, + 0.0, + -122.92, + 0.0 + ], + [ + -1431.596, + 2383.862, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1499.996, + 2278.213, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1568.397, + 2172.563, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1568.397, + 2172.563, + 128.15, + 0.0, + -122.92, + 0.0 + ], + [ + -1568.397, + 2172.563, + 128.15, + 0.0, + -97.92, + 0.0 + ], + [ + -1568.397, + 2172.563, + 128.15, + 0.0, + -72.92, + 0.0 + ], + [ + -1568.397, + 2172.563, + 128.15, + 0.0, + -47.92, + 0.0 + ], + [ + -1568.397, + 2172.563, + 128.15, + 0.0, + -22.92, + 0.0 + ], + [ + -1452.475, + 2123.547, + 128.15, + 0.0, + -22.92, + 0.0 + ], + [ + -1452.475, + 2123.547, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1326.698, + 2128.114, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1200.922, + 2132.681, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1075.146, + 2137.248, + 128.15, + 0.0, + 2.08, + -0.0 + ], + [ + -1075.146, + 2137.248, + 128.15, + 0.0, + -22.92, + 0.0 + ], + [ + -959.224, + 2088.232, + 128.15, + 0.0, + -22.92, + 0.0 + ], + [ + -959.224, + 2088.232, + 128.15, + 0.0, + -47.92, + 0.0 + ], + [ + -874.878, + 1994.818, + 142.095, + 0.0, + -47.92, + 0.0 + ], + [ + -790.532, + 1901.404, + 138.15, + 0.0, + -47.92, + 0.0 + ], + [ + -838.784, + 1954.843, + 144.249, + 0.0, + -47.92, + 0.0 + ], + [ + -838.784, + 1954.843, + 144.249, + 0.0, + -47.92, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1575.205, + 2022.892, + 41.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1575.205, + 2022.892, + 41.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1575.205, + 2022.892, + 41.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1575.205, + 2022.892, + 41.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1575.205, + 2022.892, + 41.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1575.205, + 2022.892, + 41.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1575.205, + 2022.892, + 41.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1575.205, + 2022.892, + 41.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1550.14, + 2161.47, + 98.256, + -28.202, + -72.776, + 1.862 + ], + [ + -1546.212, + 2170.099, + 98.528, + -28.189, + -47.764, + 1.872 + ], + [ + -1546.822, + 2179.031, + 97.861, + -28.215, + -22.793, + 1.849 + ], + [ + -1545.032, + 2186.293, + 97.915, + -14.092, + -5.577, + 6.87 + ], + [ + -1560.439, + 2192.504, + 97.931, + -28.208, + 27.222, + 1.851 + ], + [ + -1444.799, + 2143.493, + 98.352, + -28.189, + 27.238, + 1.869 + ], + [ + -1453.623, + 2145.622, + 98.069, + -28.198, + 52.225, + 1.862 + ], + [ + -1327.783, + 2149.443, + 97.682, + -28.202, + 52.221, + 1.86 + ], + [ + -1202.047, + 2154.011, + 97.797, + -28.201, + 52.224, + 1.857 + ], + [ + -1076.519, + 2158.564, + 98.174, + -28.206, + 52.218, + 1.858 + ], + [ + -1067.569, + 2156.308, + 98.291, + -28.199, + 27.224, + 1.863 + ], + [ + -951.256, + 2108.046, + 97.79, + -28.207, + 27.22, + 1.857 + ], + [ + -944.727, + 2102.393, + 98.827, + -28.197, + 2.228, + 1.866 + ], + [ + -859.685, + 2009.856, + 98.849, + -28.193, + 2.229, + 1.871 + ], + [ + -775.19, + 1916.268, + 108.507, + -28.205, + 2.219, + 1.864 + ], + [ + -791.872, + 1902.888, + 104.249, + 0.0, + -47.92, + 0.0 + ], + [ + -791.872, + 1902.888, + 104.249, + 0.0, + -47.92, + 0.0 + ] + ], + "PD_Dist_2D": [ + 887.7, + 887.7, + 762.4, + 637.3, + 512.5, + 388.5, + 266.2, + 149.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 22.1, + 21.4, + 21.4, + 21.4, + 20.5, + 21.4, + 20.3, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From here I can see the yellow bicycle parked against the blue shopfront well down the sidewalk to my left, with a dark bag slumped beside it. My current heading points across the street rather than along that sidewalk, so I will turn left to put the bicycle and its trash bag ahead of me. That should give me a straight walking line toward the pickup target.", + "The yellow bicycle now sits ahead of me along the building wall, with the trash bag beside it, but both are still far down the block. My path along the paved walkway looks clear of the cones and railings. I will step forward to begin closing that distance.", + "The bicycle and the bag have grown slightly larger and stay near the middle of my view, so my heading is still good. There is plenty of open pavement between me and the traffic cones lining the curb. I will keep walking forward toward the bicycle.", + "The trash bag is now clearly distinguishable as a separate object sitting just in front of the yellow bicycle's frame. I am still several strides away and the bag is too small in view to reach. Another step forward should bring me nearer to a workable grasping distance.", + "The yellow bicycle leaning on the blue wall and the bag beside it are both noticeably larger and slightly right of my heading. Nothing blocks the tiled sidewalk in between, only a cone off to the left. I will continue walking forward to shorten the remaining gap.", + "The trash bag now shows its wrinkled surface plainly and sits low in my view, meaning I am getting close to it. The bicycle beside it confirms this is the sack named in the task. I will take another step forward to stand right beside the bag.", + "The bag has become large in the lower part of my view and the bicycle fills much of the wall ahead, so only a short gap remains. I am not yet standing over the bag, which I need for a reliable grasp. I will step forward once more to close that last distance.", + "The trash bag is now at the very edge of my view down by my feet, with the yellow bicycle propped against the wall right beside it, matching the target described in the task. I am close enough that no further stepping is needed. I will attempt to pick up the bag now.", + "The grab worked, since the trash bag is now right at my hands in the low view with the tiled pavement and manhole cover beneath me. With the bag secured, I no longer need to face the bicycle wall, so I will turn right to start swinging my heading along the street toward the shopfronts. This first rotation should begin bringing the sidewalk ahead back into view.", + "I am carrying the bag and now looking at the yellow bicycle propped against the pale blue wall, which is still the pickup spot rather than my delivery direction. Rotating right again should carry my view further along the building frontage toward the shops down the street. I expect more of the sidewalk to open up with this turn.", + "The bicycle has slid to the left edge and I am now facing the green signboard, window grate, and yellow guardrails on the wall, still without a clear line down the walkway. Another right turn should continue sweeping my view along the frontage where the blue awning shop should appear. I keep the bag with me while reorienting.", + "A blue awning with a shopfront and a line of traffic cones has come into the right side of my view, which matches the drop destination named in the task. I will turn right once more so that stretch of sidewalk sits ahead of me instead of off to the side. That should give me a straight walking line toward the awning.", + "The blue awning shop is now clearly ahead on my left with an open tiled walkway running past the cones toward the arched gate. Carrying the bag, I will step forward along this clear stretch to close the distance to the shopfront. Nothing blocks the path immediately in front of me.", + "A traffic cone now sits directly in my forward line at the curb edge below the awning, and my heading is angled into the raised shopfront step. Turning right should shift my path onto the open tiled walkway that runs alongside the shop. I keep the awning in sight on my left while doing so.", + "With the cone now off to my left, the wide walkway ahead toward the arcade gate is clear. I will walk forward along it, keeping the blue awning shop beside me on the left as I bring the bag closer to the delivery area.", + "The blue awning storefront with its glass doors is now close on my left and the pavement ahead remains open. I will keep walking forward so that I come alongside the shop entrance, where setting the bag down should count as near the awning. The bag is still in hand as I advance.", + "I am still carrying the trash bag along the open plaza walkway, with the blue awning storefront running down my left side. The awning frontage continues a little further ahead, so I will keep walking forward to bring myself level with its entrance before turning in.", + "I have advanced far enough that the blue awning shop and its glass frontage now sit close on my left, while my heading still points across the open plaza. I will turn left to face the storefront directly so the drop position is in front of me rather than beside me.", + "Facing left, the blue awning shop front with its glass doors is now clearly in view, though I am still out on the paving a short distance from it. I will step forward to close that gap and get near enough to the shop entrance for a sensible placement.", + "The shop facade with its blue awning sits ahead and to my left, but my heading is still angled along the frontage rather than squarely at the door. I will turn left again to line up with the entrance area where the bag should be set down.", + "I am now squarely facing the blue awning shop's glass doors, with the poster and blue panels directly in front of me. I will walk forward to close the remaining distance to the storefront so the bag can be placed right by it.", + "The shop doors and their poster now fill most of my view, but there is still a little paving between me and the entrance. I will take one more step forward so I am close enough to the awning frontage for the bag to count as set down near this shop.", + "I am right up against the blue awning shop's glass doors, close enough that the handles and poster fill my view. This is the intended placement spot beside the storefront, so I will release the trash bag here.", + "I see the trash bag resting on the ground at the blue awning shop's doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_e/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ad232a04a767bbfcf42f281fc4048a6522a38d32 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t0_e/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Make your way to the green sign on the building wall.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1274.017, + 2641.99, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1285.074, + 2516.617, + 144.656, + 0.0, + -95.04, + 0.0 + ], + [ + -1296.131, + 2391.245, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1307.187, + 2265.873, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1318.244, + 2140.5, + 128.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1351.813, + 2068.568, + 128.149, + 0.0, + -95.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -95.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -95.04, + 0.0 + ], + [ + -1377.559, + 1958.481, + 144.792, + 0.0, + -95.04, + 0.0 + ] + ], + "Rationale": [ + "The green vertical sign with white lettering is visible on the pale blue building wall ahead, near the center of my view, so my current heading already points at it. I will move forward across the pavement to begin closing the gap without any turning.", + "The wall and its green sign now fill more of my view, confirming the previous forward step reduced the distance. The path ahead is still clear pavement, so I will keep moving straight toward the sign.", + "The green sign stays slightly left of center and continues to grow as I advance, so no heading correction is needed. The cones and yellow guard rails are off to the sides of my line of travel, leaving the route open for another forward step.", + "I am now close enough that the green sign and the notice below it read clearly on the wall ahead. Since I am still several steps out on the open pavement, I will continue straight to shorten the remaining distance.", + "The sign now dominates the upper portion of my view with the yellow rail below it, so only a short distance remains. I will step forward again to bring myself right up to the wall section carrying the green sign.", + "The green panel is beginning to slide toward the top edge of my view, which tells me I am very close to the wall. A further short forward step should place me directly beneath the sign.", + "Only the lower notice and the bottom edge of the green sign remain in view, with the wall filling almost the whole frame, so I am nearly at the target. I will take one last short step forward to stand right at the sign.", + "I am standing right at the wall, and the green sign has risen above my field of view, leaving only the white notice board in front of me. I will tilt my gaze upward to bring the green sign back into view and confirm I have arrived at it.", + "The green sign on the building wall fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f01736357803a9c6dc483715a21c32c4cd3832 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001263_y002767_z000138_t3_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the orange bicycle, then head toward the blue awning storefront.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1274.017, + 2641.99, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1285.074, + 2516.617, + 144.656, + 0.0, + -95.04, + 0.0 + ], + [ + -1285.074, + 2516.617, + 144.656, + 0.0, + -120.04, + 0.0 + ], + [ + -1348.079, + 2407.664, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1411.085, + 2298.711, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1474.09, + 2189.758, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1537.096, + 2080.805, + 128.15, + 0.0, + -120.04, + 0.0 + ], + [ + -1600.102, + 1971.852, + 144.739, + 0.0, + -120.04, + 0.0 + ], + [ + -1600.102, + 1971.852, + 144.739, + 0.0, + -120.04, + 0.0 + ], + [ + -1553.846, + 2051.84, + 128.368, + 0.0, + -120.04, + 0.0 + ], + [ + -1553.846, + 2051.84, + 128.368, + 0.0, + -95.04, + 0.0 + ], + [ + -1553.846, + 2051.84, + 128.368, + 0.0, + -70.04, + 0.0 + ], + [ + -1553.846, + 2051.84, + 128.368, + 0.0, + -45.04, + 0.0 + ], + [ + -1464.912, + 1962.782, + 144.745, + 0.0, + -45.04, + 0.0 + ], + [ + -1464.912, + 1962.782, + 144.745, + 0.0, + -20.04, + 0.0 + ], + [ + -1346.673, + 1919.653, + 138.15, + 0.0, + -20.04, + 0.0 + ], + [ + -1346.673, + 1919.653, + 138.15, + 0.0, + 4.96, + -0.0 + ], + [ + -1221.286, + 1930.535, + 138.15, + 0.0, + 4.96, + -0.0 + ], + [ + -1095.898, + 1941.417, + 140.276, + 0.0, + 4.96, + -0.0 + ], + [ + -970.51, + 1952.299, + 143.877, + 0.0, + 4.96, + -0.0 + ], + [ + -970.51, + 1952.299, + 143.877, + 0.0, + -20.04, + 0.0 + ], + [ + -970.51, + 1952.299, + 143.877, + 0.0, + -45.04, + 0.0 + ], + [ + -881.24, + 1875.528, + 138.15, + 0.0, + -45.04, + 0.0 + ], + [ + -881.24, + 1875.528, + 138.15, + 0.0, + -45.04, + 0.0 + ] + ], + "Rationale": [ + "The orange bicycle is parked against the pale blue wall ahead on the left, and the blue awning shopfront sits further right along the same block. Since the bicycle is my first destination and I am still out on the roadway, I will walk forward to close the gap.", + "The bicycle has grown noticeably larger ahead and slightly to my left, so my heading is carrying me toward it. There is open paving between me and the curb, so another step forward should keep shrinking the distance.", + "The orange bicycle now sits well off to my left edge while my heading points at the blank wall and yellow guardrails. Turning left should swing it back toward the center of my view so I can walk straight at it.", + "The turn brought the orange bicycle back into the middle of my view, propped against the blue wall beyond the traffic cone. With the path along the pavement open, I will step forward to close on it.", + "The bicycle is clearly nearer, its frame and wheels now distinct against the wall just ahead. Nothing blocks the strip of sidewalk between us, so I will keep walking straight toward it.", + "The orange bicycle fills more of my view and sits just past the traffic cone at the curb edge. I am still a few paces short of standing beside it, so I will advance again.", + "The bicycle is now close enough that its handlebar and front wheel dominate the near foreground against the wall. One more step forward should bring me right up alongside it.", + "The orange bicycle is directly in front of me, leaning against the blue wall within arm's reach of my path. A final step should put me level with it rather than still short of it.", + "The orange bicycle now fills my view, its frame, seat and basket close enough to touch against the blue wall. I have arrived at it. I mark reaching this bicycle, and from here I set off for the storefront under the blue awning.", + "Standing this close, the bicycle and the blue wall block almost my entire view, leaving me nothing of the sidewalk to plan by. I will step back to open some distance so the street and the shopfronts should come back into sight before I reorient toward the blue awning.", + "With a little space regained, the bicycle sits ahead of me and the building wall runs off to my right along the sidewalk. Since the awning-fronted shops lie that way down the block, I will turn right to swing my heading off the bicycle and onto the sidewalk line.", + "My view is still mostly flat wall panels and a grated window, with only the bicycle's handlebar clipping the left edge. That means I have not yet come around to face along the walkway, so I will keep turning right to bring the open sidewalk into view.", + "I am now looking straight at the green and white signboards with the yellow guard rails below, so my heading still runs into the building rather than along it. Another right turn should carry my gaze further down the pavement where the awninged shopfronts stand.", + "The pavement now opens ahead beside the yellow rails, and further along the block I can pick out a blue awning stretched over a shopfront. That is where I am headed, so I will walk forward along this sidewalk to close the distance.", + "Walking on has brought me tight against the wall sign, which now fills my left side while the blue awning shows only at the upper right edge. I will turn right to put the awning and the open walkway squarely in front of me before continuing.", + "The sidewalk runs clear ahead of me with the blue awning projecting from the shopfront just up on my left and a cone off to the right side. Nothing blocks the path, so I will walk forward to reach that awninged storefront.", + "The blue awning and its storefront front sit ahead on my left, but my heading hugs the wall and yellow railing beside me. Turning right should square me with the open walkway that runs past that frontage, giving me a clear line to walk.", + "The walkway now runs straight ahead of me with the awning-covered shopfront along its left side and only a traffic cone off to the right. Nothing blocks the paved lane, so I will step forward to close the distance to that storefront.", + "The dark blue awning and the shop's glass front are drawing level on my left as I advance along the open pavement. The path stays clear past the cone, so another step forward should bring me nearer the storefront entrance.", + "I am moving alongside the blue-panelled shopfront, its awning overhead on my left, and the walkway continues clear toward the plaza. One more step forward should carry me level with the entrance rather than stopping short of it.", + "I am now standing level with the storefront under the blue awning, but my body still faces down the walkway toward the open street. Turning left should bring the shop's door and blue frontage in front of me instead of at my shoulder.", + "The blue shopfront and its glazed door have swung into view, yet they still sit angled across the left of my sight rather than squarely ahead. A second turn left should finish facing me onto the entrance beneath the awning.", + "The blue-striped shopfront and its glass door with the small poster now fill the view directly ahead, with the awning at the upper right. Only a short stretch of pavement separates me from it, so I will step forward to stand at the entrance.", + "I am standing at the blue awning storefront's glazed door, its blue panels and sign right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_e/infos.json b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0ac5242c1d7a71ebff2548bc062d635d396abac5 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-001479_y000418_z000138_t3_e/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Make your way to the blue-awning shop, then reach the blue bicycle.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ], + [ + -1479.437, + 418.146, + 138.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1436.473, + 299.847, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1393.51, + 181.548, + 128.15, + 0.0, + -70.04, + 0.0 + ], + [ + -1350.546, + 63.25, + 129.227, + 0.0, + -70.04, + 0.0 + ], + [ + -1307.582, + -55.049, + 128.149, + 0.0, + -70.04, + 0.0 + ], + [ + -1264.618, + -173.348, + 144.735, + 0.0, + -70.04, + 0.0 + ], + [ + -1221.655, + -291.647, + 138.246, + 0.0, + -70.04, + 0.0 + ], + [ + -1178.691, + -409.946, + 138.246, + 0.0, + -70.04, + 0.0 + ], + [ + -1136.318, + -524.567, + 138.246, + 0.0, + -70.04, + 0.0 + ], + [ + -1136.318, + -524.567, + 138.246, + 0.0, + -70.04, + 0.0 + ], + [ + -1167.86, + -437.717, + 138.246, + 0.0, + -70.04, + 0.0 + ], + [ + -1199.402, + -350.867, + 138.246, + 0.0, + -70.04, + 0.0 + ], + [ + -1199.402, + -350.867, + 138.246, + 0.0, + -95.04, + 0.0 + ], + [ + -1199.402, + -350.867, + 138.246, + 0.0, + -120.04, + 0.0 + ], + [ + -1199.402, + -350.867, + 138.246, + 0.0, + -145.04, + 0.0 + ], + [ + -1199.402, + -350.867, + 138.246, + 0.0, + -170.04, + 0.0 + ], + [ + -1199.402, + -350.867, + 138.246, + 0.0, + 164.96, + -0.0 + ], + [ + -1199.402, + -350.867, + 138.246, + 0.0, + 139.96, + -0.0 + ], + [ + -1199.402, + -350.867, + 138.246, + 0.0, + 114.96, + -0.0 + ], + [ + -1252.512, + -236.763, + 138.246, + 0.0, + 114.96, + -0.0 + ], + [ + -1252.512, + -236.763, + 138.246, + 0.0, + 139.96, + -0.0 + ], + [ + -1348.869, + -155.795, + 144.665, + 0.0, + 139.96, + -0.0 + ], + [ + -1348.869, + -155.795, + 144.665, + 0.0, + 164.96, + -0.0 + ], + [ + -1470.417, + -123.136, + 135.081, + 0.0, + 164.96, + -0.0 + ], + [ + -1470.417, + -123.136, + 135.081, + 0.0, + -170.04, + 0.0 + ], + [ + -1594.356, + -139.733, + 143.521, + 0.0, + -170.04, + 0.0 + ], + [ + -1704.36, + -138.36, + 143.528, + 0.0, + -170.04, + 0.0 + ], + [ + -1704.36, + -138.36, + 143.528, + 0.0, + -170.04, + 0.0 + ] + ], + "Rationale": [ + "Across the street to my right I can see a storefront capped by a dark blue awning, while the parked blue bicycle sits off to my left along the railing. Since the awning shop is my first destination, I will turn right to bring that entrance into the centre of my view before walking.", + "The shop with the dark blue awning now sits roughly ahead of me, beyond the open roadway and a low railing line. My heading looks good enough to close distance directly, so I will step forward toward that frontage.", + "The blue awning and the glass doorway under it have grown larger and stay near the middle of my view, confirming I am tracking straight at the shop. Nothing blocks the pavement ahead, so I will keep walking forward.", + "I am now close to the kerb, with the awning shop's tiled forecourt and its blue glass front just beyond the railing gap ahead of me. The line is still good, so another step forward should carry me onto that frontage.", + "I have reached the paving in front of the shop, and its blue awning now spans the upper part of my view with the recessed glass doors directly ahead. I will continue forward to bring myself right up to that entrance.", + "The awning's underside now fills the top of my view and the shop's blue glass panels with their hanging banners are only a few paces off. Advancing again should place me at the doorway itself.", + "The glass frontage and its purple and white banners now occupy nearly my whole view, so I am standing right against the shop. One more step forward should bring me level with the door handles.", + "I am practically at the doors, with the handles and the posted notice clearly legible an arm's length away. A short final step forward should settle me at the entrance of this blue-awning shop.", + "The glazed shopfront under the blue awning now fills nearly my whole view, with its posters and door handles right in front of me. One more short step forward should bring me flush against this entrance and count as standing at the shop.", + "The tinted glass and dark door frame of the shop under the blue awning are directly against me, close enough to touch. I am standing at that shop. I mark reaching it, then set off for the blue bicycle parked along the street railing.", + "Pressed this close, the shop glass blocks everything and I can see none of the street where the blue bicycle stands. Stepping straight back should open distance from the frontage so the sidewalk comes back into view without an awkward turn against the wall.", + "The door panels and posters are still filling most of my view, so I am barely off the frontage. Another step back should give me enough clearance to swing around toward the street and the bicycle without scraping the shop wall.", + "I now have a little pavement between me and the shop entrance, enough room to pivot. The bicycle sits back along the street to my left, so I begin rotating that way to bring the sidewalk into my heading.", + "My view has slid along the frontage but is still filled by shop glass and wall panels rather than open street. I keep rotating left to carry my heading further around toward the sidewalk running back the way I came.", + "The orange and yellow storefront beside the blue-awning shop now dominates my view, so I am still aimed at buildings instead of the street. Another left turn should swing my heading past this facade toward the open pavement.", + "Open pavement and the tree-lined street are appearing at the left edge while the shop facade still occupies the centre. I continue turning left so that walkable route ahead sits squarely in front of me for the walk back toward the bicycle.", + "Having reached the shop with the blue awning, I now need the blue bicycle parked out along the street. My view is still filled by the pink storefront on my right, while the open sidewalk and roadway lie off to my left, so I will keep rotating left toward that route.", + "The blossom trees, planter and bollards are now roughly ahead of me, but the road surface I want to travel along is still further round to my left. Another left turn should bring that open street more squarely in front of me.", + "The street with its painted road markings is opening on my left while a tree trunk and railing still crowd the right of my view. One more left step of heading should line me up with the roadway so I can walk it in search of the blue bicycle.", + "I am now facing along the open street, with the green-awning shop on my left and clear pavement running ahead of me. Nothing blocks the way, so I will walk forward to cover ground toward the parked blue bicycle.", + "Walking ahead has brought the green shopfront close on my left, and the street I want to follow bends away to my right past the yellow barriers. A right turn should swing my heading back down that corridor rather than into the shop wall.", + "The road ahead is clear and runs straight down between the tree line and the buildings, with only a bollard at my right shoulder. I will step forward along it to close on the area where the blue bicycle should be standing.", + "A blue bicycle and an orange cone have just come into the right edge of my view, hard against the near curb. Turning right should bring that bicycle into the middle of my view so I can walk straight at it.", + "The blue bicycle now sits ahead of me on the right, leaning by the railing with the cone beside it, and the road between us is empty. I will walk forward to close the remaining distance to it.", + "The blue bicycle is parked against the railing a short way ahead, but it sits off to my right rather than straight down my path. I will turn right to bring it into the center of my view so my next steps carry me directly to it.", + "The blue bicycle now sits ahead along the railing with the orange cone beside it, and the sidewalk between us is clear. I will walk forward to close the remaining gap.", + "The bicycle's frame and front wheel now fill much of the near view, so only a small distance remains. One more step forward should bring me right up beside it.", + "The blue bicycle is directly in front of me, its handlebar and frame within arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7b9c214b67286fc52d23d3eb61cb970ac6bfb1d9 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the rightmost cherry blossom tree across the street.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ], + [ + -2282.756, + -139.722, + 143.518, + 0.0, + 144.04, + -0.0 + ], + [ + -2384.63, + -65.815, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2486.503, + 8.092, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2588.377, + 81.999, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2690.251, + 155.906, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2792.125, + 229.813, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2893.998, + 303.72, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2995.872, + 377.627, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -3097.746, + 451.534, + 129.602, + 0.0, + 144.04, + -0.0 + ], + [ + -3199.619, + 525.441, + 144.615, + 0.0, + 144.04, + -0.0 + ], + [ + -3301.493, + 599.348, + 138.316, + 0.0, + 144.04, + -0.0 + ], + [ + -3301.493, + 599.348, + 138.316, + 0.0, + 169.04, + -0.0 + ], + [ + -3425.056, + 623.276, + 138.316, + 0.0, + 169.04, + -0.0 + ], + [ + -3548.62, + 647.205, + 138.316, + 0.0, + 169.04, + -0.0 + ], + [ + -3672.183, + 671.134, + 138.316, + 0.0, + 169.04, + -0.0 + ], + [ + -3672.183, + 671.134, + 138.316, + 0.0, + -165.96, + 0.0 + ], + [ + -3794.282, + 640.601, + 138.316, + 0.0, + -165.96, + 0.0 + ], + [ + -3794.282, + 640.601, + 138.316, + 0.0, + -165.96, + 0.0 + ] + ], + "Rationale": [ + "Blossom trees line the far side of this street, and the one at the right end of that row stands apart beside the pale blue building with the row of shuttered bays. My body faces too far left, aiming at the middle of the row instead. I will turn right so that tree sits ahead of me.", + "The blossom tree beside the blue building with the shuttered bays now sits ahead and only slightly right of my heading. The roadway between us is open with no traffic in the way. I will walk forward to begin crossing toward it.", + "The tree by the shuttered blue building has grown larger and its trunk is clearer, so my line across the road is holding. The lane markings ahead are clear of obstacles. Another step forward should carry me further across.", + "I am now over the middle of the street, with the green painted strip and far curb coming up under the tree I am heading for. Nothing blocks the remaining stretch of asphalt. I keep walking straight ahead.", + "The far curb and the green lane in front of the blue building are close now, and the tree I chose rises just beyond the yellow barrier there. My heading still points into that gap. I will step forward again.", + "I have reached the far side, with the raised sidewalk and the green lane running along the base of the blue shuttered building. My tree stands ahead on the right above the yellow barrier, still some distance off. Walking on should close that gap.", + "The paved plaza in front of me is clear and my tree, the one over the yellow barrier by the shuttered blue frontage, is noticeably nearer. Its canopy now fills the upper right of my view. I continue straight toward it.", + "More blossom trees have come into view along the arcade to my left, so counting from an end here would mislead me; I stay with the tree standing over the yellow barrier by the shuttered blue frontage. It is close ahead on my right with open pavement between us. I step forward again.", + "My tree stands just past the tall light pole on my right, its trunk rising behind the green railing that edges the teal lane. The tiled plaza between us is empty of obstacles. I walk on to close the remaining distance.", + "The canopy of my tree now spreads across the upper right of my view and its trunk is thick and near. Nothing on the open paving interrupts the line I am walking. Another step should bring me closer to its base.", + "Walking straight is carrying my tree toward the right margin of my view, but it is still the trunk beside the railing and the yellow seating that I want. The pavement in front of me remains clear. I keep stepping ahead.", + "My tree has slipped almost behind the pale bench at my right shoulder, so continuing straight would take me past it along the plaza. Turning right should swing that trunk back in front of me and point my walk at its base.", + "The turn worked, and my tree now rises just right of center with the green railing curving past its base. Open tiles run from my feet to the planter it stands in. I move forward along that line.", + "Fallen petals scatter across the tiles right where my tree stands, and its trunk fills much more of my view than a step ago. The railing beside it is still clear of anything in my path. I continue toward it.", + "The yellow cart and traffic cones parked beside my tree are now plainly visible at its foot, so only a short stretch of paving remains. My heading still runs onto that square planter. One more step should put me at the trunk.", + "I am nearly level with the tree, and its trunk now leans off toward my right against the railing while my body still points down the plaza. A turn to the right should square me up with it before I close the last steps.", + "The turn brought my tree back to the middle of my view, its trunk rising from the petal-strewn planter just a pace or two ahead against the green railing. Only clear tiles lie between us. One more step should put me right at its base.", + "The blossom trunk fills the center of my view, close enough to touch beside the green railing. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3fc3edc2e3b3b10e8886a5be3d3c4a0eb6c1b1c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002283_y-000140_z000144_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the second bollard from the left on the curb.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ], + [ + -2343.851, + -29.686, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2404.945, + 80.35, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2466.04, + 190.386, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2466.04, + 190.386, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2474.907, + 315.933, + 128.15, + 0.0, + 94.04, + -0.0 + ], + [ + -2483.774, + 441.479, + 129.595, + 0.0, + 94.04, + -0.0 + ], + [ + -2483.774, + 441.479, + 129.595, + 0.0, + 94.04, + -0.0 + ] + ], + "Rationale": [ + "Across the road I can count the short posts standing along the raised curb, and my target is the second one in from the left end of that run, the one set just off the corner of the pale storefront with the blue banner. They all look alike, so I hold it by that corner rather than by counting again. I will walk forward to close the gap.", + "The posts along the curb have grown larger and I can still place my target beside the storefront corner under the blue banner. Nothing blocks the open road between me and the curb. I will keep walking straight to close more distance.", + "I am nearly at the curb line now, with the paved plaza and its posts spreading wide in front of me. My target still sits beside the storefront corner under the blue banner, slightly to my left. Another step forward should bring me onto the approach to it.", + "From this close position the posts no longer read as a neat row, and the one I chose beside the storefront corner sits off to my left rather than straight ahead. Walking on as I am aimed would carry me past it. I will turn left to put it in front of me.", + "The turn has brought my target bollard, the one standing off the storefront corner under the blue banner, into the middle of my view. The paving between us is open. I will step forward toward it.", + "The bollard I am heading for now fills the lower center of my view but is still a stride or two away. One more step forward should put me right beside it.", + "The bollard beside the storefront corner stands directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d90d60d79b0127543cdf4c154ad17e3a4661ee --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the pink cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -2231.494, + 2095.28, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -2121.16, + 2155.836, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -2010.827, + 2216.392, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1900.493, + 2276.948, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1790.16, + 2337.504, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1679.827, + 2398.06, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1569.493, + 2458.616, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1460.291, + 2497.64, + 144.48, + 0.0, + 28.76, + -0.0 + ], + [ + -1349.958, + 2558.197, + 138.171, + 0.0, + 28.76, + -0.0 + ], + [ + -1239.625, + 2618.753, + 138.171, + 0.0, + 28.76, + -0.0 + ], + [ + -1129.291, + 2679.309, + 138.171, + 0.0, + 28.76, + -0.0 + ], + [ + -1018.958, + 2739.865, + 138.171, + 0.0, + 28.76, + -0.0 + ], + [ + -1018.958, + 2739.865, + 138.171, + 0.0, + 3.76, + -0.0 + ], + [ + -893.37, + 2748.118, + 138.171, + 0.0, + 3.76, + -0.0 + ], + [ + -767.782, + 2756.372, + 138.171, + 0.0, + 3.76, + -0.0 + ], + [ + -767.782, + 2756.372, + 138.171, + 0.0, + 3.76, + -0.0 + ] + ], + "Rationale": [ + "I can spot the pink blossoming tree off to my left, past the white railing and near the shop fronts, while my current heading points across the sidewalk into the storefronts on my right. Turning left should swing my view down the open sidewalk corridor so the pink canopy sits ahead of me instead of at the edge of my view. That heading should give me a clear walking lane toward it.", + "The sidewalk now stretches straight ahead between the railing on my right and the wide plaza on my left, and the pale pink blossom crown stands further down that lane. Nothing blocks the paving directly in front of me, so I will step forward to start closing the distance. The tree should grow larger and more centered as I advance.", + "The pink blossom tree is still ahead of me and slightly left, and it looks noticeably nearer than before, so my heading is serving well. The paving continues unobstructed with the traffic cones well clear to my left. I will keep moving forward to reduce the remaining gap.", + "The blossom canopy is clearly resolving into individual pink clusters against the building wall ahead, which confirms I am steadily closing in. The walkway between the green railing and the arcade remains open. Another forward step should bring me appreciably closer.", + "The pink tree sits ahead just past the yellow post and the planter strip, still well within the open sidewalk I am following. My path is unblocked and the alignment needs no correction yet. I will continue straight to keep shortening the distance.", + "The blossoming crown now fills a good portion of the upper left of my view, so the remaining distance is much smaller than it was. The paving beside the low planter still runs clear toward it. I will advance again rather than adjust heading.", + "I can now see the tree's trunk and the litter of fallen petals around its base a short way ahead of me, which tells me I am nearly alongside it. The strip of sidewalk between the raised planter and the yellow guard rail is still walkable. Moving forward should carry me toward that trunk.", + "The pink tree is close ahead on my left with its trunk clearly separated from the wall on my right, and the corridor between them remains open. A few more steps should place me right beside the blossoms. I will keep going forward along this lane.", + "The pink blossom tree stands clearly ahead of me and slightly left, its pale crown rising above the low planter beside the building wall. The paved sidewalk between the yellow bollard and the fence line is open, so I will keep moving forward to close the remaining gap.", + "The blossom tree now sits noticeably larger in front of me, its trunk rooted in the planted strip just left of my path. Nothing blocks the walkway, so another forward step should continue shrinking the distance to it.", + "The blossom crown now spreads across the upper left of my view, confirming I am closing on the tree rather than drifting past it. The corridor between the hedge planter and the wall remains clear, so I continue forward.", + "The tree's trunk and pink canopy are close on my left front, and the yellow guard rail hugs the wall on my right without crossing my lane. I will advance again to bring myself alongside the tree.", + "The blossom tree is now only a short stretch of pavement ahead, with fallen pink petals scattered on the ground near its base. One more forward step should place me almost at the trunk.", + "At this range the blossom tree has slid to the left edge of my view while the plain wall and yellow rail dominate straight ahead. Turning left should recenter the tree and point me directly at it for the final approach.", + "The turn brought the blossom tree back into the middle of my view, its trunk standing just ahead over petal-strewn pavement. With my heading now on the target, I will step forward to close the last of the distance.", + "The blossom tree's trunk now rises directly in front of me with its pink canopy overhead and petals covering the pavement at my feet. A final short step should bring me right up beside it.", + "The cherry blossom tree's trunk fills my view at arm's length, with fallen pink petals on the pavement at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_d/infos.json b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0882c95aa887ca1a870d74c19d5f1621b1b444d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002342_y002035_z000128_t0_d/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Navigate to the yellow metal barrier along the fence.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + -2267.423, + 2136.235, + 128.15, + 0.0, + 53.76, + -0.0 + ], + [ + -2267.423, + 2136.235, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -2157.09, + 2196.791, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -2046.756, + 2257.347, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1936.423, + 2317.903, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1826.089, + 2378.459, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1715.756, + 2439.015, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1715.756, + 2439.015, + 128.15, + 0.0, + 3.76, + -0.0 + ], + [ + -1590.168, + 2447.269, + 128.15, + 0.0, + 3.76, + -0.0 + ], + [ + -1464.58, + 2455.522, + 128.15, + 0.0, + 3.76, + -0.0 + ], + [ + -1464.58, + 2455.522, + 128.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1354.246, + 2516.078, + 144.705, + 0.0, + 28.76, + -0.0 + ], + [ + -1243.913, + 2576.634, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1133.58, + 2637.19, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1023.246, + 2697.746, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + -1023.246, + 2697.746, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -949.097, + 2797.129, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -949.097, + 2797.129, + 138.15, + 0.0, + 53.76, + -0.0 + ] + ], + "Rationale": [ + "I am standing on the open tiled walkway with a white fence running along the shopfronts to my right, and the only yellow metalwork I can pick out sits far down that fence line to my left. I will move forward to gain ground along the walkway and get a cleaner look down the fence before committing to a heading.", + "From here the fence and its yellow markers continue away to my left, while my current heading points into the shop facade and the tree at the fence edge. I will turn left to bring the fence corridor and the walkway ahead of me into the center of my view so I can travel straight along it.", + "The turn has opened the long walkway ahead, with the white fence and its planting strip running down my right side toward a green archway in the distance. This is a clear straight lane along the fence, so I will move forward to close distance toward the yellow metalwork further along it.", + "My heading still runs parallel to the fence and the pavement in front of me is unobstructed. I will keep moving forward along this lane since the fence continues past several yellow uprights that lie further ahead.", + "The railing panels beside me are growing larger as I advance, confirming I am tracking the fence correctly rather than drifting into the plaza. I will continue forward to keep shrinking the distance to the yellow barrier section along it.", + "I am still short of the far end of the fence, where the yellow metal sections appear to sit against the building wall. The lane between the railing and the open plaza is wide enough, so I will press forward again.", + "The fence now fills much of my right side and the archway ahead is noticeably nearer, so I still have distance to cover before reaching the end of the railing. I will move forward once more along the same line.", + "The railing has crowded into my forward path and my heading is now angled toward the fence and the building face rather than along the walkway. I will turn left to swing back parallel to the fence and reopen the corridor ahead, where the fence line continues toward the yellow metalwork.", + "The walkway ahead stays clear, with the white and green fence panels ending on my right and open pavement beyond them. The yellow metal barrier I need is not yet distinct along that fence line, so I will step forward to bring the further stretch of the fence into view.", + "A bright yellow tubular barrier is now visible ahead on my right, standing against the building wall just past the end of the fence railing. It is still well beyond reach, so I will continue straight to close the gap toward it.", + "The yellow barrier now sits clearly on the right edge of my view, while my heading still points down the open plaza toward the archway. I will turn right to bring the barrier nearer the center of my path before advancing further.", + "After the turn the yellow barrier lies ahead of me along the wall, roughly in the middle of my view with clear pavement between us. I will move forward to reduce that remaining distance.", + "The barrier has grown noticeably larger and both of its yellow hoops are now distinct beside the wall and the tree. My heading still points along the wall toward it, so another step forward should keep closing the distance.", + "The yellow barrier is now close, sitting against the pale wall a short stretch of pavement ahead and slightly right. Nothing blocks the walkway, so I will keep stepping forward toward it.", + "The barrier now fills much of the right side of my view at close range, its tubes standing just off the wall. One more forward step should bring me right up beside it.", + "I am now nearly beside the yellow barrier, which runs along the wall from the center toward the right of my view. I will turn right to square my heading onto it so a final short step should place me directly at the barrier.", + "The yellow metal barrier now fills the lower left of my view, running right up against the grey wall just ahead of me. A single short step forward should bring me directly alongside it and close the last bit of separation.", + "The yellow metal barrier is right at my feet in the near foreground against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16a529b973da55409743c96b3afbe9f49e4fa09c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the rightmost orange bollard.