diff --git a/dataset/trajectory/Containeryard_Night/task_x-001086_y-002155_z000098_t0_b/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001086_y-002155_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e7a0b25c3b35d1d143ec8940b7bdb523f589757a --- /dev/null +++ b/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, + -2878.954, + 98.275, + 0.0, + -49.0, + 0.0 + ], + [ + -162.904, + -2973.941, + 98.275, + 0.0, + -49.0, + 0.0 + ], + [ + -80.333, + -3068.928, + 98.275, + 0.0, + -49.0, + 0.0 + ], + [ + 2.238, + -3163.915, + 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, + -3448.876, + 98.275, + 0.0, + -49.0, + 0.0 + ], + [ + 332.522, + -3543.863, + 98.275, + 0.0, + -49.0, + 0.0 + ], + [ + 332.522, + -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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_c/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b56b06916c881d688e031d8accc2c7a3ef4d31d --- /dev/null +++ b/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, + -1643.674, + 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, + -1308.642, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -1915.994, + -1224.884, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -2009.936, + -1141.126, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -2103.878, + -1057.368, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -2197.82, + -973.61, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -2291.762, + -889.852, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -2385.704, + -806.094, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -2479.646, + -722.336, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -2479.646, + -722.336, + 98.275, + 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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_a/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7d9f1e7a868b18004a919594760541698b3b08cd --- /dev/null +++ b/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, + 3222.458, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -2026.786, + 3303.089, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -2123.425, + 3383.72, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -2220.065, + 3464.351, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -2316.704, + 3544.982, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -2316.704, + 3544.982, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -2316.704, + 3544.982, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -2316.704, + 3544.982, + 98.275, + 0.0, + -169.84, + 0.0 + ], + [ + -2316.704, + 3544.982, + 98.275, + 0.0, + -144.84, + 0.0 + ], + [ + -2419.599, + 3472.505, + 98.275, + 0.0, + -144.84, + 0.0 + ], + [ + -2522.495, + 3400.027, + 98.275, + 0.0, + -144.84, + 0.0 + ], + [ + -2625.391, + 3327.55, + 98.275, + 0.0, + -144.84, + 0.0 + ], + [ + -2625.391, + 3327.55, + 98.275, + 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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_d/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7f84488057551018ad1a90c76cc8c4daa37392e0 --- /dev/null +++ b/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, + 3141.827, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -1930.147, + 3222.458, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -2026.786, + 3303.089, + 98.275, + 0.0, + 140.16, + -0.0 + ], + [ + -2026.786, + 3303.089, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -2148.447, + 3335.324, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -2270.108, + 3367.559, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -2391.769, + 3399.794, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -2513.43, + 3432.029, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -2635.091, + 3464.264, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -2756.752, + 3496.5, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -2878.413, + 3528.735, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -3000.074, + 3560.97, + 106.879, + 0.0, + 165.16, + -0.0 + ], + [ + -3121.735, + 3593.205, + 106.879, + 0.0, + 165.16, + -0.0 + ], + [ + -3243.396, + 3625.44, + 106.879, + 0.0, + 165.16, + -0.0 + ], + [ + -3365.057, + 3657.675, + 106.879, + 0.0, + 165.16, + -0.0 + ], + [ + -3486.718, + 3689.91, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -3608.379, + 3722.145, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -3730.04, + 3754.38, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -3851.701, + 3786.615, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -3973.362, + 3818.85, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -4095.023, + 3851.085, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -4216.684, + 3883.321, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -4338.345, + 3915.556, + 98.275, + 0.0, + 165.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + 165.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + 165.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + 140.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + 115.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + 90.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + 65.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + 40.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + 15.16, + -0.0 + ], + [ + -4459.759, + 3947.544, + 106.857, + 0.0, + -9.84, + 0.0 + ], + [ + -4335.752, + 3926.035, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -4211.744, + 3904.526, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -4087.737, + 3883.017, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -3963.729, + 3861.508, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -3839.722, + 3839.999, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -3715.714, + 3818.49, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -3591.707, + 3796.982, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -3467.699, + 3775.473, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -3343.692, + 3753.964, + 106.703, + 0.0, + -9.84, + 0.0 + ], + [ + -3219.684, + 3732.455, + 106.703, + 0.0, + -9.84, + 0.0 + ], + [ + -3095.677, + 3710.946, + 106.703, + 0.0, + -9.84, + 0.0 + ], + [ + -2971.669, + 3689.437, + 106.703, + 0.0, + -9.84, + 0.0 + ], + [ + -2847.662, + 3667.928, + 98.275, + 0.0, + -9.84, + 0.0 + ], + [ + -2847.662, + 3667.928, + 98.275, + 0.0, + 15.16, + -0.0 + ], + [ + -2847.662, + 3667.928, + 98.275, + 0.0, + 15.16, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-002842_y015907_z001739_t1_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-002842_y015907_z001739_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..75252b581cc730b107feed5586436d83b41b10e0 --- /dev/null +++ b/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, + 15906.975, + 1739.135, + -0.012, + -177.678, + 0.0 + ], + [ + -2841.852, + 15906.975, + 1739.174, + -0.012, + 157.322, + 0.0 + ], + [ + -2841.852, + 15906.975, + 1739.174, + -0.012, + 132.322, + 0.0 + ], + [ + -2841.852, + 15906.975, + 1739.174, + -0.012, + 107.322, + 0.0 + ], + [ + -2841.852, + 15906.975, + 1739.174, + -0.012, + 82.322, + 0.0 + ], + [ + -2825.037, + 16031.705, + 1729.69, + -0.012, + 82.322, + 0.0 + ], + [ + -2808.221, + 16156.436, + 1728.26, + -0.012, + 82.322, + 0.0 + ], + [ + -2791.406, + 16281.166, + 1725.579, + -0.012, + 82.322, + 0.0 + ], + [ + -2774.59, + 16405.897, + 1724.787, + -0.012, + 82.322, + 0.0 + ], + [ + -2774.59, + 16405.897, + 1724.787, + -0.012, + 107.322, + 0.0 + ], + [ + -2812.064, + 16526.048, + 1725.075, + -0.012, + 107.322, + 0.0 + ], + [ + -2849.537, + 16646.199, + 1724.838, + -0.012, + 107.322, + 0.0 + ], + [ + -2887.011, + 16766.35, + 1715.73, + -0.012, + 107.322, + 0.0 + ], + [ + -2924.484, + 16886.501, + 1701.952, + -0.012, + 107.322, + 0.0 + ], + [ + -2954.33, + 17006.582, + 1719.557, + -0.012, + 107.322, + 0.0 + ], + [ + -2956.704, + 17125.134, + 1724.687, + -0.012, + 107.322, + 0.0 + ], + [ + -2956.704, + 17125.134, + 1724.687, + -0.012, + 107.322, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t3_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..955c46f599f4f55db96ea14a662f0b43b1cd80c8 --- /dev/null +++ b/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": [ + -4020.618, + 743.305, + 228.087, + -0.006, + -81.639, + 0.0 + ], + "Action": [ + "TurnRight", + "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": [ + [ + -4020.618, + 743.305, + 228.087, + -0.006, + -81.639, + 0.0 + ], + [ + -4020.618, + 743.305, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3951.406, + 638.185, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3882.195, + 533.064, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3812.984, + 427.944, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3743.772, + 322.824, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3674.561, + 217.704, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3605.349, + 112.583, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3536.138, + 7.463, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3466.927, + -97.657, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3397.715, + -202.777, + 228.275, + -0.006, + -56.639, + -0.0 + ], + [ + -3328.504, + -307.898, + 237.451, + -0.006, + -56.639, + -0.0 + ], + [ + -3264.974, + -408.842, + 274.119, + -0.006, + -56.639, + -0.0 + ], + [ + -3264.974, + -408.842, + 274.119, + -0.006, + -81.639, + -0.0 + ], + [ + -3264.974, + -408.842, + 274.119, + -0.006, + -81.639, + -0.0 + ], + [ + -3264.974, + -408.842, + 274.119, + -0.006, + -106.639, + -0.0 + ], + [ + -3264.974, + -408.842, + 274.119, + -0.006, + -131.639, + 0.0 + ], + [ + -3348.599, + -502.902, + 292.682, + -0.006, + -131.639, + 0.0 + ], + [ + -3432.224, + -596.963, + 252.997, + -0.006, + -131.639, + 0.0 + ], + [ + -3515.849, + -691.023, + 217.125, + -0.006, + -131.639, + 0.0 + ], + [ + -3599.474, + -785.083, + 204.655, + -0.006, + -131.639, + 0.0 + ], + [ + -3683.1, + -879.143, + 199.037, + -0.006, + -131.639, + 0.0 + ], + [ + -3766.725, + -973.203, + 198.239, + -0.006, + -131.639, + 0.0 + ], + [ + -3850.35, + -1067.264, + 198.103, + -0.006, + -131.639, + 0.0 + ], + [ + -3933.975, + -1161.324, + 198.103, + -0.006, + -131.639, + 0.0 + ], + [ + -4017.6, + -1255.384, + 198.103, + -0.006, + -131.639, + 0.0 + ], + [ + -4101.225, + -1349.444, + 198.103, + -0.006, + -131.639, + 0.0 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t3_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1fd7b1fc3d6330473c8def7781f88a8b159c6535 --- /dev/null +++ b/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": [ + [ + -4020.618, + 743.305, + 228.087, + -0.006, + -81.639, + 0.0 + ], + [ + -4002.317, + 618.784, + 228.275, + -0.006, + -81.639, + -0.0 + ], + [ + -3984.016, + 494.262, + 228.275, + -0.006, + -81.639, + -0.0 + ], + [ + -3984.016, + 494.262, + 228.275, + -0.006, + -106.639, + -0.0 + ], + [ + -4020.054, + 373.673, + 228.275, + -0.006, + -106.639, + -0.0 + ], + [ + -4056.093, + 253.084, + 228.275, + -0.006, + -106.639, + -0.0 + ], + [ + -4092.131, + 132.495, + 228.275, + -0.006, + -106.639, + -0.0 + ], + [ + -4128.17, + 11.906, + 274.476, + -0.006, + -106.639, + -0.0 + ], + [ + -4164.208, + -108.683, + 272.534, + -0.006, + -106.639, + -0.0 + ], + [ + -4200.247, + -229.272, + 220.478, + -0.006, + -106.639, + -0.0 + ], + [ + -4236.286, + -349.861, + 203.304, + -0.006, + -106.639, + -0.0 + ], + [ + -4272.324, + -470.45, + 199.453, + -0.006, + -106.639, + -0.0 + ], + [ + -4308.363, + -591.039, + 197.943, + -0.006, + -106.639, + -0.0 + ], + [ + -4344.401, + -711.628, + 197.943, + -0.006, + -106.639, + -0.0 + ], + [ + -4380.44, + -832.217, + 197.943, + -0.006, + -106.639, + -0.0 + ], + [ + -4380.44, + -832.217, + 197.943, + -0.006, + -81.639, + -0.0 + ], + [ + -4362.139, + -956.738, + 197.943, + -0.006, + -81.639, + -0.0 + ], + [ + -4343.837, + -1081.26, + 197.943, + -0.006, + -81.639, + -0.0 + ], + [ + -4325.536, + -1205.781, + 197.943, + -0.006, + -81.639, + -0.0 + ], + [ + -4325.536, + -1205.781, + 197.943, + -0.006, + -81.639, + -0.0 + ], + [ + -4325.536, + -1205.781, + 197.943, + -0.006, + -56.639, + -0.0 + ], + [ + -4325.536, + -1205.781, + 197.943, + -0.006, + -31.639, + -0.0 + ], + [ + -4325.536, + -1205.781, + 197.943, + -0.006, + -6.639, + -0.0 + ], + [ + -4325.536, + -1205.781, + 197.943, + -0.006, + 18.361, + -0.0 + ], + [ + -4206.085, + -1166.135, + 197.943, + -0.006, + 18.361, + -0.0 + ], + [ + -4293.781, + -1195.241, + 197.943, + -0.006, + 18.361, + -0.0 + ], + [ + -4293.781, + -1195.241, + 197.943, + -0.006, + 43.361, + -0.0 + ], + [ + -4202.276, + -1108.827, + 197.943, + -0.006, + 43.361, + -0.0 + ], + [ + -4110.771, + -1022.413, + 197.943, + -0.006, + 43.361, + -0.0 + ], + [ + -4019.266, + -936.0, + 197.943, + -0.006, + 43.361, + -0.0 + ], + [ + -3927.761, + -849.586, + 197.943, + -0.006, + 43.361, + -0.0 + ], + [ + -3927.761, + -849.586, + 197.943, + -0.006, + 18.361, + -0.0 + ], + [ + -3808.31, + -809.94, + 197.943, + -0.006, + 18.361, + -0.0 + ], + [ + -3688.858, + -770.294, + 199.847, + -0.006, + 18.361, + -0.0 + ], + [ + -3569.407, + -730.648, + 209.893, + -0.006, + 18.361, + -0.0 + ], + [ + -3449.955, + -691.002, + 236.622, + -0.006, + 18.361, + -0.0 + ], + [ + -3330.503, + -651.356, + 295.753, + -0.006, + 18.361, + -0.0 + ], + [ + -3330.503, + -651.356, + 295.753, + -0.006, + 43.361, + -0.0 + ], + [ + -3330.503, + -651.356, + 295.753, + -0.006, + 43.361, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t5_a_pd/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68741f51d86fa310b4aa26385211ee96a3e5f132 --- /dev/null +++ b/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": [ + -4020.618, + 743.305, + 228.087, + -0.006, + -81.639, + 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", + 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+ 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t5_b_pd/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004021_y000743_z000228_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bd7056034326e33dfa0bcdf3db413cd8c9ff3592 --- /dev/null +++ b/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.", + "Type": 5, + "Start_Pose": [ + -4020.618, + 743.305, + 228.087, + -0.006, + -81.639, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4187.233, + -922.542, + 148.239, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4020.618, + 743.305, + 228.087, + -0.006, + -81.639, + 0 + ], + [ + -4002.317, + 618.784, + 228.275, + -0.006, + -81.639, + -0.0 + ], + [ + -3984.016, + 494.262, + 228.275, + -0.006, + -81.639, + -0.0 + ], + [ + -3965.715, + 369.741, + 228.275, + -0.006, + -81.639, + -0.0 + ], + [ + -3947.413, + 245.22, + 228.275, + -0.006, + -81.639, + -0.0 + ], + [ + -3929.112, + 120.698, + 228.275, + -0.006, + -81.639, + -0.0 + ], + [ + -3910.811, + -3.823, + 234.318, + -0.006, + -81.639, + -0.0 + ], + [ + -3892.51, + -128.344, + 284.495, + -0.006, + -81.639, + -0.0 + ], + [ + -3892.51, + -128.344, + 284.495, + -0.006, + -106.639, + -0.0 + ], + [ + -3928.549, + -248.933, + 272.229, + 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18.361, + -0.0 + ], + [ + -3750.387, + -732.938, + 199.105, + 0.0, + 18.361, + -0.0 + ], + [ + -3630.936, + -693.292, + 206.644, + 0.0, + 18.361, + -0.0 + ], + [ + -3511.484, + -653.645, + 221.821, + 0.0, + 18.361, + -0.0 + ], + [ + -3392.033, + -613.999, + 267.167, + 0.0, + 18.361, + -0.0 + ], + [ + -3460.368, + -636.679, + 238.93, + 0.0, + 18.361, + -0.0 + ], + [ + -3460.368, + -636.679, + 238.93, + 0.0, + 18.361, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4187.233, + -922.542, + 148.239, + 90.0, + 90.0, + 0.0 + ], + [ + -4088.107, + -857.408, + 168.256, + -28.202, + -56.494, + 1.862 + ], + [ + -4086.756, + -848.023, + 168.528, + -28.189, + -31.482, + 1.872 + ], + [ + -4089.845, + -839.62, + 167.861, + -28.215, + -6.511, + 1.849 + ], + [ + -4090.163, + -832.148, + 167.915, + -14.092, + 10.705, + 6.87 + ], + [ + -4106.694, + -830.506, + 167.931, + -28.208, + 43.504, + 1.851 + ], + [ + -4116.331, + -830.681, + 168.599, + -28.198, + 68.508, + 1.867 + ], + [ + -3996.503, + -792.124, + 168.069, + -28.198, + 68.507, + 1.862 + ], + [ + -3996.878, + -792.25, + 168.657, + -28.195, + 68.511, + 1.87 + ], + [ + -3877.55, + -752.645, + 169.059, + -28.197, + 68.505, + 1.87 + ], + [ + -3757.991, + -712.966, + 169.543, + -28.211, + 68.499, + 1.853 + ], + [ + -3638.258, + -673.221, + 176.099, + -28.199, + 68.506, + 1.863 + ], + [ + -3518.568, + -633.499, + 189.11, + -28.207, + 68.502, + 1.857 + ], + [ + -3399.035, + -593.82, + 228.49, + -28.195, + 68.509, + 1.865 + ], + [ + -3393.932, + -614.629, + 208.93, + 90.0, + 18.361, + 0.0 + ], + [ + -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, + 847.1, + 847.1, + 721.6, + 596.2, + 471.0, + 346.3, + 222.9, + 105.6, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22799b52934a588c8ce8e83d53295fe05d1efe28 --- /dev/null +++ b/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, + -0.0 + ], + "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": [ + [ + -4336.747, + 62.631, + 283.338, + -0.012, + -57.678, + -0.0 + ], + [ + -4336.747, + 62.631, + 283.447, + -0.012, + -57.678, + -0.0 + ], + [ + -4336.747, + 62.631, + 283.447, + -0.012, + -32.678, + 0.0 + ], + [ + -4230.809, + -5.322, + 285.762, + -0.012, + -32.678, + 0.0 + ], + [ + -4124.871, + -73.276, + 276.643, + -0.012, + -32.678, + 0.0 + ], + [ + -4018.934, + -141.229, + 273.863, + -0.012, + -32.678, + 0.0 + ], + [ + -3912.996, + -209.183, + 292.02, + -0.012, + -32.678, + 0.0 + ], + [ + -3807.058, + -277.136, + 288.343, + -0.012, + -32.678, + 0.0 + ], + [ + -3701.12, + -345.09, + 275.948, + -0.012, + -32.678, + 0.0 + ], + [ + -3595.182, + -413.043, + 256.887, + -0.012, + -32.678, + 0.0 + ], + [ + -3489.245, + -480.997, + 247.254, + -0.012, + -32.678, + 0.0 + ], + [ + -3383.307, + -548.95, + 275.452, + -0.012, + -32.678, + 0.0 + ], + [ + -3383.307, + -548.95, + 275.452, + -0.012, + -32.678, + 0.0 + ], + [ + -3383.307, + -548.95, + 275.452, + -0.012, + -57.678, + 0.0 + ], + [ + -3383.307, + -548.95, + 275.452, + -0.012, + -82.678, + -0.0 + ], + [ + -3383.307, + -548.95, + 275.452, + -0.012, + -107.678, + -0.0 + ], + [ + -3383.307, + -548.95, + 275.452, + -0.012, + -132.678, + -0.0 + ], + [ + -3468.624, + -641.478, + 235.732, + -0.012, + -132.678, + -0.0 + ], + [ + -3553.941, + -734.007, + 211.013, + -0.012, + -132.678, + -0.0 + ], + [ + -3639.258, + -826.535, + 201.522, + -0.012, + -132.678, + -0.0 + ], + [ + -3724.575, + -919.063, + 198.119, + -0.012, + -132.678, + -0.0 + ], + [ + -3809.892, + -1011.592, + 198.098, + -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 + ], + [ + -4151.16, + -1381.705, + 198.098, + -0.012, + -132.678, + -0.0 + ], + [ + -4151.16, + -1381.705, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23d9bb58048be116049c38e90293aa7241bec65b --- /dev/null +++ b/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 + ], + [ + -4336.747, + 62.631, + 283.447, + -0.012, + -57.678, + -0.0 + ], + [ + -4269.453, + -43.727, + 271.453, + -0.012, + -57.678, + -0.0 + ], + [ + -4202.159, + -150.085, + 249.71, + -0.012, + -57.678, + -0.0 + ], + [ + -4202.159, + -150.085, + 249.71, + -0.012, + -82.678, + -0.0 + ], + [ + -4186.119, + -274.918, + 215.623, + -0.012, + -82.678, + -0.0 + ], + [ + -4170.079, + -399.75, + 204.162, + -0.012, + -82.678, + -0.0 + ], + [ + -4154.039, + -524.583, + 199.675, + -0.012, + -82.678, + -0.0 + ], + [ + -4137.999, + -649.416, + 198.15, + -0.012, + -82.678, + -0.0 + ], + [ + -4121.958, + -774.248, + 198.15, + -0.012, + -82.678, + -0.0 + ], + [ + -4105.918, + -899.081, + 198.15, + -0.012, + -82.678, + -0.0 + ], + [ + -4089.878, + -1023.914, + 198.15, + -0.012, + -82.678, + -0.0 + ], + [ + -4089.878, + -1023.914, + 198.15, + -0.012, + -82.678, + -0.0 + ], + [ + -4089.878, + -1023.914, + 198.15, + -0.012, + -57.678, + -0.0 + ], + [ + -4089.878, + -1023.914, + 198.15, + -0.012, + -32.678, + 0.0 + ], + [ + -4089.878, + -1023.914, + 198.15, + -0.012, + -7.678, + 0.0 + ], + [ + -4089.878, + -1023.914, + 198.15, + -0.012, + 17.322, + 0.0 + ], + [ + -3969.727, + -986.44, + 198.15, + -0.012, + 17.322, + 0.0 + ], + [ + -3849.576, + -948.967, + 198.15, + -0.012, + 17.322, + 0.0 + ], + [ + -3849.576, + -948.967, + 198.15, + -0.012, + 42.322, + 0.0 + ], + [ + -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, + 17.322, + 0.0 + ], + [ + -3357.199, + -572.532, + 284.223, + -0.012, + 17.322, + 0.0 + ], + [ + -3357.199, + -572.532, + 284.223, + -0.012, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_c/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f30bad57e321a6d5e598bc97df2709ddb59bd9ee --- /dev/null +++ b/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": [ + -4336.747, + 62.631, + 283.338, + -0.012, + -57.678, + -0.0 + ], + "Action": [ + "LookUp", + "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": [ + [ + -4336.747, + 62.631, + 283.338, + -0.012, + -57.678, + -0.0 + ], + [ + -4336.747, + 62.631, + 283.447, + -0.012, + -57.678, + -0.0 + ], + [ + -4336.747, + 62.631, + 283.447, + -0.012, + -82.678, + -0.0 + ], + [ + -4320.707, + -62.202, + 260.382, + -0.012, + -82.678, + -0.0 + ], + [ + -4304.667, + -187.034, + 215.147, + -0.012, + -82.678, + -0.0 + ], + [ + -4288.627, + -311.867, + 200.88, + -0.012, + -82.678, + -0.0 + ], + [ + -4272.586, + -436.7, + 199.775, + -0.012, + -82.678, + -0.0 + ], + [ + -4256.546, + -561.532, + 198.754, + -0.012, + -82.678, + -0.0 + ], + [ + -4240.506, + -686.365, + 198.122, + -0.012, + -82.678, + -0.0 + ], + [ + -4224.466, + -811.198, + 198.122, + -0.012, + -82.678, + -0.0 + ], + [ + -4224.466, + -811.198, + 198.122, + -0.012, + -107.678, + -0.0 + ], + [ + -4262.685, + -931.114, + 198.122, + -0.012, + -107.678, + -0.0 + ], + [ + -4300.904, + -1051.029, + 198.122, + -0.012, + -107.678, + -0.0 + ], + [ + -4339.124, + -1170.945, + 198.122, + -0.012, + -107.678, + -0.0 + ], + [ + -4339.124, + -1170.945, + 198.122, + -0.012, + -82.678, + -0.0 + ], + [ + -4323.084, + -1295.778, + 198.122, + -0.012, + -82.678, + -0.0 + ], + [ + -4323.084, + -1295.778, + 198.122, + -0.012, + -82.678, + -0.0 + ], + [ + -4323.084, + -1295.778, + 198.122, + -0.012, + -57.678, + -0.0 + ], + [ + -4323.084, + -1295.778, + 198.122, + -0.012, + -32.678, + 0.0 + ], + [ + -4323.084, + -1295.778, + 198.122, + -0.012, + -7.678, + 0.0 + ], + [ + -4323.084, + -1295.778, + 198.122, + -0.012, + 17.322, + 0.0 + ], + [ + -4202.933, + -1258.304, + 198.122, + -0.012, + 17.322, + 0.0 + ], + [ + -4082.782, + -1220.831, + 198.122, + -0.012, + 17.322, + 0.0 + ], + [ + -3962.631, + -1183.357, + 198.122, + -0.012, + 17.322, + 0.0 + ], + [ + -3962.631, + -1183.357, + 198.122, + -0.012, + 42.322, + 0.0 + ], + [ + -3869.574, + -1098.617, + 198.377, + -0.012, + 42.322, + 0.0 + ], + [ + -3776.518, + -1013.877, + 198.863, + -0.012, + 42.322, + 0.0 + ], + [ + -3683.461, + -929.136, + 200.976, + -0.012, + 42.322, + 0.0 + ], + [ + -3590.404, + -844.396, + 207.088, + -0.012, + 42.322, + 0.0 + ], + [ + -3497.347, + -759.655, + 218.583, + -0.012, + 42.322, + 0.0 + ], + [ + -3404.291, + -674.915, + 255.041, + -0.012, + 42.322, + 0.0 + ], + [ + -3319.241, + -598.102, + 303.366, + -0.012, + 42.322, + 0.0 + ], + [ + -3319.241, + -598.102, + 303.366, + -0.012, + 42.322, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t5_a_pd/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..888884c55b17e918d28f8af83cb54bb15a655707 --- /dev/null +++ b/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": [ + -4336.747, + 62.631, + 283.338, + -0.012, + -57.678, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -3456.647, + -607.535, + 162.59, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4336.747, + 62.631, + 283.338, + -0.012, + -57.678, + 0 + ], + [ + -4269.453, + -43.727, + 271.453, + -0.012, + -57.678, + -0.0 + ], + [ + -4269.453, + -43.727, + 271.453, + -0.012, + -32.678, + 0.0 + ], + [ + -4163.515, + -111.68, + 271.879, + -0.012, + -32.678, + 0.0 + ], + [ + -4057.578, + -179.634, + 261.087, + -0.012, + -32.678, + 0.0 + ], + [ + -3951.64, + -247.587, + 266.569, + -0.012, + -32.678, + 0.0 + ], + [ + -3845.702, + -315.541, + 270.127, + -0.012, + -32.678, + 0.0 + ], + [ + -3739.764, + -383.494, + 266.017, + -0.012, + -32.678, + 0.0 + ], + [ + -3633.826, + -451.448, + 249.669, + -0.012, + -32.678, + 0.0 + ], + [ + -3633.826, + -451.448, + 249.669, + -0.012, + -32.678, + 0.0 + ], + [ + -3527.889, 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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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t5_b_pd/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004337_y000063_z000283_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d52cf7e9f0578e7d8ec52d9aab485a56518e2107 --- /dev/null +++ b/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": [ + -4336.747, + 62.631, + 283.338, + -0.012, + -57.678, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -3951.251, + -1107.133, + 105.271, + 0, + 0, + 0 + ], + "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" + ], + "Pose_Trajectory": [ + [ + -4336.747, + 62.631, + 283.338, + -0.012, + -57.678, + 0 + ], + [ + -4269.453, + -43.727, + 271.453, + -0.012, + -57.678, + -0.0 + ], + [ + -4269.453, + -43.727, + 271.453, + -0.012, + -82.678, + -0.0 + ], + [ + -4253.413, + -168.56, + 233.648, + -0.012, + -82.678, + -0.0 + ], + [ + -4237.373, + -293.392, + 205.839, + -0.012, + -82.678, + -0.0 + ], + [ + -4221.333, + -418.225, + 201.968, + -0.012, + -82.678, + -0.0 + ], + [ + -4205.293, + -543.058, + 199.071, + -0.012, + -82.678, + -0.0 + ], + [ + -4189.252, + -667.89, + 198.169, + -0.012, + -82.678, + -0.0 + ], + [ + -4173.212, + -792.723, + 198.169, + -0.012, + -82.678, + -0.0 + ], + [ + -4173.212, + -792.723, + 198.169, + -0.012, + 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-571.729, + 219.534, + -28.195, + 67.47, + 1.865 + ], + [ + -3342.137, + -541.763, + 254.82, + -28.191, + 67.478, + 1.869 + ], + [ + -3336.915, + -562.507, + 223.956, + 0.0, + 17.322, + -0.0 + ], + [ + -3336.915, + -562.507, + 223.956, + 0.0, + 17.322, + -0.0 + ] + ], + "PD_Dist_2D": [ + 1231.6, + 1110.0, + 1110.0, + 986.0, + 862.6, + 740.0, + 618.6, + 499.6, + 384.9, + 384.9, + 259.2, + 134.1, + 21.4, + 22.3, + 22.5, + 27.1, + 20.8, + 21.4, + 21.4, + 21.9, + 21.4, + 21.4, + 21.4, + 21.4, + 20.8, + 21.4, + 70.0, + 70.0 + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004682_y-000811_z000198_t1_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004682_y-000811_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0ce3d940d97fb50699722906063389872fa4f404 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004682_y-000811_z000198_t1_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004682_y-000811_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f8ff5b68e673313284adc74b835627b1e3d268ff --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a954777dd4b514c59a128b180f987300f09d9262 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60c0e82f6ad8e654b092b42078fd343e7e9cb610 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_c/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8f47f6e0b8c1c69c6ef2eb404d74c859813c47b6 --- /dev/null +++ b/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 + ], + [ + -4787.066, + -1109.301, + 198.149, + -0.006, + -114.279, + -0.0 + ], + [ + -4838.816, + -1224.029, + 198.149, + -0.006, + -114.279, + -0.0 + ], + [ + -4890.567, + -1338.756, + 198.149, + -0.006, + -114.279, + -0.0 + ], + [ + -4942.318, + -1453.483, + 198.149, + -0.006, + -114.279, + -0.0 + ], + [ + -4942.318, + -1453.483, + 198.149, + -0.006, + -139.279, + -0.0 + ], + [ + -5037.706, + -1535.591, + 198.149, + -0.006, + -139.279, + -0.0 + ], + [ + -5133.094, + -1617.698, + 198.149, + -0.006, + -139.279, + -0.0 + ], + [ + -5133.094, + -1617.698, + 198.149, + -0.006, + -164.279, + -0.0 + ], + [ + -5248.488, + -1654.62, + 198.149, + -0.006, + -164.279, + -0.0 + ], + [ + -5248.488, + -1654.62, + 198.149, + -0.006, + -164.279, + -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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t5_a_p/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d6457bc1efee346cd6809d7091d012fbf15bb0de --- /dev/null +++ b/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, + -994.574, + 198.149, + -0.006, + -114.279, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -4810.506, + -1651.757, + 118.149, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4735.315, + -994.574, + 198.149, + -0.006, + -114.279, + 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 + ], + [ + -4835.649, + -1475.727, + 198.149, + 0.0, + -89.279, + 0.0 + ], + [ + -4835.649, + -1475.727, + 198.149, + 0.0, + -89.279, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4810.506, + -1651.757, + 118.149, + 0.0, + 0.0, + 0.0 + ], + [ + -4810.506, + -1651.757, + 118.149, + 0.0, + 0.0, + 0.0 + ], + [ + -4810.506, + -1651.757, + 118.149, + 0.0, + 0.0, + 0.0 + ], + [ + -4810.506, + -1651.757, + 118.149, + 0.0, + 0.0, + 0.0 + ], + [ + -4810.506, + -1651.757, + 118.149, + 0.0, + 0.0, + 0.0 + ], + [ + -4810.506, + -1651.757, + 118.149, + 0.0, + 0.0, + 0.0 + ], + [ + -4814.304, + -1474.848, + 168.256, + -28.202, + -39.135, + 1.862 + ], + [ + -4814.304, + -1474.848, + 168.256, + -28.202, + -39.135, + 1.862 + ] + ], + "PD_Dist_2D": [ + 661.5, + 543.0, + 428.7, + 428.7, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t5_b_p/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-004735_y-000995_z000198_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..37360b24b689b6a3500349aee95fa068cc3d9783 --- /dev/null +++ b/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": [ + -4735.315, + -994.574, + 198.149, + -0.006, + -114.279, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -7310.795, + -2141.722, + 150.077, + 90, + -154.279, + 0 + ], + "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" + ], + "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, + 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2454.4, + 2329.5, + 2204.8, + 2080.1, + 1955.7, + 1834.2, + 1710.2, + 1710.2, + 1588.8, + 1468.1, + 1348.4, + 1230.0, + 1230.0, + 1104.5, + 979.1, + 853.9, + 728.9, + 604.3, + 604.3, + 484.7, + 369.3, + 369.3, + 243.6, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t3_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..70c4c9f16c192a17f8fec0ae1f2719776e48c0fa --- /dev/null +++ b/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, + -1032.826, + 208.13, + -0.012, + -51.918, + 0.0 + ], + [ + -5017.783, + -1032.826, + 208.311, + -0.012, + -76.918, + 0.0 + ], + [ + -4989.296, + -1155.419, + 199.295, + -0.012, + -76.918, + 0.0 + ], + [ + -4960.808, + -1278.011, + 198.147, + -0.012, + -76.918, + 0.0 + ], + [ + -4932.32, + -1400.604, + 198.147, + -0.012, + -76.918, + 0.0 + ], + [ + -4903.833, + -1523.196, + 198.147, + -0.012, + -76.918, + 0.0 + ], + [ + -4875.345, + -1645.789, + 198.147, + -0.012, + -76.918, + 0.0 + ], + [ + -4846.858, + -1768.382, + 198.147, + -0.012, + -76.918, + 0.0 + ], + [ + -4846.858, + -1768.382, + 198.147, + -0.012, + -76.918, + 0.0 + ], + [ + -4867.772, + -1678.38, + 198.147, + -0.012, + -76.918, + 0.0 + ], + [ + -4867.772, + -1678.38, + 198.147, + -0.012, + -51.918, + 0.0 + ], + [ + -4867.772, + -1678.38, + 198.147, + -0.012, + -26.918, + 0.0 + ], + [ + -4867.772, + -1678.38, + 198.147, + -0.012, + -1.918, + 0.0 + ], + [ + -4867.772, + -1678.38, + 198.147, + -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, + -1530.351, + 198.147, + -0.012, + 23.082, + 0.0 + ], + [ + -4520.422, + -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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t3_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6a36e6935eb2452c9c12dbdc2aa9255cb150dd0 --- /dev/null +++ b/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 + ], + [ + -4940.155, + -1131.893, + 198.472, + -0.012, + -51.918, + -0.0 + ], + [ + -4862.526, + -1230.961, + 198.173, + -0.012, + -51.918, + -0.0 + ], + [ + -4862.526, + -1230.961, + 198.173, + -0.012, + -26.918, + -0.0 + ], + [ + -4750.304, + -1287.939, + 198.173, + -0.012, + -26.918, + -0.0 + ], + [ + -4638.081, + -1344.917, + 198.173, + -0.012, + -26.918, + -0.0 + ], + [ + -4525.858, + -1401.895, + 198.173, + -0.012, + -26.918, + -0.0 + ], + [ + -4525.858, + -1401.895, + 198.173, + -0.012, + -26.918, + -0.0 + ], + [ + -4525.858, + -1401.895, + 198.173, + -0.012, + -51.918, + -0.0 + ], + [ + -4525.858, + -1401.895, + 198.173, + -0.012, + -76.918, + 0.0 + ], + [ + -4525.858, + -1401.895, + 198.173, + -0.012, + -101.918, + -0.0 + ], + [ + -4525.858, + -1401.895, + 198.173, + -0.012, + -126.918, + 0.0 + ], + [ + -4601.458, + -1502.519, + 198.173, + -0.012, + -126.918, + 0.0 + ], + [ + -4677.058, + -1603.143, + 198.173, + -0.012, + -126.918, + 0.0 + ], + [ + -4752.658, + -1703.767, + 198.173, + -0.012, + -126.918, + 0.0 + ], + [ + -4752.658, + -1703.767, + 198.173, + -0.012, + -101.918, + -0.0 + ], + [ + -4763.821, + -1796.664, + 198.149, + -0.012, + -101.918, + -0.0 + ], + [ + -4763.821, + -1796.664, + 198.149, + -0.012, + -126.918, + 0.0 + ], + [ + -4773.857, + -1790.869, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t5_a_pd/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-005018_y-001033_z000208_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68d5614e911c25829cf71c0af718067eeba77166 --- /dev/null +++ b/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 + ], + [ + -4940.155, + -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, + 198.153, + -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 + ], + [ + -4854.692, + -1499.671, + 198.153, + 0.0, + -76.918, + 0.0 + ], + [ + -4854.692, + -1499.671, + 198.153, + 0.0, + -51.918, + 0.0 + ], + [ + -4854.692, + -1499.671, + 198.153, + 0.0, + -26.918, + 0.0 + ], + [ + -4854.692, + -1499.671, + 198.153, + 0.0, + -1.918, + 0.0 + ], + [ + -4728.904, + -1503.883, + 198.153, + 0.0, + -1.918, + 0.0 + ], + [ + -4728.904, + -1503.883, + 198.153, + 0.0, + 23.082, + -0.0 + ], + [ + -4613.12, + -1454.541, + 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, + -1433.771, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t0_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3cda310db59359b872a2c92759d18f794bd05690 --- /dev/null +++ b/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, + -1175.411, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t0_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..849c29a2e5d5a9fdefcf07c485a40d15404882c6 --- /dev/null +++ b/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 + ], + [ + -4906.055, + -1175.411, + 198.071, + -0.012, + -51.918, + -0.0 + ], + [ + -4906.055, + -1175.411, + 198.071, + -0.012, + -26.918, + -0.0 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t5_a_p/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-005061_y-000977_z000203_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7f07cb7be74d7f0b2e97b851e455aedb14731c30 --- /dev/null +++ b/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, + -0.012, + -51.918, + 0 + ], + [ + -4983.684, + -1076.343, + 202.267, + -0.012, + -51.918, + -0.0 + ], + [ + -4983.684, + -1076.343, + 202.267, + -0.012, + -76.918, + 0.0 + ], + [ + -4955.196, + -1198.936, + 198.129, + -0.012, + -76.918, + 0.0 + ], + [ + -4926.708, + -1321.528, + 198.129, + -0.012, + -76.918, + 0.0 + ], + [ + -4898.221, + -1444.121, + 198.129, + -0.012, + -76.918, + 0.0 + ], + [ + -4869.733, + -1566.714, + 198.129, + -0.012, + -76.918, + 0.0 + ], + [ + -4869.733, + -1566.714, + 198.129, + -0.012, + -76.918, + 0.0 + ], + [ + -4841.246, + -1689.306, + 198.129, + -0.012, + -76.918, + 0.0 + ], + [ + -4841.246, + -1689.306, + 198.129, + -0.012, + -76.918, + 0.0 + ], + [ + -4841.246, + -1689.306, + 198.129, + 0.0, + -76.918, + 0.0 + ], + [ + -4841.246, + -1689.306, + 198.129, + 0.0, + -76.918, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -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 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t3_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d78dda3a69649443a331845e0ecba2c11cfabc --- /dev/null +++ b/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, + 198.148, + 0.0, + 125.72, + -0.0 + ], + [ + -6738.363, + 162.869, + 198.148, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t3_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e5f40cd933667de2fe51a3d77c0a8c1ba1ffb86 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t5_a_pd/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24df135b080fce5c7191987f016aa443f151ff1c --- /dev/null +++ b/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" + ], + "Pose_Trajectory": [ + [ + -6555.104, + -0.868, + 198.148, + 0, + 150.72, + 0 + ], + [ + -6664.883, + 60.687, + 198.148, + 0.0, + 150.72, + -0.0 + ], + [ + -6664.883, + 60.687, + 198.148, + 0.0, + 125.72, + -0.0 + ], + [ + -6738.363, + 162.869, + 198.148, + 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 + ], + [ + -6885.322, + 367.234, + 198.148, + 0.0, + 100.72, + -0.0 + ], + [ + -6908.733, + 490.897, + 198.148, + 0.0, + 100.72, + -0.0 + ], + [ + -6932.144, + 614.559, + 198.148, + 0.0, + 100.72, + -0.0 + ], + [ + -6955.555, + 738.222, + 199.35, + 0.0, + 100.72, + -0.0 + ], + [ + -6955.555, + 738.222, + 199.35, + 0.0, + 125.72, + -0.0 + ], + [ + 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+ 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7123.054, + 1013.315, + 128.428, + 0.0, + 0.0, + 0.0 + ], + [ + -7046.015, + 827.441, + 169.089, + -28.202, + 175.865, + 1.862 + ], + [ + -7039.409, + 820.64, + 169.362, + -28.189, + -159.123, + 1.872 + ], + [ + -7030.868, + 817.955, + 168.695, + -28.215, + -134.152, + 1.849 + ], + [ + -7024.757, + 813.643, + 168.88, + -14.092, + -116.936, + 6.87 + ], + [ + -7013.361, + 825.73, + 168.96, + -28.208, + -84.137, + 1.851 + ], + [ + -7101.124, + 735.883, + 168.348, + -28.189, + -84.122, + 1.869 + ], + [ + -7188.809, + 645.98, + 168.731, + -28.205, + -84.145, + 1.859 + ], + [ + -7276.641, + 555.9, + 168.884, + -28.191, + -84.13, + 1.872 + ], + [ + -7364.636, + 465.68, + 168.659, + -28.206, + -84.142, + 1.863 + ], + [ + -7452.701, + 375.361, + 168.151, + -28.203, + -84.14, + 1.855 + ], + [ + -7460.559, + 371.052, + 168.595, + -28.192, + -109.128, + 1.869 + ], + [ + -7577.572, + 325.736, + 168.863, + -28.203, + -109.138, + 1.863 + ], + [ + -7584.232, + 346.045, + 158.126, + 0.0, + -159.28, + 0.0 + ], + [ + -7584.232, + 346.045, + 158.126, + 0.0, + -159.28, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1162.4, + 1057.1, + 1057.1, + 933.4, + 810.4, + 688.4, + 688.4, + 564.7, + 442.1, + 322.1, + 322.1, + 196.