Add files using upload-large-folder tool

dataset/trajectory/Containeryard_Night/task_x-001086_y-002155_z000098_t0_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Approach the blue container sitting at ground level.",
+    "Type": 0,
+    "Start_Pose": [
+        -1085.834,
+        -2155.458,
+        98.275,
+        0.0,
+        -24.0,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1085.834,
+            -2155.458,
+            98.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -970.856,
+            -2206.649,
+            98.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -855.878,
+            -2257.841,
+            98.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -740.9,
+            -2309.032,
+            98.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -740.9,
+            -2309.032,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -658.329,
+            -2404.019,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -575.758,
+            -2499.006,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -493.187,
+            -2593.993,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -410.616,
+            -2688.98,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -328.046,
+            -2783.967,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -245.475,
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+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -162.904,
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+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -80.333,
+            -3068.928,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            2.238,
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+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            84.809,
+            -3258.902,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            167.38,
+            -3353.889,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            249.951,
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+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            332.522,
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+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
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+            -3543.863,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the open yard I can see the stacked container rows ahead, and the bluish-purple containers sit in the left-hand stack with a ground-level unit resting directly on the pavement. The lane in front of me is clear apart from the small concrete post, so I will move forward to begin closing the gap toward that stack.",
+        "The blue container faces are slightly larger now and the silver wall on my right is sliding past, confirming my forward motion is taking effect. I will continue forward since the ground ahead stays clear and the target stack is still well beyond reach.",
+        "The stack with the ground-level blue container is closer but still off to my left, and the concrete post remains clear of my path. Another forward step should bring me nearer the opening where I can line up on the target.",
+        "My heading is drifting toward the tall silver container wall on the right while the blue containers I want sit left of my view center. I will turn left to swing my facing onto that stack so my next forward steps carry me straight at the ground-level blue unit.",
+        "After the turn the corridor between the long silver container on my right and the mixed stack ahead is open, with the blue container faces now near the middle of my view. I will move forward along this lane to close distance on the ground-level blue container.",
+        "The blue-fronted section of the stack keeps growing ahead of me and the concrete post stays just left of my path, so nothing blocks the lane. I will keep moving forward to reduce the remaining distance.",
+        "I am clearly gaining ground, since the bottom row of blue containers now sits well within view with its base on the pavement. The lane remains clear, so another forward step should bring me closer to that ground-level unit.",
+        "The blue container wall ahead is noticeably larger and the post beside my path is passing close on my left, so I still have room to advance. I will continue forward because I am not yet near enough to count as standing at the container.",
+        "The bluish containers resting directly on the ground are visible in the bottom row of the stack ahead and slightly left, and my current heading points down the open lane toward them. The lane between the concrete pillar and the silver container wall on my right is clear, so I will keep moving forward to close the remaining distance.",
+        "The blue ground-level containers have grown larger in front of me and the concrete pillar now sits close on my left, confirming I am advancing along the intended lane. Nothing blocks the path between the pillar and the container edge on my right, so another forward step should keep shrinking the gap to the blue target.",
+        "I am now passing the silver container edge on my right, and the blue containers at ground level fill the middle of my view straight ahead. The heading still lines up with them, so I continue forward rather than adjusting my orientation.",
+        "The pillar has moved to my left side and the open yard now stretches directly toward the wall of stacked containers, with the blue units clearly seated on the ground ahead. Since the approach line is unobstructed, I will take another step forward to reduce the remaining distance.",
+        "The pillar is nearly out of the left edge of my view and the blue ground-level containers now dominate the scene in front of me, though still several steps away. Forward motion remains the direct way to bring me close to that blue unit.",
+        "The blue containers resting on the pavement now occupy much of my forward view and their door hardware is becoming readable, showing I am getting near. I am not yet close enough to count this as arriving, so I press forward again.",
+        "The ground-level blue container now fills the left and center of my view with its panel seams clearly resolved, so only a short gap remains. I will step forward once more to bring myself right up beside it.",
+        "The blue container at ground level is now very close, its doors and rusted hinge bars spanning almost my whole field of view. A final short advance should place me directly at its face, so I keep moving forward.",
+        "The blue container at ground level now fills most of my view, its doors and locking rods clearly resolved just ahead of me. I still have a short stretch of open pavement between me and its face, so I will move forward once more to close that last gap.",
+        "The blue ground-level container's doors fill my view directly in front of me at arm's length. The approach goal is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_c/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Approach the ground-level white container on the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -1352.343,
+        -1727.432,
+        98.275,
+        0.0,
+        113.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1352.343,
+            -1727.432,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1352.343,
+            -1727.432,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1446.285,
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+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1540.227,
+            -1559.916,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1634.169,
+            -1476.158,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1728.111,
+            -1392.4,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1822.053,
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+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1915.994,
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+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -2009.936,
+            -1141.126,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -2103.878,
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+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -2197.82,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -2291.762,
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+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -2385.704,
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+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -2479.646,
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+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -2479.646,
+            -722.336,
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+            0.0,
+            138.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the yard the ground row is mostly yellow, blue and orange units, except for one pale white container standing on the ground at the right end of that row. It lies well off to the right of my current heading, so I turn right to bring it in front of me before I start walking.",
+        "The white ground-level container now sits ahead of me at the end of the blue row, with open pavement between us. Nothing blocks that lane, so I walk forward to begin closing the long gap.",
+        "The white container is holding steady in the left-center of my view as the stacks grow larger, which tells me my heading is still good. The distance is still considerable, so I keep stepping forward.",
+        "The white unit at the end of the ground row is clearer now, and the empty apron between me and it is unobstructed. I continue walking straight toward it.",
+        "The blue containers on my left are sliding past as I gain ground, and the white one still stands ahead where the row ends. I am not close enough yet, so another forward step is the right move.",
+        "The white container's doors and corner posts are becoming legible, so I am roughly halfway across the open ground. My line still points at it, and I walk on without changing heading.",
+        "The white container now reads as a full unit against the darker blue stack beside it, and the pavement ahead stays clear. I keep advancing to shorten the remaining distance.",
+        "The white container is filling more of my view and its base meets the ground just ahead of the blue row's end. I still have several strides to cover, so I step forward again.",
+        "Its ribbed panels and door hardware are picking up the yard lights now, and the blue boxes beside it have grown tall in my view. Clear ground still separates me from that white unit, so I press on straight ahead.",
+        "The white box sits just left of my center line and its corner post is now sharply lit against the teal hull behind the row. A couple more strides should bring me up to it, so I keep walking.",
+        "Only the nearest blue unit and the white one still fill the left of my view, so the row no longer reads as a countable line from here. The white container is the one I am going to, and it remains a short walk off.",
+        "The white container's doors now tower over the ground beside the blue one, with its yellow-striped edge clearly visible. I am close but not yet alongside it, so another step forward should place me at its face.",
+        "Its corrugated doors and locking bars fill most of my view, and the base plate sits barely a stride away on the pavement. One more forward step should bring me right up against it.",
+        "The white ground-level container's scuffed side panel and door bars fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Approach the yellow shipping container, then move to the concrete pillar.",
+    "Type": 3,
+    "Start_Pose": [
+        -1833.508,
+        3141.827,
+        98.275,
+        0.0,
+        140.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1833.508,
+            3141.827,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -1930.147,
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+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
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+        ],
+        [
+            -2123.425,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
+            -144.84,
+            0.0
+        ],
+        [
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+        ],
+        [
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+            0.0,
+            -144.84,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The yellow container sits ahead on the left, beyond the row of blue stacks lining the lane. The open pavement in front of me is clear, so I will walk forward to close the distance toward it.",
+        "The yellow container has grown larger and shifted toward the center left of my view, confirming I am heading the right way. The lane stays unobstructed, so I will keep walking forward toward it.",
+        "The yellow container now dominates the left side of the lane and its doors are clearly resolved. There is still a gap of open ground between me and it, so I will continue walking forward.",
+        "The yellow container fills much of my left view and I am nearly alongside its front panels. A few more strides should bring me level with it, so I will step forward again.",
+        "I am close to the yellow container, with its ribbed doors towering right beside my path. One more step forward should place me squarely at its side.",
+        "The yellow container fills my view at arm's length, its door bars and latches close enough to touch. I have reached the yellow shipping container. I mark reaching it, and now I turn my attention to the concrete pillar out on the open yard.",
+        "Standing right against the yellow container, my heading runs along its wall and shows only steel panels. The open yard where the concrete pillar stands lies off to my right, so I will turn right to swing my view out into that space.",
+        "The turn has opened up the yard ahead, with the teal hull and rails now in sight, but the container edge still crowds my left and no pillar is centered yet. I will turn right again to bring more of the open ground into view.",
+        "The squat concrete pillar now stands clearly in my view, but still off to the right of my heading rather than straight ahead. One more turn to the right should bring it near the center so I can walk directly at it across the open apron.",
+        "The concrete pillar is now centered ahead with clear pavement between us. With my heading settled on it, I will step forward to cut down that distance.",
+        "The pillar has grown noticeably larger and still sits squarely in front of me, so my line is good. I will keep walking forward to close the remaining gap.",
+        "The pillar now fills much of my forward view and its base is only a short stretch of pavement away. Another step forward should bring me right up against it.",
+        "The concrete pillar's stone face fills my view at arm's length. Both named destinations have been reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_d/infos.json

@@ -0,0 +1,486 @@
+{
+    "Instruction": "Navigate to the yellow machinery, then proceed to the white container end.",
+    "Type": 3,
+    "Start_Pose": [
+        -1833.508,
+        3141.827,
+        98.275,
+        0.0,
+        140.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1833.508,
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+            -0.0
+        ],
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+        ],
+        [
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+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
+            -2847.662,
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "The yellow machinery I want sits far off under the red gantry frame, past the stacked containers on my left and near the pale blue hull wall. The apron ahead of me is open and flat, so I will walk straight on to cut down that distance.",
+        "The container stacks have slid past on my left and the yellow machine bodies under the gantry now read a little larger ahead, confirming my heading is useful. Nothing blocks the open pavement, so I keep walking forward.",
+        "The yellow and grey containers on my left are crowding the near edge of my view while the yellow machinery under the gantry lies off to my right, closer to the blue hull. A small turn to the right should put that machinery more centrally in front of me before I continue.",
+        "With the new heading the wide apron opens in front of me and the yellow machinery is visible ahead beneath the red gantry beams. The route is clear apart from a concrete post well to my right, so I step forward toward it.",
+        "The yellow machinery under the red frame is growing steadily as I close on it, and the container row is falling away to my left. The pavement ahead stays clear, so I continue walking straight toward the machines.",
+        "The blue hull wall now fills much of the view and the yellow machines sit at its base slightly left of my heading, still some way off. I keep moving forward, since the direct line across the apron remains open.",
+        "I can now make out individual yellow wheel units riding the rails at the foot of the red gantry, which means I am getting close. The last grey container edge has passed on my left, so I keep advancing across the open ground.",
+        "The yellow rail-mounted machinery is clearly ahead and to my left now, sitting on the tracks beside the blue hull, and it is close enough to see its wheels and fittings. I keep walking forward to draw right up beside it.",
+        "The yellow wheeled machinery under the red gantry now sits low and close on my left, with open rail-side pavement still ahead of me. Nothing blocks my path, so I keep walking forward to close the remaining gap to it.",
+        "The nearest yellow wheel unit has grown noticeably larger at my left, confirming my heading is carrying me along the row of machinery. I step forward again to draw level with the main body of it.",
+        "Several yellow wheel carriages are lined up ahead beneath the red frame, and painted hazard stripes appear on the ground to my right. The route stays clear, so another step forward should bring me alongside the machinery.",
+        "The yellow running gear now spreads across the middle of my view at the base of the red gantry legs. The paved lane beside the rails remains open, so I continue advancing toward it.",
+        "I am walking parallel to the rails with the yellow machinery filling the left half of my view and the striped crossing markings underfoot ahead. Steady forward steps are the most direct way to reach it.",
+        "The yellow carriages sit close on the rails just ahead and to my left, and the red beam above them keeps growing. I press forward along the marked lane to close the last stretch of distance.",
+        "The row of yellow wheel units is nearly abreast of me, though I still have some pavement to cover before I stand beside it. I take another step forward along the striped lane.",
+        "The yellow machinery now dominates the left of my view at close range, its wheels resting on the rail beside me. My path stays unobstructed, so I keep moving forward to draw fully alongside it.",
+        "The yellow wheeled machinery riding the rails under the red frame now spans much of my view ahead and to the left, noticeably larger than a moment ago. The striped lane in front of me is clear, so I will keep walking straight to close the remaining gap.",
+        "The nearest yellow bogie with its grey housings is now clearly resolved just left of my path, confirming my heading is good. Nothing blocks the lane, so another step forward should bring me nearer that machinery.",
+        "The yellow running gear and the red leg above it keep growing on my left while the teal hull wall slides past on my right, so I am still gaining ground. I will continue straight rather than turn, since the machinery lies just off my forward line.",
+        "Individual wheels and axle boxes of the yellow machinery are now distinct at close range on my left. A little more distance remains before I am truly alongside it, so I step forward again.",
+        "The yellow carriage and its red superstructure now dominate the left side of my view, close enough that I can see bolts and fittings. I keep advancing to draw level with it.",
+        "The yellow drive unit with its motor housing sits very near on my left, and only a short stretch of rail separates me from being beside it. One more step forward should place me at the machinery.",
+        "The yellow machinery now fills my near left, its wheels almost within reach, so I am practically alongside it. A final short step should settle me level with the unit before I turn my attention to the far white containers.",
+        "The yellow machinery stands right at my shoulder, its heavy painted body filling the near left within arm's reach. I have arrived at it, so I mark reaching this yellow machinery and now set off for the end of the white containers.",
+        "I am right up against the yellow gantry machinery, its bulk in the corner of my view and the tall blue hull wall closing off everything ahead. With that destination reached, my remaining goal is the white container stacks, so I swing left to open up the yard behind this wall.",
+        "The pivot has pulled the blue wall to the right and now the yellow rig's frame and motor housing dominate my view. No open lane toward the white containers has appeared yet, so I keep rotating left.",
+        "Open apron and distant yard structures are now showing past the machine's housing on my left, while the rig still blocks the right half of my view. The container stacks I want are further round, so I continue turning left.",
+        "A wide lane under the red gantry has opened on my left, with stacked containers standing beyond it. My body is still angled along the machinery rather than down that lane, so I turn left once more.",
+        "The striped apron and the gantry legs now fill most of my view, with rows of containers across the yard toward my left. I want to face those rows directly, so I keep the left rotation going.",
+        "The gantry legs and the stacked containers have swung nearer the middle of my view as I come round. The pale, light coloured stacks still sit off to my left, so another left step should bring them closer to centre.",
+        "The white and pale container rows are now clearly on my left, with the gantry leg to my right and the marked crossing running out ahead. One more left step of rotation should put those stacks squarely in front of me before I set off.",
+        "The white container stacks now stand ahead of me across open, striped pavement, with the gantry and its wheels clear off to the right. My heading finally lines up with them, so I start walking forward to close the distance.",
+        "With the yellow rail machinery now behind my shoulder on the right, the open striped lane runs straight ahead toward the long pale container rows. I step forward again to close the distance toward the white container stack across the yard.",
+        "The yellow machinery slides further toward the right margin as I advance, confirming my heading is carrying me away from it and along the lane. Nothing blocks the painted crossing, so I continue walking toward the pale container rows.",
+        "The long white container standing in front of the yellow and blue stacks is growing larger just right of center, which is the wall I want to reach. The pavement between us is flat and open, so I keep stepping forward.",
+        "The pale container wall on the right now fills much more of my view and its near corner is clearly resolved, so I am closing well. A set of rails crosses the ground ahead, but they lie flush with the pavement and should not stop me.",
+        "Only the tail of the yellow machine remains at the right edge while the ribbed white container dominates the right side of my view. I walk on toward the rails so I can keep tracking that container toward its far end.",
+        "The crane rails run directly across my path a short step ahead, level with the surrounding paving. I keep moving forward to cross them and reach the apron beside the white container block.",
+        "The rails are now right at my feet with clear brick paving beyond them and the white container standing just past that. I step forward over the track toward the container's flank.",
+        "The rails have passed under me and the paved yard opens up with the white container wall close on my right and the small bollard on my left. I continue forward along that wall to reach its far end.",
+        "The pale white container block now stands close on my right, with clear paved lane running alongside it. My goal is the far end of that container, so I keep walking straight ahead down the open lane.",
+        "The white container has grown larger on my right and its near corner is nearly beside me, so I am still short of its far end. I step forward again along the lane to draw level with the container's length.",
+        "I am now alongside the corrugated white container wall, which fills the right half of my view while the yard lane continues clear in front. Another step forward should carry me farther along it toward its end.",
+        "Only a narrow strip of the white container's flank remains visible at my right shoulder, so I am close to running out of its length. I walk forward once more to reach the container's end.",
+        "I have come level with the end of the white container row on my right, but it sits at the edge of my view where I can barely judge it. Turning right should square me onto that container end.",
+        "The end of the white container stands directly before me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-002842_y015907_z001739_t1_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Locate the pair of benches placed near the building entrance and navigate to them.",
+    "Type": 1,
+    "Start_Pose": [
+        -2841.852,
+        15906.975,
+        1739.135,
+        -0.012,
+        -177.678,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2841.852,
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+            -0.012,
+            -177.678,
+            0.0
+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "From this starting spot I see two stone apartment blocks across an open snowfield, with their doorways small and distant and no benches anywhere in the open foreground. I need a wider sense of which entrance has seating beside it, so I will turn left to sweep new ground into view. This should reveal the parts of the courtyard currently hidden beyond my left shoulder.",
+        "The rotation has brought a nearer facade with a pale entrance door into view, but the snow in front of it is empty and no benches stand near that doorway. Continuing the same leftward sweep is the cheapest way to keep uncovering courtyard frontage. I will turn left again and look for low seating shapes against a building base.",
+        "Now a gap between two blocks opens toward a snowy slope, and I can just make out small dark objects sitting on the snow near the left building's doorway. That is promising, but the shapes are too far and too oblique to identify as a bench pair. I will keep turning left to bring that entrance area toward the center of my view.",
+        "The facade with the recessed doorway is now swinging into the left half of my view, and a couple of small dark forms sit on the snow beside it. One more left turn should place that entrance and the objects in front of me rather than off to the side. I will turn left again to square up on that candidate seating.",
+        "I am now facing the stone block head on, with its lit ground floor windows and a pair of low dark objects resting on the snow to the right of the building corner. Those shapes are the best bench candidates I have found, so scanning further has less value than closing distance. I will walk forward to shrink the gap and confirm their shape.",
+        "The facade has grown noticeably and the two low objects near the right of the entrance are resolving into separate blocky forms on the snow. Nothing blocks the flat courtyard between me and them. I will continue walking forward on this committed line toward the seating.",
+        "The dark entrance door is clearly visible on the ground floor and the pair of low seats sits just beside it on the snow, slightly right of my heading. They are still several strides away, so continuing straight is the direct way to reach them. I will step forward again toward the entrance area.",
+        "I can now clearly see two benches with slatted tops on concrete supports standing on the snow next to the building's entrance door. They are still off to my right and some distance ahead, so more forward travel is needed before I am beside them. I will keep walking forward to close in on the pair.",
+        "Two low stone benches with slatted seats have come into view near the building's entrance door, but they sit off at the right edge of my view where the wall corner cuts them off. I will turn right so the pair sits closer to the center of my heading before I close the remaining distance. That should give me a clean, straight line of approach across the open snow.",
+        "The two benches are now centered ahead of me on the snow in front of the entrance door, so the target is confirmed and no further searching is needed. The ground between us is open and flat, so I will step forward to begin the committed approach.",
+        "The benches have grown noticeably larger and their colored slats are now clearly visible, confirming I am closing in on the right objects. My heading still points directly at them, so I will keep walking forward without adjusting.",
+        "The nearer bench now occupies a good part of the lower center of my view and the entrance door is close on my left, so I am well inside the entrance plaza. Nothing blocks the snow between me and the benches, so I will continue advancing.",
+        "Both benches are clearly resolved just ahead, with the closer one angling across the right side of my view and the second sitting behind it against the wall. I am still a few paces short of standing beside them, so I will take another step forward.",
+        "The near bench's colored planks now stretch across the right of my view at close range, so I am nearly alongside the pair. A little more forward motion should bring me right up beside them rather than stopping short.",
+        "I am now within arm's reach of both benches, with one directly ahead against the wall and the other cutting across my lower right. One more short step should place me squarely between them at the entrance.",
+        "A bench fills the near foreground right beside the entrance door, with me standing directly against it. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t3_a/infos.json

@@ -0,0 +1,306 @@
+{
+    "Instruction": "Walk to the street lamp post, then head toward the bare tree.",
+    "Type": 3,
+    "Start_Pose": [
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+    "Action": [
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+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        ],
+        [
+            -4184.85,
+            -1443.505,
+            198.103,
+            -0.006,
+            -131.639,
+            0.0
+        ],
+        [
+            -4184.85,
+            -1443.505,
+            198.103,
+            -0.006,
+            -131.639,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The tall street lamp stands off to my right, well away from where my body currently faces along the road. A small turn to the right should bring its post near the middle of my view so I can walk straight at it. I will turn right to line up before advancing.",
+        "The lamp post now rises close to the center of my view, with the snowy road running clear toward it. Nothing blocks the plowed surface ahead, so walking straight should shrink the distance to the pole.",
+        "The lamp is a little larger and still sits near the middle of my path, so my heading remains good. I will keep walking forward along the open road rather than adjust my facing.",
+        "The pole's curved arm now reaches the upper part of my view, showing I am steadily closing on it. The snow banks stay to the sides and the roadway ahead is unobstructed, so another step forward is the direct way to reach the lamp.",
+        "The lamp head has climbed out of the top of my view while its post still stands right ahead of me, which means it is getting close. I will continue walking straight toward the base of the pole.",
+        "Only the shaft of the pole is visible now, standing just ahead across a low mound of snow. The distance still looks like several strides, so I will keep advancing toward it.",
+        "The dark post is noticeably thicker in front of me, yet its base still sits beyond the snow ridge I am facing. Another forward step should carry me nearer to standing beside it.",
+        "The rusted lower section of the pole is now clearly visible and centered, so I am nearly at it but not yet alongside. I will step forward again to close the remaining gap to the lamp post.",
+        "The lamp post stands almost straight ahead, its rusted base now clearly planted in the snow bank just left of the roadway. It is still several strides off, so I will keep walking forward to close that gap.",
+        "The post has grown taller in my view and its footing on the snow mound is plainly in front of me, but I am not yet beside it. Another step forward should bring me nearer to the pole.",
+        "The metal shaft is close enough now that I can read the rust and seams on its lower section, yet a short stretch of snow still separates me from its foot. I keep advancing straight at it.",
+        "The pole now fills the left half of my view at arm's-reach scale, so only a stride or so remains before I stand at it. I step forward once more to draw level with its base.",
+        "I have come up so close that the lamp post has slid off to the very edge of my view on the left, leaving only fence and snow in front of me. Turning left should swing the pole back into clear sight so I can confirm I am standing at it.",
+        "The street lamp post rises directly in front of me, close enough to touch its rusted collar and bolt. I have reached the lamp post. I mark arriving here before setting off toward the bare tree by the brick building.",
+        "Standing at the lamp post, the open snowfield and brick blocks that hold the leafless tree lie off to my left, while the post blocks the middle of my view. I turn left to swing my heading toward that side of the yard.",
+        "The bare-branched tree is now in sight ahead of the brick facade on my left, but it sits well off my current heading with the pole still crowding the center. I turn left again to bring that tree toward the middle of my view.",
+        "With the lamp post now behind my shoulder on the right, the leafless tree stands clearly ahead of me in front of the brick apartment block. The open snow between us looks flat and unobstructed, so I will walk straight toward it.",
+        "The bare tree has grown larger and sits just left of my heading, with its trunk and the small conifer beside it plainly visible. Nothing blocks the packed snow in between, so another step forward should shorten the gap.",
+        "The bare tree keeps expanding in my view and remains close to the center of my path. The ground ahead is level and clear, so I continue walking toward the trunk.",
+        "I am still some distance from the bare tree, whose branching crown now spreads across much of the upper view. My heading stays true to it, so no turn is needed and I simply step forward again.",
+        "The trunk of the bare tree is clearly resolved now, with the small evergreen slightly to its left. I am still short of it, so I keep advancing rather than adjusting my heading.",
+        "The bare tree's limbs now reach beyond the top of my view, so I am closing in but not yet beside it. The snow ahead stays open, so I walk forward once more.",
+        "The trunk of the leafless tree now dominates the center of my view and the small conifer is drifting to my left as I close. A few more paces should bring me right up to it, so I continue forward.",
+        "The bare trunk is very near now, filling the left-center of my view with its branches overhead. I am not yet standing at its base, so I take another step toward it.",
+        "The leafless tree now dominates my view, its thick forked trunk rising just ahead and slightly left with bare branches spreading over me. There is still a stretch of open snow between me and its base, so I will keep walking forward to close that last gap.",
+        "The bare trunk is close enough now that its bark texture is sharp and its roots meet the snow only a few paces off my left front. A little more forward walking should bring me right alongside the tree rather than stopping short of it.",
+        "The leafless tree now stands immediately to my left, its trunk cutting through the near edge of my view with the branches directly overhead. One more step forward should put me level with its base, so I advance.",
+        "The bare tree's trunk stands right beside me, filling the left of my view within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t3_b/infos.json

@@ -0,0 +1,406 @@
+{
+    "Instruction": "Approach the bare tree, then move to the lamp post.",
+    "Type": 3,
+    "Start_Pose": [
+        -4020.618,
+        743.305,
+        228.087,
+        -0.006,
+        -81.639,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveBackward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+            -0.006,
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+        [
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+        [
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+        ],
+        [
+            -3688.858,
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+        ],
+        [
+            -3569.407,
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+            18.361,
+            -0.0
+        ],
+        [
+            -3449.955,
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+            236.622,
+            -0.006,
+            18.361,
+            -0.0
+        ],
+        [
+            -3330.503,
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+            -0.006,
+            18.361,
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "The leafless tree stands well ahead beside the brick building on my left, and the lamp post rises from the roadside to my right. The snow-packed road in front of me is clear, so I will walk forward to begin closing the gap to the bare tree first.",
+        "The bare tree and the building beside it have grown slightly larger, confirming my heading is carrying me toward it. Nothing blocks the snowy ground ahead, so I will keep walking to reduce the remaining distance.",
+        "The bare tree now sits noticeably left of my heading, with the snow bank and lamp post filling the center and right of my view. Walking straight would drift past it, so I will turn left to bring the tree back in front of me.",
+        "The turn has placed the bare tree near the middle of my view, framed against the brick block, with open snow between us. With my heading corrected, I will walk forward to close on it.",
+        "The dark trunk and bare branches are larger and still roughly straight ahead, so my current heading remains good. The two small conifers sit off to the side and do not stand in my path, so I will continue walking toward the bare tree.",
+        "The leafless tree stands ahead of the brick block, its bare crown clearly separated from the two small conifers flanking it. My heading points straight at it and the packed snow between us looks open, so I will walk forward to close the gap.",
+        "The bare tree has grown noticeably larger in view, confirming my heading is carrying me toward it. Nothing blocks the flat snow in front of me, so I will keep walking straight ahead.",
+        "The dark trunk of the leafless tree is now distinct against the brick wall and its branches reach the upper part of my view. I am still some distance short of standing beside it, so another step forward should keep shrinking that gap.",
+        "The bare tree keeps swelling in front of me while the small conifers slide outward to either side, a sign I am tracking straight in. The snowy ground stays even underfoot, so I will advance again.",
+        "The bare tree's trunk now dominates the middle of my view and its branches overhang the top edge, so I am close but not yet alongside it. I will step forward once more to draw right up to it.",
+        "The bare tree with its dark, leafless crown stands just right of center in front of the brick block, and it has been growing steadily larger with each step. The snow between us is open and level, so I will walk forward again to keep closing that gap.",
+        "The bare tree's trunk now reads clearly against the brick facade and its branches spread across the upper part of my view, so I am noticeably nearer than a step ago. Nothing blocks the snow directly in front of me, so I will keep advancing toward it.",
+        "The bare tree's thick trunk now rises just right of center with its bark clearly visible, and the small conifer has slid off to my right as I close in. The ground ahead stays open, so I will step forward again to reach the tree.",
+        "The bare tree fills much of my view now, its twisted trunk running from the snow up past the top of the frame and its low branches reaching toward me. I am close but not yet beside it, so I will take another step forward.",
+        "The bare tree is right in front of me, but my heading points into its branches and the brick wall behind it, with the trunk crowding the middle of my view. Turning right should swing the trunk toward the side and open the clear snow beside it, giving me a usable line to walk right up alongside the tree.",
+        "The leafless tree now stands just ahead and slightly left, its trunk and bare branches filling that side of my view. I still have a few paces of open snow between me and its base, so I will keep walking straight to close that gap.",
+        "The bare tree's trunk and roots are close on my left, but I am not yet level with its base. The ground ahead is open snow with no obstruction, so another step forward should bring me right up beside it.",
+        "The twisted bare trunk now dominates the left of my view at close range, so I am nearly alongside it. One more step should put me level with its base rather than still short of it.",
+        "The bare tree's trunk rises right beside me, close enough that its roots and branches fill the left of my view. I have reached the bare tree, so I mark arriving here before setting off toward the lamp post standing out over the snow.",
+        "Standing at the bare tree, my heading points along the wall and fence, and the lamp post is nowhere in this narrow view. Turning right should swing my gaze across the open snow field where the tall post is likely to come into sight.",
+        "With the bare tree now behind my shoulder at the left edge, I face only the concrete fence and open snow, and no lamp post stands anywhere in this arc. I will keep sweeping to the right to bring more of the surroundings into view and locate the tall pole.",
+        "This heading still shows only the long fence line and snow banks, with no slender lamp standard anywhere in it. I will continue the rightward sweep so the unseen part of the yard comes into view.",
+        "A pale, slender vertical shaft has just appeared at the far right edge, beyond the small leafy sapling, which looks like the lamp standard I want. I will turn right once more to bring it toward the center of my view before committing to a heading.",
+        "The lamp post with its curved arm is now clearly ahead of me, rising above the snow bank on the far side. A young conifer sits directly in my path in the foreground, but I will step forward to begin closing the distance toward the lamp.",
+        "That step carried me straight into the young conifer, whose branches now fill almost my whole view and hide the lamp post I was heading for. I will back up to regain clearance and put the lamp back in sight before choosing a way around this sapling.",
+        "My last step forward buried my view in the needles of this small conifer, so the direct line ahead is not usable. The tall lamp post stands beyond the snow rise to the right of that sapling. I will turn right to swing my heading clear of the sapling and put the post ahead of me.",
+        "The turn has pushed the small conifer to my left edge, and the lamp post now rises ahead over the open snow bank. Nothing blocks the ground between us. I will walk forward to close that distance.",
+        "The lamp post is larger and its head is nearing the top of my view, so the last step gained real ground. The slope ahead is open snow with no obstruction. I will keep walking straight toward the post.",
+        "The post's lamp head has climbed out of the top of my view, leaving its bare shaft standing just left of center. That means I am still several strides short of its base on the snow rise. I will step forward again to close in.",
+        "The pole is thicker now and its foot in the snow is clearly visible ahead and slightly left. The remaining gap is short but still more than an arm's reach. I will advance once more to bring myself up beside it.",
+        "The tall lamp post now rises from the snow bank ahead, but its shaft sits off to the left of where I am facing, so walking straight would carry me past its side. I will turn left to bring the pole into the middle of my view before pressing on.",
+        "The lamp post is now centred in front of me, its shaft running from the snow up past the top of my view. Nothing blocks the snow slope between us, so I will walk forward to cut down the remaining distance.",
+        "The pole has grown thicker and its collar band is clearer, confirming my last step closed on it. It still stands well beyond arm's reach, so I keep walking straight toward it.",
+        "The lamp post keeps swelling in front of me and its base is now plainly planted in the snow just off to my right of centre. I am still short of it, so another step forward should bring me alongside the pole.",
+        "The post's ribbed metal shaft and its rust coloured collar now fill a good part of my view, so only a short gap remains. I will step forward again to stand right at its foot.",
+        "The lamp post now stands close on my right, its base rising clearly out of the snow bank just ahead of me. A short step forward should bring me level with the pole rather than leaving it slightly ahead. I walk forward to close that last bit of distance.",
+        "My last step carried me level with the pole, and now only a sliver of its collar shows at the far right edge while the open road fills the view. Turning right should swing the lamp post back into the centre of my view so I can confirm I am standing at it.",
+        "The lamp post stands directly in front of me, its base within arm's reach. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t5_a_pd/infos.json