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2603.355, + 849.573, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2664.449, + 959.609, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2725.543, + 1069.645, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2786.638, + 1179.682, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2786.638, + 1179.682, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2888.512, + 1253.589, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2888.512, + 1253.589, + 128.15, + 0.0, + 144.04, + -0.0 + ] + ], + "Rationale": [ + "Along the raised curb ahead I can pick out the slim orange-and-white bollards, and since they all look alike I fix on the last one at the right end, the one standing just before the tall pillar of the elevated structure. It is still far across the open plaza, so I walk straight ahead to close that gap.", + "The bollard beside the support pillar has grown a little larger and sits slightly right of my heading, so my line is still usable. Nothing blocks the paved plaza between us, so I keep walking forward.", + "My bollard by the pillar is now clearly separated from the shorter posts on the left and reads at a comfortable size. The curb it stands on is still several strides away, so I continue straight ahead.", + "The bollard I am heading to now stands tall in the right part of my view against the pillar, while the smaller posts fall away to my left, so the line of them no longer reads as a countable row from here. I step forward again to bring myself alongside it.", + "My bollard has drifted well over to the right edge of my view, close to the pillar, so walking straight would carry me past it. I turn right to bring it back toward the middle of my heading before advancing.", + "The turn has put the bollard near the center of my view with open pavement between us. I walk forward to close the last of that distance and stand right at it.", + "The orange-and-white bollard beside the pillar now fills the center foreground, an arm's length ahead of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f51fea66b3ff95f97b432fba5dd184fae180998 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002542_y000740_z000128_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Navigate to the second green shrub from the right.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2603.355, + 849.573, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2664.449, + 959.609, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2725.543, + 1069.645, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2786.638, + 1179.682, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2847.732, + 1289.718, + 128.15, + 0.0, + 119.04, + -0.0 + ], + [ + -2847.732, + 1289.718, + 128.15, + 0.0, + 144.04, + -0.0 + ], + [ + -2949.606, + 1363.625, + 143.489, + 0.0, + 144.04, + -0.0 + ], + [ + -3051.48, + 1437.532, + 138.15, + 0.0, + 144.04, + -0.0 + ], + [ + -3153.354, + 1511.439, + 138.15, + 0.0, + 144.04, + -0.0 + ], + [ + -3255.227, + 1585.346, + 138.15, + 0.0, + 144.04, + -0.0 + ], + [ + -3255.227, + 1585.346, + 138.15, + 0.0, + 144.04, + -0.0 + ] + ], + "Rationale": [ + "The green shrubs stand in the planted strip on my right, and counting from the right end of that row, my target is the second one, the leafy clump at the foot of the cherry tree beside the rounded grey tower. It lies well ahead across open pavement, so I will walk forward to close the distance.", + "The planting beside the rounded grey tower is slightly larger now, but the shrub at the cherry tree's foot is still far off to my right. The tiled square in front of me is empty, so I keep walking straight ahead.", + "The cherry tree and the green clumps under it are growing in my view on the right, though still several strides away. Nothing blocks the paving in front of me, so I continue forward to shorten the gap before angling toward them.", + "The striped bollards and the curb along the right edge are close now, and my shrub sits just past them near the rounded grey tower. I will step forward again to reach the crossing area before changing heading.", + "The crossing stripes open out ahead of me while the grass strip with its shrubs lies off to my right beside the curved building. One more forward stride should bring me to the point where I can swing toward that planting.", + "My heading runs down the street, while the shrub I chose sits off to my right at the base of the cherry tree beside the rounded grey tower. A modest turn to the right should place it in front of me so I can approach in a straight line.", + "The turn has brought the grass strip and its leafy clumps into the middle of my view, with clear roadway between me and them. I will walk forward along this line to close in on the shrub at the tree's foot.", + "From this angle the plantings no longer read as a countable row, so I hold to the one I picked out, the bushy clump at the base of the cherry tree against the curved grey wall. It stands only a short walk ahead, so I keep advancing toward it.", + "The leafy clump at the cherry tree's base now sits just left of center, close against the curb of the grass strip beside the curved grey wall. The pavement between us is clear, so I keep walking to draw alongside it.", + "The shrub and its cherry trunk fill the lower left of my view, so only a stride or two remains before I am beside it. I will step forward once more to stand right at the planting edge.", + "The green shrub at the cherry tree's foot is right beside me, filling the near foreground at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002558_y000851_z000128_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x-002558_y000851_z000128_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..caef89395c8d8b6f56beed2b8da6a4f04bb30e8a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002558_y000851_z000128_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the storefront entrance beneath the orange awning.", + "Type": 0, + "Start_Pose": [ + -2557.842, + 851.22, + 128.15, + 0.0, + -124.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2557.842, + 851.22, + 128.15, + 0.0, + -124.8, + 0.0 + ], + [ + -2629.671, + 747.871, + 128.15, + 0.0, + -124.8, + 0.0 + ], + [ + -2701.501, + 644.522, + 128.15, + 0.0, + -124.8, + 0.0 + ], + [ + -2777.749, + 563.966, + 128.149, + 0.0, + -124.8, + 0.0 + ], + [ + -2849.579, + 460.617, + 129.664, + 0.0, + -124.8, + 0.0 + ], + [ + -2921.408, + 357.268, + 128.15, + 0.0, + -124.8, + 0.0 + ], + [ + -2993.238, + 253.919, + 128.15, + 0.0, + -124.8, + 0.0 + ], + [ + -2993.238, + 253.919, + 128.15, + 0.0, + -99.8, + 0.0 + ], + [ + -3014.66, + 129.896, + 128.15, + 0.0, + -99.8, + 0.0 + ], + [ + -3036.083, + 5.874, + 128.15, + 0.0, + -99.8, + 0.0 + ], + [ + -3057.505, + -118.149, + 130.173, + 0.0, + -99.8, + 0.0 + ], + [ + -3078.927, + -242.171, + 138.15, + 0.0, + -99.8, + 0.0 + ], + [ + -3100.35, + -366.194, + 138.15, + 0.0, + -99.8, + 0.0 + ], + [ + -3100.35, + -366.194, + 138.15, + 0.0, + -99.8, + 0.0 + ] + ], + "Rationale": [ + "I can see the orange awning sign and its glass double doors across the street ahead and slightly to my right, so that storefront entrance is my target. My path across the open paving looks clear apart from the low posts to my sides, so I will step forward to begin closing the gap.", + "The orange sign and the storefront doors beneath it are now larger in my view, confirming I am closing on the right target. The pavement ahead is still open, so I will keep advancing.", + "I have passed between the bollards and the entrance under the orange sign sits ahead on the far side of the road strip. Nothing blocks my line, so another step forward should bring me nearer the doors.", + "I am out onto the open roadway with the awning storefront clearly ahead and its doors still comfortably far off. The route stays unobstructed, so I continue straight to reduce the remaining distance.", + "The orange sign band now spans a good part of the upper right of my view and the doorway below it is clearly resolved. Since I am still several paces short of the entrance, I will keep moving straight ahead.", + "The curb and the railing in front of the storefront are close now, and the glass doors under the orange sign are just beyond them to my right. One more step forward should put me nearly level with the entrance.", + "Walking straight has carried me almost alongside the storefront, and the awning doors now sit right of my heading rather than in front of me. I will turn right to bring the entrance to the center of my view before closing the last of the distance.", + "After the turn, the glass double doors under the orange sign are centered in my view with the paved entrance area open in front of them. I will move forward to close the remaining gap to the entrance.", + "The orange-panelled glass doors under the orange sign band sit just left of center ahead of me, with open pavement still between me and the storefront. I will keep stepping forward along this line to close the remaining distance to the entrance.", + "The double doors beneath the orange sign are now centered in my view and noticeably larger, so my heading is well aligned with the entrance. Another forward step should bring me onto the tiled area directly in front of the doorway.", + "The entrance doors with their orange panels now fill much of my view and the raised threshold is a short step ahead. I will advance again to stand right at the storefront doorway.", + "I am nearly at the doorway, with the two glass doors and their handles spanning almost my entire view. One more short step forward should place me directly at the entrance beneath the orange sign.", + "I stand directly at the glass entrance doors, their handles within arm's reach beneath the orange storefront band. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a19dc83ccdcb5ea3f74d0aa25a9af3152434bf77 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-002707_y001780_z000128_t0_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the visible end of the short white railing enclosing the shrubs beneath the green tree.", + "Type": 0, + "Start_Pose": [ + -2706.806, + 1779.767, + 128.15, + 0, + 83.52, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2706.806, + 1779.767, + 128.15, + 0, + 83.52, + 0 + ], + [ + -2692.602, + 1904.822, + 128.15, + 0.0, + 83.52, + -0.0 + ], + [ + -2692.602, + 1904.822, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2626.878, + 2012.157, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2561.155, + 2119.493, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2495.431, + 2226.828, + 128.15, + 0.0, + 58.52, + -0.0 + ], + [ + -2495.431, + 2226.828, + 128.15, + 0.0, + 33.52, + -0.0 + ], + [ + -2390.503, + 2296.331, + 128.15, + 0.0, + 33.52, + -0.0 + ], + [ + -2285.575, + 2365.834, + 128.15, + 0.0, + 33.52, + -0.0 + ], + [ + -2180.647, + 2435.337, + 128.15, + 0.0, + 33.52, + -0.0 + ], + [ + -2180.647, + 2435.337, + 128.15, + 0.0, + 33.52, + -0.0 + ] + ], + "Rationale": [ + "The short white railing enclosing the shrubs sits far off at the left side of my view, beneath the leafy green tree across the open paved plaza. I will step forward to close part of that distance before changing heading, since the railing is still small and pressed against the edge of what I can see.", + "After advancing, the railing and its green tree have slipped even further toward the left limit of my view while my heading still points at the storefront doors ahead. I will turn left so the railing moves back toward the center of my view and I can walk straight at it.", + "The turn brought the white railing and the shrub bed under the green tree into the left-center of my view, running along the row of storefronts. With clear open pavement between us, I will move forward to shorten the gap.", + "The railing sections and the tree above them look noticeably larger, confirming my heading is carrying me toward them. I will keep advancing across the open pavement to close more distance before judging where the railing's near end lies.", + "I can now distinguish individual white posts of the railing and the hedge behind them ahead on my left, with a bench alongside. Another forward step should bring me near the raised sidewalk where that railing runs.", + "I am close to the shrub bed now, but the railing runs off to my left along the sidewalk while my heading points more at the shop fronts. I will turn left to line myself up with the railing's length so I can walk to its visible end.", + "The white railing and its hedge now run clearly ahead of me along the sidewalk, with the green tree standing above the bed and open walkway beyond. I will move forward along this line to reach the near visible end of the railing.", + "The individual white rail panels and the greenery behind them are close on my right side now, and the end post of this short run is just a little further ahead. I will advance again to bring myself level with that visible end.", + "The low white railing with its green shrub bed now runs along my left, and its near end post stands just a couple of steps ahead beside the tree. I will step forward once more to close that last short gap and stand level with that visible end of the railing.", + "The near end post of the short white railing enclosing the shrubs is right beside me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003002_y000129_z000128_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-003002_y000129_z000128_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..934e8d60e5d5a92e230992fff2a1a57564012bea --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003002_y000129_z000128_t3_a/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Navigate to the bike in blue, then reach the orange apartment building entrance.", + "Type": 3, + "Start_Pose": [ + -3001.795, + 129.499, + 128.149, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3001.795, + 129.499, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3115.45, + 75.434, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3229.105, + 21.37, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3342.76, + -32.695, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3456.416, + -86.76, + 128.149, + 0.0, + -154.56, + 0.0 + ], + [ + -3569.922, + -133.409, + 141.38, + 0.0, + -154.56, + 0.0 + ], + [ + -3680.224, + -133.409, + 141.38, + 0.0, + -154.56, + 0.0 + ], + [ + -3782.096, + -125.906, + 137.314, + 0.0, + -154.56, + 0.0 + ], + [ + -3782.096, + -125.906, + 137.314, + 0.0, + -154.56, + 0.0 + ], + [ + -3888.226, + -138.774, + 141.998, + 0.0, + -154.56, + 0.0 + ], + [ + -4002.523, + -181.81, + 139.455, + 0.0, + -154.56, + 0.0 + ], + [ + -4002.523, + -181.81, + 139.455, + 0.0, + -129.56, + 0.0 + ], + [ + -4082.681, + -278.842, + 128.149, + 0.0, + -129.56, + 0.0 + ], + [ + -4162.839, + -375.874, + 128.149, + 0.0, + -129.56, + 0.0 + ], + [ + -4242.997, + -472.906, + 128.149, + 0.0, + -129.56, + 0.0 + ], + [ + -4323.154, + -569.938, + 128.365, + 0.0, + -129.56, + 0.0 + ], + [ + -4403.312, + -666.97, + 128.3, + 0.0, + -129.56, + 0.0 + ], + [ + -4483.47, + -764.002, + 128.3, + 0.0, + -129.56, + 0.0 + ], + [ + -4483.47, + -764.002, + 128.3, + 0.0, + -154.56, + 0.0 + ], + [ + -4597.125, + -818.067, + 141.145, + 0.0, + -154.56, + 0.0 + ], + [ + -4710.78, + -872.131, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4824.436, + -926.196, + 138.15, + 0.0, + -154.56, + 0.0 + ], + [ + -4938.091, + -980.261, + 146.052, + 0.0, + -154.56, + 0.0 + ], + [ + -4938.091, + -980.261, + 146.052, + 0.0, + -179.56, + 0.0 + ], + [ + -5063.946, + -981.227, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -5189.801, + -982.194, + 138.15, + 0.0, + -179.56, + 0.0 + ], + [ + -5189.801, + -982.194, + 138.15, + 0.0, + -179.56, + 0.0 + ] + ], + "Rationale": [ + "A blue bike sits against the railing on the far side of the open road, in front of the orange apartment building. The pavement ahead of me is clear, so I will walk straight toward it to begin closing that gap.", + "The blue bike by the railing has grown slightly larger and remains near the center of my view, confirming my heading is good. Nothing blocks the road surface between us, so I keep walking forward.", + "The bike with its blue basket is now clearly resolved against the railing ahead, still a fair distance off. My current heading points straight at it, so another step forward is the simplest way to keep closing.", + "The bike leans against the metal barrier just ahead and slightly left of my path, with the green cycle lane opening beyond it. The way remains clear, so I continue walking toward it.", + "The blue basket and handlebars now fill a good part of my view, so only a short distance remains. I step forward again to draw right up beside the bike.", + "The bike's blue basket and frame are nearly at arm's length across the railing. One more step should bring me level with it rather than leaving me short of it.", + "I am right up against the bike now, with its basket and bar dominating my view and the orange building's recessed entrance visible ahead across the green lane. A final short step should place me properly alongside the bike.", + "The blue bike is right beside me, its seat and frame within arm's reach at the edge of the walkway. I have reached it. I mark arriving at the blue bike before heading on toward the orange apartment building's entrance across the green lane.", + "The blue bike sits just beside me on the right, so my attention now shifts to the orange building whose dark recessed doorway shows across the green lane ahead. I step forward along the open lane to begin closing that remaining distance.", + "The bike is behind me now and the orange building stands ahead with its shadowed entrance set back behind a low railing. The green lane in front of me is clear of cones and bollards, so I keep walking forward to shorten the gap.", + "A metal railing with hedging runs across the left of the orange frontage, so I cannot walk straight into the entrance from here. The green lane continues off toward my right past the yellow barriers, so I turn right to face along that open route toward the building's near side.", + "Now the green lane runs straight ahead between the railing on my left and the bollards on my right, with the orange building's entrance recess still up ahead on the left. I walk forward along this clear corridor to draw level with it.", + "The lane ahead stays open, with yellow barriers and cones lined along the far side rather than in my path. The orange facade is growing on my left, so I continue forward to bring its doorway alongside me.", + "The recessed glass doors of the orange building are clearly visible now, tucked under the tiled surround on my left, still some way ahead of my position. The lane surface in front remains unobstructed, so I keep advancing.", + "The entrance recess on the left is closer and the railing beside it is ending, which should open access onto the paved forecourt. I step forward again to reach the point where the doorway sits abreast of me.", + "The orange building's entrance now dominates the left of my view, with its paved apron reachable past the last section of railing. I move forward once more so the doorway comes level with me before I swing toward it.", + "The orange building's recessed entrance with its pale glass doors is now close on my left, set back behind the line of cones and yellow barriers. I still have open pavement straight ahead, so I walk on to bring myself level with that alcove before turning in.", + "I have drawn level with the entrance alcove, and its glass doors sit far to my left while my heading still runs down the street past them. Turning left should swing that doorway into the center of my view so I can walk straight at it.", + "The turn brought the tiled entrance frame and its double glass doors into view ahead of me, with a parked bicycle off to the left and cones to the right. The paving in between is clear, so I step forward toward the doorway.", + "The recessed doorway of the orange building now fills much of my view, its glass doors slightly left of center. Nothing blocks the approach, so I keep walking to close the remaining stretch of pavement.", + "I am at the mouth of the alcove, with the tiled surround on both sides and the glass doors set back in shadow. A few more steps inside should put me right at the entrance, so I advance.", + "Inside the shaded entry recess, the double glass doors stand just ahead with clear floor tiles between us. I step forward again to bring myself right up to them.", + "The glass doors have slid toward the left side of my view while the blank side wall of the recess takes up the right. A left turn should square me up with the doors so my last steps carry me straight onto the threshold.", + "The pair of glass doors is now centered squarely in front of me with only a short span of dark tiled floor left. I walk forward to reach the entrance itself.", + "The glass double doors of the orange building's entrance now fill my view, with the handles centered just ahead of me. A short step forward should bring me right up against the doorway threshold.", + "I am standing at the orange building's entrance doors, close enough to touch the glass and handle. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003069_y001469_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-003069_y001469_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2064367543eaacced03efbe75a58bd7f6e528389 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003069_y001469_z000138_t0_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the bicycle parked near the pink trees.", + "Type": 0, + "Start_Pose": [ + -3068.69, + 1469.025, + 138.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3068.69, + 1469.025, + 138.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2966.252, + 1395.903, + 144.578, + 0.0, + -35.52, + 0.0 + ], + [ + -2863.813, + 1322.78, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2761.375, + 1249.658, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2761.375, + 1249.658, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2699.437, + 1140.094, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2637.5, + 1030.53, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2575.562, + 920.966, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2513.624, + 811.403, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2451.687, + 701.839, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2389.749, + 592.275, + 128.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2327.811, + 482.712, + 129.664, + 0.0, + -60.52, + 0.0 + ], + [ + -2265.874, + 373.148, + 128.19, + 0.0, + -60.52, + 0.0 + ], + [ + -2203.936, + 263.584, + 128.19, + 0.0, + -60.52, + 0.0 + ], + [ + -2141.998, + 154.02, + 128.19, + 0.0, + -60.52, + 0.0 + ], + [ + -2080.061, + 44.457, + 128.19, + 0.0, + -60.52, + 0.0 + ], + [ + -2080.061, + 44.457, + 128.19, + 0.0, + -35.52, + 0.0 + ], + [ + -1977.622, + -28.666, + 128.19, + 0.0, + -35.52, + 0.0 + ], + [ + -1879.87, + -81.086, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + -1879.87, + -81.086, + 128.15, + 0.0, + -35.52, + 0.0 + ] + ], + "Rationale": [ + "The row of pink blossoming trees stands ahead on the left side of the open plaza, and under them I can make out a small bicycle parked by the shopfront railing. The paved square in front of me is clear, so I will step forward to begin closing that distance.", + "The blossoming trees and the bicycle beside the shop entrance now appear slightly larger, confirming that my heading is carrying me toward them. I will keep walking straight across the open pavement since nothing blocks my path.", + "The bicycle parked beneath the pink canopy is now clearer at the left of my view, and the plaza between us is still open. Another step forward should continue shrinking the gap before I refine my heading.", + "The bicycle and the pink trees sit off to the left of my current heading, while straight ahead I would only walk toward the large glass storefront on the right. A modest turn to the left should place the bicycle closer to the center of my view so I can advance directly at it.", + "After the turn, the pink trees fill the middle of my view and the parked bicycle sits just under them near the railing, roughly straight ahead. With the pavement clear apart from slim bollards to my left, I will move forward along this heading.", + "The bicycle is now plainly visible in front of the shop railing and slightly left of the green striped pole ahead of me. My heading remains good, so I will continue stepping forward to close in.", + "The bicycle keeps growing near the middle of my view as the storefronts and the pink trees come nearer, so the distance is still shrinking steadily. I will take another step forward along the same line rather than adjust my heading yet.", + "The bicycle by the railing is now close enough to see its frame and basket, with the flowering branches directly overhead of it. The paved walkway between us stays clear, so I will advance again to reach the parking spot.", + "The pale blue bicycle is parked along the railing under the pink blossoming trees, straight ahead near the middle of my view. The paved walkway in front of me is clear apart from the slim bollards to my left, so I will keep walking forward to close the remaining gap.", + "The bicycle now shows more clearly beside the shopfront railing and its frame has grown larger, confirming my heading is carrying me toward it. Nothing blocks the stretch of road and curb ahead, so another step forward should continue shrinking the distance.", + "The parked bicycle sits just left of center against the fence, with the shop entrance behind it and the flowering trees overhead. It is still several steps away, so I will advance again along the same heading.", + "The bicycle's blue frame and wheels are now distinct beside the railing ahead of me, and the small cone next to it is also visible. My heading is still well aimed at that spot, so I will step forward to keep closing in.", + "The bicycle occupies the center of my view now, leaning against the guardrail below the blossoming branches. There is still open roadway between us, so I continue forward rather than adjusting my heading.", + "I am close enough to see the bicycle's basket, handlebars and rear wheel in detail, with the orange cone standing just in front of it. A couple more steps are needed to reach that curbside spot, so I will move forward again.", + "The bicycle and its cone now fill much of the near view, so only a short remaining gap separates me from the parking spot by the railing. I will take one more step forward to bring myself right up beside it.", + "I am now practically at the bicycle, but my heading points into the cone and the railing behind it, which leaves no clear step forward. Turning right should swing my facing onto the open sidewalk lane running alongside the parked bicycle so I can settle in beside it.", + "After straightening my heading along the sidewalk, the light blue bicycle leaning against the railing sits just ahead and slightly to my left, with the pink flowering trees lining the walkway beyond it. The path between the traffic cone and the railing looks clear, so I will step forward to close the last bit of distance to it.", + "The bicycle now fills the near left of my view, its handlebar and frame only a step away against the railing under the blossoming trees. One more short advance should bring me fully alongside it rather than stopping short at its rear wheel.", + "The parked bicycle is right beside me at the railing beneath the pink blossom trees. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85f58bbe7e20653284196ea9b71db4b277f2b70d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003262_y000469_z000132_t2_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the rightmost cherry blossom tree.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ], + [ + -3262.075, + 469.49, + 131.659, + 0.0, + 135.4, + -0.0 + ], + [ + -3351.69, + 557.862, + 138.371, + 0.0, + 135.4, + -0.0 + ], + [ + -3441.305, + 646.235, + 138.371, + 0.0, + 135.4, + -0.0 + ], + [ + -3530.92, + 734.607, + 138.371, + 0.0, + 135.4, + -0.0 + ], + [ + -3530.92, + 734.607, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -3649.486, + 776.826, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -3768.052, + 819.046, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -3886.619, + 861.266, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -4005.185, + 903.485, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -4123.752, + 945.705, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -4242.318, + 987.924, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -4360.885, + 1030.144, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -4479.451, + 1072.364, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -4598.017, + 1114.583, + 138.371, + 0.0, + 160.4, + -0.0 + ], + [ + -4598.017, + 1114.583, + 138.371, + 0.0, + 160.4, + -0.0 + ] + ], + "Rationale": [ + "Blossom trees are spread across this plaza, and the last one on the right stands at the far edge of my view, beside the tall facade past the canopies. It is too far to my side to walk at directly, so I will turn right to bring that tree onto my heading.", + "The turn has placed the blossom tree beside the right-hand building frontage clearly ahead on my right, with wide open paving between us. Nothing blocks that line, so I will walk forward to close the distance.", + "The blossom tree by the right-hand facade has grown larger and its branches now reach further across my view, confirming I am gaining on it. The paving ahead stays clear of benches and planters, so I keep walking forward.", + "My target tree now towers at the right of my view, close enough to make out its trunk against the building wall behind it. There is still open ground between me and it, so another step forward continues the approach.", + "Advancing has pushed the blossom tree I am following off to my right, so walking straight now would carry me past it along the plaza. I will turn right to put its trunk back near the center of my heading.", + "With the turn done, the trunk of my blossom tree lines up ahead beside the glass storefronts on the right. The lane between the kiosk and the yellow barrier is open, so I step forward toward it.", + "The trunk of my tree stands directly on my path with its canopy filling the upper right of my view, so my heading is still good. I continue walking to shorten the remaining gap.", + "My tree is close now, its trunk rising just ahead beside the passage between the buildings while its blossoms hang over me. The route stays clear, so I take another step forward to reach its base.", + "The trunk of my blossom tree stands just ahead and slightly to the right, with its branches spreading across the top of my view. The strip of paving between the grass border and the shopfronts is empty, so I walk forward again to close the last stretch.", + "The canopy now hangs over most of my view and the trunk sits close ahead, so only a short gap remains. Nothing stands in that gap, so I keep stepping forward.", + "Closing in has pushed the trunk toward the right of my view, but it is still within reach of a straight step and the ground under it is open. I move forward to draw level with its base.", + "This near, the plaza no longer reads as a row of blossom trees; only mine remains, its heavy trunk at my right with pale petals scattered on the stone. A little ground still separates me from its base, so I take another step.", + "The bark of my tree is sharp and close along the right edge of my view, and its fallen blossoms cover the paving around me. I am almost level with the trunk, so one more step should bring me to it.", + "The trunk is beside my shoulder now, just past the low hedge, with petals thick on the ground toward the alley mouth. A last step forward should settle me right at its base.", + "The blossom tree's trunk stands immediately at my side, its fallen petals scattered over the ground. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d3c29c3419f3a1fc8fc5114a50bee28f90c18b29 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003412_y002120_z000144_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the teal barrier on the ground by the red building.", + "Type": 0, + "Start_Pose": [ + -3412.263, + 2120.025, + 143.973, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3412.263, + 2120.025, + 143.973, + 0.0, + -65.28, + 0.0 + ], + [ + -3359.631, + 2005.699, + 138.15, + 0.0, + -65.28, + 0.0 + ], + [ + -3359.631, + 2005.699, + 138.15, + 0.0, + -40.28, + 0.0 + ], + [ + -3263.614, + 1924.329, + 138.15, + 0.0, + -40.28, + 0.0 + ], + [ + -3167.597, + 1842.958, + 138.15, + 0.0, + -40.28, + 0.0 + ], + [ + -3071.579, + 1761.587, + 138.15, + 0.0, + -40.28, + 0.0 + ], + [ + -2975.562, + 1680.216, + 144.788, + 0.0, + -40.28, + 0.0 + ], + [ + -2879.545, + 1598.845, + 128.149, + 0.0, + -40.28, + 0.0 + ], + [ + -2879.545, + 1598.845, + 128.149, + 0.0, + -15.28, + 0.0 + ], + [ + -2758.135, + 1565.677, + 128.149, + 0.0, + -15.28, + 0.0 + ], + [ + -2636.726, + 1532.508, + 128.149, + 0.0, + -15.28, + 0.0 + ], + [ + -2636.726, + 1532.508, + 128.149, + 0.0, + 9.72, + -0.0 + ], + [ + -2512.673, + 1553.758, + 128.149, + 0.0, + 9.72, + -0.0 + ], + [ + -2388.621, + 1575.007, + 128.149, + 0.0, + 9.72, + -0.0 + ], + [ + -2388.621, + 1575.007, + 128.149, + 0.0, + 9.72, + -0.0 + ] + ], + "Rationale": [ + "From this spot at the edge of the plaza the red-panelled building stands off to my right, but the tree trunk and the near bollards crowd my view of the ground beside it. I will step forward into the open paving to get a clearer line on the base of that building where the teal barrier should be sitting.", + "Now further into the plaza, the red-panelled building with the large signs sits well to my right while my heading points down the open walkway past it. I will turn right to bring that building and the ground furniture at its base into the middle of my view before closing distance.", + "After the turn the red building and its bright signage are centered ahead of me, and I can pick out low teal objects resting on the pavement near its recessed entrance. The paving between me and it is clear apart from a few slim bollards, so I will advance straight toward it.", + "The red facade and the teal blocks beside its doorway have grown noticeably larger, confirming I am on a good line. Nothing blocks the paving in front of me, so I will keep walking forward to cut the remaining distance.", + "I am still several strides short of the building, with the teal barriers sitting low on the ground to the right of its glass doors. I will continue straight ahead since the open paving keeps giving me a clean run toward them.", + "The entrance canopy and the pair of teal barriers beside it now fill much more of the right side of my view, so my heading is still roughly useful. I will step forward again to keep closing on that ground-level barrier.", + "The building's doorway is close now, and the teal barrier has slid toward the right edge of my view as I advance past its line. One more forward step should put me level with the barriers before I correct my heading.", + "I am nearly alongside the building, but the teal barrier has pushed out to the right edge of my view and is only partly visible there. I will turn right to bring it back to the center of my view so I can walk straight at it.", + "The pair of teal barriers sitting on the ground beside the entrance of the red signed building is now clearly in the right half of my view, so the target is confirmed. My heading points into the open plaza tiles in front of them, so I will step forward to cut down the remaining distance.", + "The barriers have grown noticeably larger and remain slightly right of my center, confirming that my forward line still closes on them. The ground between me and them is open pavement, so another step forward should bring me nearer before I refine my heading.", + "As I have come closer, the two teal barriers have slid toward the right edge of my view and my body still faces the shop doors instead. I will turn right to bring the barriers back into the center of my view so my final steps lead straight to them.", + "The two teal barriers now sit squarely in the middle of my view with clear tiles leading up to them. With my heading aligned, I will walk forward to close the last stretch of distance.", + "The barriers now fill the lower center of my view and their tops are near waist height in front of me, so only a short gap remains. One more step forward should place me directly at the barrier on the ground.", + "The teal barrier fills the space directly in front of me at close range, right beside the red signed building. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c9d8faa01b2607d9bb0743cfd7cba9194f35926e --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003419_y000776_z000138_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Grab the green bell pepper near the second bench on the left side of the path.", + "Type": 5, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0, + 172.8, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4293.551, + 1145.473, + 88.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3418.725, + 775.763, + 138.15, + 0, + 172.8, + 0 + ], + [ + -3543.592, + 791.537, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3668.458, + 807.312, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + 172.8, + -0.0 + ], + [ + -3793.325, + 823.086, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -3899.826, + 890.153, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4006.327, + 957.22, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4112.828, + 1024.288, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4112.828, + 1024.288, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4219.329, + 1091.355, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4219.329, + 1091.355, + 138.15, + 0.0, + 147.8, + -0.0 + ], + [ + -4219.329, + 1091.355, + 138.15, + 0.0, + 147.8, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4293.551, + 1145.473, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + -4230.192, + 1072.96, + 108.257, + -28.202, + -162.055, + 1.862 + ], + [ + -4230.192, + 1072.96, + 108.257, + -28.202, + -162.055, + 1.862 + ] + ], + "PD_Dist_2D": [ + 949.7, + 829.3, + 710.7, + 595.1, + 595.1, + 469.3, + 343.4, + 217.6, + 217.6, + 91.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The plaza path stretches ahead of me with benches lined up along the left side, and a small green item sits low on the ground near the cylindrical kiosk in that row. It is still far away, so I cannot confirm yet that it is the green bell pepper I need. I will walk forward along the path to close distance and get a clearer look at that left-side bench area.", + "The bench row on my left has grown larger and the rounded green object beside the kiosk is now easier to pick out. The path in front of me is clear tile with no obstruction between me and that area. I will keep walking forward to continue closing on the left-side bench where the pepper appears to be.", + "The green produce item is now clearly resting on the ground at the base of the kiosk beside the left-hand bench, matching the target described in my task. I am still several strides short of grasping range, and my heading keeps the path open in front of me. I will step forward again to shorten the remaining gap.", + "The green pepper has drifted well toward the left edge of my view while my heading continues straight down the open plaza, so walking on would carry me past it rather than to it. I need my body pointed at the bench area instead of down the path. I will turn left to bring the pepper toward the center of my view before advancing further.", + "After turning, the green pepper sits ahead of me next to the kiosk and the bench, much closer to the center of my view, so my heading now points into that bench area. Nothing blocks the ground between me and it. I will walk forward to bring myself within grasping distance of the pepper.", + "The green bell pepper is sitting on the ground at the end of the bench beside the kiosk, straight ahead along the left side of the walkway, but it is still several paces off. My heading already lines up with it, so no turn is needed and plain forward motion is the most direct way to close the gap. I will step forward to shorten the distance before any grasp becomes feasible.", + "The pepper now sits clearly at the near end of the bench and has grown noticeably larger in view, so my heading remains correct and I am closing in. It is still positioned a bit further ahead than a comfortable arm's reach, and the tiled ground between us is clear. I will keep walking straight to bring it within grabbing range.", + "The green pepper now fills a large part of the lower view right beside the bench edge, and it looks close enough to be within reach. Since my heading is already on it and nothing blocks my hands, further walking risks bumping past it. I will attempt to grab it now.", + "My grab attempt did not take hold, since my hands are empty and no pepper is carried. That suggests I reached from slightly too far back, with the pepper still beyond my actual grasp radius. I will step forward once more to stand right over it before trying again.", + "I am now standing right at the bench end, with the pepper's green top just showing at the very bottom of my view, much closer than during my earlier unsuccessful reach. At this distance the object should fall inside my grasp radius without any further stepping or turning. I will try to pick it up again.", + "The green bell pepper is now held in my hand, right in front of me. The task's grab condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05689c65691695213e0df1647e1a9dcf6ba0c093 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-003603_y-000133_z000141_t2_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Make your way to the root of the cherry blossom tree on the far left.", + "Type": 2, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ], + [ + -3603.457, + -133.377, + 141.366, + 0.0, + 34.52, + -0.0 + ], + [ + -3499.758, + -62.053, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3396.059, + 9.27, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3292.361, + 80.594, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3188.662, + 151.917, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3084.963, + 223.241, + 128.