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.4, + 21.4, + 70.0, + 70.0 + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t5_b_pd/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006555_y-000001_z000198_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2d0b98198570a76234da7ecacc25d1f568e15da2 --- /dev/null +++ b/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.", + "Type": 5, + "Start_Pose": [ + -6555.104, + -0.868, + 198.148, + 0, + 150.72, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -7516.385, + 291.291, + 145.145, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + 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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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..38e1561abca069b6d2f33d4e083340f68dad4bd8 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..445f03559a57decc2d42b935a522a631bcc1345c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_c/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3d7e20d692ac042cf984354586f0320860b15ab --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_d/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fca5d32951fea918c308af908f3b75d3011c5cc0 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_e/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be6ea7b15f770a2cf11c71698e0ed2f46a2f29a5 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t3_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..25192b7faac9e5a171f989143caf8182c9b8382d --- /dev/null +++ b/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, + 222.248, + -0.012, + -150.838, + -0.0 + ], + [ + -7531.733, + -5238.627, + 222.248, + -0.012, + -125.838, + -0.0 + ], + [ + -7605.423, + -5340.658, + 200.822, + -0.012, + -125.838, + -0.0 + ], + [ + -7679.113, + -5442.689, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -7752.803, + -5544.72, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -7752.803, + -5544.72, + 197.913, + -0.012, + -150.838, + -0.0 + ], + [ + -7862.709, + -5606.049, + 197.913, + -0.012, + -150.838, + -0.0 + ], + [ + -7862.709, + -5606.049, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -7936.399, + -5708.079, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -8010.089, + -5810.11, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -8010.089, + -5810.11, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -7955.989, + -5735.204, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -7901.889, + -5660.297, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -7847.789, + -5585.391, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -7793.689, + -5510.485, + 197.913, + -0.012, + -125.838, + -0.0 + ], + [ + -7793.689, + -5510.485, + 197.913, + -0.012, + -100.838, + -0.0 + ], + [ + -7793.689, + -5510.485, + 197.913, + -0.012, + -75.838, + 0.0 + ], + [ + -7793.689, + -5510.485, + 197.913, + -0.012, + -50.838, + -0.0 + ], + [ + -7793.689, + -5510.485, + 197.913, + -0.012, + -25.838, + 0.0 + ], + [ + -7680.413, + -5565.337, + 197.913, + -0.012, + -25.838, + 0.0 + ], + [ + -7567.136, + -5620.19, + 197.913, + -0.012, + -25.838, + 0.0 + ], + [ + -7453.859, + -5675.043, + 197.913, + -0.012, + -25.838, + 0.0 + ], + [ + -7340.582, + -5729.896, + 197.913, + -0.012, + -25.838, + 0.0 + ], + [ + -7227.305, + -5784.749, + 197.913, + -0.012, + -25.838, + 0.0 + ], + [ + -7114.028, + -5839.602, + 197.913, + -0.012, + -25.838, + 0.0 + ], + [ + -7114.028, + -5839.602, + 197.913, + -0.012, + -50.838, + -0.0 + ], + [ + -7114.028, + -5839.602, + 197.913, + -0.012, + -75.838, + 0.0 + ], + [ + -7083.235, + -5961.636, + 197.913, + -0.012, + -75.838, + 0.0 + ], + [ + -7052.442, + -6083.67, + 197.913, + -0.012, + -75.838, + 0.0 + ], + [ + -7052.442, + -6083.67, + 197.913, + -0.012, + -100.838, + -0.0 + ], + [ + -7053.201, + -6189.282, + 198.148, + -0.012, + -100.838, + -0.0 + ], + [ + -7076.866, + -6312.896, + 198.148, + -0.012, + -100.838, + -0.0 + ], + [ + -7076.866, + -6312.896, + 198.148, + -0.012, + -100.838, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t3_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..71ae69ce39b9fe7db55c86839b52cdb99e40646c --- /dev/null +++ b/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, + "Start_Pose": [ + -6651.229, + -4564.563, + 227.746, + -0.012, + -125.838, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6651.229, + -4564.563, + 227.746, + -0.012, + -125.838, + 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 + ], + [ + -6958.882, + -6171.545, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -7032.572, + -6273.576, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -7032.572, + -6273.576, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -6978.472, + -6198.67, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -6924.372, + -6123.763, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -6870.272, + -6048.857, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -6816.173, + -5973.95, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -6816.173, + -5973.95, + 198.059, + -0.012, + -150.838, + -0.0 + ], + [ + -6816.173, + -5973.95, + 198.059, + -0.012, + -175.838, + -0.0 + ], + [ + -6816.173, + -5973.95, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -6933.799, + -5929.179, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -7051.426, + -5884.408, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -7169.052, + -5839.636, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -7286.679, + -5794.865, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -7404.305, + -5750.093, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -7521.932, + -5705.322, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -7639.559, + -5660.55, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -7757.185, + -5615.779, + 198.059, + -0.012, + 159.162, + -0.0 + ], + [ + -7757.185, + -5615.779, + 198.059, + -0.012, + -175.838, + -0.0 + ], + [ + -7882.712, + -5624.913, + 198.059, + -0.012, + -175.838, + -0.0 + ], + [ + -7882.712, + -5624.913, + 198.059, + -0.012, + -150.838, + -0.0 + ], + [ + -7882.712, + -5624.913, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -7956.402, + -5726.944, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -8030.092, + -5828.975, + 198.059, + -0.012, + -125.838, + -0.0 + ], + [ + -8030.092, + -5828.975, + 198.059, + -0.012, + -125.838, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t5_a_p/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006651_y-004565_z000228_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..63bc3e89d7e76be3a5e8c3bed942924b72530b83 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006916_y-000397_z000198_t1_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006916_y-000397_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ec9450947e3e59418b609ae2ffacd6e7d5e1876 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-006916_y-000397_z000198_t1_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-006916_y-000397_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..64375030d0e4c1a46734c7130f7da44502622471 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6d635128bc475dc06bd645dfb76657de1382a7ef --- /dev/null +++ b/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 + ], + [ + -7400.658, + -4825.268, + 228.275, + -0.012, + 123.762, + -0.0 + ], + [ + -7400.658, + -4825.268, + 228.275, + -0.012, + 98.762, + -0.0 + ], + [ + -7419.83, + -4700.877, + 228.275, + -0.012, + 98.762, + -0.0 + ], + [ + -7439.003, + -4576.487, + 232.544, + -0.012, + 98.762, + -0.0 + ], + [ + -7458.175, + -4452.097, + 264.794, + -0.012, + 98.762, + -0.0 + ], + [ + -7477.347, + -4327.707, + 258.427, + -0.012, + 98.762, + -0.0 + ], + [ + -7496.519, + -4203.317, + 241.224, + -0.012, + 98.762, + -0.0 + ], + [ + -7515.691, + -4078.926, + 230.192, + -0.012, + 98.762, + -0.0 + ], + [ + -7534.863, + -3954.536, + 228.275, + -0.012, + 98.762, + -0.0 + ], + [ + -7554.036, + -3830.146, + 228.275, + -0.012, + 98.762, + -0.0 + ], + [ + -7573.208, + -3705.756, + 246.401, + -0.012, + 98.762, + -0.0 + ], + [ + -7592.38, + -3581.366, + 271.22, + -0.012, + 98.762, + -0.0 + ], + [ + -7611.552, + -3456.976, + 276.273, + -0.012, + 98.762, + -0.0 + ], + [ + -7630.724, + -3332.585, + 257.984, + -0.012, + 98.762, + -0.0 + ], + [ + -7630.724, + -3332.585, + 257.984, + -0.012, + 73.762, + -0.0 + ], + [ + -7595.53, + -3211.747, + 238.322, + -0.012, + 73.762, + -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, + 220.932, + -0.012, + 73.762, + -0.0 + ], + [ + -7454.756, + -2728.394, + 226.039, + -0.012, + 73.762, + -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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a53cfb247014c00d3503ca440e1cafbc92997a6 --- /dev/null +++ b/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, + 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, + 148.762, + 0.0 + ], + [ + -7648.161, + -4550.731, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7755.773, + -4485.462, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7863.385, + -4420.192, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7970.997, + -4354.922, + 239.299, + -0.012, + 148.762, + 0.0 + ], + [ + -7970.997, + -4354.922, + 239.299, + -0.012, + 123.762, + 0.0 + ], + [ + -8040.943, + -4250.289, + 259.05, + -0.012, + 123.762, + 0.0 + ], + [ + -8110.888, + -4145.655, + 242.059, + -0.012, + 123.762, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_c/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..763b4a6e2c82bd14130b1157e9eec4d290e7fdb0 --- /dev/null +++ b/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 + ], + [ + -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 + ], + [ + -7610.495, + -4511.368, + 228.275, + -0.012, + 123.762, + -0.0 + ], + [ + -7680.44, + -4406.734, + 228.275, + -0.012, + 123.762, + -0.0 + ], + [ + -7750.385, + -4302.101, + 232.692, + -0.012, + 123.762, + -0.0 + ], + [ + -7820.331, + -4197.468, + 244.112, + -0.012, + 123.762, + -0.0 + ], + [ + -7890.276, + -4092.835, + 235.899, + -0.012, + 123.762, + -0.0 + ], + [ + -7960.222, + -3988.201, + 248.134, + -0.012, + 123.762, + -0.0 + ], + [ + -7960.222, + -3988.201, + 248.134, + -0.012, + 98.762, + -0.0 + ], + [ + -7979.394, + -3863.811, + 241.702, + -0.012, + 98.762, + -0.0 + ], + [ + -7998.566, + -3739.421, + 223.652, + -0.012, + 98.762, + -0.0 + ], + [ + -8017.738, + -3615.031, + 214.718, + -0.012, + 98.762, + -0.0 + ], + [ + -8036.91, + -3490.641, + 209.447, + -0.012, + 98.762, + -0.0 + ], + [ + -8036.91, + -3490.641, + 209.447, + -0.012, + 123.762, + 0.0 + ], + [ + -8106.856, + -3386.007, + 200.865, + -0.012, + 123.762, + 0.0 + ], + [ + -8106.856, + -3386.007, + 200.865, + -0.012, + 123.762, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_d/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eb90043de56669be626e06d39b94918856b6ba1c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_e/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7212297d42e7f3f471fb3b3d51eb2957b2df09a8 --- /dev/null +++ b/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, + -4596.244, + 228.275, + -0.012, + 98.762, + -0.0 + ], + [ + -7508.948, + -4471.854, + 237.807, + -0.012, + 98.762, + -0.0 + ], + [ + -7528.12, + -4347.464, + 238.758, + -0.012, + 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, + 236.971, + -0.012, + 98.762, + -0.0 + ], + [ + -7623.981, + -3725.513, + 258.629, + -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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t5_a_p/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b8432adeaf45e5a0bcbec21d6e03bef86bfcc25c --- /dev/null +++ b/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 + ], + [ + -7330.713, + -4929.901, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7438.325, + -4864.631, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7545.937, + -4799.361, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7653.549, + -4734.092, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7761.161, + -4668.822, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7868.773, + -4603.552, + 229.701, + -0.012, + 148.762, + 0.0 + ], + [ + -7976.385, + -4538.282, + 250.611, + -0.012, + 148.762, + 0.0 + ], + [ + -8083.997, + -4473.013, + 265.589, + -0.012, + 148.762, + 0.0 + ], + [ + -8083.997, + -4473.013, + 265.589, + -0.012, + 173.762, + 0.0 + ], + [ + -8209.111, + -4459.337, + 252.924, + -0.012, + 173.762, + 0.0 + ], + [ + -8209.111, + -4459.337, + 252.924, + -0.012, + 173.762, + 0.0 + ], + [ + -8334.225, + -4445.661, + 214.799, + -0.012, + 173.762, + 0.0 + ], + [ + -8334.225, + -4445.661, + 214.799, + -0.012, + 173.762, + 0.0 + ], + [ + -8334.225, + -4445.661, + 214.799, + 0.0, + 173.762, + -0.0 + ], + [ + -8334.225, + -4445.661, + 214.799, + 0.0, + 173.762, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8401.138, + -4362.615, + 168.263, + 0.0, + 0.0, + 0.0 + ], + [ + -8335.938, + -4466.955, + 184.976, + -28.202, + -136.093, + 1.862 + ], + [ + -8335.938, + -4466.955, + 184.976, + -28.202, + -136.093, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1211.5, + 1211.5, + 1085.8, + 960.3, + 834.8, + 709.5, + 584.3, + 459.6, + 335.8, + 335.8, + 215.0, + 215.0, + 106.6, + 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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t5_b_p/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-007331_y-004930_z000228_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1b8479de073545d974c61d051e0ad44bdaac9a8 --- /dev/null +++ b/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": [ + -7330.713, + -4929.901, + 228.25, + -0.012, + 123.762, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -8400.051, + -3940.726, + 130.835, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7330.713, + -4929.901, + 228.25, + -0.012, + 123.762, + 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, + 148.762, + 0.0 + ], + [ + -7578.216, + -4655.365, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7685.828, + -4590.095, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7793.44, + -4524.825, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -7901.052, + -4459.555, + 228.275, + -0.012, + 148.762, + 0.0 + ], + [ + -8008.664, + -4394.286, + 244.682, + -0.012, + 148.762, + 0.0 + ], + [ + -8116.276, + -4329.016, + 253.251, + -0.012, + 148.762, + 0.0 + ], + [ + -8116.276, + -4329.016, + 253.251, + -0.012, + 123.762, + 0.0 + ], + [ + -8186.221, + -4224.383, + 239.415, + -0.012, + 123.762, + 0.0 + ], + [ + -8256.167, + -4119.749, + 221.026, + -0.012, + 123.762, + 0.0 + ], + [ + -8326.112, + -4015.116, + 204.245, + -0.012, + 123.762, + 0.0 + ], + [ + -8326.112, + -4015.116, + 204.245, + 0.0, + 123.762, + -0.0 + ], + [ + -8326.112, + -4015.116, + 204.245, + 0.0, + 123.762, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8400.051, + -3940.726, + 130.835, + 0.0, + 0.0, + 0.0 + ], + [ + -8343.526, + -4027.491, + 173.971, + -28.202, + 173.907, + 1.862 + ], + [ + -8343.526, + -4027.491, + 173.971, + -28.202, + 173.907, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1456.7, + 1334.6, + 1213.3, + 1213.3, + 1089.1, + 965.3, + 842.1, + 719.8, + 599.1, + 480.9, + 480.9, + 355.2, + 229.7, + 104.9, + 21.4, + 21.4 + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e20633a4df32c38d16d4fa89c432459c71a38c1 --- /dev/null +++ b/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, + 6.726, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8152.355, + -58.472, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8260.01, + -123.671, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8367.665, + -188.869, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8475.32, + -254.067, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8582.976, + -319.266, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8690.631, + -384.464, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8690.631, + -384.464, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8815.754, + -398.057, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8940.877, + -411.65, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9066.0, + -425.242, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9191.122, + -438.835, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9316.245, + -452.428, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9316.245, + -452.428, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9435.39, + -411.868, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9554.534, + -371.307, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9554.534, + -371.307, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9679.657, + -384.9, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9801.935, + -394.158, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9801.935, + -394.158, + 198.145, + 0.0, + -173.8, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0dcb71b80d065c615e8ed3649f808ca8f55e6edf --- /dev/null +++ b/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": [ + -8044.699, + 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": [ + [ + -8044.699, + 6.726, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8152.355, + -58.472, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8152.355, + -58.472, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8277.477, + -72.065, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8402.6, + -85.658, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8527.723, + -99.25, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8652.846, + -112.843, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8777.969, + -126.436, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8777.969, + -126.436, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -8897.113, + -85.876, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9016.257, + -45.316, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9135.402, + -4.756, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9254.546, + 35.804, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9373.69, + 76.364, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9492.835, + 116.924, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9611.979, + 157.485, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9731.123, + 198.045, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9850.268, + 238.605, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9969.412, + 279.165, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10088.556, + 319.725, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10207.701, + 360.285, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10326.845, + 400.845, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10445.989, + 441.405, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10565.134, + 481.965, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10684.278, + 522.525, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10803.422, + 563.085, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10803.422, + 563.085, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -10928.545, + 549.492, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -11053.668, + 535.9, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -11178.791, + 522.307, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -11303.914, + 508.714, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -11303.914, + 508.714, + 198.145, + 0.0, + -173.8, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_c/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec974d14bb41d4fe68ba968700a9fa698b7e74c0 --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t2_c/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Head toward the second ground-floor window from left.", + "Type": 2, + "Start_Pose": [ + -8044.699, + 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", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8044.699, + 6.726, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8152.355, + -58.472, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8152.355, + -58.472, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8277.477, + -72.065, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8402.6, + -85.658, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8527.723, + -99.25, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8652.846, + -112.843, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8777.969, + -126.436, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -8777.969, + -126.436, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -8897.113, + -85.876, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9016.257, + -45.316, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9135.402, + -4.756, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9254.546, + 35.804, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9373.69, + 76.364, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9492.835, + 116.924, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9611.979, + 157.485, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9731.123, + 198.045, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -9731.123, + 198.045, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9856.246, + 184.452, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -9981.369, + 170.859, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -10106.492, + 157.267, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -10106.492, + 157.267, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10225.636, + 197.827, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10344.781, + 238.387, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10463.925, + 278.947, + 198.145, + 0.0, + 161.2, + -0.0 + ], + [ + -10463.925, + 278.947, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -10589.048, + 265.354, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -10714.171, + 251.761, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -10839.294, + 238.169, + 198.145, + 0.0, + -173.8, + 0.0 + ], + [ + -10839.294, + 238.169, + 198.145, + 0.0, + -173.8, + 0.0 + ] + ], + "Rationale": [ + "From here I can count the ground-floor windows running along the front of the pale block ahead, and the one I want is the second from the left end of that run; they all look alike, so I fix it as the rust-streaked opening just left of the block's near corner. It is still far off, so I walk straight ahead to close the gap.", + "Walking straight would carry me into the corner of the block rather than along its ground-floor frontage. Turning left should swing my heading toward the open ground beside the building, where the run of low windows continues and my target sits.", + "The turn has opened the ground to the left, with a tall tree and clear snow ahead and the block's ground-floor windows lined up along my right. This heading runs parallel to that frontage, so I step forward to advance toward the window I picked out.", + "The facade on my right is growing larger and its low windows are becoming clearer, which tells me the heading is good. Nothing blocks the snow ahead, so I keep walking to shorten the distance to my target window.", + "I am still short of the building front, with the ground-floor openings sliding past on my right at a steady angle. The path stays clear, so another step forward should bring me nearer the window I am aiming for.", + "The corner of the pale block and its rust-stained low windows are noticeably closer now, and the ground between remains open. I continue forward rather than turning, since my line already leads along this frontage.", + "A recessed doorway and the low windows on my right are close enough to read clearly, so I am nearly abreast of the building front. I take another step forward to reach the stretch of wall where my target window lies.", + "My heading now angles into the corner of the block instead of down its face, and the wall would cut me off if I kept going straight. Turning left should point me along the open lane beside the building so I can keep tracking its ground-floor windows toward the one I want.", + "The turn has cleared the corner, and a straight snow lane now opens between the brick building on my left and the pale block's flank on my right, its low windows spaced evenly along the base. Nothing stands in that lane, so I walk on to work my way toward the stained window I picked out.", + "The nearest low windows on my right have grown a little and the lane still runs clear beneath the tree. My heading needs no adjustment, so another step forward is the cheapest way to close on my window.", + "The tall tree sits off to the left of my line rather than across it, leaving the middle of the lane free. I keep walking straight instead of steering, since this course tracks the block's base where my window lies.", + "Window frames keep sliding past on my right at a steady spacing, which tells me I am moving along the frontage rather than into it. My target still lies further down this side, so I press on.", + "The pale wall on my right pulls slightly away as the lane widens, and the snow underfoot stays flat and open. That gives me room to continue at this heading, so I take another stride down the lane.", + "From this angle the openings beside me no longer read as a countable row, since the end I first judged from has swung out of view. I hold instead to the rust-stained window itself, still ahead along this base, and step forward again.", + "More trunks have come into view on the left, but they line the far side of the lane and leave my path untouched. I continue forward to bring the stretch of wall holding my window within reach.", + "The block's near end is starting to show ahead on my right, with a discoloured ground-floor window sitting just short of it. One more step down the lane should put me close enough to swing toward that face.", + "The lane ahead runs on into open snow and trees, while the stained window I am after sits on the block face off to my right. Holding this heading would carry me past it, so I pivot right to bring that face square in front of me before closing in.", + "The pivot has put the block face in front of me, with the rust-streaked triple window clear on its near wall. Untracked snow lies between us and nothing stands in the way, so I walk straight in.", + "The stained panes have grown large enough that I can make out the sill and frame, confirming this is the window I fixed on. The approach line stays unobstructed, so I take another stride toward it.", + "The window now dominates the wall to my right and the corner beside it is close, but I am still a few paces short of standing at it. I press on to eat up that remaining gap.", + "At this range my line runs almost flat into the corner of the wall, which would put me against the masonry rather than beside the window. Swinging left should point me down the open snow past that corner, keeping the frontage on my right where I can work along it.", + "The new heading clears the corner and leaves flat snow in front of me, with the building edge held off to my right. I step forward along it to gain the ground beside the face carrying my window.", + "The corner is drifting further right as I advance, opening more of the wall beyond it. That is the side I need to be abreast of, so I keep walking rather than turning yet.", + "I am nearly level with the corner now, and the ground-floor opening with its brown staining shows again on the wall to my right. One more step should set me far enough along to face it directly.", + "I am now clear of the corner, and the stained triple window sits on the wall to my right rather than ahead of me. Pivoting right should square my heading onto that face so I can walk straight in on it.", + "The pivot has set the discoloured window ahead and slightly left, with the dark recess of the building corner off to the right. Untracked snow lies between us, so I walk in to close the remaining distance.", + "The three panes with their brown staining now read clearly, sill and frame included, so my heading is landing on the right opening. I am still a couple of paces off the wall, so I step forward again.", + "The window now fills much of the wall beside me but I am still slightly short of standing at it. One more stride should bring me right up against its sill.", + "The rust-stained triple window fills my view at arm's length, its sill directly beside me. The task is complete, so there is nothing further to close." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t5_a_p/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e55cc10ddfde716e05ef1d11ae94fc78c2bbda3 --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x-008045_y000007_z000198_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the green bell pepper near the rightmost ground-floor window on the center building.", + "Type": 5, + "Start_Pose": [ + -8044.699, + 6.726, + 198.145, + 0, + -148.8, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -8747.571, + -833.723, + 153.148, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8044.699, + 6.726, + 198.145, + 0, + -148.8, + 0 + ], + [ + -8152.355, + -58.472, + 198.145, + 0.0, + -148.8, + 0.0 + ], + [ + -8152.355, + -58.472, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8222.369, + -163.059, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8292.384, + -267.646, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8362.399, + -372.233, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8432.414, + -476.82, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8502.429, + -581.407, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8572.443, + -685.994, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8642.458, + -790.58, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8642.458, + -790.58, + 198.145, + 0.0, + -123.8, + 0.0 + ], + [ + -8642.458, + -790.58, + 198.145, + 0.0, + -123.8, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.571, + -833.723, + 153.148, + 0.0, + 0.0, + 0.0 + ], + [ + -8624.374, + -801.953, + 168.255, + -28.202, + -73.656, + 1.862 + ], + [ + -8624.374, + -801.953, + 168.255, + -28.202, + -73.656, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1095.6, + 977.4, + 977.4, + 851.8, + 726.4, + 601.1, + 476.1, + 351.8, + 229.1, + 113.