@@ -0,0 +1,620 @@
+{
+    "Instruction": "Pick up the tomato by the street lamp post, then place it by the bare tree.",
+    "Type": 5,
+    "Start_Pose": [
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+        743.305,
+        228.087,
+        -0.006,
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+        0
+    ],
+    "PD_ID": 0,
+    "PD_Size": 8.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -3437.425,
+        -591.479,
+        221.264,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookDown",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        "I can see the street lamp post ahead on the right side of the snowy roadside, with a small reddish object resting on the snow bank at its base. That is the tomato I need to collect, but it is still far off across the road. I will walk forward to close the distance before refining my heading.",
+        "The lamp post and the small red tomato beside it have grown slightly larger, confirming I am heading the right way. Nothing blocks the open, plowed roadway in front of me. I will keep walking forward to shorten the gap.",
+        "My current heading carries me along the road, leaving the lamp post and the tomato at its base off to my right rather than straight ahead. Continuing forward like this would drift me past them. I will turn right so the target sits near the center of my view for a direct approach.",
+        "After turning, the lamp post now stands near the middle of my view with the tomato sitting on the snow just to its left. The route toward it is open pavement and low snow. I will walk forward along this corrected heading.",
+        "The tomato is clearly resting on the snow bank beside the lamp post and is noticeably nearer than a moment ago. My heading still points straight at it, so no correction is needed. I will keep advancing.",
+        "The lamp post now rises tall in front of me and the tomato beside it is distinctly recognizable on the snow. I am still too far away to reach it. I will continue walking straight toward it.",
+        "The tomato sits just left of the lamp post base and is close enough now to show its rounded red shape and stem. It remains beyond arm's reach across the snow mound. I will step forward again to keep closing in.",
+        "The tomato is now large in my view on the snow bank to the left of the lamp post, but still not within reach for a grasp. The snow slope in front of me is passable. I will advance further to get close enough to interact.",
+        "The red tomato sits in the snow just left of the lamp post base, still several paces off and too far to grasp. I keep walking straight ahead, since this heading is closing the gap steadily and keeps both the post and the fruit in view.",
+        "The tomato has grown noticeably larger and now sits clearly left of the lamp post, so my heading is still carrying me toward it. It remains beyond arm's reach, so I take another step forward before considering any alignment adjustment.",
+        "The tomato is now large in the lower left of my view, close to the foot of the lamp post but still a short walk away. I advance once more to cut the remaining distance before I fine tune my facing.",
+        "The tomato has drifted to the extreme lower left edge of my view while the lamp post fills the center, meaning my heading is now offset from the fruit. I turn left to bring the tomato back toward the middle of my view before stepping in.",
+        "The turn worked: the tomato now sits near the center of my view on the snow, with the lamp post off to the right. It is still a step or so beyond reach, so I walk forward to close in for the grasp.",
+        "I am now right on top of the tomato, but only a sliver of its leaves shows at the very bottom of my view because my gaze is level with the fence and buildings. I look down so the fruit is fully framed in front of me for the grasp.",
+        "With my gaze lowered, the tomato lies fully framed in the snow directly before me, filling the near foreground. My hands are empty and nothing blocks the approach, so I will attempt to pick it up now.",
+        "The grasp succeeded: the tomato is now held in my hands and no longer resting on the snow. The bare tree that must receive it stands back toward the brick building, off to my left rather than ahead, so I turn left to swing my heading toward it.",
+        "The tomato is secured in my hands, so my remaining job is the delivery spot. The bare branching tree by the brick block sits off to my left edge rather than in front of me, so a further left turn should bring it near the center of my heading before I start walking.",
+        "The leafless branching tree in front of the brick building now stands close to the center of my view, with open packed snow between it and me. Carrying the tomato, I will step forward along this heading to close the gap toward the drop location.",
+        "The bare tree and the small evergreen at its foot have grown slightly larger and stay ahead of me, confirming my heading is right. The ground ahead is flat and unobstructed, so I will keep walking with the tomato in hand.",
+        "The bare tree's trunk and spreading branches are clearer against the brick facade, but I am still well short of its base. Nothing blocks the cleared strip in front of me, so another forward step should continue closing the distance.",
+        "The tree now fills a good part of my view, with the young evergreen just in front of its trunk. I am not yet close enough to set the tomato at its base, so I keep advancing along the same line.",
+        "The bare tree's crown now reaches beyond the top of my view and its trunk is plainly ahead of me. Since the drop must happen beside that trunk, I will take another step forward to shorten the remaining gap.",
+        "I am close enough now that the trunk and the small evergreen beside it dominate my view, yet a few paces of open snow still separate me from the tree base. I will step forward again to reach a position where releasing the tomato leaves it by this tree.",
+        "The thick trunk of the bare tree is only a short distance ahead and the evergreen has slid to my left side, so my line still leads to the tree. I will keep walking to bring the tomato right up beside the trunk.",
+        "I am carrying the tomato and the bare tree with its thick forked trunk now stands directly ahead of me, close to the brick building. I still have a few paces of open snow between me and its base, so I step forward again to close that gap before releasing the tomato.",
+        "The bare trunk now fills much of my view, so I am nearly at the drop location but not yet beside its base. I take another step forward to bring the ground next to the trunk within easy reach for setting the tomato down.",
+        "The tree's base and its exposed roots sit just ahead and slightly left of me, with clear snow-free ground beneath. I advance once more so I am standing right at the trunk, where placing the carried tomato will clearly count as beside the bare tree.",
+        "The trunk bark now passes very close along my left side, showing I am almost level with the tree. I make one last short step forward so the tomato ends up snug against the base rather than short of it.",
+        "I am standing right at the bare tree, with its trunk immediately to my left and open ground in front of me. This is the placement spot the task asks for, so I release the tomato here and expect it to come to rest beside the trunk.",
+        "The tomato is now resting on the ground against the bare tree's trunk and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t5_b_pd/infos.json

@@ -0,0 +1,601 @@
+{
+    "Instruction": "Grab the plate at the bare tree, then set it down near the lamp post.",
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+        [
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+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        [
+            -3638.258,
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+        ],
+        [
+            -3518.568,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -3393.932,
+            -614.629,
+            208.93,
+            90.0,
+            18.361,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        1674.2,
+        1552.4,
+        1431.3,
+        1311.1,
+        1192.1,
+        1074.7,
+        959.4,
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+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The bare tree stands well ahead on the left, beside the brick building, and a small pale object rests at its base where the plate should be. It is far too distant to interact with, so I will walk straight ahead across the open snowy lot to close that gap.",
+        "The bare tree and the pale round object at its foot now sit slightly larger in my view, confirming my heading is carrying me toward them. Still far from grabbing range, so I keep walking forward on the same line.",
+        "The tree and the white disc beside it keep growing in the frame, so the straight path is working. The snowbank ahead is low and passable, and nothing blocks my line, so I continue advancing.",
+        "The plate at the base of the bare tree is now distinctly visible as a rounded white shape, but it remains many strides away. I will keep stepping forward to shorten the distance before worrying about fine alignment.",
+        "The tree with the plate beneath it is drifting toward the left edge as I close in, which tells me I am passing slightly to its right. Distance is still the main problem, so I continue forward and will correct heading once nearer.",
+        "The bare tree now fills much of the left side and the pale plate beside its trunk is clearly separate from the snow. The path in front of me is open packed snow, so another forward step should bring me closer to reachable range.",
+        "The tree and the plate at its foot sit near the left edge of my view, still a short walk away. I will advance once more to keep closing before I adjust my heading toward the plate.",
+        "The bare tree and the white plate beside it have slid to the far left of my view, so walking straight would carry me past them. I will turn left to bring the plate back toward the center of my view before continuing the approach.",
+        "The white plate is now sitting at the base of the bare tree just left of center, squarely ahead after my turn. Nothing blocks the open snow between me and it, so I will keep walking straight to close the remaining distance.",
+        "The plate at the bare tree has grown noticeably larger and stays near the center of my view, confirming my heading is good. I am still well out of reach, so another step forward is the right move.",
+        "The plate is clearly visible against the snow beside the small fir, closer than before but still several paces off. I will continue straight ahead since it remains lined up with my path.",
+        "The plate now dominates the lower left of my view, its rim clearly rounded and close to the tree trunk. It is not yet at my feet, so I take another step to bring it within grabbing range.",
+        "The plate is only a short step away, filling much of the lower left of my view against the bare ground. I will move forward once more to stand directly over it before attempting the grab.",
+        "The plate is right in front of me at the foot of the bare tree, its face nearly filling the lower part of my view. One more step should put me on top of it so the grab has a chance to register.",
+        "I am standing right at the base of the bare tree beside the small fir, and the plate has dropped out of the bottom of my view because it lies immediately at my feet. That is as close as I can get, so I will attempt to pick it up now.",
+        "The grab worked, since the plate is now held in front of me and no longer resting on the ground. The lamp post lies back out across the open snow behind my current heading toward the building, so I begin turning right to swing my facing around toward it.",
+        "The plate is in my hands, so the pickup at the bare tree is done and I now need the lamp post. Sweeping right, I still see only the bare tree, the small fir and the perimeter fence, with no lamp post in view. I will turn right again to keep scanning toward the open ground.",
+        "Carrying the plate, my heading now shows only the fenced wall, snow mounds and distant firs, with no lamp post yet. The drop target must lie further around to my right. I will turn right once more to continue the sweep.",
+        "Still holding the plate, I face a broad snow bank with the fence drifting off to my left and no post anywhere in frame. The searched arc is running out on this side, so the lamp post should appear further clockwise. I will turn right again.",
+        "A tall slim pole has come into view on the right side of my heading, standing above the snow near the bare shrubs. It sits well off center, so I am not yet lined up to walk straight at it with the plate. I will turn right to bring it toward the middle of my view.",
+        "The pole now stands close to the center of my view, so my heading is lined up with it. Snow mounds separate me from its base, and the plate is still in my hands. I will step forward to begin closing that distance.",
+        "My gaze sits low on the snow, so I can see the shaft of the pole but not its top, and I want to confirm it is the lamp post before setting the plate down nearby. Raising my view should reveal the lamp head and the ground beyond the mound. I will look up.",
+        "With my gaze raised I can see the curved lamp head on top of the pole, confirming this is the lamp post I must reach. It is still some way off across the snow, and the plate remains in my hands. I will walk forward toward it.",
+        "The lamp post stays centered ahead with its base sitting behind the snow rise, so my heading is still good. I am not yet close enough to place the plate near it. I will keep walking forward.",
+        "I am carrying the plate toward the lamp post, whose base is now clearly visible ahead over the snow bank. It is still several paces off, so I will keep walking straight toward it.",
+        "The lamp post now fills more of my view and its rusted collar is nearly at eye level, so I am close but not yet beside it. I will step forward again to bring the drop spot within easy reach.",
+        "The pole now dominates the center of my view, but I am still on the snow bank a stride short of its base. One more step forward should place me right at the post, close enough to set the plate down there.",
+        "I am standing directly at the lamp post, with its shaft an arm's length in front of me and the roadway just beyond. This is the spot the task calls for, so I will release the plate here and it should come to rest beside the post.",
+        "The plate is resting on the ground right at the foot of the lamp post and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_a/infos.json

@@ -0,0 +1,286 @@
+{
+    "Instruction": "Walk to the street lamp post, then head toward the bare tree.",
+    "Type": 3,
+    "Start_Pose": [
+        -4336.747,
+        62.631,
+        283.338,
+        -0.012,
+        -57.678,
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+    ],
+    "Action": [
+        "LookUp",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -3639.258,
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+            201.522,
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+            -132.678,
+            -0.0
+        ],
+        [
+            -3724.575,
+            -919.063,
+            198.119,
+            -0.012,
+            -132.678,
+            -0.0
+        ],
+        [
+            -3809.892,
+            -1011.592,
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+            -0.012,
+            -132.678,
+            -0.0
+        ],
+        [
+            -3895.209,
+            -1104.12,
+            198.098,
+            -0.012,
+            -132.678,
+            -0.0
+        ],
+        [
+            -3980.526,
+            -1196.649,
+            198.098,
+            -0.012,
+            -132.678,
+            -0.0
+        ],
+        [
+            -4065.843,
+            -1289.177,
+            198.098,
+            -0.012,
+            -132.678,
+            -0.0
+        ],
+        [
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+            198.098,
+            -0.012,
+            -132.678,
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+        ],
+        [
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+            198.098,
+            -0.012,
+            -132.678,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "My gaze sits low on the snowbanks, and the tall lamp post at the right edge runs out of the top of my view before I can see its head. Lifting my gaze should show the whole post and give me a clearer bearing on it before I set off.",
+        "With my gaze raised I can see the full lamp post, but it stands well off to my right while I face the fence line and distant firs. Turning right should swing that post toward the center of my view so I can walk straight at it.",
+        "The lamp post now stands near the middle of my view where the snow bank meets the cleared road, so my heading is good. I will walk forward along the packed snow to close the distance to it.",
+        "The lamp post and its curved head have grown noticeably larger and remain roughly straight ahead of me. Nothing blocks the snow between us, so I keep walking forward toward its base.",
+        "The pole now rises past the top of my view and its base sits clearly on the snow ridge beside the road, so I am gaining ground steadily. I will step forward again to keep closing on it.",
+        "The lamp post fills the center of my view as a straight shaft with its dark base ahead, and I am still some distance short of standing beside it. Another step forward should bring me nearer that base.",
+        "The base of the lamp post is thicker and closer now, sitting just where the snow bank meets the roadway edge slightly right of my line. I continue walking forward to reach it.",
+        "The reddish lower section of the post is clearly resolved and its base sits only a short stretch of snow ahead of me. I will step forward again to arrive right at the pole.",
+        "The street lamp post stands directly ahead in my path, its rusted base now clearly separated from the snowbank behind it. It is still several paces off, so I walk straight on to close that gap.",
+        "The post's dark lower section has grown noticeably wider in front of me, so my heading onto it is good. I keep walking forward to bring myself right up beside the lamp.",
+        "The lamp post now towers just ahead and slightly right, its weathered base filling much of the frame. A final step forward should put me level with it at the roadside.",
+        "The lamp post fills the right edge of my view, so near that I could reach out and touch its rusted column. I have arrived at the street lamp post. I mark reaching it, and now I turn my attention to the bare tree over by the brick apartment block.",
+        "I am standing at the lamp post, and the bare tree is not anywhere in the view ahead of me, which shows only the fence and the snowfield. The leafless tree stood back beside the brick building well to my left, so I begin swinging left to bring that side into view.",
+        "My view has swung clear of the lamp post, but I still face only the long fence and distant conifers with no bare tree in sight. I keep rotating left to carry my heading further toward the built-up side where the leafless tree stands.",
+        "The brick apartment blocks have come into the left of my view, which is the side where the bare tree grows. Another left turn should bring that tree into the middle of my view rather than its edge.",
+        "The large leafless tree is now visible on the left, its dark branches spreading in front of the brick facade. One more turn to the left should set it squarely ahead so I can walk straight at it.",
+        "The leafless tree now stands ahead of me near the brick building, roughly centered in my view. My heading is good, so I will walk forward to begin closing the long gap across the bare ground.",
+        "The bare tree and its crooked branches have grown noticeably larger, confirming my line is taking me straight to it. Nothing blocks the cleared ground between us, so I keep walking forward.",
+        "The leafless tree keeps filling more of my view as the building behind it looms closer. I am still well short of it, so another step forward continues the approach.",
+        "The bare tree sits just left of center with its trunk clearly visible above the small evergreen beside it. The gap is shrinking but not yet closed, so I advance again.",
+        "The bare tree's thick trunk now dominates the middle of my view and its branches spread wide overhead. I am close but not yet beside it, so I step forward once more.",
+        "The bare tree's twin trunks are now large and near, with the small evergreen slipping to my left as I come alongside. A few more strides should bring me right up to the trunk, so I keep moving.",
+        "The bare trunks fill much of my view and the base is only a short distance ahead on the cleared ground. I walk forward to close that last stretch to the tree.",
+        "I am nearly at the bare tree, with its rough trunk rising directly in front of me and its roots meeting the ground just ahead. One more step forward should put me right at its base.",
+        "The leafless trunk now fills the left of my view with its bare branches arching overhead, so I am nearly beside it. One more step forward should bring me level with its base rather than leaving me short of it.",
+        "The bare tree's trunk and roots stand directly beside me, close enough to touch. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_b/infos.json

@@ -0,0 +1,286 @@
+{
+    "Instruction": "Approach the small green shrub, then move to the street lamp.",
+    "Type": 3,
+    "Start_Pose": [
+        -4336.747,
+        62.631,
+        283.338,
+        -0.012,
+        -57.678,
+        -0.0
+    ],
+    "Action": [
+        "LookUp",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4336.747,
+            62.631,
+            283.338,
+            -0.012,
+            -57.678,
+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
+        [
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+            -0.012,
+            -32.678,
+            0.0
+        ],
+        [
+            -4089.878,
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+            -7.678,
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+        ],
+        [
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -3756.52,
+            -864.227,
+            198.15,
+            -0.012,
+            42.322,
+            0.0
+        ],
+        [
+            -3663.463,
+            -779.486,
+            201.147,
+            -0.012,
+            42.322,
+            0.0
+        ],
+        [
+            -3570.406,
+            -694.746,
+            212.378,
+            -0.012,
+            42.322,
+            0.0
+        ],
+        [
+            -3477.35,
+            -610.005,
+            236.8,
+            -0.012,
+            42.322,
+            0.0
+        ],
+        [
+            -3477.35,
+            -610.005,
+            236.8,
+            -0.012,
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+        ],
+        [
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+        ],
+        [
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+            -572.532,
+            284.223,
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+            17.322,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "My gaze sits low on the snow bank right in front of me, so most of the view is empty ground. I will look up to lift the horizon and get a clearer read on the small green shrub to my left and the tall lamp standing on the road to my right.",
+        "With the horizon raised I can see both the low green shrub near the brick building and the lamp out by the road. The shrub lies ahead and to my left, so I will step forward to close the open snow between us before adjusting my heading.",
+        "The small green shrub is still well off to my left front and clearly not reached yet. The snow ahead is open and level, so I will keep walking forward to cut down the distance before turning toward it.",
+        "Straight ahead now points at the low fence and the mound of snow, while the little green shrub sits off to my left beside the brick building. I will turn left to put that shrub in front of me so I can walk directly at it.",
+        "The turn has brought the small green shrub into the middle of my view, standing on open snow near the brick facade. With my heading now on it, I will walk forward to close the remaining gap.",
+        "The green shrub is growing larger just left of centre, so my line is good and I am still several paces short. I will keep advancing across the packed snow toward it.",
+        "The shrub now shows its needles clearly against the shadowed snow, but it is still a short walk away. Another step forward should bring me nearer without needing any change of heading.",
+        "The small green shrub sits squarely ahead and is filling more of my view with each step, so my heading needs no correction. I will continue forward to draw right up to it.",
+        "The small green shrub stands just left of my heading and now fills a good part of the near ground, so it is clearly the closer of my two destinations. Nothing blocks the packed snow between us, so I will step forward again to shorten that gap.",
+        "The shrub has grown taller in my view and its needles are now clearly separated, meaning only a couple of paces remain. I will walk forward again to bring myself right up beside it.",
+        "The green shrub now towers in the left half of my view, close enough that its branches read individually against the brick wall behind. One more step should put me level with it rather than still short of it.",
+        "The little green shrub is right at my shoulder, its snow-dusted needles filling the whole left edge of my view at arm's length. I have arrived at it. I mark reaching the shrub and now set off for the street lamp beside the road.",
+        "Standing against the shrub, my view is filled with its branches and the walled ground beyond, with no tall lamp post anywhere in front of me. When I first surveyed this place the lamp rose over the road well to my right, so I will turn right to swing my heading back toward it.",
+        "The shrub has slid to my left edge and I now face open snow and the low wall, but the lamp post is still not in sight. I will keep turning right to bring more of the roadside into view.",
+        "My heading now shows only the fence line and the snow banks, with no lamp standing anywhere across this span. I will continue the rightward sweep, since the road side lies further around in that direction.",
+        "A tall slender lamp post has just come into view at the right edge, rising above the snow bank beside the bare trees. One more turn to the right should carry it toward the middle of my view so I can walk straight at it.",
+        "With the shrub behind me, my heading now points across the snow toward the tall street lamp rising from the bank ahead and slightly to my right. Nothing blocks the open snow between us, so I will walk forward to close that distance.",
+        "The lamp post has grown slightly and its base is clearer against the snow mound, confirming my heading is carrying me toward it. I will keep walking forward since the ground ahead stays open.",
+        "The lamp post now stands noticeably right of my forward direction, so continuing straight would carry me past its side. I will turn right to bring the pole back toward the middle of my view before advancing again.",
+        "The turn placed the lamp post near the center of my view with its base on the snow directly ahead. I will step forward along this corrected heading to shorten the gap.",
+        "The pole is thicker in view and its rusted collar is now readable, so I am steadily gaining ground on it. The snow between us stays clear, so I will keep walking forward.",
+        "The lamp post fills much more of my view and the road surface beside it is starting to show, meaning I am close but not yet beside it. I will advance again to reach standing distance.",
+        "The pole now towers close on my left with the plowed road running past its foot, so only a short gap remains. I will step forward once more to draw level with it.",
+        "Closing in has pushed the lamp post out toward the left edge of my view, where I can no longer judge my spacing to it well. I will turn left to bring the pole back in front of me before the last step.",
+        "The lamp post now stands centered in my view with its base just a short stretch of snow ahead of me. One more step forward should bring me right up against the pole, close enough to count as standing at it.",
+        "The lamp post fills my view directly in front of me, close enough to touch. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_c/infos.json

@@ -0,0 +1,346 @@
+{
+    "Instruction": "Navigate to the bare tree, then reach the street lamp post.",
+    "Type": 3,
+    "Start_Pose": [
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+        283.338,
+        -0.012,
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+    "Action": [
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+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+    ],
+    "Rationale": [
+        "My gaze sits low on the snow, so the leafless tree at the left edge and the tall lamp post on the right are both cropped by the frame. I will look up to lift my view and get a fuller sense of where those two landmarks stand before I start walking.",
+        "With my view raised, the bare tree and the brick building sit off at the far left while empty sky and the lamp fill the middle and right. Since the leafless tree is the place I want to reach first, I will turn left to swing it toward the center of my path.",
+        "The turn has brought the bare tree into view ahead and slightly left, standing on the snow beside the brick building. The ground between us is open packed snow with only small saplings off to the side, so I will walk forward to close the distance.",
+        "The bare tree's dark trunk and branches have grown larger and stay just left of my heading, which tells me my line of travel is good. Nothing blocks the open snow ahead, so I will keep walking toward it.",
+        "The leafless tree keeps growing in my view and its trunk now reaches well above the building's windows, so I am steadily closing on it. The small conifer sits to its right and does not sit in my path, so I will advance again.",
+        "The bare tree now dominates the left side of my view, but its base is still several strides away across the snow. My heading remains on it, so I will step forward once more.",
+        "The trunk of the leafless tree is thicker and its lower branches now hang over the ground near me, confirming I am much closer than a few strides ago. I will continue walking to bring myself right up beside it.",
+        "The bare tree stands close on my left with its branches spreading over my path, yet I am not level with its trunk yet. The snow directly in front is clear, so I will keep advancing toward its base.",
+        "The bare tree with its dark, leafless crown stands ahead and slightly left against the brick facade, and it has grown steadily larger in my view. The snowy ground between us is open apart from the small evergreen off to my right. I will keep walking forward to close that remaining distance.",
+        "The bare tree's trunk now sits at the left edge of my view while the small evergreen occupies the center, so my heading is drifting past it. A turn to the left should bring the bare trunk back toward the middle of my path. I will turn left before continuing.",
+        "The twisted bare trunk is now centered ahead of me with its branches spread across the sky, and the snow between us is flat and unobstructed. Nothing blocks a straight walk toward it. I will step forward to close on the tree.",
+        "The trunk has grown noticeably wider in front of me and its lower branches now reach across the upper part of my view. I still have several strides of open ground before I am beside it. I will keep advancing.",
+        "The bare tree now dominates my view, its bark texture clearly visible and its root flare showing at the base ahead. A little more ground remains before I am standing right at it. I will walk forward again.",
+        "The trunk is right in front of me and fills the middle of my view, so walking straight would put me into the wood rather than beside it. Turning right should shift the trunk toward my left side and open the clear snow beyond it. I will turn right.",
+        "The bare trunk now sits to my left with clear snow opening ahead of me, so my path alongside it is unobstructed. One more step should bring me level with the base of the tree. I will move forward.",
+        "The rough bark of the bare tree is right beside my shoulder, close enough to touch, with its base in the snow at my feet. I am standing at the bare tree. I mark reaching it, and now I turn my attention to the street lamp post.",
+        "The thick bare trunk is right beside me at the left edge, so nothing more is needed here and the tall lamp post is nowhere in this narrow view. I will turn to my right to sweep my heading off the trunk and across the open snow, which may bring the lamp into sight.",
+        "The turn cleared the trunk from most of my view, but the ground ahead is only snow mounds and the low wall with conifers behind it. No lamp post has appeared yet, so I will keep rotating right to continue scanning the open ground.",
+        "My heading now faces the long fence line and empty snow, with only bare branches overhead and still no upright pole in sight. Another rightward turn should carry my view further around toward the open area beyond the snowbank.",
+        "Turning further has brought a rise of snow and a young leafy sapling into the right side of my view, so the ground on that side is where the scene opens up. I will turn right once more to bring that higher ground squarely in front of me and check for the lamp post there.",
+        "A slender street lamp post with its curved head now stands on the snowy rise ahead and slightly to my right, just behind the young tree. My heading points at that rise, so I will walk forward to close the distance toward the post.",
+        "The lamp post has grown taller in my view and its base on the snowbank is clearer, confirming my heading leads to it. I will step forward again to keep closing the gap.",
+        "The post now rises past the top of my view, so I am appreciably nearer, though its shaft sits toward the right of center. Advancing once more should shorten the remaining stretch of snow before I refine my heading.",
+        "The lamp post's shaft is standing noticeably right of my forward direction, so walking straight would carry me past it on the left. A turn to the right should place the post in front of me for a direct approach.",
+        "The lamp post now stands almost dead ahead, its base planted in the snow bank just beyond the rise in front of me. With my heading centered on it, I will walk forward over the packed snow to cut down the remaining gap.",
+        "The post has grown slightly taller in my view and remains centered, so my line of travel is good. I keep walking straight ahead to close on it.",
+        "The metal shaft with its rusty collar is clearly nearer, though still several strides off across the drifted snow. Nothing blocks the line, so I continue forward.",
+        "The pole keeps thickening in front of me and stays on my centerline as the paved strip appears to its right. Another step forward should bring me closer to its base.",
+        "I can now make out the seam and rusted band on the post only a short distance ahead of me. I keep advancing straight at it to shorten that remaining gap.",
+        "The post fills much of my view now, its base sunk into the snow just a stride or two off. I step forward again to stand right at it.",
+        "The pole towers directly in front of me with its weathered shaft filling the center of my view. One more short step should put me right up against it.",
+        "The lamp post fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t5_a_pd/infos.json