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3084.963, + 223.241, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2960.837, + 244.057, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2836.712, + 264.873, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2712.586, + 285.689, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2588.46, + 306.505, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2464.335, + 327.321, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2340.209, + 348.137, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2216.083, + 368.953, + 128.15, + 0.0, + 9.52, + -0.0 + ], + [ + -2216.083, + 368.953, + 128.15, + 0.0, + 9.52, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead I only see the station front and its signage, while a sliver of pink canopy hangs at the extreme left edge of my view. That pale blossom crown at the far left of the scene is the tree I am sent to, so I will turn left to bring it and the street it stands on properly in front of me.", + "The turn has opened up the roadway, and the blossom tree I picked out now stands ahead on the left with more of its kind receding along that kerb. The road surface in front of me is clear, so I will walk forward to close the distance toward it.", + "The blossom canopy on my left has grown larger and the sidewalk railing beside it is becoming distinct, which tells me I am gaining on it. The lane ahead stays empty, so I will keep walking forward.", + "More trunks of the blossom row are now resolving along the left kerb, but the tree I am heading for is still the one at the far left of that line. Nothing blocks the roadway, so another step forward keeps closing the gap.", + "The blossom trees now occupy the whole left side of my view while the station building slides past on my right, confirming I am advancing along the correct street. I will continue walking forward toward my tree.", + "I am still short of the blossom trees, whose trunks sit further down the left kerb beyond the bollards on the corner. The lane in front of me remains open, so I will step forward again.", + "My heading has drifted so the shopfront and its bollards dominate the centre of my view, pushing the blossom trees off toward the left margin. I will turn left to point myself straight down the tree-lined street so my approach stays aimed at the blossom tree.", + "The turn has lined me up with the open road running under the blossom canopies, which now arch over the left sidewalk directly ahead. With the way clear, I will walk forward to reach the base of that tree.", + "The blossom crowns now arch over the roadway ahead of me and the asphalt between the kerbs is empty of traffic or obstruction. My tree is still further down this stretch, so I will keep walking forward along the open lane.", + "Up close this stops reading as a countable line of trees, since the near trunks are already passing my shoulders and the end of the row is out of sight. What I am still going to is the blossom tree whose trunk rises from the kerb corner beside the tiled shopfront ahead. I will step forward again.", + "Fallen petals now carpet the lane beneath me, and the corner trunk stands clearly apart from its neighbours where the pavement edge curves out beside a yellow barrier. Several more strides along this clear stretch should bring me to its foot.", + "That trunk has thickened in my view until I can pick out its pale bark and the litter of blossom around its base on the kerb. There is nothing between me and it, so I carry on walking toward it.", + "The tree leans out over the raised kerb just off to my right front, with the yellow barrier tucked in beside its base. A short gap of road still separates me from that base, so I will advance again to close it.", + "I am nearly abreast of the trunk now, but its root at the kerb is still a pace beyond my reach. One more step forward should set me right at the foot of this blossom tree.", + "The blossom trunk rises immediately in front of me with its root at the kerb within arm's reach. I am at the tree, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dc68dc10e400c383b2ec7a97b523888ace7df03a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004107_y-000217_z000128_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the third yellow barrier from the left.", + "Type": 2, + "Start_Pose": [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4173.853, + -323.719, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4240.399, + -430.546, + 128.253, + 0.0, + -121.92, + 0.0 + ], + [ + -4306.945, + -537.374, + 128.236, + 0.0, + -121.92, + 0.0 + ], + [ + -4306.945, + -537.374, + 128.236, + 0.0, + -96.92, + 0.0 + ], + [ + -4322.109, + -662.316, + 128.15, + 0.0, + -96.92, + 0.0 + ], + [ + -4337.273, + -787.258, + 128.493, + 0.0, + -96.92, + 0.0 + ], + [ + -4352.437, + -912.2, + 129.038, + 0.0, + -96.92, + 0.0 + ], + [ + -4367.601, + -1037.142, + 128.149, + 0.0, + -96.92, + 0.0 + ], + [ + -4367.601, + -1037.142, + 128.149, + 0.0, + -121.92, + 0.0 + ], + [ + -4367.601, + -1037.142, + 128.149, + 0.0, + -121.92, + 0.0 + ] + ], + "Rationale": [ + "A row of yellow barriers lines the far edge of this green lane, and they look nearly identical, so I settle the count now and take the third from the left, the one standing just beside the tall street lamp pole. It is still far off, so I walk straight ahead to close the gap.", + "The barrier row is closer, and the one I chose still sits beside the lamp pole, a little right of my heading. The green lane in front of me is clear, so I keep walking forward to shorten the distance before adjusting my direction.", + "The barrier standing by the lamp pole is clearly readable ahead and slightly right of my line of travel. Nothing obstructs the open lane, so another stride forward should bring me near enough to angle in on it.", + "My current heading points at the barriers toward the left end of the row, while the one I am after, beside the lamp pole, lies off to my right. I will turn right so that barrier moves toward the middle of my view before I advance again.", + "My heading now points at the barrier beside the lamp pole rather than the ones further left. The lane in front is open between the cones, so I step forward to approach it directly.", + "The barrier I am heading for is noticeably larger now, framed by cones on either side and still under the lamp pole. The ground stays clear, so I keep walking toward it.", + "The near barriers now dominate my view and the left end of the row has dropped out of sight, so I simply keep following the barrier standing by the lamp pole and the railing. A couple more steps forward should bring me right up against it.", + "The barrier I have been following, the one beside the railing under the lamp pole, is now just a pace or two away and slightly left of my line, with a cone in front of it. I will step forward once more to stand right at it.", + "I am right up against the barriers now, with two of them filling the bottom of my view and only a cone between them, so distance is no longer the issue. The one I want, the barrier by the railing under the lamp pole, sits just off to my left, so I turn left to bring it squarely in front of me.", + "The barrier beside the railing under the lamp pole now stands directly before me, close enough to touch. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004194_y002204_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-004194_y002204_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..76b9ec014839427d5ea856d79cfe3e63c138b70d --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004194_y002204_z000138_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the green bike bin near the storefront.", + "Type": 0, + "Start_Pose": [ + -4193.701, + 2203.791, + 138.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4193.701, + 2203.791, + 138.15, + 0.0, + 143.04, + -0.0 + ], + [ + -4193.701, + 2203.791, + 138.15, + 0.0, + 168.04, + -0.0 + ], + [ + -4316.828, + 2229.873, + 141.896, + 0.0, + 168.04, + -0.0 + ], + [ + -4439.955, + 2255.954, + 138.843, + 0.0, + 168.04, + -0.0 + ], + [ + -4563.082, + 2282.036, + 138.843, + 0.0, + 168.04, + -0.0 + ], + [ + -4686.209, + 2308.118, + 138.843, + 0.0, + 168.04, + -0.0 + ], + [ + -4809.336, + 2334.199, + 138.843, + 0.0, + 168.04, + -0.0 + ], + [ + -4932.463, + 2360.281, + 138.843, + 0.0, + 168.04, + -0.0 + ], + [ + -5055.59, + 2386.362, + 138.843, + 0.0, + 168.04, + -0.0 + ], + [ + -5178.717, + 2412.444, + 139.705, + 0.0, + 168.04, + -0.0 + ], + [ + -5178.717, + 2412.444, + 139.705, + 0.0, + 168.04, + -0.0 + ] + ], + "Rationale": [ + "From the open plaza I can see the storefront with its awning ahead and a small green bike with a green cargo bin parked just to the right of the shop front, near the mouth of the side street. My current heading points too far left across the crossing markings, so I will turn right to place that green bin and the lane beside the storefront closer to the center of my view.", + "After turning, the narrow street beside the storefront now runs straight ahead and the green bike bin sits on the left sidewalk along that route. The path in front of me is clear paving, so I will move forward to begin closing the distance to it.", + "The green bike with its bin has grown slightly larger and stays just left of my heading, next to the shop's shuttered frontage. The roadway remains open, so I continue forward to keep reducing the gap.", + "I am now level with the storefront's posters and the green bike bin is clearly resolved on the left curb ahead of me. Since it is still several steps away, I will keep moving forward along the lane.", + "The green bike bin is noticeably closer, standing beside the yellow bollards on the left sidewalk, and my heading still lines up with it. Another forward step should bring me within a few paces of the target.", + "The green basket and frame of the bike are now large in the left part of my view, just past the striped bollard. I will advance once more to draw alongside it rather than stopping while it is still ahead.", + "The bike bin sits close on my left against the shop shutters, but it is still slightly forward of my position. I will take another step forward to bring myself even with it.", + "The green bin now fills the near left of my view, so I am nearly beside it on the cycle lane. One more short advance should place me directly at the bin next to the storefront.", + "The green bike with its green front bin now fills the near left edge of my view, sitting on the paved strip against the shuttered storefront. One more short step along the lane should bring me fully level with it instead of leaving it slightly ahead of my shoulder. I will move forward to close that last bit of distance.", + "The green bike bin is directly beside me at arm's length along the storefront edge. The approach task is complete, so I stop here rather than moving past it." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ccd51c0f8f03991ab5e3ec2e81cb6e984b205ed6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004273_y002165_z000146_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the blue bike parked on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ], + [ + -4198.126, + 2266.136, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -4123.722, + 2367.648, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -4049.318, + 2469.159, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -3974.914, + 2570.67, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + -3974.914, + 2570.67, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + -3864.581, + 2631.226, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + -3754.247, + 2691.782, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + -3643.914, + 2752.338, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + -3554.104, + 2799.144, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + -3554.104, + 2799.144, + 138.15, + 0.0, + 28.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the blue bike parked against the tiled storefront wall ahead of me, just left of the glass double doors, but it is still far across the open plaza. My heading already points toward that corner of the sidewalk, so I will move forward to begin closing the distance.", + "The blue bike now appears slightly larger and clearer beside the yellow barrier, confirming I am gaining ground on it. Since it remains roughly ahead in my view with clear pavement between us, another forward step should keep shrinking the gap.", + "The bike is clearly resolved against the wall on the left side of my view with the storefront entrance to my right, so I am still well positioned on the approach line. I will continue forward to reduce the remaining distance before any heading adjustment.", + "I am now close enough to see the bike's frame and wheels distinctly where it leans near the yellow barrier, though it has drifted toward the left edge of my view. One more forward step should bring me near the wall before I correct my heading.", + "The bike now sits well over to the left of my view while the wall and railing fill the center, meaning my heading is drifting past the target. I will turn left to bring the bike back toward the middle of my view so I can keep advancing straight at it.", + "After the turn, the blue bike sits closer to the center of my view along the sidewalk beside the tiled wall, so my heading is now aligned with it. I will move forward to close the remaining stretch of pavement.", + "The bike is noticeably nearer now, with its handlebar and basket clearly visible against the yellow barrier just ahead of me. The path along the wall is still clear, so I will step forward again to get within arm's reach.", + "The bike now fills a large part of my view directly ahead, so only a short gap remains between us. I will move forward once more to finish closing that gap and stand right beside it.", + "The blue bike is now filling the lower center of my view, leaning against the yellow barrier beside the tiled wall, with only a short stretch of open sidewalk left between us. My heading is already lined up on it, so I will take one more step forward to close that last bit of distance. This should bring me right alongside the bike, close enough to consider the approach done.", + "The blue bike on the sidewalk now fills my view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..01fc503a4043bae8d934903ac41afce96b9a6b36 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004317_y002199_z000142_t2_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Make your way to the blue bike on the right.", + "Type": 2, + "Start_Pose": [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ], + [ + -4192.06, + 2185.873, + 138.15, + 0.0, + -5.76, + 0.0 + ], + [ + -4192.06, + 2185.873, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -4073.23, + 2227.347, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3954.401, + 2268.821, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3835.572, + 2310.295, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3716.742, + 2351.769, + 138.15, + 0.0, + 19.24, + -0.0 + ], + [ + -3716.742, + 2351.769, + 138.15, + 0.0, + 44.24, + -0.0 + ], + [ + -3626.574, + 2439.576, + 138.15, + 0.0, + 44.24, + -0.0 + ], + [ + -3536.406, + 2527.384, + 143.608, + 0.0, + 44.24, + -0.0 + ], + [ + -3536.406, + 2527.384, + 143.608, + 0.0, + 69.24, + -0.0 + ], + [ + -3491.794, + 2645.071, + 138.15, + 0.0, + 69.24, + -0.0 + ], + [ + -3491.794, + 2645.071, + 138.15, + 0.0, + 69.24, + -0.0 + ] + ], + "Rationale": [ + "The rack of blue and yellow cycles crowds my left shoulder, but the bike I want is the blue one parked over on the right side of the street, near the shopfronts under the tall signs. It is still far down the block, so I will walk forward along the open pavement to close that gap.", + "Walking straight keeps me centered on the street while the blue bike I am heading for sits off to my right against the shop wall. I will turn right so my heading points at that side of the street instead of down the middle.", + "The blue bike now sits ahead on my right, leaning by the yellow barriers beside the glass shop doors, with benches lined up before it. Nothing blocks the tiled pavement between us, so I will step forward to close in on it.", + "The blue bike has grown larger ahead and slightly right, its frame clear against the yellow barrier by the shop entrance. I am still several strides short of it, so I will keep walking forward.", + "The blue bike is closer now, its handlebars and wheels distinct beside the shop doors on the right, but I am not yet beside it. The walkway stays clear apart from the low benches, so I will advance again.", + "The blue bike is drifting toward the right edge of my view as I come alongside its stretch of sidewalk, still a couple of strides off. I will step forward once more to draw level with it.", + "The blue bike has slid to the very edge of my view and is being cut off as I come abreast of it. I will turn right to swing it back into the center of my view before continuing toward it.", + "The blue bike is now squarely in front of me, propped against the yellow barriers beside the shop doorway. A short stretch of pavement still separates us, so I will walk forward to reach it.", + "The blue bike fills more of my view now, its saddle and handlebars clear against the tiled wall on the right. Only a bench and a short run of pavement lie between us, so I will step forward again to close the last of that distance.", + "Coming this close has pushed the bike toward the right half of my view, with its rear wheel already running off the edge. I will turn right to bring the whole frame back in front of me before taking the final step in.", + "The bike now sits centered before me against the tiled wall and yellow barriers, only a stride or so away. One more step forward should put me right beside it.", + "The blue bike fills my view at arm's length beside the shopfront. I have arrived at it, so the task is complete and there is no reason to keep walking." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..282319fa9df4e3581bb0607324ff3b5b28441e43 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Navigate to the first orange cone from the left on the left sidewalk.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ], + [ + -4395.634, + 2350.812, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4451.122, + 2463.779, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4451.122, + 2463.779, + 138.843, + 0.0, + 91.16, + -0.0 + ], + [ + -4453.67, + 2589.612, + 139.572, + 0.0, + 91.16, + -0.0 + ], + [ + -4456.218, + 2715.445, + 139.547, + 0.0, + 91.16, + -0.0 + ], + [ + -4458.766, + 2841.278, + 139.011, + 0.0, + 91.16, + -0.0 + ], + [ + -4461.314, + 2967.111, + 139.011, + 0.0, + 91.16, + -0.0 + ], + [ + -4463.862, + 3092.945, + 139.02, + 0.0, + 91.16, + -0.0 + ], + [ + -4466.41, + 3218.778, + 138.843, + 0.0, + 91.16, + -0.0 + ], + [ + -4466.41, + 3218.778, + 138.843, + 0.0, + 66.16, + -0.0 + ], + [ + -4466.41, + 3218.778, + 138.843, + 0.0, + 66.16, + -0.0 + ] + ], + "Rationale": [ + "Down the street ahead I can see a row of orange cones lined up against the teal barriers on the left sidewalk, and the one at the far left end of that run, standing closest to the kerb beside the leftmost barrier, is the cone I want. The cones look alike, so I am holding that end position against the barrier line rather than any marking. It is still distant, so I will walk forward to close the gap.", + "The cone row against the barriers is a little larger now, but I am still well short of it and the roadway in front of me is clear. I will keep walking forward toward that end cone by the kerb.", + "My heading is drifting toward the storefront and bollards on my right, while the barriers and their cones sit off to my left. Turning left should swing the cone row, and especially its far left end, into the middle of my view so I can walk straight at it.", + "The cone row now sits squarely ahead of me along the barrier line, with the end cone I chose over near the left kerb. The lane between the guardrail and the right shopfront is open, so I will walk forward along it.", + "The barriers and cones are noticeably closer and still directly in front of me, with my target cone at the left end of the line. Nothing blocks the pavement between us, so I will continue walking straight ahead.", + "The individual cones are now clearly separated along the barriers, and the leftmost one stands near the pillar and kerb on my left. I am still several paces short of it, so I will step forward again.", + "The cone at the left end of the barrier line, beside the pillar on the left kerb, is close enough now that its base light is plain to see. A short advance should bring me right up beside it, so I will keep walking.", + "I am nearly at the barriers, and from this close the row no longer reads as a tidy line, but my cone is still the one hard against the left kerb by the pillar. I will step forward once more to draw level with it.", + "The barrier wall now fills most of my view and the nearest cones sit at the bottom edge, so I am almost against the line. My cone by the left kerb is off toward the left margin, and one more stride along this pavement should put me level with it.", + "I am right up against the barriers now, and the kerb-side cone I chose is cut off at the left margin of my view. Swinging left should bring it fully in front of me so I can confirm I am standing beside it.", + "The kerb-side cone at the left end of the barrier line stands directly before me, close enough to touch. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..708d6417348cd69a27943d9da6600c7b034e876f --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004340_y002238_z000142_t2_e/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the leftmost yellow bollard near the shop entrance.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ], + [ + -4395.634, + 2350.812, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4451.122, + 2463.779, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4506.611, + 2576.745, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4562.1, + 2689.712, + 138.843, + 0.0, + 116.16, + -0.0 + ], + [ + -4562.1, + 2689.712, + 138.843, + 0.0, + 141.16, + -0.0 + ], + [ + -4660.131, + 2768.644, + 138.843, + 0.0, + 141.16, + -0.0 + ], + [ + -4660.131, + 2768.644, + 138.843, + 0.0, + 141.16, + -0.0 + ] + ], + "Rationale": [ + "Along the shop frontage I can pick out the run of posts, and the leftmost yellow one is the low yellow hoop rail standing just before the striped posts by the entrance doors. It is well down the street from me, so I step forward along the road toward that frontage.", + "The yellow hoop rail beside the shop entrance is larger now but still several strides off. The road ahead is open, so I keep walking straight toward it.", + "The shop windows and doors now fill the right side of my view, with the yellow hoop rail sitting at the near end of the frontage. I continue forward to close the remaining gap.", + "The yellow hoop rail is close ahead where the sidewalk meets the shop wall, though I am still out on the roadway. Another step forward should bring me level with the frontage.", + "My heading runs down the street past the shop rather than into its entrance, and the tiled walkway with the doors lies off to my right. I turn right to square myself with that frontage so my next steps carry me onto the pavement beside the yellow rail.", + "I am now facing the shop entrance across the brick walkway, with the yellow hoop rail off to my left at the near end of the frontage. One more step forward should place me right beside it.", + "The yellow hoop rail stands within arm's reach beside me on the walkway at the shop entrance. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004421_y002253_z000139_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x-004421_y002253_z000139_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2485ab99c2407d63398c0ea23aacdf1d8636943c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004421_y002253_z000139_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the nearby storefronts for the purple notice posted on a shop door, then approach it.", + "Type": 1, + "Start_Pose": [ + -4421.181, + 2252.809, + 139.002, + 0.0, + -139.2, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4421.181, + 2252.809, + 139.002, + 0.0, + -139.2, + 0.0 + ], + [ + -4421.181, + 2252.809, + 139.002, + 0.0, + -164.2, + 0.0 + ], + [ + -4421.181, + 2252.809, + 139.002, + 0.0, + 170.8, + -0.0 + ], + [ + -4421.181, + 2252.809, + 139.002, + 0.0, + 145.8, + -0.0 + ], + [ + -4525.277, + 2323.552, + 139.002, + 0.0, + 145.8, + -0.0 + ], + [ + -4629.372, + 2394.296, + 139.002, + 0.0, + 145.8, + -0.0 + ], + [ + -4629.372, + 2394.296, + 139.002, + 0.0, + 120.8, + -0.0 + ], + [ + -4693.817, + 2502.403, + 145.985, + 0.0, + 120.8, + -0.0 + ], + [ + -4758.263, + 2610.511, + 138.15, + 0.0, + 120.8, + -0.0 + ], + [ + -4822.708, + 2718.619, + 138.15, + 0.0, + 120.8, + -0.0 + ], + [ + -4887.153, + 2826.727, + 142.028, + 0.0, + 120.8, + -0.0 + ], + [ + -4887.153, + 2826.727, + 142.028, + 0.0, + 120.8, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, my view is filled by a plain utility wall and a guardrail, with no shop entrance or purple notice anywhere in sight. The street appears to open toward my left, so I will turn left to bring the storefront side of the block into view.", + "Turning has opened up the street ahead, and I can now see shopfronts with signage along the left side of the lane. Since the storefront facades are still angled away at the edge of my view, I will keep turning left in the same direction to face them squarely.", + "The blue and red shop front on the left now shows glass doors with several colored posters pasted on them, which is exactly the kind of place a purple notice would be posted. I will continue the same leftward turn to center that entrance before I move toward it.", + "The corner shop entrance is now centered ahead of me, and its double glass doors carry a cluster of posters including one that looks purple. It is still too far to read, so I will walk forward to close the distance.", + "Stepping closer has made the posters on the shop doors larger, and a distinctly purple placard is visible among them on the left door panel. I will keep walking forward to reach the entrance.", + "I am close to the storefront now, but the posted notices sit slightly right of a heading that is drifting past the doorway as I advance along the corner. Turning left should square me up with the door panel that carries the purple notice so my next steps lead straight to it.", + "The doorway with its posters is now set squarely ahead of me under the awning, and the purple notice is clearly among them on the left panel. The sidewalk in front of the entrance is clear, so I will walk forward to close the remaining gap.", + "The purple notice on the shop door is now plainly legible as one of the posted placards, and I am only a short distance from the glass. I will step forward again to come right up to the door where the notice is posted.", + "The shop's glass double door is now directly ahead of me, and among the posters on its left panel I can clearly see a purple notice with pale lettering. That violet sheet matches the notice I was told to find, so I will keep walking straight toward the door instead of scanning any further storefronts. A few more steps should bring me close enough for the notice to be readable.", + "The purple notice on the door panel is now large and centered slightly right of my heading, with its white characters starting to resolve. I am still about a stride away from the doorway, so I will step forward once more to stand directly in front of the posting. That should place me close enough to count as having reached it.", + "The purple notice on the shop door now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e176a96886bd9a5205b2534649df7dde125518d1 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004639_y002866_z000139_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the parked bicycles on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -4638.587, + 2865.651, + 138.843, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4638.587, + 2865.651, + 138.843, + 0.0, + -65.28, + 0.0 + ], + [ + -4585.955, + 2751.325, + 138.843, + 0.0, + -65.28, + 0.0 + ], + [ + -4533.322, + 2637.0, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4480.69, + 2522.674, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4428.058, + 2408.349, + 138.918, + 0.0, + -65.28, + 0.0 + ], + [ + -4375.426, + 2294.023, + 141.533, + 0.0, + -65.28, + 0.0 + ], + [ + -4375.426, + 2294.023, + 141.533, + 0.0, + -40.28, + 0.0 + ], + [ + -4279.409, + 2212.652, + 146.498, + 0.0, + -40.28, + 0.0 + ], + [ + -4183.391, + 2131.281, + 143.006, + 0.0, + -40.28, + 0.0 + ], + [ + -4183.391, + 2131.281, + 143.006, + 0.0, + -40.28, + 0.0 + ] + ], + "Rationale": [ + "From the roadway I can already see a row of parked bicycles at the racks on the sidewalk ahead, slightly right of center under the canopy. They are still far off across the open pavement, so I will step forward along my current heading to begin closing that gap.", + "The bicycles and their racks look slightly larger now and remain a little right of straight ahead, confirming my heading is roughly correct. The pavement in front of me is clear, so I will keep walking forward to shorten the remaining distance.", + "I can now make out individual bicycles with blue and yellow baskets standing in the metal racks on the raised sidewalk to my right front. Nothing blocks the route between me and them, so another forward step should bring me noticeably closer.", + "The parked bicycles are close enough that their frames and racks fill a good part of the right side of my view, but I am still out on the road below the sidewalk. I will continue forward toward the curb line beside them.", + "I am now near the sidewalk with the row of bicycles just to my right, though still a few steps short of standing beside them. Advancing once more should bring me onto the walkway level with the racks.", + "The bicycles have drifted toward the right side of my view while my heading still points along the plaza, so walking straight would carry me past them. I will turn right to place the parked row directly ahead before closing the last distance.", + "After turning, the parked bicycles and their racks now sit centered in my view on the sidewalk just a short distance ahead. I will step forward along this corrected heading to reach them.", + "The nearest bicycle with its blue basket is now only a step or two away, filling much of the lower center of my view. One more forward step should put me right at the parked row on the sidewalk.", + "The blue and yellow parked bicycles in their sidewalk racks now fill my view at arm's reach. The task is complete, so I stop here rather than crowd them further." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-004861_y002257_z000139_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-004861_y002257_z000139_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8192d9bc0fc6af640c678f42b8b6e3c344f21575 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-004861_y002257_z000139_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search the area for the bicycle rack holding orange bikes, then approach it.", + "Type": 1, + "Start_Pose": [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 164.16, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 164.16, + -0.0 + ], + [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 139.16, + -0.0 + ], + [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 114.16, + -0.0 + ], + [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 89.16, + -0.0 + ], + [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 64.16, + -0.0 + ], + [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 39.16, + -0.0 + ], + [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 14.16, + -0.0 + ], + [ + -4739.176, + 2287.534, + 138.843, + 0.0, + 14.16, + -0.0 + ], + [ + -4617.141, + 2318.323, + 138.843, + 0.0, + 14.16, + -0.0 + ], + [ + -4617.141, + 2318.323, + 138.843, + 0.0, + -10.84, + 0.0 + ], + [ + -4493.528, + 2294.653, + 138.843, + 0.0, + -10.84, + 0.0 + ], + [ + -4369.915, + 2270.983, + 141.6, + 0.0, + -10.84, + 0.0 + ], + [ + -4246.301, + 2247.313, + 138.15, + 0.0, + -10.84, + 0.0 + ], + [ + -4246.301, + 2247.313, + 138.15, + 0.0, + -35.84, + 0.0 + ], + [ + -4144.273, + 2173.62, + 138.15, + 0.0, + -35.84, + 0.0 + ], + [ + -4144.273, + 2173.62, + 138.15, + 0.0, + -35.84, + 0.0 + ] + ], + "Rationale": [ + "From this alley I can see a rack right beside me, but the bikes locked into it are green, not the orange ones I am looking for. Nothing else in this narrow corridor shows an orange machine, so I will begin a steady leftward scan to open up the surrounding streets.", + "Turning has brought the same green rental bikes and a shopfront into view, and still no orange bikes appear anywhere along this stretch. I will keep rotating left in the same direction to sweep further around and check what lies past the building corner.", + "I am now facing the corner store, and I can just make out a side street on my left with railings and street furniture, but no orange bikes yet. I will continue the same leftward sweep so that the opening beyond the corner comes fully into my view.", + "The bollards and paved corner ahead of me lead toward a wider street on my left, yet nothing orange is in sight from here. Keeping a consistent rotation, I will turn left again to uncover more of that open area.", + "I can now see across the road junction, and there is a small parked cycle near the building on the far left, which hints that bike parking lies in that direction. Since I still cannot confirm any orange bikes, I will turn left once more to bring that promising area into the center of my view.", + "The wider plaza street is opening up on my left and I can see rows of racks with colorful bikes along that far sidewalk. I will turn left one more step to line myself up with that street before committing to walk toward the racks.", + "I am now facing straight down the open pedestrian street, with clusters of racked bikes lining the left side ahead of me. The road in front is clear, so I will walk forward to close the distance and get near enough to judge the bike colors.", + "Stepping ahead has brought the racks on my left much closer, and I can start to pick out yellow and orange toned frames among the blue ones. The path stays clear, so I will keep walking forward toward that row of racks.", + "A row of parked bikes sits in a rack along the left side of the pedestrian street, but it is far off to my left edge and partly cut off. Turning left should bring that rack line into the center of my view so I can walk straight at it and check the bike colors up close.", + "The rack of parked bikes is now centered ahead on my left, with an open paved walkway leading toward it. I will step forward to close distance and get near enough to judge the bike colors on the rack.", + "The rack and its parked bikes are noticeably larger and closer, though I am still short of a comfortable standing distance beside them. Another step forward should continue closing that gap along the walkway.", + "I can now make out individual bikes in the rack to my left, including blue and yellow ones. Advancing once more should bring me alongside the rack where I can inspect the bike colors directly.", + "The rack is right beside me on the left, and an orange or yellow bike frame is visible in it, but my heading still points down the street past it. Turning left should square me up with the rack so I face the bikes directly.", + "I am now facing the bicycle rack head on, with the orange bike and its neighbors filling the near left of my view. One short step forward should place me directly at the rack rather than a stride away from it.", + "The orange bike sits in the rack directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_b/infos.json b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..504641dd7514656bbae526839ca494a68543f513 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the third cone from the right side.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5834.434, + 2252.143, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5960.254, + 2255.306, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6086.073, + 2258.469, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6211.892, + 2261.631, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6337.712, + 2264.794, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6463.531, + 2267.957, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6589.35, + 2271.12, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6701.01, + 2274.425, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6701.01, + 2274.425, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6701.01, + 2274.425, + 138.843, + 0.0, + 178.56, + -0.0 + ] + ], + "Rationale": [ + "A line of traffic cones stands along the barriers down the alley, and counting in from the right end of that line I settle on the third one, which sits just short of the break between barrier sections near the manhole cover. The cones all look alike, so I hold that spot rather than a number. I walk forward along the alley toward it.", + "The cone row has grown slightly larger ahead and the whole line is still readable, with my chosen cone sitting near the gap in the barrier wall. Nothing blocks the roadway between me and it. I keep walking straight forward to close the distance.", + "I can now make out each cone's stripe and base along the barriers, and the one I am heading for still lines up with the break in the barrier wall ahead. It remains well beyond arm's reach. I continue straight forward.", + "The cones fill more of my view and the barrier seam I anchored my target to is clearly ahead and slightly left of my path. My heading is already good, so no turn is needed. I step forward again.", + "The near end of the row is beginning to slide past the left edge of my view, so I stop relying on the count and simply follow the cone standing at the break in the barrier wall. It sits ahead and a little left, still several paces off. I walk forward toward it.", + "Only a few cones remain in view and the row no longer reads as a countable line from either end, but the cone at the barrier break is plainly ahead of me. The manhole cover on the road marks how close I now am. I keep advancing toward that cone.", + "The barriers now loom large and the cone I am following stands right at the gap between two of them, nearly in the middle of my view. A couple more paces should bring me level with it. I step forward again.", + "The cone at the barrier break is directly in front of me and towers in the lower part of my view, so I am almost on top of it. One more short step should place me right beside it. I move forward to close that last bit of ground.", + "Only the orange tip of the cone shows at the bottom edge of my view, which means it is now right at my feet beside the barrier gap. To confirm I am standing at it rather than short of it, I will tilt my gaze downward.", + "The cone at the barrier break stands directly beneath me, its base within reach. I have arrived at my target, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..90566a9649350cf760be7cffa6b401d73ce654c7 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-005709_y002249_z000139_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the second green barrier from the left.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5834.434, + 2252.143, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -5960.254, + 2255.306, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6086.073, + 2258.469, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6211.892, + 2261.631, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6337.712, + 2264.794, + 138.843, + 0.0, + 178.56, + -0.0 + ], + [ + -6337.712, + 2264.794, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6450.406, + 2320.834, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6563.1, + 2376.874, + 138.843, + 0.0, + 153.56, + -0.0 + ], + [ + -6563.1, + 2376.874, + 138.843, + 0.0, + 153.56, + -0.0 + ] + ], + "Rationale": [ + "A line of teal green barriers closes off the far end of this alley, and counting from its left end my target is the second panel, the one sitting under the purple blossoming tree with a cone standing in front of it. It is still far down the street, so I walk forward along the open lane to close that distance.", + "The barrier row has grown slightly larger but is still well ahead of me, with the panel under the blossoming tree only a small shape. The lane in front is clear of traffic cones and debris, so I keep walking straight toward it.", + "The barriers now read clearly as separate panels with cones in front of them, and the one beneath the blossoming tree stands toward the left side of my view. I am still several strides short of it, so I continue forward.", + "The wall of barriers spans most of the alley ahead and the tree marking my panel leans over the left side of the street. The gap is still too large to call this an arrival, so I press forward.", + "The barriers now fill the lower half of my view, and the panel beneath the blossoming tree sits off to my left rather than straight ahead. I take another step forward to bring myself alongside that part of the row.", + "From this close the row no longer shows its left end, so I hold onto the panel standing directly under the blossoming tree as my target, and it lies to my left of my current heading. I turn left to put that panel and its cone in front of me before advancing further.", + "The turn has brought the barrier under the blossoming tree into the middle of my view, with its cone squarely ahead. I walk forward to close the last of the gap to that panel.", + "The panel with the tree rising behind it now fills much of my view, its cone standing just short of arm's reach. One more step forward should place me right at that barrier.", + "The barrier under the blossoming tree fills my view at arm's length. I am standing at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006012_y002220_z000139_t1_b/infos.json b/dataset/trajectory/Tokyo/task_x-006012_y002220_z000139_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4592052b2082df04cd4d0097949e6b4a4b065c3a --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006012_y002220_z000139_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search the storefront area for the bench near the yellow metal guard rails, then approach it.", + "Type": 1, + "Start_Pose": [ + -6011.975, + 2220.369, + 138.857, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + -154.56, + 0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + -179.56, + 0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 155.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 130.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 105.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 80.44, + -0.0 + ], + [ + -6011.975, + 2220.369, + 138.857, + 0.0, + 55.44, + -0.0 + ], + [ + -5940.579, + 2324.018, + 138.857, + 0.0, + 55.44, + -0.0 + ], + [ + -5869.183, + 2427.667, + 139.802, + 0.0, + 55.44, + -0.0 + ], + [ + -5869.183, + 2427.667, + 139.802, + 0.0, + 30.44, + -0.0 + ], + [ + -5760.673, + 2491.432, + 143.559, + 0.0, + 30.44, + -0.0 + ], + [ + -5687.139, + 2549.773, + 140.067, + 0.0, + 30.44, + -0.0 + ], + [ + -5687.139, + 2549.773, + 140.067, + 0.0, + 30.44, + -0.0 + ] + ], + "Rationale": [ + "From here my view is mostly blocked by the blank building wall on the right, and I see no bench or yellow guard rails anywhere in front of me. I will turn left to swing my view off the wall and begin a steady scan across the open storefront street.", + "The street ahead now shows teal barriers and traffic cones lining the far sidewalk, but still no bench and no yellow metal rails. I will keep turning left in the same direction to sweep more of the storefront frontage into view.", + "The barrier line and cones continue along the shopfronts on my left, yet none of this stretch shows a bench or the yellow rails I am looking for. I will continue the same leftward sweep to check the frontage closer to my own side of the street.", + "My view is now filled by a long shuttered storefront wall and a bare tiled sidewalk, with only the tail of the barrier line at the right edge. Since nothing here matches the bench or the yellow rails, I will keep turning left to reach the unexamined frontage beyond this wall.", + "Ahead I see air conditioning units, a tree trunk and more shopfront glass, still without any bench or guard rail in this segment. I will continue the leftward scan to bring the sidewalk further along this block into view.", + "At the left edge of my view I can now make out bright yellow metal guard rails and a pale bench beside them on the sidewalk. I will turn left once more to bring that bench and its rails into the center of my view before moving toward it.", + "The bench with its yellow guard rails is now clearly in front of me along the storefront sidewalk, next to a parked green bicycle. It is still some distance away, so I will walk forward to close the gap toward it.", + "The bench and the yellow rails have grown noticeably larger and sit slightly left of center, confirming I am heading the right way. I will step forward again to keep closing the remaining distance to the bench.", + "The grey bench set against the yellow metal guard rails is right in front of me, but it sits far to the left and its near end is cut off at the edge of what I can see. I will turn left to bring the bench and its rail line into the center of my heading before closing in. This should give me a clean, straight approach along the sidewalk.", + "The bench and the yellow guard rails behind it now sit ahead of me on the storefront sidewalk with open pavement in between. I will step forward along the walkway to close the remaining gap to the bench. Nothing appears to block the path, so the target should grow noticeably nearer.", + "The bench is now close on my left, running alongside the yellow guard rails and the shuttered storefront. I will take one more short step forward so I end up level with the bench rather than short of it. That should place me directly beside the target.", + "The bench beside the yellow metal guard rails is immediately at my side, within reach. The search and approach are complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_e/infos.json b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b758b06e616fcb7f044f04036c1b7dfab0dbcf72 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006277_y002537_z000145_t2_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Move to the third blue water barrier from the left.