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The small green bell pepper sits on the ground at the base of the center building's corner, just under the rightmost ground-floor window, well ahead of me. It is far off and slightly right of my heading, so I will walk forward first to close the large open gap. Distance should shrink before any fine alignment matters.", + "The pepper now sits noticeably right of my view center, near the corner of the center building, so walking straight ahead would drift past it. I will turn right to bring the pepper and the rightmost ground-floor window closer to the middle of my view. That heading should let me approach in a straight line.", + "After the turn, the pepper sits close to the center of my view with the corridor between the buildings open ahead. Nothing blocks the snow-covered ground between us, so I will walk forward along this heading. Each step should reduce the remaining distance to the target.", + "The pepper has grown slightly larger and stays centered under the rightmost ground-floor window, confirming my heading is good. The path remains clear, so I will keep walking forward rather than adjust my facing. I still need considerably more distance closed before a grasp is plausible.", + "The pepper is still comfortably centered and the facade with its balcony overhang is filling more of my view, so my line is holding. I will continue walking forward to keep cutting the gap. No turn is needed while the target stays on this line.", + "The pepper now reads clearly as a bell pepper with its stem, sitting just below the rightmost ground-floor window, but it is still several strides away and low in my view. I will step forward again to close in. Reach range should come only after a few more steps.", + "The pepper is noticeably bigger and slightly left of center, sitting right beneath the window on the corner wall, yet still too far to grasp. My heading is close enough that another straight step is better than a turn. I will move forward to keep tightening the approach.", + "The bell pepper now dominates the lower part of my view directly under the rightmost ground-floor window, so only a short gap remains. I will take one more step forward to bring it fully within reach before attempting a grasp. Its position slightly left of center is still workable without turning.", + "The green bell pepper now fills a large part of my view, resting on the ground just beneath the rightmost ground-floor window of the center building. It still sits slightly ahead of me rather than at my feet, so a single step forward should close the last bit of distance and bring it into grasping range.", + "The pepper has dropped out of the center of my view and only its green shoulder shows at the lower left edge, which means it is now right beside my feet under the rightmost ground-floor window. My hands are still empty, so I will attempt the grasp from this contact range.", + "The green bell pepper is held in my hands and no longer resting on the ground. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..219263032b81e7a08a502f8f8aeab3290826f7c1 --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_a/infos.json @@ -0,0 +1,376 @@ +{ + "Instruction": "Walk to the tree trunk between the two buildings.", + "Type": 0, + "Start_Pose": [ + -8738.31, + 162.774, + 198.145, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8738.31, + 162.774, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -8842.553, + 233.299, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -8946.797, + 303.824, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9051.04, + 374.349, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9155.283, + 444.874, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9259.527, + 515.399, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9363.77, + 585.925, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9468.014, + 656.45, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9572.257, + 726.975, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9676.501, + 797.5, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9780.744, + 868.025, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9884.988, + 938.55, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9989.231, + 1009.075, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -10093.475, + 1079.6, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -10197.718, + 1150.125, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -10301.962, + 1220.65, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -10406.205, + 1291.175, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -10510.449, + 1361.7, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -10510.449, + 1361.7, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -10634.73, + 1381.563, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -10759.012, + 1401.425, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -10883.294, + 1421.287, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -11007.576, + 1441.149, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -11131.858, + 1461.012, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -11256.14, + 1480.874, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -11380.422, + 1500.736, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -11504.703, + 1520.598, + 198.145, + 0.0, + 170.92, + -0.0 + ], + [ + -11628.985, + 1540.461, + 197.376, + 0.0, + 170.92, + -0.0 + ], + [ + -11753.267, + 1560.323, + 197.376, + 0.0, + 170.92, + -0.0 + ], + [ + -11877.549, + 1580.185, + 197.376, + 0.0, + 170.92, + -0.0 + ], + [ + -12001.831, + 1600.047, + 197.376, + 0.0, + 170.92, + -0.0 + ], + [ + -12126.113, + 1619.91, + 197.376, + 0.0, + 170.92, + -0.0 + ], + [ + -12250.395, + 1639.772, + 197.376, + 0.0, + 170.92, + -0.0 + ], + [ + -12374.677, + 1659.634, + 197.376, + 0.0, + 170.92, + -0.0 + ], + [ + -12498.958, + 1679.496, + 197.376, + 0.0, + 170.92, + -0.0 + ], + [ + -12498.958, + 1679.496, + 197.376, + 0.0, + 170.92, + -0.0 + ] + ], + "Rationale": [ + "I can see the bare trunk standing in the snowy gap between the brick building on my left and the taller block on my right, which matches the target described in the task. It sits far ahead near the center of my view, so I will step forward across the open snow to begin closing that distance.", + "The trunk is slightly nearer and still roughly centered in the gap between the two buildings, so my heading remains usable. The snow between me and it looks clear, so I will keep walking forward.", + "The brick corner on my left and the balconied block on my right are both growing as I advance, confirming I am moving into the passage between them. The target trunk stays ahead in that opening, so another forward step should reduce the remaining distance.", + "The trunk is clearly closer now, with its bark and lower branches more distinct against the bright snowbank behind it. Nothing blocks the ground in front of me, so I continue straight toward it.", + "I am now entering the narrower space between the brick wall on my left and the block on my right, and the trunk still lies ahead in the middle of that opening. I keep stepping forward since the target is not yet within close range.", + "The trunk sits just right of center ahead of me and is noticeably taller in my view, so my current heading still leads toward it. I will take another step forward rather than adjust my direction yet.", + "Distant conifers on the slope beyond the trunk are becoming visible, which tells me I am nearly through the gap between the buildings. The target trunk remains ahead and reachable, so I continue forward.", + "The trunk now rises well above my line of sight and its base is plainly on the snow ahead of me, but I am still several paces short of standing beside it. I will keep advancing to close that remaining distance.", + "The target trunk stands clearly in the gap between the brick building on my left and the taller block on my right, and it now fills more of my view than before. The snow ahead is open and level, so I will keep stepping forward along this heading to close the remaining distance.", + "The trunk is slightly right of straight ahead and its base is becoming clearer against the sunlit slope, which tells me my heading is still good. I will continue forward rather than adjust, since nothing blocks the corridor between the two buildings.", + "The brick wall on my left is sliding past as I advance, and the target trunk keeps growing in front of me with its lower bark now distinct. Another step forward should keep shrinking the gap without any need to turn.", + "I am now entering the passage, with the brick facade tight on my left and the trunk standing just ahead in the opening. The trunk stays near the middle of my view, so continuing straight forward remains the most direct approach.", + "Beyond the corner of the brick building the snowy slope and its smaller trees are opening up, but the thick trunk ahead is still the tallest and nearest one, matching my target. I will step forward again to reduce the remaining distance to it.", + "The trunk's bark texture is becoming readable and its base sits a little right of my path, so I still have ground to cover but no correction to make yet. Moving forward should bring me closer while keeping the target comfortably in front of me.", + "The brick wall is nearly behind me on the left and the target trunk now rises well above my line of sight, confirming I am closing in. I keep walking forward since the trunk is still several strides away.", + "Only a thin strip of brick remains at my left as I clear the building corner, and the heavy trunk ahead and slightly right is clearly the one standing in this gap. I will press forward to keep shortening the distance before I settle at it.", + "The brick wall has slid out of my path on the left and the open snow ahead is clear, with the thick target trunk standing to the right of my heading between the built-up blocks. Nothing blocks the ground in front of me, so I will step forward again to keep closing the gap before adjusting my heading.", + "The heavy trunk I want is sitting well off to the right of my straight-ahead direction, while my path is aimed at the empty snow and the slimmer tree on the left. A small turn to the right should bring that thick trunk into the middle of my view so I can walk straight at it.", + "After the small rightward adjustment the tall trunk now stands almost straight ahead of me with unbroken snow between us, and the tall block edge appears at the right margin. With the heading lined up, I will move forward to begin closing the remaining distance.", + "The trunk is holding its position slightly left of center and its base is clearly visible on the snow, so my heading is still good. I will keep stepping forward since the ground ahead is level and free of obstructions.", + "The trunk continues to grow in my view and its foot sits just left of my line of travel, confirming I am still converging on it. Another forward step should shrink the remaining distance without needing any turn.", + "The bark texture on the target trunk is becoming distinct and the slope with the row of small conifers behind it is spreading wider, both signs that I am steadily nearing it. I will continue forward on this heading.", + "The trunk now fills a taller portion of my view and its base is only a short stretch of snow away, so I am close but not yet beside it. I will take another step forward to keep reducing that gap.", + "I am nearly at the trunk, with its rough bark dominating the middle of my view and the overhanging branches passing above me. Since I am not yet standing right at its base, I will move forward again to finish closing in.", + "The thick trunk of the target tree stands just left of straight ahead and its base is clearly visible on the open snow, so my heading is still good enough to keep closing in. The snow between me and the trunk is smooth and unobstructed, so I will step forward to shorten the remaining gap.", + "With each step the trunk grows wider and its bark texture becomes more distinct, confirming I am steadily reducing distance to it. It remains near the middle of my view, so another forward step should continue the approach without any turn.", + "The trunk now dominates the upper part of my view, but its base still sits several paces beyond my feet, so I am not yet close enough to call this reached. I will keep moving forward along the same line toward it.", + "The bark detail is becoming clearly readable and the base of the trunk is drifting lower in my view, both signs that I am closing steadily. Nothing blocks the flat snow in front of me, so I continue straight ahead.", + "I am close enough now that the trunk occupies a large slice of my view, yet a short stretch of snow still separates me from it. Another forward step should bring me nearly within arm's reach of the trunk.", + "The trunk's base is now low and near in my view, with the target still slightly left of my facing direction but easily within my forward path. I will take another step to finish closing that last bit of distance.", + "The bark is close enough that individual ridges and pale patches are sharp, so only a step or two of separation should remain. I keep moving forward to stand right at the trunk.", + "The trunk now looms directly in front of me and fills the left half of my view, but I judge I can still take one more step before I am truly beside it. I will advance a final short distance to reach the trunk itself.", + "The broad bark of the target trunk now fills the left half of my view and its base sits just a couple of paces ahead on the snow. I step forward again to close the last of that gap and stand right at the trunk.", + "The trunk's textured bark is now very close, filling much of the left side while its base sits barely a step in front of me. One more forward step should bring me directly alongside the trunk, close enough to count as reaching it.", + "The tree trunk's bark is directly beside me, filling the near left of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e9a99df89becaf8ccb391b8c0bfcc41ee7be4ed --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Head toward the glowing yellow window on the brick building.", + "Type": 0, + "Start_Pose": [ + -8738.31, + 162.774, + 198.145, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8738.31, + 162.774, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -8738.31, + 162.774, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -8802.981, + 270.747, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -8867.653, + 378.719, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -8932.324, + 486.692, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -8996.995, + 594.665, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9061.667, + 702.637, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9126.338, + 810.61, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9191.01, + 918.582, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9255.681, + 1026.555, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9320.353, + 1134.528, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9320.353, + 1134.528, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9333.334, + 1259.715, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9346.315, + 1384.903, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9359.296, + 1510.091, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9337.546, + 1611.48, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9337.546, + 1611.48, + 198.145, + 0.0, + 95.92, + -0.0 + ] + ], + "Rationale": [ + "I can see the glowing yellow window low on the brick wall to my left, beside a metal door, while my heading points down the open snowy gap between buildings. Turning left should swing that lit window toward the center of my view so I can walk straight at it.", + "The brick building with the glowing yellow window now sits ahead of me, with the window just left of the dark entry doors. Nothing but open snow lies between us, so I will step forward to begin closing the distance.", + "The facade has grown slightly larger and the yellow window is a bit brighter and clearer than before, so my heading is carrying me toward it. I will continue forward across the open snow.", + "The ground-floor windows and the door canopy are becoming more distinct as the wall fills more of my view. The glowing yellow window remains straight along my path, so another forward step should keep shrinking the gap.", + "I am now close enough that the bright pattern inside the yellow window is visible, and the balcony structure to its left is clearly resolved. I will keep walking forward since the target still lies on my heading.", + "The brick wall now spans most of my view and the glowing window sits noticeably larger, slightly left of the entrance doors. There is still a good stretch of snow between me and the wall, so I will advance again.", + "The base of the wall and the door threshold are clearly in view, and the yellow window's radiating pattern is sharp. I will step forward once more to reduce the remaining distance to the glowing window.", + "From here the entry doors and the lit window are large and close, though a few paces of snow still separate me from the brick wall. I will continue forward, keeping the glowing window in view as my reference.", + "The lit yellow window on the brick wall now sits left of the metal double door and its glow has grown noticeably brighter as I close in. My heading still points at this stretch of the facade with clear packed snow underfoot, so I will step forward again to cut the remaining distance.", + "The bricks and the door hardware are resolving in fine detail, so I am only a short distance from the wall, with the glowing window still off to my left. Another forward step should bring me nearly against the facade before I swing my heading onto the window itself.", + "I am now right in front of the recessed doorway, but the glowing yellow window is offset to my left rather than straight ahead. I will turn left so the lit window moves toward the center of my view and my heading points along the wall toward it.", + "After the turn, the glowing yellow window with its radiating bars is clearly ahead of me on the brick wall, with open snow along the building to walk on. I will step forward to keep closing on it.", + "The glowing window has grown larger and its bright spoke pattern is easy to make out, confirming my heading is carrying me toward it. I will take another step forward to shorten the gap.", + "The lit opening is now only a couple of paces away and its yellow glow spills onto the surrounding brick. I will continue forward to reach a position directly beside it.", + "The glowing window is very close, filling much of my view with its bright bars and wooden surround. One last short step should place me right at the window, which is where the task ends.", + "The glowing yellow window on the brick building now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_c/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..15f3b1e8c602f7797035b35e9c0f77adc76d842e --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t0_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Approach the gray metal door on the brick building.", + "Type": 0, + "Start_Pose": [ + -8738.31, + 162.774, + 198.145, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8738.31, + 162.774, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -8842.553, + 233.299, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -8946.797, + 303.824, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9051.04, + 374.349, + 198.145, + 0.0, + 145.92, + -0.0 + ], + [ + -9051.04, + 374.349, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9115.711, + 482.322, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9180.383, + 590.295, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9245.054, + 698.267, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9309.726, + 806.24, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9374.397, + 914.212, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9439.069, + 1022.185, + 198.145, + 0.0, + 120.92, + -0.0 + ], + [ + -9439.069, + 1022.185, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9452.05, + 1147.373, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9465.031, + 1272.561, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9472.368, + 1394.367, + 198.145, + 0.0, + 95.92, + -0.0 + ], + [ + -9472.368, + 1394.367, + 198.145, + 0.0, + 95.92, + -0.0 + ] + ], + "Rationale": [ + "I can see the gray metal double door set into the brick facade at the left, beside a brightly lit yellow window. The snowy courtyard ahead of me is open and clear, so I will move forward to begin closing the large gap to that entrance.", + "The brick building on my left has grown larger and the gray door beside the glowing window is now clearer, confirming I am heading the right way. The ground in front of me is still unobstructed, so I will continue forward to keep reducing the distance.", + "The gray metal door and its recessed canopy are now clearly resolved on the left side of my view, but the door is still well off to the side and some distance away. I will take another step forward across the open snow before adjusting my heading.", + "My forward heading is carrying me past the building corner, and the gray metal door sits far to the left of my view rather than in front of me. I will turn left so the door and its brick facade move toward the center of my view and my approach can go straight at it.", + "After reorienting, the brick facade with the gray metal door and the lit window now fills the middle of my view. With the door roughly ahead and open snow between us, I will move forward to close the remaining distance.", + "The gray door under its canopy is noticeably nearer and still sits ahead of me, slightly left of center. Nothing blocks the path, so I will keep stepping forward toward it.", + "The brick wall now occupies most of my view and the gray metal door with its handle is clearly readable, so I am getting close but not yet within reach. I will advance again to bring myself right up to the entrance.", + "The gray metal door is large in my view now, with its recessed frame and handle distinct just ahead and slightly left. I will move forward once more to shorten the remaining gap to the doorway.", + "The gray metal double door under the brick building's overhang is clearly in view slightly left of my heading, and the snow ahead of me is open and flat. I will keep moving forward to close the remaining distance to that entrance.", + "The door and its dark canopy now fill a large part of the left side of my view, so I am close but still not at the doorway. Another forward step should bring me nearer to the door face before I refine my heading.", + "My forward heading has drifted along the brick facade, so the wall now dominates the center and right while the gray door sits at the far left edge. I will turn left to bring the doorway back toward the middle of my view for a straight final approach.", + "After turning, the gray metal door is back in the center of my view with clear pavement leading up to it. I will move forward along this heading to close the last stretch toward the entrance.", + "The door panels and their handle are now large and directly ahead of me, but I still have a short gap of ground to cover. I will step forward again to get within reaching distance of the door.", + "The metal door surface now dominates my view and I am nearly against it, with only a small remaining gap. One more short forward step should place me directly at the door, close enough to count as reached.", + "The gray metal door fills my view with its handle right in front of me at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t3_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..72c06f53dae400b30ace72eef7da11d2bc353c00 --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t3_a/infos.json @@ -0,0 +1,606 @@ +{ + "Instruction": "Walk to the illuminated yellow window, then head toward the tree trunk.", + "Type": 3, + "Start_Pose": [ + -8738.31, + 162.774, + 198.145, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + 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The window is my nearer goal, so I will walk forward across the snow to begin closing that gap.", + "The lit yellow window sits well off to the left side of my view while my heading points into the empty gap between the buildings. I will turn left so the brick wall and its glowing window come nearer the center of my path.", + "The turn brought the brick building squarely in front of me, with the yellow window glowing beside the metal door on its ground floor. The snow between us is clear, so I will walk straight ahead to close the distance.", + "The lit window has grown a little larger and stays roughly ahead of me, so my heading is still good. I will keep walking forward toward it.", + "The facade now fills more of my view and the yellow window with its sunburst bars is clearly resolved beside the door. There is still open ground between me and the wall, so another step forward should bring me nearer.", + "The glowing window and the door beside it are noticeably closer, though I am not yet up against the wall. I will advance again to keep shrinking that distance.", + "The brick wall now dominates my view and the yellow window sits just left of center at eye height. I still have some ground to cover before I am truly beside it, so I will step forward once more.", + "The bright window has drifted toward the left of my view as the wall grows nearer, which tells me I am nearly alongside it. I will take another step forward to draw level with the glowing pane.", + "The brick wall now fills most of my view, with the glowing yellow window sitting off to my left and the big metal door directly ahead of me. Continuing straight would carry me into the door instead of the lit window. I will turn left to put that yellow glow in front of me before walking on.", + "After the turn the glowing yellow window sits near the middle of my view, with open snow on my left and the wall running away to my right. My heading is now clean toward that light. I will walk forward to close the remaining gap along the facade.", + "The lit window has grown noticeably larger and stays just left of my center, so the last step gained real ground. Nothing blocks the packed snow between me and the wall. I will keep walking forward toward that glow.", + "The window's yellow panes now show their sunburst bars clearly and the rusted door has slid off to my right edge, confirming I am tracking straight at the light. The remaining distance is still several strides. I will advance again.", + "The glowing window is close enough now that its wooden frame and bright center disc stand out against the brick. I am not yet at the wall, so a further step should tighten the approach. I will move forward again.", + "The lit window fills a large part of my view and the wall is angling steeply past me, meaning only a short stretch of snow remains. I want to be right up at that glow before turning my attention elsewhere. I will step forward once more.", + "The yellow window is now huge in front of me, its glazing bars casting light across the bricks at arm's length scale. One more step should bring me flush against it. I will walk forward.", + "The glowing yellow panes and their wooden bars now fill nearly my whole view, so I am standing right at the illuminated window. I have arrived at it. I mark reaching this window, and now I set off for the tree trunk out in the snow.", + "The glowing yellow window fills my whole view, so close that its frame is almost against my face and I can see nothing else. With that stop behind me and the tree still to reach, I will step back from the brick wall to open enough clearance to swing around safely.", + "Backing off worked, and the window now sits framed in the brick facade with a little space in front of me. The wall runs across my heading and no tree is visible from here, so I will begin turning right to sweep my view off the building and toward the open snow.", + "The window has slid to the left side of my view and bare brick now dominates the right. That means my rotation is carrying me along the facade as intended, so I will keep turning right toward wherever the wall ends.", + "Only a sliver of the yellow frame remains at my left edge while brick covers nearly everything, with a dark metal edge appearing on the right. That darker edge suggests the building's doorway and corner lie further round, so I will continue turning right.", + "The lit window is gone from view and a large rusted metal door now occupies the right side against the brickwork. I still see no open ground, so I will keep rotating right to bring the yard beyond this facade into view.", + "The metal door is centred now and a strip of snow with a distant balconied building has appeared past its right edge. That opening is where I can walk freely, so I will turn right again to put it ahead of me.", + "The doorway has shifted to my left and open snow with tall facades now fills the right half of my view. One more turn to the right should place that clear stretch of yard squarely in front of me before I start walking.", + "I am now facing away from the brick wall, with unbroken snow ahead and the tall balconied blocks across the yard. Nothing obstructs my path, so I will walk forward to leave this corner and open up a view where a tree trunk may stand.", + "With the lit window behind me, I am crossing open snow toward the pale apartment blocks, and the brick wall on my left is falling away. No tall tree is in sight yet from here, so I will keep walking forward to reach the open ground past this yard.", + "The tan blocks with green balconies are noticeably larger and their ground-floor doors now read clearly, so my forward steps are gaining real distance. The snow ahead is still flat and clear, so I will advance again to reach the gap where the yard opens out.", + "The block facade now fills most of my view, which tells me I am close to the far side of this yard. There is still clear snow between me and the wall, so I will take another step forward before I need to change heading.", + "The apartment wall and its doorways are close in front of me now, so continuing straight would only bring me against the facade. The yard looks like it opens out past the corner on my left, so I will turn left to face that way and look for the tree.", + "The turn has opened a bright snowy slope with conifers at my left edge, past the corner of the block. That is the open ground I want, so I will walk forward along the building to bring more of it into view.", + "The building still occupies the whole right and center of my view, while the open snow and the crowns of trees sit off to my left. I will turn left to swing my heading onto that open side, where a trunk should come into view.", + "A tall bare trunk with a broad snowy crown now stands clearly on the open slope to my left front, past the corner of the block. That is the tree I am heading for, so I will step forward to close the wide stretch of snow between us.", + "The trunk sits well off to the left of my heading while the apartment block still takes up the right of my view, so walking straight would carry me past it. I will turn left to put the trunk closer to the center of my path.", + "The bare tree trunk now stands clearly in the gap ahead, slightly left of center, with open snow between me and it. The brick wall on my left and the apartment block on my right leave a clear lane, so I will walk forward toward the trunk.", + "The trunk has grown noticeably larger and remains just left of my heading, confirming my line is good. Nothing blocks the packed snow in front of me, so another step forward should close more of the remaining distance.", + "I am passing the corner of the brick wall on my left and the trunk sits comfortably within my forward view. The open slope beyond gives me plenty of room, so I keep walking straight toward the trunk.", + "The trunk keeps growing in front of me and a second slimmer trunk has appeared on my far left, so I keep my attention on the thick one ahead. The snow between us is flat and clear, so I advance again.", + "The apartment block is sliding further to my right edge while the trunk holds near the middle of my view, which tells me my heading is still aimed at it. I will step forward again to keep shrinking the gap.", + "The trunk's base and bark texture are becoming distinct, so I am clearly gaining on it. The ground ahead stays open snow, so I continue walking straight toward it.", + "The trunk now rises well above my view with its foot planted on the snow just ahead and slightly left. Still a fair stretch of ground remains, so I take another step toward it.", + "The trunk dominates the left part of my view and the buildings have nearly left the frame, so only open snow separates me from it. I keep advancing to bring myself close beside the trunk.", + "The bare tree trunk stands ahead and slightly left on the open snow, with the apartment block now sliding off the right edge of my view. Nothing blocks the flat snow between us, so I will keep walking straight to close the remaining gap.", + "The trunk has grown noticeably wider and its bark texture is clearer, confirming my heading is carrying me toward it. The snow field ahead stays clear, so another forward step should bring me closer still.", + "The buildings have dropped out of view entirely and only the trunk and the wooded slope remain in front of me. It sits close to my line of travel, so I continue advancing rather than adjusting my heading.", + "The trunk now fills a good part of the left-center of my view and its base is plainly visible on the snow. My alignment is still good enough that a straight step should shorten the distance without any turn.", + "Each step is visibly enlarging the trunk, and the overhanging branches now spread across the top of my view. I am still several strides short of standing beside it, so I press forward again.", + "The bark detail is sharp and the trunk's flare where it meets the snow is easy to read, telling me I am closing in. The ground between us is unbroken snow, so I keep advancing along the same line.", + "The trunk dominates the left half of my view but I am not yet close enough to call myself standing at it. Another straight step should carry me nearer before I fine tune my facing.", + "The trunk looms large and slightly to my left, with only a short stretch of snow left before its base. I take another step forward to keep tightening the distance to it.", + "The thick bark trunk I am heading for stands off to the left of my current heading, with open snow straight ahead of me. Turning left should bring that trunk into the middle of my view so I can walk straight at it.", + "The heavy trunk now sits near the center of my view with clear snow between us. I will walk straight ahead to cut down that remaining distance.", + "The trunk has grown wider in front of me, so my heading is carrying me toward it. Another step forward should keep closing on it.", + "The bark texture is clearly resolved now and the trunk fills a good part of my view, yet I am still several strides short of it. I keep walking straight ahead.", + "The base of the trunk where it meets the snow is visible ahead and slightly right of my line. The ground is flat and open, so I advance again.", + "The trunk now towers over the near ground and its foot is only a short walk away. I step forward once more to reach it.", + "As I have closed in, the trunk has drifted to the right of my straight-ahead line rather than staying centered. A turn to the right should put it back in front of me before I cover the last stretch.", + "The trunk is squarely ahead of me now, its base sitting just beyond a short patch of snow. I walk forward to close that last gap.", + "The thick bark of the trunk now fills the left side of my view and its base sits just ahead on the snow. One more step should bring me right up against it.", + "The tree trunk stands directly beside me, its bark filling my view at arm's length. The task is complete, so there is no reason to keep walking." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t3_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69350521491e7558d8023cf95ff469b32dbce072 --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x-008738_y000163_z000198_t3_b/infos.json @@ -0,0 +1,526 @@ +{ + "Instruction": "Approach the gray door on the brick building, then move to the tree.", + "Type": 3, + "Start_Pose": [ + -8738.31, + 162.774, + 198.145, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + 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[ + -12447.002, + 1805.364, + 197.373, + 0.0, + 145.92, + -0.0 + ] + ], + "Rationale": [ + "The gray double door sits at the base of the brick building ahead on my left, with open snow between us. Nothing blocks the ground in front of me, so I will walk forward to begin closing that gap.", + "The brick facade and its gray door have grown slightly larger, confirming my heading is carrying me toward them. I will keep walking forward since the snow ahead is still clear.", + "The gray door and the lit window beside it are noticeably closer, though they sit off to my left of straight ahead. Another forward step should shorten the remaining distance before I need to correct my heading.", + "The gray door has drifted well to the left edge of my view while my heading points at open snow and the far tree. I will turn left so the door comes into the center of my path and I can keep walking straight at it.", + "The turn worked, and the brick corner with its gray door now sits squarely ahead of me. With clear snow between us, I will step forward to close on the doorway.", + "The doorway with its overhanging canopy is filling more of my view, so my heading is good. I will continue walking forward to shrink the remaining distance to it.", + "The gray metal door and the brick wall now dominate the left half of my view, and the ground in front stays open. Another forward stride should bring me closer to standing at the entrance.", + "The doorway is close enough that I can pick out its seam and handle, but I am still short of the wall. I will keep advancing toward the entrance while the snow ahead remains clear.", + "The gray double door on the brick facade now stands just left of center and fills a good part of my view, so I still have a short stretch of snow to cover. I will walk forward again to close that remaining gap toward the doorway.", + "As I closed in, the gray door slid toward the left edge while the blank brick wall took over the right side of my view. I will turn left so the doorway comes back toward the middle of my heading before I continue.", + "The turn brought the gray door back into the center-right of my view, with clear snow leading up to it. I will step forward to shorten the distance to that entrance.", + "The door and its overhanging canopy are noticeably larger now, so I am nearly at the wall but not yet beside it. Another step forward should bring me within touching range of the entrance.", + "I am close to the facade, but the gray door now sits off to the right of my heading with the lit window swinging into the left of my view. I will turn right to square myself onto the door before stepping in.", + "The gray metal door is squarely ahead of me with its handle at chest height and only a short strip of snow left at its threshold. I will walk forward to stand right at the entrance.", + "The gray metal door fills my view at arm's length, its handle and weathered panels right in front of me against the brick. I have reached the gray door on the brick building. I mark reaching it, and now I set off for the tall tree out in the open snow.", + "Standing this tight against the door leaves the brick wall pressed into the right of my view and almost nothing else visible. I will step back to open up room so I can swing around toward the tree without scraping the facade.", + "The gray metal door of the brick building is right in front of me and I have already been there, so nothing more is needed at this wall. The tree I still have to reach is nowhere in this narrow corner view. I will turn right to swing my heading away from the facade and open up the ground beyond it.", + "Only the door's edge and a broad expanse of brick fill my view, so I am still facing the building. That gives me no route and no sight of the tree. I will keep turning right to bring my heading further around toward open ground.", + "The brick face is sliding leftward and a strip of snow with distant apartment blocks is appearing at the right. The turn is working, but the wall still blocks most of my forward path. Another right turn should clear the corner and put the open yard in front of me.", + "The corner of the brick building is now on my left and the snowy courtyard with the pale block opposite spreads across the right half of my view. My heading is still angled into the wall rather than into that open space. One more right turn should line me up to walk out across the snow.", + "The brick wall is now only a slab at my left edge and clear snow stretches ahead toward the tall balconied block. Nothing obstructs a straight walk out of this corner. I will step forward to cross the open yard and look for the tree past these buildings.", + "The pale apartment block with green balconies has grown noticeably larger, confirming I am gaining ground across the yard. The snow ahead is still clear and level. I will keep walking forward to reach the gap alongside that block.", + "Straight ahead the apartment block now fills my view, while dark foliage and a snowy slope show at the upper left. That leafy edge is where the open ground and the tree lie, not through the wall in front of me. I will turn left to bring that side of the scene into view.", + "The turn has brought a large broad trunked tree into clear view on my left, standing alone on the snow beside the building. It is still a good distance off, with unbroken snow between us. I will walk forward to close that gap toward it.", + "The broad tree with the pale canopy stands off toward the left edge of my view while the apartment block occupies the middle of my heading. Turning left should swing that tree toward the center so I can walk a straight line to it across the open snow.", + "The big tree now sits ahead and slightly left, with unbroken snow between me and its trunk. Walking forward on this heading should shorten that gap without needing another turn.", + "The tree's canopy has grown noticeably wider in my view and the brick wall on my left is sliding past. The path ahead is still open snow, so I keep walking straight toward the trunk.", + "I have cleared the brick corner and the tall trunk stands plainly ahead of me with the snowy slope behind it. Another step forward should keep closing on it along this same line.", + "The trunk is thicker in my view and its overhanging branches are starting to reach across the top of my sight. Nothing blocks the snow between us, so I continue advancing toward it.", + "The tree remains just left of my forward direction and is steadily growing larger with each step. I keep walking forward rather than adjusting, since my heading already carries me to its base.", + "The apartment block on my right has shrunk toward the edge while the tree now dominates the left half of my view. Continuing forward should bring me within a few paces of its trunk.", + "The trunk is close enough now that its bark texture and the shadow it casts on the snow are distinct. The ground in front of me is clear, so I take another step toward the tree.", + "The broad tree with the thick bare trunk stands ahead and slightly left, with open snow between us and no obstruction in my path. My heading already points into that gap, so I will keep walking straight to shorten the distance.", + "The trunk and its overhanging branches now fill more of my view than a moment ago, confirming the last step closed distance. Nothing blocks the snow between me and it, so another forward step should bring me nearer still.", + "The apartment block has slipped almost entirely off my right edge while the big tree dominates the scene ahead. My line is good and the ground stays flat and open, so I continue advancing toward the trunk.", + "Only the snowy slope and its row of conifers remain beyond the big tree, which sits just left of my heading and keeps growing. There is still a stretch of open ground to cover, so I take another step forward.", + "The trunk is now clearly wide in front of me and its shadow stretches across the snow toward my feet. I am not yet close enough to call it reached, so I keep walking straight at it.", + "The bark texture on the trunk is becoming distinct, which tells me the gap is closing steadily. The approach lane is empty snow, so another forward step is the direct way to keep gaining ground.", + "The tree now rises well above my view with its lower branches spreading overhead on the left. Several strides of open snow still separate me from its base, so I press forward.", + "The trunk is thick and close, standing just left of my centerline with clear snow at its foot. I am not yet standing at the tree, so I continue advancing to close the remaining gap.", + "The broad trunk of the big deciduous tree stands just left of my heading and its bark now fills a good part of my view, so open snow is all that separates us. I will walk forward again to keep cutting that distance down.", + "After the last step the trunk has drifted toward the left edge of my view rather than sitting ahead of me, so walking straight would carry me past its side. I will turn left to swing my heading back onto the trunk before advancing further.", + "The turn has brought the thick trunk near the middle of my view with clear snow beneath it. With my heading now on the tree, I will step forward to close the remaining gap.", + "The trunk is holding steady near the center of my view and its bark texture is becoming sharper, which tells me the heading is good and I am gaining ground. I will keep walking straight toward it.", + "The trunk now spans a wide band of my view and its base sits plainly on the snow ahead, so I am within a few paces. Nothing blocks the ground between us, so I will advance again.", + "The tree's base fills the middle of my view and the flare where it meets the snow is clearly resolved. I will take another step forward to bring myself right up beside it.", + "Only a short stretch of snow remains between me and the wide bark of the trunk, which now dominates the center of my view. I will keep stepping forward to stand at the foot of the tree.", + "The bark now stretches across most of my view and its base is very near my feet, so I am nearly against the tree. One more forward step should close that last bit of distance.", + "The broad trunk now fills the right half of my view with its bark texture clearly resolved, so only a short gap of snow still separates me from it. I will step forward once more to close that last bit of distance and stand right at the tree.", + "The tree trunk stands directly beside me, filling my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..584199fd013b72f83ab878d963751a71ea1699d3 --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_a/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Walk to the open doorway of the brick building, then head toward the bare tree.", + "Type": 3, + "Start_Pose": [ + 3602.15, + 5899.664, + 1343.26, + -0.012, + -101.838, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3602.15, + 5899.664, + 1343.26, + -0.012, + -101.838, + 0.0 + ], + [ + 3576.331, + 5776.482, + 1311.784, + -0.012, + -101.838, + -0.0 + ], + [ + 3550.511, + 5653.3, + 1293.097, + -0.012, + -101.838, + -0.0 + ], + [ + 3550.511, + 5653.3, + 1293.097, + -0.012, + -76.838, + -0.0 + ], + [ + 3579.17, + 5530.747, + 1266.291, + -0.012, + -76.838, + -0.0 + ], + [ + 3607.829, + 5408.194, + 1258.15, + -0.012, + -76.838, + -0.0 + ], + [ + 3636.487, + 5285.642, + 1258.15, + -0.012, + -76.838, + -0.0 + ], + [ + 3636.487, + 5285.642, + 1258.15, + -0.012, + -51.838, + -0.0 + ], + [ + 3714.254, + 5186.683, + 1264.786, + -0.012, + -51.838, + -0.0 + ], + [ + 3792.021, + 5087.724, + 1270.745, + -0.012, + -51.838, + -0.0 + ], + [ + 3792.021, + 5087.724, + 1270.745, + -0.012, + -51.838, + -0.0 + ], + [ + 3734.928, + 5160.375, + 1265.359, + -0.012, + -51.838, + -0.0 + ], + [ + 3734.928, + 5160.375, + 1265.359, + -0.012, + -76.838, + -0.0 + ], + [ + 3734.928, + 5160.375, + 1265.359, + -0.012, + -101.838, + -0.0 + ], + [ + 3734.928, + 5160.375, + 1265.359, + -0.012, + -126.838, + -0.0 + ], + [ + 3734.928, + 5160.375, + 1265.359, + -0.012, + -151.838, + 0.0 + ], + [ + 3734.928, + 5160.375, + 1265.359, + -0.012, + -176.838, + 0.0 + ], + [ + 3609.261, + 5153.433, + 1280.432, + -0.012, + -176.838, + 0.0 + ], + [ + 3483.593, + 5146.491, + 1288.54, + -0.012, + -176.838, + 0.0 + ], + [ + 3357.926, + 5139.548, + 1290.289, + -0.012, + -176.838, + 0.0 + ], + [ + 3232.258, + 5132.606, + 1290.289, + -0.012, + -176.838, + 0.0 + ], + [ + 3106.591, + 5125.664, + 1289.23, + -0.012, + -176.838, + 0.0 + ], + [ + 2980.924, + 5118.721, + 1289.853, + -0.012, + -176.838, + 0.0 + ], + [ + 2980.924, + 5118.721, + 1289.853, + -0.012, + -151.838, + 0.0 + ], + [ + 2869.964, + 5059.32, + 1290.249, + -0.012, + -151.838, + 0.0 + ], + [ + 2759.005, + 4999.919, + 1290.183, + -0.012, + -151.838, + 0.0 + ], + [ + 2648.045, + 4940.518, + 1290.152, + -0.012, + -151.838, + 0.0 + ], + [ + 2537.086, + 4881.117, + 1290.084, + -0.012, + -151.838, + 0.0 + ], + [ + 2426.127, + 4821.715, + 1293.1, + -0.012, + -151.838, + 0.0 + ], + [ + 2315.167, + 4762.314, + 1302.954, + -0.012, + -151.838, + 0.0 + ], + [ + 2204.208, + 4702.913, + 1330.226, + -0.012, + -151.838, + 0.0 + ], + [ + 2093.248, + 4643.512, + 1332.534, + -0.012, + -151.838, + 0.0 + ], + [ + 1982.289, + 4584.111, + 1304.737, + -0.012, + -151.838, + 0.0 + ], + [ + 1871.33, + 4524.709, + 1315.704, + -0.012, + -151.838, + 0.0 + ], + [ + 1760.37, + 4465.308, + 1292.011, + -0.012, + -151.838, + 0.0 + ], + [ + 1649.411, + 4405.907, + 1294.828, + -0.012, + -151.838, + 0.0 + ], + [ + 1649.411, + 4405.907, + 1294.828, + -0.012, + -151.838, + 0.0 + ] + ], + "Rationale": [ + "The brick house stands ahead across the snow, and its open doorway glows on the right side of the facade. Nothing blocks the snowy ground between me and the wall, so I will walk straight ahead to close the gap toward that doorway.", + "The brick wall and its lit open doorway have grown larger, confirming my heading is carrying me toward the house. The ground remains clear, so I will keep walking forward to shorten the distance.", + "The open doorway now sits well to my right while my heading points at the blank windowed wall. I will turn right to bring that doorway more directly in front of me before continuing.", + "The dark open doorway now sits closer to the middle of my view with sunlight spilling across its threshold. With the approach clear, I will walk forward to draw nearer to the opening.", + "The doorframe and its swung open door fill more of my view, so I am steadily closing on the entrance. I will continue walking forward toward it.", + "The opening is close now, with the interior wall and lamp visible through the frame. I will step forward again to reach the threshold of the doorway.", + "The doorway has drifted toward the right of my view as I came up along the wall, so my heading no longer faces the opening squarely. I will turn right to square up with the entrance.", + "The doorway now sits ahead of me with the lit interior plainly visible through the frame. I will walk forward the remaining short distance to stand at the opening.", + "The open doorway of the brick building now fills most of my view, its heavy leaf swung wide to my left and the lit interior visible past the jamb. Only a short strip of snow still separates me from the threshold, so I will walk forward again to close that last gap.", + "I am standing right in the open doorway of the brick building, with the frame on either side of me and the lit room and stairway plainly visible inside. I have reached this doorway. I mark reaching it, and now my heading belongs to the bare tree out on the snow.", + "Pressed up against the threshold, the door leaf and brick jamb crowd both edges of my view and leave me almost no room to swing my heading. Stepping back should put some distance between me and the wall so I can turn freely toward the bare tree out on the open snow.", + "I now have a little clearance from the threshold, but the doorway and its swung leaf still occupy nearly everything ahead of me. Turning left should start swinging my heading away from the opening and back toward the open snowfield where the bare tree stands.", + "The swing has brought the brick wall and a lit window into the left half of my view while the door opening slides toward the right. There is still no open ground in front of me, so I will keep rotating left along the building face.", + "Straight ahead of me there is only brick wall and a fogged window, with the doorway now edged off to my right. That heading leads nowhere useful, so another left turn should carry my view further along the wall toward the open ground beyond it.", + "The wall is starting to run away from me at an angle and snow with bare branches is appearing at the left edge of my view. I will turn left again to bring that open, sunlit ground more squarely in front of me.", + "Open snow and scattered trees now cover most of my left side, while the brick wall has slid off to my right. One more turn left should put that clear stretch of ground squarely ahead so I can set off across it toward the bare tree.", + "The brick wall now runs along my right and open snow stretches ahead, so nothing blocks a walk out from the entrance side of the building. I step forward to clear the corner of the wall, which should open up the ground beyond where the bare tree stands.", + "Past the building corner a leafless crown of dark branches has come into view above the snow on my right, distinct from the frosted evergreens on the left. I keep walking forward so that bare tree clears the wall completely and I can judge my line to it.", + "The bare tree now shows its full trunk and branch structure just beyond the building corner, slightly right of my heading. The snow between us is flat and unobstructed, so I continue forward to close the gap.", + "The brick wall has dropped back to the far right and the bare tree stands clear against the sky ahead of me, growing larger with each step. I walk forward again to keep shortening the distance across the open snow.", + "I am fully out on the snowfield now, with the bare tree filling the upper right of my view and its trunk clearly rooted ahead of me. Forward is still the most direct line, so I step on toward it.", + "The bare tree's trunk is close enough that I can pick out its bark and the low buildings behind it, though it sits toward the right of my heading. The snow ahead stays clear, so I advance again before correcting my aim.", + "My straight walking has carried the bare tree out to the right edge of my view, where it is drifting off my heading. I turn right to swing it back toward the middle so I can continue straight at it.", + "The turn worked and the bare tree now stands squarely ahead of me, its trunk centered against the snow. With the line corrected and the ground clear, I walk forward to close on it.", + "The leafless tree stands ahead of me, just right of center, with its dark trunk rising above the open snow field. Nothing blocks the gently rolling snow between us, so I will keep walking straight to close the remaining distance.", + "The bare tree now fills more of my view and its trunk sits almost dead ahead, confirming my heading is good. I will step forward again along the smooth snow rather than adjust my facing.", + "The tree's branching crown now spreads across the upper part of my view and its base is clearly visible on the snow. Since the line to it stays clear, I keep advancing straight toward the trunk.", + "The bare branches reach past the top edge of my view and the trunk is thickening ahead of me, so I am steadily closing in. A few more strides on the packed snow should bring me right up to it.", + "The trunk sits directly in front of me with dry stalks poking through the snow at my feet, none of them tall enough to impede walking. I continue forward to shorten the last stretch toward the tree.", + "The gnarled trunk and its low branches now dominate the center of my view, so I am only a short distance away. I step forward again to arrive properly beneath the bare tree.", + "The trunk looms large ahead and a snow covered bench has come into view at its base, marking the ground right beside the tree. I keep walking forward to reach that spot.", + "The bare tree's split trunk is directly before me with the bench just to my left, so I stand almost at its foot. One more step forward should place me right at the tree.", + "The bare tree's split trunk now fills the middle of my view, with the snow-covered bench just left of its base. Nothing blocks the packed snow in front of me, so I will keep walking straight to close the last stretch to the trunk.", + "The bark texture of the leafless trunk is now clearly resolved and the bench beside it has grown noticeably larger, so I am only a couple of paces away. I will step forward again to stand right at the tree.", + "The trunk and its lower fork now occupy most of my forward view, and the ground between me and its snowy base is a short clear span. One more step forward should bring me right up beside the bare tree.", + "The bare tree's trunk stands directly before me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_b/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1358950ec4ff5a2fe647003eccc0ecaa9c76bfd --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the ground-floor window on the left, then proceed to he open doorway of the brick building.", + "Type": 3, + "Start_Pose": [ + 3602.15, + 5899.664, + 1343.26, + -0.012, + -101.838, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3602.15, + 5899.664, + 1343.26, + -0.012, + -101.838, + 0.0 + ], + [ + 3576.331, + 5776.482, + 1311.784, + -0.012, + -101.838, + -0.0 + ], + [ + 3550.511, + 5653.3, + 1293.097, + -0.012, + -101.838, + -0.0 + ], + [ + 3524.692, + 5530.118, + 1263.969, + -0.012, + -101.838, + -0.0 + ], + [ + 3498.872, + 5406.935, + 1258.042, + -0.012, + -101.838, + -0.0 + ], + [ + 3473.053, + 5283.753, + 1258.042, + -0.012, + -101.838, + -0.0 + ], + [ + 3447.234, + 5160.571, + 1288.458, + -0.012, + -101.838, + -0.0 + ], + [ + 3447.234, + 5160.571, + 1288.458, + -0.012, + -126.838, + -0.0 + ], + [ + 3371.774, + 5059.842, + 1287.495, + -0.012, + -126.838, + -0.0 + ], + [ + 3371.774, + 5059.842, + 1287.495, + -0.012, + -126.838, + -0.0 + ], + [ + 3427.173, + 5133.793, + 1289.185, + -0.012, + -126.838, + -0.0 + ], + [ + 3427.173, + 5133.793, + 1289.185, + -0.012, + -101.838, + -0.0 + ], + [ + 3427.173, + 5133.793, + 1289.185, + -0.012, + -76.838, + -0.0 + ], + [ + 3427.173, + 5133.793, + 1289.185, + -0.012, + -51.838, + -0.0 + ], + [ + 3427.173, + 5133.793, + 1289.185, + -0.012, + -26.838, + -0.0 + ], + [ + 3539.476, + 5076.971, + 1288.224, + -0.012, + -26.838, + -0.0 + ], + [ + 3539.476, + 5076.971, + 1288.224, + -0.012, + -1.838, + -0.0 + ], + [ + 3665.27, + 5072.934, + 1277.416, + -0.012, + -1.838, + -0.0 + ], + [ + 3665.27, + 5072.934, + 1277.416, + -0.012, + -26.838, + -0.0 + ], + [ + 3755.045, + 5052.446, + 1274.051, + -0.012, + -26.838, + -0.0 + ], + [ + 3755.045, + 5052.446, + 1274.051, + -0.012, + -26.838, + -0.0 + ] + ], + "Rationale": [ + "The brick building stands across the open snow ahead of me, with its lit doorway on the right and a pair of ground-floor windows to the left of it. My first destination is that left-hand ground-floor window, so I will walk straight forward to cut down the open distance.", + "The facade has grown wider in front of me and the broken ground-floor window on the left is now clearly readable, with a blue panel showing inside. Nothing blocks the snow between me and the wall, so I will keep walking forward toward that window.", + "The wall now fills most of my view and the shattered lower-left window sits slightly left of my heading. I am still several strides short of it, so I will continue forward to close in on that window.", + "Only a strip of snow and some dry stalks remain between me and the base of the brick wall, and the broken window with its blue interior panel is directly ahead on my left. I will step forward again to reach it.", + "The brickwork now towers over me and the shattered window frame is close enough that I can see the table and blue panel behind it. A short advance should bring me right up against that window, so I will keep moving forward.", + "The broken ground-floor window is now large in my view, just left of center behind the dry stalks. One more step forward should place me at the window itself, so I will advance.", + "Standing this close to the brickwork, the broken window has slid to the edge of my view and plain wall dominates the center. I will turn left so the window sits squarely in front of me before I take the last step in.", + "The shattered ground-floor window is now centered ahead of me and I can see straight through into the room beyond. A short step forward should put me right at the sill, so I will walk in.", + "The ground-floor window fills my view from arm's length, its broken frame and the table and blue cabinet inside clearly visible. I have reached this window on the left of the facade. I mark reaching it, and now I am heading for the open doorway of the brick building.", + "I am pressed so close to this window that the brickwork blocks almost everything else, leaving me no room to swing around toward the doorway. I will step back from the wall to open up space and recover a wider view of the facade before reorienting.", + "With a little clearance from the wall, the window sits ahead and the facade runs off to my right, which is the side the entrance lies on. I will turn right to begin swinging my heading along the brick wall toward it.", + "My view still shows only this window and the bare stalks in front of it, so I have not yet swung far enough to pick up the entrance. I will keep turning right to bring more of the wall's far end into view.", + "A second window has come into frame on my right as the wall opens out, but the entrance is still beyond my current heading. Another right turn should carry my gaze further along the brickwork toward it.", + "The dark open door with its swung-out metal leaf has appeared at the right edge, snowy trees beyond it. I will turn right once more to place that opening squarely ahead so I can walk straight at it.", + "The open doorway now stands ahead of me along the brick wall with clear snow underfoot between us. I will walk forward to close that gap toward the entrance.", + "I have come close enough that the brick face and the door's edge sit almost against me, so walking straight on would carry me into the wall rather than the opening. Turning right should angle my heading outward past the doorframe so my next steps run clear of the brickwork.", + "The brick wall runs along my left and the dark open doorway with its lit inner edge stands just ahead of me on that side. I will walk forward along the wall to draw level with that opening before turning into it.", + "I am now beside the opening, with the doorway frame and the rough stone interior wall showing at the far left edge of my view. Turning left should swing that entrance to the center of my heading so I can step straight into it.", + "The open doorway now sits ahead and slightly left, its dark frame and the coarse stone wall inside clearly in view. A short step forward should bring me right up to the threshold of this entrance.", + "I stand at the open doorway of the brick building, its lit interior directly before me. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_c/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e22f705368c619111fd4ef1dfb80683c141d334d --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x003602_y005900_z001343_t3_c/infos.json @@ -0,0 +1,566 @@ +{ + "Instruction": "Navigate to the bare tree, then reach the open doorway.", + "Type": 3, + "Start_Pose": [ + 3602.15, + 5899.664, + 1343.26, + -0.012, + -101.838, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + 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Nothing blocks the stretch of snow in front of me, so I walk forward to close some of that open ground before I commit to a heading toward the tree.", + "Straight ahead I only face the brick wall and its lit doorway, while the bare tree I want sits well off to my left. Continuing forward on this heading would carry me into the house instead, so I turn left to swing the leafless tree toward the center of my view.", + "The turn has brought the big leafless tree into the left half of my view, with the house wall now running off to my right. The snow between us is open, so I walk forward along this heading to shrink the distance to the tree.", + "The bare tree has grown noticeably larger and still sits comfortably left of center, so my heading is serviceable. I keep walking forward rather than adjusting, since the snow ahead is flat and unobstructed.", + "The tree's dark trunk and spreading branches now dominate the left of my view while the brick wall slides past on my right. My line still points into the open ground beside the building, so another step forward should continue closing on the tree.", + "I am drawing level with the corner of the brick building, and the leafless tree stands ahead and slightly left over the open snow. There is no reason to change heading yet, so I take another step forward toward it.", + "Past the building the ground opens out and the bare tree rises clearly ahead on my left, with only a post and a low canopy off to the right. That path is clear, so I continue walking forward toward the tree.", + "The leafless tree is still noticeably left of my heading while the wooden canopy structure crowds the right side of my view. I step forward again to keep gaining ground, expecting to need a leftward correction once I am clear of this structure.", + "The big bare tree sits well off to my left while my heading points along the building's overhanging canopy on the right. I will turn left so the leafless tree moves toward the middle of my view and gives me a clean, open line of snow to walk.", + "The leafless tree now stands near the center of my view with unbroken snow between us. I will walk straight ahead to start closing that gap.", + "The bare tree's trunk and branches are filling more of my view, so my heading is holding true. I will keep walking forward since nothing blocks the snow between me and it.", + "The tree is still dead ahead and the distance is shrinking steadily with each step. I will continue forward rather than adjust, since the line is already good.", + "The trunk now dominates the middle of my view and its lower branches are becoming distinct. Another forward step should bring me meaningfully closer without needing a turn.", + "I can now make out the bark texture and the fork of the branches, so I am well within the final stretch. I will step forward again to keep closing on the tree.", + "The bare tree's canopy is spreading over the top of my view while its base is still some paces off. I will keep walking straight so I end up right beside the trunk.", + "The trunk is close enough that the dry stalks in the snow ahead of it are sharp and separate. I will advance again to bring myself to the foot of the bare tree.", + "The leafless tree is now the dominant thing ahead of me, its trunk splitting just left of center with dry stalks poking through the snow between us. Open snow still separates me from its base, so I keep walking straight in to close that remaining gap.", + "The bare branches now arch above my head and the trunk stands squarely in front of me, yet several strides of snow remain before I am truly at its base. My heading needs no correction, so another step forward is the simplest way to close in.", + "The trunk has thickened noticeably and a low pale object sits in the snow to its left, telling me the ground around the tree is coming within reach. Nothing blocks the lane of snow ahead, so I continue straight toward the base.", + "A bench and a hanging tire have resolved beside the trunk, so I am nearly in the tree's immediate surroundings. The bare trunk still sits a short distance ahead on my line of travel, and I step forward again to reach it.", + "The bench is now close on my left and the tire swings just above it, which puts me at the edge of the space beneath the bare tree. The trunk remains a stride or two ahead, so I keep advancing to stand right at it.", + "The bark now fills much of my view and the split of the trunk rises directly before me, with the bench just off my left shoulder. One more step should place me right against the base of the bare tree.", + "The rough bark of the leafless trunk fills my view at arm's length, with its forked limb passing right beside me. I am standing at the bare tree. I mark reaching it and now set my sights on the open doorway of the brick house.", + "Pressed this close, the trunk and its low limb fill nearly everything in front of me and leave almost no room to swing around cleanly. Backing off a step should give me clearance and a wider view of the surroundings before I turn toward the doorway.", + "The bare tree's trunk still fills most of what I can see, so I have no line on the building with the open doorway. I will turn right to begin sweeping my heading away from the trunk and back toward the brick house behind me.", + "The trunk has slid to the left side and thin shrub branches now cross the middle, so open ground is starting to appear ahead. I will keep turning right to bring the brick building with the doorway into view.", + "Only bare shrub twigs and open snow lie ahead now, with the big trunk pushed to the far left edge, so my heading is still short of the house. I will turn right again to continue swinging toward the building side of the yard.", + "Thickets and snowbanks fill the view while the tree has dropped out of sight behind me, so I still have not picked up the house. Another right turn should carry my heading further around toward the brick walls.", + "A brick corner with windows has just entered the right edge of my view beyond the bare branches, which is the structure I need to reach. I will turn right once more to place that building closer to the center of my heading.", + "The two story brick house now stands to my right across the open snow, still offset from straight