@@ -0,0 +1,563 @@
+{
+    "Instruction": "Lift the metal bucket by the street lamp post, then leave it by the bare tree.",
+    "Type": 5,
+    "Start_Pose": [
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+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Drop",
+        "Finish"
+    ],
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+    "PD_Dist_2D": [
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+    ],
+    "Rationale": [
+        "The metal bucket sits far ahead on the snow at the foot of the street lamp post, well beyond arm's reach. Nothing blocks the open snowfield between us, so I will walk forward to cut down that distance before worrying about fine alignment.",
+        "The bucket and its lamp post still sit right of my heading, so walking straight ahead would drift me past them toward the tree and building on the left. I will turn right to put the bucket closer to the center of my view before continuing.",
+        "After the turn, the bucket and the lamp post are now framed near the middle of my view with the road running off to the right. The heading looks correct, so I will walk forward along the snow to close in on the bucket.",
+        "The bucket has grown noticeably larger and stays just left of the lamp post directly in front of me, confirming my heading is good. It is still too far to grasp, so I will keep walking forward.",
+        "The bucket sits ahead on the snow bank, clearly the metal one at the lamp post base, and it remains centered as I advance. Reaching distance is not yet there, so another step forward is the direct way to bring it within reach.",
+        "The metal bucket sits at the foot of the street lamp post, still several paces ahead and low in my view. My heading already lines up with it, so no turn is needed. I will walk forward to close the remaining gap before attempting a grasp.",
+        "The bucket now shows clearly against the snow with its rim and handle visible, but it is still beyond arm's reach. Nothing blocks the packed snow between us. Another step forward should bring me near enough to reach for it.",
+        "The bucket fills a good part of the lower view and the lamp post beside it looms close, yet the bucket still sits ahead of me rather than at my feet. I will step forward once more to bring it within grasping range.",
+        "The bucket stands directly in front of me, large and centered, with the lamp post right beside it. It looks close enough that a grasp may register. I will reach out and try to lift it.",
+        "My reach did not take hold, since my hands are empty. I was evidently still a little short of grasping range by the post. I will step forward to stand closer before trying again.",
+        "My earlier grab attempt left my hands empty and the bucket still standing in the snow, so I closed the last bit of distance and the metal rim now fills the lower left of my view, within arm's reach beside the lamp post. I will try the grasp again from this closer stance, which should let me lift it.",
+        "The grasp worked this time: the bucket is now in my hands rather than sitting in the snow. The bare tree stands back near the brick building, well behind my current heading toward the fence, so I will turn left to begin swinging around toward it.",
+        "With the bucket in hand, my view still shows only snow banks and the long fence, with no sign of the bare tree. I will keep rotating left to bring the building side of the lot, where that tree stands, into view.",
+        "The brick apartment block has come into the left of my view along with a few bare branches at its edge, so my rotation is bringing the drop area around. The tree itself is still off to the left of my heading, so I will continue turning left.",
+        "The bare tree with its small conifer neighbor now stands ahead of the brick building, but still left of my facing direction. One more left turn should place it straight in front of me so I can walk a clean line to it while carrying the bucket.",
+        "The bucket is in my hands and my heading now faces the open yard where a tall bare tree stands in front of the brick blocks. That leafless tree is the drop destination named in the task, and it is still well ahead of me. I will walk forward to close that distance while carrying the bucket.",
+        "The bare tree with its small evergreen sapling in front is now noticeably larger and remains near the center of my path. Nothing blocks the packed ground between us, so continued straight walking is the direct way to carry the bucket there. I will step forward again.",
+        "The leafless tree and the small conifer beside it fill more of my view, but I am still several strides short of its trunk. My heading remains lined up on it, so no turn is needed yet. I will keep walking forward with the bucket.",
+        "The bare tree's trunk now rises clearly behind the little evergreen just ahead of me, so I am getting close to the intended drop spot. The remaining gap is still too large to set the bucket down at its base. I will advance another step.",
+        "The evergreen sapling and the bare tree behind it now dominate my view, confirming I am nearly at the destination. A little more ground remains before the bucket would rest right by the trunk. I will step forward once more to reach that position.",
+        "The bucket is still in my hands, so I only need to carry it to the bare tree, whose dark leafless branches now spread just behind the small evergreen sapling ahead of me. I am still several paces short of its trunk, so I walk forward to close that gap.",
+        "The evergreen sapling's foliage now fills most of my view, but the bare tree I am carrying the bucket to stands immediately beyond it. I step forward again to pass the sapling and reach the bare trunk.",
+        "The sapling is behind me now and the bare tree's twisted trunk stands clearly ahead on open snow. Carrying the bucket, I advance to bring myself within placing distance of that trunk.",
+        "The bare tree's trunk and its root flare now fill the middle of my view, but a short stretch of snow still separates me from its base. I take another step forward so the bucket can be set down right by the tree.",
+        "I am right against the bare tree and its bark now blocks almost my whole view, leaving no clear ground in front of me for the bucket. I turn right to swing my heading off the trunk and bring the open snow beside the tree into view before releasing it.",
+        "The metal bucket is still held in my hands, and the bare tree's trunk now stands immediately beside me with clear open snow at its foot. This is the spot the task names for leaving the bucket, so I will release it here and expect it to settle beside the trunk.",
+        "The metal bucket now rests on the ground right at the base of the bare tree and my hands are empty. The task condition is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t5_b_pd/infos.json

@@ -0,0 +1,563 @@
+{
+    "Instruction": "Pick up the trash bag from the small green shrub, then drop it near the street lamp.",
+    "Type": 5,
+    "Start_Pose": [
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+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
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+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "LookUp",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
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+    ],
+    "PD_Dist_2D": [
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+    ],
+    "Rationale": [
+        "The dark trash bag sits far ahead on the snow beside the small green shrub, well out of reach. Nothing blocks the open snowfield between us, so I will walk forward to begin closing that long gap.",
+        "After stepping forward, the bag and its shrub sit noticeably left of my center of view, so continuing straight would carry me past them toward the fence. I will turn left to bring the bag onto my forward heading before advancing further.",
+        "The turn has placed the trash bag and the small green shrub near the middle of my view, with the brick building safely off to my left. With the heading now pointing at the target, I will walk forward to close distance.",
+        "The bag has grown slightly larger and stays just right of the small shrub on my line of travel. The snow ahead is open, so I will keep walking forward rather than adjust heading yet.",
+        "The trash bag is still clearly ahead beside the shrub but remains too distant to reach. My heading is holding steady on it, so another step forward should continue shrinking the gap.",
+        "The bag now reads distinctly as a sagging sack at the foot of the snow bank, and its outline keeps growing as I advance. I will step forward again since it is still several strides away.",
+        "The bag sits ahead and a little right of the small green shrub, close enough now to see its creased surface. It is still beyond arm's reach, so I will walk forward once more before considering a grasp.",
+        "The bag has drifted toward the right side of my view as I near the shrub, but it is now only a short distance away on the open snow. I will advance again to get within reach before correcting my heading.",
+        "The trash bag sits on the snow ahead but noticeably off to my right, while the small conifer stands directly in my path. I will turn right to put the bag near the center of my heading so a straight walk brings me to it.",
+        "After the turn the bag is centered low in my view, resting beside the shrub on the snow bank. I will walk forward to close the remaining gap toward it.",
+        "The bag now fills a larger part of my lower view, so I am close but still not within reach. I will take another step forward to get right beside it before attempting a grasp.",
+        "The trash bag is directly at my feet, its knotted top just below me at the base of the snow bank next to the shrub. This is close enough to grab it, so I will attempt the pick and expect the bag to come into my hands.",
+        "The grasp worked, the bag is now held in front of me instead of lying in the snow. The street lamp is not in my current heading, so I will turn right to begin sweeping my view toward it.",
+        "I still hold the bag, but this heading shows only the snow mound and the distant fence with no lamp post. I will keep turning right to bring the street lamp into view.",
+        "A tall pole has appeared at the right edge of my view above the snow bank, which is likely the street lamp I need. I will turn right again to bring it toward the center of my heading.",
+        "The pole is now roughly ahead of me, but my view is filled with the snow bank and I can only see its lower shaft. I will look up to see the lamp head and confirm this is the street lamp before carrying the bag over.",
+        "The trash bag is in my hands, so the remaining job is to carry it to the street lamp. After raising my gaze I can see the lamp head and its pole rising beyond the snow bank ahead of me. I will walk forward to close that distance.",
+        "The lamp pole now stands clearly above the snow ridge ahead and its base is still hidden behind the mound, so I am not yet close enough to place the bag. The snow ahead looks open and walkable with the bag still in hand. I will keep stepping forward toward the pole.",
+        "The lamp pole sits noticeably right of my heading, so walking straight ahead would drift past it. Carrying the bag, I want the pole centered before I continue closing in. I will turn right to line my path up with it.",
+        "With the turn done, the pole and the ground around its base are now in front of me and the snow slope between us is clear. The bag is still in my hands and the drop spot must be much closer. I will advance toward the lamp.",
+        "The pole has grown taller in view and its rusted collar is now distinguishable, but I am still up on the snow bank rather than beside the lamp. Nothing blocks the short slope in front of me. I will continue walking toward it.",
+        "The lamp post is much nearer now, with the paved strip appearing to its right, yet I am not close enough for a placement that reads as beside the lamp. The bag remains held. I will step forward again to shorten the gap.",
+        "The post now fills a good part of my view slightly left of center, so only a short distance remains before I stand at its foot. I still carry the bag and want it set right against the lamp. I will take another step forward.",
+        "I am now right at the lamp, but the post has slid to the far left edge of my view where I cannot cleanly place the bag in front of it. Turning left should bring the base back to the center of my view. I will turn left before setting the bag down.",
+        "The trash bag is still in my hands and the street lamp's post now fills the middle of my view with the plowed road just beyond it. I am close but not yet right at its base, so I will step forward once more to bring the release point within the lamp's immediate surroundings.",
+        "The lamp post is directly beside me, its base filling the near left of my view, and the bag is still held. This is the spot the task asks for, so I will release the bag here and it should come to rest right next to the street lamp.",
+        "The trash bag now rests on the ground at the foot of the street lamp, out of my hands. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004682_y-000811_z000198_t1_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Search for the door of the brick building that has a light illuminated on its facade, then navigate to that entrance.",
+    "Type": 1,
+    "Start_Pose": [
+        -4682.49,
+        -811.2,
+        198.104,
+        -0.012,
+        122.322,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4682.49,
+            -811.2,
+            198.104,
+            -0.012,
+            122.322,
+            0.0
+        ],
+        [
+            -4682.49,
+            -811.2,
+            198.149,
+            -0.012,
+            147.322,
+            0.0
+        ],
+        [
+            -4682.49,
+            -811.2,
+            198.149,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -4807.221,
+            -794.385,
+            198.368,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -4931.951,
+            -777.569,
+            203.016,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -5056.682,
+            -760.754,
+            198.178,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -5056.682,
+            -760.754,
+            198.178,
+            -0.012,
+            -162.678,
+            0.0
+        ],
+        [
+            -5176.833,
+            -798.227,
+            198.178,
+            -0.012,
+            -162.678,
+            0.0
+        ],
+        [
+            -5296.984,
+            -835.7,
+            198.178,
+            -0.012,
+            -162.678,
+            0.0
+        ],
+        [
+            -5417.135,
+            -873.174,
+            198.178,
+            -0.012,
+            -162.678,
+            0.0
+        ],
+        [
+            -5537.286,
+            -910.647,
+            200.053,
+            -0.012,
+            -162.678,
+            0.0
+        ],
+        [
+            -5537.286,
+            -910.647,
+            200.053,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -5537.286,
+            -910.647,
+            200.053,
+            -0.012,
+            147.322,
+            0.0
+        ],
+        [
+            -5643.223,
+            -842.694,
+            198.101,
+            -0.012,
+            147.322,
+            0.0
+        ],
+        [
+            -5749.161,
+            -774.74,
+            198.101,
+            -0.012,
+            147.322,
+            0.0
+        ],
+        [
+            -5749.161,
+            -774.74,
+            198.101,
+            -0.012,
+            147.322,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The brick facade on my right carries a bright lamp glowing above the row of half buried tires, so that wall is the one described in the task, but no entrance is inside my current view. I will turn right to sweep my view along that lit facade and look for its door.",
+        "The lamp on the brick wall is now near the middle of my view, and further right along the same facade I can make out a pale doorway set under a small canopy. I will turn right once more to bring that candidate entrance and the ground leading to it properly into view.",
+        "The lit lamp and the grey double door beneath its canopy are both clearly in view on the brick building ahead of me, which matches the target described in the task. With the entrance identified, I will stop scanning and walk forward across the open snowy ground to close the distance.",
+        "The brick building has grown larger and the grey door under its canopy is still ahead of me, slightly to the left of my heading. The ground in front stays open, so I will keep walking forward to shorten the remaining distance to that entrance.",
+        "I am noticeably closer now, with the glowing lamp large on the left and the grey door standing under its canopy just ahead. Another step forward should bring me near the front of the building where I can line up with the entrance.",
+        "The tire arches and the bench sit directly between me and the door, so pushing straight ahead would run me into that clutter. I will turn right toward the open snow lane along the building so I can pass beside the obstacles and reach the entrance frontally.",
+        "My heading now points down the clear stretch of yard beside the brick building, with the grey door and its canopy off to my left and no clutter in front of me. I will walk forward along this open lane to draw level with the entrance.",
+        "The grey door on the brick wall is closer and larger on my left, and the ground straight ahead remains open. I will keep stepping forward so my position lines up with the doorway before I turn to face it.",
+        "The metal double door under its canopy is clearly the lit brick building's entrance, and it now sits close on my left as I move along the facade. I will step forward again to close the remaining distance to the point where the doorway lies directly beside me. This should set up a clean turn onto the entrance rather than approaching it at a sharp angle.",
+        "The doorway has slid further toward the left edge as I advance, which means I am nearly level with it. One more step forward should bring me alongside the entrance recess before I pivot toward it. The path in front of me is still clear packed snow and gravel.",
+        "I am now level with the entrance, so the door has drifted to the far left margin of my view and I am facing down the open lane instead. I will turn left to swing the doorway back toward the center of my field of view. That should give me a heading that points at the entrance rather than past it.",
+        "The turn brought the metal double door into view, but it still sits left of center with the wall's corner dominating the frame. I will turn left once more to square my body with the doorway. That should leave a straight, unobstructed line toward the entrance.",
+        "The target door is now centered in front of me, with the illuminated brick facade and its wall lamp glowing to the left, confirming this is the entrance described in the task. With alignment settled, I will commit and walk straight toward the doorway. A bench and tire arch sit off to the left, so my forward line stays clear.",
+        "The door now fills most of my view and I am only a short step from its threshold. I will move forward once more to stand directly at the entrance. That should place me close enough for the arrival to count as reaching the doorway.",
+        "The lit brick building's metal entrance door fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004682_y-000811_z000198_t1_b/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Locate the bench situated beside a row of tires along the street; once you have identified it, go over to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -4682.49,
+        -811.2,
+        198.104,
+        -0.012,
+        122.322,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4682.49,
+            -811.2,
+            198.104,
+            -0.012,
+            122.322,
+            0.0
+        ],
+        [
+            -4682.49,
+            -811.2,
+            198.149,
+            -0.012,
+            147.322,
+            0.0
+        ],
+        [
+            -4682.49,
+            -811.2,
+            198.149,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -4807.221,
+            -794.385,
+            198.368,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -4931.951,
+            -777.569,
+            203.016,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -5056.682,
+            -760.754,
+            198.178,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -5181.413,
+            -743.938,
+            198.178,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -5306.143,
+            -727.123,
+            198.178,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -5398.868,
+            -708.407,
+            207.704,
+            -0.012,
+            172.322,
+            0.0
+        ],
+        [
+            -5398.868,
+            -708.407,
+            207.704,
+            -0.012,
+            172.322,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the row of half buried tire arches running along the brick building to my right, but no bench is visible in the part of that row I currently face. I will turn right to swing my view along the tire line and check the section that is still outside my field of view.",
+        "The tire row is now centered ahead of me and continues past the right edge of my view, where its far end is still hidden. I will turn right again so I can inspect the end of the row and the ground beside it for the bench.",
+        "At the far end of the tire row, near the metal door of the brick building, I can now make out a low bench standing directly beside the tires, which matches the target described in the task. It sits well ahead of me, so I will walk forward along the open snowy ground to close that distance.",
+        "The bench beside the last tires is clearer now and slightly left of my heading, but it is still far across the yard. I will keep stepping forward since the path between me and it stays clear.",
+        "The colored slats of the bench and its concrete supports are now distinct next to the tire arches, confirming I am headed at the right object. My current heading keeps it comfortably in view, so I continue walking forward without adjusting direction.",
+        "The bench sits just ahead beside the tires under the building wall, but I am still several paces short of standing next to it. I will advance again to reduce the remaining gap.",
+        "The bench now fills a good part of my view with the tires immediately to its left and the doorway behind it, so only a short stretch of snow separates us. I will step forward once more to bring myself right up beside it.",
+        "The painted planks of the bench are directly in front of me at close range, with the tire beside it within arm's reach. One more short step forward should place me right at the bench as the task requires.",
+        "The colorful bench beside the row of tires is directly in front of me, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Walk to the dark doorway on the right side of the building.",
+    "Type": 2,
+    "Start_Pose": [
+        -4735.315,
+        -994.574,
+        198.149,
+        -0.006,
+        -114.279,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4735.315,
+            -994.574,
+            198.149,
+            -0.006,
+            -114.279,
+            0.0
+        ],
+        [
+            -4787.066,
+            -1109.301,
+            198.149,
+            -0.006,
+            -114.279,
+            -0.0
+        ],
+        [
+            -4838.816,
+            -1224.029,
+            198.149,
+            -0.006,
+            -114.279,
+            -0.0
+        ],
+        [
+            -4838.816,
+            -1224.029,
+            198.149,
+            -0.006,
+            -89.279,
+            -0.0
+        ],
+        [
+            -4837.233,
+            -1349.878,
+            198.149,
+            -0.006,
+            -89.279,
+            -0.0
+        ],
+        [
+            -4835.649,
+            -1475.727,
+            198.149,
+            -0.006,
+            -89.279,
+            -0.0
+        ],
+        [
+            -4834.065,
+            -1601.576,
+            198.149,
+            -0.006,
+            -89.279,
+            -0.0
+        ],
+        [
+            -4832.481,
+            -1727.425,
+            198.149,
+            -0.006,
+            -89.279,
+            -0.0
+        ],
+        [
+            -4853.523,
+            -1838.371,
+            198.149,
+            -0.006,
+            -89.279,
+            -0.0
+        ],
+        [
+            -4853.523,
+            -1838.371,
+            198.149,
+            -0.006,
+            -89.279,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Two brick entrance porches project from this facade, and the one on the right shelters a dark recessed opening, so that shadowed entrance is what I am heading for. I am still far back across the open snow with nothing in the way, so I will walk forward to close the distance.",
+        "The right-hand porch's opening now reads clearly as a dark recess with a weathered greenish door set inside it. The ground ahead is still clear snow and I remain well short of the wall, so I will keep walking forward toward that entrance.",
+        "Straight ahead of me is only blank brick between the two porches, while the dark doorway with the green door sits off to my right. I will turn right so that entrance lies in front of me before I continue advancing.",
+        "The turn has placed the shadowed doorway with its green door near the center of my view, with the corner of the building and clear snow between us. My heading now lines up with it, so I will walk forward along that line.",
+        "The porch has grown noticeably larger and the green door in its dark recess stays ahead of me; the other entrance has dropped out of view, so I simply follow this door. Ground remains clear, so I will step forward again.",
+        "The porch block now dominates my view, with the green door recessed in shadow just left of its near corner. I am still a few paces short of the opening, so I will keep advancing toward it.",
+        "The doorway's brick jamb and the mottled green door are close enough now that the recess reads as deep shadow ahead of me. A little clearance still separates me from the opening, so I will step forward once more.",
+        "I am right at the shadowed recess, with the peeling green door filling the right of my view and the brick jamb beside it. One more short step should bring me fully into the doorway.",
+        "The green door and its brick jamb fill my view at arm's length inside the shadowed recess. I have arrived at this entrance, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_b/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Approach the leftmost ground-floor window on the building.",
+    "Type": 2,
+    "Start_Pose": [
+        -4735.315,
+        -994.574,
+        198.149,
+        -0.006,
+        -114.279,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4735.315,
+            -994.574,
+            198.149,
+            -0.006,
+            -114.279,
+            0
+        ],
+        [
+            -4735.315,
+            -994.574,
+            198.149,
+            -0.006,
+            -139.279,
+            -0.0
+        ],
+        [
+            -4830.703,
+            -1076.681,
+            198.149,
+            -0.006,
+            -139.279,
+            -0.0
+        ],
+        [
+            -4926.091,
+            -1158.789,
+            198.149,
+            -0.006,
+            -139.279,
+            -0.0
+        ],
+        [
+            -4926.091,
+            -1158.789,
+            198.149,
+            -0.006,
+            -164.279,
+            -0.0
+        ],
+        [
+            -5047.242,
+            -1192.891,
+            199.136,
+            -0.006,
+            -164.279,
+            -0.0
+        ],
+        [
+            -5168.393,
+            -1226.993,
+            205.267,
+            -0.006,
+            -164.279,
+            -0.0
+        ],
+        [
+            -5289.544,
+            -1261.095,
+            200.882,
+            -0.006,
+            -164.279,
+            -0.0
+        ],
+        [
+            -5410.695,
+            -1295.196,
+            198.075,
+            -0.006,
+            -164.279,
+            -0.0
+        ],
+        [
+            -5531.846,
+            -1329.298,
+            197.946,
+            -0.006,
+            -164.279,
+            -0.0
+        ],
+        [
+            -5652.46,
+            -1358.078,
+            198.149,
+            -0.006,
+            -164.279,
+            -0.0
+        ],
+        [
+            -5652.46,
+            -1358.078,
+            198.149,
+            -0.006,
+            -139.279,
+            0.0
+        ],
+        [
+            -5747.848,
+            -1440.185,
+            198.149,
+            -0.006,
+            -139.279,
+            0.0
+        ],
+        [
+            -5843.236,
+            -1522.293,
+            198.149,
+            -0.006,
+            -139.279,
+            0.0
+        ],
+        [
+            -5938.624,
+            -1604.4,
+            198.149,
+            -0.006,
+            -139.279,
+            0.0
+        ],
+        [
+            -6034.012,
+            -1686.507,
+            198.149,
+            -0.006,
+            -139.279,
+            0.0
+        ],
+        [
+            -6129.4,
+            -1768.615,
+            198.572,
+            -0.006,
+            -139.279,
+            0.0
+        ],
+        [
+            -6224.788,
+            -1850.722,
+            213.964,
+            -0.006,
+            -139.279,
+            0.0
+        ],
+        [
+            -6224.788,
+            -1850.722,
+            213.964,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -6345.939,
+            -1884.824,
+            237.555,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -6467.09,
+            -1918.926,
+            254.519,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -6588.241,
+            -1953.028,
+            266.446,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -6709.392,
+            -1987.13,
+            272.69,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -6830.543,
+            -2021.232,
+            259.0,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -6951.693,
+            -2055.334,
+            232.265,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -7072.844,
+            -2089.436,
+            212.903,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -7193.995,
+            -2123.538,
+            210.403,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -7315.146,
+            -2157.639,
+            204.473,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -7432.58,
+            -2193.384,
+            199.108,
+            -0.006,
+            -164.279,
+            0.0
+        ],
+        [
+            -7432.58,
+            -2193.384,
+            199.108,
+            -0.006,
+            -164.279,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Straight ahead the brick facade has its whole ground floor screened by two brick outbuildings, so no ground-level window is reachable there. The building I want is the pale block at the left edge of my view, marked by the stack of green glazed balconies on its corner, and the window I am after is the one at the far left end of its ground-floor row. I turn left to bring that side into view.",
+        "The turn has opened the yard, and the pale block with the green balconies now stands clearly across the snow to my left front. The ground between me and it looks flat and unobstructed. I step forward to close distance.",
+        "The brick shed has slid to my right and the yard ahead is still open, while the pale block with the balconies remains off to the left front and clearly too far to inspect. Nothing stands in my path. I walk on to keep closing the gap.",
+        "The pale block with the green balconies now sits well off to my left while my heading points at the brick shed and wall. The gap between the buildings opens leftward into a lane that leads toward it. I turn left to put that lane and the target building in front of me.",
+        "The turn has lined me up with the lane running between the brick wall on my right and the buildings on my left, with the pale tower and its green balconies at the end of it. The packed snow ahead is clear of obstruction. I walk forward along the lane.",
+        "The pale building with the balconies has grown in front of me, but its ground-floor windows are still far off and small. The lane between the walls stays open. I keep walking straight toward it.",
+        "The corner of the pale building with its green balcony stack is now clearly closer, and the openings along its base are beginning to resolve. I am still well short of any of them. I advance again down the open lane.",
+        "As I advance, more housing blocks of the same pale kind are coming into view past the corner, so I hold to the one whose corner carries the green balcony stack rather than to anything I could count from here. The way ahead is still open snow between the walls. I step forward again.",
+        "The gap between the brick wall crowding my right and the pale block is opening up, and small windows are now readable along the base of the balcony corner. The packed snow in front of me carries on unbroken, so I step forward to reach that frontage.",
+        "The wall on my right is nearly past me and the yard beyond widens, yet the balcony corner and the low window row under it sit well off to my left front. No drift or obstacle interrupts the ground, so I keep walking.",
+        "With the wall cleared, my heading now runs into empty snow and the bare tree on the far left rather than toward any facade. The trodden ground bends off to my right, passing along the foot of the block with the green balcony stack. I turn right to take that line.",
+        "The turn has set the packed track straight in front of me, with the balcony block's ground floor running away on my left and a brick end wall standing close on my right. The corridor between them is clear, so I walk on along it.",
+        "The lower windows on my left are resolving into distinct frames, but I am still alongside the middle of the facade rather than the far left end of its ground-floor row. The lane ahead holds no drifts worth avoiding. I press on.",
+        "Snow has heaped into low mounds across the middle of the yard, though the trodden strip hugging the left facade stays walkable. The blocks further out show similar openings at ground level, so I keep to the one carrying the green balcony stack. I step forward again.",
+        "On my right the brick wall has given out and a snowbank takes its place, while the pale facade with the balconies keeps running along my left. Its low windows are still ahead of where I stand, and the ground underfoot stays passable, so I continue.",
+        "Drifts are building on my right, yet the flat strip beside the pale facade remains open. I have not yet drawn level with the end of that ground-floor row where the window I want sits. Another step forward should close more of that gap.",
+        "The packed strip along the foot of the pale facade still carries on clear, with the heaped snow confined to my right. The low openings under the balcony stack keep sliding past on my left, so the end of that row is still ahead of me. I take another stride along the wall.",
+        "I have drawn level with the corner of the pale block, where the wall turns and its ground-floor row ends beneath the green balcony stack. My heading now runs into the open gap between blocks rather than at that frontage. I turn left to bring the end window and its wall squarely in front of me.",
+        "The turn has set the corner of the pale block dead ahead, its green balcony overhead and the low windows spread along the base of the wall. A long bank of snow lies between me and that frontage, but its crest is shallow and walkable. I step forward toward the end window.",
+        "The wall is filling more of my view and the window at the end of the ground-floor run, close under the balcony corner, now resolves into three grimy panes. I am still a good distance from its sill. I keep walking straight at it.",
+        "Close enough now to make out the staining across the glass, yet I am still standing out in the open yard rather than at the wall. The ground here has been trodden flat with nothing in the way. Another step should bring me nearer that window.",
+        "From this oblique angle the base of the block no longer reads as a countable row, since the nearest openings are sliding off my left edge as I come along it. I hold instead to the window under the balcony corner that I have been tracking. It is still ahead of me, so I walk on.",
+        "The pale wall now dominates my left side and the window I am tracking sits ahead along it, its sill well above the packed snow. The path between the wall and the neighbouring block is clear. I advance again.",
+        "The three-pane window is now large in front of me, but I am still a couple of strides short of standing at its sill. The snow here is flat and trodden right up to the wall. I step forward to close the last of that gap.",
+        "The end window under the balcony corner sits low on the pale wall just ahead of my left shoulder, its sill still a stride or two beyond me. Trodden snow runs unbroken up to the base of the wall. I step forward to draw level with it.",
+        "The stained panes have grown noticeably and the sill now reads clearly, yet my position is still short of the wall face. Nothing blocks the last stretch of packed snow. I advance again to stand at that window.",
+        "The window fills a good part of my left view now, its sill projecting from the pale render, but I remain slightly off it. One more stride should put me right against the wall beneath it.",
+        "I am almost against the render, with the mullions and sill of that low window spread large in front of me. A final short step should bring me within touching distance of it.",
+        "The window's sill and panes fill my view at arm's length. The approach is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_c/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Walk to the dark doorway on the left side of the building.",
+    "Type": 2,
+    "Start_Pose": [
+        -4735.315,
+        -994.574,
+        198.149,
+        -0.006,
+        -114.279,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4735.315,
+            -994.574,
+            198.149,
+            -0.006,
+            -114.279,
+            0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The brick building ahead has two low entry blocks jutting from its face, each with a shadowed recessed doorway, and the one set into the left block is where I am headed. Nothing but open snowy ground lies between me and it, so I walk straight ahead to close the distance.",
+        "The wall has grown taller in my view but the shadowed doorway in the left entry block is still well ahead of me and off to my left. The ground stays clear, so I keep walking forward to gain more ground before angling toward it.",
+        "I am close enough now that the green stained door recessed in the left entry block reads clearly, and the two blocks frame the blank stretch of wall between them. I continue straight ahead, since the remaining gap is best closed before I swing toward that doorway.",
+        "The brick face fills most of my view and the doorway I want has slid toward the left margin as I near the wall. One more step forward should bring me level with the entry blocks, where I can turn toward that recess with a short approach.",
+        "My heading now points at the blank brick between the two entry blocks, while the doorway I am going to sits at the far left edge of my view. I turn left to bring that recess toward the center of my path before walking on.",
+        "The turn has brought the green door and its dark recess into clear view on the left side of my path, with open snow leading up to it. I step forward to close the remaining distance toward that entrance.",
+        "The recessed green door is much larger now and sits just to my left, with the corner of the entry block close by. I keep walking forward to draw level with the opening rather than stopping short of it.",
+        "I am right against the building, with plain brick straight in front of me and only the edge of the doorway recess showing at my left. Turning left should square me up with that dark opening so I can finish the last step facing it.",
+        "The turn worked, and the peeling green door now stands squarely in front of me inside its dark recess with clear floor at its threshold. A single step forward should put me right at the opening rather than a pace short of it.",
+        "The green door and its recess fill my view at arm's length. I have reached the doorway, so there is nothing left to walk toward."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t5_a_p/infos.json