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ], + [ + -6343.604, + 2430.444, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6410.15, + 2323.617, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6476.696, + 2216.789, + 138.843, + 0.0, + -121.92, + 0.0 + ], + [ + -6476.696, + 2216.789, + 138.843, + 0.0, + -146.92, + 0.0 + ], + [ + -6582.155, + 2148.094, + 138.843, + 0.0, + -146.92, + 0.0 + ], + [ + -6582.155, + 2148.094, + 138.843, + 0.0, + -171.92, + 0.0 + ], + [ + -6706.764, + 2130.404, + 138.843, + 0.0, + -171.92, + 0.0 + ], + [ + -6706.764, + 2130.404, + 138.843, + 0.0, + -146.92, + 0.0 + ], + [ + -6768.841, + 2123.114, + 142.485, + 0.0, + -146.92, + 0.0 + ], + [ + -6768.841, + 2123.114, + 142.485, + 0.0, + -146.92, + 0.0 + ] + ], + "Rationale": [ + "A row of blue water barriers lines the wall on my left, and counting from the left end the third one is the last in that row, the one standing right where the building corner begins. They all look alike, so I fix my target by that corner rather than by the count. I walk forward to close the distance.", + "The barrier row has slid further left as I advance, and the building corner I am using to mark my target is coming nearer. Nothing blocks the open roadway ahead of me. I keep walking forward to reach the corner area.", + "Only the near end of the barrier line is still visible at my left edge, so I can no longer read the row from its far end; I stay with the barrier at the building corner that I picked out. The pavement ahead is clear. I step forward again to draw level with that corner.", + "Walking straight has carried me past the frontage so the barriers now sit behind my left shoulder, with only a cone edging into view. My target stands off to the left along that wall. I turn left to bring the barrier line back in front of me.", + "The barriers are back in view on my left, and the one I want sits at the far end of that line beside the corner. The way toward it across the open pavement is clear. I move forward to close on it.", + "I am close beside the storefront now, and the barrier I am heading for lies off to my left where the wall turns the corner, while my heading still points along the shopfront. I turn left again to swing my facing onto it.", + "Turning has opened the side street, and more barriers of the same type now line it, so counting from here would no longer pick out my target; I stay with the one at the corner end of the original row, just ahead against the wall. The gap beside it is open. I walk forward to reach it.", + "My heading now runs down the open side street, while the barrier I chose sits tight against the wall slightly to my right. I turn right to face it squarely before a final short step.", + "The barrier I chose now lies across the lower left of my view, set against the wall with a cone at its end, but a short gap of pavement still separates us. The way to it is clear. I take one more step forward to stand right at it.", + "The blue barrier at the building corner is now directly beside me, filling the near foreground. I am at my target, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8845a13990de015ca4aca65826f0b3b9b1ddc22b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006332_y001780_z000139_t3_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Make your way to the purple sign, then reach the orange guardrail.", + "Type": 3, + "Start_Pose": [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ], + [ + -6408.762, + 1680.803, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6485.694, + 1581.193, + 138.843, + 0.0, + -127.68, + 0.0 + ], + [ + -6562.625, + 1481.584, + 139.025, + 0.0, + -127.68, + 0.0 + ], + [ + -6639.557, + 1381.974, + 139.004, + 0.0, + -127.68, + 0.0 + ], + [ + -6716.488, + 1282.365, + 146.543, + 0.0, + -127.68, + 0.0 + ], + [ + -6793.42, + 1182.755, + 140.043, + 0.0, + -127.68, + 0.0 + ], + [ + -6817.346, + 1086.467, + 140.04, + 0.0, + -127.68, + 0.0 + ], + [ + -6817.346, + 1086.467, + 140.04, + 0.0, + -127.68, + 0.0 + ], + [ + -6817.346, + 1086.467, + 140.04, + 0.0, + -102.68, + 0.0 + ], + [ + -6817.346, + 1086.467, + 140.04, + 0.0, + -77.68, + 0.0 + ], + [ + -6817.346, + 1086.467, + 140.04, + 0.0, + -52.68, + 0.0 + ], + [ + -6769.592, + 989.301, + 140.236, + 0.0, + -52.68, + 0.0 + ], + [ + -6695.398, + 947.774, + 146.556, + 0.0, + -52.68, + 0.0 + ], + [ + -6617.059, + 850.035, + 141.907, + 0.0, + -52.68, + 0.0 + ], + [ + -6617.059, + 850.035, + 141.907, + 0.0, + -77.68, + 0.0 + ], + [ + -6590.205, + 727.074, + 138.843, + 0.0, + -77.68, + 0.0 + ], + [ + -6563.35, + 604.113, + 138.843, + 0.0, + -77.68, + 0.0 + ], + [ + -6563.35, + 604.113, + 138.843, + 0.0, + -77.68, + 0.0 + ] + ], + "Rationale": [ + "The small purple sign hangs on the shopfront well ahead along this narrow street, and the orange guardrail sits farther off to the right beyond the crossing. The sidewalk ahead is clear of bollards and planters, so I will walk straight forward to close the distance to the purple sign first.", + "The purple sign is noticeably larger now and still sits ahead and slightly right along the shop wall. Nothing blocks the strip of road I am walking on, so another step forward should keep shrinking the gap without needing a turn yet.", + "The shop's glass front now fills my left side while the purple sign stands out clearly ahead beside the awning edge. My heading still points along the sign, so I will keep walking rather than adjust direction.", + "The purple sign is close enough that its lettering is legible, and it stays just right of my path along the building corner. The pavement between me and it is clear, so I will continue forward.", + "The purple sign now hangs high and near, mounted just past the shop's corner on my right. A few more steps should bring me level with it, so I keep moving straight ahead.", + "The purple sign is very close, filling the upper right of my view against the dark shop wall. I am not quite beneath it yet, so I will step forward again to reach it.", + "The purple sign is now directly above and beside me, with the tiled shop wall pressing in on my left. One short step should place me squarely at the sign, so I advance a final time.", + "The purple sign hangs right beside my shoulder, its lettering filling my view at arm's length. I have reached the purple sign. I mark reaching it and now turn my attention to the orange guardrail standing out in the open lot to my right.", + "The purple shop banner hangs right beside me, so my business at this sign is done and I now need the orange guardrail. My heading is buried against the dark storefront wall, with the open alley off to my right. I will turn right to swing my view toward that opening.", + "The turn has opened the alley: I can see the pale blue door, the tiled sidewalk, and a curved orange rail at the right edge of my view. That rail is still too far to the side for a straight walk. I will keep turning right to bring it nearer the center.", + "Orange rails are now clearly in front of me, but a thick grey post splits my view and the rails sit slightly left of the roadway I would walk. I want a heading that lets me step out into the open lot rather than into the post. Another right turn should clear that framing.", + "I am now facing the open yard, with the orange rails standing along the sidewalk to my left and clear pavement stretching ahead. Nothing blocks the ground directly in front of me. I will walk forward to close the gap toward those rails.", + "The building corner still hides part of the left sidewalk, but one orange rail is visible ahead beside the machinery. The route across this open pavement remains unobstructed. I will keep walking forward to bring the rails fully into view.", + "Two orange rails now stand plainly along the raised sidewalk to my left front, close enough to make out their curved tubing. I am still out on the open pavement, several strides short of them. I will advance again to draw alongside.", + "The orange guardrail sits off to my left along the kerb while my heading points across the yard toward the blue door and bins. Walking straight on would carry me past it instead of up to it. I will turn left to put the rail squarely in front of me.", + "The turn has centered the orange guardrail: both curved sections now face me directly across a short stretch of pavement. A few steps should bring me right up against the rail. I will move forward toward it.", + "The orange guardrail now fills the lower half of my view, its curved bar just ahead of me along the tiled walkway. A short step forward should bring me right up against it rather than leaving a gap.", + "The orange guardrail is directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t5_a_pd/infos.json b/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d925653d16c05b38a02044e161316bbd0e765fa6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006490_y002017_z000139_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Grab the ceramic vase from the cherry blossom tree, then drop it near the red traffic cone.", + "Type": 5, + "Start_Pose": [ + -6490.242, + 2017.278, + 138.843, + 0, + 50.88, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5961.945, + 2456.052, + 70.67, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6490.242, + 2017.278, + 138.843, + 0, + 50.88, + 0 + ], + [ + -6410.832, + 2114.923, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6331.422, + 2212.567, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6331.422, + 2212.567, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -6218.185, + 2267.503, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -6104.948, + 2322.439, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -6104.948, + 2322.439, + 138.843, + 0.0, + 25.88, + -0.0 + ], + [ + -6104.948, + 2322.439, + 138.843, + 0.0, + 50.88, + -0.0 + ], + [ + -6104.948, + 2322.439, + 138.843, + 0.0, + 75.88, + -0.0 + ], + [ + -6104.948, + 2322.439, + 138.843, + 0.0, + 100.88, + -0.0 + ], + [ + -6104.948, + 2322.439, + 138.843, + 0.0, + 125.88, + -0.0 + ], + [ + -6178.712, + 2424.417, + 138.843, + 0.0, + 125.88, + -0.0 + ], + [ + -6252.476, + 2526.394, + 146.495, + 0.0, + 125.88, + -0.0 + ], + [ + -6326.24, + 2628.371, + 138.15, + 0.0, + 125.88, + -0.0 + ], + [ + -6326.24, + 2628.371, + 138.15, + 0.0, + 150.88, + -0.0 + ], + [ + -6263.341, + 2593.333, + 138.15, + 0.0, + 150.88, + -0.0 + ], + [ + -6263.341, + 2593.333, + 138.15, + 0.0, + 150.88, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -5961.945, + 2456.052, + 70.67, + 0.0, + 0.0, + 0.0 + ], + [ + -5961.945, + 2456.052, + 70.67, + 0.0, + 0.0, + 0.0 + ], + [ + -5961.945, + 2456.052, + 70.67, + 0.0, + 0.0, + 0.0 + ], + [ + -5961.945, + 2456.052, + 70.67, + 0.0, + 0.0, + 0.0 + ], + [ + -5961.945, + 2456.052, + 70.67, + 0.0, + 0.0, + 0.0 + ], + [ + -5961.945, + 2456.052, + 70.67, + 0.0, + 0.0, + 0.0 + ], + [ + -6114.818, + 2341.385, + 108.95, + -28.202, + 76.024, + 1.862 + ], + [ + -6122.648, + 2336.038, + 109.222, + -28.189, + 101.036, + 1.872 + ], + [ + -6126.754, + 2328.083, + 108.555, + -28.215, + 126.007, + 1.849 + ], + [ + -6132.046, + 2322.798, + 108.609, + -14.092, + 143.223, + 6.87 + ], + [ + -6122.085, + 2309.504, + 108.625, + -28.208, + 176.022, + 1.851 + ], + [ + -6195.61, + 2411.332, + 109.046, + -28.189, + 176.038, + 1.869 + ], + [ + -6269.204, + 2513.092, + 108.736, + -28.205, + 176.015, + 1.859 + ], + [ + -6342.948, + 2615.027, + 108.889, + -28.191, + 176.029, + 1.872 + ], + [ + -6336.756, + 2609.085, + 107.797, + -28.201, + -158.976, + 1.857 + ], + [ + -6324.493, + 2627.398, + 78.15, + 0.0, + 150.88, + -0.0 + ], + [ + -6324.493, + 2627.398, + 78.15, + 0.0, + 150.88, + -0.0 + ] + ], + "PD_Dist_2D": [ + 686.7, + 563.8, + 442.5, + 442.5, + 318.1, + 195.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 22.0, + 70.0, + 70.0 + ], + "Rationale": [ + "The blossoming cherry tree stands ahead on the right side of the street, and the pale ceramic vase I need is somewhere at its base, still too far to make out clearly. I will walk forward along the open road to close that gap and bring the tree's base into a workable view.", + "From here I can now pick out a tall white ceramic vase with dark floral markings sitting at the foot of the cherry tree, just past the yellow railings. It is still several paces away, so I will keep walking forward to shorten the distance to it.", + "My current heading points into the building frontage on the right, while the vase sits further along the sidewalk beside the tree. I will turn left to face down the open street lane so my forward path runs alongside the tree instead of into the wall.", + "With the street now open ahead of me, the ceramic vase is clearly visible on the sidewalk to my right, beside the trunk of the cherry tree. I will step forward along this lane to draw level with it.", + "The vase now looms large in the right foreground at the base of the trunk, but it is still slightly ahead of my body. One more step forward should bring it within arm's reach for a grasp.", + "The tall ceramic vase is right beside me at the foot of the cherry tree, filling the near right of my view at reaching distance. I will attempt to pick it up now, since no closer approach seems necessary.", + "The grasp worked, since I am now looking down at the wide ceramic rim of the vase held in front of me over my feet. The red traffic cone I need to reach stood back across the street by the building wall, so I will turn right to begin swinging my heading around toward it.", + "My view has come back up to the shopfront, bench and cherry trunk, so I am carrying the vase but still not facing the cone. I will keep turning right to continue sweeping my heading toward the building side of the street where the red cone was standing.", + "The ceramic vase is secured in my hands, so my remaining job is to carry it to the red traffic cone on the far side of this block. Right now I am facing the corner of the tiled storefront with only glass panels and an outdoor unit ahead, and no cone in sight. I will keep turning right to sweep my heading further along the building frontage where the cone should appear.", + "The turn has brought the red and white traffic cone into view, standing on the tiled walkway beside the teal barrier to my right. My heading still points at the window wall rather than at that cone, so a straight walk now would drift past it. I will turn right once more to line my body up with the cone and the open stretch of pavement leading to it.", + "The cone and the teal barriers now sit ahead of me along the tiled sidewalk, with a clear paved lane between us. I am still holding the vase, so the transport can begin. I will step forward to close the remaining distance toward the cone.", + "The cone has grown noticeably larger and now sits just right of center against the barrier, so my heading is carrying me toward it correctly. The tiled walkway ahead is still clear of obstacles. I will take another step forward to shorten the gap while keeping the vase with me.", + "The cone is close now, standing at the base of the window wall beside the teal barrier only a short stretch ahead. I am not yet within comfortable placing range of it. I will advance one more step so the vase can be set down right next to the cone.", + "My last step brought me right up beside the building, and the cone has slipped to the lower right edge of my view while I mostly face frosted glass. I need the cone squarely in front of me before releasing the vase. I will turn right to bring it back into the center of my view.", + "The red and white traffic cone is now directly in front of me at arm's length, with open tiled ground beside it and the teal barrier just to the right. I am still carrying the ceramic vase from the cherry blossom tree. I will release it here so it should come to rest close to the cone as the task requires.", + "The ceramic vase stands free on the pavement right beside the traffic cone and barrier. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_b/infos.json b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a53667121e2601d9a7c2943679874b8a847092c2 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006631_y001147_z000139_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Approach the white door on the tan building, then proceed to the green shrub.", + "Type": 3, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -68.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -93.16, + 0.0 + ], + [ + -6584.382, + 1030.591, + 138.843, + 0.0, + -118.16, + 0.0 + ], + [ + -6643.779, + 919.63, + 138.843, + 0.0, + -118.16, + 0.0 + ], + [ + -6703.176, + 808.668, + 146.585, + 0.0, + -118.16, + 0.0 + ], + [ + -6750.141, + 697.886, + 138.15, + 0.0, + -118.16, + 0.0 + ], + [ + -6750.141, + 697.886, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6753.594, + 572.246, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6753.594, + 572.246, + 138.15, + 0.0, + -93.16, + 0.0 + ], + [ + -6753.594, + 572.246, + 138.15, + 0.0, + -68.16, + 0.0 + ], + [ + -6753.594, + 572.246, + 138.15, + 0.0, + -43.16, + 0.0 + ], + [ + -6753.594, + 572.246, + 138.15, + 0.0, + -18.16, + 0.0 + ], + [ + -6753.594, + 572.246, + 138.15, + 0.0, + 6.84, + -0.0 + ], + [ + -6628.631, + 587.236, + 138.843, + 0.0, + 6.84, + -0.0 + ], + [ + -6503.668, + 602.225, + 138.843, + 0.0, + 6.84, + -0.0 + ], + [ + -6503.668, + 602.225, + 138.843, + 0.0, + 31.84, + -0.0 + ], + [ + -6396.747, + 668.622, + 138.843, + 0.0, + 31.84, + -0.0 + ], + [ + -6289.827, + 735.019, + 146.473, + 0.0, + 31.84, + -0.0 + ], + [ + -6289.827, + 735.019, + 146.473, + 0.0, + 31.84, + -0.0 + ] + ], + "Rationale": [ + "The pale white door sits on the tan tiled building off to my left, still well back behind the orange barrier rails. I will walk forward across the open paving to close some of that distance before swinging my heading toward it.", + "The white door on the tan brick wall is far to the left edge of my view, so walking straight would only carry me past it. I will turn left to bring that facade toward the middle of my view.", + "The white door has swung nearer the center but still sits left of my forward line, with the bench and shuttered wall crowding that side. Another left turn should square my heading onto the door before I advance.", + "The white door on the tan tiled wall is now roughly ahead of me with clear paving between us. I will walk forward to cut down the remaining distance to it.", + "The white double door is noticeably larger ahead of me and its handle is becoming legible, so my heading is good. I will keep walking straight to draw closer to it.", + "The white door now fills a good part of my view on the tan tiled wall, with the shuttered front on my left and open tile underfoot. Another step forward should put me right up against the doorway.", + "I am close to the white door, but it has drifted to the right side of my view while the corrugated shutter takes up the left. I will turn right to face the door squarely before stepping in.", + "The white door is now centered ahead with its handle plainly in front of me and only a short stretch of tile between us. I will step forward to stand directly at the door.", + "The pale white door on the tan tiled building fills my view, its handle close enough to touch, with the wall tiles flanking it on both sides. I have arrived at this door. I mark reaching it, and now I set off for the green shrub.", + "The door is directly in front of me and blocks any useful heading, so I need to swing away from this recessed alcove toward the open courtyard. The green shrub lies somewhere out in that open area behind my right shoulder. I will turn right to begin bringing the courtyard into view.", + "Only the door edge and a stretch of tan tile fill my view, with a sliver of daylight and paving opening at the right margin. That gap is where the courtyard lies, so I keep rotating. I will turn right again to bring the open ground toward the center.", + "The courtyard is opening up on the right with the orange railing, the blue door and the teal bins now in view, but the tan wall still takes most of my forward field. I need my heading clear of that wall before walking. I will turn right once more.", + "The courtyard with the blossoming tree and the far bins is now mostly ahead, though the tan wall still crowds my left and the greenery sits further around to the right. One more rotation should place the open paving squarely in front of me. I will turn right.", + "My heading is now clear of the tiled corner and the courtyard lies open ahead, with a leafy green shrub in a raised planter to the right of the tree. It is still well across the paving, so I need to close distance. I will walk forward.", + "The green shrub in its planter has grown noticeably larger on my right, but I am still several strides short of it. Continuing straight keeps the gap closing without needing to reorient yet. I will step forward again.", + "The leafy green shrub now sits off to my right in its raised planter against the gray wall, while my heading points past it down the courtyard. I need to face it directly before closing the last stretch. I will turn right to put the shrub ahead of me.", + "The leafy green shrub in the low planter now sits ahead of me against the tiled corner wall, roughly centered in my view. Nothing blocks the open pavement between us, so I will walk straight forward to close that gap.", + "The shrub has grown much larger in front of me, its leaves spilling over the planter edge just ahead and slightly right. I am still a short walk short of standing beside it, so I will step forward once more to finish closing in.", + "The green shrub is directly beside me, its leaves and planter kerb filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_c/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd08eedcc3bdaed156ca34a9bd5436ed9db359b0 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000635_z000138_t3_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the green bushes by the brick wall, then reach the blue door.", + "Type": 3, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.812, + 680.171, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.407, + 725.521, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.407, + 725.521, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6428.168, + 816.239, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6428.168, + 816.239, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6428.168, + 816.239, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6428.168, + 816.239, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6428.168, + 816.239, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6317.962, + 755.452, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6207.755, + 694.665, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -6097.549, + 633.878, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5987.343, + 573.091, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5877.136, + 512.304, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5877.136, + 512.304, + 138.15, + 0.0, + -28.88, + 0.0 + ] + ], + "Rationale": [ + "From the open pavement I can see a clump of green bushes in a planter set against the tiled wall ahead, and the blue door standing further back along the wall on the left. The greenery is my first stop, so I walk forward to close the gap.", + "The bushes at the base of the wall have grown noticeably larger in front of me, so the heading is good. I keep walking forward to bring the greenery within a few steps.", + "The bushes now fill the middle of my view, but they sit in a raised planter tucked against the building corner, and the open pavement continues to my right past that corner. I turn right so my heading follows the walkable lane running alongside the greenery rather than into the planter kerb.", + "With this heading the lane beside the building is clear and the bushes sit just off my left shoulder. I step forward to draw level with the greenery at the wall.", + "The leafy green bushes are right beside me now, spilling over their planter against the tiled brick wall. I have arrived at the greenery, so I mark reaching it and set off for the blue door back along this wall.", + "The bushes are beside me and my heading points down the alley away from where the blue door stands. I turn left to begin swinging my view back along the wall toward that door.", + "My view has come round to the shaded courtyard with the blossom tree and the green bins, but the blue door is still beyond the left edge. I turn left again to keep bringing that side of the courtyard into view.", + "The blue door is now visible on the far wall, but it sits well to the left of my heading while the bins and tree occupy the centre. I turn left once more to bring the door in front of me before walking to it.", + "The blue door now sits ahead of me in the tiled wall, roughly centered with the teal bins beside it. My heading is clean, so I will walk straight toward it to cut the open distance across the paving.", + "The door has grown larger and stays close to the center of my view, confirming my line is good. I am still several strides out on open pavement, so I will keep walking forward toward it.", + "The blue door and its handle are clearly resolved now, slightly left of center, but I am not yet within arm's reach. Another step forward should bring me close enough to stand right at it.", + "The door panel now fills a large part of my view with the bins tight to its right, so I am only a stride or two from the wall. I will advance again to close that last gap.", + "The blue door dominates my view and its lever handle is plainly within reach range, though a short stretch of paving still separates me from the frame. One more forward step should place me directly at the door.", + "I am standing right at the blue door, its lever handle an arm's length away. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_d/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..078e34c6155ac656c2a72009bf714d9f6fe90ddd --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the blue bicycle parked against the building.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.811, + 722.508, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.406, + 767.858, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.406, + 767.858, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6428.167, + 858.576, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6340.928, + 949.294, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6261.225, + 1041.45, + 145.084, + 0.0, + 46.12, + -0.0 + ], + [ + -6173.985, + 1132.169, + 138.15, + 0.0, + 46.12, + -0.0 + ], + [ + -6173.985, + 1132.169, + 138.15, + 0.0, + 46.12, + -0.0 + ] + ], + "Rationale": [ + "I can already spot the blue bicycle leaning against the building wall inside the recessed passage ahead and slightly to my right. It is still far off across the open pavement, so I will move forward to close distance before refining my heading.", + "The bicycle is now larger in the alcove ahead, confirming I am on a good line toward it. Nothing blocks the pavement in front of me, so I will continue straight to keep closing the gap.", + "The bicycle now sits toward the right edge of my view behind the corner of the grey wall, while my heading points more along the planter and the tree. I will turn right to bring the alcove and the bicycle back to the center of my path.", + "After the turn the recessed entryway with the blue bicycle is centered ahead of me, with open lane on my right. I will move forward along this heading to enter the passage and shorten the remaining distance.", + "The bicycle is clearly visible against the wall beside the door, and the tiled ground of the alcove is now just ahead. I will keep moving forward since the route into the recess remains unobstructed.", + "I am now inside the covered recess with the blue bicycle standing against the wall just left of the door, only a couple of steps away. I will advance again to bring myself right up beside it.", + "The bicycle frame and wheels now fill much of the lower left of my view, so I am nearly at it but still a short step short. I will take one more forward step to reach a stopping position directly at the bicycle.", + "The blue bicycle against the building wall fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_e/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7091c486869f85d11fb53ffa0b98a34bfd22ca72 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000677_z000138_t0_e/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the orange bicycle parked against the building.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.811, + 722.508, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.406, + 767.858, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6515.406, + 767.858, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6389.836, + 759.341, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6264.265, + 750.825, + 145.804, + 0.0, + -3.88, + 0.0 + ], + [ + -6138.695, + 742.308, + 138.317, + 0.0, + -3.88, + 0.0 + ], + [ + -6138.695, + 742.308, + 138.317, + 0.0, + 21.12, + -0.0 + ], + [ + -6021.29, + 787.658, + 138.317, + 0.0, + 21.12, + -0.0 + ], + [ + -5905.108, + 807.685, + 138.317, + 0.0, + 21.12, + -0.0 + ], + [ + -5791.262, + 842.048, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -5791.262, + 842.048, + 138.15, + 0.0, + 21.12, + -0.0 + ] + ], + "Rationale": [ + "From the street I can see an orange bicycle with a boxy front basket parked against the wall beyond the low hedge, partly screened by the corner of the building and the flowering tree. My heading is roughly toward that side of the block, so I will move forward to close distance and open up a clearer line to it.", + "The building corner and the planted hedge are now larger in view, and the orange bicycle is still tucked behind them at the base of the tree. Another forward step should bring me near the corner where the paved courtyard opens up.", + "I have come close to the corner, and my heading now runs mostly along the wall rather than into the courtyard where the orange bicycle sits to my left past the hedge. I will turn left to swing my facing toward that open paved area so the bicycle comes into the center of my view.", + "The courtyard is now open in front of me, with the tree and the orange bicycle leaning against the wall on the right side of my view. The path over the paving is clear, so I will move forward to close the gap.", + "The orange bicycle with its yellow basket is clearly ahead and slightly right, propped against the tiled wall next to the tree trunk. I will continue straight since nothing blocks the paving between me and it.", + "The bicycle is noticeably larger now and I can make out its frame and basket against the wall, but there is still several steps of paving between us. I will take another forward step to keep closing distance.", + "I am close to the far wall, and the orange bicycle now sits to the right of my heading while the dumpsters and blue door fill the left of my view. I will turn right to center the bicycle so my remaining forward steps carry me straight to it.", + "The orange bicycle is now centered ahead of me, leaning against the tiled wall beside the tree trunk. I will move forward to close the last of the distance and stand right at it.", + "The orange bicycle with its front basket is directly ahead of me, leaning against the tiled wall of the building, and my heading is already lined up on it. Only a couple of paces of open paving separate us, so I will step forward to close that remaining gap.", + "The bicycle now fills much of my view, its frame and basket clearly resting against the wall just ahead and slightly right. I am still a short step short of standing right beside it, so I will advance once more to finish closing the distance.", + "The orange bicycle's handlebar and basket are right in front of me against the building wall, at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c77af2ac78f794005e3d6187a209a6a92ec5a832 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006750_y000694_z000138_t3_a/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Walk to the blue door, then head toward the blue bicycle.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.857, + 739.54, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6632.857, + 739.54, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6632.857, + 739.54, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6522.651, + 678.753, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6412.445, + 617.966, + 138.843, + 0.0, + -28.88, + 0.0 + ], + [ + -6302.429, + 566.724, + 145.33, + 0.0, + -28.88, + 0.0 + ], + [ + -6193.026, + 523.753, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -6082.82, + 462.966, + 138.15, + 0.0, + -28.88, + 0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + -28.88, + 0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + -28.88, + 0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + -3.88, + 0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 21.12, + -0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 46.12, + -0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 71.12, + -0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 96.12, + -0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 121.12, + -0.0 + ], + [ + -5972.613, + 402.179, + 144.291, + 0.0, + 146.12, + -0.0 + ], + [ + -6077.102, + 472.34, + 138.308, + 0.0, + 146.12, + -0.0 + ], + [ + -6181.591, + 542.5, + 138.308, + 0.0, + 146.12, + -0.0 + ], + [ + -6286.08, + 612.661, + 146.568, + 0.0, + 146.12, + -0.0 + ], + [ + -6286.08, + 612.661, + 146.568, + 0.0, + 121.12, + -0.0 + ], + [ + -6351.128, + 720.407, + 138.843, + 0.0, + 121.12, + -0.0 + ], + [ + -6351.128, + 720.407, + 138.843, + 0.0, + 96.12, + -0.0 + ], + [ + -6364.546, + 845.549, + 138.843, + 0.0, + 96.12, + -0.0 + ], + [ + -6364.546, + 845.549, + 138.843, + 0.0, + 71.12, + -0.0 + ], + [ + -6323.82, + 964.637, + 138.843, + 0.0, + 71.12, + -0.0 + ], + [ + -6323.82, + 964.637, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6247.284, + 1057.097, + 138.284, + 0.0, + 46.12, + -0.0 + ], + [ + -6160.045, + 1147.816, + 139.311, + 0.0, + 46.12, + -0.0 + ], + [ + -6160.045, + 1147.816, + 139.311, + 0.0, + 46.12, + -0.0 + ] + ], + "Rationale": [ + "From the street edge I can see the blue door set in the wall far off to my left, and a blue bicycle parked inside the recess to my right. I will walk forward first to get clear of the roadway and onto the open paving, which should give me room to swing toward the door.", + "The blue door is now only just clipping the left edge of my view while the wall and planter fill the centre. I will turn left to bring that door into the middle of my view before walking any further.", + "The blue door has come into view but still sits well left of centre, with the blossoming tree and green bins between us. Another left turn should put it close enough to straight ahead that I can simply walk at it.", + "The blue door now stands roughly ahead of me across the open tiled yard, with only railings off to my left and nothing blocking the paving between us. I will step forward to start closing that distance.", + "The door has grown larger and stays near the centre of my view, so my heading is good and the ground ahead is still open paving. I will keep walking straight toward it rather than adjust.", + "The blue door and its handle are clearly resolved ahead, with the teal bins to its right and the railing safely past on my left. There is still a stretch of tile to cover, so I will advance again.", + "The blue door fills a good part of my view now and its threshold plate is visible on the ground before it. I am not close enough to call myself there yet, so I will take another step forward.", + "The blue door is squarely ahead and close, with its frame and lever handle sharp and the bins just off to the right. A further step should bring me right up against it.", + "The blue door now fills most of my view, its handle clearly readable just ahead of me on the tiled wall. One more step should bring me right up against it and close the last of the gap.", + "The blue door fills my whole view, its handle within arm's reach and the wall tiles crowding the edges of my sight. I am standing at the blue door I was sent to. I mark arriving here and now set off for the blue bicycle.", + "Pressed this close, the door panel blocks nearly everything, so I can see nothing of the yard around me. I will turn right to swing my view off the door and begin looking for a blue bicycle.", + "The door has slid to the left edge and tiled wall with a green bin is opening up on my right, but no bicycle is in sight yet. I will keep turning right to bring more of the courtyard into view.", + "Past the bins and the blossoming tree, a bicycle is just entering the right edge of my view, but I can only see part of it. Another turn to the right should place that corner of the yard squarely in front of me.", + "The bicycle now fully in view is yellow, so it is not the one I want. I will continue turning right to sweep further along this courtyard for a blue bicycle.", + "The yellow bicycle sits against the wall ahead of me and the tiled corner offers nothing else, so my search has to carry further around. Turning right again should reveal the part of the yard still hidden beyond my shoulder.", + "With the yellow bicycle now off to my left and only a bench and shrub ahead, this enclosed corner holds nothing blue. Brighter open ground shows at the right edge, so I will turn right again toward that way out.", + "The blue door is behind me now and my view has swung onto the courtyard bench and the shrub, with the shopfront awning and open street sitting off to my right. One more step of rotation to the right should put that street opening in front of me, since the blue bicycle I saw tucked in a recessed alcove lies out that way.", + "The gap between the tiled wall on my left and the shopfront ahead is now centered in front of me, and the paving between me and the roadway is clear apart from the orange railing well to the right. I will walk forward to reach that open street and search its frontages for the blue bicycle.", + "The awning, the shop entrances and the manhole cover in the roadway have all grown larger, so my heading is carrying me straight onto the street. Nothing blocks the pavement in front of me, so another step forward should bring me out where I can see along the frontages.", + "I am at the edge of the roadway with the patterned manhole just ahead and the shop awning close on my left. No bicycle is visible from here yet, so I will keep walking forward to get properly out onto the street and open up the view along it.", + "Standing on the road, the shopfront and its awning fill my view while the street itself runs away to my left past the row of cones. Turning left should point me down that corridor, which is the direction that can still hide the blue bicycle against a building.", + "The street now runs straight ahead of me between the shuttered wall on the right and the shopfront with its awning, and the far end with the cones is clear. I will walk forward along it to close in on the recessed frontages where a bicycle could be parked.", + "My path is drifting toward the shop windows on the right while the left side of the street, with its darker wall recesses, sits at the edge of my view. A turn to the left should bring those left-hand alcoves in front of me, which is where a parked blue bicycle would stand.", + "The left-hand wall with its shadowed recesses is now ahead of me and the roadway beside it is empty. I will step forward along this side so those alcoves come close enough to tell whether the blue bicycle is standing in one.", + "The lane ahead of me runs on between the shopfronts with no bicycle standing anywhere along it, but on my left the building line breaks into a shadowed recess I cannot see into. I will turn left to bring that opening in front of me and check whether the blue bicycle is parked inside it.", + "Now facing into the recess, I can pick out a blue frame and wheel tucked beside a pale door, mostly hidden behind the near wall corner. I will walk forward so the corner stops blocking it and I get closer to that bicycle.", + "The blue bicycle is now clearly in the alcove, leaning by the door, but it sits well off to my left while my heading still points down the open lane. I will turn left to put it in front of me so I can walk straight at it.", + "The blue bicycle is centered ahead of me now, propped against the wall beside the door, with clear paving between us. I will step forward along that open path to close the remaining gap.", + "The bicycle has grown large in front of me, its handlebars and front wheel just off to my left near the door. One more step should bring me right up beside it.", + "The blue bicycle stands directly beside me, filling the near view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006776_y001966_z000138_t3_a/infos.json b/dataset/trajectory/Tokyo/task_x-006776_y001966_z000138_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a81b842851c51e16f7a92564ef0abeb6b13d638 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006776_y001966_z000138_t3_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the orange traffic bollard, then head toward the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -6775.617, + 1966.156, + 138.15, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6775.617, + 1966.156, + 138.15, + 0.0, + 21.12, + -0.0 + ], + [ + -6670.708, + 2021.183, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6553.304, + 2066.533, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6553.304, + 2066.533, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6427.733, + 2058.017, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6427.733, + 2058.017, + 138.843, + 0.0, + -3.88, + 0.0 + ], + [ + -6427.733, + 2058.017, + 138.843, + 0.0, + 21.12, + -0.0 + ], + [ + -6427.733, + 2058.017, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6340.494, + 2148.735, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6253.255, + 2239.453, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6166.015, + 2330.171, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -6078.776, + 2420.89, + 138.843, + 0.0, + 46.12, + -0.0 + ], + [ + -5991.537, + 2511.608, + 146.387, + 0.0, + 46.12, + -0.0 + ], + [ + -5991.537, + 2511.608, + 146.387, + 0.0, + 46.12, + -0.0 + ] + ], + "Rationale": [ + "The orange and white striped bollard stands at the corner of the grey building ahead on my left, and the pink cherry blossom tree rises over the shops beyond it. The bollard is my nearer destination, so I will walk straight down this open street to close the gap. Nothing blocks the roadway in front of me.", + "The striped bollard has grown noticeably larger and sits just left of my heading, so my line of travel is still good. I will keep walking forward to bring myself alongside it. The pavement ahead remains clear.", + "The striped bollard is now close but has drifted to the lower left edge of my view, so walking straight would carry me past it. I will turn left to swing my heading onto the bollard. That should place it squarely in front of me for the final steps.", + "The turn has brought the striped bollard into the middle of my view, standing at the kerb beside the grey wall. Only a short stretch of pavement separates us, so I will step forward to reach it.", + "The orange and white striped bollard now fills the lower centre of my view, right at my feet against the building corner. I have arrived at it. I mark reaching this bollard and now set my course for the pink cherry blossom tree standing over the shopfronts to my right.", + "Standing at the bollard, my heading runs straight down the street while the blossoming tree hangs off to my right beyond the yellow railings. I will turn right to bring that pink canopy into my forward view. One turn may not be enough, but it starts the swing.", + "The blossom tree has come into the upper right of my view but is still off my line of travel, its trunk sitting beyond the yellow barriers. I will turn right again to put the tree closer to straight ahead before walking.", + "The cherry blossom tree now stands nearly ahead of me, its trunk rising from the pavement past the yellow railings. The road between us is clear, so I will walk forward to close on it.", + "The cherry blossom tree stands ahead on the right side of the street, its pale trunk rising from the sidewalk beside the yellow railing. The road between us is clear, so I walk forward to close the remaining distance toward it.", + "The blossoming tree is noticeably larger now, its trunk planted just past the yellow railing slightly ahead of me. My heading still lines up with it, so another step forward should bring me closer.", + "The pale trunk now dominates the middle of my view, with its canopy cut off above and petals scattered on the pavement below it. I keep walking straight since nothing blocks the strip of sidewalk leading to its base.", + "The tree's base and its cobbled planting ring are only a few paces ahead on my left, with the trunk broad and close. One more step forward should place me right beside it.", + "The cherry tree's trunk rises directly in front of me, within arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_a/infos.json b/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7bbb8054c449491a44d1aaa3ea32cd35009ec696 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x-006793_y000545_z000138_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Explore the nearby courtyards for the parked orange bicycle, then go to it.", + "Type": 1, + "Start_Pose": [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -46.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + -21.04, + 0.0 + ], + [ + -6792.524, + 545.115, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -6682.222, + 570.193, + 143.538, + 0.0, + 3.96, + -0.0 + ], + [ + -6556.663, + 578.884, + 139.001, + 0.0, + 3.96, + -0.0 + ], + [ + -6431.105, + 587.576, + 139.001, + 0.0, + 3.96, + -0.0 + ], + [ + -6305.546, + 596.268, + 144.457, + 0.0, + 3.96, + -0.0 + ], + [ + -6179.988, + 604.96, + 138.15, + 0.0, + 3.96, + -0.0 + ], + [ + -6179.988, + 604.96, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -6069.866, + 665.901, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -5959.745, + 726.841, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -5849.624, + 787.782, + 138.15, + 0.0, + 28.96, + -0.0 + ], + [ + -5849.624, + 787.782, + 138.15, + 0.0, + 53.96, + -0.0 + ], + [ + -5793.921, + 842.722, + 138.15, + 0.0, + 53.96, + -0.0 + ], + [ + -5793.921, + 842.722, + 138.15, + 0.0, + 53.96, + -0.0 + ] + ], + "Rationale": [ + "I am facing a closed metal door at close range, so nothing of the surrounding courtyards is visible from here. I will turn right to begin a consistent scan away from this wall and open up the outdoor area where a parked bicycle could be.", + "The turn has revealed paved ground and a courtyard with a blue door further ahead, but a tan brick wall still blocks most of that space. I will continue turning right in the same direction to clear this corner and see more of the open courtyard.", + "More of the courtyard is now open on the right, with a blossoming tree, green bins and a walkway, but I still cannot see any orange bicycle. I will keep turning right to finish clearing the brick wall on my left and expose the rest of this yard.", + "The courtyard is now fully open ahead, and near the right wall I can make out an orange-toned bicycle standing beyond the tree and bins. Since the target appears visible, I will stop scanning and walk forward toward that recess instead of completing a rotation.", + "I have entered the courtyard and the cherry tree, bins and bench are closer, with the bicycle still off to the right against the far wall. The way ahead over the paving is clear, so I will keep walking forward to close the distance.", + "The bins, the tree trunk and the bench on the right are noticeably larger, confirming I am advancing into the correct yard. I will continue forward along the open paving to bring the orange bicycle near the right wall within reach of a short turn.", + "The orange bicycle is now clearly parked against the wall on the right side of this enclosed yard, beside the bench and past the green bins. Nothing blocks my path, so I will step forward again to draw level with it.", + "The bicycle sits ahead and to my right against the tiled wall, still a few paces away from a comfortable standing position beside it. I will advance once more to reduce that remaining gap before adjusting my heading.", + "The orange bicycle is parked against the far wall of this courtyard, but it sits well to the right of my current heading while my view is centered on the blue door and the teal bins. I will turn right to bring the bicycle nearer the center of my view so my next steps carry me straight toward it.", + "The orange bicycle is now roughly centered ahead of me beside the cherry tree, with open paving between us and no obstacle in the way. I will walk forward to close the remaining distance toward it.", + "The bicycle has grown noticeably larger and still sits slightly right of center against the wall, so I remain on a good line toward it. There is still clear ground between me and it, so I will step forward again to keep closing in.", + "The orange bicycle now fills much of the view with its frame and basket clearly resolved, though I am still a short distance short of standing beside it. I will move forward once more to bring myself right up to the parked bike.", + "I am very close to the bicycle now, but it has drifted toward the right side of my view with the tree trunk and wall taking up the left. I will turn right so the bike is squarely in front of me before making the last step.", + "The bicycle is now centered directly in front of me at very close range against the tiled wall. I will take one short step forward to finish arriving at the parked bike.", + "The orange bicycle's frame and handlebar fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_c/infos.json b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5494d2ca3ce787c0f3fcd8aecbf0bac1a823e00c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000005_y-000057_z000128_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the rightmost green fence in the row.