ahead. One more right turn should square my heading onto its face so I can walk toward it and look for the open doorway.", + "The brick house is centered ahead of me now, with unbroken snow between us and no obstruction in the way. I will walk forward to close the distance so I can pick out the doorway along its wall.", + "Closer in, the house sits slightly left of my heading and I can only see its rear face with windows and an awning, no entrance. Turning right should aim me along the near side of the building so I can follow its wall toward an opening.", + "The brick building stands on my left, but this face shows only windows and a sagging canopy, no way in. I will walk forward along it so more of its wall and far end come into view where an opening might be.", + "The wall has slid further left as I close on it, still showing shuttered windows rather than an entrance. Another step forward should carry me nearer the far corner where the next side of the building can be seen.", + "The brickwork now dominates my left side and the boarded window and canopy posts are close, confirming no entry on this stretch. I keep stepping forward along the clear snow to reach the end of this wall.", + "I am walking alongside the building with its shed roof and window frames passing close on my left. Nothing resembling a doorway has appeared yet, so I continue forward to bring the corner within reach.", + "The wall's edge and drainpipe are now near the middle left of my view, meaning the corner is close. One more step forward should put me level with it so I can see what lies around the building.", + "I have drawn level with the corner and the remaining wall gives no entrance, while the wide snow clearing opens to my right. Turning right should point me across that open ground rather than into the brickwork and canopy frame.", + "My heading now looks out over the clearing with the building's flank held at my left edge. Walking forward should carry me across this open snow and let the far side of the house come into view.", + "The corner with its drainpipe is slipping past on my left and the clearing with the low stone slab lies open before me. I continue forward across it, still looking for a doorway on this side of the building.", + "The brick flank has slipped to the very edge of my view and the snow ahead is open, with only a stone slab and a low block in front of me. No opening is visible on the wall yet, so I will keep walking to clear this corner and expose more of the building's face.", + "The building has dropped out of my view entirely and I am now facing only snowdrifts and pines, which tells me nothing about where the entrance is. Turning left should swing the brick wall back in front of me so I can search its length for the open doorway.", + "The brick wall is back on my left and a cleared strip of stone and packed snow runs alongside it into the distance. I will walk along this strip to bring the far stretch of the wall, where an opening could be, within reach.", + "Following the wall, I can now make out a pale frame set into the brickwork further along on my left. That is the kind of opening I am looking for, so I keep walking toward it.", + "The frame in the brickwork is nearer and shows a light-coloured jamb against the dark wall. I am still short of it, so another step forward should close the gap.", + "The recess in the wall now reads clearly as a tall opening rather than a window, glowing faintly against the brick. Continuing forward should bring me level with it.", + "The doorway with its bright metal frame is close on my left, though my heading still carries me past its face. One more step along the wall should put me beside it.", + "My forward heading has carried the wall out of sight again, leaving only trees and snowbank ahead, so the entrance is now off to my left side. I will turn left to bring that opening back in front of me and line up my approach.", + "The brick wall runs along my left, and a dark framed opening breaks it a short way ahead. I will walk forward along the wall to draw level with that opening rather than turning while it is still off to the side.", + "The opening in the brick wall is now clearly to my left, showing a lit stack of logs behind its frame. I am still slightly short of it, so another step forward should place me directly beside the threshold.", + "I am now level with the dark doorway, which sits square to my left while I face along the wall. Turning left should swing my heading onto the opening so I can walk straight in toward it.", + "The turn has brought the open doorway into view ahead, its dark frame standing ajar with the log wall lit inside. I will step forward to close the remaining gap to that entrance.", + "The doorway now fills much of the left side of my view, with the threshold and interior visible past its frame. One more step should bring me right up to the opening.", + "I stand at the open doorway, its lit interior directly beside me past the threshold. The task is complete, so there is nothing further to reach." + ] +} diff --git a/dataset/trajectory/RussianWinterTownDemo01/task_x018361_y-010427_z-000602_t0_a/infos.json b/dataset/trajectory/RussianWinterTownDemo01/task_x018361_y-010427_z-000602_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5516e83c2056c1e5cd87dd1fab8a64d2c0388685 --- /dev/null +++ b/dataset/trajectory/RussianWinterTownDemo01/task_x018361_y-010427_z-000602_t0_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the concrete bridge support pillar.", + "Type": 0, + "Start_Pose": [ + 18361.203, + -10427.455, + -601.856, + -0.006, + -62.439, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 18361.203, + -10427.455, + -601.856, + -0.006, + -62.439, + 0.0 + ], + [ + 18419.437, + -10539.031, + -601.856, + -0.006, + -62.439, + -0.0 + ], + [ + 18477.671, + -10650.608, + -601.856, + -0.006, + -62.439, + -0.0 + ], + [ + 18535.905, + -10762.184, + -601.856, + -0.006, + -62.439, + -0.0 + ], + [ + 18535.905, + -10762.184, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18541.529, + -10887.917, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18547.153, + -11013.651, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18552.777, + -11139.384, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18558.4, + -11265.117, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18564.024, + -11390.851, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18569.648, + -11516.584, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18580.913, + -11630.684, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18631.196, + -11659.867, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18681.545, + -11688.936, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18731.893, + -11718.005, + -601.856, + -0.006, + -87.439, + -0.0 + ], + [ + 18731.893, + -11718.005, + -601.856, + -0.006, + -112.439, + 0.0 + ], + [ + 18742.892, + -11724.354, + -601.856, + -0.006, + -112.439, + 0.0 + ], + [ + 18742.892, + -11724.354, + -601.856, + -0.006, + -112.439, + 0.0 + ] + ], + "Rationale": [ + "The concrete bridge support pillar stands on its square slab ahead and slightly to my left, beneath the sloping bridge deck. Open, flat snow lies between me and it, so I will step forward to begin closing that distance.", + "The pillar and its slab now appear a little larger, confirming my heading is carrying me toward the target. The snow ahead is still clear, so I will keep walking forward.", + "The pillar keeps growing in my view and the bridge deck above it is filling more of the upper part of my view, so I am still gaining ground. Another forward step should bring me appreciably closer before I refine my heading.", + "The pillar sits well to the left of my straight-ahead direction, so continuing forward would pass it on my right side. I will turn left to bring the pillar toward the center of my heading before advancing again.", + "The pillar and its slab now sit nearly centered in front of me after my turn, with clear snow leading straight to the slab edge. With the heading corrected, I will walk forward to close the remaining gap.", + "The slab edge is clearly closer and the pillar fills more of my view, so my centered heading is working well. I will take another step forward along the same line.", + "The concrete slab now spreads across the ground just ahead of me and the pillar rises tall directly in front. Nothing blocks the approach, so I continue forward to reach the base.", + "The slab's front edge is only a short distance away and the pillar towers above it in front of me. Another forward step should bring me onto the slab and close beside the support.", + "The concrete bridge support pillar now stands directly ahead of me, with its low stone slab spreading across the snow at its base. My heading is already lined up with the pillar's center, so I will keep walking forward to close the remaining gap.", + "The pillar's weathered surface now rises well above my line of sight and the near edge of its stone slab is only a short distance in front of my feet. Since nothing blocks the snowy ground between us, another forward step should bring me onto the slab area beside the support.", + "I am at the slab that carries the bridge support, and the pillar's curved concrete face fills the center of my view. I continue forward to step onto the slab and shorten the distance to the pillar itself.", + "Standing on the stone pad, I see the snow crusted base of the pillar just a couple of paces away with its concrete rising beyond my upward view. I take another forward step to keep tightening the distance to the support.", + "The pillar is now very near, its snow spattered concrete taking up the middle of my forward view while the slab stretches under me. I press forward again in a short step to draw right up beside the support.", + "Only a small strip of slab separates me from the pillar's base, and the concrete column now towers over my view. One more forward step should place me immediately at the support.", + "At this range the pillar's mass sits a little left of straight ahead and its curved surface crowds most of what I can see. I turn left to square my heading with the support and open up the slab in front of me before the last short step.", + "With my heading adjusted, the pillar's near face stands immediately in front of me and I can see the open snow field past the slab on my left. A final short step forward should bring me right up against the concrete support.", + "The concrete bridge support pillar fills the space right in front of me, an arm's length away on its base slab. The walk-to task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/000.jpg b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d9c494343f0f5f8de08f1b45e24d297d0f6df74f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:813516efe536553e08972808366e611002710f3d415c7af0ba664003c21bbe08 +size 136503 diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/001.jpg b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..3bdaa61e1d8090e41787eb87c034cce19d8c35c4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 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It lies well ahead across open paving, so I walk straight forward to begin closing that gap.", + "The bench set against the tree trunk is a little larger now but still far across the square. Nothing blocks the paving between us, so I continue walking forward.", + "The bench at the base of the tree and the one further left are both clearly resolved now, and I am still well short of either. I keep stepping forward across the open square toward the tree.", + "The nearer bench now sits large in my left half, while the bench I want, the one tucked against the tree trunk, is off to its right and still further away. I walk forward again to keep closing on that side of the courtyard.", + "My current heading carries me straight at the nearer bench on my left, but the bench I am going to stands further right, against the tree trunk. I turn right to angle my path across the open pavement so I can come in toward it rather than the nearer one.", + "With my heading swung across the square, the bench at the foot of the tree now sits ahead of me with clear paving in between. I step forward along this angled line to cut toward it.", + "The other bench has slid out of my view, so only the bench standing against the tree trunk remains, and that is the one I am going to. It is still several paces off, so I keep walking forward.", + "The bench by the trunk now fills much of my left foreground, but I am still short of it and passing slightly to its right. Another step forward should bring me alongside it.", + "The bench at the base of the trunk now spans my left foreground, yet my line still runs past its far end rather than up to it. One more stride should bring me level with its seat instead of drifting beyond.", + "The bench has slid so far to my left that only part of it stays in view while my heading points at the empty paving and the little fountain beyond. Turning left should swing the bench and its tree back in front of me.", + "The bench sits squarely ahead of me now with the tree trunk rising right behind its backrest, and the paving between us is clear. A final step forward should put me right at it.", + "The bench against the tree trunk fills my view at arm's length. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Venice/task_x-000753_y008876_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-000753_y008876_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..58d02d6458408fc1f79e8404869dbe0bc845773a --- /dev/null +++ b/dataset/trajectory/Venice/task_x-000753_y008876_z000118_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the second tree from the right.", + "Type": 2, + "Start_Pose": [ + -752.745, + 8876.466, + 118.15, + 0.0, + -50.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -752.745, + 8876.466, + 118.15, + 0.0, + -50.88, + 0.0 + ], + [ + -673.335, + 8778.821, + 118.15, + 0.0, + -50.88, + 0.0 + ], + [ + -673.335, + 8778.821, + 118.15, + 0.0, + -75.88, + 0.0 + ], + [ + -642.631, + 8656.765, + 118.15, + 0.0, + -75.88, + 0.0 + ], + [ + -611.927, + 8534.708, + 118.15, + 0.0, + -75.88, + 0.0 + ], + [ + -581.223, + 8412.652, + 118.15, + 0.0, + -75.88, + 0.0 + ], + [ + -550.52, + 8290.595, + 118.15, + 0.0, + -75.88, + 0.0 + ], + [ + -519.816, + 8168.539, + 118.15, + 0.0, + -75.88, + 0.0 + ], + [ + -519.816, + 8168.539, + 118.15, + 0.0, + -75.88, + 0.0 + ] + ], + "Rationale": [ + "Counting the trees across this courtyard from the right, the second one is the tall trunk on the left rising from a grated base beside the red bench, so that grate and bench are what I will follow. It stands well ahead, so I step forward to close some of the open paving.", + "The tree with the grated base and its bench now sits well off to the left of my heading, while my path points at the far facade. I will turn left to bring that tree toward the center of my view before walking on.", + "The turn has placed the tree over the grated circle roughly ahead of me, with its bench just to its right. The distance is still large, so I walk forward along this heading.", + "The trunk and its ring of grating have grown noticeably and stay centered in my path. Nothing blocks the pavement between us, so I keep walking straight toward it.", + "The grated circle at the tree's base is now clearly visible ahead and slightly left, and the bench beside it has grown large. I am still several strides short of the trunk, so I advance again.", + "The trunk now rises through most of my view and the grate around it lies just a short stretch of paving away. I continue forward to reach its base.", + "The grating around the tree begins right in front of my feet and the trunk fills the left of my view, with the bench close on my right. One more step should bring me level with the trunk.", + "The trunk stands immediately beside me, its grated base under my feet. I have reached the tree, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-000753_y008876_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x-000753_y008876_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..63cfaf31f7d694f631f0b1eb30d23877fe184f29 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-000753_y008876_z000118_t2_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the second tree from the left.", + "Type": 2, + "Start_Pose": [ + -752.745, + 8876.466, + 118.15, + 0.0, + -50.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -752.745, + 8876.466, + 118.15, + 0.0, + -50.88, + 0.0 + ], + [ + -673.335, + 8778.821, + 118.15, + 0.0, + -50.88, + 0.0 + ], + [ + -593.924, + 8681.176, + 118.15, + 0.0, + -50.88, + 0.0 + ], + [ + -514.514, + 8583.532, + 118.15, + 0.0, + -50.88, + 0.0 + ], + [ + -435.104, + 8485.887, + 118.15, + 0.0, + -50.88, + 0.0 + ], + [ + -435.104, + 8485.887, + 118.15, + 0.0, + -25.88, + 0.0 + ], + [ + -321.867, + 8430.951, + 118.15, + 0.0, + -25.88, + 0.0 + ], + [ + -208.63, + 8376.015, + 118.15, + 0.0, + -25.88, + 0.0 + ], + [ + -95.394, + 8321.079, + 118.15, + 0.0, + -25.88, + 0.0 + ], + [ + 17.843, + 8266.143, + 118.15, + 0.0, + -25.88, + 0.0 + ], + [ + 131.079, + 8211.207, + 118.15, + 0.0, + -25.88, + 0.0 + ], + [ + 244.316, + 8156.271, + 118.15, + 0.0, + -25.88, + 0.0 + ], + [ + 357.553, + 8101.336, + 118.15, + 0.0, + -25.88, + 0.0 + ], + [ + 357.553, + 8101.336, + 118.15, + 0.0, + -50.88, + 0.0 + ], + [ + 357.553, + 8101.336, + 118.15, + 0.0, + -50.88, + 0.0 + ] + ], + "Rationale": [ + "Two trees stand over this courtyard, so counting from the left my target is the right-hand one, the tree rising above the bench beside the pale stone wellhead. It is far off across the open paving, so I will walk forward to begin closing that gap.", + "The tree above the wellhead is still well ahead of me on the right side of the square, its trunk only a thin shape against the building. The paving in front of me is clear, so I keep walking forward.", + "The canopy and trunk of the tree by the wellhead have grown noticeably larger, confirming my heading is carrying me toward it. There is still a long stretch of empty pavement between us, so I advance again.", + "The trunk of the tree standing over the wellhead is now clearly resolved ahead and to my right, with its bench in front of it. The way is open, so another step forward should bring me appreciably nearer.", + "As I advanced, the tree by the wellhead has drifted well to the right of my heading, so walking straight would take me past it toward the far corner. I turn right to bring its trunk back onto the line I am walking.", + "The turn has set the trunk of the tree above the wellhead near the middle of my view, so my path now runs straight at it. The pavement between us is open, and I step forward to close in.", + "The tree is directly ahead now, its canopy spreading across the top of my view and its bench angled below it. I am still several paces short of standing at its base, so I keep walking forward.", + "The trunk ahead of me is broad now and the bench beside it is close on my left, so I am nearly at the tree. A few more steps should put me right at its base, so I advance again.", + "The bench has swung wide to my left and the trunk of the tree by the wellhead now rises just left of centre, so I am close but not yet beside it. The paving ahead stays clear, so I keep walking toward the trunk.", + "Only the trunk and the wellhead beyond it matter now, and the bark still sits a little ahead of me rather than at my shoulder. Nothing blocks the stones between us, so I take another step in.", + "The bark of the trunk now reads in detail and the canopy has climbed out of the top of my view, which means I am within a pace or two of its base. I advance once more to stand right at it.", + "The trunk dominates the middle of my view and the grating around its roots is spread at my feet, so my arrival point is essentially here. One more step should bring me flush against its base.", + "I have drawn level with the tree and its trunk has slid to my far left, leaving mostly the wall and the wellhead in front of me. I turn left to face the trunk squarely and confirm I am standing at it.", + "The trunk of the tree beside the wellhead stands directly before me, filling my view at arm's reach. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2867527923112e9d2607f476c5f41aa2bb0ef61f --- /dev/null +++ b/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Go to the leftmost autumn tree in the plaza.", + "Type": 2, + "Start_Pose": [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 121.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1600.311, + 8111.651, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1666.857, + 8218.478, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1733.403, + 8325.306, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1799.949, + 8432.133, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1866.495, + 8538.961, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1933.041, + 8645.788, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1999.587, + 8752.616, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1999.587, + 8752.616, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2014.751, + 8877.558, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2029.915, + 9002.5, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2045.079, + 9127.442, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2060.243, + 9252.385, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2075.407, + 9377.327, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2090.571, + 9502.269, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2105.735, + 9627.211, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2120.898, + 9752.153, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2136.062, + 9877.095, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2136.062, + 9877.095, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2202.608, + 9983.923, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2269.154, + 10090.75, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2335.7, + 10197.578, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2335.7, + 10197.578, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2350.864, + 10322.52, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2350.864, + 10322.52, + 118.15, + 0.0, + 96.92, + -0.0 + ] + ], + "Rationale": [ + "Three autumn crowns stand across the plaza ahead of me, and the leftmost is the pale yellow-green one set deepest into the square, unlike the two heavy golden crowns nearer my side. It lies far off across open paving, so I walk forward to start closing that distance.", + "The pale green-gold crown I chose still sits well ahead and a little left of my heading, with unobstructed stone between us. Nothing yet requires a turn, so I keep walking straight to shorten the gap.", + "The facades across the square have grown noticeably, confirming that straight walking is carrying me toward the far side where my pale-crowned tree stands. I continue forward rather than adjusting heading this early.", + "The golden crown on my right is sliding outward as I pass beneath its side, while the paler tree I am heading for remains further into the square. I step forward again to keep gaining ground on it.", + "A canal-side quay and railing are now resolving along the right of the square, and my target tree stands out on the far paving beyond the nearer golden crowns. The route straight ahead is still open, so I walk on.", + "I am drawing level with the big golden crown that fills the middle of my view, and the tree I want lies past it toward the far end of the plaza. Another step forward keeps that approach going.", + "The nearer golden foliage now hangs high and close, so I am nearly past it and the deeper part of the square is opening up. I walk forward once more before deciding on any heading change.", + "My straight run has carried me toward the canal quay on the right, while the pale-crowned tree I am walking to lies further inland to my left. I turn left to swing that side of the square back in front of me before continuing.", + "The new heading has opened the inland stretch of the square, with the arcaded palazzo running down my left and the pale green-gold crown I am walking to standing out along the far paving. Nothing blocks the stone between us, so I step forward on this corrected line.", + "That crown has grown against the buildings behind it and is holding near the middle of my view, which tells me this heading points straight at it. I walk on without touching my direction.", + "The heavy golden boughs filling my right belong to a nearer tree whose iron root grate I am now drawing alongside, not to the one I set out for, which still stands deeper along the square. I keep walking past it.", + "Fallen leaves are thickening across the stone underfoot as the near canopy slides off my right shoulder, and my tree remains clear ahead over the open paving. Another stride forward keeps the gap shrinking.", + "A moored gondola and the low quay edge have appeared past the right side of the square, marking the water margin near where my tree stands. Its crown is still comfortably in front of me, so I continue straight.", + "The crown ahead now reaches above the rooftops of the far facades, and its slim trunk is separating from the shaded paving beneath it. That scale change means real ground is being covered, so I press on.", + "Its outer leaves are already reaching into the top of my view while the trunk sits a fair way off across the stone, so I am close but not yet under it. I take another step toward the trunk.", + "The canopy now spreads over most of my view and a striped mooring pole stands beyond the trunk at the water's edge, so only a short run of paving is left. I keep walking to close it.", + "The other crowns have fallen behind me, so there is nothing left to count against, only the single tree I chose, its trunk rising from the ringed iron grate ahead by the water margin. A short run of leaf-strewn stone still separates us, so I walk on.", + "My line of travel has drifted toward the arcaded side, leaving the trunk and its grate sitting off to my right rather than straight ahead. I turn right to place it squarely in front of me before covering the last stretch.", + "The turn has swung the trunk into the middle of my view, with the canal and its moored gondolas now off my right shoulder. With the heading corrected and clear stone between us, I step forward.", + "The bark texture is resolving and the iron grate at the base spreads wider across the stone, which means only a few paces remain. I keep walking straight at the trunk.", + "The canopy now covers the whole upper part of my view and the grate lies just off my left toe line, yet the trunk itself is still a stride or so beyond reach. I advance again.", + "Passing on the trunk's right has pushed it out to my left edge while the canal and its gondolas now dominate what lies ahead. I turn left to bring the trunk back in front of me.", + "The trunk is centered once more, its grate spread across the paving just in front of me. One short step should bring me right up against it.", + "The trunk I chose fills my view at arm's reach, with its iron grate ringing the paving in front of me. I have reached that tree, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aa71faefecc6843e3a884d50b57be4bcff8c89d0 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the second tree from the right in the square ahead of you.", + "Type": 2, + "Start_Pose": [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 121.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1600.311, + 8111.651, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1666.857, + 8218.478, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1733.403, + 8325.306, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1799.949, + 8432.133, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1866.495, + 8538.961, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1933.041, + 8645.788, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1999.587, + 8752.616, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2066.133, + 8859.443, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2132.679, + 8966.271, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2199.225, + 9073.098, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2265.771, + 9179.926, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -2265.771, + 9179.926, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2280.935, + 9304.868, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2296.099, + 9429.81, + 118.15, + 0.0, + 96.92, + -0.0 + ], + [ + -2296.099, + 9429.81, + 118.15, + 0.0, + 96.92, + -0.0 + ] + ], + "Rationale": [ + "Counting the trees in this square from its right side, the first is the big one crowding my right edge close by, so the second is the broad yellow-crowned tree standing alone on the open paving straight ahead. That broad tree is my target, and it is roughly on my heading. I step forward toward it.", + "The broad yellow tree I chose sits just left of my heading and its crown has grown slightly larger, so the paving between us is clear and open. Nothing blocks the direct line across the square. I continue walking straight toward it.", + "My tree now shows its trunk and the low kerb around its base clearly ahead, confirming I am closing on it. The route across the flat stone remains free of obstacles. I keep advancing at the same heading.", + "The tree that stood nearest on my right has slid out to the frame edge, but I am no longer counting; I am following the broad yellow tree whose trunk rises just left of center. It is still several strides off. I press forward.", + "A smaller yellow tree has appeared on the right beyond the low canal wall, but my target remains the tall broad-crowned tree ahead on my side of the paving. Its foliage now reaches the top of my view. I walk on toward its trunk.", + "The broad tree's trunk is clearly resolved slightly left of my heading and the buildings behind it are getting closer. The stone surface in front of me stays open and level. Another forward step should shorten the remaining gap.", + "I can now make out the dark circular grating set into the paving around my tree's base, which tells me exactly where I must arrive. There is still a stretch of empty stone between us. I keep moving straight ahead.", + "The broad tree's trunk and its grated base are close and just left of my heading, with the canal edge and its mooring posts passing on my right. Nothing stands between me and it. I take another step forward to close the distance.", + "The mooring posts along the water are drawing level on my right, and the broad yellow tree's trunk now stands only a short walk off, a little left of my heading. The stone between us is bare and level. I step forward again.", + "The iron ring set around the tree's roots has widened across the lower left of my view, and its branches now spread over most of the sky in front of me. I am close but not yet beside the trunk. Another stride should shorten what remains.", + "I am walking into the shade of my tree's crown, with its trunk a few paces off at my left front and the canal wall keeping the open stone narrow on my right. The path to the base is still clear. I keep going.", + "At this range the trunk has slid well over to my left, so holding this heading would carry me past it and out along the quay beside the water. I want the base squarely in front of me before the last steps. I turn left.", + "With the heading corrected, the trunk rises directly in front of me and the ringed metal at its foot lies across my path. Only a couple of paces of paving separate us. I walk straight in.", + "The bark now takes up a wide band of my view and the metal ring is beginning under my feet, so I am at the edge of the tree's own patch of paving. One more step should put me right at the trunk.", + "The broad yellow-crowned tree I set out for stands immediately beside me, its trunk within arm's reach above its grating. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0afb61ff25dba9c4ac81504e9aa26203740b0c99 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the rightmost tree along the plaza edge.", + "Type": 2, + "Start_Pose": [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 121.92, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -1639.223, + 8073.518, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -1744.682, + 8142.213, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -1850.14, + 8210.908, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -1955.599, + 8279.603, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -2061.057, + 8348.298, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -2166.516, + 8416.994, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -2166.516, + 8416.994, + 118.15, + 0.0, + 171.92, + -0.0 + ], + [ + -2291.125, + 8434.684, + 118.15, + 0.0, + 171.92, + -0.0 + ], + [ + -2291.125, + 8434.684, + 118.15, + 0.0, + 171.92, + -0.0 + ] + ], + "Rationale": [ + "A row of yellow-crowned trees lines the far edge of the plaza, and the last one on the right, the broad one with orange-tinged foliage nearest the canal side, is the one I want. It lies off my right shoulder, outside my current heading. I will turn right to bring it in front of me.", + "The orange-crowned tree at the canal side of the plaza now stands ahead and slightly right of me, with clear open paving in between. I will walk forward to close that gap.", + "The tree with the orange-tinged crown has grown larger ahead of me and the railing at the plaza edge behind it is now visible. The paving stays open, so I keep walking toward it.", + "The trunk of the tree I am heading for rises ahead of me and I can now make out the arched bridge and railing at the plaza edge beyond it. Nothing blocks the stones in front of me, so I advance again.", + "The paved circle at the base of the orange-crowned tree is coming into view ahead, but I am still several strides short of it. I will keep walking straight toward the trunk.", + "The other trees have slid off to my left and no longer read as a row from here, but the tree I chose, the one at the canal edge with the orange-tinged crown, is close ahead. I will step forward again to reach its base.", + "The trunk now fills much of my view and the water and stone edge lie just past it, confirming I am nearly at the plaza boundary. A few more steps should bring me onto the paved circle around its base.", + "I am standing on the paved ring at the foot of the orange-crowned tree by the canal, but its trunk sits right of my center with the arched bridge further right. Turning right should square me onto the trunk and finish the alignment at this tree.", + "The trunk now sits squarely in my center with the canal water directly beyond it, so my heading is right and only a short gap remains. One stride should put me against the base of this tree without carrying me over the stone edge.", + "The bark of the canal-edge tree fills my view at arm's length, with the water beginning just past its base. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19f0af51d2ad079b99434ebbc3d58dc4b44dc571 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-001534_y008005_z000118_t2_d/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the third tree from the left in the square ahead of you.", + "Type": 2, + "Start_Pose": [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 121.92, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 121.92, + -0.0 + ], + [ + -1533.765, + 8004.823, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -1639.223, + 8073.518, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -1744.682, + 8142.213, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -1850.14, + 8210.908, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -1955.599, + 8279.603, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -2061.057, + 8348.298, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -2166.516, + 8416.994, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -2271.974, + 8485.689, + 118.15, + 0.0, + 146.92, + -0.0 + ], + [ + -2271.974, + 8485.689, + 118.15, + 0.0, + 146.92, + -0.0 + ] + ], + "Rationale": [ + "Counting the trees spread across the square from the left, the third is the large one on my right, with a broad gold and orange crown rising over the canal side railing. It lies off my heading, so I will turn right to bring that tree in front of me before setting off.", + "The big gold crowned tree beside the canal railing now sits near the middle of my view, so my heading is good. Wide open paving lies between us, so I will walk forward to close that distance.", + "The tree I chose is noticeably larger and still holds the centre of my view, with its trunk and the railing behind it clearer. Nothing blocks the paving, so I will keep walking straight toward it.", + "The trunk of my tree and the dark grate ring around its base stand out just right of my centre. I am still several strides short of it, so I will step forward again.", + "The tree's crown now spreads across the top of my view and the low canal wall behind it is coming up. I have not reached its base yet, so I will continue forward.", + "From this close the trees no longer read as a countable row, so I keep to this one thick trunk with its patterned iron grate ahead of me. It is still a few strides off, so I will advance again.", + "The trunk rises large just right of my centre and its circular grate now lies directly in my path. A couple more steps should bring me level with its base, so I will move forward.", + "The bark of my tree now towers over the right of my view and the near edge of its grate is almost under me. One more step forward should place me right at its base.", + "The trunk fills my right side and its grate lies under my feet. I have arrived at the tree, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab1ba1906f6d4d06757cfd1bb9e50e2e480affe --- /dev/null +++ b/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Go to the rightmost autumn tree on the plaza.", + "Type": 2, + "Start_Pose": [ + -1638.047, + 8062.305, + 118.15, + 0.0, + -145.92, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1638.047, + 8062.305, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -1638.047, + 8062.305, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -1702.718, + 7954.333, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -1767.39, + 7846.36, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -1832.061, + 7738.387, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -1896.733, + 7630.415, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -1961.404, + 7522.442, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2026.076, + 7414.469, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2090.747, + 7306.497, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2155.419, + 7198.524, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2155.419, + 7198.524, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2168.4, + 7073.336, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2181.381, + 6948.149, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2194.362, + 6822.961, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2207.343, + 6697.773, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2220.324, + 6572.585, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2233.305, + 6447.397, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2246.286, + 6322.21, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2259.267, + 6197.022, + 118.15, + 0.0, + -95.92, + 0.0 + ], + [ + -2259.267, + 6197.022, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2259.267, + 6197.022, + 118.15, + 0.0, + -120.92, + 0.0 + ] + ], + "Rationale": [ + "The autumn trees stand in a row across the plaza and continue off past my right edge, and since they all look much alike I hold onto the last one at the far right end of that row. The wide crown in front of me hides that end. I turn right to swing it into my heading.", + "Now the plaza opens straight ahead, with the line of golden trees running away along my left toward its far end and a tall brick facade on my right. The paving between me and that end is clear and empty. I walk forward to close the distance.", + "The trees down the row have grown only slightly, so the far end of the line is still well ahead of me. Nothing stands between me and that stretch of paving. I keep walking forward along the plaza.", + "The trunk of the nearest tree is drifting off to my left as I come level with it, so the tree I am going to is the one further down at the end of the line, out toward the far side of the plaza. The route ahead stays open. I continue forward.", + "A deep orange crown ahead and slightly right, standing where the plaza ends near the canal and its arched bridge, is the tree I am heading for. It is still several strides away. I keep moving forward toward it.", + "The target tree has grown noticeably larger ahead of me, its crown now clearly separated from the paler trees closer to the water. The paving in front is flat and unobstructed. I walk forward again to shorten the gap.", + "The canal and its ironwork railing are now open on my left, and the tree I want stands ahead and a little right, just short of the bridge. I am not yet beside it. I step forward to keep closing.", + "The tree ahead on my right now fills a good part of my view, with the bridge just behind it, so only a short stretch of paving remains. Nothing blocks that stretch. I walk forward to draw level with the trunk.", + "The deep orange crown sits ahead and to my right with the arched bridge just beyond it, and open paving still separates me from its trunk. No railing or post interrupts that line. I walk forward again to keep closing in.", + "The orange tree has slid well over toward my right edge while my heading runs straight up the canal toward the bridge. Holding this course would carry me past its trunk on the left. I turn right to bring it back in front of me.", + "With the turn done, the orange crown now sits near the middle of my view, its trunk rising from the paving between the canal wall on my left and the brick facades on my right. The stretch in front is clear. I step forward along it.", + "The crown is filling more of my view and the trunk is now clearly resolved against the paving, so my heading is holding true. Several strides of open ground still remain. I keep walking toward it.", + "The striped mooring post and the canal railing pass along my left while the tree stays squarely ahead, so I have room to continue without deviating. The trunk is still short of arm's reach. I advance again.", + "The foliage is starting to spread across the upper part of my view and the shadow pooling at the base of the trunk is close now. I am still a few paces short of standing beside it. I move forward to cover them.", + "Branches now reach overhead and the trunk stands just left of my centre with the bridge arch showing past it. A short stretch of leaf strewn paving is all that is left. I step forward once more.", + "The canopy now covers most of my view and the trunk with its grating rises close ahead, so I am nearly level with the tree. A couple of paces would put me right at its base. I walk forward to close that last gap.", + "The trunk and its iron grating stand just ahead and slightly left, with the canopy spread wide over my head. One more stride should put me right against the base rather than a pace short of it. I walk forward.", + "I am now abreast of the trunk on my left, close enough to see the bark texture, and the branch structure passes above me. A last short step should settle me level with its base beside the canal railing. I step forward.", + "My heading has drifted so the trunk sits behind my left shoulder and only foliage hangs in front, with the open paving toward the bridge filling the view. Turning left should bring the tree itself back squarely before me for a clean arrival.", + "The orange tree's trunk rises directly in front of me, within arm's reach beside the canal railing. I have arrived at it, so nothing further is needed." + ] +} diff --git a/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a2529b25b816fca7cf63d5ceaf8a1a1fddcf14f8 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the second tree from the right on the plaza.", + "Type": 2, + "Start_Pose": [ + -1638.047, + 8062.305, + 118.15, + 0.0, + -145.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1638.047, + 8062.305, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -1742.29, + 7991.78, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -1846.534, + 7921.255, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -1950.777, + 7850.73, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -1950.777, + 7850.73, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2015.449, + 7742.757, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2080.12, + 7634.785, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2144.792, + 7526.812, + 118.15, + 0.0, + -120.92, + 0.0 + ], + [ + -2144.792, + 7526.812, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -2249.035, + 7456.287, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -2249.035, + 7456.287, + 118.15, + 0.0, + -145.92, + 0.0 + ] + ], + "Rationale": [ + "Counting in from the right edge of the plaza, the small orange-crowned tree at the far right is the first, so my target is the big one whose thick pale trunk rises from a round paved ring near the canal railing. It stands well ahead across open flagstones, so I will walk straight toward it.", + "The broad tree with the thick pale trunk is still some distance off, sitting a little right of my heading beyond the staircase. The pavement between us is clear of obstacles, so I will keep walking forward to close the gap.", + "The pale trunk and the dark ring of paving around its base read much larger now, so my heading is carrying me toward it. Nothing blocks the flagstones directly in front of me, and I will advance another step.", + "The staircase and its balustrade now crowd my left foreground, while the open plaza carrying the broad tree's paved ring lies off to my right. Turning right should place that open pavement along my heading so I can keep closing on the thick-trunked tree.", + "The thick pale trunk now rises just ahead of me above its dark circular paving, with clear flagstones in between. I will walk forward to cut down the remaining distance.", + "More trees have come into view along the canal near the bridge, so rather than counting a row from here I stay fixed on the broad trunk standing on its dark paving ring ahead. The ground is open, so I will step forward again.", + "The thick trunk now towers over the left half of my view and its paving ring is only a few paces off. Since a short gap still remains, I will keep walking forward toward it.", + "The broad trunk and its ringed paving have drifted to my left rather than staying in front of me, and I am close enough that only a short approach is left. I will turn left to face the tree squarely before that final step.", + "The thick-trunked tree now sits centered in front of me, its dark paving ring spreading across the flagstones just a stride away. One more step forward should bring me right up against the trunk.", + "The broad tree's trunk fills my view directly ahead, close enough to touch. I have arrived at it, so stopping here is right." + ] +} diff --git a/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..476c2db50eae9905058af2080faf51f940201985 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-001638_y008062_z000118_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the bottom of the stone staircase on the left.", + "Type": 2, + "Start_Pose": [ + -1638.047, + 8062.305, + 118.15, + 0.0, + -145.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1638.047, + 8062.305, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -1742.29, + 7991.78, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -1846.534, + 7921.255, + 118.15, + 0.0, + -145.92, + 0.0 + ], + [ + -1846.534, + 7921.255, + 118.15, + 0.0, + -170.92, + 0.0 + ], + [ + -1970.816, + 7901.393, + 118.15, + 0.0, + -170.92, + 0.0 + ], + [ + -2095.098, + 7881.531, + 118.15, + 0.0, + -170.92, + 0.0 + ], + [ + -2219.38, + 7861.668, + 118.15, + 0.0, + -170.92, + 0.0 + ], + [ + -2219.38, + 7861.668, + 118.15, + 0.0, + -170.92, + 0.0 + ] + ], + "Rationale": [ + "Two stone stairways rise from this square, and the one I want is the pale limestone flight on the left, edged by a black wrought-iron railing beside the canal. Its base is still well across the open pavement, so I walk forward to close that gap.", + "The limestone flight with the black iron railing now sits larger ahead and to my left, its lowest tread still several paces off. I keep walking forward to shorten the remaining distance before I need to swing toward it.", + "The stairway I am heading for now lies well off to my left, with only its right balustrade near the centre of my view and my heading pointed past it toward the tree. I turn left to bring the steps squarely in front of me.", + "The stone flight is now centred ahead, both balustrades framing it evenly, so my heading is good. The bottom tread is still a stretch of pavement away, and I walk forward along this line.", + "The steps fill more of my view and the two stone posts at the foot of the flight are nearly level with me, yet I am not quite standing at the lowest tread. I step forward again to reach it.", + "I am now between the stone posts with the bottom step just a short stride ahead and the railings running past on both sides. One more forward step should place me right at the foot of this stone flight.", + "The stone steps fill my view with their lowest tread directly at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8b4207833bcaa470b5e055cd511676fb4bdd4027 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the second stone bollard from the left along the canal.", + "Type": 2, + "Start_Pose": [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -113.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2075.37, + 4271.42, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2125.112, + 4155.808, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2125.112, + 4155.808, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2219.054, + 4072.05, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2312.996, + 3988.292, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2406.938, + 3904.534, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2500.88, + 3820.776, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2500.88, + 3820.776, + 118.15, + 0.0, + -163.28, + 0.0 + ], + [ + -2500.88, + 3820.776, + 118.15, + 0.0, + -163.28, + 0.0 + ] + ], + "Rationale": [ + "The canal railing runs off to my left with identical pale stone bollards set along it. Counting from its near left end, my target is the second post, the one standing just beyond the first bollard by the big tree. I will walk forward to close distance along the open pavement.", + "The bollard I am following is still well ahead along the railing to my left, and the pavement in front of me stays clear. Another straight step should bring me nearer before I angle toward the canal edge.", + "Continuing straight would carry me toward the bridge ramp ahead, while the post I want sits off to my left along the canal railing. I will turn left to swing my heading onto the line of the railing so that post lies in front of me.", + "The railing and its posts now stretch across the front of my view, with the bollard I am following on that line. The quay beside it is open, so I will walk forward toward it.", + "My post is nearer now and the water shows clearly through the ironwork beside it. Nothing blocks the walkway, so I keep stepping forward toward that bollard.", + "More posts have come into view further along the quay, so counting the row from where I stand would no longer land on the same one; I stay with the bollard I chose, now large on my left. I will step forward to draw closer to it.", + "The bollard I am following now stands close on my left, just short of being abreast of me. One more forward step should bring me level with it at the railing.", + "I am level with my bollard, but it sits at the left edge of my view instead of in front of me. I will turn left so the post is squarely before me and I can confirm I have arrived at it.", + "The bollard I followed fills the near left of my view at arm's length. I am standing at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..34960269f07bf17936cd1fa8109881a738d2bc92 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the third stone bollard from the left by the fence.", + "Type": 2, + "Start_Pose": [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -113.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2075.37, + 4271.42, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2125.112, + 4155.808, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2174.855, + 4040.196, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2224.597, + 3924.584, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2274.34, + 3808.972, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2324.083, + 3693.36, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2324.083, + 3693.36, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2418.025, + 3609.601, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2511.966, + 3525.843, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2511.966, + 3525.843, + 118.15, + 0.0, + -163.28, + 0.0 + ], + [ + -2511.966, + 3525.843, + 118.15, + 0.0, + -163.28, + 0.0 + ] + ], + "Rationale": [ + "Along the canal railing to my left stands a row of pale stone bollards, and since they are identical I settle the count now and hold the third from the left end, the one set partway along the run toward the arched bridge. It is far off down the paved walkway, so I step forward to begin closing that distance.", + "The stone bollard I chose is still well ahead beside the ironwork fence, with the canal running along my left. The paving in front of me is open and unobstructed, so I keep walking straight toward it.", + "The nearest fence posts are beginning to slide past my left shoulder, so I stop reading the row as a count and simply keep following the bollard I already picked. It still lies ahead along the railing, and walking forward is the direct way to reach it.", + "The pale post beside the fence ahead of me is noticeably larger now, and the bridge behind it is closer as well. I continue walking forward along the open paving to bring myself alongside it.", + "My bollard now reads clearly as a broad stone post standing in the railing a short way ahead on my left. Nothing on the walkway interrupts the line, so I take another step forward to draw level with it.", + "The stone bollard sits close now at the left edge of my view, near the point where I would be standing beside it. One more stride forward should carry me almost abreast of it before I turn toward the fence.", + "I am nearly level with the stone bollard, which has slipped to the far left of my view while my heading still points down the walkway. Turning left should swing it back into the centre of my view so I can walk straight at it.", + "The turn worked, and the stone bollard now stands squarely in front of me against the ironwork fence with the canal beyond. It is still a couple of paces off, so I walk forward to close the last of the gap.", + "The stone bollard now looms close on my left with the railing running past it, but I am still just short of standing beside it. One more stride along the paving should bring me right up against it.", + "I have drawn level with the stone bollard, and it has slid to the very edge of my left side while my body still faces along the canal railing. Turning left should bring it squarely before me so I am plainly standing at it.", + "The stone bollard fills the near foreground directly before me at the fence. I have reached it, so there is nothing further to do and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..86b2462aa63a9a49769f0f9c25c69759f1ed5705 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_c/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the second stone bollard from the right near the water.", + "Type": 2, + "Start_Pose": [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -113.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2075.37, + 4271.42, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2125.112, + 4155.808, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2174.855, + 4040.196, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2224.597, + 3924.584, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2274.34, + 3808.972, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2324.083, + 3693.36, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2373.825, + 3577.747, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2373.825, + 3577.747, + 118.15, + 0.0, + -88.28, + 0.0 + ], + [ + -2370.048, + 3451.945, + 118.15, + 0.0, + -88.28, + 0.0 + ], + [ + -2366.27, + 3326.143, + 118.15, + 0.0, + -88.28, + 0.0 + ], + [ + -2362.492, + 3200.34, + 118.15, + 0.0, + -88.28, + 0.0 + ], + [ + -2358.714, + 3074.538, + 118.15, + 0.0, + -88.28, + 0.0 + ], + [ + -2354.937, + 2948.736, + 118.15, + 0.0, + -88.28, + 0.0 + ], + [ + -2354.937, + 2948.736, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2404.679, + 2833.124, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2454.422, + 2717.512, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2454.422, + 2717.512, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2523.856, + 2644.521, + 120.025, + 0.0, + -138.28, + 0.0 + ], + [ + -2523.856, + 2644.521, + 120.025, + 0.0, + -138.28, + 0.0 + ] + ], + "Rationale": [ + "Pale stone posts stand in a row along the water on my left, and from the right end of that row, the bridge end, my target is the second one. They look identical, so I hold it by its position near the bridge approach. I walk forward along the open quay.", + "The railing and its stone posts are slightly nearer, and the bridge that anchors my target still sits far down the quay. The paving in front of me is unobstructed, so I keep walking straight toward that end of the row.", + "The quay runs clear between the canal railing on my left and the building fronts on my right. I still have a long stretch before the bridge, so another forward step is the plain way to close on the post I picked out there.", + "A pale post has come up at the near end of the railing beside me, which changes what the row looks like from here, but it is not the one I want. I am still going to the post at the bridge end, so I continue forward.", + "The bridge and its sloping ramp are noticeably larger ahead of me now, and the walkway stays open along the water. I step forward again to keep shortening the gap to the post I am heading for beside the bridge.", + "Posts and ironwork slide past on my left as the bridge parapet fills more of the view ahead. Nothing stands in the way on the paving, so I keep advancing toward the bridge end of the row.", + "The bridge abutment and its stair are clearly ahead now, but I am still several strides short of the posts beside it. I walk forward once more to bring that stretch of railing within close reach.", + "My heading has crept toward the canal railing on my left, while the open pavement continues to the right of the tree along the building wall. I turn slightly right to settle back onto that lane so I can keep advancing to the bridge end of the row.", + "With my heading straightened, the paving runs clear between the brick facade on my right and the canal wall on my left, the tree sitting clear of my line. The bridge foot where my post stands is still some way down the quay, so I walk on.", + "The tree beside the walkway is closer now and the bridge arch has grown on my left, but I am not yet level with the railing section at its foot. Nothing blocks the paving in front of me, so I continue advancing.", + "The bridge ramp and its ironwork now run along my left at close range, while the pale post I want still lies beyond the tree. The lane between wall and railing remains wide enough to pass, so another stride forward is the direct way on.", + "Leaf shadow spreads across the stones and the trunk has come up on my right, leaving the walkway open past it. The stretch of railing under the bridge is nearly beside me, so I press forward to draw level with it.", + "This close the railing no longer reads as a countable row, since the trunk cuts across it and the nearer posts have fallen behind me. What I hold to is the post at the bridge foot, and it lies a stride or two further along, so I keep moving.", + "Walking beside the wall has left me pointed straight into the trunk, with the water and the bridge foot pushed off to the left edge of my view. A turn to the left should put the canal railing and the post I am going to back in front of me.", + "The bridge now sits squarely ahead with the railing and its pale posts running to its abutment on my left. I am still a couple of paces off that corner, so I walk forward to close on the post standing there.", + "The near post at the bridge foot is now large in front of me and the water sits just past the ironwork. A short step more should bring me right up against that stonework where my target stands.", + "The pale post at the bridge foot sits at my left edge with the bridge ramp filling the middle of my view. Turning left should swing the railing and that post squarely in front of me before I close the last stride.", + "With the turn done, the stone post now stands centred just ahead of me above the water, the railing running off to either side. A short step forward should put me right beside it.", + "The stone post at the bridge foot fills my view within arm's reach beside the water. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff622aa669fb84b85268d5ba6bacd8d4949dfd23 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002026_y004387_z000118_t2_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the stone bollard closest to the large tree trunk closest to you.", + "Type": 2, + "Start_Pose": [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -113.28, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -113.28, + 0.0 + ], + [ + -2025.627, + 4387.032, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2119.569, + 4303.274, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2213.511, + 4219.516, + 118.15, + 0.0, + -138.28, + 0.0 + ], + [ + -2213.511, + 4219.516, + 118.15, + 0.0, + -163.28, + 0.0 + ], + [ + -2330.657, + 4185.547, + 117.989, + 0.0, + -163.28, + 0.0 + ], + [ + -2428.952, + 4186.377, + 118.018, + 0.0, + -163.28, + 0.0 + ], + [ + -2527.22, + 4159.203, + 122.453, + 0.0, + -163.28, + 0.0 + ], + [ + -2527.22, + 4159.203, + 122.453, + 0.0, + -163.28, + 0.0 + ] + ], + "Rationale": [ + "The large tree trunk nearest me rises just to my left at the canal railing, and the pale stone bollards are set along that railing. I will turn left so the near trunk and the bollard standing right beside it come into my forward view.", + "The near tree trunk now stands ahead of me with the railing and its stone posts running behind it. I will walk forward across the paving to close the gap toward the bollard at that trunk's side.", + "The trunk ahead has grown noticeably and the railing posts beside it are clearer, but I am still several paces short of the canal edge. Another step forward should bring me level with the bollard next to that trunk.", + "I am now beside the trunk, which crowds the center of my view, and the stone bollard adjacent to it sits off to my left along the railing. Turning left should place that bollard squarely ahead of me.", + "The stone bollard beside the near trunk is now framed ahead of me at the canal railing, with the trunk itself just off my right shoulder. I will step forward to close on it.", + "The bollard I am heading for is directly ahead and taller in view, though the railing between us is still a couple of paces off. I will keep walking toward it.", + "The bollard now dominates the lower center of my view, but a short stretch of paving still separates me from it. One more step should put me right at its base.", + "The stone bollard beside the near tree trunk stands directly before me, close enough to touch. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..64a99384a3c90f028ae00cdc9b99ca70c8ce3b69 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the second iron fence section from the right.", + "Type": 2, + "Start_Pose": [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 5.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1949.689, + 8089.612, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1824.465, + 8102.244, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1699.241, + 8114.875, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1699.241, + 8114.875, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1591.089, + 8179.245, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1482.936, + 8243.615, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1374.783, + 8307.984, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1266.63, + 8372.354, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1158.477, + 8436.724, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1050.325, + 8501.094, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -992.085, + 8560.7, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -992.085, + 8560.7, + 118.15, + 0.0, + 30.76, + -0.0 + ] + ], + "Rationale": [ + "Counting the fence panels from the right end of the run, the second one is the ornate section whose scrollwork stands against the pale yellow facade, so that is what I will follow from here. It lies well ahead across the open paving. I step forward to close that distance.", + "The scrolled fence section in front of the yellow facade is clearer now but still a good stretch of paving away. Nothing blocks the straight line except open ground and tree shade. I keep walking forward toward it.", + "The wall and its railings fill more of my view, and the ornate scrolled section against the yellow facade sits off to my right rather than straight ahead. I am still too far out to be at it. Another step forward should bring me nearer before I correct my heading.", + "From this distance the scrolled section against the yellow facade sits to the right of the direction I am facing, so walking straight would carry me past it toward the panels on the left. A small turn to the right should put it near the middle of my view. I turn right to line up my approach.", + "The turn has brought the ornate scrolled panel in front of the yellow facade roughly ahead of me, with the tree trunk standing clear to its right. The paving between us is open. I walk forward along this heading.", + "The scrolled panel and the brick pillar beside it keep growing in my view, so my heading is holding. There is still several paces of paving before I reach the low wall. I continue forward.", + "The right end of the fence run has slid out of my view as I close in, so I simply keep to the ornate scrolled panel set against the yellow facade. It now dominates the left of my view and I am not yet beside it. I step forward again.", + "The scrolled ironwork against the yellow facade now fills much of my view, framed by its brick pillar, but I am still a stride or two short of standing at it. The tree trunk is clear of my line. I advance once more to reach the panel.", + "The scrolled panel and its low brick base now spread across the left of my view, and the row no longer reads as a countable run from this angle, so I stay with this ironwork against the yellow facade. I am close to the wall but still standing back from the panel itself. I step forward again.", + "The scrollwork is near enough that its curls read individually, yet the panel still stretches away to my left rather than sitting beside me. A short walk should bring me level with it. I move forward.", + "The bars and scrolled curls of this panel are within arm's reach now, with the brick pillar that ends it just to my right. A last short step should put me squarely at the ironwork. I advance.", + "The scrolled ironwork against the yellow facade is directly before me, its pillar at my shoulder. I am at the target, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22511764123fbf7c78bf9fe2e20d8bf253fcb07c --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the rightmost brick pillar along the iron fence.", + "Type": 2, + "Start_Pose": [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 5.76, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1966.759, + 8141.351, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1858.607, + 8205.72, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1750.454, + 8270.09, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1642.301, + 8334.46, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1534.148, + 8398.83, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1425.995, + 8463.199, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1425.995, + 8463.199, + 118.15, + 0.0, + 55.76, + -0.0 + ], + [ + -1355.179, + 8567.245, + 118.15, + 0.0, + 55.76, + -0.0 + ], + [ + -1284.363, + 8671.292, + 118.15, + 0.0, + 55.76, + -0.0 + ], + [ + -1213.548, + 8775.338, + 118.15, + 0.0, + 55.76, + -0.0 + ], + [ + -1142.732, + 8879.384, + 118.15, + 0.0, + 55.76, + -0.0 + ], + [ + -1071.916, + 8983.43, + 118.15, + 0.0, + 55.76, + -0.0 + ], + [ + -1001.1, + 9087.476, + 118.15, + 0.0, + 55.76, + -0.0 + ], + [ + -1001.1, + 9087.476, + 118.15, + 0.0, + 55.76, + -0.0 + ] + ], + "Rationale": [ + "The iron fence stretches across my view with brick pillars that all look alike, so I settle the count now and take the last one at the far right, where the fence run ends beside the pale corner building. That end lies well off my current heading. I turn right to face it.", + "The turn has brought the end of the fence and the arcaded corner building into the middle of my view, with open paving between us. Nothing blocks the line, so I walk forward to close on the end pillar.", + "The pillars along the fence are growing larger and the arcade on the corner building is clearer, confirming I am tracking the right end of the run. The paving ahead stays open, so I keep walking toward that end pillar.", + "The last stretch of fence and the pillar standing where it meets the building corner sit slightly left of my heading, still some way off. The plaza in front of me is clear apart from the tree ahead, which I can pass. I step forward again.", + "The tree with its circular grating now stands close in the middle of my view, and just beyond it the fence terminates at the pillar against the brick wall of the corner building. That pillar is my goal, so I continue forward.", + "The nearer pillars have slid off to my left as I close in, and the one where the fence ends at the brick corner is still ahead beyond the tree. I keep moving forward toward it.", + "I am close enough that the row no longer reads as a countable line, but the pillar where the fence meets the brick corner wall is clearly to the right of the tree trunk. Open paving remains beside the trunk, so I advance again.", + "The tree trunk now fills the center of my view and the pillar at the end of the fence sits off to its right, against the brick wall by the arcade. Turning right should swing that pillar into the middle of my view and clear the trunk from my path.", + "The turn has cleared the trunk to my left edge and the last stretch of fence with its end pillar now sits ahead of me, where the brick wall meets the arcade. Open paving runs straight to it, so I walk forward.", + "The end pillar stands plainly against the yellow facade beyond, with the fence railing running from it to the corner of the brick wall. Nothing intervenes on the pavement between us, so I keep walking toward it.", + "The pillar has grown tall in the left half of my view and the fence beside it now reads at close range rather than as part of a run. A few more steps should bring me right up against it, so I advance.", + "The railing and its capping stone now fill the left side of my view and the brick return of the corner is close on the right. I am nearly on top of the pillar, so I step forward again.", + "The brick pier where the ironwork stops is now within a couple of paces, standing between the railing and the windowed wall. I close the last of the gap with another step.", + "The pillar's brickwork now dominates the center of my view with the railing ending at its left face. One more short step should put me directly at it.", + "The brick pillar where the fence ends fills my view at arm's length. I am standing at it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e04a8abd5d14fa76100f7dbfc9d65472a2d440d --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the third iron fence section from the left.", + "Type": 2, + "Start_Pose": [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 5.