@@ -0,0 +1,183 @@
+{
+    "Instruction": "Pick up the trash bag after reaching the dark doorway on the right side of the building.",
+    "Type": 5,
+    "Start_Pose": [
+        -4735.315,
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+        198.149,
+        -0.006,
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+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
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+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        ],
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
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+        [
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+        ],
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+        ]
+    ],
+    "PD_Dist_2D": [
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+        303.1,
+        177.8,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The task points me to the dark doorway on the right side of this brick building, and I can already see a dark trash bag sitting on the snow beside that recessed entrance. It is still far off across the open yard, so I walk straight ahead to close the gap.",
+        "The bag near the right doorway is noticeably larger now, confirming my heading is bringing me toward it. There is still clear snow-covered ground ahead and no obstruction, so I keep walking forward to shorten the remaining distance.",
+        "From here the trash bag and its dark doorway sit off to the right of my heading, while I am facing the blank wall between the two projections. I turn right to bring the bag and that entrance toward the center of my view before advancing further.",
+        "The dark doorway and the trash bag propped in front of it are now centered ahead of me with clear ground between us. I walk forward along this heading to get within reach of the bag.",
+        "The bag is close now, sitting just below the doorway at the corner of the entry block, but it is still a couple of paces off. I take another step forward to bring it within grasping distance.",
+        "The trash bag now fills the bottom of my view directly in front of me, right at the dark doorway named in the task. My hands are empty and nothing blocks it, so I attempt to pick it up.",
+        "The trash bag is held in my hands rather than resting by the doorway. The task condition is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t5_b_p/infos.json

@@ -0,0 +1,620 @@
+{
+    "Instruction": "Grab the wicker basket near the leftmost ground-floor window on the brick building.",
+    "Type": 5,
+    "Start_Pose": [
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+        198.149,
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+    ],
+    "PD_ID": 7,
+    "PD_Size": 2.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
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+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
+            -7187.622,
+            -2143.927,
+            176.977,
+            -28.202,
+            -114.134,
+            1.862
+        ],
+        [
+            -7187.622,
+            -2143.927,
+            176.977,
+            -28.202,
+            -114.134,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        2819.4,
+        2819.4,
+        2699.1,
+        2579.3,
+        2579.3,
+        2454.4,
+        2329.5,
+        2204.8,
+        2080.1,
+        1955.7,
+        1834.2,
+        1710.2,
+        1710.2,
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+        369.3,
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+        118.2,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The brick facade directly ahead shows only upper windows and two blank utility annexes, with no ground-floor window row or wicker basket in reach of my view. I will turn left to swing my heading toward the open yard beside the building, where the ground-level frontage should become visible.",
+        "The turn opened a clear snowy yard leading between the brick wall on my right and a taller panel block ahead. Nothing resembling a wicker basket sits along the visible base of the brick wall yet, so I will walk forward to bring more of the ground-level frontage into view.",
+        "The brick annex on my right is now closer and the gap between it and the pale building ahead has widened into a usable passage. The ground beside the wall is still empty snow, so I will keep walking forward along this open lane.",
+        "The brick annex now fills much of my forward view and would block a straight continuation. Turning left points me down the open corridor between the buildings, which is the passable route toward the far side of the block.",
+        "The new heading shows a clear snowy corridor running between the brick wall on my right and the buildings on my left. With no obstacle in the lane, I will walk forward to cover distance toward the frontages further in.",
+        "The pale balconied tower ahead has grown larger, confirming I am closing along this passage. The ground beside both walls remains bare snow with no wicker basket, so continuing forward is the useful move.",
+        "The corridor stays open and the brick wall on my right is passing steadily by my shoulder. Since no ground-floor window row with a basket is yet within view, I will step forward again to reach the courtyard beyond this gap.",
+        "The passage between the brick wall and the panel blocks is opening into a wider courtyard ahead, and low windows of the pale buildings are starting to show. I will keep advancing so those ground-level frontages come close enough to inspect for the basket.",
+        "The gap between the brick wall on my right and the tall block ahead still opens onto a wide snowy courtyard, and no wicker basket is yet visible along any ground-floor window. Walking straight through this passage is the only way to reach that open frontage, so I will continue forward.",
+        "The courtyard beyond the passage is widening as the brick wall slides past on my right, and the ground-floor windows of the blocks ahead are becoming legible. I still cannot single out a basket, so another step forward should bring more of that frontage into view.",
+        "I am nearly clear of the passage, with the block corners and a bare tree opening up on the left and untouched snow ahead. Nothing blocks my path and the searched frontage is still ahead, so I will take another step forward.",
+        "Straight ahead my heading runs into the corner of the panel block and the raised snow bank on my right hides whatever lies beyond it. Turning right should swing my view along the lane that continues past these facades, where the ground-floor windows I need to inspect should be.",
+        "The turn opened a long lane between the pale block on my left and the brick wall on my right, and near the base of that block I can make out a small dark round object beside the ground-floor windows. That is a plausible candidate for the basket, so I will walk toward it.",
+        "The round object beside the pale block's ground-floor windows is holding steady on my left and growing slightly as I close in. The lane is clear apart from the snow mound off to the right, so I will keep stepping forward.",
+        "The dark round shape at the foot of the pale facade is now clearer next to its ground-floor windows, matching a basket propped against the wall. It is still well ahead of arm's reach, so I will continue advancing along the lane.",
+        "The basket-like object beside the pale block's lower windows keeps growing as I close the gap, confirming it is worth approaching directly. My heading drifts a little right of it, but the distance is still the limiting factor, so I will step forward again.",
+        "Ahead of me the courtyard opens between the tall blocks, and the round wicker basket sits low against the pale facade on my left, near the ground-floor windows. My heading is aimed past it toward the open yard, so I will turn left to bring that wall and the basket into the center of my view before advancing further.",
+        "The turn has put the corner of the pale building and the dark round basket beside its ground-floor windows squarely in front of me. Nothing blocks the packed snow between us, so I will walk forward to close the still considerable gap.",
+        "The facade with the green balcony is noticeably larger and the basket beside the low windows is holding steady near the middle of my view. My heading is good and the ground stays clear, so I will keep walking straight toward it.",
+        "The round basket at the foot of the wall is now clearly resolved as a woven object beside the leftmost ground-floor window. I am still several strides short of reaching for it, so I will continue forward on this line.",
+        "The window sills and the basket beside them keep growing as I close in, and the snow between us remains open. Another step forward should bring the target within a comfortable working distance.",
+        "The basket now stands out plainly against the pale wall just past the barred ground-floor windows, but it is still beyond arm's reach. I will take another step forward to keep shrinking that remaining gap.",
+        "The pale facade now fills most of my left side and my line of travel is angling into the wall rather than toward the basket standing at its base. I will turn right to swing my heading off the wall and keep open ground ahead for the last part of the approach.",
+        "With the heading swung off the wall, clear snow now lies ahead and the wicker basket sits close on my left beside the ground-floor window. I will walk forward along the facade to draw level with it.",
+        "The dark woven basket is standing against the pale wall beneath the ground-floor window ahead on my left, still several paces off. Nothing blocks the open snow between us, so I keep walking straight to close that remaining gap before fine alignment.",
+        "The basket now sits low on the left side of my view, offset from my heading, so walking straight would carry me past it along the wall. I turn left to bring it toward the center of my view for a direct approach.",
+        "The basket is now roughly centered ahead of me at the base of the wall under the window. With my heading pointed at it, I step forward to shorten the distance toward grasping range.",
+        "The basket has grown noticeably larger and sits just ahead against the wall, but it is still a step beyond what I could comfortably reach. I advance once more to bring it directly in front of me for the grab.",
+        "The wicker basket now fills the lower part of my view, resting right at my feet beside the wall under the leftmost ground-floor window. This is the correct target and it is within reach, so I attempt to grab it now.",
+        "The wicker basket is now held in my hands. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t3_a/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Walk to the doorway on the brick building, then head toward the bare tree.",
+    "Type": 3,
+    "Start_Pose": [
+        -5017.783,
+        -1032.826,
+        208.13,
+        -0.012,
+        -51.918,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5017.783,
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+            -0.012,
+            -51.918,
+            0.0
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+            -76.918,
+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            -0.012,
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+        ],
+        [
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+            -0.012,
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+        ],
+        [
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+        ],
+        [
+            -4875.345,
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -76.918,
+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -4867.772,
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+            -1.918,
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+        ],
+        [
+            -4867.772,
+            -1678.38,
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+            -0.012,
+            23.082,
+            0.0
+        ],
+        [
+            -4751.989,
+            -1629.037,
+            198.147,
+            -0.012,
+            23.082,
+            0.0
+        ],
+        [
+            -4636.205,
+            -1579.694,
+            198.147,
+            -0.012,
+            23.082,
+            0.0
+        ],
+        [
+            -4520.422,
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+            198.147,
+            -0.012,
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+        ],
+        [
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+            -1530.351,
+            198.147,
+            -0.012,
+            23.082,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The recessed green door in the low brick annex sits off to my left along the building wall, while the bare tree stands to my right. Since the doorway is my first destination, I will turn left to bring it toward the center of my view before walking.",
+        "The brick annex with its weathered green door now sits ahead of me, roughly centered along the building's face. The snowy ground between us looks open and flat, so I will walk forward to close the distance to that doorway.",
+        "The green door has grown larger and stays just right of center, confirming my heading is good. Nothing blocks the open yard in front of me, so I keep walking toward it.",
+        "The doorway's brick surround and dark lintel are now clearly resolved a short way ahead of me. I am still some paces short of standing at it, so I continue advancing on the same line.",
+        "The annex now fills much of my view and the green door sits squarely ahead. The ground remains clear right up to the wall, so another step forward should bring me close to the entrance.",
+        "I am close enough now to see the corroded panelling of the door and the rough bricks framing it. A couple more strides should put me right in the recessed entrance, so I keep moving.",
+        "The doorway recess is directly in front of me with its threshold visible at the base. One more step forward should place me at the entrance itself rather than short of it.",
+        "The mottled green door fills my view with its brick jambs pressing in on both sides and the threshold at my feet. I have arrived at the doorway on the brick building. I mark reaching it before turning away toward the bare tree standing out in the snowy yard.",
+        "The weathered green door fills my view at arm's length, so the doorway on the brick building is behind me as an achievement and there is no room here to swing around. I will step back from the recessed entry to open clearance between me and the brickwork. That space should let me pivot toward the open snowy yard where the bare tree stands.",
+        "Backing off has given me a view of the whole door alcove and the building corner again, with bright open snow showing past the right edge. The bare tree lies out in that yard, not along this wall. I will turn right to begin swinging my heading off the brickwork and toward the open ground.",
+        "The doorway has slid to my left and the snowfield with the perimeter fence now occupies the right half of my view, along with a few bare branches overhead. My heading is still angled along the building rather than out into the yard. Another turn to the right should carry the bare tree into the center of my view.",
+        "Now only the flat brick wall runs down my left and the yard opens ahead, with bare limbs reaching in from the upper right. The trunk itself is still outside my view to the right. I will keep rotating right to bring the bare tree fully in front of me.",
+        "The bare tree is now clearly in sight, its thick trunk and spreading limbs standing in the snow to the right of center, with the building reduced to a sliver at my left. One more turn to the right should put the trunk squarely ahead so I can walk a straight line to it.",
+        "The bare tree now stands centered in my view with its trunk rising straight ahead across open, untracked snow. Nothing blocks the line between us. I will walk forward to close the distance to it.",
+        "The trunk has grown noticeably larger and its base is now plainly visible in the snow just ahead of me. My heading is still true to it, so no correction is needed. I will keep walking forward to close the remaining gap.",
+        "The bare tree now dominates my view, its bark texture and forking limbs filling most of the frame directly in front of me. I am close but still a short stretch of snow away from standing at its base. One more step forward should bring me right up to the trunk.",
+        "The bare tree's trunk and low branches fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t3_b/infos.json

@@ -0,0 +1,286 @@
+{
+    "Instruction": "Approach the large bare tree, then move to the brick building's entrance.",
+    "Type": 3,
+    "Start_Pose": [
+        -5017.783,
+        -1032.826,
+        208.13,
+        -0.012,
+        -51.918,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveBackward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5017.783,
+            -1032.826,
+            208.13,
+            -0.012,
+            -51.918,
+            0.0
+        ],
+        [
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+            -1131.893,
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+            -0.012,
+            -51.918,
+            -0.0
+        ],
+        [
+            -4862.526,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -101.918,
+            -0.0
+        ],
+        [
+            -4763.821,
+            -1796.664,
+            198.149,
+            -0.012,
+            -126.918,
+            0.0
+        ],
+        [
+            -4773.857,
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+            198.149,
+            -0.012,
+            -126.918,
+            0.0
+        ],
+        [
+            -4718.355,
+            -1716.996,
+            198.149,
+            -0.012,
+            -126.918,
+            0.0
+        ],
+        [
+            -4718.355,
+            -1716.996,
+            198.149,
+            -0.012,
+            -151.918,
+            0.0
+        ],
+        [
+            -4829.398,
+            -1776.242,
+            198.149,
+            -0.012,
+            -151.918,
+            0.0
+        ],
+        [
+            -4829.398,
+            -1776.242,
+            198.149,
+            -0.012,
+            -126.918,
+            0.0
+        ],
+        [
+            -4829.398,
+            -1776.242,
+            198.149,
+            -0.012,
+            -101.918,
+            -0.0
+        ],
+        [
+            -4829.398,
+            -1776.242,
+            198.149,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4860.062,
+            -1849.7,
+            198.149,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4860.062,
+            -1849.7,
+            198.149,
+            -0.012,
+            -76.918,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The big leafless tree stands out ahead on the open snow to my right, with the brick building's wall running along my left. Since the tree is my first destination, I will walk straight ahead across the packed snow to close the gap toward it.",
+        "The trunk and its low branches now fill more of my view, so my previous step did shorten the distance to the bare tree. The ground ahead is clear snow, so I will keep walking forward to draw closer.",
+        "The tree sits off to the right of my heading while the brick wall crowds the left half of my view, so walking straight would carry me past the trunk. I will turn right to put the trunk near the middle of my view before continuing.",
+        "The turn brought the bare trunk squarely into the center of my view, with the snowy yard and distant fence spread out beyond it. With nothing between me and the tree, I will step forward along this heading to close on it.",
+        "The trunk and its forking limbs now loom large and centered, so I am only a short distance from the bare tree. I will walk forward again to bring myself right up beside it.",
+        "The thick bare trunk now fills the center of my view and its base sits just ahead on the snow, so only a short gap remains. I will step forward once more to stand right at the tree rather than stopping short of it.",
+        "The bare trunk and its branching limbs fill my view from ground to sky, close enough to touch. I have reached the large bare tree. I mark arriving here before turning back toward the brick building's entrance.",
+        "Standing at the tree, the trunk blocks nearly everything ahead and only distant fence and snow show past its left edge. The brick building lies well behind my left shoulder, so I will rotate left to bring its walls back into view.",
+        "The rotation has brought a corner of the brick facade with its barred window into the far left of my view, while the trunk still occupies the right side. I will keep turning left so the building moves toward the center of my heading.",
+        "More of the brick wall now fills my left side, but its base and the ground leading to it still sit off to the side of my heading. Another left rotation should square me onto the building so I can walk straight toward it.",
+        "Having marked the bare tree behind me, I am now swinging my heading onto the brick building, whose corner and low annex currently sit across the left half of my view while open snow fills the right. One more left turn should put the building's face squarely ahead so I can look for its doorway.",
+        "The brick facade is now centered ahead, with a dark recess and weathered green door set into the wall on the left and a low brick extension to the right. Nothing blocks the snowy ground between us, so I will walk straight in to close that distance.",
+        "The wall has grown noticeably larger and the recessed green door has slid to the left edge as I close in. I am still several paces short of the building, so I will keep walking forward toward it.",
+        "I am close to the facade now, with the tall brick wall on my left and the projecting brick extension on my right forming a narrow pocket ahead. Advancing once more should bring me into that pocket where the entrance recess sits.",
+        "The dark recess with the green door has come into view on the right side of my field, offset from where I am facing. Turning right should bring that entrance toward the center of my view so I can head straight into it.",
+        "A dark recessed opening sits in the brick face just right of the projecting block ahead, which looks like the way into this building. My heading now points into that narrow gap, so I step forward to close the remaining distance. The tight walls may limit how far I get.",
+        "My view is now almost entirely rough brick at arm's length, and that last step carried me less than a full stride, so the corner of the projecting block is crowding me. I turn left to swing my gaze off this masonry and try to bring the recessed doorway and the open ground back into view.",
+        "With my view swung left, the deep recess and its weathered green door are visible again just right of centre. I walk forward to press into that alcove and reach the entrance. The flanking brickwork is very close, so the step may gain me little.",
+        "That step gained me almost nothing, the scene is essentially unchanged and the brick corner still blocks my line into the recess. I back up to open clearance between me and the wall so I can reorient instead of grinding against it.",
+        "Backing off has given me room again, with the corner now standing to my right and the long brick wall to my left. Pushing straight at that corner did not get me in, so I turn left to sweep my view along the building's face and find a clean line to its doorway.",
+        "My earlier push into the narrow slot between the brick masses stalled almost at once, so I backed out and turned to face open ground again. Now a clear strip of snow runs along the base of the brick wall ahead, with the building's lower annex and its recessed green door off to my left. I will walk forward along this open lane to reach the entrance side from a better angle.",
+        "The flat brick face now fills nearly my whole view, so any further step straight ahead would just press me into the wall. The doorway set back in the gap between the two brick masses lies off to my right, and I will turn right to bring that recess into view.",
+        "The rotation has carried the blank wall across my view and the dark shadowed edge of the recess is just appearing at my right, but the door itself is still hidden behind the near brick pier. I will turn right once more to keep swinging my heading toward that opening.",
+        "The weathered green door is now visible in the recess on my right, though the near brick pier still cuts across part of it and my heading points past it. One more turn to the right should place the doorway squarely in front of me for a straight approach.",
+        "The green metal door now stands centered ahead of me, framed by the brick jambs of the recess, with clear ground between me and its threshold. Only a short distance remains, so I will step forward to close it and stand at the building's entrance.",
+        "The green metal door in its recessed brick doorway fills my view at arm's length. I am at the building's entrance, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t5_a_pd/infos.json

@@ -0,0 +1,335 @@
+{
+    "Instruction": "Grab the trash bag at the doorway of the brick building, then place it by the bare tree.",
+    "Type": 5,
+    "Start_Pose": [
+        -5017.783,
+        -1032.826,
+        208.13,
+        -0.012,
+        -51.918,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -4862.438,
+        -1669.934,
+        117.974,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5017.783,
+            -1032.826,
+            208.13,
+            -0.012,
+            -51.918,
+            0
+        ],
+        [
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+            -1131.893,
+            198.472,
+            -0.012,
+            -51.918,
+            -0.0
+        ],
+        [
+            -4940.155,
+            -1131.893,
+            198.472,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4911.667,
+            -1254.486,
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+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4883.18,
+            -1377.079,
+            198.153,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4854.692,
+            -1499.671,
+            198.153,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
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+            -1499.671,
+            198.153,
+            0.0,
+            -76.918,
+            0.0
+        ],
+        [
+            -4854.692,
+            -1499.671,
+            198.153,
+            0.0,
+            -51.918,
+            0.0
+        ],
+        [
+            -4854.692,
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+            198.153,
+            0.0,
+            -26.918,
+            0.0
+        ],
+        [
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+            -1499.671,
+            198.153,
+            0.0,
+            -1.918,
+            0.0
+        ],
+        [
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+            -1.918,
+            0.0
+        ],
+        [
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+            -1503.883,
+            198.153,
+            0.0,
+            23.082,
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+        ],
+        [
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+            198.153,
+            0.0,
+            23.082,
+            -0.0
+        ],
+        [
+            -4613.12,
+            -1454.541,
+            198.153,
+            0.0,
+            -1.918,
+            0.0
+        ],
+        [
+            -4685.08,
+            -1452.131,
+            198.153,
+            0.0,
+            -1.918,
+            0.0
+        ],
+        [
+            -4685.08,
+            -1452.131,
+            198.153,
+            0.0,
+            -1.918,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -4862.438,
+            -1669.934,
+            117.974,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4862.438,
+            -1669.934,
+            117.974,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4862.438,
+            -1669.934,
+            117.974,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4862.438,
+            -1669.934,
+            117.974,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4862.438,
+            -1669.934,
+            117.974,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4862.438,
+            -1669.934,
+            117.974,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4834.03,
+            -1494.243,
+            168.256,
+            -28.202,
+            -26.773,
+            1.862
+        ],
+        [
+            -4837.51,
+            -1485.423,
+            168.528,
+            -28.189,
+            -1.761,
+            1.872
+        ],
+        [
+            -4844.359,
+            -1479.657,
+            167.861,
+            -28.215,
+            23.209,
+            1.849
+        ],
+        [
+            -4848.339,
+            -1473.326,
+            167.915,
+            -14.092,
+            40.426,
+            6.87
+        ],
+        [
+            -4728.917,
+            -1482.516,
+            168.482,
+            -28.198,
+            48.227,
+            1.865
+        ],
+        [
+            -4738.088,
+            -1483.635,
+            168.352,
+            -28.189,
+            73.24,
+            1.869
+        ],
+        [
+            -4622.387,
+            -1435.282,
+            168.735,
+            -28.205,
+            73.217,
+            1.859
+        ],
+        [
+            -4612.59,
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+            167.682,
+            -28.202,
+            48.224,
+            1.86
+        ],
+        [
+            -4615.119,
+            -1454.474,
+            158.153,
+            0.0,
+            -1.918,
+            0.0
+        ],
+        [
+            -4615.119,
+            -1454.474,
+            158.153,
+            0.0,
+            -1.918,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        655.8,
+        543.6,
+        543.6,
+        418.4,
+        293.6,
+        170.4,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.4,
+        22.2,
+        21.4,
+        20.8,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The dark trash bag sits against the brick wall beside the recessed doorway, well ahead of me across the open snow. Nothing blocks the packed ground between us, so I will walk forward to cut down that distance before refining my heading.",
+        "The trash bag now sits noticeably left of my center of view, with the bare tree and open snow filling the right side. A small left rotation should bring the bag and the doorway wall onto my forward axis so continued walking heads straight at it.",
+        "After the turn the bag sits low and near the middle of my view, directly along my heading beside the green door. The path over the bare pavement is unobstructed, so I will step forward to close the remaining gap.",
+        "The bag has grown larger and still holds my forward line against the brick wall, but it remains several strides away and too far to reach. I will keep walking forward along the same heading to shorten that gap.",
+        "The bag now fills a good part of the lower view beside the doorway, yet it still sits beyond comfortable arm's reach. One more step forward should place it close enough in front of me for a grasp attempt.",
+        "The trash bag is now immediately in front of me at the foot of the doorway wall, close enough that it crowds the bottom of my view. My hands are empty and nothing stands between us, so I will attempt to grab it.",
+        "The grab worked: the bag is held with me instead of resting on the ground at the doorway. The bare tree stands out across the open snow away from this wall, well to my right, so I will turn right to begin swinging my heading toward it.",
+        "I still hold the trash bag, and my view is dominated by the brick corner and the green door with only bare branches intruding at the upper right. The tree is not yet in front of me, so I will keep rotating right to bring it onto my heading.",
+        "The trash bag is in my hands and travels with me, so the pickup at the doorway held. The bare tree now sits at the right edge of my view, still off my heading, with the brick wall crowding my left. I will turn right again to bring the tree onto my forward line before walking out to it.",
+        "The bare tree is now centered ahead across open snow, with the building behind me and nothing blocking the path. Carrying the bag, I will walk forward to close the remaining gap to the tree.",
+        "I am close enough that the trunk itself now fills the middle of my view, so walking straight on would run me into the wood rather than the ground beside it. I will turn right to shift my heading toward the open snow next to the trunk, where the bag can be set down.",
+        "My heading now points past the trunk onto clear snow at the tree's right side. I will step forward to bring myself right up beside the base of the bare tree, close enough for a placement.",
+        "I am standing right at the tree, but its trunk has slid to the far left of my view, so the ground I would drop onto is off to the side. I will turn left to face the base of the bare tree squarely before releasing the bag.",
+        "The bare tree's trunk is centered directly in front of me and its base is within arm's reach. Since the bag I took from the doorway is still in my hands, I will release it here so it should come to rest beside the tree.",
+        "The trash bag is resting on the snow at the base of the bare tree and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t0_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Walk to the dark doorway in the brick building.",
+    "Type": 0,
+    "Start_Pose": [
+        -5061.312,
+        -977.276,
+        202.534,
+        -0.012,
+        -51.918,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5061.312,
+            -977.276,
+            202.534,
+            -0.012,
+            -51.918,
+            -0.0
+        ],
+        [
+            -4983.684,
+            -1076.343,
+            202.267,
+            -0.012,
+            -51.918,
+            -0.0
+        ],
+        [
+            -4906.055,
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+            198.071,
+            -0.012,
+            -51.918,
+            -0.0
+        ],
+        [
+            -4906.055,
+            -1175.411,
+            198.071,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4877.568,
+            -1298.003,
+            198.071,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4849.08,
+            -1420.596,
+            198.071,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4820.592,
+            -1543.188,
+            198.071,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4792.105,
+            -1665.781,
+            198.071,
+            -0.012,
+            -76.918,
+            0.0
+        ],
+        [
+            -4792.105,
+            -1665.781,
+            198.071,
+            -0.012,
+            -101.918,
+            -0.0
+        ],
+        [
+            -4818.096,
+            -1788.927,
+            198.071,
+            -0.012,
+            -101.918,
+            -0.0
+        ],
+        [
+            -4818.096,
+            -1788.927,
+            198.071,
+            -0.012,
+            -101.918,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the recessed dark doorway set into the shaded brick wall ahead and slightly to my left, at the base of the tall building. The snowy ground between us looks open, with the bare tree well off to my right, so I will step forward to begin closing the distance.",
+        "The brick wall and its dark doorway have grown slightly larger, confirming I am gaining ground on the target. The path along the building remains clear, so another forward step should bring the doorway closer.",
+        "The dark doorway sits well to the left of my heading, while most of what lies straight ahead is open yard and the fence line. I will turn left to bring the doorway toward the center of my view before continuing forward.",
+        "After the turn, the recessed green door in the brick projection is now much closer to my forward direction. The paved and snowy strip in front of it looks unobstructed, so I will step forward toward it.",
+        "The brick alcove holding the dark door is noticeably larger and its overhanging ledge is clearly visible, so my heading is carrying me toward it. I will continue forward to keep shortening the gap.",
+        "The doorway's weathered green panel and the surrounding brickwork now fill a good part of my view, but I am still a few paces short of it. Another forward step should bring me nearly to the entrance.",
+        "I am close to the brick alcove, with the dark doorway just to my left front and the corner of the projection near my path. I will move forward once more to draw level with the entrance.",
+        "Standing right beside the brick projection, the dark doorway now lies off to my left while my heading points along the wall past it. I will turn left so I am facing the recessed door directly before taking the last step in.",
+        "After turning, the recessed dark doorway with its weathered green door now sits just ahead of me in the shaded alcove of the brick wall. Only a short gap of paving remains between me and its threshold, so I will step forward to close that last bit of distance.",
+        "The dark doorway's green door and brick jamb are now directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t0_b/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Approach the large tree with a split trunk.",
+    "Type": 0,
+    "Start_Pose": [
+        -5061.312,
+        -977.276,
+        202.534,
+        -0.012,
+        -51.918,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5061.312,
+            -977.276,
+            202.534,
+            -0.012,
+            -51.918,
+            -0.0
+        ],
+        [
+            -4983.684,
+            -1076.343,
+            202.267,
+            -0.012,
+            -51.918,
+            -0.0
+        ],
+        [
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+            -51.918,
+            -0.0
+        ],
+        [
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+            -1175.411,
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+            -26.918,
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+        ],
+        [
+            -4793.832,
+            -1232.389,
+            198.071,
+            -0.012,
+            -26.918,
+            -0.0
+        ],
+        [
+            -4681.609,
+            -1289.367,
+            198.071,
+            -0.012,
+            -26.918,
+            -0.0
+        ],
+        [
+            -4569.387,
+            -1346.345,
+            198.071,
+            -0.012,
+            -26.918,
+            -0.0
+        ],
+        [
+            -4457.164,
+            -1403.323,
+            198.071,
+            -0.012,
+            -26.918,
+            -0.0
+        ],
+        [
+            -4457.164,
+            -1403.323,
+            198.071,
+            -0.012,
+            -26.918,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the snowy yard beside the brick building, I can already pick out the large bare tree ahead on my right, whose trunk divides low into several thick limbs. That matches the split-trunk target, so I step forward across the open snow to begin closing the gap.",
+        "The forked trunk now stands noticeably larger and the ground between us is clear packed snow. My heading still carries me generally toward it, so I continue forward to keep reducing the distance.",
+        "The split trunk sits off to my right rather than straight ahead, so walking on this heading would carry me past it toward the wall. A modest turn to the right should bring the forking trunk closer to the center of my view for a straight approach.",
+        "After the turn, the thick trunk with its low split is roughly ahead of me, with the snowy yard and distant wall behind it. With the heading now pointing at the target, I step forward to close the remaining distance.",
+        "The trunk and its dividing limbs now dominate the middle of my view and the base is clearly visible on the snow. Nothing blocks the way, so I keep walking straight toward it.",
+        "I am close enough now that the split of the trunk fills much of my view and the bark texture is distinct. One more step forward should bring me right up beside the tree.",
+        "The forked trunk is directly in front of me, its two main stems separating just above the snow at very short range. A final short step forward should place me immediately at the tree.",
+        "The split trunk's joining limbs are right in front of me at arm's length. The approach is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t5_a_p/infos.json