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ], + [ + 5.211, + -57.03, + 128.15, + 0.0, + -10.52, + 0.0 + ], + [ + 128.954, + -80.009, + 128.15, + 0.0, + -10.52, + 0.0 + ], + [ + 252.698, + -102.988, + 128.15, + 0.0, + -10.52, + 0.0 + ], + [ + 252.698, + -102.988, + 128.15, + 0.0, + 14.48, + -0.0 + ], + [ + 374.559, + -71.518, + 128.15, + 0.0, + 14.48, + -0.0 + ], + [ + 496.42, + -40.048, + 128.15, + 0.0, + 14.48, + -0.0 + ], + [ + 618.281, + -8.578, + 128.15, + 0.0, + 14.48, + -0.0 + ], + [ + 740.142, + 22.892, + 128.15, + 0.0, + 14.48, + -0.0 + ], + [ + 810.22, + 51.124, + 139.845, + 0.0, + 14.48, + -0.0 + ], + [ + 810.22, + 51.124, + 139.845, + 0.0, + 14.48, + -0.0 + ] + ], + "Rationale": [ + "The green fences stand in one row along the far sidewalk to my right, and since the panels all look alike I fix on the one where the run ends at its right, next to the building corner. My body is aimed across the crossing instead, so I will turn right to bring that end of the row in front of me.", + "The fence row now lies ahead of me across the open roadway, with its right end running toward the building corner. The pavement between us is clear, so I step forward to close the distance.", + "The white posts and green panels have grown larger, so I am gaining on the row but still out on the roadway. Nothing stands in my path, so I keep walking straight toward it.", + "From here the row still stretches away to my right, and the fence I chose at the right end of the run sits well off my current heading. I will turn right so that end of the row lies straight ahead of me.", + "The turn has put the fence line squarely across my view, with the far end of the run over on the right past the glass entrance doors. The roadway in front is open, so I walk forward toward it.", + "I am still out on the asphalt with the curb and fence line ahead of me. The green panels sit higher and wider in view than before, so I continue stepping forward to close on the fence I picked.", + "The panels now fill most of my view and the end of the run has slipped past the edge of sight, so I hold to the fence standing beside the glass double doors ahead of me. The way to the curb is clear, and I step forward again.", + "I can make out the individual rails and the joint between two panels directly in front of the entrance doors. A further step should bring me right up against that fence.", + "Two panels and the white frame between them now fill the bottom of my view, with the entrance doors framed in the gap. Only a short bit of pavement is left, so I step forward once more to stand right at that fence.", + "The green fence beside the entrance doors is directly in front of me, close enough to touch. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_d/infos.json b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8af3a50fbf446121c9531451601b091cc3448349 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000129_y000297_z000128_t2_d/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the second cherry blossom tree on the right side.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + 18.144, + 237.16, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -92.651, + 177.453, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -203.446, + 117.746, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -314.242, + 58.039, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -425.037, + -1.668, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -535.832, + -61.375, + 128.149, + 0.0, + -151.68, + 0.0 + ], + [ + -646.627, + -121.082, + 133.255, + 0.0, + -151.68, + 0.0 + ], + [ + -646.627, + -121.082, + 133.255, + 0.0, + -176.68, + 0.0 + ], + [ + -772.275, + -128.371, + 138.557, + 0.0, + -176.68, + 0.0 + ], + [ + -772.275, + -128.371, + 138.557, + 0.0, + -151.68, + 0.0 + ], + [ + -879.917, + -139.728, + 143.52, + 0.0, + -151.68, + 0.0 + ], + [ + -879.917, + -139.728, + 143.52, + 0.0, + -126.68, + 0.0 + ], + [ + -879.917, + -139.728, + 143.52, + 0.0, + -126.68, + 0.0 + ] + ], + "Rationale": [ + "Two blossoming trees line the right sidewalk from here: the near one at the corner of the yellow building, and beyond it the one standing beside the railed planter in front of the shopfronts. That farther tree is the one I want, and it lies straight down the street. I walk forward toward it.", + "The corner tree on the right is growing larger as I advance, and the tree beside the railed planter is still further down the block. The road ahead stays open, so I keep walking forward.", + "The railing and the yellow barrier on the right sidewalk are now close alongside me, while the trunk I am aiming for is still ahead past the shop awnings. Nothing interrupts the lane, so I step forward again.", + "The corner tree's trunk is sliding past my right shoulder, so I can no longer read the row from its start and simply hold onto the tree by the railed planter as my goal. I continue forward along the roadway to close the remaining distance.", + "The railing with its hedge and the blue shopfront now dominate my right side, and the trunk I am heading for sits further along that same sidewalk. The lane beside the curb is free, so I walk forward.", + "The sidewalk and railing keep running ahead past the shopfronts, and I have not yet drawn level with the tree standing at the planter. I keep stepping forward along the curb to reach it.", + "My view has narrowed to the railing and the shop windows, with only a strip of roadway remaining on my left. The tree I want is still further along this sidewalk, so I advance once more.", + "I have drifted so close to the railing that the shopfront wall fills almost everything and the street is squeezed to the far left of my view. Turning left should swing my heading back over the open roadway, bringing the sidewalk trees ahead of me back into sight so I can judge my approach to the tree by the planter.", + "The correction paid off: the roadway and its blossoming canopy are open in front of me again, and a broad trunk rises just past the railing to my right. That is the tree I have been aiming for, still slightly ahead of me, so I walk forward to draw level with it.", + "The trunk I want now stands close by my right shoulder, just behind the guardrail, while my heading still runs down the open street. Turning right should place it in front of me and give me a straight, short approach.", + "With my heading swung toward the sidewalk, the trunk sits ahead and a little to my right, beyond the low guardrail. Only a short gap remains, so I step forward to close it.", + "I am beside the tree now, its bark showing large at the right of my view with the railing almost within reach. One more turn to the right should bring the trunk squarely in front of me to confirm my arrival.", + "The blossom tree's trunk fills the centre of my view, right at the railing an arm's length away. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_d/infos.json b/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..48b850f85f5a7b9f344e745ceacdbf19e170759c --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000411_y000845_z000128_t1_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Scan the surrounding buildings for the nearby orange bicycle, then make your way to it.", + "Type": 1, + "Start_Pose": [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -89.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -114.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -139.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + -164.32, + 0.0 + ], + [ + 410.618, + 845.196, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + 286.42, + 865.579, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + 162.223, + 885.961, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + 38.025, + 906.344, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + -86.172, + 926.727, + 128.15, + 0.0, + 170.68, + -0.0 + ], + [ + -210.37, + 947.109, + 138.15, + 0.0, + 170.68, + -0.0 + ], + [ + -210.37, + 947.109, + 138.15, + 0.0, + 145.68, + -0.0 + ], + [ + -314.317, + 1018.07, + 138.15, + 0.0, + 145.68, + -0.0 + ], + [ + -314.317, + 1018.07, + 138.15, + 0.0, + 120.68, + -0.0 + ], + [ + -378.536, + 1126.313, + 138.15, + 0.0, + 120.68, + -0.0 + ], + [ + -442.754, + 1234.555, + 138.15, + 0.0, + 120.68, + -0.0 + ], + [ + -442.754, + 1234.555, + 138.15, + 0.0, + 120.68, + -0.0 + ] + ], + "Rationale": [ + "From this spot at the crossing I only see the tall glass office block ahead and the fenced planting strip on my right, with no bicycle anywhere in view. I will turn left to begin a steady scan of the buildings around this intersection for the orange bicycle.", + "The rotation has brought a low storefront row with a yellow facade and flowering trees into the left of my view, but I still cannot make out any bicycle parked along it. I will keep turning left in the same direction to bring that shopfront frontage fully in front of me.", + "The shop-lined block with purple flowering trees now fills the left half of my view and looks like the kind of street frontage where a bicycle would be parked, though nothing is clearly identifiable yet at this distance. I will continue the same leftward scan to place that promising storefront row squarely ahead.", + "Directly across the crossing I now see a red and grey building with glass double doors and a sidewalk running past it, a plausible place for parked bikes. I will turn left once more to center that frontage and check the sidewalk beside it.", + "On the sidewalk to the left of the doorway I can now pick out a small yellow-orange bike-shaped object beside the railings, which matches the target well enough to commit to. I will make one more left turn to line myself up with that frontage before crossing toward it.", + "The storefront with the glass doors is now straight ahead across the crossing, and the orange-yellow bicycle stands on the sidewalk to its left near the railing. I will walk forward across the street to close the distance toward it.", + "The storefront has grown noticeably larger and the yellow-orange bicycle by the railing on the left is easier to make out, so my heading is good. I will keep walking straight ahead to continue closing on it.", + "I am nearly at the far kerb now, with the building's doors filling the view and the orange bicycle clearly parked on the sidewalk to the left. I will step forward again to reach the sidewalk and get closer to the bicycle.", + "An orange bicycle is parked against the tiled shop wall at the left edge of my view, which matches the target I was told to look for among these buildings. The sidewalk ahead of me is open, so I will keep walking forward to close the remaining distance to that storefront.", + "The orange bicycle now sits noticeably larger at the left of my view beside the frosted glass doors, confirming I am closing on it. Since nothing blocks the paving in front of me, I will take another step forward to shorten the gap before turning toward it.", + "Only the front wheel and part of the orange frame remain at the far left border of my view, so continuing straight would carry me past the bicycle. I will turn left to swing my heading toward it and bring the whole bicycle back into the center of my view.", + "The orange bicycle is now fully visible ahead on my left, standing upright against the shop entrance with clear paving between us. I will walk forward to reduce that gap.", + "As I have drawn nearer, the bicycle has slid toward the left side of my view while the frosted door panel dominates the center. I will turn left again so my heading points more directly at the bicycle before advancing further.", + "The orange bicycle is now roughly centered in my view, parked beside the dark storefront window with clear sidewalk in front of it. I will step forward to bring myself right up alongside it.", + "The bicycle now fills much of my view with its orange frame and handlebars close in front of me, but I am still a short step short of standing beside it. I will move forward once more to finish closing that last bit of distance.", + "The orange bicycle is directly in front of me, filling my view at arm's length against the shop wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_c/infos.json b/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..39776686d03d1cd890770e591530ca47c02ac4d4 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000420_y000233_z000128_t0_c/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the storefront beneath the green awning.", + "Type": 0, + "Start_Pose": [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + 293.788, + 230.227, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + 167.968, + 227.064, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + 42.149, + 223.901, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + -83.67, + 220.739, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + -209.489, + 217.576, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + -335.309, + 214.413, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + -461.128, + 211.25, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + -586.947, + 208.087, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + -712.766, + 204.924, + 128.149, + 0.0, + -178.56, + 0.0 + ], + [ + -712.766, + 204.924, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + -828.134, + 255.231, + 128.149, + 0.0, + 156.44, + -0.0 + ], + [ + -828.134, + 255.231, + 128.149, + 0.0, + 131.44, + -0.0 + ], + [ + -911.432, + 349.581, + 128.149, + 0.0, + 131.44, + -0.0 + ], + [ + -994.73, + 443.932, + 128.53, + 0.0, + 131.44, + -0.0 + ], + [ + -1078.028, + 538.282, + 139.319, + 0.0, + 131.44, + -0.0 + ], + [ + -1078.028, + 538.282, + 139.319, + 0.0, + 131.44, + -0.0 + ] + ], + "Rationale": [ + "From the crosswalk I can see the tree-lined street opening ahead, and partway down the left side there is a shopfront shaded by a green awning that matches the target description. My heading is already aligned with the roadway, so nothing needs to be turned yet. I will move forward to enter the street and close distance toward that awning.", + "I have stepped off the crossing and the jacaranda-lined street is now framed directly ahead with clear pavement in front of me. The green-awninged frontage on the left is still far off, too distant to judge its entrance. I will continue straight to keep closing the gap.", + "The buildings on both sides are growing larger, which confirms my straight heading is carrying me up the block as intended. A green awning is visible over a left-hand storefront a little further along, so I am not yet at the point where I should turn in. Another forward step should bring that frontage nearer.", + "I am now well inside the street, and on the left I can make out a teal-green canopy above a recessed shop entrance. It is still several steps ahead of my current position, so approaching along the lane remains the efficient move. I will keep going forward.", + "The green awning on the left is clearly resolving now, sitting above a dark glass frontage behind the guardrail and trees. Since it lies ahead of my shoulder rather than beside me, I still need to gain ground before angling in. Moving forward should bring me alongside it.", + "From here the green-awninged storefront is close on my left, with its doorway and signage becoming legible. I am still positioned in the roadway short of the entrance, so continued straight travel is the shortest route to it. I will advance again.", + "The green awning with its lettering now spans the upper left of my view, directly over the glass double doors that mark the storefront I was sent to. I remain out on the road, roughly level with the awning's near edge rather than in front of the doors. I will move forward once more to draw even with the entrance.", + "I am nearly abreast of the green-awninged shop, its doors now visible just off to my left across the sidewalk. A little more forward travel should place me squarely opposite the entrance before I angle in toward it. I will continue straight.", + "The green awning storefront is now clearly visible on my left side, but its glass doors are still slightly ahead of me along the street. I will continue straight to draw level with that shopfront before angling toward it.", + "I am now beside the green-awning storefront, so keeping a straight heading would carry me past it down the road. Turning left should swing the awning and its entrance doors into the center of my view for a direct approach.", + "After the turn, the green awning and the shop's glass doors sit in the left half of my view and the sidewalk in front of them is clear. Moving forward should close the remaining gap toward that frontage.", + "The storefront doors under the green awning are still off to my left rather than squarely in front of me. I will turn left again to face the entrance head-on before closing the last stretch.", + "I am now facing the shopfront with the green awning directly overhead of its doors, and the paved approach is clear. Advancing should bring me right up beneath the awning.", + "The glass doors with their posters now fill most of my view, though I am still a step or two out from the awning's edge. One more forward step should place me at the entrance itself.", + "The green awning is now directly above and to the right of the doorway in front of me, so I am nearly under it. A final short advance should put me squarely beneath the awning at the entrance.", + "I am standing directly at the storefront's glass doors beneath the green awning. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000484_y002458_z000128_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x000484_y002458_z000128_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22f75b2d083579c71472752c5c01bfcef15f899b --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000484_y002458_z000128_t5_a_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the tomato near the small blue-roofed kiosk on the street.", + "Type": 5, + "Start_Pose": [ + 483.844, + 2458.238, + 128.23, + 0, + -157.44, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -576.339, + 1925.846, + 112.273, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 483.844, + 2458.238, + 128.23, + 0, + -157.44, + 0 + ], + [ + 367.616, + 2409.952, + 128.23, + 0.0, + -157.44, + 0.0 + ], + [ + 251.388, + 2361.666, + 128.723, + 0.0, + -157.44, + 0.0 + ], + [ + 135.16, + 2313.38, + 128.723, + 0.0, + -157.44, + 0.0 + ], + [ + 18.932, + 2265.094, + 130.044, + 0.0, + -157.44, + 0.0 + ], + [ + -97.296, + 2216.809, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -213.524, + 2168.523, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -329.752, + 2120.237, + 128.77, + 0.0, + -157.44, + 0.0 + ], + [ + -442.295, + 2091.379, + 128.149, + 0.0, + -157.44, + 0.0 + ], + [ + -536.008, + 2090.961, + 128.149, + 0.0, + -157.44, + 0.0 + ], + [ + -536.008, + 2090.961, + 128.149, + 0.0, + -132.44, + 0.0 + ], + [ + -536.008, + 2090.961, + 128.149, + 0.0, + -107.44, + 0.0 + ], + [ + -536.008, + 2090.961, + 128.149, + 0.0, + -107.44, + 0.0 + ], + [ + -536.008, + 2090.961, + 128.149, + 0.0, + -107.44, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -576.339, + 1925.846, + 112.273, + 0.0, + 0.0, + 0.0 + ], + [ + -514.208, + 2084.035, + 98.256, + -28.202, + -57.295, + 1.862 + ], + [ + -514.208, + 2084.035, + 98.256, + -28.202, + -57.295, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1186.4, + 1060.9, + 935.5, + 810.2, + 685.2, + 560.5, + 436.5, + 314.0, + 213.0, + 170.0, + 170.0, + 170.0, + 22.9, + 22.9 + ], + "Rationale": [ + "I am standing at the edge of the red-paved street with the shopping arcade stretching ahead, and I cannot yet see any tomato from here. The blue-awninged kiosk frontage sits down the right side of the covered street, so I will walk forward along this open lane to close distance toward it.", + "The blue-roofed kiosk on the right side of the street is now noticeably larger in my view, which tells me my heading is correct. The target tomato is still too far to resolve, so I will keep walking straight ahead along the open lane.", + "From where I stand, I can see the shop row with the blue awning on my right and a line of orange cones marking the sidewalk edge ahead. Nothing blocks my path along this stretch of street, so I will continue walking forward to bring the kiosk frontage within reach.", + "The kiosk with the blue awning and its glass front now dominates the right side of my view, and the cones along the sidewalk are much closer. I still do not have the tomato in sight, so I will step forward again to keep shrinking the gap.", + "I am nearly level with the near end of the kiosk, with its blue awning and posters just off to my right. The tomato should be somewhere along this frontage, so I will keep advancing to bring that stretch of sidewalk into clear view.", + "The kiosk's glass doors and menu poster are close on my right, and the sidewalk ahead is lined with cones and a bollard but stays passable. I will continue forward so the ground along the shopfront comes into view where the tomato should be sitting.", + "I am now walking right alongside the kiosk with its blue awning and poster on my right, but the tomato is still not in view from this angle. I will step forward once more so the pavement beside the shopfront opens up ahead of me.", + "I can now clearly see the large red tomato resting on the pavement just past the cone on my right, against the kiosk frontage. It is still slightly ahead of me and outside grasping range, so I will walk forward to draw level with it.", + "The tomato is now very close along the shopfront on my right, but it sits at the lower edge of my view and slightly behind the traffic cone, so I am not yet beside it. I will take one more short step forward to draw level with it on the sidewalk. That should place it within comfortable reach before I reorient toward it.", + "Standing level with the shopfront, the tomato has slipped out of my forward view because it lies to my right, just off the walkway edge. I will turn right to swing my heading toward the storefront and bring the target back into the center of my view. No further forward stepping seems needed, only a change of facing.", + "The turn has brought the tomato back into view, but it is still at the far lower right corner rather than in front of me. I will turn right once more to square up with it so it sits centered and close in my view. That framing should give a clean angle for reaching down to it.", + "The tomato is now directly in front of me at ground level, centered and well within arm's reach beside the shop entrance. I will reach down and attempt to pick it up. If the grasp registers, the tomato should come into my hands.", + "The tomato is now held in my hands in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67cb37f85817dbd449ec0a29ab08540d287ea9e1 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000684_y-000898_z000128_t0_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the green tree with the visible trunk.", + "Type": 0, + "Start_Pose": [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ], + [ + 799.268, + -847.239, + 131.423, + 0.0, + 24.0, + -0.0 + ], + [ + 799.268, + -847.239, + 131.423, + 0.0, + 49.0, + -0.0 + ], + [ + 881.839, + -752.252, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 964.41, + -657.265, + 138.15, + 0.0, + 49.0, + -0.0 + ], + [ + 964.41, + -657.265, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 999.101, + -536.281, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1033.793, + -415.298, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1068.484, + -294.314, + 138.15, + 0.0, + 74.0, + -0.0 + ], + [ + 1103.176, + -173.331, + 150.341, + 0.0, + 74.0, + -0.0 + ], + [ + 1103.176, + -173.331, + 150.341, + 0.0, + 74.0, + -0.0 + ] + ], + "Rationale": [ + "The green tree with a clearly exposed trunk stands ahead on the right side of the plaza, rising above the shrub bed beside the building entrance. The open paved area in front of me is clear of cones and benches, so I will move forward to begin closing the gap toward it.", + "After advancing, the target tree sits well off to my right edge while my heading still points along the glass facade. I will turn right to swing that trunk toward the center of my view before continuing.", + "The turn has brought the green tree and its pale trunk into the upper right of my view, above the planter bed along the walkway. The pavement between me and that planter is clear, so I will move forward to shorten the distance.", + "The trunk is noticeably thicker and closer now, with the low planter and shrubs beneath it coming into clearer detail. I will keep pushing forward along this open stretch to continue closing on the tree.", + "The tree now looms at the top right and its trunk is drifting toward the edge of my view as I close in, while my heading still runs into the building wall. I will turn right so the trunk and the walkway beside the planter line up more centrally ahead of me.", + "The green tree with its bare, visible trunk now rises near the center of my view above the long planter, and the sidewalk beside it runs straight ahead. I will move forward along that clear path to approach the trunk directly.", + "The trunk is growing wider in front of me and the planter edge is nearly at my feet on the left, showing I am getting close. I will advance again along the clear walkway to reduce the remaining distance.", + "The pale trunk now fills much of the near view with its foliage bed directly beside me, so only a short gap remains. I will take one more step forward to settle right at the tree.", + "The green tree's bare trunk now rises directly ahead just left of center, with its planter bed close in front of me and the walkway open on the right. One more step forward along this heading should bring me right up beside the trunk. I will move forward to close that last bit of distance.", + "The green tree's bare trunk stands immediately in front of me, filling the near left of my view. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_a/infos.json b/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d07fe917168ac87ecc89141395f654f07048eaf2 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000805_y-000860_z000136_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the third traffic cone from the left.", + "Type": 2, + "Start_Pose": [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ], + [ + 919.769, + -808.752, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1034.747, + -757.56, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1149.725, + -706.369, + 138.15, + 0.0, + 24.0, + -0.0 + ], + [ + 1149.725, + -706.369, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + 1275.565, + -708.565, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + 1401.404, + -710.762, + 138.15, + 0.0, + -1.0, + 0.0 + ], + [ + 1401.404, + -710.762, + 138.15, + 0.0, + -26.0, + 0.0 + ], + [ + 1514.526, + -765.935, + 138.15, + 0.0, + -26.0, + 0.0 + ], + [ + 1514.526, + -765.935, + 138.15, + 0.0, + -26.0, + 0.0 + ], + [ + 1514.526, + -765.935, + 138.15, + 0.0, + -26.0, + 0.0 + ] + ], + "Rationale": [ + "From here I can pick out three orange cones lined up along the teal barriers on my left, and counting from the left end the third one is the cone standing at the far end of that barrier run, closest to the building wall. It is a long way off across the open plaza, so I will walk forward to close the distance.", + "The cone beside the end of the barrier run is still well off to my left and remains small in view. I will keep walking forward across the paving to shorten that gap before I adjust my heading.", + "The nearer cones have dropped behind me and only the one at the barrier end is still in view on my left, so I can no longer read the row from its left end and simply follow that cone. It remains ahead and to the side, so I continue walking forward.", + "Moving straight along the building face has pushed the cone I am heading for right to the edge of my view, with mostly windows and benches in front of me now. I will turn left so it sits back in front of me before I advance any further.", + "The turn has brought the barrier and my cone back into the left half of my view, standing on the tiled ground beside the wall. There is still a fair stretch of paving between us, so I step forward toward it.", + "The cone is noticeably larger now, sitting just left of my path at the end of the teal barrier. I will walk forward again to close the remaining gap.", + "I have come up almost level with the cone, which is now cut off at the left edge while the window wall and bench fill the rest of my view. I will turn left so I am facing it squarely before taking the last step.", + "The cone now stands directly ahead of me, just left of center and only a step or two away beside the barrier. I will move forward to stand right at it.", + "Only the tip of the cone shows at the bottom left corner while my gaze is filled with the window panel above it, so I cannot tell how close my feet are to its base. I will look down to bring the cone and the tiles right beside me into view and confirm I am standing at it.", + "The cone beside the barrier run stands full height directly at my feet, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_a/infos.json b/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35d14fac9358bdc570dd8e446b04336f69f932dc --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the glass double door on the white building.", + "Type": 0, + "Start_Pose": [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1065.035, + 28.42, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1139.439, + 129.932, + 150.313, + 0.0, + 53.76, + -0.0 + ], + [ + 1139.439, + 129.932, + 150.313, + 0.0, + 28.76, + -0.0 + ], + [ + 1249.772, + 190.488, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1360.106, + 251.044, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1470.439, + 311.6, + 138.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1470.439, + 311.6, + 138.15, + 0.0, + 3.76, + -0.0 + ], + [ + 1568.076, + 319.74, + 138.15, + 0.0, + 3.76, + -0.0 + ], + [ + 1568.076, + 319.74, + 138.15, + 0.0, + 3.76, + -0.0 + ] + ], + "Rationale": [ + "The frosted glass double door set into the white building is clearly visible ahead on my left, past a low planter with shrubs. The paved walkway in front of me is open, so I will move forward to begin closing the gap toward that entrance.", + "The double door has grown larger in view and now sits toward the left edge, confirming I am gaining ground on it. The tiled courtyard ahead remains clear, so another forward step should bring me nearer before I correct my heading.", + "My heading is running parallel along the facade, and the glass double door has drifted to the far left of my view where it is nearly edge-on. I will turn left to bring the doors back toward the center of my view so my approach line points at them.", + "The turn has placed the frosted double door squarely in front of me with its two handles centered, and the tiled ground between us is unobstructed. I will move forward to close the remaining distance on this good heading.", + "The door frame now fills much more of my view and the handles are clearly resolved, so my approach line is holding well. I will continue forward to keep shrinking the gap to the entrance.", + "I am close enough that the glass panels dominate my view and the mullion with its two handles sits just left of center. One more forward step should place me right at the doorway rather than a stride short of it.", + "At this short range the doors have shifted so that the handles and center seam sit on the left half of my view, with the wall pier and adjacent panel taking the right. A small left turn should square me up with the center of the double door before I finish closing in.", + "The two door handles and the central mullion are now centered directly in front of me, confirming I am squared on the glass double door. I will take a short step forward to stand immediately at the entrance.", + "The frosted glass panel and its metal handle fill my view at arm's length. The task is complete, so I stop here rather than press into the door." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_b/infos.json b/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d64f38ae4c0d91f37c984502da0d1914ed57bfb1 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the yellow barrier near the building.", + "Type": 0, + "Start_Pose": [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1065.035, + 28.42, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1139.439, + 129.932, + 150.313, + 0.0, + 53.76, + -0.0 + ], + [ + 1213.843, + 231.443, + 138.706, + 0.0, + 53.76, + -0.0 + ], + [ + 1288.247, + 332.954, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1288.247, + 332.954, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1312.779, + 456.399, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1337.311, + 579.844, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1361.844, + 703.289, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1386.376, + 826.734, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1410.908, + 950.179, + 138.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1410.908, + 950.179, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1485.312, + 1051.69, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1485.312, + 1051.69, + 138.15, + 0.0, + 53.76, + -0.0 + ] + ], + "Rationale": [ + "From this spot at the corner of the glass-fronted building I can pick out low yellow barriers far ahead on the open plaza, just past the planters on my right. The tiled walkway between the building wall and the raised planter beds is clear, so I will move forward to start closing that distance.", + "The yellow barriers ahead have grown slightly larger and stay near the base of the building wall, confirming my heading points into the right corridor. The paving in front remains unobstructed, so I will continue forward toward them.", + "The pair of yellow barriers with an orange cone between them is now clearly resolved ahead and slightly right, next to the building wall. Nothing blocks the tiles between me and them, so another forward step should keep shrinking the gap.", + "The barriers and the bench near the wall are noticeably closer, and the plaza opens out beyond them. I will keep moving forward along this corridor to bring the barriers within a few steps.", + "My current heading runs close along the building facade, while the yellow barriers sit off to the right of my forward axis near the round column. I will turn right to swing my heading onto them so that my next steps carry me straight at the barriers rather than past them into the wall.", + "After the turn the yellow barriers and cone sit ahead of me near the grey column, with the wide paved plaza open in between. With the heading now pointing at them, I will move forward to close the remaining distance.", + "The barriers are larger in view now and stay just left of the column ahead, so my line of travel is still good. The tiles in front are clear of obstacles, so I will step forward again.", + "I can now see the yellow barriers and the cone in detail against the building base, only a short stretch of paving away. I will continue forward to bring myself right up beside them.", + "The pair of yellow barriers with the orange cone between them sits ahead near the building wall, just left of the gray cylindrical column, and my current heading points along the open paved walkway toward it. Nothing blocks that lane, so I will keep moving forward to cut the remaining distance.", + "The barriers and cone now fill a noticeably larger part of my view slightly left of center, confirming the previous advance closed real distance. I still have a few steps of clear pavement, so another forward move should bring me close to the barrier line.", + "I am now close to the barriers, but they have drifted into the lower left of my view while the gray column occupies the center and right of my heading. Turning left should recenter the yellow barrier line ahead of me for a clean final step in.", + "The two yellow barriers with the cone between them are now squarely centered in front of me at short range, right against the building frontage. One more forward step should place me directly at the barrier, close enough to count as reaching it.", + "The yellow barrier fills the near foreground directly in front of me beside the building. The task is complete, so I stop here rather than push into it." + ] +} diff --git a/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t5_a_p/infos.json b/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3d3e4cd0bcdad442da5704c5bcd27a3e17e67cf6 --- /dev/null +++ b/dataset/trajectory/Tokyo/task_x000991_y-000073_z000138_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the metal bucket near the glass double door on the white building.", + "Type": 5, + "Start_Pose": [ + 990.631, + -73.091, + 138.15, + 0, + 53.76, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1523.363, + 400.054, + 68.146, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 990.631, + -73.091, + 138.15, + 0, + 53.76, + 0 + ], + [ + 1065.035, + 28.42, + 138.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1139.439, + 129.932, + 150.313, + 0.0, + 53.76, + -0.0 + ], + [ + 1213.843, + 231.443, + 138.706, + 0.0, + 53.76, + -0.0 + ], + [ + 1213.843, + 231.443, + 138.706, + 0.0, + 28.76, + -0.0 + ], + [ + 1324.176, + 291.999, + 138.182, + 0.0, + 28.76, + -0.0 + ], + [ + 1434.51, + 352.555, + 138.182, + 0.0, + 28.76, + -0.0 + ], + [ + 1434.51, + 352.555, + 138.182, + 0.0, + 28.76, + -0.0 + ], + [ + 1434.51, + 352.555, + 138.182, + 0.0, + 28.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1523.363, + 400.054, + 68.146, + 0.0, + 0.0, + 0.0 + ], + [ + 1523.363, + 400.054, + 68.146, + 0.0, + 0.0, + 0.0 + ], + [ + 1523.363, + 400.054, + 68.146, + 0.0, + 0.0, + 0.0 + ], + [ + 1523.363, + 400.054, + 68.146, + 0.0, + 0.0, + 0.0 + ], + [ + 1523.363, + 400.054, + 68.146, + 0.0, + 0.0, + 0.0 + ], + [ + 1523.363, + 400.054, + 68.146, + 0.0, + 0.0, + 0.0 + ], + [ + 1523.363, + 400.054, + 68.146, + 0.0, + 0.0, + 0.0 + ], + [ + 1423.7, + 370.981, + 108.257, + -28.202, + 78.904, + 1.862 + ], + [ + 1423.7, + 370.981, + 108.257, + -28.202, + 78.904, + 1.862 + ] + ], + "PD_Dist_2D": [ + 712.5, + 590.1, + 469.4, + 352.5, + 352.5, + 226.6, + 100.8, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the white building's frosted glass double doors ahead on my left, with a dark metal bucket standing on the paving right beside them. The bucket is still far off across the plaza, so I will walk forward along the open walkway to close that distance. Nothing blocks the paved lane in front of me, so straight advancing should be the most direct approach.", + "The doors and the metal bucket beside them now appear larger and closer, confirming my heading is taking me toward the target. The bucket is still several strides away, so I will keep walking forward. The paving between me and the building remains clear of obstacles.", + "The metal bucket beside the glass doors is now clearly resolved against the white wall, but it still sits well beyond arm's reach. I will step forward again to keep shrinking the gap before I need to fine-tune my facing. The tiled ground ahead is unobstructed.", + "The bucket now sits in the left portion of my view, offset from my current heading toward the plaza. Rather than approach at an angle, I will turn left so the bucket and the glass doors behind it come to the center of my view. That should give me a straight line to walk in on.", + "The turn has brought the double doors and the metal bucket near the middle of my view, so my heading is now lined up with the target. I will walk forward along this line to close the remaining distance. The tiled apron in front of the doors is clear.", + "The bucket is large in front of me now, standing just left of center against the glass doors, but it is still a stride short of grasping range. I will take one more step forward to bring it directly within reach. My line of travel to it stays unobstructed.", + "The metal bucket now fills the lower part of my view right against the frosted glass doors, close enough that its rim is at my feet. This is the target named in the task, so I will attempt to grasp and lift it. If the reach is good, the bucket should come up into my hands.", + "The metal bucket is now held in my hands, lifted off the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_a_p/infos.json b/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df3c0d8b8e625fbbef57e54782b9b0b0d32119c0 --- /dev/null +++ b/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the green bell pepper.", + "Type": 5, + "Start_Pose": [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + [ + 3040.491, + -7841.096, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 3062.346, + -7717.149, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 3084.202, + -7593.202, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 3084.202, + -7593.202, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 3084.202, + -7593.202, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3156.391, + -7490.105, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3156.391, + -7490.105, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3156.391, + -7490.105, + 138.15, + 0.0, + 55.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ], + [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ], + [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ], + [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ], + [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ], + [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ], + [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ], + [ + 3138.549, + -7478.356, + 108.257, + -28.202, + 105.144, + 1.862 + ], + [ + 3138.549, + -7478.356, + 108.257, + -28.202, + 105.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 617.6, + 492.2, + 367.3, + 243.2, + 243.2, + 243.2, + 123.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The green bell pepper sits on the mossy ground ahead of me, near the base of the blossoming tree, but it is still far away and small in view. My heading already points at it, so I will walk straight forward to close the gap.", + "The pepper has grown noticeably larger and remains slightly left of center, so my previous step gained real ground. It is still well out of arm's reach, so I will keep walking straight toward it.", + "The pepper now fills a good part of the lower view and stays just left of my heading, with open moss between us and no obstacle in the way. It is still not close enough to grab, so I will advance one more step.", + "The green bell pepper is directly in front of me at the bottom of my view, large and unobstructed on the moss. This looks near enough to grasp, so I will attempt to pick it up.", + "My hands are empty and the pepper was not taken, so that grasp attempt did not connect. The target sat slightly left of my heading rather than squarely in front, so I will turn left to line my body up with it before trying again.", + "My earlier grasp attempt left my hands empty and the green bell pepper still resting on the ground, so I was simply not close enough. After turning, the pepper now sits centered just ahead of me on the leaf covered ground. I will walk forward to close that remaining gap before trying again.", + "The pepper has passed below the bottom edge of my view, which means it is now right at my feet near the tree base rather than out in front of me. My previous attempt from farther back came up empty, but this range should be within reach. I will reach down and try to grasp it.", + "The green bell pepper is now held in my hand. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_a_pd/infos.json b/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8f316cf1d08fb5c684772bb8c89f7cbc4adf087e --- /dev/null +++ b/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_a_pd/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the candelabra, then place it next to the stone lantern.", + "Type": 5, + "Start_Pose": [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3142.733, + -7542.52, + 63.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + [ + 3040.491, + -7841.096, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 3062.346, + -7717.149, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 3062.346, + -7717.149, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 3062.346, + -7717.149, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 3029.771, + -7595.579, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 3029.771, + -7595.579, + 138.15, + 0.0, + 130.0, + -0.0 + ], + [ + 2948.87, + -7499.166, + 138.15, + 0.0, + 130.0, + -0.0 + ], + [ + 2867.968, + -7402.753, + 138.15, + 0.0, + 130.0, + -0.0 + ], + [ + 2914.25, + -7457.908, + 138.15, + 0.0, + 130.0, + -0.0 + ], + [ + 2914.25, + -7457.908, + 138.15, + 0.0, + 130.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3142.733, + -7542.52, + 63.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3142.733, + -7542.52, + 63.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3142.733, + -7542.52, + 63.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3041.211, + -7714.042, + 108.257, + -28.202, + 130.145, + 1.862 + ], + [ + 3040.954, + -7723.52, + 108.529, + -28.189, + 155.157, + 1.872 + ], + [ + 3009.406, + -7602.089, + 108.84, + -28.193, + 155.149, + 1.872 + ], + [ + 3013.071, + -7609.785, + 107.676, + -28.202, + -179.858, + 1.858 + ], + [ + 2932.797, + -7513.232, + 107.938, + -28.208, + -179.858, + 1.852 + ], + [ + 2852.057, + -7417.023, + 108.359, + -28.189, + -179.841, + 1.867 + ], + [ + 2869.255, + -7404.285, + 108.15, + 0.0, + 60.0, + -0.0 + ], + [ + 2869.255, + -7404.285, + 108.15, + 0.0, + 60.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 440.4, + 315.6, + 192.2, + 21.4, + 22.3, + 21.4, + 21.9, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The candelabra stands on the mossy ground ahead of me, near the base of the blossoming tree, and the stone lantern sits off to the right against the rock face. It is still too far for me to grasp, so I will walk straight forward to close the gap.", + "The candelabra is noticeably larger and lower in my view now, but it remains beyond comfortable reach. I will step forward again so it comes close enough in front of me for a grasp attempt.", + "The candelabra now fills the lower part of my view directly in front of me, its three candles and silver arms clearly within reach. This is the right distance to attempt the grasp, so I will try to pick it up.", + "The candelabra is now in my hands rather than resting on the ground, so the grasp took hold. The stone lantern lay off to my right when I approached, so I will turn right to bring it into view and face the delivery spot.", + "The stone lantern is now visible ahead of me at the foot of the stone stairway, with the carried candelabra still in hand. It is still several paces away, so I will walk forward to carry the candelabra closer to it.", + "The lantern sits right of my current heading, closer now but offset toward the stairs rather than straight ahead. I will turn right to center it so my remaining steps lead directly to it.", + "The lantern is now roughly centered in front of me with the candelabra still carried. A short walk forward should bring me near enough to set the candelabra beside it.", + "The lantern is close and centered, its lit red panel clearly visible, but I am not yet beside it. I will take one more step forward so the candelabra can be released right next to the lantern.", + "The candelabra is still in my hands and the stone lantern now stands directly ahead, filling the near view at arm's length. This is the placement spot the task asks for, so I will release the candelabra here beside the lantern. It should settle on the ground right next to its base.", + "The candelabra now rests on the ground beside the stone lantern instead of in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_b_p/infos.json b/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7bba3253d04b3c4e70c5e3480b3b2157c9b7cba3 --- /dev/null +++ b/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2795.214, + -7356.763, + 123.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + [ + 3018.636, + -7965.043, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2986.061, + -7843.473, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2953.487, + -7721.902, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2920.912, + -7600.332, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2888.337, + -7478.761, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2888.337, + -7478.761, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2888.337, + -7478.761, + 138.15, + 0.0, + 105.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2795.214, + -7356.763, + 123.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2795.214, + -7356.763, + 123.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2795.214, + -7356.763, + 123.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2795.214, + -7356.763, + 123.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2795.214, + -7356.763, + 123.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2795.214, + -7356.763, + 123.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2867.869, + -7484.877, + 108.257, + -28.202, + 155.145, + 1.862 + ], + [ + 2867.869, + -7484.877, + 108.257, + -28.202, + 155.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 648.0, + 648.0, + 522.8, + 398.0, + 274.1, + 153.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The small red tomato sits beside the stone lantern well off to the right edge of my view, near the rocky slope. I will turn right so it moves toward the center of my heading before I start walking. That should give me a straight approach line across the open ground.", + "The tomato now sits ahead of me at the base of the stone lantern, roughly centered in my path. The ground between us is open leaf-covered lawn with nothing blocking it, so I will step forward to close the large gap.", + "The tomato has grown noticeably larger and stays on my heading beside the lantern base, confirming my walking direction is right. It is still several strides away, too far to reach. I will keep advancing without changing course.", + "The tomato is clearly closer now, resting on the ground just in front of the lantern pedestal and still lined up with my heading. It remains outside grasping range, so another step forward is the direct way to reduce the remaining distance.", + "The tomato now fills a good part of the lower center of my view, but it is still a stride short of where I could comfortably reach down to it. I will take one more step forward to stand right over it before attempting a grasp.", + "The tomato is right at my feet in the lower right of my view, close enough that it dominates the near ground beside the lantern. My hands are empty and nothing sits between me and it. I will attempt to pick it up now.", + "The tomato is now held in my hands and no longer resting on the ground. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_b_pd/infos.json b/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a66de410fdb7bb33cb0a193bec78e70347c4360 --- /dev/null +++ b/dataset/trajectory/eastern_Garden/task_x003019_y-007965_z000138_t5_b_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the wicker basket, then place it at the base of the large tree.", + "Type": 5, + "Start_Pose": [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2869.011, + -7333.923, + 88.15, + 90, + 120, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + [ + 3018.636, + -7965.043, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2986.061, + -7843.473, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2953.487, + -7721.902, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2920.912, + -7600.332, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2888.337, + -7478.761, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2888.337, + -7478.761, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 2888.337, + -7478.761, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 2888.337, + -7478.761, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 2960.527, + -7375.663, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3032.716, + -7272.565, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3104.906, + -7169.467, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3177.095, + -7066.37, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3249.284, + -6963.272, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3321.474, + -6860.174, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3280.177, + -6919.153, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 3280.177, + -6919.153, + 138.15, + 0.0, + 55.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2869.011, + -7333.923, + 88.15, + 90.0, + 120.0, + 0.0 + ], + [ + 2869.011, + -7333.923, + 88.15, + 90.0, + 120.0, + 0.0 + ], + [ + 2869.011, + -7333.923, + 88.15, + 90.0, + 120.0, + 0.0 + ], + [ + 2869.011, + -7333.923, + 88.15, + 90.0, + 120.0, + 0.0 + ], + [ + 2869.011, + -7333.923, + 88.15, + 90.0, + 120.0, + 0.0 + ], + [ + 2869.011, + -7333.923, + 88.15, + 90.0, + 120.0, + 0.0 + ], + [ + 2867.869, + -7484.877, + 108.257, + -28.202, + 155.145, + 1.862 + ], + [ + 2868.139, + -7475.824, + 108.529, + -28.189, + 130.157, + 1.872 + ], + [ + 2871.901, + -7467.062, + 107.862, + -28.215, + 105.128, + 1.849 + ], + [ + 2942.866, + -7363.653, + 107.676, + -28.202, + 105.142, + 1.858 + ], + [ + 3014.969, + -7260.681, + 107.938, + -28.208, + 105.142, + 1.852 + ], + [ + 3087.004, + -7157.791, + 108.359, + -28.189, + 105.159, + 1.867 + ], + [ + 3159.044, + -7054.926, + 108.74, + -28.207, + 105.135, + 1.857 + ], + [ + 3231.204, + -6951.856, + 108.889, + -28.192, + 105.148, + 1.872 + ], + [ + 3303.5, + -6848.624, + 108.658, + -28.206, + 105.138, + 1.864 + ], + [ + 3320.327, + -6861.812, + 103.15, + 90.0, + 55.0, + 0.0 + ], + [ + 3320.327, + -6861.812, + 103.15, + 90.0, + 55.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 648.6, + 648.6, + 522.8, + 397.1, + 271.4, + 146.1, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket sits far off to the right of my heading, leaning near the small stone lantern by the rock face, while the blossoming tree fills the left of my view. I will turn right to bring the basket closer to the center of my path before walking toward it.", + "The basket and the lantern beside it now sit near the middle of my view, so my heading is usable. I will walk forward to close the long gap across the mossy ground toward it.", + "The basket has grown slightly larger and stays just left of the stone lantern, confirming I am tracking it correctly. It is still well out of arm's reach, so I keep stepping forward.", + "The basket is clearly nearer now, its woven rim distinct against the grass beside the lantern base. I continue walking forward since I still cannot reach it from here.", + "The basket fills a good portion of the lower view and the stairs behind it are close, so one more step should bring it within reach. I will move forward to reach grasping range.", + "The wicker basket now sits directly in front of me at the bottom of my view, close enough that its rim spans much of the near ground. I will attempt to pick it up so I can carry it toward the large blossoming tree.", + "The grasp worked, and the wicker basket is now held in my hands. The large tree lies well behind my left shoulder from this heading, so I will turn left to swing my facing back toward it.", + "With the basket in hand, the big blossoming tree has come into view but its trunk still sits off toward the left edge of my sight. I will turn left once more to line my heading up with the trunk before walking to it.", + "The wicker basket is in my hands and my heading now faces the large blossoming tree squarely across the open courtyard. Its trunk sits centered ahead with clear ground between us, so I will walk forward to carry the basket toward its base.", + "The trunk has grown larger and stays near the middle of my view, confirming my line of travel is good. Still carrying the basket, I will keep walking to close the remaining distance to the tree.", + "The base of the trunk and its spreading roots are now clearly visible ahead, but I am still several paces short of them. I will continue forward with the basket to reach the drop position.", + "The trunk now fills much of the left-center of my view and the ground at its foot is close. I will step forward again so the basket can be set right against the base rather than out on the open lawn.", + "The bark now occupies the left side of my view and the root base is only a step or two away. I will advance once more to stand directly at the foot of the tree before releasing the basket.", + "I am beside the trunk with its bark filling the left edge, though the ground I face is still slightly off the root base. One more step forward should place me right at the foot of the tree for setting the basket down.", + "I am standing immediately at the foot of the large tree, with its trunk right beside me on the left and open ground under me. This is the intended placement spot, so I will release the wicker basket here at the base.", + "The wicker basket now rests on the ground at the foot of the large tree, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_grounds/task_x015038_y-014298_z002039_t5_a_p/infos.json b/dataset/trajectory/ef_grounds/task_x015038_y-014298_z002039_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7fc6c213e5903cb5f58d5e11a691202a503bc585 --- /dev/null +++ b/dataset/trajectory/ef_grounds/task_x015038_y-014298_z002039_t5_a_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Pick up the plate.", + "Type": 5, + "Start_Pose": [ + 15037.923, + -14298.168, + 2039.04, + 0, + 10, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 15415.369, + -14290.619, + 1989.04, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 15037.923, + -14298.168, + 2039.04, + 0, + 10, + 0 + ], + [ + 15161.87, + -14276.313, + 2039.04, + 0.0, + 10.0, + -0.0 + ], + [ + 15285.817, + -14254.458, + 2039.04, + 0.0, + 10.0, + -0.0 + ], + [ + 15285.817, + -14254.458, + 2039.04, + 0.0, + 10.0, + -0.0 + ], + [ + 15285.817, + -14254.458, + 2039.04, + 0.0, + 10.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 15415.369, + -14290.619, + 1989.04, + 90.0, + 0.0, + 0.0 + ], + [ + 15415.369, + -14290.619, + 1989.04, + 90.0, + 0.0, + 0.0 + ], + [ + 15415.369, + -14290.619, + 1989.04, + 90.0, + 0.0, + 0.0 + ], + [ + 15281.508, + -14233.534, + 2009.146, + -28.202, + 60.144, + 1.862 + ], + [ + 15281.508, + -14233.534, + 2009.146, + -28.202, + 60.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 377.5, + 253.9, + 134.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The plate I need is not yet within reach; the porch stretches ahead of me with a clear stretch of decking past the hanging chair. I will walk forward along the boards to close that distance and bring the target area into reach.", + "I am nearer the hanging chair now, but the plate is still further down the deck and out of grasping range. The path between the wall and the railing remains open, so I will keep walking forward to reach it.", + "I have stopped on the deck right where the plate rests on the boards just in front of me, close enough that no further stepping is needed. My hands are empty, so I will attempt the grasp now and should come away holding the plate.", + "The white plate is now held in my hands rather than resting on the boards. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_a_p/infos.json b/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b5ae3f54faa9a5cdc1a43abddeae1113d2c8bf99 --- /dev/null +++ b/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the jerry can near the yellow wet floor sign.", + "Type": 5, + "Start_Pose": [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -162.037, + -3054.938, + 53.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + [ + 51.433, + -3561.711, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 18.858, + -3440.14, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -13.716, + -3318.57, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -46.291, + -3197.0, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -46.291, + -3197.0, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -46.291, + -3197.0, + 138.15, + 0.0, + 105.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -162.037, + -3054.938, + 53.15, + 0.0, + 0.0, + 0.0 + ], + [ + -162.037, + -3054.938, + 53.15, + 0.0, + 0.0, + 0.0 + ], + [ + -162.037, + -3054.938, + 53.15, + 0.0, + 0.0, + 0.0 + ], + [ + -162.037, + -3054.938, + 53.15, + 0.0, + 0.0, + 0.0 + ], + [ + -162.037, + -3054.938, + 53.15, + 0.0, + 0.0, + 0.0 + ], + [ + -66.759, + -3203.116, + 108.256, + -28.202, + 155.145, + 1.862 + ], + [ + -66.759, + -3203.116, + 108.256, + -28.202, + 155.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 549.9, + 549.9, + 425.6, + 302.5, + 183.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The red jerry can sits far down the corridor beside the yellow wet floor sign, offset to my right of my current heading. I will turn right so the can and sign line up ahead of me before I close the distance.", + "The jerry can and the yellow wet floor sign now sit close to the middle of my view along the corridor, so my heading is good. They are still far away, so I will walk forward to close the gap.", + "The jerry can and wet floor sign have grown noticeably larger ahead on my right, confirming I am on a good line. They remain beyond arm's reach, so I keep walking forward.", + "The jerry can now stands out clearly against the door with the yellow sign just beside it, but it is still a couple of paces off. I will step forward once more to bring it within grasping range.", + "The jerry can is right beside me at the lower right, with the yellow wet floor sign next to it, so it is within reach. My hands are empty, so I will attempt to pick it up now.", + "The jerry can is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_a_pd/infos.json b/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fdb33c16274546a58990e6c55190a06f2b207ed9 --- /dev/null +++ b/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_a_pd/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it on the nearest hospital bed on the left side of the corridor.", + "Type": 5, + "Start_Pose": [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -107.309, + -3146.367, + 66.912, + -0.048, + 151.815, + -69.68 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + [ + 51.433, + -3561.711, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 18.858, + -3440.14, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -13.716, + -3318.57, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -13.716, + -3318.57, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -13.716, + -3318.57, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + -13.716, + -3318.57, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + -13.716, + -3318.57, + 138.15, + 0.0, + 30.0, + -0.0 + ], + [ + 95.281, + -3255.641, + 138.15, + 0.0, + 30.0, + -0.0 + ], + [ + 172.0, + -3224.602, + 138.15, + 0.0, + 30.0, + -0.0 + ], + [ + 109.646, + -3260.601, + 138.15, + 0.0, + 30.0, + -0.0 + ], + [ + 109.646, + -3260.601, + 138.15, + 0.0, + 30.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -107.309, + -3146.367, + 66.912, + -0.048, + 151.815, + -69.68 + ], + [ + -107.309, + -3146.367, + 66.912, + -0.048, + 151.815, + -69.68 + ], + [ + -107.309, + -3146.367, + 66.912, + -0.048, + 151.815, + -69.68 + ], + [ + -107.309, + -3146.367, + 66.912, + -0.048, + 151.815, + -69.68 + ], + [ + -34.185, + -3324.686, + 108.256, + -28.202, + 155.144, + 1.862 + ], + [ + -33.915, + -3315.633, + 108.529, + -28.189, + 130.156, + 1.872 + ], + [ + -30.152, + -3306.87, + 107.862, + -28.215, + 105.127, + 1.849 + ], + [ + -22.502, + -3292.499, + 108.043, + -14.175, + 72.192, + 6.959 + ], + [ + 83.972, + -3237.512, + 108.482, + -28.198, + 80.145, + 1.865 + ], + [ + 161.052, + -3206.268, + 107.72, + -28.209, + 80.138, + 1.854 + ], + [ + 170.268, + -3225.601, + 128.15, + 0.0, + 30.0, + -0.0 + ], + [ + 170.268, + -3225.601, + 128.15, + 0.0, + 30.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 444.6, + 444.6, + 319.7, + 196.0, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the floor down the corridor on the right side, near the wooden door, while my heading points slightly left of it. I will turn right so the pepper falls closer to the center of my view before I walk toward it.", + "The pepper now lies ahead on the right, still far down the corridor and too distant to grasp. The floor between us is clear of beds and carts, so I will step forward to close that gap.", + "The pepper has grown noticeably larger on the right side of my view, but it is still several paces away beside the yellow floor sign. I will keep walking forward to bring it within grasping range.", + "The green bell pepper now fills the lower right of my view, close enough that its stem is clearly visible right in front of me. Nothing blocks my hands, so I will attempt to pick it up.", + "The grasp worked, and the pepper is now held in my hands instead of resting on the corridor floor. The hospital beds I need are along the left side of the corridor, behind my current heading, so I will turn left to begin swinging toward them.", + "Carrying the pepper, I can see the corridor again with beds along both walls, but the nearest one on the left is still off to the edge of my view. I will turn left once more to bring that near bed toward the center of my heading.", + "The nearest made bed now appears on the left of my view near the corner wall, not yet straight ahead of me. Another left turn should place it directly in front so I can walk to it with the pepper.", + "The nearest hospital bed is now squarely ahead of me with clear floor between us. Still holding the pepper, I will step forward to get close enough to place it on the mattress.", + "I am still carrying the green bell pepper and the nearest bed along the left side of the corridor is now directly ahead of me, its mattress filling the lower part of my view. I am slightly short of it, so I will step forward once more to bring the mattress within comfortable release range.", + "I am now right at the head of the nearest left-side hospital bed, with the pillow and mattress filling my view just in front of me and the pepper still in hand. This is the placement target named in the task, so I will release the pepper here and it should come to rest on the bedding.", + "The green bell pepper is resting on the nearest left-side hospital bed and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_b_p/infos.json b/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..717939909decb3778b6f5687557b6754aa85ed51 --- /dev/null +++ b/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the plate near the yellow mop bucket.", + "Type": 5, + "Start_Pose": [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1.218, + -2934.912, + 88.15, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + [ + 73.288, + -3437.764, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 73.288, + -3437.764, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 40.713, + -3316.194, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 8.139, + -3194.623, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -24.436, + -3073.053, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -24.436, + -3073.053, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + -24.436, + -3073.053, + 138.15, + 0.0, + 105.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1.218, + -2934.912, + 88.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1.218, + -2934.912, + 88.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1.218, + -2934.912, + 88.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1.218, + -2934.912, + 88.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1.218, + -2934.912, + 88.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1.218, + -2934.912, + 88.15, + 90.0, + 90.0, + 0.0 + ], + [ + -44.904, + -3079.169, + 108.256, + -28.202, + 155.145, + 1.862 + ], + [ + -44.904, + -3079.169, + 108.256, + -28.202, + 155.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 628.8, + 508.0, + 508.0, + 383.3, + 259.8, + 140.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The large white plate is standing on the corridor floor well ahead of me, next to the yellow mop bucket on the left. Nothing blocks the open lane between the beds and the wall, so I will walk forward to close that long distance before any grasp is possible.", + "After stepping forward the plate and the yellow bucket now sit slightly left of my heading, but the corridor axis itself runs off to my right, and the bed on my left crowds my current line. I will turn right to square up with the corridor so my forward path passes cleanly toward the plate.", + "With the corridor now running straight ahead, the plate sits centered in my path just past the mop bucket and the yellow caution sign. The lane is clear of beds and carts, so I will step forward to keep shortening the gap to the plate.", + "The plate has grown noticeably larger and remains directly in front of me, with the mop bucket at its left and the caution sign to its right. I am still too far to reach it, so I will continue walking straight ahead.", + "The plate now fills a large part of my lower view and the mop bucket is close on my left, but the plate is still a step beyond comfortable reach. I will advance once more to bring it within grasping range.", + "The plate is now at the near edge of my view, immediately in front of my feet and beside the yellow mop bucket area. This is the target the task named, and it is within reach, so I will attempt to pick it up.", + "The plate is now held in my hands rather than resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_b_pd/infos.json b/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0ae27fef286d3c45498bbb25fa4afbffd0f8baf --- /dev/null +++ b/dataset/trajectory/hospital/task_x000051_y-003562_z000138_t5_b_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the metal bucket, then place it next to the yellow mop bucket in the middle of the corridor.", + "Type": 5, + "Start_Pose": [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 210.826, + -3260.135, + 60.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + [ + 73.288, + -3437.764, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 73.288, + -3437.764, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 73.288, + -3437.764, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 145.478, + -3334.666, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 145.478, + -3334.666, + 138.15, + 0.0, + 55.0, + -0.0 + ], + [ + 145.478, + -3334.666, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 162.58, + -3217.113, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 162.58, + -3217.113, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 121.472, + -3105.673, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 87.618, + -2987.215, + 138.15, + 0.0, + 105.0, + -0.0 + ], + [ + 87.618, + -2987.215, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 75.116, + -3058.122, + 138.15, + 0.0, + 80.0, + -0.0 + ], + [ + 75.116, + -3058.122, + 138.15, + 0.0, + 80.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 210.826, + -3260.135, + 60.15, + 0.0, + 0.0, + 0.0 + ], + [ + 210.826, + -3260.135, + 60.15, + 0.0, + 0.0, + 0.0 + ], + [ + 210.826, + -3260.135, + 60.15, + 0.0, + 0.0, + 0.0 + ], + [ + 210.826, + -3260.135, + 60.15, + 0.0, + 0.0, + 0.0 + ], + [ + 210.826, + -3260.135, + 60.15, + 0.0, + 0.0, + 0.0 + ], + [ + 127.636, + -3322.918, + 108.256, + -28.202, + 105.145, + 1.862 + ], + [ + 123.398, + -3331.4, + 108.529, + -28.189, + 130.157, + 1.872 + ], + [ + 141.374, + -3214.399, + 108.875, + -28.197, + 130.145, + 1.866 + ], + [ + 141.403, + -3223.03, + 107.854, + -28.206, + 155.142, + 1.854 + ], + [ + 101.02, + -3111.889, + 108.369, + -28.189, + 155.16, + 1.865 + ], + [ + 67.261, + -2993.748, + 108.873, + -28.199, + 155.142, + 1.865 + ], + [ + 67.132, + -2983.764, + 107.709, + -28.207, + 130.14, + 1.857 + ], + [ + 87.271, + -2989.186, + 98.15, + 0.0, + 80.0, + -0.0 + ], + [ + 87.271, + -2989.186, + 98.15, + 0.0, + 80.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 341.1, + 224.7, + 224.7, + 224.7, + 99.1, + 21.4, + 22.3, + 21.4, + 22.0, + 21.4, + 21.4, + 20.8, + 70.0, + 70.0 + ], + "Rationale": [ + "The dark metal bucket sits on the floor ahead on the left side of the corridor, still too far away to grasp. I will walk forward along the corridor to close that gap before attempting any interaction.", + "The metal bucket now looms in the near left foreground beside the beds, close enough that a grasp seems worth trying. I will attempt to pick it up rather than spend another step repositioning.", + "My hands are still empty, so that grasp attempt did not take hold. The bucket lay off to my left rather than straight ahead, which likely spoiled the reach. I will turn left to bring it in front of me for a cleaner approach.", + "The metal bucket now sits squarely ahead of me next to the bed, but the earlier grasp from farther back came up empty. I will step forward to stand right over it so the reach is a realistic one.", + "The bucket rim is directly beneath me at the bottom of my view, far closer than during the earlier attempt that left my hands empty. I will try the grasp again from this reach, which should let me lift the metal bucket.", + "The metal bucket is now in my hands, so that grasp took hold. My body is still angled off the corridor line toward the beds and the side wall, while the open corridor with the yellow mop bucket lies to my right. I will turn right to face back down that corridor before carrying the bucket onward.", + "The corridor is open ahead of me again and the yellow mop bucket stands near the middle of it, slightly left of my heading. The metal bucket is still held, so I only need to close distance to the drop area. I will walk forward along the corridor toward that mop bucket.", + "My advance has drifted toward the left wall, which now fills much of my view and crowds the mop bucket to the edge of my path. Still holding the metal bucket, I need a heading that follows the corridor rather than closing on the wall. Turning right should bring the corridor and the mop bucket back into a workable approach line.", + "The corridor now runs straight ahead with the yellow mop bucket clearly visible on my left at mid distance and open floor between us. With the metal bucket still in hand, walking forward should bring me alongside the mop bucket where the drop is meant to happen.", + "The yellow mop bucket is now very close on my left, near the middle of the corridor, and I am still carrying the metal bucket. One more step forward should place me beside it on the open corridor floor so the metal bucket can be set down next to it.", + "I am standing in the middle of the corridor still carrying the metal bucket, but the yellow mop bucket has slipped out of my view to the left after I advanced past it. Before releasing my load I need that target back in front of me, so I will turn left to bring the adjacent floor space into view.", + "The turn brought the yellow mop bucket with its red mop handle back into view at my lower left, close beside me in the open middle of the corridor. This is the placement spot the task specifies, so I will drop the metal bucket here and expect it to settle next to the mop bucket.", + "The metal bucket now rests on the corridor floor right beside the yellow mop bucket. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_a_p/infos.json b/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b994b2e0f9ac6bb35cd761e26d9cae41e088c621 --- /dev/null +++ b/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the wicker basket near the open sliding door entrance.", + "Type": 5, + "Start_Pose": [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -153.525, + -927.358, + 75.15, + 90, + -140, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + [ + 56.418, + -612.599, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + 56.418, + -612.599, + 138.15, + 0.0, + -145.0, + 0.0 + ], + [ + -46.679, + -684.789, + 138.15, + 0.0, + -145.0, + 0.0 + ], + [ + -46.679, + -684.789, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -109.609, + -793.786, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -109.609, + -793.786, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -109.609, + -793.786, + 138.15, + 0.0, + -120.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -153.525, + -927.358, + 75.15, + 90.0, + -140.0, + 0.0 + ], + [ + -153.525, + -927.358, + 75.15, + 90.0, + -140.0, + 0.0 + ], + [ + -153.525, + -927.358, + 75.15, + 90.0, + -140.0, + 0.0 + ], + [ + -153.525, + -927.358, + 75.15, + 90.0, + -140.0, + 0.0 + ], + [ + -153.525, + -927.358, + 75.15, + 90.0, + -140.0, + 0.0 + ], + [ + -153.525, + -927.358, + 75.15, + 90.0, + -140.0, + 0.0 + ], + [ + -90.811, + -803.934, + 108.256, + -28.202, + -69.856, + 1.862 + ], + [ + -90.811, + -803.934, + 108.256, + -28.202, + -69.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 504.0, + 378.4, + 378.4, + 265.1, + 265.1, + 140.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket is visible far down the corridor beside the open sliding door on the left wall. It is much too distant to reach, so I will walk straight ahead along the clear hallway floor to close that gap before any fine alignment.", + "The basket now sits left of my heading, near the open doorway, while my path is aimed down the middle of the corridor. I will turn left to bring the basket toward the center of my view so the next steps carry me straight at it.", + "With the basket now roughly ahead of me near the open sliding door, the floor between us is clear. I will step forward to shorten the remaining distance until the basket is close enough to reach.", + "Approaching this close, the large door panel fills much of my view and the basket has drifted to the right side. I will turn right to recenter the basket and open a clear line past the doorframe.", + "The basket is now framed ahead of me just past the edge of the open sliding door, but still a couple of paces out of arm's reach. I will advance to bring it directly in front of me for grasping.", + "The wicker basket now fills the lower center of my view at the threshold of the open sliding door, close enough that nothing stands between it and my hands. I will attempt to pick it up now, which should place it in my grasp.", + "The wicker basket is held in my hands and no longer resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_a_pd/infos.json b/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19d40893a453d4629727113644cc7ce65bb4521e --- /dev/null +++ b/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_a_pd/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the jerry can, then place it near the wheelchair in the corridor.", + "Type": 5, + "Start_Pose": [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -101.696, + -835.225, + 58.15, + 0, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + [ + 56.418, + -612.599, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -6.511, + -721.596, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -6.511, + -721.596, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -6.511, + -721.596, + 138.15, + 0.0, + -95.0, + 0.0 + ], + [ + -6.511, + -721.596, + 138.15, + 0.0, + -70.0, + 0.0 + ], + [ + 36.535, + -839.865, + 138.15, + 0.0, + -70.0, + 0.0 + ], + [ + 79.582, + -958.134, + 138.15, + 0.0, + -70.0, + 0.0 + ], + [ + 122.628, + -1076.403, + 138.15, + 0.0, + -70.0, + 0.0 + ], + [ + 98.002, + -1008.745, + 138.15, + 0.0, + -70.0, + 0.0 + ], + [ + 98.002, + -1008.745, + 138.15, + 0.0, + -70.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -101.696, + -835.225, + 58.15, + 0.0, + 90.0, + -0.0 + ], + [ + -101.696, + -835.225, + 58.15, + 0.0, + 90.0, + -0.0 + ], + [ + -101.696, + -835.225, + 58.15, + 0.0, + 90.0, + -0.0 + ], + [ + 12.287, + -731.745, + 108.256, + -28.202, + -69.855, + 1.862 + ], + [ + 15.77, + -722.926, + 108.529, + -28.189, + -44.843, + 1.872 + ], + [ + 14.707, + -714.037, + 107.862, + -28.215, + -19.873, + 1.849 + ], + [ + 56.503, + -832.287, + 107.675, + -28.202, + -19.859, + 1.858 + ], + [ + 99.496, + -950.413, + 107.937, + -28.208, + -19.858, + 1.852 + ], + [ + 142.461, + -1068.435, + 108.359, + -28.189, + -19.841, + 1.867 + ], + [ + 121.943, + -1074.523, + 88.15, + 0.0, + -70.0, + 0.0 + ], + [ + 121.943, + -1074.523, + 88.15, + 0.0, + -70.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 398.5, + 273.1, + 148.2, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red jerry can sits on the corridor floor ahead of me beside the open sliding door, still too far away to grasp. I will walk forward along the corridor to close that distance before attempting any pickup.", + "The jerry can is noticeably larger and lower in my view now, but it still sits a couple of paces beyond my reach. I will step forward again to bring it directly in front of me for grasping.", + "The jerry can now fills the lower center of my view, close enough that its handle is within arm's reach. I will attempt to pick it up so I can carry it toward the wheelchair down the corridor.", + "The grasp registered and the can is no longer resting on the floor where it stood, so it is in my hands. My heading still points along the wall rather than toward the wheelchair, so I will turn right to swing my view toward the corridor stretch where it stands.", + "The corridor is back in view and the wheelchair sits to the right of center, near the red door on that side. One more turn to the right should place it squarely ahead so I can walk straight to it.", + "The wheelchair now sits near the middle of my view, straight down the open corridor, with the carried can still in hand. I will walk forward to close the remaining distance to it.", + "The wheelchair has grown larger and shifted slightly left as I advance along the right wall. I will keep walking forward to reach a position beside it before setting the can down.", + "The wheelchair is now very close on my left, near the edge of my view, so I am nearly level with it. One more step forward should bring me alongside it, close enough to release the can right next to it.", + "The jerry can is still in my hands, and I have walked down the corridor to the stretch where the wheelchair sits just off my left shoulder. This spot is close enough to count as beside it, so I will release the can here and it should settle on the corridor floor next to the chair.", + "I see the jerry can resting on the corridor floor right beside the wheelchair, and my hands are empty. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_b_p/infos.json b/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0e498a926d04728a2d56be2a5a2cda0ce075a036 --- /dev/null +++ b/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the metal bucket from the floor near the blue wheelchair in the corridor.", + "Type": 5, + "Start_Pose": [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 145.192, + -1109.185, + 58.149, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + [ + 119.348, + -503.602, + 138.15, + 0.0, + -95.0, + 0.0 + ], + [ + 108.379, + -628.982, + 138.15, + 0.0, + -95.0, + 0.0 + ], + [ + 97.409, + -754.362, + 138.15, + 0.0, + -95.0, + 0.0 + ], + [ + 86.44, + -879.742, + 138.15, + 0.0, + -95.0, + 0.0 + ], + [ + 75.471, + -1005.122, + 138.15, + 0.0, + -95.0, + 0.0 + ], + [ + 75.471, + -1005.122, + 138.15, + 0.0, + -95.0, + 0.0 + ], + [ + 75.471, + -1005.122, + 138.15, + 0.0, + -95.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 145.192, + -1109.185, + 58.149, + 0.0, + 0.0, + 0.0 + ], + [ + 145.192, + -1109.185, + 58.149, + 0.0, + 0.0, + 0.0 + ], + [ + 145.192, + -1109.185, + 58.149, + 0.0, + 0.0, + 0.0 + ], + [ + 145.192, + -1109.185, + 58.149, + 0.0, + 0.0, + 0.0 + ], + [ + 145.192, + -1109.185, + 58.149, + 0.0, + 0.0, + 0.0 + ], + [ + 145.192, + -1109.185, + 58.149, + 0.0, + 0.0, + 0.0 + ], + [ + 96.797, + -1006.375, + 108.256, + -28.202, + -44.855, + 1.862 + ], + [ + 96.797, + -1006.375, + 108.256, + -28.202, + -44.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 606.1, + 606.1, + 481.6, + 358.0, + 236.8, + 125.3, + 21.4, + 21.4 + ], + "Rationale": [ + "Looking down the corridor, the blue wheelchair and the dark metal bucket beside it sit far ahead and off to my right, while my heading points toward the open door on the left. I will turn right to bring that corner of the corridor into the center of my view before walking.", + "The wheelchair with the metal bucket next to it is now roughly centered ahead, and the corridor floor between us is clear. I will walk forward to close the long distance toward that pair.", + "The wheelchair and the bucket beside it have grown noticeably larger, confirming my heading is carrying me straight at them. They are still several strides away, so I will keep walking forward.", + "The bucket now stands clearly on the floor beside the wheelchair, just right of my path, but it is still beyond arm's reach. I will advance again to get close enough for a grasp.", + "The wheelchair and the bucket beside the red doorframe now fill much of the lower right of my view, so only a short gap remains. I will take one more step forward to bring the bucket within reach.", + "The metal bucket is right beside me at the wheelchair, close against the wall at the edge of my view, and nothing blocks my hands. This is the reaching distance I wanted, so I will attempt to pick it up.", + "My hands are holding the metal bucket, which is no longer resting on the corridor floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_b_pd/infos.json b/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..148f8609538d500ea20a7a2f4d46da5b768b17d5 --- /dev/null +++ b/dataset/trajectory/hospital/task_x000119_y-000504_z000138_t5_b_pd/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it near the blue wheelchair.", + "Type": 5, + "Start_Pose": [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -131.222, + -921.783, + 71.176, + -67.308, + -171.642, + -47.64 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + [ + 56.418, + -612.599, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -6.511, + -721.596, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -69.441, + -830.593, + 138.15, + 0.0, + -120.0, + 0.0 + ], + [ + -69.441, + -830.593, + 138.15, + 0.0, + -120.001, + 0.0 + ], + [ + -69.441, + -830.593, + 138.15, + 0.0, + -95.001, + 0.0 + ], + [ + -69.441, + -830.593, + 138.15, + 0.0, + -70.001, + 0.0 + ], + [ + -26.395, + -948.862, + 138.15, + 0.0, + -70.001, + 0.0 + ], + [ + 16.65, + -1067.132, + 138.15, + 0.0, + -70.001, + 0.0 + ], + [ + -7.975, + -999.474, + 138.15, + 0.0, + -70.001, + 0.0 + ], + [ + -7.975, + -999.474, + 138.15, + 0.0, + -70.001, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -131.222, + -921.783, + 71.176, + -67.308, + -171.642, + -47.64 + ], + [ + -131.222, + -921.783, + 71.176, + -67.308, + -171.642, + -47.64 + ], + [ + -131.222, + -921.783, + 71.176, + -67.308, + -171.642, + -47.64 + ], + [ + -131.222, + -921.783, + 71.176, + -67.308, + -171.642, + -47.64 + ], + [ + -50.642, + -840.742, + 108.256, + -28.202, + -69.856, + 1.862 + ], + [ + -47.159, + -831.923, + 108.529, + -28.189, + -44.844, + 1.872 + ], + [ + -48.223, + -823.034, + 107.862, + -28.215, + -19.873, + 1.849 + ], + [ + -6.428, + -941.285, + 107.675, + -28.202, + -19.859, + 1.858 + ], + [ + 36.564, + -1059.411, + 107.937, + -28.208, + -19.859, + 1.852 + ], + [ + 15.965, + -1065.253, + 128.15, + 0.0, + -70.001, + 0.0 + ], + [ + 15.965, + -1065.253, + 128.15, + 0.0, + -70.001, + 0.0 + ] + ], + "PD_Dist_2D": [ + 487.5, + 361.7, + 235.9, + 110.1, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the corridor floor ahead of me near the open sliding door, and the blue wheelchair stands further down the hall on the right. Nothing blocks the straight path, so I will walk forward to close the gap to the pepper first.", + "The bell pepper now appears larger and lower in my view, confirming I am closing in on it. It is still several steps away and roughly centered, so I will keep walking forward along the same heading.", + "The pepper is close now, sitting low in front of me just past the doorway edge. One more step forward should put it within arm's reach for grasping.", + "The green bell pepper is directly at my feet, its top edge just entering the bottom of my view, which means it is within reach. My hands are empty, so I will attempt to pick it up now before carrying it toward the blue wheelchair.", + "The pepper is now held in my hands, so the grasp succeeded. The blue wheelchair lies off to my right down the corridor rather than ahead of me, so I will turn right to bring it into my forward view.", + "The blue wheelchair is now visible but still sits off to the right of my heading, near the doorway on that wall. Another turn to the right should place it closer to the center of my path before I walk to it.", + "The blue wheelchair now sits roughly ahead of me in the corridor with the pepper still in my hands. The floor between us is clear, so I will walk forward to carry the pepper closer to it.", + "The wheelchair has grown much larger and now sits just ahead and slightly right of me. I am still a step short of being beside it, so I will advance once more to reach a position close enough for placing the pepper.", + "I am still carrying the green bell pepper, and the blue wheelchair now sits immediately at my right side, close enough that its seat and armrest fill the near corner of my view. This is the intended delivery spot, so I will release the pepper here and it should come to rest beside the wheelchair.", + "The green bell pepper now rests on the floor right beside the blue wheelchair. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_a_p/infos.json b/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..55ddf32138ce39a5cd774803848bd51f7a8608c8 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the tomato near the brick ledge beneath the rightmost window panel.", + "Type": 5, + "Start_Pose": [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2106.724, + 5670.518, + 81.785, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + [ + -2010.623, + 4829.371, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1999.654, + 4954.751, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1988.684, + 5080.131, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1988.684, + 5080.131, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -2031.731, + 5198.4, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -2074.777, + 5316.669, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -2117.823, + 5434.938, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -2117.823, + 5434.938, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -2160.87, + 5553.206, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -2160.87, + 5553.206, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -2160.87, + 5553.206, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -2160.87, + 5553.206, + 111.785, + 0.0, + 110.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2106.724, + 5670.518, + 81.785, + 0.0, + 0.0, + 0.0 + ], + [ + -2180.727, + 5545.329, + 81.891, + -28.202, + 160.145, + 1.862 + ], + [ + -2180.727, + 5545.329, + 81.891, + -28.202, + 160.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 846.6, + 846.6, + 723.7, + 602.1, + 602.1, + 478.0, + 355.3, + 235.8, + 235.8, + 129.2, + 129.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits far to my right, resting on the floor against the brick ledge beneath the rightmost window panel, while my heading points across the empty middle of the room. Turning right should bring it nearer the center of my view so I can walk straight at it.", + "The tomato now shows clearly ahead of me beside the brick base under the window frames, roughly aligned with my heading. The floor between us is open and unobstructed, so I will step forward to close the large remaining gap.", + "The tomato has grown noticeably larger and stays ahead near the brick ledge, confirming my heading is carrying me toward it. It is still several strides away, so I will keep walking forward.", + "As I have closed in, the tomato has drifted toward the right side of my view against the brick ledge, so walking straight now would carry me past it along the window wall. A small right turn should put it back in front of me for a direct final approach.", + "The tomato now sits close to the middle of my view, low on the floor at the brick ledge under the window, with clear ground leading to it. I will step forward to shorten the remaining distance for a grasp.", + "The tomato sits on the dark floor against the brick ledge beneath the rightmost window panel, straight ahead and slightly left of my heading. It is still several paces off and too small in view for a grasp. I will keep walking forward to close that gap.", + "The tomato now fills a good part of the lower view beside the brick ledge, so my heading is right and nothing blocks the floor between us. It still looks a step or two beyond comfortable reach. I will advance once more to bring it close enough to grab.", + "The tomato is now large in the lower left of my view, resting on the floor by the brick ledge under the rightmost window. It looks near enough that a grasp may connect from here. I will try to pick it up.", + "My hands are empty and the tomato was not taken, so that grasp attempt did not connect. I was likely still short of true reach when I tried. I will step forward to stand closer to the spot by the ledge before trying again.", + "From this closer stance the brick ledge and window fill my view, but the tomato is no longer visible ahead, meaning it now lies below my line of sight near my feet. I need it framed before another grasp. I will look down to bring it back into view.", + "My earlier grab attempt left my hands empty and the tomato still resting on the ground by the brick ledge. Now the tomato fills the lower left of my view at arm's length, close enough for a grasp. I will try the pick again from this nearer, downward-facing stance.", + "The tomato is now held in my hands rather than sitting by the brick ledge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_a_pd/infos.json b/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a0437e592c99d8e7a4baa19bfb567f0ee357e5 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_a_pd/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it by the leftmost open doorway in the room.", + "Type": 5, + "Start_Pose": [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1748.468, + 5662.377, + 66.785, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + [ + -1947.694, + 4938.368, + 111.785, + 0.0, + 60.0, + -0.0 + ], + [ + -1884.764, + 5047.365, + 111.785, + 0.0, + 60.0, + -0.0 + ], + [ + -1884.764, + 5047.365, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1873.795, + 5172.745, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1862.825, + 5298.125, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1851.856, + 5423.506, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1840.887, + 5548.886, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1840.887, + 5548.886, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1840.887, + 5548.886, + 111.785, + 0.0, + 60.0, + -0.0 + ], + [ + -1840.887, + 5548.886, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1840.887, + 5548.886, + 111.785, + 0.0, + 10.0, + -0.0 + ], + [ + -1716.94, + 5570.742, + 111.785, + 0.0, + 10.0, + -0.0 + ], + [ + -1592.993, + 5592.598, + 111.785, + 0.0, + 10.0, + -0.0 + ], + [ + -1592.993, + 5592.598, + 111.785, + 0.0, + -15.0, + 0.0 + ], + [ + -1471.422, + 5560.024, + 111.785, + 0.0, + -15.0, + 0.0 + ], + [ + -1349.852, + 5527.45, + 110.641, + 0.0, + -15.0, + 0.0 + ], + [ + -1228.281, + 5494.876, + 110.641, + 0.0, + -15.0, + 0.0 + ], + [ + -1228.281, + 5494.876, + 110.641, + 0.0, + -40.0, + 0.0 + ], + [ + -1131.867, + 5413.976, + 110.641, + 0.0, + -40.0, + 0.0 + ], + [ + -1187.022, + 5460.256, + 110.641, + 0.0, + -40.0, + 0.0 + ], + [ + -1187.022, + 5460.256, + 110.641, + 0.0, + -40.