@@ -0,0 +1,259 @@
+{
+    "Instruction": "Pick up the tomato near the dark doorway in the brick building.",
+    "Type": 5,
+    "Start_Pose": [
+        -5061.312,
+        -977.276,
+        202.534,
+        -0.012,
+        -51.918,
+        0
+    ],
+    "PD_ID": 0,
+    "PD_Size": 8.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -4883.221,
+        -1777.503,
+        168.149,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "LookDown",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5061.312,
+            -977.276,
+            202.534,
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+    ],
+    "PD_Pose_Trajectory": [
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+        [
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+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4883.221,
+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4883.221,
+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4883.221,
+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4883.221,
+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4883.221,
+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4883.221,
+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4883.221,
+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4883.221,
+            -1777.503,
+            168.149,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4820.584,
+            -1683.878,
+            168.256,
+            -28.202,
+            -26.773,
+            1.862
+        ],
+        [
+            -4820.584,
+            -1683.878,
+            168.256,
+            -28.202,
+            -26.773,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        819.8,
+        708.3,
+        708.3,
+        583.0,
+        458.0,
+        333.7,
+        211.2,
+        211.2,
+        97.7,
+        97.7,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The target tomato sits far ahead on the snow beside the dark recessed doorway in the brick building's base. Nothing blocks the open snowy ground between us, so I will walk forward to cut down that long distance before refining my heading.",
+        "The tomato and its doorway now sit well to the left of my heading, while my path is aimed at the open yard and the bare tree on the right. I will turn left so the target lies ahead of me and further walking closes distance directly.",
+        "The turn has placed the tomato and the dark doorway near the center of my view, with clear snow between us. I will step forward along this heading to shorten the remaining distance toward the target.",
+        "The tomato is growing larger ahead of me and stays aligned with my heading, so no course correction is needed yet. I will keep walking forward since I am still too far away for any grasp attempt.",
+        "The tomato now fills a good part of the lower view beside the doorway alcove, but it remains several paces away from arm's reach. I will advance again to close the gap before attempting to take it.",
+        "The tomato sits on the snow at the base of the brick wall, just left of the dark recessed doorway, and it now fills a good part of my view but is still a few paces off. I will step forward again to close that remaining gap before reaching for it.",
+        "The tomato is directly ahead at the corner of the brick wall beside the dark doorway, large in my view and apparently within arm's reach. I will attempt to grasp it now rather than continue walking.",
+        "My hands are still empty, so that grasp attempt did not secure the tomato. The reach likely fell short of it. I will walk one more step toward the doorway corner to stand closer.",
+        "From this closer position the brick corner and the dark green door fill my view, but the tomato is no longer visible because it lies below my current line of sight. I will look down to bring it back into view and confirm it is within reach before trying again.",
+        "The tomato is now clearly in view at close range on the snow beside the doorway wall, much nearer than when my earlier reach failed to take it. I will attempt the grasp again from this position.",
+        "The tomato is now held in my hands and no longer resting on the ground. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t3_a/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Approach the glowing yellow window, then move to the white door.",
+    "Type": 3,
+    "Start_Pose": [
+        -6555.104,
+        -0.868,
+        198.148,
+        0.0,
+        150.72,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6555.104,
+            -0.868,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -6664.883,
+            60.687,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -6664.883,
+            60.687,
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+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -6738.363,
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+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -6811.842,
+            265.052,
+            198.148,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -6885.322,
+            367.234,
+            198.148,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -6958.802,
+            469.416,
+            198.148,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -7032.281,
+            571.599,
+            198.148,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -7105.761,
+            673.781,
+            198.148,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -7179.24,
+            775.964,
+            198.148,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -7179.24,
+            775.964,
+            198.148,
+            0.0,
+            100.72,
+            -0.0
+        ],
+        [
+            -7202.651,
+            899.626,
+            198.148,
+            0.0,
+            100.72,
+            -0.0
+        ],
+        [
+            -7203.403,
+            1007.864,
+            198.203,
+            0.0,
+            100.72,
+            -0.0
+        ],
+        [
+            -7203.403,
+            1007.864,
+            198.203,
+            0.0,
+            100.72,
+            -0.0
+        ],
+        [
+            -7186.216,
+            917.077,
+            198.203,
+            0.0,
+            100.72,
+            -0.0
+        ],
+        [
+            -7186.216,
+            917.077,
+            198.203,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -7186.216,
+            917.077,
+            198.203,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -7186.216,
+            917.077,
+            198.203,
+            0.0,
+            175.72,
+            -0.0
+        ],
+        [
+            -7186.216,
+            917.077,
+            198.203,
+            0.0,
+            -159.28,
+            0.0
+        ],
+        [
+            -7186.216,
+            917.077,
+            198.203,
+            0.0,
+            -134.28,
+            0.0
+        ],
+        [
+            -7186.216,
+            917.077,
+            198.203,
+            0.0,
+            -109.28,
+            0.0
+        ],
+        [
+            -7227.772,
+            798.276,
+            198.203,
+            0.0,
+            -109.28,
+            0.0
+        ],
+        [
+            -7269.329,
+            679.476,
+            198.203,
+            0.0,
+            -109.28,
+            0.0
+        ],
+        [
+            -7310.886,
+            560.676,
+            198.203,
+            0.0,
+            -109.28,
+            0.0
+        ],
+        [
+            -7310.886,
+            560.676,
+            198.203,
+            0.0,
+            -134.28,
+            0.0
+        ],
+        [
+            -7398.756,
+            470.569,
+            198.203,
+            0.0,
+            -134.28,
+            0.0
+        ],
+        [
+            -7486.627,
+            380.462,
+            198.203,
+            0.0,
+            -134.28,
+            0.0
+        ],
+        [
+            -7486.627,
+            380.462,
+            198.203,
+            0.0,
+            -134.28,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The glowing yellow window sits low on the brick corner well to my left, with open snow between me and it. I will walk straight ahead first to close some of that distance before adjusting my heading toward it.",
+        "After advancing, the glowing yellow window still lies off to my left rather than in front of me, so a straight walk would carry me past it. I will turn left to bring that lit window nearer the center of my view.",
+        "The turn has swung the lit yellow window into a workable part of my view, with unbroken snow leading toward that corner of the building. I will step forward along this heading to shrink the gap.",
+        "The glowing window is noticeably larger than before, so this heading is carrying me toward it. Nothing blocks the snow ahead, so I will keep walking on the same line.",
+        "The bright yellow pane and the balcony above it keep expanding as I close in, confirming my line is good. I will continue walking straight toward that corner of the brick wall.",
+        "The lit window now sits clearly ahead and slightly left, still a fair walk away across open snow. Another step forward should keep drawing me toward it without any change of heading.",
+        "I am close enough now that the brick texture and the window frame are sharp, but the glowing pane is still several paces off. I will advance again to bring myself right up against that wall section.",
+        "The glowing window is large in my view and the wall it sits in is close on my left, so I am nearly beside it. I will take another step forward to finish closing that remaining gap.",
+        "The glowing yellow window sits ahead on the left side of this brick facade and is now clearly the nearest lit target. I still have several paces of open snow before I reach the wall, so I will keep walking forward to close that gap.",
+        "My heading has drifted along the wall so the glowing window now hangs at the far left edge while plain brick and a frosted window dominate the center. Turning left should swing the lit pane back toward the middle of my view before I press on.",
+        "The glowing yellow window is back in view with its frame and bars clearly visible, and the snowy strip in front of the wall is clear. I will walk forward to shorten the remaining distance to it.",
+        "The lit window has grown large enough that I can pick out individual bars and the wooden surround, but I am still a stride or two short of standing at it. Another step forward should bring me right up beside the glowing pane.",
+        "The glowing yellow pane now fills almost my whole view, its bars and frame directly in front of me with the brickwork pressed at the edge. I have reached the glowing yellow window. I mark reaching it and turn my attention to the white door on this building.",
+        "Standing this close, the glowing pane blocks nearly everything and I cannot see the wall line or the ground I would need to travel. Stepping back should restore enough spacing to survey the facade and pick a heading toward the white door.",
+        "With a little space regained I can see the lit window and the brick wall running away to my left, but nothing resembling a white door lies in that direction. Turning right should begin sweeping my view along the facade toward the open ground where a door may stand.",
+        "The rotation so far has only pushed the glowing window to the edge and left bare brickwork filling my view, so I still have no line toward a door. I will keep turning right to carry my gaze past this wall and onto the open side of the building.",
+        "Having marked my arrival at the lit yellow window, I now need the white door, and my view is still filled with bare brick at close range. Rotating right again should carry my heading further off this wall toward the open ground beside the building.",
+        "The frosted panes and brickwork have swung into the center, but the facade still blocks most of my forward view. Another right rotation should keep sweeping my heading along the wall until the open lane appears.",
+        "The wall is sliding to my left and bright snow with a building corner is opening on the right side of my view. Turning right once more should bring that open passage and the entrance area under the awning closer to the center of my heading.",
+        "The alley between the brick building and the concrete block is now visible ahead right, with a dark awning jutting from the wall on my left. One more right rotation should square me with that open lane so I can walk it toward the pale door beneath the awning.",
+        "I am now facing straight down the clear snowy lane, with the awning and the entrance recess on the brick wall to my left. Walking forward should close the gap along this open route toward that doorway.",
+        "The pale door under the dark canopy on my left is nearer but still ahead of my shoulder, and the lane in front of me stays clear. I will keep walking forward to draw level with that entrance.",
+        "The doorway under the canopy has moved further into my left foreground, so I am not yet beside it. Another step forward should place me alongside the white door before I turn to face it.",
+        "I am now level with the recessed entrance, and the white door sits off to my left under the dark canopy while my heading points down the empty lane. Turning left should put the door directly in front of me.",
+        "The pale white door under its dark canopy now sits just ahead on my left, its metal handle clearly visible against the brick. Walking straight on should carry me along this wall and bring me level with the doorway.",
+        "The white door now fills much of my left side, close enough that I can read the handle plate, but I am still slightly short of standing beside it. One more step forward should place me right at the doorway.",
+        "The white door stands directly beside me at arm's reach, its handle level with my position. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t3_b/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Move to the white door, then approach the glowing yellow window.",
+    "Type": 3,
+    "Start_Pose": [
+        -6555.104,
+        -0.868,
+        198.148,
+        0.0,
+        150.72,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6555.104,
+            -0.868,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -6664.883,
+            60.687,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -6664.883,
+            60.687,
+            198.148,
+            0.0,
+            175.72,
+            -0.0
+        ],
+        [
+            -6790.391,
+            70.08,
+            198.148,
+            0.0,
+            175.72,
+            -0.0
+        ],
+        [
+            -6915.899,
+            79.473,
+            198.148,
+            0.0,
+            175.72,
+            -0.0
+        ],
+        [
+            -7041.407,
+            88.866,
+            198.148,
+            0.0,
+            175.72,
+            -0.0
+        ],
+        [
+            -7166.915,
+            98.259,
+            198.148,
+            0.0,
+            175.72,
+            -0.0
+        ],
+        [
+            -7292.423,
+            107.652,
+            198.148,
+            0.0,
+            175.72,
+            -0.0
+        ],
+        [
+            -7292.423,
+            107.652,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -7402.203,
+            169.206,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -7511.982,
+            230.761,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -7511.982,
+            230.761,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -7431.387,
+            185.57,
+            198.148,
+            0.0,
+            150.72,
+            -0.0
+        ],
+        [
+            -7431.387,
+            185.57,
+            198.148,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -7431.387,
+            185.57,
+            198.148,
+            0.0,
+            100.72,
+            -0.0
+        ],
+        [
+            -7431.387,
+            185.57,
+            198.148,
+            0.0,
+            75.72,
+            -0.0
+        ],
+        [
+            -7400.342,
+            307.541,
+            198.148,
+            0.0,
+            75.72,
+            -0.0
+        ],
+        [
+            -7369.298,
+            429.511,
+            198.148,
+            0.0,
+            75.72,
+            -0.0
+        ],
+        [
+            -7338.253,
+            551.481,
+            198.148,
+            0.0,
+            75.72,
+            -0.0
+        ],
+        [
+            -7307.209,
+            673.451,
+            198.148,
+            0.0,
+            75.72,
+            -0.0
+        ],
+        [
+            -7276.165,
+            795.421,
+            198.148,
+            0.0,
+            75.72,
+            -0.0
+        ],
+        [
+            -7245.12,
+            917.392,
+            198.148,
+            0.0,
+            75.72,
+            -0.0
+        ],
+        [
+            -7191.92,
+            1023.033,
+            198.381,
+            0.0,
+            75.72,
+            -0.0
+        ],
+        [
+            -7191.92,
+            1023.033,
+            198.381,
+            0.0,
+            75.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The pale double door sits under its awning ahead of me on the brick facade, with the glowing yellow window further along to the left. The door is my first destination, and a wide stretch of open snow separates me from it. I will walk forward to close that gap.",
+        "After advancing, the white door now sits well to the right of my heading, with empty facade filling the centre of my view. Walking straight on would carry me past it. I will turn right to bring the door toward the middle of my view before continuing.",
+        "The turn has brought the white door roughly into the centre-left of my view, framed by the brick wall and its awning. The heading now points across the open yard toward it. I will walk forward to shorten the distance.",
+        "The door and its overhanging canopy have grown noticeably larger, so my heading is carrying me straight toward them. Nothing blocks the packed snow in front of me. I will keep walking forward.",
+        "The white door still fills the left-centre of my view and is clearly closer, with the grated basement window beside it now distinct. I am not yet near enough to count myself at it. Another step forward should continue closing the distance.",
+        "Both leaves of the metal door and its handle are now clearly resolved, meaning I am within a short walk of it. The approach line remains clear across the snow. I will step forward again.",
+        "The door has drifted toward the left side of my view as I close in, but it is still reachable by continuing along this line. I want to be right up against the facade before judging my arrival. I will take another step forward.",
+        "I am now close to the wall, but the white door has slid to the far left edge of my view while the blank brick corner sits ahead. Moving forward from here would take me past the doorway. I will turn left to face the door squarely.",
+        "The pale metal double door now sits squarely in the middle of my view under its canopy, so my heading is right for a straight approach. I will walk forward to close the remaining gap to it.",
+        "The door has grown to fill much of my view and its frame and handle are clearly resolved, but a short stretch of ground still separates me from the threshold. I will step forward once more to stand right at it.",
+        "The pale double door fills my whole view, its seam, handle and transom right in front of me with no ground left between us. I am standing at the white door. I mark reaching it and now turn my attention to the window glowing yellow along this building.",
+        "Pressed this close, the door panels block everything and I can see nothing of the surrounding facade to pick out the glowing window. I will step back to open up my view and give myself room to swing around toward it.",
+        "With a little distance regained I can see the doorway and the brickwork on either side of it again. The glowing window lies further along the facade to my left, so I will turn that way to bring the wall and the route beside it into view.",
+        "The door has swung to the right edge of my view and the barred sunburst window on the brick wall is now ahead of me, but the passage running along the building is still off to the left. I will keep turning left to face down that side of the wall.",
+        "The snowy lane beside the brick wall has opened on my left and a small yellow-lit window glows further along that wall. One more turn left should put that lane and the glowing window directly ahead of me.",
+        "I am now facing straight down the open lane beside the brick wall, with the yellow glowing window visible some distance ahead along that wall. The snow ahead is clear, so I will walk forward toward it.",
+        "The glowing yellow window is still some distance ahead along this brick wall on my right, small and partly hidden behind the balcony overhang. The snowy strip beside the facade is open and level, so I will walk forward to close that gap.",
+        "The yellow glow ahead has grown noticeably brighter and the barred windows on the wall are passing by on my right, confirming my heading follows the facade. Nothing blocks the snow ahead, so another step forward should bring the glowing window nearer.",
+        "The bright yellow pane is now clearly framed in the wall a short way ahead, with the triple window closer to me on the right. My path along the building remains unobstructed, so I keep walking toward the glow.",
+        "The glowing window sits ahead on the right, still several paces off, while the large frosted panes beside me have slipped past. Continuing straight along the wall should keep shortening the distance to it.",
+        "The yellow window is close enough now that its lattice bars are visible against the light, but I am not yet beside it. I will step forward again to draw level with the glowing pane.",
+        "The glowing window now dominates the right side of my view, its wooden sunburst bars sharp against the bright yellow. One more short step along the wall should place me directly at it.",
+        "The glowing yellow window fills the right of my view at arm's length, its bars right beside me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t5_a_pd/infos.json

@@ -0,0 +1,525 @@
+{
+    "Instruction": "Lift the trash bag near the glowing yellow window, then set it down near the white door.",
+    "Type": 5,
+    "Start_Pose": [
+        -6555.104,
+        -0.868,
+        198.148,
+        0,
+        150.72,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -7123.054,
+        1013.315,
+        128.428,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
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+    "PD_Dist_2D": [
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+    ],
+    "Rationale": [
+        "The glowing yellow window sits low on the brick facade ahead and slightly left, but it is still far across the open snow. Nothing blocks the ground in front of me, so I will walk forward to close the gap and get a clearer look at whatever rests beneath that window.",
+        "The lit yellow window is offset to the left side of my heading, while the taller block and its wide door fill the center of my view. I will turn left so my path leads toward that window instead of the building face straight ahead.",
+        "The glowing window now sits ahead of me with clear snow between us, and a small dark shape is barely distinguishable at its base. Walking forward should shorten the distance enough to confirm the trash bag under it.",
+        "The lit window has grown larger and a dark bundle is now visible sitting on the snow directly beneath it. The route stays open, so I will keep walking forward toward that spot.",
+        "The glowing window and the dark bag against the wall below it are clearly resolved now, but I am still several strides short of grasping range. I will advance again to keep closing on the target.",
+        "I am approaching the facade at a shallow angle, and continuing straight would carry me into the brick wall rather than to the bag's side. Turning left should put the open snow strip running along the building in front of me so I can reach the bag's front rather than crowd the wall.",
+        "With the open ground now lying ahead, the glowing window and the dark bag beneath it stand on my right at a workable angle. I will step forward along this clear lane to draw level with the bag.",
+        "The trash bag under the glowing window is now distinctly shaped and noticeably larger, yet still beyond arm's reach off to my right. Another step forward should bring me close enough to work with it.",
+        "The dark trash bag is clearly visible now, sitting on the snow directly beneath the glowing yellow window on the brick wall ahead of me. It is still several paces away, so I will keep walking forward to close that gap before attempting a grasp.",
+        "From here the bag under the glowing window sits off to the right of my heading, so walking straight would carry me past it along the wall. I will turn right to bring the bag toward the center of my view before advancing again.",
+        "The bag now sits ahead of me under the glowing window, roughly in line with my heading. It is still a couple of paces out, so I will step forward to bring it within reach for a grasp.",
+        "The trash bag fills the lower center of my view, right at the base of the glowing yellow window and within arm's reach. This is the pickup target named in the task, so I will attempt to lift it now.",
+        "The grasp worked and the trash bag is now held in my hands rather than resting on the snow. The white door I need is not along this stretch of wall, so I will turn right to sweep my view around and search for it.",
+        "Carrying the bag, I still see only brick facade with the glowing window and a grimy boarded window, no white door and no route. I will continue turning right to keep sweeping toward the open ground where the door may stand.",
+        "The wall still blocks most of my view with the bag in hand, and only the right edge is beginning to open toward brighter ground. Another right turn should carry my heading further around the corner where the white door is more likely to appear.",
+        "The corner has opened up and a pale door set under a dark awning is now visible off to my right, past the brick wall. I will turn right once more to bring that doorway into the center of my heading before carrying the bag toward it.",
+        "The trash bag is secured in my hands, and my heading now looks down the alley where a pale white door sits under a dark canopy along the brick facade ahead. I will walk forward to carry the bag toward that door.",
+        "The white door under its canopy has grown slightly larger ahead on the left of the alley, so my heading is still carrying the bag the right way. A good stretch of open ground remains between me and it, so I will step forward again.",
+        "The pale door and its overhanging canopy now dominate the left side of the alley, confirming I am closing on the drop location with the bag still in hand. The route ahead stays clear of obstacles, so I will keep walking toward it.",
+        "The white metal door is clearly framed just ahead on my left, close enough that details of its handle plate are readable. I am still a couple of paces short of standing beside it, so I will advance again with the bag.",
+        "The white door now occupies the near left of my view, meaning I am almost level with it while carrying the bag. One more step forward should bring me even with its frame before I turn to face it.",
+        "I am now beside the white door, but it has slid to the far left edge of my view while my body still points down the alley. Turning left should square me with the door panel so the bag can be set down right in front of it.",
+        "The turn has brought the white door squarely across the left and center of my view with its handle plate facing me. A short step forward should place me directly at the door so the bag lands close beside it.",
+        "The pale door panel now fills my view at arm's length with its frame and brick edge right beside me, so I am standing at the intended placement spot with the bag still in hand. I will release it here so it rests near the white door.",
+        "The trash bag now rests on the ground right at the foot of the white door, and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t5_b_pd/infos.json

@@ -0,0 +1,525 @@
+{
+    "Instruction": "Pick up the green bell pepper by the white door, then leave it by the glowing yellow window.",
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+    "Action": [
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+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
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+            1056.085,
+            169.467,
+            -28.21,
+            175.858,
+            1.852
+        ],
+        [
+            -7156.248,
+            1094.046,
+            169.161,
+            -28.211,
+            175.854,
+            1.854
+        ],
+        [
+            -7138.043,
+            1105.298,
+            188.969,
+            0.0,
+            125.72,
+            -0.0
+        ],
+        [
+            -7138.043,
+            1105.298,
+            188.969,
+            0.0,
+            125.72,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        1004.7,
+        882.2,
+        760.7,
+        760.7,
+        636.6,
+        513.2,
+        391.4,
+        273.4,
+        273.4,
+        147.5,
+        21.4,
+        20.4,
+        20.2,
+        27.5,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        22.0,
+        23.3,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The green bell pepper is sitting on the snow at the base of the pale white door across the open yard, far ahead of me. Nothing blocks the flat stretch between us, so I will walk straight forward to cut down that distance before refining my heading.",
+        "The pepper and the white door have grown noticeably larger since my last step, confirming that this heading is closing on the target. I am still well short of grasping range, so I will keep walking straight ahead.",
+        "From here the pepper sits noticeably right of my forward heading, off to the side of the doorway rather than straight ahead. Continuing forward would drift me past it, so I will turn right to bring the target closer to the center of my view.",
+        "After the turn the pepper and the doorway now sit near the middle of my view, so my heading points at the target. The distance is still large, so I will walk forward along this corrected line.",
+        "The white door and the pepper beside it keep growing in my view, so this heading is still carrying me toward the target. I remain too far away to reach for it, so I will take another step forward.",
+        "The pepper now stands clearly against the base of the door with the canopy above it filling more of my view, but it is still several strides off. The snow ahead is clear, so I will continue walking straight in.",
+        "The pepper is now large in my view and drifting toward the left side as I close on the wall. It is still not near enough to grasp, so I will step forward once more before correcting my heading.",
+        "The pepper has shifted well to the left edge of my view while my heading points at the brick wall right of the door. I will turn left to square myself onto the pepper so a final step can bring it within reach.",
+        "The green bell pepper now sits centered in front of the white metal door, directly along my heading after the small left correction. It is still a step or two out of comfortable reach, so I will walk forward to close that last gap. This should place me near enough to attempt the grasp.",
+        "The pepper now fills the lower part of my view right at the threshold of the white door, close enough that no further stepping is needed. My hands are empty, so I will attempt to pick it up now. If the grasp takes, I can begin carrying it toward the glowing yellow window.",
+        "The grasp succeeded and the green pepper is now held in my hands. The glowing yellow window lies along the facade to my left rather than behind this door, so I will turn left to swing my heading toward it. One turn alone may not be enough to face the route.",
+        "I am carrying the pepper and now face the brick wall beside the door, with the sunburst grille ahead and open ground still further left. This heading would walk me into the wall, so I will turn left again to keep rotating toward the lit window side of the building.",
+        "With the pepper in hand, the facade now runs off to my right and the snowy open lane along the building opens on the left, where a yellow-lit window glows further along the wall. One more left turn should line my heading up with that lane so I can walk beside the building.",
+        "My heading now runs down the clear snowy lane with the brick facade on my right, and the yellow glow shows on that wall ahead. Carrying the pepper, I will walk forward along this open path to close distance to the lit window. The ground ahead looks unobstructed.",
+        "The glowing yellow pane on the brick wall to my right has grown slightly nearer and the lane stays clear of snow banks. Still holding the pepper, I will keep stepping forward to reach the window's position along the wall.",
+        "The lit window is now clearly ahead on the right wall, but I am not yet level with it. The pepper is still in my hands and the lane remains open, so I will continue walking forward to draw alongside the glowing pane.",
+        "The pepper is secure in my hands, so my remaining job is to carry it to the glowing yellow window. That window is still some distance ahead along this brick wall on my right, so I keep walking forward down the cleared strip of snow.",
+        "The bright yellow window has grown larger and is now clearly framed in the wall to my right, confirming my heading is good. I am still short of it, so another step forward should bring me nearly level with the glowing pane while I carry the pepper.",
+        "The glowing window is now bright and close along the wall to my right, but I am not yet beside it. I keep walking forward to close the last stretch before I turn toward the delivery spot with the pepper in hand.",
+        "The lit window now dominates the right side of my view and I am almost level with its frame. One more step forward should place me directly in front of the pane, a good position from which to turn and set the pepper down.",
+        "I have walked level with the glowing window, and it now sits off to my right while my body still faces along the wall. I turn right to swing my heading toward the pane so the pepper can be placed at it.",
+        "The turn brought most of the glowing window into view, but its frame is still angled and offset toward the right of center. I turn right once more to square up on the lit pane before releasing the pepper there.",
+        "I am now facing the glowing yellow window squarely, its bright panes filling my view. I still want to stand right at the sill so the pepper lands clearly by the window, so I take a short step forward toward the wall.",
+        "I am pressed right up against the glowing yellow window with its lit panes filling my view, and the pepper is still in my hands. This is the spot the task names, so I release the pepper here and it should come to rest by the window.",
+        "I see the green bell pepper resting at the glowing yellow window, no longer in my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Walk to the white door at the building's center ground floor.",
+    "Type": 2,
+    "Start_Pose": [
+        -6651.229,
+        -4564.563,
+        227.738,
+        -0.012,
+        -125.838,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6651.229,
+            -4564.563,
+            227.738,
+            -0.012,
+            -125.838,
+            0.0
+        ],
+        [
+            -6724.919,
+            -4666.594,
+            277.794,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6798.609,
+            -4768.625,
+            295.481,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6872.299,
+            -4870.656,
+            249.575,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6945.988,
+            -4972.686,
+            228.275,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7019.678,
+            -5074.717,
+            228.275,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7093.368,
+            -5176.748,
+            238.921,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7093.368,
+            -5176.748,
+            238.921,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7203.274,
+            -5238.077,
+            246.466,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7313.18,
+            -5299.405,
+            229.631,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7423.086,
+            -5360.734,
+            207.525,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7532.991,
+            -5422.063,
+            198.148,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7642.897,
+            -5483.391,
+            198.148,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7752.803,
+            -5544.72,
+            198.148,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7862.709,
+            -5606.049,
+            198.148,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7862.709,
+            -5606.049,
+            198.148,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7936.399,
+            -5708.079,
+            198.148,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -8010.089,
+            -5810.11,
+            198.148,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -8010.089,
+            -5810.11,
+            198.148,
+            -0.012,
+            -125.838,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Scanning the ground floor of this long block, I pick out the pale white door set back in the recessed entry at the middle of the facade, while the other ground-floor door further right is dark metal. That light door in the central recess is my target, so I walk straight ahead across the open snow to close the distance.",
+        "The white entry door in the central recess now sits a little larger and just left of my heading, confirming I am closing on it. The ground between me and the wall is clear, so I keep walking forward.",
+        "The white door under the recessed entry is still ahead and slightly to my left, with the projecting low bay to its right not yet blocking it. Nothing interrupts the flat snow in front of me, so I take another step forward.",
+        "The facade keeps growing and the pale door in the middle recess remains visible past the corner of the projecting bay. I am still too far to be at the entrance, so I continue walking forward.",
+        "From here the white door sits in shadow under the balconies, drifting toward the left edge of my view as I near the wall. The direct path stays open, so I press forward to shorten the remaining gap.",
+        "The lower storey now fills most of my view and the pale door in the central recess is off to my left, partly screened by the jutting bay. I still have ground to cover before reaching it, so I keep advancing.",
+        "My straight-ahead path has carried me abreast of the projecting bay, and the white entry door now sits well to the left of my heading, close to the edge of my view. I turn left to bring that recessed door back in front of me before continuing.",
+        "The turn worked, and the pale door in its shadowed recess under the balcony now lies close to the middle of my view. With clear snow between me and that entry, I walk forward to close on it.",
+        "The recessed entry sits squarely ahead now, its pale door tucked under the balcony overhang with the projecting bay wall standing off to my right. Open snow runs unbroken up to that recess, so I keep walking straight in.",
+        "The entry has grown enough that I can make out the glazed strip above the door leaf inside the shaded recess. My heading still points at it and nothing stands between us, so another stride forward should bring me closer.",
+        "The long stretch of facade with the dark metal entry has slid out of view entirely, leaving only this shadowed recess in front of me, which is the entry I settled on at the start. Since it is still some distance off, I continue advancing.",
+        "Close up the entry resolves into a weathered double leaf with a handle and lit glazing above, its pale face darkened by the deep overhang. Several strides of snow still separate me from the threshold, so I walk on.",
+        "The bay wall on my right is crowding the frame and the doorway has edged slightly right of my heading as I close in. The mouth of the recess is still open in front of me, so I press ahead into it.",
+        "I am now inside the shadow of the alcove, with plain wall to my left and the bay pier to my right framing the doorway ahead and a little right. Snow underfoot is clear right up to the sill, so I step forward again.",
+        "The double door now stands only a short walk off, but it sits right of where I am pointed, with the alcove's left wall taking up much of my view. Turning right should square my heading onto the door before I close the last of the gap.",
+        "The turn has put the pale double door and its lit transom in front of me, filling the end of the alcove. With only a couple of paces of bare snow left before the threshold, I walk forward to reach it.",
+        "The double leaf now spans nearly my whole view, its handle and transom clearly within reach height, but a thin strip of snow still separates me from the sill. One more stride should bring me right up against the threshold.",
+        "The door's leaf and handle fill my view at arm's length, with the frame edge beside me. I have arrived at this entrance, so there is nothing further to walk."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_b/infos.json

@@ -0,0 +1,246 @@
+{
+    "Instruction": "Approach the leftmost ground-floor window on the building.",
+    "Type": 2,
+    "Start_Pose": [
+        -6651.229,
+        -4564.563,
+        227.738,
+        -0.012,
+        -125.838,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6651.229,
+            -4564.563,
+            227.738,
+            -0.012,
+            -125.838,
+            0.0
+        ],
+        [
+            -6651.229,
+            -4564.563,
+            227.746,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -6761.135,
+            -4625.892,
+            269.912,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -6871.041,
+            -4687.22,
+            290.711,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -6980.946,
+            -4748.549,
+            258.576,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7090.852,
+            -4809.878,
+            228.173,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7200.758,
+            -4871.206,
+            228.173,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7310.664,
+            -4932.535,
+            228.173,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7310.664,
+            -4932.535,
+            228.173,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -7436.191,
+            -4941.669,
+            234.389,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -7561.718,
+            -4950.804,
+            241.329,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -7687.245,
+            -4959.938,
+            238.667,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -7812.772,
+            -4969.073,
+            232.917,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -7938.299,
+            -4978.207,
+            230.986,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8063.826,
+            -4987.342,
+            225.432,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8189.353,
+            -4996.476,
+            210.505,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8314.881,
+            -5005.61,
+            198.658,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8440.408,
+            -5014.745,
+            198.378,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8565.935,
+            -5023.879,
+            198.378,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8565.935,
+            -5023.879,
+            198.378,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -8565.935,
+            -5023.879,
+            198.378,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -8639.625,
+            -5125.91,
+            198.378,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -8639.625,
+            -5125.91,
+            198.378,
+            -0.012,
+            -125.838,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The long facade fills my view and its row of small rusty ground-floor windows continues past the left edge, so I cannot yet tell which one sits at the far left end. I will turn left to bring that end of the building into view and settle which window is my target.",
+        "Now I can see where the block ends: the ground-floor windows run leftward to a corner beside the open gap between buildings, and the last one along that run is the window I want. It is still far across the snowy ground, so I will walk forward to close distance.",
+        "The facade and its low window row are growing but the corner beside the gap is still well ahead of me. Nothing blocks the open snow and roadway in front, so I will keep walking straight toward that end of the building.",
+        "My heading still points at the corner where the ground-floor window run ends, and the gap between the blocks is opening wider on my left. I will continue forward to shorten the remaining distance to that end of the building.",
+        "The corner with its doorway is noticeably nearer and the low windows on this face are already large in my view, yet I am not alongside the building's end. Another step forward should bring me close to that corner.",
+        "The wall now dominates the right of my view and the passage past its corner is close on my left. I will step forward again to reach the corner before committing to a heading along the building's end.",
+        "I am nearly level with the corner door, with the snowfield and treed slope opening on my left. One more step forward should put me at the corner, where I can turn into the passage that runs along toward the window at the building's far left end.",
+        "I have arrived at the corner and the wall now stands directly across my path, so holding this heading would only take me into it. I will turn left to face the open passage beside the block, which should let me keep going toward the window at the end of that ground-floor run.",
+        "The passage between the two blocks is open, with clean snow underfoot and the treed slope framing its far end. The low window I chose sits on the right-hand wall further down that gap, so I will walk into the passage toward it.",
+        "Both walls stand well clear of my line and the snow between them is unbroken. The rusty window on my right has grown but I am not yet abreast of it, so I take another stride down the passage.",
+        "Only a pair of low windows still shows on the right-hand face now that the nearer ones have slid behind me, and the one at the end of that run is the one I am walking to. The way stays clear, so I keep going.",
+        "The conifers on the slope beyond the gap have broadened, telling me I am well inside the passage. My target still lies a few paces further along the wall on my right, so I press forward instead of turning yet.",
+        "From this angle the right-hand wall reads as one long face rather than a countable row, but the window I settled on is still the one nearest its far corner. I will carry on along it to close the remaining distance.",
+        "The stained three-pane window on my right now sits large and low on the plaster, yet it remains forward of my shoulder. Walking on should bring me level with it before I turn to face it squarely.",
+        "The window sits directly beneath the projecting balcony, unmistakable against the pale wall, and I am almost abreast of it. A further step forward should put me alongside it.",
+        "Its rusty panes and sill now take up much of the right side of my view, though my heading still runs past it down the open snow. I will step forward once more to draw level with the glass.",
+        "The three stained panes sit just ahead on my right, still forward of me rather than beside me, and the snow ahead is untouched and clear. I will keep walking so my position comes even with the sill.",
+        "The window now spreads wide across the wall beside me with its frame and mullions clearly separated, meaning I am nearly abreast of it. One more stride should place me squarely opposite the glass before I turn to face the wall.",
+        "I have drawn level with the glass, which now sits off to my right while my body still points down the open snow. Turning right begins swinging my heading onto the wall so I can face the window head on.",
+        "The window has swung toward the middle of my view but the wall still runs away at a slant, so my facing is not yet perpendicular to it. A second turn right should square me with the sill.",
+        "I am now square to the plaster with the rusty three-pane window and its sill filling the left of my view, but a short stretch of snow still separates me from the wall. Stepping forward should bring me right up to it.",
+        "The stained window and its sill fill my view at arm's length. I am standing at it, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_c/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Head toward the rightmost ground-floor window near the corner.",
+    "Type": 2,
+    "Start_Pose": [
+        -6651.229,
+        -4564.563,
+        227.738,
+        -0.012,
+        -125.838,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6651.229,
+            -4564.563,
+            227.738,
+            -0.012,
+            -125.838,
+            0.0
+        ],
+        [
+            -6651.229,
+            -4564.563,
+            227.746,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6674.895,
+            -4688.177,
+            274.437,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6698.56,
+            -4811.791,
+            285.518,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6722.226,
+            -4935.405,
+            248.701,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6745.891,
+            -5059.019,
+            228.275,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6769.557,
+            -5182.633,
+            228.275,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6793.223,
+            -5306.247,
+            228.275,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6816.888,
+            -5429.861,
+            249.884,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6840.554,
+            -5553.475,
+            244.843,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6840.554,
+            -5553.475,
+            244.843,
+            -0.012,
+            -75.838,
+            0.0
+        ],
+        [
+            -6809.761,
+            -5675.509,
+            226.819,
+            -0.012,
+            -75.838,
+            0.0
+        ],
+        [
+            -6778.967,
+            -5797.543,
+            207.289,
+            -0.012,
+            -75.838,
+            0.0
+        ],
+        [
+            -6748.174,
+            -5919.577,
+            198.13,
+            -0.012,
+            -75.838,
+            0.0
+        ],
+        [
+            -6717.381,
+            -6041.611,
+            198.13,
+            -0.012,
+            -75.838,
+            0.0
+        ],
+        [
+            -6686.588,
+            -6163.645,
+            198.13,
+            -0.012,
+            -75.838,
+            0.0
+        ],
+        [
+            -6655.795,
+            -6285.678,
+            198.13,
+            -0.012,
+            -75.838,
+            0.0
+        ],
+        [
+            -6655.795,
+            -6285.678,
+            198.13,
+            -0.012,
+            -75.838,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The band of small ground-floor windows runs across this facade, and the last one before the building corner sits far to my right, near where the wall turns beside the dark entry door. These low windows all look alike, so I fix mine as the one hugging that corner. I will turn right to put that corner ahead of me.",
+        "The corner where the wall turns is now roughly ahead of me, with the low window beside it still far off across the snow. Nothing blocks the open ground between us. I will walk forward to close that distance.",
+        "The facade has grown noticeably, yet the corner window I chose is still a long way ahead and slightly left of my heading. The snow underfoot stays clear and level. I will keep walking straight toward it.",
+        "The dark recessed doorway and the corner edge beside it are becoming distinct, so my heading is still carrying me at the right part of the wall. The window I want sits just past that doorway where the building turns. I will continue forward.",
+        "Ground detail on the wall is resolving now, with the low windows and their rust stains readable on either side of the entry. The corner I am aiming for remains squarely ahead. Another step forward should bring me closer to it.",
+        "More low windows have come into view on the wing that returns past the corner, so counting along the row from here would no longer pick out my target. I am still heading for the window set against the corner beside the entry door. I will keep advancing.",
+        "The facade now fills most of my view and the corner with its window stands close ahead and slightly right. The snow between us is still open. I will step forward again to reach it.",
+        "I am close enough that the sills and dark glass of the low windows are sharp, and the corner edge with the entry beside it stands just ahead. My target window is the one right at that turning of the wall. I will move forward to draw alongside it.",
+        "The recessed entry now sits square in the middle of my view, and the corner where the wall breaks away stands just to its right. My window belongs to that returning panel, still a few strides off across clean snow. I will step forward again.",
+        "Standing this close, my heading points at the doorway rather than at the wall that turns away beside it, and the window I want lies off to my right on that returning face. A turn to the right should bring it into the middle of my view so I can walk straight in.",
+        "The corner face is now open in front of me, its rust-streaked low window a little left of my heading with a small barred vent further along the same wall. Flat snow runs right up to the base of the building. I will walk in toward that window.",
+        "The window has grown and its three stained panes and sill are clearly separate from the small vent opening beyond it. Nothing stands between me and the wall. Another stride should tighten the gap.",
+        "The entry door has slid off to my left edge and the wall panel with my window now takes up most of what I see. The window sits slightly left of my path, so continuing straight brings me alongside it. I will keep walking.",
+        "At this range the facade no longer reads as a row of matching openings, just this one window on the corner panel and the vent past it. That is the window I set out for, and it is close on my left. I will advance again.",
+        "The window and its metal sill now fill the left of my view, close enough to read the streaks under each pane. The strip of snow along the wall stays clear ahead. A further step should bring me level with the glass.",
+        "The panes are near enough that the sill runs across my view and the wall stretches away to the right. One more step should set me right at the window rather than short of it. I will move up.",
+        "The stained panes and metal sill of the corner window are directly beside me, within arm's reach. I have arrived at it, so there is no reason to keep walking."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_d/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Navigate to the dark green door on the right side.",
+    "Type": 2,
+    "Start_Pose": [
+        -6651.229,
+        -4564.563,
+        227.738,
+        -0.012,
+        -125.838,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6651.229,
+            -4564.563,
+            227.738,
+            -0.012,
+            -125.838,
+            0.0
+        ],
+        [
+            -6651.229,
+            -4564.563,
+            227.746,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6674.895,
+            -4688.177,
+            274.437,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6698.56,
+            -4811.791,
+            285.518,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6722.226,
+            -4935.405,
+            248.701,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6745.891,
+            -5059.019,
+            228.275,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6769.557,
+            -5182.633,
+            228.275,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6793.223,
+            -5306.247,
+            228.275,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6816.888,
+            -5429.861,
+            249.884,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6840.554,
+            -5553.475,
+            244.843,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6864.219,
+            -5677.089,
+            220.066,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6887.885,
+            -5800.703,
+            199.367,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6911.551,
+            -5924.317,
+            198.059,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6935.216,
+            -6047.931,
+            198.059,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6958.882,
+            -6171.545,
+            198.059,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6982.548,
+            -6295.159,
+            198.059,
+            -0.012,
+            -100.838,
+            -0.0
+        ],
+        [
+            -6982.548,
+            -6295.159,
+            198.059,
+            -0.012,
+            -100.838,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Two entrances break the ground floor ahead: a pale door under the left wing and, further right, a dark green door recessed in the shadowed corner beneath the balconies. That recessed dark green one is my target, so I keep it fixed by its shaded alcove rather than its place in the row. I turn right to bring it toward the middle of my view.",
+        "The turn has brought the dark green door in its shadowed alcove near the center of my view, with open snow and pavement between us. Nothing blocks the straight line to it, so I step forward to begin closing that distance.",
+        "The dark green door is still set squarely ahead in its recess where the two building wings meet, and it has grown slightly larger. The approach lane stays clear, so I keep walking straight toward it.",
+        "The recessed dark green door holds its position slightly right of center as the facade fills more of my view. My heading still points at it, so another step forward is the direct way to shorten the gap.",
+        "I am now off the roadway and onto the snowy ground in front of the building, with the dark green door in its alcove still centered ahead. No correction to my heading is needed, so I continue walking toward it.",
+        "The doorway under the concrete overhang is clearly resolved now, its dark panels sitting back in the corner between the two wings. My line is straight onto it, so I press forward again.",
+        "The green balcony above the left wing and the flanking window bays now crowd my view, but the recessed dark door stays my mark and remains just ahead. The snow in front of it is open, so I keep advancing.",
+        "The doorway is close enough that its frame and the dark inset panels read plainly, though I am still several paces short of standing at it. I walk forward again to bring myself up to the entrance.",
+        "The dark entrance sits just left of center now, its shadowed recess deepening under the concrete lintel while the corner wing rises to my right. Open snow still runs unbroken up to the threshold, so I take another step toward it.",
+        "The door's dark leaves and the sooty wall around them have grown noticeably, and the corner of the right-hand wing is sliding out toward the edge of my view as I close in. My heading remains true on the recess, so I keep walking.",
+        "Only the entrance bay and the flanking window walls remain in view, with the dark door set back beneath its slab. Nothing stands between me and it, so I advance again to reach the alcove itself.",
+        "I am nearly at the mouth of the recess: the overhang cuts across the upper part of my view and the door's frame reads full height. A couple more paces should put me inside the alcove, so I step forward.",
+        "The side walls of the entry now flank me and the door stands squarely in the shadow ahead, its two leaves and cross rails plain. I am not yet at the threshold, so I continue into the alcove.",
+        "Inside the entry the light has dropped and the dark double door fills most of what I can see, with bare walls on either side. A short step more brings me right up against it, so I keep going.",
+        "The door now sits an arm's reach off to my left within the recess, its panels and dark metal surface close enough to read grain. One last step should place me square at the threshold rather than just short of it.",
+        "The dark green door's panels and jamb fill my view at arm's length inside its recess. I have arrived at it, so the task is done and I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_e/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Move to the second ground-floor window left of the white door.",
+    "Type": 2,
+    "Start_Pose": [
+        -6651.229,
+        -4564.563,
+        227.738,
+        -0.012,
+        -125.838,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6651.229,
+            -4564.563,
+            227.738,
+            -0.012,
+            -125.838,
+            0.0
+        ],
+        [
+            -6724.919,
+            -4666.594,
+            277.794,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6798.609,
+            -4768.625,
+            295.481,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6798.609,
+            -4768.625,
+            295.481,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -6908.515,
+            -4829.953,
+            258.93,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7018.42,
+            -4891.282,
+            228.275,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7128.326,
+            -4952.611,
+            228.275,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7238.232,
+            -5013.939,
+            228.275,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7348.138,
+            -5075.268,
+            243.963,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7458.044,
+            -5136.597,
+            243.473,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7567.949,
+            -5197.925,
+            223.364,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7567.949,
+            -5197.925,
+            223.364,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -7693.476,
+            -5207.06,
+            206.642,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -7819.004,
+            -5216.194,
+            199.915,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -7944.531,
+            -5225.329,
+            197.966,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8070.058,
+            -5234.463,
+            197.966,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8195.585,
+            -5243.597,
+            197.966,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8321.112,
+            -5252.732,
+            197.966,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8321.112,
+            -5252.732,
+            197.966,
+            -0.012,
+            159.162,
+            -0.0
+        ],
+        [
+            -8438.738,
+            -5207.96,
+            197.966,
+            -0.012,
+            159.162,
+            -0.0
+        ],
+        [
+            -8556.365,
+            -5163.189,
+            197.966,
+            -0.012,
+            159.162,
+            -0.0
+        ],
+        [
+            -8556.365,
+            -5163.189,
+            197.966,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8664.944,
+            -5163.467,
+            198.148,
+            -0.012,
+            -175.838,
+            -0.0
+        ],
+        [
+            -8664.944,
+            -5163.467,
+            198.148,
+            -0.012,
+            -175.838,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see the pale door set under the archway, and stepping left along the ground floor there is one window, then a second one out near the projecting wing on the left; that second one, the window beside the wing, is my target. I am still out on the open snow well short of the facade, so I will walk forward to close the gap.",
+        "The facade has grown and the ground-floor openings are clearer, but I am still standing back on the open ground. Another step straight ahead should bring me near enough to work along the wall toward the window I chose.",
+        "I am now close to the frontage, and the window I want sits off to my left, toward the wing end of the ground floor rather than straight ahead of me. I will turn left so my heading runs that way instead of into the wall in front of me.",
+        "My heading now runs along the open ground toward the left part of the block, with the snowy slope and trees showing through the gap ahead. Walking forward should carry me down that line toward the window I picked.",
+        "The corner of the block on my right is swelling as I advance, and the pale door under its recess is drifting rightward past me. That is the drift I expect while heading toward the window further left, so I keep walking forward.",
+        "I am still several strides from the wall face on my right and the ground ahead is open snow. Continuing forward should bring me level with the stretch of ground floor that holds my window.",
+        "As I draw level with the near corner more ground-floor windows keep sliding into view, so counting a row from where I stand would land on the wrong one; I stay with the window I already fixed beside the wing. I will keep walking forward along this line.",
+        "The near corner and its dark entrance are close on my right, but my window lies further along past this projection. There is still clear snow in front of me, so I will step forward again to reach that stretch of wall.",
+        "The recessed entrance with its pale doors is nearly level with my shoulder on the right, and the stretch of wall carrying my chosen window lies past this jutting section. The packed snow in front of me is clear of anything, so another stride forward is the plain move.",
+        "The projecting bay now fills most of my right side, and its far edge sits only a stride or two off. I advance again to draw level with that edge, where the frontage should open toward the wing end I am aiming for.",
+        "Pressing straight on from here would only walk me into the corner masonry filling my view. The frontage that carries my window continues off to the left of that corner, so I turn left to put my heading along it rather than into it.",
+        "My heading now runs down the open lane between the blocks, with the snowy slope and firs showing at the far end. The ground-floor openings on the wall to my right are the run I need to follow, so I walk on.",
+        "The stained ground-floor window beside me is already drifting back past my shoulder. The far part of this frontage, under the overhanging balconies, is still some way ahead, so I keep pacing along it.",
+        "Ahead on the same wall there is only a small dark opening left before the facade breaks, and my window sits on the stretch beyond that break, beside the wing. The lane underfoot stays clear, so I continue forward.",
+        "The wall has closed in tight on my right and the green balcony jutting overhead marks the end of this section. One more stride should bring me to the point where the facade steps back.",
+        "The face beside me is sliding out of view as the wall angles away just ahead, which tells me the corner is nearly reached. I step forward again, since the window I settled on lies on the recessed stretch past it.",
+        "The blank plaster on my right runs out at a vertical edge a short way ahead, with only a small barred opening left on it. The face carrying my window begins past that edge, so I stride forward to reach the corner itself.",
+        "Flat masonry now fills everything in front of me, so walking on would simply press me into it. The frontage continues around the left side of this edge, and I turn left to swing my heading into that stretch.",
+        "The turn has opened a clear snowy passage between this block and the one across from me, with the wall on my right carrying a shadowed opening under the overhang. My window lies further along that face, so I walk on.",
+        "A broad ground-floor window with dark, mottled panes has slid into view on the wall beside me, sitting on the recessed face at the wing end where I fixed my target. It is not yet abreast of me, so I take another stride.",
+        "I am level with the blotched window now, but my heading still runs on down the passage instead of at it. Turning right should bring the sill and its three panes square in front of me.",
+        "The window is centred ahead of me now, its stone sill and grimy glass plain to see, but I am still standing a pace or so off the wall. A short step forward should put me right at it.",
+        "The stained ground-floor window beside the wing now fills my view at arm's reach. I am standing at it, so the task is complete and I stop."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t3_a/infos.json

@@ -0,0 +1,446 @@
+{
+    "Instruction": "Walk to the white door, then head toward the green door.",
+    "Type": 3,
+    "Start_Pose": [
+        -6651.229,
+        -4564.563,
+        227.746,
+        -0.012,
+        -125.838,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6651.229,
+            -4564.563,
+            227.746,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6724.919,
+            -4666.594,
+            277.794,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6798.609,
+            -4768.625,
+            295.481,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6872.299,
+            -4870.656,
+            249.575,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6872.299,
+            -4870.656,
+            249.575,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -6982.204,
+            -4931.984,
+            228.275,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7092.11,
+            -4993.313,
+            228.275,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7202.016,
+            -5054.641,
+            228.275,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7311.922,
+            -5115.97,
+            243.118,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7421.828,
+            -5177.299,
+            240.71,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7531.733,
+            -5238.627,
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+    "Rationale": [
+        "The apartment block stands across an open stretch of snow, and I can pick out a pale white door set into the ground floor ahead of me. Nothing blocks the flat ground between us, so I will walk straight forward to cut down the distance.",
+        "The facade has grown wider in my view and the white door in the recessed entry is still ahead of me, only slightly left of my heading. Since the ground remains clear, another step forward should keep closing on it.",
+        "The white door and the darker door further right are both clearer now, and the pale one is the one I want. I will keep walking forward across the snow to shorten the remaining gap before I fine tune my heading.",
+        "As I have come closer, the white door has slid toward the left side of my view while my heading points at blank wall between the two entrances. A left turn should swing that pale door back toward the middle of my view so I can walk straight at it.",
+        "The turn has put the recessed entrance with the pale door roughly ahead of me, under the dark overhang at the building corner. The snow between us is open, so I will walk forward toward it.",
+        "The pale door under the overhang is noticeably larger and still sits close to my line of travel, just a touch right of center. That offset is small enough to ignore for now, so I will take another step forward.",
+        "I can now see the shaded alcove and the door's frame clearly at the base of the corner ahead. Continuing straight forward should bring me into that entryway.",
+        "The white door fills more of my view and the ground in front of it is still open snow. I will keep walking forward to close the last stretch toward that entrance.",
+        "The pale white double door sits under the balcony overhang, slightly right of my heading, and the snow between us is open and flat. Distance is still the main gap, so I will keep walking straight toward it.",
+        "The white door has grown noticeably larger and its recess under the overhang is now readable, so my heading is serviceable. Nothing blocks the snow ahead, so another straight step should keep closing the range.",
+        "As I closed in, the white double door has drifted well right of my heading, with the building corner filling the middle of my view. A small turn to the right should bring the doorway back toward the center of my path.",
+        "The white door now sits close to the center of my view, framed by the entrance recess and the green balcony above. With the heading corrected, I will walk straight ahead to shorten the remaining distance.",
+        "The doorway is close enough that its handle and upper glass panel stand out, and the snow in front of the recess is clear. Another step forward should bring me nearly to the threshold.",
+        "The white door is only a short walk away inside its alcove, though the projecting wing with the tall window crowds the right of my view. The lane into the recess is still open, so I will step forward again.",
+        "The white door now sits left of my heading while the neighboring wall and its window dominate the right half of my view. Turning left should swing the doorway toward the middle of my path before I press further into the recess.",
+        "The white double door is now fully in view within its sheltered alcove, with clear snow leading right up to its threshold. I will walk forward to close the last of the gap to it.",
+        "The pale metal double door sits off to the right side of this recessed entry, while the near wall crowds my left. A small turn to the right should square the doorway ahead of me so the last few steps are a straight walk in.",
+        "The white double door with its two transom panes now sits centered ahead of me, framed evenly by the alcove walls. With the heading clean, I will walk straight in to cut the remaining gap.",
+        "The door now fills most of my view, its handle and seam clearly readable, but a short stride of snow still separates me from the threshold. I will step forward again to stand right at this white door.",
+        "The pale metal door leaf and its handle are directly in front of me, close enough to touch, with nothing but its surface across my view. I have reached the white door. I mark arriving here, then set off for the green door.",
+        "I am pressed right up against this door panel inside a narrow recess, with no room to swing around toward the green door. Backing straight out is the cleanest way to gain clearance before I choose a new heading.",
+        "The whole door and its frame are visible again, so I have opened a little space, but the alcove walls still hem me in on both sides. Another step back should give me the room I need to turn away toward the green door.",
+        "The door has shrunk further into the recess and the ceiling overhang shows above me, yet I am still inside the narrow entry bay. I will keep backing out toward the open snow so I can swing onto a new heading.",
+        "I can now see the corner of the outer wall and a window edging into view on my right, so I am nearly clear of the entry bay. One more step back should put me on open ground where turning toward the green door is easy.",
+        "The pale door sits back in its recess ahead and I have already marked arriving at it, so there is nothing left for me in this narrow alcove. The green door lies somewhere else, so I begin swinging right to face away from this recess and toward open ground.",
+        "The pale door has slid to the far left edge of my view and a blank wall with a grimy window now dominates ahead. I continue rotating right, since the way out of this recess should lie further around in that direction.",
+        "The long facade now runs away to my left and a corner with brighter open snow appears toward the right of my view. Turning right again should carry my heading past the wall and onto the outdoor stretch beside the building.",
+        "Open snow and a distant treeline now fill the right side of my view while the wall angles off to my left. One more turn right should put the clear lane alongside the building directly in front of me so I can set out for the green door.",
+        "The lane beside the building is open ahead, packed snow with a lamppost to the right and the facade running along my left. With the alcove behind me, I step forward down this passage to look for the green door.",
+        "The path stays clear, with green balconies overhanging the wall on my left and nothing blocking the snow underfoot. No green door has come into view yet, so I keep walking along this side of the building.",
+        "Basement windows slide past on my left and the ground ahead remains open and level. I continue forward, since the facade still has to be followed further before another entrance can show itself.",
+        "The wall on my left keeps unrolling with no doorway breaking it, and the way ahead is still unobstructed. I walk on to cover more of this side of the block while watching for a green door.",
+        "The pale door I marked is behind me, so I am now working along this facade toward the far corner where another entrance should sit. The snowy strip beside the wall stays clear ahead, so I will keep walking forward to close that distance.",
+        "The building's corner on my left has grown noticeably closer, but I still cannot see any doorway on this side. Another step forward should bring me level with that corner where a recessed entrance may appear.",
+        "I am nearly level with the corner of the block, and the wall face I need to inspect for the green door lies off to my left. Turning left should swing that side of the building into view instead of the empty snowfield ahead.",
+        "The turn has revealed a shadowed recess at the far left of the building face, the kind of alcove that holds an entrance. I will turn left once more to bring that dark opening toward the middle of my view before approaching.",
+        "The shadowed alcove is now in front of me, with a dark doorway just visible under the overhang. The ground between me and it is clear, so I will walk forward to get close enough to read the door's colour.",
+        "The doorway inside the recess is closer and its dark panelled leaves are becoming distinct beneath the overhang. Another step forward should put me inside the alcove where I can square up to it.",
+        "I am inside the entry bay and the double door with its dark green panels sits off to my left while my heading points at blank wall. Turning left should place that door squarely in front of me.",
+        "The green door now sits centered ahead of me at the back of the recess, with clear snow-covered ground between us. I will step forward to close the remaining gap and stand at it.",
+        "The green double door now sits centered in the recessed entry straight ahead, with its dark green panels clearly visible and the alcove walls framing it evenly. I am still a stride or two short of standing at it, so I walk forward once more to close that last gap.",
+        "The green door fills my view at arm's reach, with its threshold right at my feet. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t3_b/infos.json