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1748.468, + 5662.377, + 66.785, + 0.0, + 0.0, + 0.0 + ], + [ + -1748.468, + 5662.377, + 66.785, + 0.0, + 0.0, + 0.0 + ], + [ + -1748.468, + 5662.377, + 66.785, + 0.0, + 0.0, + 0.0 + ], + [ + -1748.468, + 5662.377, + 66.785, + 0.0, + 0.0, + 0.0 + ], + [ + -1748.468, + 5662.377, + 66.785, + 0.0, + 0.0, + 0.0 + ], + [ + -1748.468, + 5662.377, + 66.785, + 0.0, + 0.0, + 0.0 + ], + [ + -1748.468, + 5662.377, + 66.785, + 0.0, + 0.0, + 0.0 + ], + [ + -1748.468, + 5662.377, + 66.785, + 0.0, + 0.0, + 0.0 + ], + [ + -1862.213, + 5550.139, + 81.891, + -28.202, + 135.145, + 1.862 + ], + [ + -1858.863, + 5558.553, + 82.164, + -28.189, + 110.157, + 1.872 + ], + [ + -1852.33, + 5565.501, + 81.497, + -28.215, + 85.128, + 1.849 + ], + [ + -1840.226, + 5576.389, + 81.678, + -14.175, + 52.193, + 6.959 + ], + [ + -1721.366, + 5591.646, + 82.117, + -28.198, + 60.146, + 1.865 + ], + [ + -1597.128, + 5613.556, + 81.579, + -28.191, + 60.159, + 1.871 + ], + [ + -1588.475, + 5612.393, + 82.37, + -28.205, + 35.136, + 1.859 + ], + [ + -1466.88, + 5580.918, + 82.524, + -28.191, + 35.15, + 1.872 + ], + [ + -1345.15, + 5548.291, + 81.155, + -28.206, + 35.138, + 1.863 + ], + [ + -1223.299, + 5515.65, + 80.647, + -28.203, + 35.14, + 1.855 + ], + [ + -1215.697, + 5510.903, + 81.09, + -28.192, + 10.152, + 1.869 + ], + [ + -1118.943, + 5431.003, + 81.359, + -28.203, + 10.142, + 1.863 + ], + [ + -1133.399, + 5415.261, + 100.641, + 0.0, + -40.0, + 0.0 + ], + [ + -1133.399, + 5415.261, + 100.641, + 0.0, + -40.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 873.3, + 750.9, + 629.9, + 629.9, + 505.4, + 381.8, + 260.3, + 146.4, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 21.4, + 20.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the floor well ahead of me, near the brick sill under the storefront windows on the right side of the room. It is far too distant to reach, so I will walk straight forward across the open floor to cut down that gap.", + "The pepper now appears slightly larger and lower in my view, confirming the previous step closed distance along a clear line. Nothing blocks the floor between us, so I will keep walking forward toward it.", + "The pepper has drifted right of my heading as I advanced, so walking straight would carry me past it toward the left doorways. I will turn right to bring the pepper closer to the center of my view before continuing.", + "After the turn, the pepper sits much nearer the middle of my view with clear floor between us. With my heading corrected, I will walk forward to close the remaining distance to it.", + "The pepper has grown noticeably and now shows its stem clearly, so my heading is carrying me toward it. It is still several paces away and out of reach, so I will step forward again.", + "The pepper now fills a large part of the lower left of my view, slightly off my straight-ahead line but still short of reach. I will advance once more to bring it within grasping range.", + "The pepper is very close on my lower left, near the open doorway light, but it still sits a step ahead of my feet. One more forward step should place it directly within reach for grasping.", + "The pepper is now at the very edge of my lower view, right beside me on the floor and clearly within arm's reach. My hands are empty, so I will attempt to pick it up before carrying it toward a doorway.", + "The grasp worked, the green bell pepper is now in my hands and no longer resting on the floor. The delivery spot is the leftmost open doorway of this room, which lies well to my left, behind my current heading. I will turn left to begin swinging my view back toward that side of the room.", + "Right now I face a long stretch of brick sill and storefront glass, with only a sliver of bright open doorway at the far left edge. That is not enough alignment to walk toward the leftmost exit while carrying the pepper. I will turn left again to bring that doorway area properly into view.", + "The bright open entrance with its mat now sits toward the left of my view, while the wall of windows still occupies the center. Another left turn should put that doorway side of the room ahead of me so I can walk straight at it. I will turn left again.", + "I am now facing the entrance corner, with open doorways and tiled entry flooring spread ahead of me. Carrying the pepper, I still stand well back on the gravel floor, too far to set it down by any doorway. I will step forward to close that gap.", + "The tiled entry area and the sunlit openings have grown larger, so the previous step carried me usefully toward the doorway bank. I am still short of the leftmost threshold while holding the pepper. Another forward step should bring me onto the entry paving near the doorways.", + "From this spot on the entry tiles I can see several openings, and the leftmost one sits off toward my left rather than straight ahead. Walking on my current heading would carry me past it. I will turn left to face that outer doorway before advancing.", + "The turn opened up the storefront line, and an open passage to the street now lies ahead of me across the paved entry. The pepper is still in my hands and the threshold is several paces off. I will walk forward toward that opening.", + "The open doorway with the street beyond it is directly ahead and noticeably nearer than before, so my heading is good. I am not yet close enough to the threshold to set the pepper down there. I will keep walking forward toward it.", + "I am still carrying the green pepper and the open doorway on the left side of this storefront wall is now close, with bare sidewalk showing through it. I will step forward once more to draw level with that opening before turning into it.", + "The open doorway with its dark threshold mat now sits at the left edge of my view while I face the window bay straight ahead. Turning left should swing that opening into the center of my view so I can walk straight into it with the pepper.", + "The open doorway is now framed ahead of me, with the street and the tall brick building visible straight through it. I will step forward to reach the threshold itself so the pepper can be set down right at that opening.", + "I am standing in the open doorway, with its jambs on both sides of my view and the sidewalk beginning just ahead. This is the placement spot the task asks for, so I will release the pepper here at the opening.", + "The green pepper now rests on the ground in the open doorway and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_b_p/infos.json b/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..120aa96586e5045bda25c8590fa2b38e9b55bd52 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_b_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the ceramic vase.", + "Type": 5, + "Start_Pose": [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1313.17, + 5544.189, + 40.641, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + [ + -1947.694, + 4938.368, + 111.785, + 0.0, + 60.0, + -0.0 + ], + [ + -1884.764, + 5047.365, + 111.785, + 0.0, + 60.0, + -0.0 + ], + [ + -1821.835, + 5156.362, + 111.785, + 0.0, + 60.0, + -0.0 + ], + [ + -1821.835, + 5156.362, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1718.737, + 5228.552, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1615.639, + 5300.742, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1512.542, + 5372.932, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1409.444, + 5445.121, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1409.444, + 5445.121, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1409.444, + 5445.121, + 111.785, + 0.0, + 35.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.17, + 5544.189, + 40.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1422.192, + 5462.264, + 81.891, + -28.202, + 85.144, + 1.862 + ], + [ + -1422.192, + 5462.264, + 81.891, + -28.202, + 85.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 998.7, + 877.3, + 757.3, + 639.6, + 639.6, + 513.9, + 388.3, + 262.8, + 138.1, + 21.4, + 21.4 + ], + "Rationale": [ + "From the doorway of this dim brick storefront I can see a pale ceramic vase standing on the tiled floor near the far windows. It is well beyond arm's reach, so I will walk forward across the open floor to close that gap.", + "The vase now reads more clearly as a slim ceramic column ahead of me on the light tiled strip. Nothing blocks the floor between us, so I will keep stepping forward to shorten the distance.", + "The ceramic vase sits ahead and slightly left of my heading, still several strides away on the tiled patch. I will continue walking forward, since straight travel is still the most direct way to reduce the remaining distance.", + "The vase has drifted toward the left edge of my view as I advanced, so continuing straight would carry me past it. I will turn left to bring the ceramic vase back onto my forward heading before closing in.", + "After the turn the vase sits near the middle of my view, framed by the brick pillar and windows. With my heading now pointed at it, I will walk forward to close the remaining distance.", + "The ceramic vase is centered and noticeably larger, but still too far to reach from where I stand. I will take another step forward along this heading to bring it within grasping range.", + "The vase now dominates the middle of my view on its tiled patch, yet a short gap remains before I could reach it. I will step forward again to stand close enough for a grasp.", + "The ceramic vase is directly in front of me and fills much of my view, but its base is still a step away. I will move forward once more so it should fall within comfortable reach for picking up.", + "The ceramic vase now fills the center of my view at arm's length, its rim close and unobstructed on the brick paving directly ahead. Nothing stands between me and it, so this is the moment to reach out and grasp it. I will attempt the pick and expect the vase to come into my hands.", + "The ceramic vase is held in my hands and no longer resting on the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_b_pd/infos.json b/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c7149dd97d33ffec273e7edb1c308be61c52f58f --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x-002011_y004829_z000112_t5_b_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Pick up the ceramic pot, then place it on the floor next to the open door on the right side of the room.", + "Type": 5, + "Start_Pose": [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1313.384, + 5161.857, + 30.641, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + [ + -2010.623, + 4829.371, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1907.525, + 4901.561, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1804.428, + 4973.751, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1701.33, + 5045.94, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1598.232, + 5118.13, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1495.135, + 5190.32, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1495.135, + 5190.32, + 111.785, + 0.0, + 10.0, + -0.0 + ], + [ + -1495.135, + 5190.32, + 111.785, + 0.0, + 10.0, + -0.0 + ], + [ + -1495.135, + 5190.32, + 111.785, + 0.0, + 35.0, + -0.0 + ], + [ + -1495.135, + 5190.32, + 111.785, + 0.0, + 60.0, + -0.0 + ], + [ + -1495.135, + 5190.32, + 111.785, + 0.0, + 85.0, + -0.0 + ], + [ + -1495.135, + 5190.32, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -1495.135, + 5190.32, + 111.785, + 0.0, + 135.0, + -0.0 + ], + [ + -1584.13, + 5279.316, + 111.785, + 0.0, + 135.0, + -0.0 + ], + [ + -1673.126, + 5368.311, + 111.785, + 0.0, + 135.0, + -0.0 + ], + [ + -1762.122, + 5457.307, + 111.785, + 0.0, + 135.0, + -0.0 + ], + [ + -1851.118, + 5546.303, + 111.785, + 0.0, + 135.0, + -0.0 + ], + [ + -1851.118, + 5546.303, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -1894.164, + 5664.572, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -1937.21, + 5782.84, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -1912.585, + 5715.183, + 111.785, + 0.0, + 110.0, + -0.0 + ], + [ + -1912.585, + 5715.183, + 111.785, + 0.0, + 110.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1313.384, + 5161.857, + 30.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.384, + 5161.857, + 30.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.384, + 5161.857, + 30.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.384, + 5161.857, + 30.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.384, + 5161.857, + 30.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.384, + 5161.857, + 30.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.384, + 5161.857, + 30.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1313.384, + 5161.857, + 30.641, + 0.0, + 0.0, + 0.0 + ], + [ + -1499.121, + 5210.454, + 81.891, + -28.202, + 60.145, + 1.862 + ], + [ + -1508.053, + 5207.346, + 82.164, + -28.189, + 85.157, + 1.872 + ], + [ + -1514.325, + 5201.082, + 81.497, + -28.215, + 110.127, + 1.849 + ], + [ + -1518.41, + 5192.181, + 82.42, + -28.205, + 135.139, + 1.861 + ], + [ + -1521.947, + 5186.379, + 81.55, + -14.092, + 152.344, + 6.87 + ], + [ + -1510.005, + 5174.832, + 81.567, + -28.208, + -174.858, + 1.851 + ], + [ + -1598.741, + 5263.718, + 81.988, + -28.189, + -174.842, + 1.869 + ], + [ + -1687.534, + 5352.526, + 82.37, + -28.205, + -174.865, + 1.859 + ], + [ + -1776.504, + 5441.483, + 82.524, + -28.191, + -174.85, + 1.872 + ], + [ + -1865.611, + 5530.605, + 82.299, + -28.206, + -174.863, + 1.863 + ], + [ + -1870.303, + 5538.872, + 81.81, + -28.206, + 160.139, + 1.858 + ], + [ + -1913.936, + 5656.452, + 82.234, + -28.192, + 160.151, + 1.869 + ], + [ + -1956.917, + 5774.557, + 82.502, + -28.203, + 160.141, + 1.863 + ], + [ + -1936.526, + 5780.961, + 91.785, + 0.0, + 110.0, + -0.0 + ], + [ + -1936.526, + 5780.961, + 91.785, + 0.0, + 110.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 772.5, + 772.5, + 648.7, + 525.8, + 404.9, + 288.2, + 184.0, + 184.0, + 20.5, + 21.4, + 22.0, + 23.3, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 21.4, + 20.6, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot I need sits far off to my left, low on the pale tiled strip beside the brick sill, while my heading points across the empty middle of the room. Turning left should swing that side of the room toward the center of my view so I can walk straight at the pot.", + "The pot now sits ahead and slightly left on the tiled border, and the floor between us is clear of furniture. I will step forward to close that distance before worrying about fine alignment.", + "The pot has grown noticeably larger against the brick wall, confirming my heading is carrying me toward it. Another step forward should keep shrinking the gap along this same clear line.", + "The pot is clearly closer, now resting on the lit tile ahead and to my left, but still well beyond arm's reach. I will keep walking forward since the route stays open.", + "The pot's rounded body and rim are now distinct against the pale paving, so I am only a couple of paces off. I will advance again to bring it near enough to handle.", + "The pot fills a good part of the lower left of my view, close to the brick sill, and the doorway to the street lies ahead on my right. One more step forward should place me beside the pot for the grasp.", + "I have come far enough that the pot has slipped out of my forward view, leaving only the glass front and the open doorway ahead. Turning left should bring the pot back into the near part of my view so I can line up for the grasp.", + "The ceramic pot is now directly in front of me at the bottom of my view, sitting on the tile within easy reach and clear of the wall. My hands are empty, so I will attempt to pick it up before carrying it toward the open door.", + "The grasp worked and the ceramic pot is now held in my hands, no longer resting on the tiled floor. The drop-off spot is the open door on the right side of the room, well off my current heading. I turn right to begin swinging my body toward that side.", + "The pot is still secure in my hands as I face the storefront glass with a doorway slightly left of center. That opening is not the one on the right side of the room that the task names. I keep rotating right to bring the correct side of the room into view.", + "My view now shows brick knee walls and windows with the room's interior opening to my right. I still have not brought the right-side doorway into the center of my view. Another right turn should continue sweeping my heading toward it.", + "A bright opening has come into the right half of my view, which fits the open door I need to reach while carrying the pot. It is still off to the side rather than in front of me. I turn right again to bring it closer to my forward direction.", + "The lit doorway now sits ahead with the long decorated wall coming into the right side of my view. I want my heading set down the open floor lane toward that far side before walking. One more right turn should finish that alignment.", + "I am now aimed down the length of the room, the ornate wall running along my right and the sunlit doorway further ahead on my left. The pot is still in my hands and the floor between me and that side is clear. I step forward to close the distance.", + "The doorway and its bright glass panel have grown larger ahead, so my heading is carrying me toward the right-side exit. I am still several paces short of a spot beside it where the pot could be set down. I keep walking forward.", + "The open door and its brick jamb are now clearly ahead of me, with the paving outside visible through the opening. I am close but not yet at the floor space right beside the doorway. Another step forward should bring me within setting-down range while the pot stays in my hands.", + "I am still carrying the pot and the open doorway with its swung-back panel sits ahead and slightly left, with clear floor between me and it. Another step forward should bring me close enough to the threshold to place the pot beside it.", + "From here the open door frame and its swung panel are off to my left while the decorated wall fills the right of my view, so my heading is drifting past the opening. Turning left should square me with the doorway so I can step to the floor spot beside it.", + "The open door is now centered ahead with the threshold and sunlit pavement straight in front of me, and the pot is still in my hands. Stepping forward should close the last distance to the floor area right at the open doorway.", + "I am at the door frame with the brick pier and open panel flanking me and the paving just beyond, but I am not yet beside the drop spot on the floor next to the opening. One more step should put me right at that place before I release the pot.", + "I am standing right at the open door on the right side of the room, with the doorway edge beside me and clear floor at my feet. This is the intended placement spot, so I will release the ceramic pot here.", + "The ceramic pot now rests on the floor beside the open doorway and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_a_p/infos.json b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..93294e4f2c17b62b73ce56ed41eb107db9f6b3f2 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the ceramic vase near the doorway under the blue-and-white striped awning.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 4647.636, + -4883.061, + 28.102, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + [ + 5209.631, + -4830.618, + 68.15, + 0.0, + 180.0, + -0.0 + ], + [ + 5083.772, + -4830.618, + 68.15, + 0.0, + 180.0, + -0.0 + ], + [ + 4957.913, + -4830.618, + 107.738, + 0.0, + 180.0, + -0.0 + ], + [ + 4832.054, + -4830.618, + 108.114, + 0.0, + 180.0, + -0.0 + ], + [ + 4832.054, + -4830.618, + 108.114, + 0.0, + 180.0, + -0.0 + ], + [ + 4832.054, + -4830.618, + 108.114, + 0.0, + 180.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4647.636, + -4883.061, + 28.102, + 0.0, + 0.0, + 0.0 + ], + [ + 4647.636, + -4883.061, + 28.102, + 0.0, + 0.0, + 0.0 + ], + [ + 4647.636, + -4883.061, + 28.102, + 0.0, + 0.0, + 0.0 + ], + [ + 4647.636, + -4883.061, + 28.102, + 0.0, + 0.0, + 0.0 + ], + [ + 4647.636, + -4883.061, + 28.102, + 0.0, + 0.0, + 0.0 + ], + [ + 4832.664, + -4851.972, + 78.256, + -28.202, + -129.855, + 1.862 + ], + [ + 4832.664, + -4851.972, + 78.256, + -28.202, + -129.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 689.9, + 564.4, + 439.3, + 314.7, + 191.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The pale ceramic vase stands on the sidewalk in front of the doorway under the blue-and-white striped awning, straight ahead but far across the street. It is centered in my view, so no turn is needed yet. I will walk forward to close that distance.", + "The awning and the vase beneath it now fill more of my view, confirming my heading is correct. The vase is still well beyond arm's reach on the far sidewalk. I will keep walking straight toward it.", + "The vase is clearly resolved now against the white tiled wall beside the doorway, and it sits slightly right of center in my path. It is still several steps away, too far to grasp. I will advance again to reach grabbing range.", + "The vase is close and large in front of me, but it remains a bit beyond comfortable reach and low in my view. One more step forward should bring it directly within grasping distance. I will walk forward before attempting the pick.", + "The ceramic vase is now directly in front of me at arm's length, near the doorway under the striped awning, with nothing between us. This is the reach position the task requires. I will attempt to pick it up.", + "The ceramic vase is now held in my hands rather than resting by the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_a_pd/infos.json b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7ca81469e462e16b42aaffac66964942d6d14ab --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the plate, then place it on the ground beneath the blue-and-white striped awning.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4868.561, + -4635.192, + 58.024, + 90, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + [ + 5335.49, + -4830.618, + 68.15, + 0.0, + 155.0, + -0.0 + ], + [ + 5221.423, + -4777.428, + 68.15, + 0.0, + 155.0, + -0.0 + ], + [ + 5107.356, + -4724.238, + 68.15, + 0.0, + 155.0, + -0.0 + ], + [ + 5107.356, + -4724.238, + 68.15, + 0.0, + 155.0, + -0.0 + ], + [ + 4993.289, + -4671.047, + 94.014, + 0.0, + 155.0, + -0.0 + ], + [ + 4993.289, + -4671.047, + 94.014, + 0.0, + 155.0, + -0.0 + ], + [ + 4993.289, + -4671.047, + 94.014, + 0.0, + 180.0, + -0.0 + ], + [ + 4867.43, + -4671.047, + 108.147, + 0.0, + 180.0, + -0.0 + ], + [ + 4867.43, + -4671.047, + 108.147, + 0.0, + -155.0, + 0.0 + ], + [ + 4753.363, + -4724.237, + 117.493, + 0.0, + -155.0, + 0.0 + ], + [ + 4639.296, + -4777.427, + 107.936, + 0.0, + -155.0, + 0.0 + ], + [ + 4560.287, + -4827.895, + 108.15, + 0.0, + -155.0, + 0.0 + ], + [ + 4625.541, + -4797.467, + 108.15, + 0.0, + -155.0, + 0.0 + ], + [ + 4625.541, + -4797.467, + 108.15, + 0.0, + -155.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4868.561, + -4635.192, + 58.024, + 90.0, + 0.0, + 0.0 + ], + [ + 4868.561, + -4635.192, + 58.024, + 90.0, + 0.0, + 0.0 + ], + [ + 4868.561, + -4635.192, + 58.024, + 90.0, + 0.0, + 0.0 + ], + [ + 4868.561, + -4635.192, + 58.024, + 90.0, + 0.0, + 0.0 + ], + [ + 4868.561, + -4635.192, + 58.024, + 90.0, + 0.0, + 0.0 + ], + [ + 4868.561, + -4635.192, + 58.024, + 90.0, + 0.0, + 0.0 + ], + [ + 4984.818, + -4690.658, + 43.437, + -28.202, + -154.856, + 1.862 + ], + [ + 4993.906, + -4693.359, + 43.71, + -28.189, + -129.843, + 1.872 + ], + [ + 4868.447, + -4692.403, + 78.84, + -28.193, + -129.852, + 1.872 + ], + [ + 4876.83, + -4690.854, + 77.675, + -28.202, + -104.859, + 1.858 + ], + [ + 4762.79, + -4743.402, + 84.075, + -28.208, + -104.858, + 1.852 + ], + [ + 4648.961, + -4796.49, + 78.359, + -28.189, + -104.842, + 1.867 + ], + [ + 4570.198, + -4846.835, + 78.847, + -28.194, + -104.85, + 1.87 + ], + [ + 4562.1, + -4827.05, + 78.15, + 90.0, + -155.0, + 0.0 + ], + [ + 4562.1, + -4827.05, + 78.15, + 90.0, + -155.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 506.2, + 506.2, + 380.5, + 254.9, + 254.9, + 129.8, + 21.4, + 22.3, + 21.4, + 21.9, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate sits on the snowy sidewalk well left of my heading, while the blue-and-white striped awning is off to the right. Before walking toward it I will turn left so the plate sits centered ahead of me, giving a clean straight approach.", + "The plate is now roughly centered ahead of me but still far off across the raised sidewalk. I will step forward to cut down that distance before any grasp is possible.", + "The plate has grown noticeably in front of me and stays aligned with my heading, so my line of travel is good. It is still beyond arm's reach, so I will keep walking straight toward it.", + "The plate now fills a good part of my view directly ahead, resting on the sidewalk near the shopfront. It looks close enough to handle, so I will attempt to grasp it and lift it from the ground.", + "My hands are empty, so that grasp attempt did not take hold. The reach was likely still short of the plate. I will step forward once more to close the remaining gap before trying again.", + "My earlier grab attempt left the plate sitting untouched on the pavement, so I closed the remaining gap and it now fills my view at arm's reach. I will try the grasp again from this much nearer stance, which should let my hands close on the rim this time.", + "The plate is now held in my hands and no longer resting on the pavement, so this grasp succeeded. The striped awning sits farther along the storefronts to my right, so I turn right to put that stretch of sidewalk in front of me before carrying the plate over.", + "The plate stays with me, and the storefront ahead is open sidewalk with only a low mound of snow between me and the shop face. I step forward to carry the plate closer to the row of shopfronts where the striped awning hangs.", + "I am now close against the brick pier and window front, and the striped awning is no longer in my view, so walking straight ahead would only press me into the wall. I turn right to swing my heading along the shopfronts toward where that awning stands.", + "The scalloped blue and white awning edge is back in view at the upper right above the tiled shopfront, so my heading is right. Carrying the plate, I walk forward to reach the pavement lying beneath it.", + "The plate is still in my hands and the tiled storefront front with its recessed doorway now fills most of my view, so I am nearly under the awning frontage. I will step forward again to close the last bit of distance to the shop wall before setting the plate down.", + "I am now right up against the dark shopfront panelling beneath the awning, with the door handle and tiled base just ahead of me. Still carrying the plate, I will press one more step forward so I am squarely at the ground spot in front of this entrance.", + "My last step brought me flush against the shopfront, with the dark facade filling the view and only a sliver of pavement visible at the bottom edge. The plate is still in my hands and I am standing on the ground at this entrance beneath the awning, so I will release it here.", + "The plate now rests on the ground at the storefront beneath the awning and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_b_p/infos.json b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a967df918391cba563f80e7e51f0acafd326c989 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the trash bag near the sidewalk near the pile of snow beside the brick wall.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + [ + 5209.631, + -4830.618, + 68.15, + 0.0, + 180.0, + -0.0 + ], + [ + 5083.772, + -4830.618, + 68.15, + 0.0, + 180.0, + -0.0 + ], + [ + 5083.772, + -4830.618, + 68.15, + 0.0, + 155.0, + -0.0 + ], + [ + 4969.705, + -4777.428, + 107.133, + 0.0, + 155.0, + -0.0 + ], + [ + 4855.638, + -4724.238, + 108.043, + 0.0, + 155.0, + -0.0 + ], + [ + 4855.638, + -4724.238, + 108.043, + 0.0, + 155.0, + -0.0 + ], + [ + 4855.638, + -4724.238, + 108.043, + 0.0, + 155.0, + -0.0 + ], + [ + 4855.638, + -4724.238, + 108.043, + 0.0, + 155.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ], + [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ], + [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ], + [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ], + [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ], + [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ], + [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ], + [ + 4847.167, + -4743.849, + 78.256, + -28.202, + -154.855, + 1.862 + ], + [ + 4847.167, + -4743.849, + 78.256, + -28.202, + -154.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 578.5, + 460.4, + 347.9, + 347.9, + 223.1, + 100.9, + 100.9, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the trash bag resting in the snow pile against the brick wall on the far side of the street, well beyond the curb ahead of me. It is far too distant to reach, so I will walk forward to close that gap.", + "The bag in the snow near the brick wall is noticeably larger in view now, but I am still short of the raised sidewalk where it sits. I will keep walking forward to shorten the remaining distance.", + "The trash bag now sits well left of my heading, near the brick wall, while my body faces the storefront doorway. I will turn left to place the bag ahead of me before advancing further.", + "The bag in its patch of snow is now roughly centered in front of me against the brick wall. It is still several paces away and out of reach, so I will step forward toward it.", + "The bag fills much of the lower view now, sitting in the snow right against the brick base of the storefront. I need to be directly over it to grasp it, so I will take one more step forward.", + "I am standing right at the snow pile by the brick wall, and the bag has dropped out of my forward view because it lies at my feet. I will look down to bring it back into sight for the grasp.", + "The trash bag is now clearly in view directly below me, resting in the snow beside the brick wall and within arm's reach. I will attempt to pick it up.", + "The trash bag is held in my hands, lifted clear of the snow. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_b_pd/infos.json b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a423bdf7cfa99a4abc2352b69fb9480f117982 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_b_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the wicker basket, then place it on the sidewalk next to the red brick wall section below the large window.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4582.416, + -5105.165, + 48.907, + 90, + -160, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + [ + 5209.631, + -4830.618, + 68.15, + 0.0, + 180.0, + -0.0 + ], + [ + 5083.772, + -4830.618, + 68.15, + 0.0, + 180.0, + -0.0 + ], + [ + 5083.772, + -4830.618, + 68.15, + 0.0, + -155.0, + 0.0 + ], + [ + 4969.705, + -4883.808, + 107.137, + 0.0, + -155.0, + 0.0 + ], + [ + 4855.638, + -4936.999, + 108.043, + 0.0, + -155.0, + 0.0 + ], + [ + 4741.571, + -4990.189, + 108.043, + 0.0, + -155.0, + 0.0 + ], + [ + 4741.571, + -4990.189, + 108.043, + 0.0, + -155.0, + 0.0 + ], + [ + 4741.571, + -4990.189, + 108.043, + 0.0, + 180.0, + -0.0 + ], + [ + 4741.571, + -4990.189, + 108.043, + 0.0, + 155.0, + -0.0 + ], + [ + 4741.571, + -4990.189, + 108.043, + 0.0, + 130.0, + -0.0 + ], + [ + 4741.571, + -4990.189, + 108.043, + 0.0, + 105.0, + -0.0 + ], + [ + 4708.997, + -4868.618, + 108.043, + 0.0, + 105.0, + -0.0 + ], + [ + 4676.424, + -4747.048, + 114.611, + 0.0, + 105.0, + -0.0 + ], + [ + 4643.85, + -4625.477, + 114.716, + 0.0, + 105.0, + -0.0 + ], + [ + 4662.484, + -4695.024, + 117.497, + 0.0, + 105.0, + -0.0 + ], + [ + 4662.484, + -4695.024, + 117.497, + 0.0, + 105.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4582.416, + -5105.165, + 48.907, + 90.0, + -160.0, + 0.0 + ], + [ + 4582.416, + -5105.165, + 48.907, + 90.0, + -160.0, + 0.0 + ], + [ + 4582.416, + -5105.165, + 48.907, + 90.0, + -160.0, + 0.0 + ], + [ + 4582.416, + -5105.165, + 48.907, + 90.0, + -160.0, + 0.0 + ], + [ + 4582.416, + -5105.165, + 48.907, + 90.0, + -160.0, + 0.0 + ], + [ + 4582.416, + -5105.165, + 48.907, + 90.0, + -160.0, + 0.0 + ], + [ + 4582.416, + -5105.165, + 48.907, + 90.0, + -160.0, + 0.0 + ], + [ + 4751.149, + -5009.284, + 78.256, + -28.202, + -104.856, + 1.862 + ], + [ + 4742.186, + -5010.591, + 78.529, + -28.189, + -129.844, + 1.872 + ], + [ + 4732.903, + -5008.407, + 77.862, + -28.215, + -154.873, + 1.849 + ], + [ + 4717.422, + -5003.368, + 78.043, + -14.175, + 172.192, + 6.959 + ], + [ + 4721.399, + -4996.002, + 77.932, + -28.208, + 155.142, + 1.851 + ], + [ + 4688.545, + -4874.821, + 78.353, + -28.189, + 155.158, + 1.869 + ], + [ + 4656.053, + -4753.514, + 80.998, + -28.205, + 155.135, + 1.859 + ], + [ + 4623.483, + -4631.99, + 83.405, + -28.191, + 155.149, + 1.872 + ], + [ + 4644.367, + -4627.409, + 82.497, + 90.0, + 105.0, + 0.0 + ], + [ + 4644.367, + -4627.409, + 82.497, + 90.0, + 105.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 801.6, + 684.7, + 571.6, + 571.6, + 446.1, + 320.8, + 196.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket is visible ahead, resting against the tiled storefront base to the right of the shop door under the striped awning. I am still out on the roadway well short of it, so I will walk forward to close that gap before any grasp is possible.", + "The storefront and the basket now fill more of my view, so the previous step clearly brought me closer. The basket is still several strides away beside the doorway, so I will keep walking forward toward it.", + "The basket sits noticeably right of my current heading, near the tiled wall beside the shop entrance, while I am aimed at the window panels to its left. I will turn right to put the basket closer to the center of my path so a straight approach reaches it.", + "After the turn the basket sits much nearer the middle of my view, so my heading now lines up with it. I will step forward along this line to shorten the remaining distance to the basket.", + "The basket is growing larger and stays roughly centered ahead against the snow pile by the tiled base, so my line of travel is good. It remains out of arm's reach, so I will continue walking forward.", + "The basket now looms close in front of me beside the doorway, but it is still slightly too far for a reliable grasp. One more forward step should bring it within reach before I attempt to pick it up.", + "The wicker basket is directly in front of me at close range, filling the lower center of my view against the snow at the storefront base. This is close enough to attempt the grasp, so I will try to pick it up and carry it.", + "The grasp worked: the wicker basket is now held in my hands rather than sitting on the snow by the door. The red brick wall section under the large window lies back along the storefront to my left, so I will turn left to begin swinging my heading toward that drop location.", + "The wicker basket is in my hands, so the pickup held and I now need a heading toward the drop spot. Directly ahead I only see the dark doorway and the white tiled base, with the brick and open sidewalk lying further around to my left. I will turn left again to keep swinging my view toward that stretch.", + "Red brickwork has just entered the left edge of my view beneath the shop windows, but the tiled panel and door still fill most of what I face. Still carrying the basket, I need my body pointed along that brick facade rather than into it. I will turn left once more to bring the brick section and the sidewalk ahead of me.", + "Now the brick base under the large windows runs off to my left and the open sidewalk opens in that direction. My heading is still angled into the building corner, which would not let me walk the pavement. One more left turn should line my path down the sidewalk beside the brick wall.", + "The sidewalk now runs straight ahead with the red brick section and its large windows along my right side. With the basket in hand, my heading finally matches the route to the drop location. I will step forward along the pavement.", + "I am walking beside the red brick base, and the window bay above it is drawing level with me. The basket is still carried, and nothing blocks the pavement in front. Another step forward should place me alongside the wall section below the large window.", + "The tall window panes and the red brick beneath them are close on my right, so I am nearly at the intended spot. The pavement here is still slightly ahead of the wall section I want. I will take one more step forward to stand right next to that brick below the window.", + "I am standing on the sidewalk directly beside the red brick wall section under the large window, exactly the place named in the task. The basket is still in my hands and there is clear pavement at this spot. I will release it here so it should come to rest against the brick.", + "The wicker basket now rests on the sidewalk against the red brick wall below the large window, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_c_pd/infos.json b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4d7b8298d7cb8eb8b67154bdc9e16a4bc72b6a3 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x005335_y-004831_z000068_t5_c_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the metal bucket, then place it on the curb edge in front of the white-tiled wall.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4887.475, + -4634.959, + 27.782, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + [ + 5209.631, + -4830.618, + 68.15, + 0.0, + 180.0, + -0.0 + ], + [ + 5209.631, + -4830.618, + 68.15, + 0.0, + 155.0, + -0.0 + ], + [ + 5095.564, + -4777.428, + 68.15, + 0.0, + 155.0, + -0.0 + ], + [ + 4981.497, + -4724.238, + 103.1, + 0.0, + 155.0, + -0.0 + ], + [ + 4981.497, + -4724.238, + 103.1, + 0.0, + 155.0, + -0.0 + ], + [ + 4981.497, + -4724.238, + 103.1, + 0.0, + -180.0, + 0.0 + ], + [ + 4855.638, + -4724.238, + 108.097, + 0.0, + -180.0, + 0.0 + ], + [ + 4855.638, + -4724.238, + 108.097, + 0.0, + -155.0, + 0.0 + ], + [ + 4741.572, + -4777.43, + 110.897, + 0.0, + -155.0, + 0.0 + ], + [ + 4627.505, + -4830.621, + 108.15, + 0.0, + -155.0, + 0.0 + ], + [ + 4692.759, + -4800.192, + 108.15, + 0.0, + -155.0, + 0.0 + ], + [ + 4692.759, + -4800.192, + 108.15, + 0.0, + -155.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4887.475, + -4634.959, + 27.782, + 0.0, + 0.0, + 0.0 + ], + [ + 4887.475, + -4634.959, + 27.782, + 0.0, + 0.0, + 0.0 + ], + [ + 4887.475, + -4634.959, + 27.782, + 0.0, + 0.0, + 0.0 + ], + [ + 4887.475, + -4634.959, + 27.782, + 0.0, + 0.0, + 0.0 + ], + [ + 4887.475, + -4634.959, + 27.782, + 0.0, + 0.0, + 0.0 + ], + [ + 4973.026, + -4743.849, + 43.437, + -28.202, + -154.855, + 1.862 + ], + [ + 4982.114, + -4746.55, + 43.71, + -28.189, + -129.843, + 1.872 + ], + [ + 4856.655, + -4745.594, + 78.84, + -28.193, + -129.851, + 1.872 + ], + [ + 4865.038, + -4744.046, + 77.675, + -28.202, + -104.858, + 1.858 + ], + [ + 4750.999, + -4796.595, + 77.937, + -28.208, + -104.858, + 1.852 + ], + [ + 4637.17, + -4849.683, + 78.359, + -28.189, + -104.841, + 1.867 + ], + [ + 4629.317, + -4829.775, + 68.15, + 0.0, + -155.0, + 0.0 + ], + [ + 4629.317, + -4829.775, + 68.15, + 0.0, + -155.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 488.9, + 376.9, + 376.9, + 252.2, + 129.7, + 21.4, + 22.3, + 21.4, + 21.9, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket sits on the sidewalk ahead and to my left, well beyond the raised curb in front of me. I will step forward to close that gap and get onto the walkway near it before worrying about heading.", + "From here the bucket is clearly offset to my left, near the brick pier, while my heading points at the shopfront doorway. I will turn left so the bucket comes toward the center of my view and my next steps carry me straight to it.", + "The bucket is now roughly centered ahead of me with clear open pavement between us. I will walk forward to cut the remaining distance toward it.", + "The bucket is larger and still directly in front of me, but it remains a couple of paces off, too far to grasp. I will advance once more to bring it within reach.", + "The bucket now fills the near foreground directly in front of me, close enough that its rim is at arm's length. I will attempt to pick it up so I can carry it toward the curb by the white-tiled wall.", + "The bucket is in my hands and no longer resting on the pavement, so the grasp worked. The white-tiled section of wall lies off to my right rather than straight ahead, so I will turn right to face that side of the storefront before carrying it over.", + "With the bucket carried, the tiled wall panel and its doorway now sit ahead of me across open pavement. I will step forward to close in on that stretch of wall where the bucket belongs.", + "I am close to the shopfront, but my view is dominated by the brick pier and dark windows with the tiled panel sitting off to the right. I will turn right to square up on the tiled section and the low curb edge beneath it.", + "The bucket is still held with me, so I can keep carrying it toward the drop spot. The white-tiled section of the storefront wall now lies ahead and slightly left, with the curb edge running below it. I will step forward to close the remaining gap to that tiled stretch.", + "The white tiles now fill much of my view and the curb edge in front of them is close but not yet directly beneath me. Carrying the bucket, I need one more step to stand at that curb strip before releasing it. I will advance again to reach a clean placement position.", + "I am now right against the white-tiled wall with the curb edge immediately in front of me, and the bucket is still in my hands. This is the placement spot the task specifies, so I will release the bucket here and it should settle on the curb edge.", + "The metal bucket now rests on the curb edge in front of the white-tiled wall and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_a_p/infos.json b/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..791a437e93e4a544c8b58e352fef91860deee275 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 7373.391, + -1253.279, + 43.865, + -45.575, + 35.774, + 87.08 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + [ + 6771.265, + -924.548, + 68.15, + 0.0, + -20.0, + 0.0 + ], + [ + 6889.534, + -967.595, + 68.15, + 0.0, + -20.0, + 0.0 + ], + [ + 7007.802, + -1010.641, + 107.796, + 0.0, + -20.0, + 0.0 + ], + [ + 7126.071, + -1053.687, + 108.15, + 0.0, + -20.0, + 0.0 + ], + [ + 7244.34, + -1096.734, + 108.15, + 0.0, + -20.0, + 0.0 + ], + [ + 7244.34, + -1096.734, + 108.15, + 0.0, + -20.0, + 0.0 + ], + [ + 7244.34, + -1096.734, + 108.15, + 0.0, + -20.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 7373.391, + -1253.279, + 43.865, + -45.575, + 35.774, + 87.08 + ], + [ + 7373.391, + -1253.279, + 43.865, + -45.575, + 35.774, + 87.08 + ], + [ + 7373.391, + -1253.279, + 43.865, + -45.575, + 35.774, + 87.08 + ], + [ + 7373.391, + -1253.279, + 43.865, + -45.575, + 35.774, + 87.08 + ], + [ + 7373.391, + -1253.279, + 43.865, + -45.575, + 35.774, + 87.08 + ], + [ + 7373.391, + -1253.279, + 43.865, + -45.575, + 35.774, + 87.08 + ], + [ + 7251.07, + -1076.459, + 78.256, + -28.202, + 30.144, + 1.862 + ], + [ + 7251.07, + -1076.459, + 78.256, + -28.202, + 30.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 810.7, + 686.0, + 561.9, + 438.8, + 317.8, + 202.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits far ahead on the paved terrace beside the stone plinth near the steps, well out of reach from where I stand at the street edge. My heading already points at it, so I will walk straight forward to close that distance.", + "The tomato has grown slightly larger ahead of me and remains near the center-left of my view, confirming my heading is good. It is still too distant to grasp, so I will keep walking straight toward it.", + "The tomato is now clearly bigger and sits just left of the stairway base, so my straight path is working. The gap is still several strides, and I will continue forward without turning.", + "The tomato now fills a good portion of the lower left of my view, but it is still beyond arm's reach. Another forward stride should bring me close enough to attempt a grasp.", + "The tomato is very large at the left edge of my view, showing I am nearly beside it but not yet within reach. I will take one more step forward to bring it into grasping range.", + "The tomato is immediately in front of me at the foot of the steps, filling the near left of my view at ground level. This is close enough to reach it, so I will attempt to pick it up.", + "The tomato is now held in my hands rather than resting on the pavement. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_a_pd/infos.json b/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..54ea4adc5745f3155bf02e94222d4fa72d82e2b6 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the wicker basket, then place it on the stone steps leading to the building entrance.", + "Type": 5, + "Start_Pose": [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 7132.641, + -1290.465, + 48.044, + 90, + -40, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + [ + 6771.265, + -924.548, + 68.15, + 0.0, + -20.0, + 0.0 + ], + [ + 6889.534, + -967.595, + 68.15, + 0.0, + -20.0, + 0.0 + ], + [ + 7007.802, + -1010.641, + 107.796, + 0.0, + -20.0, + 0.0 + ], + [ + 7007.802, + -1010.641, + 107.796, + 0.0, + -45.0, + 0.0 + ], + [ + 7096.798, + -1099.637, + 108.081, + 0.0, + -45.0, + 0.0 + ], + [ + 7096.798, + -1099.637, + 108.081, + 0.0, + -45.0, + 0.0 + ], + [ + 7096.798, + -1099.637, + 108.081, + 0.0, + -20.0, + 0.0 + ], + [ + 7096.798, + -1099.637, + 108.081, + 0.0, + 5.0, + -0.0 + ], + [ + 7222.178, + -1088.668, + 108.081, + 0.0, + 5.0, + -0.0 + ], + [ + 7347.558, + -1077.699, + 108.081, + 0.0, + 5.0, + -0.0 + ], + [ + 7275.832, + -1083.974, + 108.081, + 0.0, + 5.0, + -0.0 + ], + [ + 7275.832, + -1083.974, + 108.081, + 0.0, + 5.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 7132.641, + -1290.465, + 48.044, + 90.0, + -40.0, + 0.0 + ], + [ + 7132.641, + -1290.465, + 48.044, + 90.0, + -40.0, + 0.0 + ], + [ + 7132.641, + -1290.465, + 48.044, + 90.0, + -40.0, + 0.0 + ], + [ + 7132.641, + -1290.465, + 48.044, + 90.0, + -40.0, + 0.0 + ], + [ + 7132.641, + -1290.465, + 48.044, + 90.0, + -40.0, + 0.0 + ], + [ + 7132.641, + -1290.465, + 48.044, + 90.0, + -40.0, + 0.0 + ], + [ + 7111.466, + -1084.106, + 78.256, + -28.202, + 5.144, + 1.862 + ], + [ + 7103.85, + -1078.459, + 78.529, + -28.189, + 30.157, + 1.872 + ], + [ + 7094.988, + -1077.186, + 77.862, + -28.215, + 55.127, + 1.849 + ], + [ + 7220.027, + -1067.419, + 77.675, + -28.202, + 55.141, + 1.858 + ], + [ + 7345.255, + -1056.465, + 77.937, + -28.208, + 55.142, + 1.852 + ], + [ + 7345.565, + -1077.873, + 73.081, + 90.0, + 5.0, + 0.0 + ], + [ + 7345.565, + -1077.873, + 73.081, + 90.0, + 5.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 630.3, + 514.3, + 404.2, + 306.4, + 306.4, + 194.2, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket rests on the raised paved walkway ahead of me, with the stone steps to the entrance just beyond it to the right. I am still out on the street below and far too distant to reach anything. I will walk forward to close that gap.", + "The basket has grown noticeably larger and now sits left of center, so my heading is bringing me toward it. There is still open pavement between me and it, with no obstruction in the way. I will keep walking forward.", + "The basket is now close on my left and the entrance stairway is directly ahead, so I am nearly on the plaza level with the target. I am still a few paces short of grasping range. Another step forward should bring me alongside the basket.", + "The basket has slipped to the very edge of my left periphery and is nearly out of sight, while my heading points at the stairway instead. I need it centered before I can approach and grasp it. I will turn left to bring the basket back in front of me.", + "The basket now sits clearly ahead and slightly left, resting on open pavement beside the building's stone bases. It is still a couple of paces beyond arm's reach. I will step forward to close in for the grasp.", + "The wicker basket is now at my feet in the lower left of my view, close enough that no further stepping is needed. Nothing stands between my hands and its rim. I will attempt to pick it up now.", + "The grasp worked and the wicker basket is now held in my hands rather than sitting on the pavement. My body is still oriented toward the building wall where I picked it up, not toward the entrance stairway, which lies off to my right. I will turn right to swing back toward the steps.", + "With the basket carried, the stone steps to the entrance have come into view but sit right of center, partly cut by the near pillar. I want them squarely ahead so I can walk straight up to them. I will turn right once more to finish the alignment.", + "The wicker basket is in my hands and the stone stairway to the building entrance now sits squarely ahead of me between the brick piers. I am still short of the bottom tread, so I will walk forward to carry the basket closer to the drop point.", + "The stairway now fills most of my view and the lowest treads are just in front of me, but I am not yet close enough to set the basket down onto stone. I will step forward once more to bring the steps within reach for placement.", + "I am standing at the foot of the stone steps, with the treads immediately to my left front and the pier beside me, and the basket still in my hands. This is the placement target from the task, so I will release the basket here and expect it to settle on the steps.", + "The wicker basket now rests on the stone steps at the entrance and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_b_p/infos.json b/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1be52073c5c64bd77a5268dd312b5860717e47f5 --- /dev/null +++ b/dataset/trajectory/modularBuilding/task_x006653_y-000882_z000068_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the green bell pepper.", + "Type": 5, + "Start_Pose": [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + [ + 6771.265, + -924.548, + 68.15, + 0.0, + -20.0, + 0.0 + ], + [ + 6771.265, + -924.548, + 68.15, + 0.0, + 5.0, + -0.0 + ], + [ + 6896.645, + -913.579, + 68.15, + 0.0, + 5.0, + -0.0 + ], + [ + 7022.025, + -902.61, + 107.707, + 0.0, + 5.0, + -0.0 + ], + [ + 7147.405, + -891.64, + 108.023, + 0.0, + 5.0, + -0.0 + ], + [ + 7147.405, + -891.64, + 108.023, + 0.0, + 30.0, + -0.0 + ], + [ + 7256.402, + -828.711, + 108.023, + 0.0, + 30.0, + -0.0 + ], + [ + 7256.402, + -828.711, + 108.023, + 0.0, + 30.0, + -0.0 + ], + [ + 7256.402, + -828.711, + 108.023, + 0.0, + 30.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ], + [ + 7245.197, + -810.523, + 78.256, + -28.202, + 80.145, + 1.862 + ], + [ + 7245.197, + -810.523, + 78.256, + -28.202, + 80.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 789.9, + 683.9, + 683.9, + 560.6, + 438.6, + 319.8, + 319.8, + 194.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The green bell pepper sits on the paved terrace ahead on the right, near the brick base of the columned entrance, still far from me. Nothing blocks the open pavement in front, so I will walk forward to close that gap before refining my heading.", + "After stepping closer, the pepper sits well off to the right edge of my view while I am facing the stairs and the left facade. A rightward turn should bring the target nearer the center of my heading so the next steps carry me straight toward it.", + "The pepper now lies close to the middle of my view, resting on the pavement in front of the brick wall. With my heading pointed at it and the ground clear, I will walk forward to shorten the remaining distance.", + "The pepper has grown larger and stays just right of center, so my current heading is still serviceable. I will continue walking forward rather than adjust, since the remaining gap is the main obstacle to reaching it.", + "The pepper is clearly visible ahead beside the brick plinth, but it remains beyond arm's reach. Another step forward should bring me close enough that only a small heading correction is left.", + "From this close position the pepper has drifted toward the right side of my view, with columns and the brick wall filling the center. Turning right should square my body onto it so the final step should land me directly over the target.", + "The pepper is now near the center of my view, sitting on the pavement just past the column base. One more step forward should place it within reach for a grasp.", + "The green bell pepper now fills the lower part of my view, right at my feet beside the brick wall, and my hands are empty. It is close enough to grasp, so I will attempt to pick it up.", + "The green bell pepper is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_p/infos.json b/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c36d87e3f8bf5d0992a4c4669547dbc53b8c174d --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the plate.", + "Type": 5, + "Start_Pose": [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -153815.219, + -116377.797, + 4836.465, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + [ + -153838.914, + -116884.034, + 4910.944, + 0.0, + 60.0, + -0.0 + ], + [ + -153838.914, + -116884.034, + 4910.944, + 0.0, + 85.0, + -0.0 + ], + [ + -153827.945, + -116758.654, + 4912.085, + 0.0, + 85.0, + -0.0 + ], + [ + -153816.976, + -116633.274, + 4893.9, + 0.0, + 85.0, + -0.0 + ], + [ + -153806.006, + -116507.894, + 4894.07, + 0.0, + 85.0, + -0.0 + ], + [ + -153806.006, + -116507.894, + 4894.07, + 0.0, + 85.004, + -0.0 + ], + [ + -153806.006, + -116507.894, + 4894.07, + 0.0, + 85.004, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -153815.219, + -116377.797, + 4836.465, + 90.0, + 90.0, + 0.0 + ], + [ + -153815.219, + -116377.797, + 4836.465, + 90.0, + 90.0, + 0.0 + ], + [ + -153815.219, + -116377.797, + 4836.465, + 90.0, + 90.0, + 0.0 + ], + [ + -153815.219, + -116377.797, + 4836.465, + 90.0, + 90.0, + 0.0 + ], + [ + -153815.219, + -116377.797, + 4836.465, + 90.0, + 90.0, + 0.0 + ], + [ + -153815.219, + -116377.797, + 4836.465, + 90.0, + 90.0, + 0.0 + ], + [ + -153827.332, + -116506.642, + 4856.132, + -28.202, + 135.149, + 1.862 + ], + [ + -153827.332, + -116506.642, + 4856.132, + -28.202, + 135.149, + 1.862 + ] + ], + "PD_Dist_2D": [ + 621.3, + 506.8, + 506.8, + 381.1, + 255.5, + 130.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate rests on the snow well ahead of me, right of center near the leaning pole. It is far too distant to reach, so I will walk straight forward to close that gap before worrying about fine alignment.", + "After stepping closer, the plate now sits noticeably right of my heading, near the edge of my view beside the poles. I will turn right so the plate moves toward the center of my path and my approach stays straight.", + "The turn has brought the plate close to the middle of my view, just left of the tall pole. With the heading now good and open snow between us, I will walk forward to shorten the remaining distance.", + "The plate has grown larger and stays centered ahead of me on the snow, but it is still out of arm's reach. I will keep walking straight forward, since no adjustment of heading seems necessary yet.", + "The plate now fills a good part of the lower view directly in front of me, yet it remains slightly too far to grasp comfortably. One more step forward should place it right at my feet for the pick.", + "The plate is directly in front of me at the bottom of my view, close enough that it dominates the near ground. This is the reaching position the task needs, so I will attempt to pick it up now.", + "The plate is now held in my hands rather than resting on the snow. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_pd/infos.json b/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..218cb653c911d5682f6d7c4573c5b329a42fb4b2 --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the trash bag, then put it down near the tilted wooden pole.", + "Type": 5, + "Start_Pose": [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -153518.79, + -116770.161, + 4818.471, + -0.306, + 78.834, + -8.948 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + [ + -153901.844, + -116993.031, + 4905.045, + 0.0, + 35.0, + -0.0 + ], + [ + -153798.746, + -116920.841, + 4912.944, + 0.0, + 35.0, + -0.0 + ], + [ + -153695.648, + -116848.652, + 4913.898, + 0.0, + 35.0, + -0.0 + ], + [ + -153695.648, + -116848.652, + 4913.898, + 0.0, + 35.003, + -0.0 + ], + [ + -153695.648, + -116848.652, + 4913.898, + 0.0, + 60.003, + -0.0 + ], + [ + -153695.648, + -116848.652, + 4913.898, + 0.0, + 85.003, + -0.0 + ], + [ + -153695.648, + -116848.652, + 4913.898, + 0.0, + 110.003, + -0.0 + ], + [ + -153738.7, + -116730.385, + 4913.864, + 0.0, + 110.003, + -0.0 + ], + [ + -153781.752, + -116612.118, + 4902.899, + 0.0, + 110.003, + -0.0 + ], + [ + -153824.803, + -116493.851, + 4887.448, + 0.0, + 110.003, + -0.0 + ], + [ + -153867.855, + -116375.584, + 4885.667, + 0.0, + 110.003, + -0.0 + ], + [ + -153843.226, + -116443.241, + 4885.667, + 0.0, + 110.003, + -0.0 + ], + [ + -153843.226, + -116443.241, + 4885.667, + 0.0, + 110.003, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -153518.797, + -116770.164, + 4818.471, + -0.306, + 78.834, + -8.948 + ], + [ + -153518.797, + -116770.164, + 4818.471, + -0.306, + 78.834, + -8.948 + ], + [ + -153518.797, + -116770.164, + 4818.471, + -0.306, + 78.834, + -8.948 + ], + [ + -153518.797, + -116770.164, + 4818.471, + -0.306, + 78.834, + -8.948 + ], + [ + -153708.397, + -116831.51, + 4883.907, + -28.202, + 85.147, + 1.862 + ], + [ + -153715.28, + -116838.031, + 4884.18, + -28.189, + 110.159, + 1.872 + ], + [ + -153718.073, + -116846.537, + 4883.512, + -28.215, + 135.13, + 1.849 + ], + [ + -153722.46, + -116852.594, + 4883.776, + -14.092, + 152.346, + 6.87 + ], + [ + -153758.518, + -116738.375, + 4883.943, + -28.198, + 160.148, + 1.865 + ], + [ + -153801.673, + -116619.83, + 4867.845, + -28.191, + 160.161, + 1.871 + ], + [ + -153844.759, + -116501.442, + 4855.28, + -28.214, + 160.133, + 1.852 + ], + [ + -153887.786, + -116383.262, + 4855.203, + -28.203, + 160.143, + 1.856 + ], + [ + -153867.172, + -116377.461, + 4845.667, + 0.0, + 110.003, + -0.0 + ], + [ + -153867.172, + -116377.461, + 4845.667, + 0.0, + 110.003, + -0.0 + ] + ], + "PD_Dist_2D": [ + 443.2, + 443.2, + 317.9, + 193.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The dark trash bag sits low on the snow to my left, beside the railing of the green house, while my heading points off toward the open yard. I will turn left so the bag comes into the center of my view and I can walk straight at it.", + "The trash bag now sits near the middle of my view against the railing of the green house, but it is still several paces off. I will walk forward to close that gap before attempting any grasp.", + "The bag has grown noticeably larger and sits just ahead of me on the snow, yet it is still short of arm's reach. Another step forward should bring me close enough to reach down for it.", + "The trash bag is directly in front of me at the bottom of my view, large and close against the snow. I am standing right over it, so I will try to pick it up now.", + "The grasp worked: the trash bag is held in my hands rather than lying on the snow. The leaning wooden pole I need to reach stands off to my right, past the corner of the green house, so I will turn right to swing my heading toward it.", + "Carrying the bag, I can see the tilted wooden pole leaning across the right side of my view beyond the fence, still off my line of travel. I will turn right again to bring it closer to center and open the snowy lane ahead of me.", + "The leaning pole and the upright post beside it are now near the middle of my view, but the fence line still angles across my path. One more right turn should place the open snowy street straight ahead so I can carry the bag toward the pole unobstructed.", + "I am facing down the open snowy street with the leaning wooden pole and the post beside it ahead of me, and nothing blocks the ground between. Still holding the bag, I will walk forward to close the distance to the pole.", + "The trash bag is secured in my hands, so the remaining job is to carry it to the wooden pole standing in the open snow ahead of me. It is still several strides away down the lane, with clear packed snow between us. I will keep walking straight toward it.", + "The pole ahead has grown noticeably larger and now dominates the middle of my view, so my heading toward it is good. I am still too far back for the bag to end up beside its base. Another step forward should close that gap.", + "The wooden pole now fills the center of my view and its banded trunk is only a short distance off. I want to be right at its foot before releasing the bag so it lands clearly near the pole. One more step should place me there.", + "The pole trunk now spans the whole front of my view at arm's length, so I am standing directly at its base with the bag still in my hands. This is the placement the task asks for. I will release the bag here so it settles on the snow beside the pole.", + "The trash bag now rests on the snow right against the base of the wooden pole, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_p/infos.json b/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac3d84c6a6f2e233288efeee8629074eb58de4b2 --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the ceramic vase.", + "Type": 5, + "Start_Pose": [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -153610.672, + -116470.164, + 4854.457, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + [ + -153838.914, + -116884.034, + 4910.944, + 0.0, + 60.0, + -0.0 + ], + [ + -153775.985, + -116775.037, + 4912.841, + 0.0, + 60.0, + -0.0 + ], + [ + -153713.055, + -116666.04, + 4914.704, + 0.0, + 60.0, + -0.0 + ], + [ + -153650.126, + -116557.043, + 4914.541, + 0.0, + 60.0, + -0.0 + ], + [ + -153650.126, + -116557.043, + 4914.541, + 0.0, + 60.001, + -0.0 + ], + [ + -153650.126, + -116557.043, + 4914.541, + 0.0, + 60.001, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -153610.672, + -116470.164, + 4854.457, + 0.0, + 0.0, + 0.0 + ], + [ + -153610.672, + -116470.164, + 4854.457, + 0.0, + 0.0, + 0.0 + ], + [ + -153610.672, + -116470.164, + 4854.457, + 0.0, + 0.0, + 0.0 + ], + [ + -153610.672, + -116470.164, + 4854.457, + 0.0, + 0.0, + 0.0 + ], + [ + -153610.672, + -116470.164, + 4854.457, + 0.0, + 0.0, + 0.0 + ], + [ + -153668.924, + -116546.895, + 4884.603, + -28.202, + 110.146, + 1.862 + ], + [ + -153668.924, + -116546.895, + 4884.603, + -28.202, + 110.146, + 1.862 + ] + ], + "PD_Dist_2D": [ + 598.5, + 472.6, + 346.8, + 221.0, + 95.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The white ceramic vase with red floral motifs stands on the snow ahead of me, near the green house's fence and the leaning pole. It is far too distant to reach, but it sits almost straight along my heading, so no turn is needed. I will walk forward to close the gap.", + "The vase now appears slightly larger and remains centered ahead of me on the snow beside the fence. Nothing blocks the open snow between us, so continuing straight is the most direct way to shorten the range. I will step forward again.", + "The ceramic vase is clearly bigger now and stays near the middle of my view, so my heading remains good. I am still several strides short of grasping range. I will keep walking forward toward it.", + "The vase now fills a large part of my view directly in front of me, but it is still slightly out of reach for a grasp. One more forward step should bring it close enough to handle. I will advance.", + "The ceramic vase is right in front of me, filling the center of my view at arm's length with nothing between us. This is the moment to grasp it rather than step closer and risk bumping it. I will attempt the pick.", + "The ceramic vase is now held in my hands rather than resting on the snow. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_pd/infos.json b/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d437a1c3a1ab8b8689e70f181143dc387f0f5d33 --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the wicker basket, then place it at the base of the vertical wooden pole.", + "Type": 5, + "Start_Pose": [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -153512.406, + -116666.258, + 4854.136, + 90, + 40, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + [ + -153838.914, + -116884.034, + 4910.944, + 0.0, + 60.0, + -0.0 + ], + [ + -153775.985, + -116775.037, + 4912.841, + 0.0, + 60.0, + -0.0 + ], + [ + -153775.985, + -116775.037, + 4912.841, + 0.0, + 35.0, + -0.0 + ], + [ + -153672.887, + -116702.847, + 4914.971, + 0.0, + 35.0, + -0.0 + ], + [ + -153672.887, + -116702.847, + 4914.971, + 0.0, + 35.0, + -0.0 + ], + [ + -153672.887, + -116702.847, + 4914.971, + 0.0, + 60.0, + -0.0 + ], + [ + -153672.887, + -116702.847, + 4914.971, + 0.0, + 85.0, + -0.0 + ], + [ + -153672.887, + -116702.847, + 4914.971, + 0.0, + 110.0, + -0.0 + ], + [ + -153715.934, + -116584.579, + 4914.756, + 0.0, + 110.0, + -0.0 + ], + [ + -153758.981, + -116466.31, + 4908.972, + 0.0, + 110.0, + -0.0 + ], + [ + -153758.981, + -116466.31, + 4908.972, + 0.0, + 135.0, + -0.0 + ], + [ + -153847.978, + -116377.315, + 4885.865, + 0.0, + 135.0, + -0.0 + ], + [ + -153797.066, + -116428.227, + 4896.08, + 0.0, + 135.0, + -0.0 + ], + [ + -153797.066, + -116428.227, + 4896.08, + 0.0, + 135.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -153512.406, + -116666.258, + 4854.136, + 90.0, + 40.0, + 0.0 + ], + [ + -153512.406, + -116666.258, + 4854.136, + 90.0, + 40.0, + 0.0 + ], + [ + -153512.406, + -116666.258, + 4854.136, + 90.0, + 40.0, + 0.0 + ], + [ + -153512.406, + -116666.258, + 4854.136, + 90.0, + 40.0, + 0.0 + ], + [ + -153512.406, + -116666.258, + 4854.136, + 90.0, + 40.0, + 0.0 + ], + [ + -153685.635, + -116685.705, + 4885.099, + -28.202, + 85.145, + 1.862 + ], + [ + -153692.519, + -116692.226, + 4885.372, + -28.189, + 110.157, + 1.872 + ], + [ + -153695.311, + -116700.732, + 4884.705, + -28.215, + 135.128, + 1.849 + ], + [ + -153699.699, + -116706.788, + 4884.623, + -14.092, + 152.344, + 6.87 + ], + [ + -153735.752, + -116592.568, + 4885.129, + -28.198, + 160.146, + 1.865 + ], + [ + -153778.903, + -116474.022, + 4873.187, + -28.191, + 160.159, + 1.871 + ], + [ + -153774.29, + -116482.695, + 4873.98, + -28.205, + -174.864, + 1.859 + ], + [ + -153862.359, + -116393.139, + 4856.41, + -28.191, + -174.85, + 1.872 + ], + [ + -153846.562, + -116378.727, + 4861.08, + 90.0, + 135.0, + 0.0 + ], + [ + -153846.562, + -116378.727, + 4861.08, + 90.0, + 135.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 508.4, + 392.5, + 285.1, + 285.1, + 164.6, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 22.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The round wicker basket rests against the fence by the green house, well ahead and slightly left of my heading. It is far too distant to grasp from here, so I will walk forward to close the gap. The open snow between us looks clear of obstructions.", + "The basket has grown noticeably larger and now sits low on the left side of my view, so my previous step clearly reduced the gap. It is still beyond arm's reach, so I will step forward again to keep closing in before adjusting my heading.", + "I am now close to the fence line, but the basket has drifted to the far left edge of my view and is nearly out of sight. Walking straight would carry me past it, so I will turn left to bring the basket back in front of me.", + "The basket is now centered low in my view, resting on the snow against the railing, so my heading is right. It still sits a couple of paces away, too far to grasp, so I will step forward to reach it.", + "The basket now fills the lower left of my view, close enough that its woven rim is directly in front of me. This is the moment to reach out, so I will attempt to pick it up. If the grasp takes hold, I can then carry it toward the leaning wooden pole.", + "The basket is no longer sitting by the fence and is now held with me, so the grasp succeeded. The tall wooden pole I need to reach stands off to my right, beyond the fence corner, so I will turn right to swing my heading toward it.", + "With the basket in hand, my heading has swung partly away from the house, but the open street and the standing poles still lie further right. I will turn right again to keep rotating toward the route that leads to the pole base.", + "I am still carrying the basket, and the village road with the upright poles is now opening on the right side of my view while the fence blocks the way straight ahead. One more turn right should line my heading down that open road toward the pole I need to reach.", + "The basket is in my hands and my heading now faces the open snowy street where the upright wooden pole stands ahead on my right. The leaning pole beside it is not the vertical one I need. I will walk forward to close the remaining distance toward the standing pole.", + "The upright pole has grown noticeably larger and now dominates the middle of my view, so my heading is carrying me toward it with the basket still in hand. Nothing blocks the packed snow between us. I will step forward again to reach its base.", + "I am now close to the standing pole, but it stands right of my forward heading, and the ground I would step onto lies past it rather than at its foot. Turning right shifts my heading so the pole base falls directly ahead of my step line. I will turn right to set up a clean final approach.", + "After the turn the vertical pole stands squarely ahead of me with its base in clear view on the open snow. I am still carrying the basket and only a short gap remains. I will step forward to stand right at the foot of the pole before releasing it.", + "I am standing immediately at the vertical wooden pole, with its base directly in front of me and the basket still held. This is the placement spot the task specifies, so nothing further needs adjusting. I will release the basket here so it should come to rest at the pole's base.", + "The basket now rests on the snow at the foot of the vertical wooden pole and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_p/infos.json b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a67f6b4de9e25bbe32ebfd110bfe93586505681 --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the metal bucket.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -156179.828, + -115046.289, + 4801.555, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + [ + -156073.973, + -115536.842, + 4874.69, + 0.0, + 80.0, + -0.0 + ], + [ + -156052.118, + -115412.895, + 4871.899, + 0.0, + 80.0, + -0.0 + ], + [ + -156052.118, + -115412.895, + 4871.899, + 0.0, + 105.0, + -0.0 + ], + [ + -156084.692, + -115291.325, + 4872.539, + 0.0, + 105.0, + -0.0 + ], + [ + -156117.267, + -115169.754, + 4880.244, + 0.0, + 105.0, + -0.0 + ], + [ + -156117.267, + -115169.754, + 4880.244, + 0.0, + 105.0, + -0.0 + ], + [ + -156117.267, + -115169.754, + 4880.244, + 0.0, + 105.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -156179.828, + -115046.289, + 4801.555, + 0.0, + 0.0, + 0.0 + ], + [ + -156179.828, + -115046.289, + 4801.555, + 0.0, + 0.0, + 0.0 + ], + [ + -156179.828, + -115046.289, + 4801.555, + 0.0, + 0.0, + 0.0 + ], + [ + -156179.828, + -115046.289, + 4801.555, + 0.0, + 0.0, + 0.0 + ], + [ + -156179.828, + -115046.289, + 4801.555, + 0.0, + 0.0, + 0.0 + ], + [ + -156179.828, + -115046.289, + 4801.555, + 0.0, + 0.0, + 0.0 + ], + [ + -156137.736, + -115175.871, + 4849.238, + -28.202, + 155.145, + 1.862 + ], + [ + -156137.736, + -115175.871, + 4849.238, + -28.202, + 155.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 620.2, + 501.8, + 388.2, + 388.2, + 262.9, + 138.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The metal bucket stands on the snow at the right end of the cabin porch, still far off across the open yard. Nothing blocks the packed snow path ahead of me, so I will walk forward to close that distance before worrying about fine alignment.", + "The bucket has grown larger and sits clearly to the right of the porch steps, so my heading is still useful. It remains well out of reach, and I will step forward again to keep shrinking the gap.", + "From here the bucket sits well off to my right, near the edge of what I can see, while my heading points at the porch and woodpile. Turning right should bring the bucket toward the center of my view so a straight walk leads to it.", + "The bucket now sits near the middle of my view against the log wall, so my heading lines up with it. The snow between us is clear, and I will walk straight ahead to close in.", + "The bucket is noticeably closer and still centered slightly below my line of sight, but it is not yet within arm's reach. One more step forward should place me right beside it for a grasp.", + "The metal bucket now fills the lower part of my view, its open rim directly in front of me and clearly within arm's reach. My hands are empty and nothing stands between us, so I will attempt to grasp and lift it.", + "My hands are gripping the metal bucket and it is raised off the snow. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_pd/infos.json b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b65dacd353e37846e567413d3fa89274763f28d9 --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the ceramic pot, then place it on the tree stump next to the wooden ladder.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -156122.703, + -115375.484, + 4792.113, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + [ + -156073.973, + -115536.842, + 4874.69, + 0.0, + 80.0, + -0.0 + ], + [ + -156073.973, + -115536.842, + 4874.69, + 0.0, + 79.994, + -0.0 + ], + [ + -156073.973, + -115536.842, + 4874.69, + 0.0, + 54.994, + -0.0 + ], + [ + -156001.772, + -115433.752, + 4877.667, + 0.0, + 54.994, + -0.0 + ], + [ + -155929.571, + -115330.662, + 4883.08, + 0.0, + 54.994, + -0.0 + ], + [ + -155857.371, + -115227.572, + 4883.722, + 0.0, + 54.994, + -0.0 + ], + [ + -155857.371, + -115227.572, + 4883.722, + 0.0, + 29.994, + -0.0 + ], + [ + -155748.367, + -115164.655, + 4884.53, + 0.0, + 29.994, + -0.0 + ], + [ + -155661.614, + -115124.459, + 4884.798, + 0.0, + 29.994, + -0.0 + ], + [ + -155661.614, + -115124.459, + 4884.798, + 0.0, + 29.994, + -0.0 + ], + [ + -155723.971, + -115160.453, + 4884.798, + 0.0, + 29.994, + -0.0 + ], + [ + -155723.971, + -115160.453, + 4884.798, + 0.0, + 29.994, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -156122.703, + -115375.484, + 4792.113, + 0.0, + 0.0, + 0.0 + ], + [ + -156122.703, + -115375.484, + 4792.113, + 0.0, + 0.0, + 0.0 + ], + [ + -156095.108, + -115533.733, + 4843.605, + -28.202, + 130.138, + 1.862 + ], + [ + -156091.037, + -115525.642, + 4843.875, + -28.189, + 105.151, + 1.872 + ], + [ + -156019.848, + -115422.334, + 4846.303, + -28.193, + 105.142, + 1.872 + ], + [ + -155947.62, + -115319.21, + 4853.046, + -28.198, + 105.144, + 1.868 + ], + [ + -155875.278, + -115215.912, + 4853.776, + -28.196, + 105.141, + 1.865 + ], + [ + -155868.059, + -115210.083, + 4853.66, + -28.189, + 80.152, + 1.867 + ], + [ + -155759.888, + -115146.653, + 4854.945, + -28.207, + 80.129, + 1.857 + ], + [ + -155672.905, + -115106.314, + 4855.075, + -28.192, + 80.145, + 1.867 + ], + [ + -155672.914, + -115106.317, + 4854.992, + -28.191, + 80.151, + 1.864 + ], + [ + -155663.344, + -115125.461, + 4864.798, + 0.0, + 29.994, + -0.0 + ], + [ + -155663.344, + -115125.461, + 4864.798, + 0.0, + 29.994, + -0.0 + ] + ], + "PD_Dist_2D": [ + 286.6, + 168.6, + 21.4, + 20.4, + 21.4, + 21.4, + 21.4, + 20.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits on the snow ahead of me, still too far to reach from here. I will walk forward to close that gap so the pot comes within grasping range.", + "The pot is now directly below me at the bottom edge of my view, close enough that nothing blocks my reach. I will attempt to pick it up so I can carry it toward the stump by the wooden ladder.", + "The pot is no longer resting on the snow and is held in my hands, so the grasp succeeded. The stump beside the wooden ladder lies off to my left, past the corner of the cabin, so I will turn left to face that direction before advancing.", + "With the pot carried, my heading now runs along the cabin front toward the ladder leaning on the wall and the stump standing near it. I will step forward to shorten the distance to that drop-off spot.", + "The ladder and the stump beside it have grown larger ahead, but I am still short of the stump. I will keep walking forward along this line to bring the stump within placing range.", + "The stump now sits close on my left and the ladder is right beside the cabin wall, yet my path still passes short of the stump. Another step forward should bring me level with it while carrying the pot.", + "The stump stands off to my left while my heading points along the cabin wall past it. I will turn left so the stump moves into the center of my view for the placement.", + "The stump now sits ahead of me with the ladder just behind it against the wall, but it is still a short walk away. I will step forward to stand directly over the stump so the pot can be set down onto it.", + "I am still carrying the ceramic pot, and the wide tree stump beside the wooden ladder now sits just ahead at the bottom of my view. It is still slightly too far for a controlled placement, so I will step forward once more to close that last bit of distance.", + "I am now standing right at the stump next to the ladder, but my gaze is level with the distant shop and the stump top has slipped below the frame. I will look down to bring the flat cut surface into view so I can judge the placement.", + "With my gaze angled down, the broad flat top of the stump fills the lower part of my view, right beside the ladder leaning on the log wall. The pot I carry is directly over that surface, so I will release it here and it should come to rest on the stump.", + "The ceramic pot now sits on the tree stump beside the wooden ladder, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_p/infos.json b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..50e4f42585cf8a8dfb19274d6887ba36386f3490 --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the wicker basket near the wooden porch.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -155992.531, + -114885.234, + 4950.65, + 90, + 80.005, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + [ + -156073.973, + -115536.842, + 4874.69, + 0.0, + 80.0, + -0.0 + ], + [ + -156052.118, + -115412.895, + 4871.899, + 0.0, + 80.0, + -0.0 + ], + [ + -156030.263, + -115288.948, + 4877.011, + 0.0, + 80.0, + -0.0 + ], + [ + -156008.407, + -115165.001, + 4902.168, + 0.0, + 80.0, + -0.0 + ], + [ + -155986.552, + -115041.054, + 4961.867, + 0.0, + 80.0, + -0.0 + ], + [ + -155964.997, + -114943.923, + 4930.65, + 0.0, + 80.0, + -0.0 + ], + [ + -155964.997, + -114943.923, + 4930.65, + 0.0, + 105.0, + -0.0 + ], + [ + -155964.997, + -114943.923, + 4930.65, + 0.0, + 105.005, + -0.0 + ], + [ + -155964.997, + -114943.923, + 4930.65, + 0.0, + 105.005, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -155992.531, + -114885.234, + 4950.65, + 90.0, + 80.005, + 0.0 + ], + [ + -155992.531, + -114885.234, + 4950.65, + 90.0, + 80.005, + 0.0 + ], + [ + -155992.531, + -114885.234, + 4950.65, + 90.0, + 80.005, + 0.0 + ], + [ + -155992.531, + -114885.234, + 4950.65, + 90.0, + 80.005, + 0.0 + ], + [ + -155992.531, + -114885.234, + 4950.65, + 90.0, + 80.005, + 0.0 + ], + [ + -155992.531, + -114885.234, + 4950.65, + 90.0, + 80.005, + 0.0 + ], + [ + -155992.531, + -114885.234, + 4950.65, + 90.0, + 80.005, + 0.0 + ], + [ + -155992.531, + -114885.234, + 4950.65, + 90.0, + 80.005, + 0.0 + ], + [ + -155986.317, + -114950.084, + 4900.756, + -28.202, + 155.149, + 1.862 + ], + [ + -155986.317, + -114950.084, + 4900.756, + -28.202, + 155.149, + 1.862 + ] + ], + "PD_Dist_2D": [ + 782.4, + 656.7, + 531.0, + 405.5, + 280.2, + 155.9, + 64.8, + 64.8, + 22.2, + 22.2 + ], + "Rationale": [ + "The round wicker basket is visible ahead, hanging on the log wall above the stacked firewood under the porch roof. I am still far out on the open snow, so I will walk straight forward along the path toward the porch to close that distance.", + "The porch posts and the basket now fill more of my view, confirming my heading is correct. The basket remains well beyond arm's reach, so I keep walking forward without changing direction.", + "The porch steps and woodpile are clearly framed ahead with the basket centered on the wall above them. Nothing blocks the approach, so another step forward should bring me close to the raised deck.", + "I am now at the porch decking with the woodpile and the basket close in front of me. The basket is still too far to reach comfortably, so I continue advancing toward the wall.", + "The wicker basket now dominates the view just above the stacked logs, but it sits back against the wall behind the woodpile. I will step forward once more to bring it within grabbing range.", + "The basket rim fills much of my view but it is still offset ahead of me rather than directly at hand. A short additional step forward should close the last bit of distance for a grasp.", + "I am right up against the woodpile, and the basket sits off to the right edge of my view rather than in front of me. I will turn right to bring it squarely into my reach direction before grabbing.", + "The wicker basket is now centered and filling my view at arm's length, with nothing between me and its weave. This is the moment to reach out and attempt to grasp it.", + "The wicker basket is now in my hands, no longer resting against the woodpile. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_pd/infos.json b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b12647932b8b5b42c6c56a4e5a07cb59a58bbcd0 --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the trash bag, then place it beside the firewood stack under the porch roof.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -155808.969, + -115411.188, + 4785.94, + -0.857, + 108.112, + -16.547 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + [ + -156095.828, + -115660.789, + 4882.487, + 0.0, + 55.0, + -0.0 + ], + [ + -156024.517, + -115557.267, + 4878.89, + 0.0, + 55.0, + -0.0 + ], + [ + -155952.328, + -115454.169, + 4881.437, + 0.0, + 55.0, + -0.0 + ], + [ + -155952.328, + -115454.169, + 4881.437, + 0.0, + 30.0, + -0.0 + ], + [ + -155952.328, + -115454.169, + 4881.437, + 0.0, + 29.994, + -0.0 + ], + [ + -155952.328, + -115454.169, + 4881.437, + 0.0, + 54.994, + -0.0 + ], + [ + -155952.328, + -115454.169, + 4881.437, + 0.0, + 79.994, + -0.0 + ], + [ + -155952.328, + -115454.169, + 4881.437, + 0.0, + 104.994, + -0.0 + ], + [ + -155984.89, + -115332.595, + 4879.846, + 0.0, + 104.994, + -0.0 + ], + [ + -156017.453, + -115211.022, + 4881.588, + 0.0, + 104.994, + -0.0 + ], + [ + -156050.016, + -115089.448, + 4930.271, + 0.0, + 104.994, + -0.0 + ], + [ + -156082.579, + -114967.874, + 4930.586, + 0.0, + 104.994, + -0.0 + ], + [ + -156082.579, + -114967.874, + 4930.586, + 0.0, + 79.994, + -0.0 + ], + [ + -156094.159, + -115032.015, + 4930.65, + 0.0, + 79.994, + -0.0 + ], + [ + -156094.159, + -115032.015, + 4930.65, + 0.0, + 79.994, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -155808.969, + -115411.188, + 4785.94, + -0.857, + 108.112, + -16.547 + ], + [ + -155808.969, + -115411.188, + 4785.94, + -0.857, + 108.112, + -16.547 + ], + [ + -155808.969, + -115411.188, + 4785.94, + -0.857, + 108.112, + -16.547 + ], + [ + -155808.969, + -115411.188, + 4785.94, + -0.857, + 108.112, + -16.547 + ], + [ + -155808.969, + -115411.188, + 4785.94, + -0.857, + 108.112, + -16.547 + ], + [ + -155962.958, + -115436.612, + 4850.77, + -28.202, + 80.139, + 1.862 + ], + [ + -155970.289, + -115442.586, + 4851.043, + -28.189, + 105.151, + 1.872 + ], + [ + -155974.04, + -115450.618, + 4850.376, + -28.215, + 130.122, + 1.849 + ], + [ + -155974.836, + -115460.379, + 4851.299, + -28.205, + 155.133, + 1.861 + ], + [ + -156005.256, + -115339.098, + 4849.07, + -28.198, + 155.139, + 1.865 + ], + [ + -156037.874, + -115217.318, + 4851.526, + -28.2, + 155.139, + 1.865 + ], + [ + -156070.517, + -115095.459, + 4900.562, + -28.194, + 155.143, + 1.865 + ], + [ + -156103.126, + -114973.698, + 4900.181, + -28.202, + 155.136, + 1.859 + ], + [ + -156102.628, + -114965.157, + 4901.385, + -28.194, + 130.141, + 1.873 + ], + [ + -156082.0, + -114963.078, + 4890.65, + 0.0, + 79.994, + -0.0 + ], + [ + -156082.0, + -114963.078, + 4890.65, + 0.0, + 79.994, + -0.0 + ] + ], + "PD_Dist_2D": [ + 380.2, + 380.2, + 260.4, + 149.7, + 149.7, + 20.5, + 21.4, + 22.0, + 23.3, + 21.4, + 21.4, + 21.4, + 21.4, + 20.2, + 70.0, + 70.0 + ], + "Rationale": [ + "The trash bag sits far out at the left edge of my view while the cabin porch and firewood fill the center, so my heading is not usable for approaching it. I will turn left to bring the bag into the middle of my view before walking toward it.", + "The trash bag now sits ahead of me on the snowy patch, roughly centered in my path with open ground between us. I will step forward to close that distance before attempting to grasp it.", + "The bag has grown noticeably larger and now sits low in the left half of my view, but it is still several paces away and too far to grab. I will keep walking forward to bring it within reach.", + "The bag has slipped to the very bottom left corner of my view, so my current heading points past it toward the log wall and woodpile. I will turn left to square up on the bag before reaching for it.", + "The trash bag is now directly in front of me at the bottom of my view, close enough that nothing stands between us. I will attempt to pick it up so I can carry it to the firewood stack under the porch roof.", + "The grasp worked and the trash bag is now held in my hands rather than resting on the snow. The cabin porch with its firewood stack lies off to my right, so I will turn right to swing my heading back toward the delivery spot.", + "With the bag in hand, the covered porch and its stacked logs sit in the right half of my view, still angled away from my path. I will turn right again to bring the firewood stack closer to the center of my heading.", + "The porch with its roof posts, steps, and firewood stack now fills my view, but the woodpile itself still sits left of dead center relative to the open approach. One more turn right should line my walking path onto the porch deck beside the logs.", + "The trash bag is in my hands, so the remaining job is carrying it to the firewood. Ahead of me the covered porch with its stacked logs sits under the roof, still several paces off across the snow. I will walk forward to close that gap.", + "The stacked logs and the porch decking now fill the left of my view, and the support post is close, so I am nearly under the roof line. I am still short of a spot right beside the woodpile. I will keep walking forward.", + "I am at the edge of the porch deck with the log wall and firewood filling my view, but the bag would land short of the stack from here. Advancing another step should bring me alongside the woodpile under the roof. I will move forward.", + "The wall and its carved window are directly ahead and the ends of the logs sit low on my left, so I am beneath the porch cover now. One more step should put me squarely next to the stack before I set the bag down. I will advance again.", + "I am beside the woodpile, but my heading points at the blank log wall and the window, leaving the stacked logs off at the lower left edge. Turning left should bring the firewood and the clear floor next to it in front of me for the release. I will turn left.", + "The firewood stack now lies straight in front of me, sheltered by the porch roof, with the bag still in my hands. This is the placement the task asks for, right alongside the logs. I will release it here and expect it to settle beside the stack.", + "The trash bag now rests beside the firewood stack under the porch roof, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_c_pd/infos.json b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5094e908ef968a7ff8289cb450a410d4e763ac50 --- /dev/null +++ b/dataset/trajectory/postSoviet_Village/task_x-156096_y-115661_z004882_t5_c_pd/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the candelabra, then place it on the wooden steps leading to the porch.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -155892.047, + -115405.18, + 4806.817, + 0, + 0, + 0 + ], + "Action": [ + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + [ + -156095.828, + -115660.789, + 4882.487, + 0.0, + 80.0, + -0.0 + ], + [ + -156095.828, + -115660.789, + 4882.487, + 0.0, + 55.0, + -0.0 + ], + [ + -156024.517, + -115557.267, + 4878.89, + 0.0, + 55.0, + -0.0 + ], + [ + -156024.517, + -115557.267, + 4878.89, + 0.0, + 55.005, + -0.0 + ], + [ + -156024.517, + -115557.267, + 4878.89, + 0.0, + 80.005, + -0.0 + ], + [ + -156002.674, + -115433.318, + 4877.533, + 0.0, + 80.005, + -0.0 + ], + [ + -155980.83, + -115309.369, + 4880.408, + 0.0, + 80.005, + -0.0 + ], + [ + -155993.326, + -115380.276, + 4878.233, + 0.0, + 80.005, + -0.0 + ], + [ + -155993.326, + -115380.276, + 4878.233, + 0.0, + 80.005, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -155892.047, + -115405.18, + 4806.817, + 0.0, + 0.0, + 0.0 + ], + [ + -155892.047, + -115405.18, + 4806.817, + 0.0, + 0.0, + 0.0 + ], + [ + -155892.047, + -115405.18, + 4806.817, + 0.0, + 0.0, + 0.0 + ], + [ + -155892.047, + -115405.18, + 4806.817, + 0.0, + 0.0, + 0.0 + ], + [ + -156042.361, + -115545.52, + 4847.752, + -28.202, + 105.15, + 1.862 + ], + [ + -156046.598, + -115554.002, + 4848.024, + -28.189, + 130.162, + 1.872 + ], + [ + -156023.882, + -115430.613, + 4846.069, + -28.193, + 130.154, + 1.872 + ], + [ + -156002.028, + -115306.621, + 4849.845, + -28.198, + 130.155, + 1.868 + ], + [ + -155981.172, + -115311.336, + 4848.233, + 0.0, + 10.005, + -0.0 + ], + [ + -155981.172, + -115311.336, + 4848.233, + 0.0, + 10.005, + -0.0 + ] + ], + "PD_Dist_2D": [ + 326.9, + 326.9, + 326.9, + 201.7, + 21.4, + 22.3, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The candelabra stands on the patch of grass to my left, well out across the snow from where I am. I will try to take it from here, though at this range my hands may not reach it.", + "My hands are empty, so the grasp did not take hold. The candelabra sat off to my left rather than ahead of me. I will turn left to put it back in front of me before closing the gap.", + "The candelabra now sits ahead of me on the grassy strip, but it is still small in view and clearly too far for my earlier reach attempt. I will walk forward across the open snow to stand close enough to grasp it.", + "The candelabra is now directly in front of me, large in view with its three arms and candles within arm's length. This is the range my first attempt lacked, so I will reach out and try to lift it.", + "The candelabra is in my hands now, so the lift took hold. The cabin with its wooden steps lies to my right from this heading, so I will turn right to face the porch before carrying it over.", + "The candelabra is in my hands, so I now need to carry it to the wooden steps. From here the porch and its plank steps sit ahead of me, roughly centered after my turn, with open snow in between. I will walk forward to close that gap.", + "The steps and porch deck are noticeably larger and nearer now, but the plank treads still sit below the bottom of my view rather than directly at my feet. I am still carrying the candelabra, so I keep my heading and walk forward again to reach placement range.", + "I am now right at the porch, with the wide wooden steps spread directly in front of me and the woodpile just beyond. This is the surface the task names for the candelabra, and I am close enough to set it down here. I will release it onto the steps.", + "The candelabra now stands upright at the wooden steps of the porch, out of my hands. The task is satisfied, so there is nothing further to do." + ] +}