@@ -0,0 +1,416 @@
+{
+    "Instruction": "Approach the green door, then move to the white door.",
+    "Type": 3,
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+    "Action": [
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+        "MoveBackward",
+        "MoveBackward",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
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+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
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+    ],
+    "Rationale": [
+        "From the open snowy road I can see the long apartment facade, and the recessed entrance with the green door sits off to the right of my current heading. I turn right so that entryway and the clear ground leading to it should come into the middle of my view before I start walking.",
+        "The turn has put the recessed entrance with its dark green door roughly ahead of me, with flat snow and cleared pavement in between. It is still far off, so I walk forward to begin closing that distance.",
+        "The building has grown larger and the doorway I am aiming for still sits close to the center of my view. Nothing blocks the open ground ahead, so I keep walking straight toward it.",
+        "The corner of the block and the shadowed entrance beside it keep expanding in front of me, which tells me my heading is still good. I take another step forward rather than spend a turn adjusting.",
+        "The green door under the concrete overhang is clearly picked out ahead of me now, though several strides of snow still separate us. I continue forward to keep shortening that gap.",
+        "Ground floor windows on either side now frame the doorway that stays just about centered in my view. Since my line is holding, I simply walk forward again.",
+        "The alcove now fills much more of my view and the door's panels are becoming distinct, so I am well into the approach but not yet close. Another forward step should bring me nearer the green door.",
+        "The green door sits a little left of my heading and is noticeably closer, with the recess and its overhang plainly visible. The small offset is not worth a turn yet, so I keep walking forward.",
+        "The dark green double door set into the building's inner corner sits just left of my heading and is still a fair distance off across the snow. The open ground in front of me is clear, so I will keep walking straight to close that gap.",
+        "The green door has grown noticeably larger and stays near the middle of my view, confirming my heading is good. I will step forward again to keep shrinking the distance to it.",
+        "I can now make out the panelling and the concrete lintel above the green door, so I am getting close to the entrance alcove. Nothing blocks the snow ahead, so another step forward is the direct way in.",
+        "The doorway now dominates the left half of my view and its recess is deepening as I near the corner. I will continue walking straight to bring myself into that alcove.",
+        "I am inside the shaded entry bay now, with walls on both sides and the green double door directly ahead. A further step forward should put me right up at that door.",
+        "The green door fills most of my view and the alcove floor between me and its threshold is short but still there. I will take another step to stand properly in front of it.",
+        "At this range the green door has slid over to the left side of my view, with the alcove's right wall taking up the rest. Turning left should square me up with the door before I close the last bit of distance.",
+        "The green double door is now centered in front of me with its frame squarely aligned. One more step forward should bring me right up to it.",
+        "The dark green double door fills my whole view, its frame and threshold right at my feet with no ground left between us. I have reached the green door. I mark arriving here and now turn my attention to finding the white door.",
+        "The green door is reached, so there is no reason to stay pressed against its panels. The recess walls sit close on my left and the door directly ahead, leaving no room to pivot cleanly here. I will step back to open space between me and the doorway.",
+        "The whole doorway and its frame are visible again, so I have gained a little distance from the green door. The alcove walls still crowd me on both sides, so another step back should bring me nearer the open ground where I can swing around freely.",
+        "The door has shrunk further and the flanking walls are spreading apart, confirming I am withdrawing from the niche. I am still under the dark ceiling of the entrance, so I will keep backing up to clear it before I reorient toward the white door.",
+        "The green door now sits well back in its recess and the upper structure of the building is coming into view above it. I am close to the open snow but not yet fully out, so one more step back should give me the clearance to turn away from this entrance.",
+        "I am out in the open yard now, with the green entrance framed ahead of me and untouched snow underfoot. Nothing pale enough to be the white door shows in this narrow slot of facade. I will turn left to sweep my view along the building and toward more open ground.",
+        "The turn has pushed the green entrance to the right edge and brought a blank corner wall with windows in front of me. There is still no white door on this stretch of the facade, so I will keep rotating left toward whatever opens past the corner.",
+        "A wide gap between the blocks is now appearing on my left, with clear snow running away between the buildings and trees beyond. That open route is the only way onward, so I will turn left once more to face down it and look for the white door.",
+        "With the dark green entrance behind me, my heading now runs down the open snowy lane between the blocks. The wall on my right shows only windows at this stretch, no entrance, so I walk forward to cover ground toward the far end where the pale door should be.",
+        "The lane stays unobstructed, with the snow bank on my left and the plastered wall running along my right. Nothing resembling the light-coloured door has come into view yet, so another step forward should bring more of this facade past me.",
+        "The gap between the two blocks has widened slightly as I close on it, and the ground stays flat and clear. I keep walking straight since the entrance I want must lie further along or around the end of this right-hand wall.",
+        "The overhanging balcony above the right-hand wall has slid back past my shoulder, showing steady progress along this passage. No door face has appeared yet on either side, so I advance again rather than turn prematurely.",
+        "The bright open ground and trees beyond the buildings sit dead ahead, and the wall beside me is still only windows. I continue forward to reach the end of this facade, where an entrance recess would become visible.",
+        "I am drawing level with the last window bay of the block on my right, and the far corner of that building is coming closer. Another step should carry me toward that corner, where the recessed entrance is most likely set.",
+        "The shadowed underside of the block ahead on my right marks a set-back alcove rather than flat wall. I walk on to bring myself alongside that recess instead of stopping short in the open lane.",
+        "The near pillar and the deep shaded overhang on my right are now within a couple of paces. One more step forward should place me squarely beside that opening so I can face into it and check for the light-coloured door.",
+        "The passage ahead only leads out to open snow and trees, while a shadowed recess sits under the overhang along the wall to my right. Since I still need to find the white door, I will turn right to bring that sheltered entryway into view.",
+        "The turn revealed a pale metal door with a handle set back in the recess to my right, which matches the white door I am looking for. It is still several paces off, so I will walk forward to close the gap toward that alcove.",
+        "I am now level with the alcove, but the pale door sits at the right edge of my view while a blank wall fills the middle. Turning right should swing my heading off that wall and onto the door itself.",
+        "The whitish double door with its transom windows is now in view but still sits right of center inside the recess. One more turn to the right should square my heading with the doorway before I close in.",
+        "The pale door now sits centered ahead of me with the alcove walls even on both sides. With the heading settled, I will step forward to close the remaining distance to it.",
+        "The white door and its handle now fill most of my view, though there is still a short stretch of snow between me and the threshold. I will take one more step forward to stand right at the door.",
+        "The white door's panels and handle fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t5_a_p/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Grab the ceramic pot near the white door at the building's center ground floor.",
+    "Type": 5,
+    "Start_Pose": [
+        -6651.229,
+        -4564.563,
+        227.738,
+        -0.012,
+        -125.838,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -7714.862,
+        -5621.424,
+        122.994,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6651.229,
+            -4564.563,
+            227.738,
+            -0.012,
+            -125.838,
+            0
+        ],
+        [
+            -6724.919,
+            -4666.594,
+            277.794,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6798.609,
+            -4768.625,
+            295.481,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6872.299,
+            -4870.656,
+            249.575,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -6945.988,
+            -4972.686,
+            228.275,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7019.678,
+            -5074.717,
+            228.275,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7093.368,
+            -5176.748,
+            238.921,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7167.058,
+            -5278.779,
+            242.982,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7240.748,
+            -5380.81,
+            223.257,
+            -0.012,
+            -125.838,
+            -0.0
+        ],
+        [
+            -7240.748,
+            -5380.81,
+            223.257,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7350.654,
+            -5442.138,
+            204.131,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7460.56,
+            -5503.467,
+            198.148,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7570.465,
+            -5564.796,
+            198.148,
+            -0.012,
+            -150.838,
+            -0.0
+        ],
+        [
+            -7570.465,
+            -5564.796,
+            198.148,
+            0.0,
+            -150.838,
+            0.0
+        ],
+        [
+            -7570.465,
+            -5564.796,
+            198.148,
+            0.0,
+            -150.838,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7714.862,
+            -5621.424,
+            122.994,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7559.527,
+            -5583.145,
+            168.255,
+            -28.202,
+            -100.693,
+            1.862
+        ],
+        [
+            -7559.527,
+            -5583.145,
+            168.255,
+            -28.202,
+            -100.693,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1499.4,
+        1375.4,
+        1251.7,
+        1128.5,
+        1006.0,
+        884.4,
+        764.2,
+        646.1,
+        531.7,
+        531.7,
+        405.9,
+        280.3,
+        155.1,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "From across the open snowy yard I can see the apartment block's central ground floor, with a pale door set back under the balconies and a small ceramic pot standing on the snow beside it. The distance is still large, so I will walk straight ahead toward that recessed entrance.",
+        "The facade has grown noticeably larger and the ceramic pot beside the pale central door is now easier to distinguish against the snow. My heading still points at that entrance, so another step forward should keep closing the gap.",
+        "The pot near the white door sits slightly left of my center line but well within my forward corridor, and nothing blocks the open snow ahead. I will keep walking forward to shorten the remaining distance before any fine alignment.",
+        "The ground floor entrance and the pot beside it are clearly resolved now, confirming the target from the task. Since the pot is still several strides away, I will continue advancing straight.",
+        "The ceramic pot is now plainly a rounded vessel resting on the snow just left of the doorway, and the wall of the block is filling the upper view. I will step forward again to keep reducing the gap toward it.",
+        "I am close enough that the barrel-shaped ceramic pot beside the pale door stands out sharply against the snow, but it is still beyond reach and drifting toward the left of my view. Another forward step should bring me into range before I correct my heading.",
+        "The pot near the ground floor door is now large in view and sits distinctly to the left of my forward line while the blank wall dominates the center. I will advance once more to close distance, since a heading correction will be more precise from nearer in.",
+        "The ceramic pot sits low on the snow near the recessed door, now well off to my left while I am still facing the plain wall panel. I will take another step forward to reach the pot's depth along the facade before turning to face it.",
+        "The ceramic pot sits low against the wall on my left, just beside the recessed white door, while my heading points straight at the blank facade ahead. I will turn left to bring the pot and its doorway into the center of my view before closing the remaining distance.",
+        "The turn has centered the ceramic pot and the white door alcove behind it, so my path is now clear across the open snow. I will walk forward to cut down the remaining gap to the pot.",
+        "The pot has grown noticeably and stays centered ahead of me on the ground beside the entryway. I will keep walking forward since I am still too far away to reach it.",
+        "The ceramic pot now fills the lower part of my view against the corner wall, but it remains a step or two beyond my reach. One more forward step should place me close enough to attempt a grasp.",
+        "The ceramic pot is directly in front of me at the base of the wall beside the white door, well within arm's reach. I will attempt to pick it up now, as no further approach is needed.",
+        "The ceramic pot is now held in my hands rather than resting on the snow. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006916_y-000397_z000198_t1_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Search for the warmly lit ground-floor window on the brick building, then navigate toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -6915.647,
+        -396.78,
+        198.148,
+        -0.012,
+        -157.678,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6915.647,
+            -396.78,
+            198.148,
+            -0.012,
+            -157.678,
+            0.0
+        ],
+        [
+            -6915.647,
+            -396.78,
+            198.148,
+            -0.012,
+            177.322,
+            -0.0
+        ],
+        [
+            -6915.647,
+            -396.78,
+            198.148,
+            -0.012,
+            152.322,
+            -0.0
+        ],
+        [
+            -6915.647,
+            -396.78,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -6991.955,
+            -296.692,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -7068.262,
+            -196.604,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -7068.262,
+            -196.604,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7095.121,
+            -73.644,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7121.98,
+            49.316,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7148.839,
+            172.275,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7175.698,
+            295.235,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7202.557,
+            418.195,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7229.416,
+            541.154,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7256.275,
+            664.114,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7256.275,
+            664.114,
+            198.148,
+            -0.012,
+            77.322,
+            -0.0
+        ],
+        [
+            -7228.653,
+            786.905,
+            198.148,
+            -0.012,
+            77.322,
+            -0.0
+        ],
+        [
+            -7201.03,
+            909.695,
+            198.148,
+            -0.012,
+            77.322,
+            -0.0
+        ],
+        [
+            -7201.03,
+            909.695,
+            198.148,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7199.871,
+            1014.008,
+            198.145,
+            -0.012,
+            102.322,
+            0.0
+        ],
+        [
+            -7199.871,
+            1014.008,
+            198.145,
+            -0.012,
+            102.322,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, I only see pale concrete panel facades and unlit windows straight ahead, with a hint of brickwork at the far left edge. Since the task asks for a warmly lit ground-floor window on a brick building, I will turn left to bring that brick surface into view.",
+        "Turning has brought a brick facade into the left part of my view, but its windows there look dark and I cannot yet see a glowing ground-floor opening. I will keep turning left to sweep more of that brick building into the center of my view.",
+        "I now face a brick and tile facade with a doorway ahead, yet the windows in front of me still look dull and none glows warmly. I will turn left once more to inspect the part of this building that is still outside my view on that side.",
+        "Now I can see the target: a small window on the ground floor of the brick building glows warm yellow, low on the left side of the wall. The heading I have settled on points across the open snow toward that facade, so I will walk forward to close the distance.",
+        "The lit window has grown slightly larger and stays on the left side of the brick facade ahead of me, confirming I am closing in on the right target. The ground in front is clear, so I will continue walking forward.",
+        "As I get closer, the glowing window has drifted to the left of my heading while the doorway and blank wall fill the center of my view. I will turn left to put the lit window back toward the middle of my path before continuing.",
+        "After that turn, the glowing ground-floor window sits much closer to the center of my view along the brick wall, with open snow leading toward it. I will walk forward to commit to the approach.",
+        "The warmly lit window is still ahead along the brick facade and appears larger than before, so my heading remains good. Nothing blocks the snow in front of me, so I will keep stepping forward toward it.",
+        "The warmly glowing ground-floor window on the brick facade is clearly visible ahead and slightly left, past the balcony corner. The open snow between me and that wall is unobstructed, so I will keep walking forward to close the remaining distance.",
+        "The lit window has grown larger and is now well inside my view along the brick wall to my left front. Since nothing blocks the path along the facade, I will continue advancing toward it.",
+        "I am committed to this glowing ground-floor window, and it keeps expanding as the brick wall slides past on my right. Another step forward should bring me appreciably closer to it.",
+        "The warmly lit window sits ahead beneath the wooden balcony, still a few strides away along the brick wall. The ground remains clear, so I will keep stepping forward on this heading.",
+        "The target window is now near the left edge of my view as the large barred window on the wall passes close by on my right. I will take another step forward to draw level with the glowing pane.",
+        "My heading has drifted so that the brick wall dominates the right of my view while the lit window has slipped toward the left edge. I will turn left to bring the glowing pane back toward the center of my view before continuing.",
+        "The turn has placed the warmly lit window back in a controllable part of my view along the brick wall ahead. With open snow in front of me, I will step forward to continue closing on it.",
+        "The bright window is noticeably nearer and its slatted frame is now clearly resolved on the brick facade ahead. I will advance again to reach a close standing position in front of it.",
+        "The warmly lit ground-floor window on the brick wall now fills much of my view, but it sits off to my right on a facade that recedes at an angle to my path. I will turn right to square my heading with that wall so the glowing window sits directly ahead of me. This should let a final step close the remaining gap straight toward the target rather than sliding past it.",
+        "The lit window is now framed ahead of me with the brick wall filling the right side, confirming my heading is committed to the target. I will step forward to close the short remaining distance to the glowing ground-floor window.",
+        "The warmly lit ground-floor window now fills my view at arm's length on the brick wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-006916_y-000397_z000198_t1_b/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Locate the building whose window emits a visible light; once identified, go to the main entrance door of that building.",
+    "Type": 1,
+    "Start_Pose": [
+        -6915.647,
+        -396.78,
+        198.148,
+        -0.012,
+        -157.678,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6915.647,
+            -396.78,
+            198.148,
+            -0.012,
+            -157.678,
+            0.0
+        ],
+        [
+            -6915.647,
+            -396.78,
+            198.148,
+            -0.012,
+            177.322,
+            -0.0
+        ],
+        [
+            -6915.647,
+            -396.78,
+            198.148,
+            -0.012,
+            152.322,
+            -0.0
+        ],
+        [
+            -6915.647,
+            -396.78,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -6991.955,
+            -296.692,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -7068.262,
+            -196.604,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -7144.57,
+            -96.515,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -7220.877,
+            3.573,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -7297.185,
+            103.661,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -7373.492,
+            203.749,
+            198.148,
+            -0.012,
+            127.322,
+            -0.0
+        ],
+        [
+            -7373.492,
+            203.749,
+            198.148,
+            -0.012,
+            152.322,
+            -0.0
+        ],
+        [
+            -7484.949,
+            262.211,
+            198.148,
+            -0.012,
+            152.322,
+            -0.0
+        ],
+        [
+            -7596.407,
+            320.673,
+            198.148,
+            -0.012,
+            152.322,
+            -0.0
+        ],
+        [
+            -7596.407,
+            320.673,
+            198.148,
+            -0.012,
+            152.322,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, I only see grey concrete panel blocks with dull, unlit windows and no entrance in reach. Since nothing here shows a glowing window, I will turn left to sweep a new part of the courtyard into view.",
+        "The rotation brought a brick facade into the left edge of my view, but its windows still look dark and I cannot judge whether any of them is lit. I will keep turning left to bring that brick building fully in front of me.",
+        "Now the brick building fills much of my view with a recessed double door under a canopy, and there is a faint bright window at the far upper left that I want centered before deciding. I will turn left once more to place that promising lit facade squarely ahead.",
+        "Two windows on this brick building glow clearly, one on the upper floor and one near ground level, so this is the building the task describes. Its main entrance, a wide double door under a canopy, sits ahead and slightly right, so I will walk forward to close the distance.",
+        "The lit windows on this brick building stay clearly visible, confirming I am aimed at the right target. The entrance door is still some distance away across open ground, so I will continue walking forward toward it.",
+        "The facade is growing larger and the canopy over the double door is now clearly framed ahead of me. I will keep stepping forward to reduce the remaining gap to that entrance.",
+        "The metal double door with its handle is now plainly readable as the building's main entrance, sitting to the right of the lit ground floor window. I am still a few paces short of it, so I will advance again.",
+        "The entrance door now dominates the right side of my view and my own shadow falls on the wall beside it, so I am close to the facade. I will step forward once more to bring myself directly in front of the doorway.",
+        "The brick building with the glowing window is directly ahead of me, and its recessed double metal door under the canopy is now clearly visible to my right. I am still a few paces short of the doorway, so I will keep walking forward to close that remaining distance. This should bring me level with the entrance before I adjust my heading.",
+        "I am now beside the target building, and the double metal entrance door sits off to my right rather than in front of me. Turning right should swing my heading onto the doorway so I can walk straight at it instead of drifting past the facade.",
+        "The entrance door is now centered in front of me with brickwork evenly framing both sides, so my heading is on target. I will step forward to close the last stretch of open ground toward the doorway.",
+        "The door panels and handle now fill most of my view, confirming I am nearly at the main entrance of the building whose window was lit. One more step forward should place me right at the threshold, close enough to count as having reached it.",
+        "I am standing right against the main entrance door of the building with the lit window, its metal surface filling my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_a/infos.json

@@ -0,0 +1,326 @@
+{
+    "Instruction": "Walk to the first ground-floor window on the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -7330.713,
+        -4929.901,
+        228.25,
+        -0.012,
+        123.762,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7330.713,
+            -4929.901,
+            228.25,
+            -0.012,
+            123.762,
+            0.0
+        ],
+        [
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+            -0.012,
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+            -0.0
+        ],
+        [
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+            -0.0
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
+            -7595.53,
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+            -0.012,
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+            -0.0
+        ],
+        [
+            -7560.337,
+            -3090.909,
+            220.059,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7525.143,
+            -2970.071,
+            214.33,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7489.949,
+            -2849.232,
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+            73.762,
+            -0.0
+        ],
+        [
+            -7454.756,
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+            -0.012,
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+            -0.0
+        ],
+        [
+            -7419.562,
+            -2607.556,
+            220.444,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7384.368,
+            -2486.717,
+            215.75,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7349.175,
+            -2365.879,
+            216.539,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7313.981,
+            -2245.041,
+            212.807,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7278.787,
+            -2124.202,
+            203.757,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7243.594,
+            -2003.364,
+            199.089,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7208.4,
+            -1882.526,
+            198.092,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7208.4,
+            -1882.526,
+            198.092,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7201.047,
+            -1792.274,
+            198.148,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7201.047,
+            -1792.274,
+            198.148,
+            -0.012,
+            98.762,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the snowy road a long block shows a run of ground-floor windows along its base. They all look alike, so I pin my target to the one at the far left end of that run, where the wall meets the corner, and I will follow that window itself from now on. I step forward to close the distance.",
+        "The block now fills most of my view, but the left end of its ground-floor run lies outside my current heading. I turn left so that side of the building and the open ground leading to it should come in front of me.",
+        "The turn opened up the street, with a lamppost and further brick buildings on my left and the block's base now stretching away on my right. My window sits far down that wall, so I walk forward along the clear pavement.",
+        "The street ahead stays open past the lamppost, and the window I chose is still far along the base of the wall on my right. Nothing obstructs the packed snow and asphalt in front of me, so I advance again.",
+        "The facade on my right is growing steadily, yet I am nowhere near close enough to be standing at my window. I keep walking forward along the plowed strip.",
+        "The dark ground-floor doorway and the openings beside it are drawing nearer on my right as the wall opens out. My window lies further along that base, so I take another step forward.",
+        "From this angle the base openings on my right read as separate frames, and counting them from here would no longer land on the same one, so I simply stay with the window I picked. The route ahead is clear and I continue forward.",
+        "The wall on my right keeps running on past the openings I can see, and my window is still ahead down that stretch rather than beside me. I press forward across the open snow.",
+        "The pale wing's corner is opening up ahead while the shadowed base of the block slides past close on my right. My window lies beyond that corner rather than here, so I keep striding over the cleared ground.",
+        "The nearest base window has drifted to the edge of my view on the right, so it is clearly not the one I fixed on. The ground stays flat and open toward the corner, and I walk on.",
+        "The green balcony tiers and the wall beneath them keep sliding by on my right as the corner grows larger. I am still short of the end of this frontage, so another step forward is the plain choice.",
+        "Only a single dark frame remains beside me at the wall's base, with the rest already behind my shoulder. That is not my window, so I press on toward where the facade breaks at the corner.",
+        "From this close the base openings no longer read as a countable run, just wall and one recessed frame beside me. I hold to the window I settled on at the far end of the block and continue along the snow.",
+        "The tan wall now looms large on my right and the pale block's corner sits just ahead of me. Closing the last of that gap gives me room to swing around it, so I advance again.",
+        "My heading is angling into the wall on my right instead of running along it, and the ground past the corner is hidden. Turning left should bring me back parallel to the frontage and expose the open stretch I still need to cover.",
+        "With the corner cleared, a wide snowy yard opens in front and the pale block's ground floor runs away down my right side. My window sits further along that base, so I set off across the open ground.",
+        "The yard is wide and untracked ahead, with brick blocks standing across it and the pale frontage running down my right. My window sits well beyond the frames beside me, so I keep walking straight over the snow.",
+        "The frontage on my right keeps unrolling, and the recessed openings near me sit shallow and high in shadow rather than at the end of the run. Nothing blocks the packed snow, so I take another stride along the wall.",
+        "The pale corner ahead on my right is swelling and a bright wall panel with a wide frame is beginning to face me. That stretch is where my window lies, so closing on it is the obvious move.",
+        "A broad ground-floor frame now shows plainly on the sunlit wall to my right, but I am still standing out in the middle of the yard. I walk on to bring myself in against that face.",
+        "The wide multi-pane opening on my right has grown large enough to read its sill, yet the wall carries on past it toward the end I am aiming for. Another step closes more of that remaining stretch.",
+        "The pale wall is close beside me now and the big three-pane frame is sliding toward my shoulder. My window lies further down this face where the wall runs into shadow, so I continue forward.",
+        "That wide frame is nearly off the edge of my view, and ahead along the same wall a narrower dark opening waits under the balcony overhang. Neither of these is where I stop yet, so I press on.",
+        "The wall beside me is now a blank sunlit expanse with only the small grilled opening ahead beneath the green balcony. The end of this frontage is still further on, and the snow underfoot stays clear, so I advance again.",
+        "Under the overhang ahead a narrow grilled opening is set into the pale wall, but the frontage clearly keeps going past it into shadow. My window sits at the end of this run, so I keep walking along the sunlit face.",
+        "The opening ahead has resolved into a framed pane with a sill, sitting where the wall passes into the deep shade of the overhang. That matches the end of the run I fixed on, so I step closer to stand at it.",
+        "The multi-pane frame now shows its full width and sill just to my right, though I am still out from the wall rather than beside it. Another stride should bring me level with it.",
+        "The window is now close on my right while my heading runs past it along the wall. I turn right to face the frame squarely so I finish standing at it rather than sliding beyond it.",
+        "Facing the frame now, its sill and panes fill the view but there is still a short gap of snow between me and the wall. I move forward to close that last bit and stand right at the window.",
+        "The ground-floor window's sill and panes are directly before me at arm's length. I have arrived at it, so the task is complete and I stop."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_b/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Approach the second ground-floor window on the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -7330.713,
+        -4929.901,
+        228.25,
+        -0.012,
+        123.762,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7330.713,
+            -4929.901,
+            228.25,
+            -0.012,
+            123.762,
+            0.0
+        ],
+        [
+            -7400.658,
+            -4825.268,
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+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
+            -7470.604,
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+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
+            -7755.773,
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+        ],
+        [
+            -7863.385,
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+            0.0
+        ],
+        [
+            -7970.997,
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+            0.0
+        ],
+        [
+            -7970.997,
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+            123.762,
+            0.0
+        ],
+        [
+            -8040.943,
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+            -0.012,
+            123.762,
+            0.0
+        ],
+        [
+            -8110.888,
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+            -0.012,
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+            0.0
+        ],
+        [
+            -8180.834,
+            -4041.022,
+            225.523,
+            -0.012,
+            123.762,
+            0.0
+        ],
+        [
+            -8180.834,
+            -4041.022,
+            225.523,
+            -0.012,
+            148.762,
+            0.0
+        ],
+        [
+            -8288.446,
+            -3975.752,
+            205.284,
+            -0.012,
+            148.762,
+            0.0
+        ],
+        [
+            -8396.058,
+            -3910.483,
+            198.294,
+            -0.012,
+            148.762,
+            0.0
+        ],
+        [
+            -8396.058,
+            -3910.483,
+            198.294,
+            -0.012,
+            148.762,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Along the right-hand ground floor I can pick out the rust-streaked window beside the dark doorway and, past it, a second one at the corner under the green balcony; that corner window is my goal. It lies far across the road, so I walk forward to close the gap.",
+        "The facade has grown a little, yet the corner window under the green balcony still sits well to the right of my heading and far off. Walking straight ahead is the cheapest way to shrink that distance before I bother adjusting my heading.",
+        "The block now fills most of my view and the stained ground-floor openings are clearly readable, but my target under the green balcony remains off to the right side of my path. I take another step forward to gain ground while the approach is still clear.",
+        "Holding this heading would carry me toward the middle of the block and leave my window sliding further to the right. I turn right so my facing swings onto the ground-floor window at the corner beneath the green balcony.",
+        "The turn has brought the corner of the block in front of me, with the rust-streaked ground-floor window under the green balcony close to the centre of my view. The snow between us is open, so I walk forward along this heading.",
+        "The wall is noticeably larger and the stained window under the green balcony holds its place ahead and slightly right. Nothing blocks the snow in front of me, so I keep advancing toward it.",
+        "From this range the distant end of the block has dropped out of my view, so I simply keep following the rust-streaked ground-floor window sitting under the green balcony. It is still several strides away, and I move forward to close in.",
+        "The wall now looms large with only two ground-floor windows in view, and mine is the stained one below the green balcony to the right. I am not yet close enough to count as standing at it, so I step forward again.",
+        "My heading has drifted so the stained window under the green balcony now sits near the right edge while blank wall dominates the centre. I turn left to swing the corner and that window back toward the middle of my view before continuing the approach.",
+        "The corner is back in frame with the rust-streaked window and its dark sill clearly on the right-hand wall face. The snow ahead is unbroken and open, so I walk forward to cut the remaining distance.",
+        "The stained panes are growing and the sill detail is sharpening, but I am still standing several strides off the plaster. Another step forward keeps me tracking straight at that window.",
+        "The rusty three-pane window now dominates the right of my view and the recessed wall beside the balcony has slid past. I keep walking to bring myself within arm's reach of that opening.",
+        "At this range the window has settled to the right of centre while the corner return crowds my left side. I turn right so I face the stained panes squarely for the last couple of steps.",
+        "The turn has put the rust-stained window plainly in front of me against the flat plaster. A short walk forward should bring me right up against that wall.",
+        "The window fills the left portion of my view now and its sill is close enough to read every streak. One more step should place me directly at the glass.",
+        "The stained window's frame and glass are right against me, filling the near edge of my view. I am at the target, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_c/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Head toward the third ground-floor window on the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -7330.713,
+        -4929.901,
+        228.25,
+        -0.012,
+        123.762,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7330.713,
+            -4929.901,
+            228.25,
+            -0.012,
+            123.762,
+            0.0
+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "From here I can read the ground-floor openings along the right-hand block and count off three of them, landing on the wide window with rust-stained panes and planters set just past the dark recessed entrance door. That marked window is my target, and it lies well down the paved strip ahead. I will walk forward along the road to close the gap.",
+        "The block on the right has grown in my view, and the stained window beside the recessed doorway is still clearly set apart from its neighbours. Nothing blocks the cleared road under my feet. I keep walking forward to shorten the distance.",
+        "The dark doorway and the stained window immediately to its right are sharper now, confirming I am tracking the correct opening rather than a similar one further along. The route stays open across the plowed ground. Another step forward continues the approach.",
+        "I can now make out the planters behind the glass of the window sitting just right of the entrance door, which is the one I am heading to. It still stands well ahead of me across the snow-edged pavement. I advance again.",
+        "The facade fills more of my view and the building corner with its green balconies has swung to my left, while the stained window beside the doorway holds steady on the right. Distance is the only thing left between us. I step forward once more.",
+        "As I close in, the far end of the ground-floor row has slid out of my view, so I stop relying on the count and simply follow the stained, planter-filled window next to the recessed door. It sits ahead and to my right across the snowy forecourt. I continue walking toward it.",
+        "The doorway and the stained window on its right are now large and close on the right side of my view. I am still out on the open snow and not yet standing at the wall. Walking forward keeps reducing that remaining gap.",
+        "The three stained panes with their dark planters are clearly resolved just right of the recessed entrance, so my heading is good. A few paces of open snow still separate me from that wall. I move forward again.",
+        "The stained triple pane with its dark planters now sits large on my right, just past the recessed entrance, and open snow still lies between me and that wall. Nothing interrupts the ground ahead. I step forward to keep closing in.",
+        "Pressed this close, my heading runs almost into the building corner rather than along the wall carrying the stained window. Swinging left opens up the frontage so I can travel parallel to that face instead of jamming into the corner.",
+        "With my heading swung, the wall carrying the stained window runs off to my right and there is clear snow along its base. Walking forward should carry me down that frontage toward the window instead of into the corner.",
+        "The stained window has grown noticeably on the wall to my right as I track along the frontage. There is still a stretch of open snow between me and it. Another pace forward keeps me closing.",
+        "The three rust-stained panes and their planters are now plainly resolved a short way ahead on my right, with the wall running cleanly toward them. I keep walking to bring myself alongside that window.",
+        "I am nearly level with the stained window, though it still sits slightly ahead of me along the wall. One more step should place me right at it rather than short of it.",
+        "The stained window is now beside me on the right and skewed at a steep angle, so my line of travel runs past it rather than up to it. Turning right should square me onto the glass for a final short approach.",
+        "Facing the window straight on now, the three stained panes and their sill fill the view with only a little snow left underfoot between us. I walk forward to bring myself right up to the glass.",
+        "The stained panes and their sill are directly in front of me, close enough to touch. I have reached the window, so there is nothing further to do."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_d/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Navigate to the third ground-floor window from left.",
+    "Type": 2,
+    "Start_Pose": [
+        -7330.713,
+        -4929.901,
+        228.25,
+        -0.012,
+        123.762,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7330.713,
+            -4929.901,
+            228.25,
+            -0.012,
+            123.762,
+            0.0
+        ],
+        [
+            -7400.658,
+            -4825.268,
+            228.275,
+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
+            -7470.604,
+            -4720.634,
+            228.275,
+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
+            -7540.549,
+            -4616.001,
+            228.275,
+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
+            -7540.549,
+            -4616.001,
+            228.275,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7559.721,
+            -4491.611,
+            228.275,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7578.893,
+            -4367.221,
+            228.275,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7598.066,
+            -4242.83,
+            250.847,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7617.238,
+            -4118.44,
+            228.077,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7636.41,
+            -3994.05,
+            228.077,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7655.582,
+            -3869.66,
+            249.519,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7674.754,
+            -3745.27,
+            269.991,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7693.926,
+            -3620.88,
+            272.099,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7713.099,
+            -3496.489,
+            262.055,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7732.271,
+            -3372.099,
+            239.375,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7751.443,
+            -3247.709,
+            217.159,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7770.615,
+            -3123.319,
+            203.1,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7789.787,
+            -2998.929,
+            198.205,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7808.959,
+            -2874.538,
+            198.119,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7808.959,
+            -2874.538,
+            198.119,
+            -0.012,
+            98.762,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The whole ground-floor row of this block is visible from the road, and counting in from its left end lands on the window immediately left of the recessed dark stairwell doorway; the panes are otherwise identical, so I hold that doorway as its marker. I am still far out on the open pavement, so I will walk straight ahead to close on the facade.",
+        "The facade has grown slightly but the ground-floor windows are still small and distant, so the gap is far from closed. My target window beside the dark doorway stays clear ahead and slightly right, so another step forward along the road keeps me on line.",
+        "The block now fills much more of my view and the window beside the dark doorway is clearly resolved, but I am still out on the open snow-lined road. I will keep walking forward to bring myself in toward that stretch of wall.",
+        "Holding this heading would drive me straight into the projecting corner of the near wing rather than along the wall carrying my window. The cleared way opens to my left and runs past the frontage, so I will turn a little left to put that route ahead of me.",
+        "The turn has opened the street to my left, with the block's frontage now running away on my right and the dark doorway still visible along it. With a clear path ahead I will step forward and follow that frontage inward.",
+        "The wall on my right is noticeably nearer and the dark doorway with its neighbouring window has swung further toward my right side, which is what advancing along a frontage should do. Nothing blocks the ground ahead, so I keep walking.",
+        "I am closer but still standing off from the wall, with the doorway and the window beside it set well to my right. Another forward step should bring me level with that part of the frontage.",
+        "From this angle the left end of the row has slipped out of view, so I can no longer count it and instead follow the window sitting just left of the dark double doors on my right. It is still ahead of my position, so I will continue walking toward it.",
+        "The wall on my right has swung close enough that its ground-floor panes read individually, with the dark double doors sitting at the very edge of my view and my window just left of them. That stretch is still ahead of my shoulder rather than beside me, so I walk on over the open snow.",
+        "The three-pane window I am after now shows plainly on the wall to my right, its sill and frame distinct, while the doors beside it are being squeezed off the edge of my view. I am still short of drawing level with it, so another step along the frontage closes that gap.",
+        "The doors have passed out of my view behind my right shoulder, so that marker is spent and I simply hold on the three-pane window itself, which stays plainly in sight on the near wall. It sits forward and to my right, so I keep walking along the frontage.",
+        "My angle on the wall is steepening and the window's panes have grown noticeably, both signs that the distance is dropping steadily. Nothing interrupts the snow between me and that part of the facade, so I continue straight on.",
+        "The window is still set forward of me along the wall rather than beside me, and the recessed section of frontage further on remains open. One more stride down this line should bring me nearer to standing at it.",
+        "The three panes and their sill now fill a good part of the right side of my view, and the balcony overhang above them is close enough to read its underside. I am not yet standing at the window, so I press on.",
+        "Shadow now cuts across the window and I can pick out the individual frosted panes, so only a short stretch of ground separates me from that wall. I keep stepping forward to close it.",
+        "The window dominates the wall in front of me now, though it still sits slightly ahead along the frontage rather than directly at my side. A further step should put me right against it.",
+        "The three-pane window and its sill sit clearly on the wall beside me, but the frame is still angled away and a short run of snow separates me from the plaster. I will step forward once more to draw right up alongside it.",
+        "The window now looms large on my right with its sill catching the low sun, though my line still runs a little short of it. One more stride along the wall should place me directly at the panes.",
+        "The three-pane window and its sill are right at my side, close enough to touch the plaster around the frame. I have arrived at it, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_e/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Proceed to the second ground-floor window from left.",
+    "Type": 2,
+    "Start_Pose": [
+        -7330.713,
+        -4929.901,
+        228.25,
+        -0.012,
+        123.762,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7330.713,
+            -4929.901,
+            228.25,
+            -0.012,
+            123.762,
+            0.0
+        ],
+        [
+            -7400.658,
+            -4825.268,
+            228.275,
+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
+            -7470.604,
+            -4720.634,
+            228.275,
+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
+            -7470.604,
+            -4720.634,
+            228.275,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7489.776,
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+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7508.948,
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+            -0.012,
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+            -0.0
+        ],
+        [
+            -7528.12,
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+            98.762,
+            -0.0
+        ],
+        [
+            -7547.292,
+            -4223.074,
+            245.82,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7566.465,
+            -4098.683,
+            228.275,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7585.637,
+            -3974.293,
+            228.275,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7604.809,
+            -3849.903,
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+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7623.981,
+            -3725.513,
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+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7643.153,
+            -3601.123,
+            270.382,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7662.325,
+            -3476.732,
+            269.322,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7681.497,
+            -3352.342,
+            247.141,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7681.497,
+            -3352.342,
+            247.141,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7646.304,
+            -3231.504,
+            229.643,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7611.11,
+            -3110.666,
+            215.808,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7575.916,
+            -2989.827,
+            208.126,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7540.723,
+            -2868.989,
+            212.895,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7505.529,
+            -2748.151,
+            216.018,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7470.335,
+            -2627.313,
+            214.614,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7435.142,
+            -2506.474,
+            208.436,
+            -0.012,
+            73.762,
+            -0.0
+        ],
+        [
+            -7435.142,
+            -2506.474,
+            208.436,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7454.314,
+            -2382.084,
+            201.421,
+            -0.012,
+            98.762,
+            -0.0
+        ],
+        [
+            -7454.314,
+            -2382.084,
+            201.421,
+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
+            -7493.294,
+            -2298.535,
+            198.484,
+            -0.012,
+            123.762,
+            -0.0
+        ],
+        [
+            -7493.294,
+            -2298.535,
+            198.484,
+            -0.012,
+            123.762,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The block ahead shows a row of small, look-alike ground-floor windows. Counting once from the left end of that run, the second is my target; with nothing to tell them apart I hold its place beside the dark entrance door. The cleared road leads straight at the facade, so I walk forward.",
+        "The facade has grown larger, yet the low ground-floor windows are still far across the open snow and asphalt. The route in front of me is unobstructed, so another stride forward closes distance toward the window I settled on.",
+        "Straight ahead the wall of the block now looms and the ground-floor windows continue away to my left along the building line. The cleared ground also opens leftward there, so I turn left to face along that frontage rather than into the wall.",
+        "The turn has opened a street between the blocks, with the low windows running along the wall on my right. That lane carries me alongside the frontage that holds my window, so I step forward into it.",
+        "The wall with the low windows stays on my right and the lane ahead is clear. I keep walking so the stretch of frontage holding my target window comes alongside me.",
+        "More of the block's base is sliding past on my right, but I am not yet beside the window I chose. The way ahead over the packed snow stays open, so I continue forward.",
+        "The low windows on the right wall are visibly closer but still ahead of my shoulder. Nothing stands between me and that stretch of frontage, so I step forward again.",
+        "The corner of the block and its low windows now sit close on my right, with a dark service door at the edge of my view. I am still short of the window I am heading for, so I keep advancing along the open ground.",
+        "The dark service door has slid to the very edge of my right-hand view, with the low windows continuing past it along the base of this block. The window I settled on lies further down that run, and the snow ahead is unbroken, so I walk on.",
+        "New low windows keep sliding into view as this wall passes, so counting afresh from here would land on the wrong one; I simply hold to the window I fixed on at the start. The ground stays clear beside the building, so I keep moving along it.",
+        "A low window is drawing level with my right shoulder while the frontage runs on toward the pale corner ahead. My window is further along that line, so another stride keeps me tracking it.",
+        "The tan wall is close on my right now and the cream-coloured section of the block stands just beyond it. Nothing blocks the packed snow in front of me, so I advance to bring that further stretch of frontage alongside.",
+        "The near windows have fallen behind my shoulder and the wall face fills much of my right side. I am still short of the one I am heading for, so I keep walking down the shaded strip of yard.",
+        "Up close this wall no longer reads as a countable row, just plaster and one recessed window beside me. I go on because my window sits past the corner ahead, where the pale frontage carries on.",
+        "Holding this heading would push me straight into the pale wall that now crowds my right and fills the centre of my view. Turning left should swing me back parallel to the frontage and reopen the yard I need to walk along.",
+        "The turn has opened the courtyard, with the cream frontage and its low windows running away on my right. That line carries on to the window I am after, so I step forward along it.",
+        "A sunlit low window sits close on my right, but the frontage keeps running on toward the corner where my window lies. The yard ahead is smooth and unobstructed, so I keep walking along the wall.",
+        "The near window has slipped behind my shoulder and a fresh stretch of the pale wall is opening on my right. Nothing crosses the packed yard in front of me, so I take another stride along the frontage.",
+        "A shadowed recess has appeared at the right edge of the wall beside me, with the ground-floor openings continuing past it. My window still lies further down this run, so I press on over the level snow.",
+        "A pale framed opening is emerging on the wall ahead of my right shoulder, still well forward of where I stand. The route beside the building stays open, so I continue closing the gap.",
+        "The three-paned low window I have been tracking now stands plainly ahead on the right wall, its sill low over the snow. I am still short of it, so I walk on to draw level.",
+        "The window is large in my view now and only slightly forward of my shoulder line. One more stride should place me beside it before I turn in toward the wall.",
+        "The window is abreast on my right, and keeping this heading would only carry me farther down the yard past it. I turn right so the wall and that opening come round into the middle of my view.",
+        "The turn has brought the low window and its sill squarely into view against the pale plaster. A step forward should carry me across the last stretch of snow up to it.",
+        "The window sits close but strongly skewed, its frame stretching away to the right of my view rather than facing me. A further right turn should square my heading onto the glass so my last steps close straight in on it.",
+        "The three-paned window now sits centred in front of me with its sill and frame square on. Only a short strip of snow separates me from the wall, so I step in to stand right at it.",
+        "The window's panes and sill fill my view at arm's length. I am standing at it, so the task is done and there is nothing further to close."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t5_a_p/infos.json

@@ -0,0 +1,335 @@
+{
+    "Instruction": "Lift the green bell pepper near the first ground-floor window on the right.",
+    "Type": 5,
+    "Start_Pose": [
+        -7330.713,
+        -4929.901,
+        228.25,
+        -0.012,
+        123.762,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -8401.138,
+        -4362.615,
+        168.263,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "LookDown",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7330.713,
+            -4929.901,
+            228.25,
+            -0.012,
+            123.762,
+            0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
+            -8083.997,
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+            0.0
+        ],
+        [
+            -8083.997,
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+        ],
+        [
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+        ],
+        [
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+    ],
+    "PD_Pose_Trajectory": [
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+        [
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+            1.862
+        ],
+        [
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+            184.976,
+            -28.202,
+            -136.093,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1211.5,
+        1211.5,
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+        960.3,
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+        335.8,
+        215.0,
+        215.0,
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+        106.6,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "From here the apartment block fills most of my view and the ground-floor windows on the right side of the facade sit far off to my right. I will turn right to bring that stretch of wall and the small green object beside it into the center of my view before walking toward it.",
+        "Now the corner of the building and its row of ground-floor windows are centered ahead, with a small green item resting in the snow beneath one of them. The open path across the snow is clear, so I will walk forward to close the long distance to it.",
+        "The green object below the ground-floor window is slightly larger now, confirming I am heading the right way. Nothing blocks the ground between me and the wall, so I will keep walking forward to shorten the remaining gap.",
+        "The green object at the foot of the wall is clearer and still well short of reach. My heading remains lined up with that window, so I will continue walking forward rather than adjust my direction yet.",
+        "The green pepper is now plainly visible sitting in the snow beneath the ground-floor window slightly right of my center. It is still several strides away, so I will keep advancing to get within grasping range.",
+        "The green bell pepper is clearly visible on the snow beside the first ground-floor window on the right side of the building, still well beyond reach. My heading points straight at it with open snow in between, so I will keep walking forward to close the gap.",
+        "The pepper has grown noticeably larger in view and sits just under the window ledge ahead, yet it is still too far to grasp. Nothing blocks the flat snow in front of me, so another step forward should continue shrinking the distance.",
+        "The pepper now stands out plainly against the snow below the barred ground-floor window, but it remains several paces away. I will advance again to bring myself close enough that a grasp becomes plausible.",
+        "I am close to the wall now and the pepper sits off to the right of my current heading, below the window. Walking straight ahead would carry me past it toward the wall corner, so I will turn right to put the pepper on my line of travel.",
+        "With the corner of the building cleared, the pepper now lies low in front of me on the open snow, close but likely still short of grasping range. I will step forward once more to bring it directly at my feet.",
+        "The green bell pepper sits just ahead at the lower left, right beside the first ground-floor window on this wall. It looks close enough that a grasp may already register, so I will try to pick it up now rather than walk further and risk stepping past it.",
+        "My hands are still empty, so that grasp did not take hold. The most likely cause is that I stopped short of reaching range. I will walk one step closer to the wall before trying again.",
+        "After closing in on the window wall, the pepper no longer appears anywhere in my forward view, which means it is now low and near my feet level. To confirm it and line up a grasp, I will look down and bring the ground directly ahead into view.",
+        "With my gaze lowered, the green bell pepper fills the lower left corner just below me, right at the corner of the first ground-floor window. This is clearly within arm's reach, so I will attempt the grasp again and expect it to register this time.",
+        "The green bell pepper is now held in my hands, off the snow. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t5_b_p/infos.json

@@ -0,0 +1,335 @@
+{
+    "Instruction": "Pick up the ceramic vase near the second ground-floor window on the right.",
+    "Type": 5,
+    "Start_Pose": [
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+    "PD_ID": 14,
+    "PD_Size": 3.0,
+    "PD_Type": "p",
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+        0,
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+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+    ],
+    "PD_Pose_Trajectory": [
+        [
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+        ],
+        [
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+        ]
+    ],
+    "PD_Dist_2D": [
+        1456.7,
+        1334.6,
+        1213.3,
+        1213.3,
+        1089.1,
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+    ],
+    "Rationale": [
+        "The apartment block stands well across the open snowy yard, and its ground-floor windows are still too distant for me to tell which one has a vase beside it. I will walk forward along the cleared road to close that gap and get the lower facade into useful detail.",
+        "The lower windows and the dark entrance door have grown larger, so my straight approach is closing distance on the building. Nothing beside the ground-floor windows reads as a vase yet, so I will keep walking forward for a clearer look.",
+        "My heading points at the recessed corner and the left wing, while the wall carrying the ground-floor windows I need runs off toward the right edge of my view. Turning right should swing that right-hand stretch of the facade into the center so I can approach its window row directly.",
+        "The turn has centered the wing whose ground-floor windows I need, with the pale wall and its lower window row squarely ahead. I will step forward across the open snow to close on that row and look for a vase standing against the wall.",
+        "A small pale upright shape is now visible at the base of the wall, just left of the window pair on this face. It is still too small to confirm as the ceramic vase, so I will keep advancing toward it.",
+        "The pale object beside the ground-floor window now shows a narrow neck and rounded body, consistent with the ceramic vase I was sent for. I will continue walking straight at it to bring it within reach.",
+        "The vase is clearly identifiable now, standing on the snow against the wall between the ground-floor windows slightly left of my heading. It remains several paces off, so I will keep stepping forward to shorten the gap before any grasp attempt.",
+        "The vase has grown noticeably larger and sits just left of center by the ground-floor window, confirming my line of travel is good. I will advance again, since I still need to be close enough for my hands to reach it.",
+        "The patterned ceramic vase stands on the snow just left of center, below the second ground-floor window on this right-hand facade. It is still several strides away and too far to grasp. I will keep walking straight ahead to close that gap.",
+        "The vase now sits noticeably left of my heading, so continuing straight would carry me past it along the wall. A small turn to the left should bring it back toward the center of my view for a straight approach.",
+        "After the turn, the vase sits near the middle of my view beside the window recess, with open snow in between. My heading now points at it, so walking forward should shorten the remaining distance directly.",
+        "The vase has grown larger and stays centered under the ground-floor window, confirming my line of travel is correct. It remains beyond arm's reach, so I will take another step forward before attempting a grasp.",
+        "The vase now fills much of the lower center of my view, close to the wall beneath the window. One more step should place it within arm's reach so a pick attempt becomes plausible.",
+        "The ceramic vase is directly in front of me, its rim and floral body filling the near view beside the window sill. Nothing blocks my hands and it is clearly within reach, so I will attempt to pick it up now.",
+        "The ceramic vase is now held in my hands and no longer resting on the snow. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Walk to the rightmost ground-floor window on the center building.",
+    "Type": 2,
+    "Start_Pose": [
+        -8044.699,
+        6.726,
+        198.145,
+        0.0,
+        -148.8,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8044.699,
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+            0.0,
+            -148.8,
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+            0.0,
+            161.2,
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+        ],
+        [
+            -9554.534,
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+            0.0,
+            161.2,
+            -0.0
+        ],
+        [
+            -9554.534,
+            -371.307,
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+            0.0,
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+        ],
+        [
+            -9679.657,
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+            198.145,
+            0.0,
+            -173.8,
+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -173.8,
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+        ]
+    ],
+    "Rationale": [
+        "Between the balcony block on my left and the tall slab on my right stands the center building, and along its ground floor the last window before its right corner is a wide rust-stained one tucked under the projecting green balcony. That stained corner window is my target, so I will hold onto its look rather than its place in the row. I step forward to close the open snow between us.",
+        "The center building's facade has grown slightly and the rust-stained window under the green balcony still sits well ahead of me. Nothing interrupts the snow between us, so I keep walking straight toward it.",
+        "The stained window beneath the green balcony is noticeably wider now, which tells me my heading is carrying me at it. The ground stays open, so another forward step should keep shrinking the gap.",
+        "The building face fills more of my view and the rust-stained window with its orange panes is clearly resolved off to my right. I am still several strides short of it, so I advance again.",
+        "The corner of the facade and the balcony above the stained window are close enough now that their edges read sharply. I keep moving forward to bring myself within reach of that window.",
+        "From this near angle the ground-floor openings no longer line up as a countable row, but the rust-stained window under the green balcony is still plainly the one I want, and it now sits toward my right. The wall is not yet in front of me, so one more step forward closes distance.",
+        "The plaster of the facade is nearly at arm's reach dead ahead, so walking straight on would only press me into the wall, and the stained window I want has slid to my right edge. Open snow runs along the building's face to my left. Turning left should swing my heading onto that lane so I can keep travelling beside the facade toward the window.",
+        "My heading now runs along the building's face instead of into it, with unbroken snow and a tree in the open ground to my left. The stained window on the wall to my right is still ahead of my position, so I walk forward along the facade.",
+        "Another streaked opening slides by close on my right, but the one I settled on sits further along at the building's corner under the projecting balcony. The strip of snow between the tree line and the wall is clear ahead, so I keep walking along the facade.",
+        "From this close the ground-floor windows on this wall all wear the same rust streaks, so appearance alone no longer separates them; I hold to the one at the far corner beneath the overhanging balcony. Nothing blocks the lane, so I advance again.",
+        "The wall on my right steps back into a shadowed recess, which means the corner section I am heading for is still further down this face. The ground stays open, so I take another stride along it.",
+        "A dark entrance sits back in the recess and the next block of wall juts forward past it on my right. My path along the building is still open, so I keep moving to reach the far end of this face.",
+        "The projecting wall block now stands close across the line I am walking, so continuing straight would press me into plaster. The snow stays open to my left where the tree trunks are. Turning left should swing my heading back into that clear lane past this section.",
+        "My heading is clear of the wall again, with sunlit snow and trees stretching out to the left and the building's flank running along my right. A streaked window shows on that flank ahead of me, so I walk on.",
+        "The triple window with its rust and dark staining is now distinct on the wall to my right, sitting just short of where the facade ends under the green balcony. I am still a few strides off its line, so I keep advancing.",
+        "The stained triple window and the corner edge just beyond it now sit off to my right, while my heading runs past them down the open snow. Turning right should bring that window in front of me so the remaining steps close on it directly.",
+        "The turn brought the corner of the facade in front of me, with the stained triple window sitting just to its left along the wall on my left side. A few strides of open snow still separate me from that window's sill, so I walk ahead.",
+        "The stained triple window with its dark-blotched panes now fills much of my left view and the corner pilaster is close on my right. I am nearly level with the sill, so one more short step should put me right at it.",
+        "The stained corner window's sill is directly beside me, its panes filling my view at arm's length. I have arrived at it, so there is nothing left to walk toward."
+    ]
+}

dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_b/infos.json

@@ -0,0 +1,336 @@
+{
+    "Instruction": "Approach the first ground-floor window from the left.",
+    "Type": 2,
+    "Start_Pose": [
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+        6.726,
+        198.145,
+        0.0,
+        -148.8,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+            0.0,
+            -148.8,
+            0.0
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+            0.0
+        ],
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+            198.145,
+            0.0,
+            161.2,
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+        ],
+        [
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+            563.085,
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+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -11053.668,
+            535.9,
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+            0.0,
+            -173.8,
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "The beige block ahead carries a run of small ground-floor windows, and I settle on the leftmost of them, the one at the far left end of that run under the green balconied corner. The snow between us is open and unobstructed, so I step forward to close distance and read the row better.",
+        "Walking straight has brought the facade close and square in front of me, while the window I chose lies off toward the left end of the block. A left turn should swing my heading down the open ground beside the building rather than into its wall.",
+        "The turn opened a clear lane: bare snow and a tall tree ahead, with the block's ground-floor windows sliding along my right side. That heading runs parallel to the facade, so I walk forward toward the window at the far end of the row.",
+        "The facade keeps unrolling on my right and the ground in front stays clear, so no change of heading is needed yet. I continue walking to close the remaining distance toward my window.",
+        "Nearer ground-floor windows are now passing close on my right, which tells me I am still short of the one I picked further along the block. The lane ahead remains open, so I keep stepping forward.",
+        "The building's face is drawing past my right shoulder and the balconied corner is growing larger ahead of it. My target window sits beyond that stretch, so I walk on rather than stopping at these nearer openings.",
+        "A dark recess and the block's corner edge are coming up on my right, marking where this face ends. The snow ahead is still clear, so one more forward step should bring me level with that corner before I need to adjust heading.",
+        "I have reached the corner of the block, and the wall now angles away sharply on my right while the open ground continues off to my left past the tree. Turning left should set my heading along the lane beside this building so I can carry on toward my window.",
+        "The heading now runs down a clear corridor of snow, brick wall well off to my left and the beige facade with its green balconies to my right. Nothing stands in the lane except the tree, which sits clear of my line, so I walk on toward the far end of that window row.",
+        "Ground-floor openings keep sliding past close on my right, but these are the nearer ones, not the window at the end of the run beneath the green balconies. The ground ahead stays flat and unobstructed, so I keep advancing along the wall.",
+        "The facade feeds me openings at a steady rhythm and none of them yet sits at the end of the block. What I need is distance rather than a new heading, so I take another stride forward.",
+        "My line holds parallel to the wall, with the tree passing on my left and the gap between buildings still wide. The balconied end of the block has not come level with me, so pressing on is the only thing needed.",
+        "From this angle the openings no longer read as a countable row, since the near ones fall behind me and the wall foreshortens ahead. I hold the window under the last green balcony as my mark and continue walking to reach it.",
+        "Pale trunks now crowd the left side of the gap while the beige wall keeps running out ahead on my right, so the end of this block is still some way off. The snow between remains clear, and I step forward again.",
+        "A shadowed ground-floor window shows on the right, yet the wall continues past it rather than ending, so I am not level with the window I chose. With open ground in front of me, I keep moving along the facade.",
+        "The break in the facade is becoming visible further along my right, but I am still short of it. The lane between the trees and the wall stays clear, so I carry on closing that remaining gap.",
+        "The block's end edge has come into view ahead on my right, with the last green balcony hanging above it. My window sits on that end stretch, still well beyond a stride or two, and the snow lane runs clear between me and it, so I walk on.",
+        "The wall face is opening up as I draw nearer to its end, and a warm-paned ground-floor opening shows just short of that edge. Nothing crosses my path, so another stride is simply distance I still owe.",
+        "From here the end of the block reads clearly, the balcony above it and the window beneath it both in view but still small. The trees on my left stand off my line, leaving the lane open, so I keep walking toward that window.",
+        "The wall's vertical corner line is sharpening on my right, and the window I want sits low on the face just before it. That face is still angled away at a distance, so more forward walking is what closes the gap.",
+        "The rust-toned panes below the green balcony now stand out plainly on the wall ahead of me. I am not yet close enough to be standing at that window, and the snow in front remains untracked and flat, so I continue.",
+        "The building fills more of my right side each step, and the balconied end is nearly abeam of me. My window still sits ahead of that point rather than beside me, so I press on rather than turning yet.",
+        "The window beneath the balcony is now the nearest thing on this wall, its sill and dark frame readable. A few more strides should put me level with it before I need to face the wall, so I keep moving.",
+        "The green balcony overhangs directly above the window now, confirming it is the one at the end of this face. I am close but still passing along the wall rather than standing before it, so another step forward should carry me nearer.",
+        "The rust-paned opening under the balcony sits just forward of my right shoulder, not yet abeam of me. One more stride along this clear snow should bring me level with it before I swing to face the wall.",
+        "Now the window sits square off my right side with the wall running away past it, so walking on would only carry me clear of the building. Turning right should point me straight at that opening for the final approach.",
+        "The turn has put the wall and its low window in front of me rather than off to the side. There is still a stretch of open snow between us, so I walk straight in toward the glass.",
+        "The three panes and their frame are reading larger and the balcony above is closing overhead. I am not yet standing at the sill, so I keep advancing on the same line.",
+        "The stucco face now fills most of what I can see and the window sits low and near on the left of my view. A couple more steps should place me right against it.",
+        "The sill and its weathered panes are almost within arm's reach, though a short gap of snow still separates me from the wall. I take one last step to stand directly at this window.",
+        "I am standing at arm's length from the three-pane ground-floor window under the green balcony, its sill filling my view. The approach is complete, so I stop here."
+    ]
+}