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1949.689, + 8089.612, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1824.465, + 8102.244, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1699.241, + 8114.875, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1574.018, + 8127.507, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1448.794, + 8140.138, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1323.571, + 8152.77, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1198.347, + 8165.401, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -1073.124, + 8178.032, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -992.098, + 8189.753, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -992.098, + 8189.753, + 118.15, + 0.0, + 5.76, + -0.0 + ] + ], + "Rationale": [ + "Counting the railing panels along the wall from the left edge of the square, the third one sits near the middle of my view, just right of the near tree trunk and framed by its own two brick pillars. That panel is my destination, so I walk straight ahead toward it.", + "The railing panel I chose stays centered in my view as the wall grows larger, so my heading is still good. I keep walking forward across the open paving to close the distance.", + "The panel between its pillars sits squarely ahead of me and the wall now fills much of the view, so no course change is needed. I continue walking straight toward it.", + "Only a few panels still fit in my view, but the one I am heading for is the one directly in front of me, with a pillar on either side of it. I step forward again to shorten the remaining gap.", + "The wall is close enough now that the row no longer reads as a countable line, so I hold to the panel centered ahead between its two pillars. I keep walking toward it.", + "The ironwork and brick base of the panel ahead now dominate my view, and I am still a few paces short of standing at it. I advance again toward that panel.", + "The panel I am heading for now nearly fills my view between its two pillars, but there is still a stretch of pavement before the base of the wall. I step forward to reach it.", + "I am nearly at the panel, with its brickwork and railings filling my view and only a short piece of pavement left. One more step forward should bring me right up to it.", + "The scrollwork and brick base of the panel I am going to now fill my view, with only a narrow band of paving left at its foot. I take one short step forward so I am standing right against it.", + "I am standing right at the iron railing panel I set out for, its scrollwork within arm's reach across my whole view. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27e144f4a45fea1e4cdec88e8f0ad474c210e3ac --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002075_y008077_z000118_t2_d/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the right tree near the building.", + "Type": 2, + "Start_Pose": [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 5.76, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 5.76, + -0.0 + ], + [ + -2074.912, + 8076.981, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1966.759, + 8141.351, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1858.607, + 8205.72, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1750.454, + 8270.09, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1642.301, + 8334.46, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1534.148, + 8398.83, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1425.995, + 8463.199, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1317.842, + 8527.569, + 118.15, + 0.0, + 30.76, + -0.0 + ], + [ + -1317.842, + 8527.569, + 118.15, + 0.0, + 30.76, + -0.0 + ] + ], + "Rationale": [ + "Two trees rise from this square, and the one I want is the right-hand one, growing close against the pale building with the balconied windows. It lies well to the right of my current heading, so I will turn right to bring that tree in front of me.", + "The turn has placed the tree beside the arcaded building ahead of me, its trunk rising near the middle of my view. Open paving stretches between us, so I will walk forward to close the distance.", + "The trunk beside the brick wall and arcade has grown noticeably larger, confirming I am closing on it. The paving ahead stays clear, so I keep stepping forward.", + "The tree's circular stone base is now visible at the foot of its trunk, and the building's arches sit just beyond it. Several strides of open pavement remain, so I continue walking toward it.", + "The other tree has slipped out of my view, leaving only this trunk and its patterned base ahead of me against the building wall. The way is still clear, so I advance again.", + "The trunk now fills much of my view and its dark paved ring spreads out just ahead of my feet. I step forward again to draw right up beside it.", + "The bark is close enough to read in detail and the stone ring around the roots reaches almost to me, with the brick wall and windows immediately behind. A short step forward should bring me level with the trunk.", + "The trunk now blocks a large part of my view and the building's wall stands just past it on the right. One more step should place me directly at the tree.", + "The trunk is right at my shoulder, filling my view beside the building's brick wall and railing. I have arrived at this tree, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002379_y-001144_z000118_t3_a/infos.json b/dataset/trajectory/Venice/task_x-002379_y-001144_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f34ccb183b1612e5302eefab5251340bb55aaa71 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002379_y-001144_z000118_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Go to the corner between the pink wall topped by a black iron fence and the pale green building, then go to the autumn tree.", + "Type": 3, + "Start_Pose": [ + -2379.289, + -1143.922, + 118.15, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2379.289, + -1143.922, + 118.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2315.449, + -1035.456, + 118.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2251.608, + -926.99, + 118.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2187.768, + -818.524, + 118.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2187.768, + -818.524, + 118.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2084.069, + -747.2, + 118.15, + 0.0, + 34.52, + -0.0 + ], + [ + -1980.37, + -675.877, + 118.15, + 0.0, + 34.52, + -0.0 + ], + [ + -1876.671, + -604.553, + 118.15, + 0.0, + 34.52, + -0.0 + ], + [ + -1772.973, + -533.23, + 118.15, + 0.0, + 34.52, + -0.0 + ], + [ + -1669.274, + -461.906, + 118.15, + 0.0, + 34.52, + -0.0 + ], + [ + -1565.575, + -390.583, + 118.15, + 0.0, + 34.52, + -0.0 + ], + [ + -1565.575, + -390.583, + 118.15, + 0.0, + 34.52, + -0.0 + ], + [ + -1565.575, + -390.583, + 118.15, + 0.0, + 59.52, + -0.0 + ], + [ + -1565.575, + -390.583, + 118.15, + 0.0, + 84.52, + -0.0 + ], + [ + -1565.575, + -390.583, + 118.15, + 0.0, + 109.52, + -0.0 + ], + [ + -1565.575, + -390.583, + 118.15, + 0.0, + 134.52, + -0.0 + ], + [ + -1565.575, + -390.583, + 118.15, + 0.0, + 159.52, + -0.0 + ], + [ + -1565.575, + -390.583, + 118.15, + 0.0, + -175.48, + 0.0 + ], + [ + -1691.043, + -400.501, + 118.15, + 0.0, + -175.48, + 0.0 + ], + [ + -1816.51, + -410.42, + 118.15, + 0.0, + -175.48, + 0.0 + ], + [ + -1941.978, + -420.338, + 118.15, + 0.0, + -175.48, + 0.0 + ], + [ + -2067.445, + -430.257, + 118.15, + 0.0, + -175.48, + 0.0 + ], + [ + -2192.913, + -440.175, + 118.15, + 0.0, + -175.48, + 0.0 + ], + [ + -2192.913, + -440.175, + 118.15, + 0.0, + -175.48, + 0.0 + ] + ], + "Rationale": [ + "Ahead across the open pavement I can see the pink wall capped with black iron railings meeting the pale green building, and that junction is where I need to stand first. Nothing blocks the paving between me and it, so I will walk straight ahead to close the gap.", + "The railed pink wall and the pale green facade beside it now fill more of my view, confirming I am closing on their junction. The paving stays clear, so I will keep walking forward.", + "The iron-topped pink wall has swung further to my left as I near it, and the pale green facade with its shuttered windows stands directly ahead. Another step forward should bring me nearer the point where the two meet.", + "Walking straight is carrying me past the pink railed wall, which has drifted off to my left while the pale green facade fills the front of my view. I will turn left so the corner where the two surfaces join sits ahead of me instead of beside me.", + "The turn has put the pink wall with its black iron fence and the adjoining pale green facade squarely in front of me, with the recess between them centered. I will step forward to reach that inner corner.", + "The railed pink wall and the pale green wall beside it are noticeably closer and their meeting point is still centered in my path. I will keep walking to bring myself into that corner.", + "Only a short stretch of paving separates me from the seam where the pink fenced wall abuts the pale green facade. I will advance again to stand right in that corner.", + "The pink parapet with its scrolled iron fence and the pale green wall now rise on either side of a very short strip of paving, so I am nearly inside the corner. I will take another step forward to settle into it.", + "The pink wall with its black iron railing on my left and the pale green facade on my right now meet in a narrow angle directly ahead of me. I am close but not yet tucked into that junction, so I will step forward again to close the last of the gap.", + "Only the pink wall's end pier and the neighboring pale green plaster remain in view, so the meeting point of the two is right in front of me. One more step should place me squarely in that angle.", + "The pink wall's corner post with its black iron railing stands immediately at my left and the pale green plaster wall butts against it at my right, so I am standing in the angle where they meet. I have arrived at this corner. I mark reaching it and now turn toward the autumn tree.", + "Standing in the corner, both walls block my view and the tree with its orange leaves lies back out in the open square behind me. I will turn right to begin swinging my heading away from this junction toward that open side.", + "The turn has slid the pink corner post to the left edge and left only flat pale green plaster ahead, so I am still facing wall. I will keep rotating right to bring the open square and its autumn tree into view.", + "Now nothing but blank pale green wall fills my view, so my heading is still pinned against the building. Another right turn should carry me further around toward the open paving where the tree stands.", + "A barred window has come into view at the right of the pale green facade, showing that my heading is sweeping along the building toward its edge. I will turn right again to reach past this wall and pick up the open square.", + "Past the building's edge I can now catch orange foliage and open paving at the right of my view. One more right turn should place the autumn tree ahead of me so I can walk straight to it.", + "The barred window and pale wall still block the left half of my view, but the open square with the orange autumn crown has come into sight past the building edge on my right. One more turn in that direction should bring the tree near the center of my heading so I can walk straight at it.", + "The building corner has cleared my path and the autumn tree now stands ahead of me across the open paving, its orange canopy plainly in view. My heading points into the square, so I will walk forward to start closing the distance to that tree.", + "The tree's trunk and spreading canopy have grown larger and sit close to the middle of my view, with clear stone paving between us. Nothing blocks the line, so another step forward should keep shrinking the gap.", + "The trunk is directly ahead of me with its circular paving pattern visible at its base, and the canal railing lies beyond it. I still have several paces of open ground, so I will keep walking toward the tree.", + "The autumn tree is noticeably nearer, its trunk thick in front of me and the ring of paving around its base now clearly laid out. I am not yet beside it, so I continue forward.", + "The trunk now rises tall just ahead and its branches reach over my head, so only a short stretch of paving separates us. One more step forward should bring me right up to the base of the autumn tree.", + "The autumn tree's trunk stands immediately in front of me with its foliage directly overhead. I have arrived at it, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002578_y-003767_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-002578_y-003767_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b082e41f68e1f0b6d8b84b46dc48054a13195b2d --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002578_y-003767_z000118_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the second window from the left on the ground floor.", + "Type": 2, + "Start_Pose": [ + -2577.542, + -3766.606, + 118.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2577.542, + -3766.606, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2475.104, + -3839.728, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2372.665, + -3912.851, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2270.227, + -3985.973, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2167.789, + -4059.096, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2167.789, + -4059.096, + 118.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2105.851, + -4168.66, + 118.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2043.914, + -4278.223, + 118.15, + 0.0, + -60.52, + 0.0 + ], + [ + -2043.914, + -4278.223, + 118.15, + 0.0, + -85.52, + 0.0 + ], + [ + -2035.42, + -4327.898, + 118.15, + 0.0, + -85.52, + 0.0 + ], + [ + -2035.42, + -4327.898, + 118.15, + 0.0, + -85.52, + 0.0 + ] + ], + "Rationale": [ + "Along this brick ground floor I count a barred window at the far left, then a closely spaced pair just left of the green door; my target is the second one, the left window of that pair. It sits well ahead down the frontage, so I will walk forward to close the distance.", + "The facade has grown wider in front of me, but the target window is still far off along the wall to my left. I will keep walking straight down the open pavement to shorten the approach.", + "The green door and the two windows beside it are now clearly separated on my left, confirming which opening I am heading for. I am still several strides short of them, so I will continue forward along the wall.", + "The barred windows and the green door now dominate the left side of my view, meaning I am nearly level with them. One more step forward should bring me alongside the window I am after before I turn to face it.", + "My target window lies off to my left while my heading still runs down the pavement past the building. Turning left should swing the wall in front of me and put the window pair beside the green door into the centre of my view.", + "The turn has squared me onto the wall, with the two barred windows centred and the green door just to their right. I will step forward across the remaining pavement toward the left window of that pair.", + "The window frames and grilles now fill most of my view, so only a short gap of pavement remains. I will walk forward again to draw right up to the window beside the green door.", + "This close the facade no longer reads as a row, and the door has slid out of view, but I am still going to the left opening of the pair I picked out. It sits toward the left of my view, so I will turn left to bring it squarely in front of me.", + "The barred opening I chose now sits centred ahead, its stone sill and grille filling my view with only a narrow strip of pavement left between us. A short step forward should bring me right up against it.", + "The grille and glass of my chosen window fill my view at arm's length. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002578_y-003767_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-002578_y-003767_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f15dd88729c1a6a51bea8471d5c0233a33e6fc52 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002578_y-003767_z000118_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the third window from the left on the ground floor.", + "Type": 2, + "Start_Pose": [ + -2577.542, + -3766.606, + 118.15, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2577.542, + -3766.606, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2475.104, + -3839.728, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2372.665, + -3912.851, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2270.227, + -3985.973, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2167.789, + -4059.096, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -2065.351, + -4132.218, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -1962.912, + -4205.341, + 118.15, + 0.0, + -35.52, + 0.0 + ], + [ + -1962.912, + -4205.341, + 118.15, + 0.0, + -60.52, + 0.0 + ], + [ + -1900.975, + -4314.904, + 118.15, + 0.0, + -60.52, + 0.0 + ], + [ + -1900.975, + -4314.904, + 118.15, + 0.0, + -85.52, + 0.0 + ], + [ + -1900.975, + -4314.904, + 118.15, + 0.0, + -85.52, + 0.0 + ] + ], + "Rationale": [ + "Counting the ground floor openings along this brick facade from the left, the third one is the barred window sitting immediately left of the green entrance door, so I lock onto that window beside the door. It lies well ahead down the street, so I walk forward along the wall.", + "The green door and the barred window beside it are now larger and slightly closer to my left, confirming I am closing on the right stretch of wall. Nothing blocks the paving ahead, so I keep walking forward.", + "The windows on this ground floor now show their sills and potted plants, but I am still several paces short of the one that stands next to the green door. I continue forward along the facade to shorten that gap.", + "The barred window next to the green door is drifting toward my left side as I come abreast of the wall, which means my target is nearly level with me but still ahead. I step forward again to reach it.", + "The green door is close enough that its handle and recessed step are distinct, and the barred window I want sits just to its left, partly out of my view. Another forward step should bring me level with that window.", + "I am now against the facade with the green door directly beside me, and the barred window I chose lies just past it on my left. I advance one more step to draw level with that window.", + "Standing right at the green door, my heading runs along the wall rather than at it, and the barred window I am after sits off to my left. I turn left to bring that window squarely in front of me.", + "The barred window beside the green door now sits ahead and slightly left of me, with clear paving between us. I step forward to close the last of that distance and stand at it.", + "I am right against the brickwork now, with only the stone jamb and the edge of the barred window at my left margin. A left turn should swing my view off the blank wall and put the window itself in front of me.", + "The barred window fills my view at arm's length, its sill and grille directly before me. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_a/infos.json b/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d250605150390e3e876fa7eeefa72434dce7ed8a --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the leftmost tree trunk in the courtyard.", + "Type": 2, + "Start_Pose": [ + -2591.156, + 7876.883, + 244.697, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2591.156, + 7876.883, + 244.697, + 0.0, + 0.0, + -0.0 + ], + [ + -2465.297, + 7876.883, + 194.315, + 0.0, + 0.0, + 0.0 + ], + [ + -2339.438, + 7876.883, + 151.318, + 0.0, + 0.0, + 0.0 + ], + [ + -2213.579, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2087.72, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1961.861, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1836.002, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1710.143, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1584.284, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1458.425, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1332.566, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1332.566, + 7876.883, + 118.15, + 0.0, + 0.0, + 0.0 + ] + ], + "Rationale": [ + "Two trunks rise from the courtyard paving ahead of me, and the leftmost is the one set in the square grate closest to the pink building on the left. That grate and facade mark it out, so I will follow that trunk from here on. I step forward to close the open distance.", + "The trunk in the grate beside the pink facade sits slightly right of my heading and is still well across the paving. Nothing blocks the flat stone between us. I keep walking straight toward it.", + "The trunk I am following now fills more of my view, its grate clearly visible at the base against the fence line. My heading still points at it, so no turn is needed. I advance again.", + "The iron railing and brick piers behind the trunk are resolving into detail, which tells me I am gaining ground steadily. The trunk stays near the middle of my view with clear paving in front. I continue forward.", + "The other tree has drifted far to the right edge of my view, so the row no longer reads as a pair from here; I stay with the trunk standing in its grate by the pink facade. It is close now but not yet within reach. I step ahead again.", + "The trunk I am following now dominates my view, with its patterned grate spread on the paving directly ahead. The gap left of it opens into a side lane, but my target is the trunk itself. I keep moving toward it.", + "The grate ring around the trunk's base is fully visible and only a short stretch of paving separates me from it. My path stays clear of the brick piers on either side. I take another step in.", + "The bark texture of the trunk is now legible and its grate edge nearly meets my feet's line of travel. A little more distance remains before I am standing at it. I move forward again.", + "The trunk rises taller than my view can hold and its cast-iron ring spreads across the paving just short of me. Only a couple of paces of open stone remain between my feet and that ring. I step ahead once more.", + "The bark is close enough that individual ridges read clearly, and the grate now begins right at the bottom of my view. A final short step should bring me onto the grate at the trunk's base rather than stopping just shy of it.", + "The trunk stands at arm's length filling the left of my view, with its grate under my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_b/infos.json b/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af21d2b52e064a7134f761bc7c8b0e57ae934e03 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the rightmost tree trunk in the courtyard.", + "Type": 2, + "Start_Pose": [ + -2591.156, + 7876.883, + 244.697, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2591.156, + 7876.883, + 244.697, + 0.0, + 0.0, + -0.0 + ], + [ + -2465.297, + 7876.883, + 194.315, + 0.0, + 0.0, + 0.0 + ], + [ + -2465.297, + 7876.883, + 194.315, + 0.0, + 25.0, + -0.0 + ], + [ + -2351.23, + 7930.073, + 151.134, + 0.0, + 25.0, + -0.0 + ], + [ + -2237.163, + 7983.263, + 126.187, + 0.0, + 25.0, + -0.0 + ], + [ + -2123.096, + 8036.454, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -2009.029, + 8089.644, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1894.962, + 8142.834, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1780.895, + 8196.025, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1666.828, + 8249.215, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1552.761, + 8302.405, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1438.694, + 8355.596, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1438.694, + 8355.596, + 118.15, + 0.0, + 50.0, + -0.0 + ], + [ + -1357.793, + 8452.009, + 118.15, + 0.0, + 50.0, + -0.0 + ], + [ + -1357.793, + 8452.009, + 118.15, + 0.0, + 50.0, + -0.0 + ] + ], + "Rationale": [ + "Ahead the courtyard runs beside an iron railing with trees planted along it, and the trunk standing farthest right, over near the corner where the railing meets the pale building, is the one I want. The paving in front of me is clear, so I will walk forward to open the courtyard and keep that trunk in view.", + "From this closer position my heading points across the open paving, while the trunk I picked out sits well off to my right beside the railing corner. I will turn right so it moves toward the middle of my view and I can walk straight at it.", + "The turn has brought the arcaded wing and my target trunk into the right half of my view. More trunks now show along the railing to my left, so I keep following the one standing by that far corner instead of recounting from here. I will walk forward to close the gap.", + "My trunk stands ahead and slightly right, rising from the paving in front of the arcaded facade. Nothing lies between me and it, so I continue walking toward it.", + "The trunk I am heading for has grown noticeably larger and now sits just right of centre in my view. My heading is still good, so another step forward should carry me closer without needing a turn.", + "I am still on line with the trunk by the corner of the railing, which now dominates the right-centre of my view. The open paving ahead gives me a clean run, so I keep advancing.", + "The trunk rises tall in front of me now, with the dark circular grate around its base coming into view on the paving. I am still several strides short of it, so I walk forward again.", + "The trunk stands close ahead and a little right, its ringed grate clearly marking the base and the railing corner behind it. A further step forward should bring me right up beside it.", + "The dark patterned grate at the base of my trunk is now fully exposed on the paving just ahead, and no other trunk shares this corner of the wall. A couple more strides should put me on that grate, so I keep walking.", + "The trunk fills the middle of my view with its ringed grate spreading wide at ground level, so the remaining gap is only a stride or two. Nothing blocks the stones between us, and I advance again.", + "I am nearly on the grate, with the brick wall corner and the railing sitting just behind the trunk. One more step should bring me right against its base.", + "The trunk now looms right in front of me, its bark filling the upper centre while the grate lies under my feet's reach. It sits a touch left of my heading, so a turn right brings my body squarely alongside it rather than brushing past its left side.", + "With the turn done, the arcade opens along the right and the trunk stands close on my left-of-centre, its grate spread across the stones ahead. A final short step should bring me level with it.", + "The trunk beside the railing corner stands directly at my side, its bark filling my view at arm's length. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_c/infos.json b/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d6d49c3481eb0f4a0dc9fbb4234632c47ba745d --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Go to the second fence entrance from the left.", + "Type": 2, + "Start_Pose": [ + -2591.156, + 7876.883, + 244.697, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2591.156, + 7876.883, + 244.697, + 0.0, + 0.0, + -0.0 + ], + [ + -2465.297, + 7876.883, + 194.315, + 0.0, + 0.0, + 0.0 + ], + [ + -2465.297, + 7876.883, + 194.315, + 0.0, + 25.0, + -0.0 + ], + [ + -2351.23, + 7930.073, + 151.134, + 0.0, + 25.0, + -0.0 + ], + [ + -2237.163, + 7983.263, + 126.187, + 0.0, + 25.0, + -0.0 + ], + [ + -2123.096, + 8036.454, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -2123.096, + 8036.454, + 118.15, + 0.0, + 50.0, + -0.0 + ], + [ + -2042.195, + 8132.867, + 118.15, + 0.0, + 50.0, + -0.0 + ], + [ + -1961.295, + 8229.281, + 118.15, + 0.0, + 50.0, + -0.0 + ], + [ + -1880.394, + 8325.695, + 118.15, + 0.0, + 50.0, + -0.0 + ], + [ + -1799.494, + 8422.108, + 118.15, + 0.0, + 50.0, + -0.0 + ], + [ + -1718.593, + 8518.522, + 118.15, + 0.0, + 50.0, + -0.0 + ], + [ + -1718.593, + 8518.522, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1604.526, + 8571.712, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1490.459, + 8624.902, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1376.392, + 8678.093, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1262.325, + 8731.283, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1148.258, + 8784.473, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -1148.258, + 8784.473, + 118.15, + 0.0, + 0.0, + -0.0 + ], + [ + -1022.399, + 8784.473, + 118.15, + 0.0, + 0.0, + -0.0 + ], + [ + -1022.399, + 8784.473, + 118.15, + 0.0, + 0.0, + -0.0 + ] + ], + "Rationale": [ + "The railed fence closes off the far side of the square, and counting its breaks from the left end, the second one is the gap set deeper along the run, past the nearer tree. I walk forward to close distance and read that gap more clearly.", + "The fence run continues past the right edge of my view, so I cannot yet see the stretch that holds the gap I chose. I turn right to swing my heading along the line of railings and bring more of the run into view.", + "Now the railed wall stretches away on my left and an arcaded facade stands off to my right, with clear paving between them. I step forward along that lane to work down the fence toward my gap.", + "The railings keep sliding past on my left and the gap I want still lies further along, toward where the fence meets the corner of the arcaded building. I keep walking forward over the open paving.", + "I am still short of my gap, since the fence beside me shows only unbroken railing between its brick piers. Another stride forward should carry me nearer the end of the run where that entrance sits.", + "A tree trunk stands squarely in my forward line at the fence edge, while the paving runs on clear to the right along the arcaded frontage. I turn right to take that open line toward the corner where the fence run ends.", + "The left end of the fence has now slipped out of my view, so I simply hold to the gap itself, the one set near the corner of the arcaded building. With the paving open ahead, I walk forward toward that corner.", + "The brick piers and railings on my left are drawing closer to the building corner where my entrance lies. Nothing blocks the paving in front of me, so I keep walking forward to reach it.", + "This close, the railings sliding past my left no longer read as a countable row, so I hold instead to the single break beside the arcade's brick corner. That corner still lies well ahead across clear paving. I walk on toward it.", + "The ground floor arches ahead of me are widening as I close on the building's corner, which is where the fence run breaks for my entrance. The square in front stays empty of obstacles, so I take another stride forward.", + "The corner of the arcaded frontage is nearly abreast of me on the right, and the railing beside it should reveal its opening once I draw level. Nothing stands between me and that point, so I advance again.", + "Straight ahead of me now there is only the arcade's row of arches, while the fence and the break I want sit off to my left. I turn left to swing that opening into the middle of my view.", + "Between two brick piers ahead I can now see paving carrying through to a yellow facade beyond, which is the entrance I have been aiming for. With the way to it open, I walk forward.", + "The opening sits a little left of my heading, with the arcade's nearest arch just to its right. I keep stepping forward over the leaf strewn paving to close the remaining distance.", + "The piers flanking the entrance are large in my view now and the way between them stays unblocked. Another step forward should bring me up to the threshold of that opening.", + "The right hand pier of the entrance stands close in front of me, with the passage open just past its left edge. I move forward once more to draw level with that opening.", + "The near pier is filling the right of my view while the way past its left edge stays clear through to the yellow facade. One more stride should bring me level with that gap in the railings.", + "I am now abreast of the brickwork, which fills my view straight ahead, and the opening lies off to my left. Turning left should square my heading with the passage between the piers.", + "The two piers now frame my view on either side with the paved way running straight between them toward the yellow building. Nothing stands in that gap, so I step forward into the entrance itself.", + "I am standing in the fence opening beside the arcade corner, with its pier at my shoulder and the courtyard beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_d/infos.json b/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0ace065dc51c3bac11c7b6c2f46b3cfb72a25c73 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-002591_y007877_z000245_t2_d/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Go to the rightmost fence section near the right building.", + "Type": 2, + "Start_Pose": [ + -2591.156, + 7876.883, + 244.697, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2591.156, + 7876.883, + 244.697, + 0.0, + 0.0, + -0.0 + ], + [ + -2465.297, + 7876.883, + 194.315, + 0.0, + 0.0, + 0.0 + ], + [ + -2465.297, + 7876.883, + 194.315, + 0.0, + 25.0, + -0.0 + ], + [ + -2351.23, + 7930.073, + 151.134, + 0.0, + 25.0, + -0.0 + ], + [ + -2237.163, + 7983.263, + 126.187, + 0.0, + 25.0, + -0.0 + ], + [ + -2237.163, + 7983.263, + 126.187, + 0.0, + 50.0, + -0.0 + ], + [ + -2156.262, + 8079.677, + 118.201, + 0.0, + 50.0, + -0.0 + ], + [ + -2075.362, + 8176.091, + 118.201, + 0.0, + 50.0, + -0.0 + ], + [ + -1994.461, + 8272.504, + 118.201, + 0.0, + 50.0, + -0.0 + ], + [ + -1913.561, + 8368.918, + 118.201, + 0.0, + 50.0, + -0.0 + ], + [ + -1832.66, + 8465.331, + 118.201, + 0.0, + 50.0, + -0.0 + ], + [ + -1751.759, + 8561.745, + 118.201, + 0.0, + 50.0, + -0.0 + ], + [ + -1670.859, + 8658.159, + 118.201, + 0.0, + 50.0, + -0.0 + ], + [ + -1670.859, + 8658.159, + 118.201, + 0.0, + 25.0, + -0.0 + ], + [ + -1556.792, + 8711.349, + 118.201, + 0.0, + 25.0, + -0.0 + ], + [ + -1442.725, + 8764.539, + 118.201, + 0.0, + 25.0, + -0.0 + ], + [ + -1328.658, + 8817.73, + 118.201, + 0.0, + 25.0, + -0.0 + ], + [ + -1214.591, + 8870.92, + 118.201, + 0.0, + 25.0, + -0.0 + ], + [ + -1100.524, + 8924.11, + 118.201, + 0.0, + 25.0, + -0.0 + ], + [ + -992.192, + 8976.57, + 118.15, + 0.0, + 25.0, + -0.0 + ], + [ + -992.192, + 8976.57, + 118.15, + 0.0, + 25.0, + -0.0 + ] + ], + "Rationale": [ + "The iron fence crosses the square in bays between brick piers, and its run continues right toward the pale building on that side. The bays look alike, so I settle on the last one, where the fence meets that building's corner, and hold it by that landmark. I walk forward into the open paving for a clearer line.", + "From this spot the fence bays stretch off to my right and the building at that end is out of view behind the foliage and the far pier. My heading points straight across the square instead of along the run. I turn right so my facing should swing toward the end where the fence meets that building.", + "The turn brought the arcaded pale building into view on my right, with the fence line running toward it past the trees. That corner is where my target bay sits, and it is still far off across the paving. I step forward to close that distance.", + "The arcades of the building on the right have grown larger and the fence bays beside them are clearer, but I am still well short of the corner where the run ends. Nothing blocks the paving ahead. I keep walking forward toward that corner.", + "The arcaded building now sits toward the right of my view while my heading still carries me past it toward the fence's middle bays. I want the end bay against that building's corner, not the ones beside the trees. I turn right to bring that corner nearer the centre of my view.", + "The turn put the arcaded building's corner and the fence meeting it roughly ahead of me. The paving between is open and shadowed but unobstructed. I walk forward to keep closing on that corner.", + "The arcade columns and the brick base beside them are noticeably larger, so I am gaining on the corner where the fence run terminates. That end bay is still some way off behind the tree at my left. I continue forward.", + "The building's arcaded front fills more of my view and the railed brick wall leading to its corner is clearly visible on the left. I am not yet close enough to stand at that end bay. I step forward again along the same line.", + "The end bay of the railing, boxed between its brick pier and the arcaded building's near corner, sits ahead and slightly left of my heading. Open paving separates me from it, with nothing in the way. Another stride forward should shrink that gap.", + "The arched loggia now spreads across most of my view, and the ironwork panel ending against its brick corner reads plainly at the left. I am still a good few paces short of standing at that bay. Walking on keeps me on the same clean line.", + "Scrollwork on the panel beside the building's corner is starting to resolve into individual bars, so the distance is dropping fast. Nothing on the flagstones interrupts my path. I press ahead rather than adjust heading yet.", + "The brick base carrying that end panel is close enough now that its courses are distinct, though it still sits off to my left rather than in front of me. Closing more ground first makes the final aim easier. I take another step forward.", + "My heading now runs down the line of arches while the railed bay meeting this building's corner has slid to the left edge of what I can see. Continuing straight would carry me past it under the loggia. Turning left should bring that bay back in front of me.", + "The turn worked: the railing and the brick pier that closes its run against this building now sit squarely ahead of me. Only a short stretch of leaf-strewn paving remains. I walk toward it.", + "Two piers now frame the panel in front of me, with the yellow facade showing through its bars and the brick wall of the arcaded building joining it on the right. That junction is exactly the spot I want to stand at. Another step closes in on it.", + "The corner where the ironwork butts into the building's brickwork is only a couple of paces off, filling the right of my view. I am not quite alongside the panel yet. Stepping forward should put me right at it.", + "The scrolled ironwork and the low brick base beneath it now sit directly ahead, with the building's window wall turning away just to their right. A short span of leaf-littered paving still separates me from the panel itself. I walk on to stand right against it.", + "The panel and its capped brick base now spread across the middle of my view, and the pier that ends the run stands hard against the building's wall on the right. I am close but not yet within arm's reach of the railing. One more stride should bring me flush to it.", + "The bars and their curled scrolls now tower across nearly the whole view, with the brickwork of the adjoining building filling the right edge. Only a stride of stone remains before I am at the base of this end panel. I take that last step.", + "I am standing at the railing's end panel, its bars an arm's length away where it meets the building's brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7b63d6996e48bd596c16b520ed8367f4a0504a4f --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the left bench near the orange tree.", + "Type": 2, + "Start_Pose": [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3413.661, + -3473.707, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3517.905, + -3403.182, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3622.148, + -3332.657, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3726.392, + -3262.132, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3830.635, + -3191.607, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3934.879, + -3121.081, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -4039.122, + -3050.556, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -4143.366, + -2980.031, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -4247.609, + -2909.506, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -4247.609, + -2909.506, + 118.15, + 0.0, + 120.92, + -0.0 + ], + [ + -4312.281, + -2801.534, + 118.15, + 0.0, + 120.92, + -0.0 + ], + [ + -4346.227, + -2761.676, + 118.15, + 0.0, + 120.92, + -0.0 + ], + [ + -4346.227, + -2761.676, + 118.15, + 0.0, + 120.92, + -0.0 + ] + ], + "Rationale": [ + "Two red benches stand across the square by the orange tree: the left one sits back beside the iron gate and its pale pillar, near the stone wellhead, while the other is under the tree against the yellow building. I take the left one as my target and start walking toward it.", + "Both benches have grown a little, and my bench is still the one tucked against the gate near the wellhead. The paving between us is clear, so I keep walking straight ahead.", + "My bench sits ahead and slightly left of the pale gate pillar, with the wellhead behind it. Nothing blocks the open square, so another step forward closes the gap.", + "The other bench under the tree now looms on my right, while the one I want stays smaller beyond the gate pillar to the left. I continue forward, keeping my heading toward that farther bench.", + "My bench is clearly visible to the left of the tall pale pillar, backed by the gate railing and the wellhead beyond. Distance is still considerable, so I walk on.", + "The bench I am heading for now shows its full slatted back left of the pillar, though it is still several strides off. The ground between remains clear, so I press forward.", + "The bench under the tree is sliding past on my right and no longer competes for attention, while the one against the gate near the wellhead sits ahead on my left. I keep moving toward it.", + "Only a sliver of the other bench remains at my right edge, and my bench now fills the left of my view against the gate railing. I step forward again to draw alongside it.", + "The bench beside the gate railing now sits low and large on my left, close enough that its slats read individually, but I am still short of standing beside it. The paving ahead is open, so I take another stride to close that last stretch.", + "My straight heading has carried the bench out to the very edge of my view, with the pale pillar now filling the center and the orange tree swinging across to my right. A modest swing to the left should put the bench back in front of me before I close the remaining distance.", + "The turn has set the bench squarely ahead of me, its full length angled across my path with the stone wellhead and arcade beyond it. Nothing stands between us now, so I walk straight in toward its seat.", + "I am almost on top of the bench, its armrest and slats filling the lower half of my view against the railing and its step. One short step more should bring me level with it rather than looming over its end.", + "The red bench beside the gate railing is right at my side, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19a681c02a835168df5a211e32f3cda0216780c1 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the right bench near the orange tree.", + "Type": 2, + "Start_Pose": [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3413.661, + -3473.707, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3517.905, + -3403.182, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3622.148, + -3332.657, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3726.392, + -3262.132, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3726.392, + -3262.132, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3850.674, + -3242.269, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3974.956, + -3222.407, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -4099.237, + -3202.545, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -4223.039, + -3182.683, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -4223.039, + -3182.683, + 118.15, + 0.0, + 170.92, + -0.0 + ] + ], + "Rationale": [ + "I see two red benches across the square, and the right one of that pair is the one tucked under the orange-leaved tree against the iron railing, so that is my target. I am far back on the open paving with nothing between me and it. I will walk forward to close the distance.", + "The bench under the orange tree, by the railing, now sits a little larger and slightly right of my heading. The paving between us is still empty. I will keep walking forward toward it.", + "I can see the bench beneath the orange tree clearly now, set against the railing with the yellow building behind it. I am still several paces short of it, and my path stays clear. I will continue straight ahead.", + "The bench by the railing under the orange tree is noticeably nearer and drifting toward the right side of my view as I advance. I am not yet close enough to stop beside it. I will step forward again.", + "My straight heading is now carrying me past the bench under the orange tree, which has slid off to the right of center. A small turn to the right should put it back in front of me. I will turn right to line up my approach.", + "The bench below the orange tree now sits close to the middle of my view with the railing behind it, so my heading points at it. Open paving separates us. I will walk forward along this line.", + "The bench under the orange tree fills more of my view and stays centered, so I am closing on it correctly. A second bench remains off to my left, but the one I want is the one against this railing ahead. I will keep moving forward.", + "The bench beneath the orange tree now dominates my view, its seat and railing backdrop close in front of me. I am still a step or two short of standing right at it. I will move forward once more to arrive beside it.", + "The bench's slats and armrest fill the lower half of my view, with the railing and the orange canopy just above it, so only a short gap of paving remains. One more stride should bring me right up against its seat.", + "The bench beneath the orange tree is directly against me, its slats filling my view with the railing right behind. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..179bbac4ef6faf9065a0e8457eb9c936de7053e8 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the rightmost window on the ground floor of the yellow building.", + "Type": 2, + "Start_Pose": [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3433.7, + -3524.37, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3557.982, + -3504.507, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3682.264, + -3484.645, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3806.545, + -3464.783, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3930.827, + -3444.921, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3930.827, + -3444.921, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4051.859, + -3479.443, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4172.891, + -3513.966, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4293.923, + -3548.488, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4293.923, + -3548.488, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -4377.904, + -3529.983, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -4377.904, + -3529.983, + 118.15, + 0.0, + 170.92, + -0.0 + ] + ], + "Rationale": [ + "The yellow building stands off to my right across the square, its ground-floor openings running toward the corner, and the last window in that run sits beside the pale entrance door. I turn right to swing that facade into the centre of my view before crossing to it.", + "The yellow facade now fills the right half of my view, with its barred ground-floor windows and the pale door clearly readable. The paving ahead is open and empty, so I walk forward to close the distance toward that door and the window beside it.", + "The barred windows and the pale door of the yellow building have grown noticeably larger, confirming I am heading straight at the right stretch of facade. I keep walking forward across the clear paving to shorten the remaining gap.", + "The yellow wall now dominates my view, the barred windows and pale door well resolved and still ahead and slightly right. There is nothing between me and it, so another step forward continues the approach.", + "The lower storey of the yellow building is close enough that the window bars and the door frame stand out sharply. The bench and railing sit off to my left, clear of my line, so I keep advancing toward the door and the window at its side.", + "The yellow facade fills most of my view now, the pale door and its neighbouring barred window occupying the right side. I step forward again to bring myself in close to that stretch of ground-floor wall.", + "Approaching so closely has pushed the pale door and its windows to the right edge of my view, with the bench and gate taking up the left. I turn right to square my heading onto that section of the ground floor.", + "The pale entrance door and the barred windows flanking it are now centred in front of me at close range. With clear paving still under my feet, I walk forward to draw right up to that ground-floor window.", + "At this range the facade fills everything, the pale door with barred windows flanking it and the dark shopfront just clipping the right edge. The far end of the ground-floor run no longer fits in my view, so I hold to the window beside that door and step forward again.", + "Only the door and the barred windows on either side of it remain in front of me, close enough that the ironwork and the stone surrounds read clearly. A further step should bring me right up against that stretch of wall at the window beside the door.", + "The pale door now sits squarely on my right at arm's length, and the barred window I am going to has been pushed to the left edge of my view, half cut off by the frame. I turn left so that window comes back in front of me.", + "The barred window and its stone sill now sit ahead and slightly left, with bare yellow render filling the rest of the wall. Only a short stretch of paving separates me from it, so I walk forward to stand right at the glass.", + "The barred window's sill, frame and curtained glass fill my view at arm's length. I am standing at it, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa3e0a1ca71cf1daa26b0c2d7ba32033aa3a496 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003309_y-003544_z000118_t2_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the door on the far right of the yellow building.", + "Type": 2, + "Start_Pose": [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 145.92, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 145.92, + -0.0 + ], + [ + -3309.418, + -3544.232, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3433.7, + -3524.37, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3557.982, + -3504.507, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3682.264, + -3484.645, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3806.545, + -3464.783, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3930.827, + -3444.921, + 118.15, + 0.0, + 170.92, + -0.0 + ], + [ + -3930.827, + -3444.921, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4051.859, + -3479.443, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4172.891, + -3513.966, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4293.923, + -3548.488, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4293.923, + -3548.488, + 118.15, + 0.0, + -139.08, + 0.0 + ], + [ + -4380.005, + -3632.094, + 118.15, + 0.0, + -139.08, + 0.0 + ], + [ + -4380.005, + -3632.094, + 118.15, + 0.0, + -164.08, + 0.0 + ], + [ + -4396.508, + -3675.137, + 119.451, + 0.0, + -164.08, + 0.0 + ], + [ + -4396.508, + -3675.137, + 119.451, + 0.0, + -164.08, + 0.0 + ] + ], + "Rationale": [ + "The yellow building stands off to my right, and along its ground floor the last entrance before the corner is a tan door set under an ornate iron transom, beside a striped awning. My body faces the open square instead of that facade, so I will turn right to put the yellow front and that door ahead of me.", + "The yellow facade now lies ahead of me, with the tan door under its iron transom visible near the awning end. A wide stretch of open paving separates me from it, with nothing blocking the way. I will walk forward to close that distance.", + "The yellow wall and its tan door under the iron transom have grown larger, so my heading is carrying me straight toward them. There is still a long span of empty pavement before the facade. I keep walking forward.", + "The tan door with its decorative transom is clearly resolved on the yellow wall ahead, and the awning to its side confirms I am tracking the right entrance. The distance is still too great to stand at it. Another step forward should bring me closer.", + "The bench and iron railing pass along my left while the yellow wall and its tan door fill more of what lies ahead. Nothing stands between me and the facade. I continue walking toward the door.", + "The tan door with its patterned transom now sits well to my right as I near the wall, and its stone surround and handle are plainly readable. I am still several paces short of standing at it. I will step forward again before correcting my heading.", + "Approaching this close has pushed the tan door with the iron transom off to my right, while my heading points at the barred windows instead. Turning right should swing that entrance in front of me so I can walk straight at it.", + "The turn has lined the tan door and its ornate transom up ahead of me, with the shopfront awning just beyond it. Only a short stretch of paving remains between us. I will walk forward to reach the doorway.", + "The entrance sits square in front of me now, its scrolled fanlight, letter plate and knob all legible against the pale stone surround. Only a short run of paving separates me from the threshold, and it is clear. I keep walking straight at it.", + "The panelled entrance fills most of what lies ahead, and the barred window beside it is sliding off toward my left as I close in. I am near the wall but not yet standing at the doorway. Another step forward should put me at it.", + "This close, the entrance has drifted to the right margin of my view while bare plaster and a grated window take up the rest, so my heading runs past it along the wall. Turning right should swing the panelled slab and its brass knob back in front of me.", + "The door faces me again, knob and letter plate clear, but I am still standing off the sill with open paving to my right. Nothing intervenes between me and the recessed entrance. I will step forward to close that last gap.", + "I am right up against the timber now, but the stone jamb and the window beyond it crowd the right half of my view, so my heading is angled into the surround rather than the panel. A left turn should square me onto the door face.", + "Squared onto the timber panel, the knob now sits to my right and the dark reveal to my left, so I am facing the entrance head on. Barely a stride of clearance remains before the threshold. A short step forward should place me at it.", + "The yellow building's far-right door fills my view at arm's length, its knob and jamb right beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003762_y-000429_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-003762_y-000429_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..450595248a744896bbfc79d4641b29acdc9e4de6 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003762_y-000429_z000118_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the second fence post from the left.", + "Type": 2, + "Start_Pose": [ + -3761.968, + -428.973, + 118.15, + 0.0, + 56.64, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3761.968, + -428.973, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + -3692.758, + -323.852, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + -3623.549, + -218.73, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + -3623.549, + -218.73, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3605.25, + -94.208, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3605.25, + -94.208, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + -3536.04, + 10.913, + 120.083, + 0.0, + 56.64, + -0.0 + ], + [ + -3536.04, + 10.913, + 120.083, + 0.0, + 56.64, + -0.0 + ] + ], + "Rationale": [ + "A row of pale stone posts runs along the canal railing to my left, the nearest one standing closest to me and the next one further along toward the bridge. They all look alike, so I fix on that second one by its place just beyond the near post along the railing run. I will walk forward to close the distance.", + "The posts have grown larger and the railing line is clearer, but the post I chose is still several paces ahead down the promenade. The pavement in front of me stays open. I will keep walking forward along the canal.", + "My heading now points at the ironwork railing and the water beyond it, while the open promenade continues off to my right past the tree and the arcade. Turning right puts that walkable strip in front of me so I can continue along the row toward my post.", + "The pavement ahead runs clear alongside the railing, with the post I am heading for still off to my left front. Advancing along this open lane should bring me level with it. I will step forward.", + "I have drawn level with the railing, and the post I want now sits to my left rather than in front of me. Turning left should swing it into the middle of my view so I can walk straight at it.", + "The post I chose now stands centered in my view with the railing running away from it toward the bridge. Only a short gap of pavement remains between us. I will step forward to stand at it.", + "The stone post I chose stands directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003762_y-000429_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-003762_y-000429_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dd304e90d2395fb9d8b411e369a3e1470e99387d --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003762_y-000429_z000118_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the first stone pillar from the right along the railing.", + "Type": 2, + "Start_Pose": [ + -3761.968, + -428.973, + 118.15, + 0.0, + 56.64, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3761.968, + -428.973, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + -3692.758, + -323.852, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + -3692.758, + -323.852, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3674.131, + -199.412, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3655.832, + -74.891, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3637.533, + 49.631, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3619.234, + 174.153, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3600.935, + 298.674, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3582.636, + 423.196, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3552.459, + 532.806, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + -3552.459, + 532.806, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + -3523.22, + 635.038, + 127.003, + 0.0, + 56.64, + -0.0 + ], + [ + -3523.22, + 635.038, + 127.003, + 0.0, + 56.64, + -0.0 + ] + ], + "Rationale": [ + "Along the canal on my left a row of matching stone pillars runs off toward the arched bridge, so I fix my target as the one at that far bridge end rather than a count I would have to retake. The pavement ahead is open, so I walk forward to start down the walkway.", + "The walkway and the railing beside it fall away to my right toward the arched bridge, while I am facing more across them at the water. I will turn right to line my heading up with the pavement, so that stepping forward should carry me along the railing toward the pillar at its far end.", + "Now my heading follows the paved strip with the canal railing on my left and the arcade piers on my right, and the bridge sits far ahead. The pillar I am going to stands at the end of this railing, so I walk forward to close that distance.", + "The far end of the railing and the bridge are still well ahead down this corridor, and nothing stands between the arcade piers and the railing to block me. I keep walking forward toward the pillar at that end.", + "The tree growing out of the walkway is close on my right and the railing pillars keep sliding past on my left, which tells me the remaining run is shortening. My target still stands where the railing meets the bridge, so I move forward again.", + "The arched bridge reads noticeably larger ahead and the railing still runs on toward it, so I have ground left to cover. The passage beside the tree is clear, so I take another step forward.", + "The nearer pillars have dropped behind me and the row no longer reads as something I can count from here, so I simply hold to the one standing at the bridge end of the railing. It is still ahead of me, so I continue forward.", + "Ahead the railing ends beside the stone steps dropping to the water, right where the bridge begins, and that is where my pillar stands. Those last few paces are still in front of me, so I walk forward again.", + "The stone steps dropping to the water are now close on my left, and the last capped pillar sits just where the railing meets the bridge abutment. Only a short stretch of pavement separates me from it, so I walk forward once more to draw level.", + "I have come level with the end of the walkway, and the pillar I want stands off to my left, at the edge above the steps rather than straight ahead of my heading. Turning left should swing it into the middle of my view so a step should bring me right up beside it.", + "The capped pillar at the railing's bridge end now sits squarely ahead of me with the steps just beyond it on the right. A single stride should put me right at its base, so I move forward.", + "The pillar at the bridge end of the railing now fills the near view at arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..844c4f755c316af8707c682273f61f5c6fcbf656 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Go to the second ground-floor window from the left.", + "Type": 2, + "Start_Pose": [ + -3907.806, + 4742.291, + 118.15, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3907.806, + 4742.291, + 118.15, + 0.0, + -121.92, + 0.0 + ], + [ + -3974.352, + 4635.464, + 118.15, + 0.0, + -121.92, + 0.0 + ], + [ + -3974.352, + 4635.464, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4079.81, + 4566.768, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4185.269, + 4498.073, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4290.727, + 4429.378, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4396.186, + 4360.683, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4501.644, + 4291.988, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4607.102, + 4223.293, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4712.561, + 4154.598, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4818.019, + 4085.903, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4818.019, + 4085.903, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -4942.629, + 4068.213, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5067.239, + 4050.523, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5191.848, + 4032.833, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5316.458, + 4015.142, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5441.067, + 3997.452, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5565.677, + 3979.762, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5690.286, + 3962.072, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5814.896, + 3944.382, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5939.506, + 3926.691, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -6064.115, + 3909.001, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -6064.115, + 3909.001, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -6169.574, + 3840.306, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -6169.574, + 3840.306, + 118.15, + 0.0, + -146.92, + 0.0 + ] + ], + "Rationale": [ + "The cream building ahead carries one long run of ground-floor windows, and counting from the left end of that run I fix my target as the second window in it. They all look alike, so I hold it by its place in the row rather than by any marking. I walk forward across the open paving to close the distance and read the row more clearly.", + "From this closer position the facade fills the right of my view, while the end of the ground-floor run and the space in front of it fall outside my left edge. I turn left so the whole wall and the approach across the square line up ahead of me.", + "The turn has opened the square, with the ground-floor windows now running along the wall to my right and clear paving stretching ahead. I walk forward to cut the remaining distance toward that facade while keeping the window I chose in view.", + "The barred ground-floor windows on my right have grown noticeably larger, so my heading is carrying me straight toward that wall. I step forward again, since I am still well out in the open square and far from the window I am going to.", + "The building on my left shows ground-floor openings of its own, but my window belongs to the run on the right-hand wall, counted in from the corner where the two buildings meet. I keep walking forward to hold that approach line and shorten the gap.", + "The window frames on my right are resolving clearly now, their bars and sills readable, which tells me the wall is coming within reach of a few more paces. I walk forward again rather than turning, because my line still leads along that facade.", + "The corner where this ground-floor run begins is still visible to my left, and my window sits the second one in from it. Several paces of paving remain before I stand in front of it, so I continue forward.", + "The nearest windows on my right are now sliding past the edge of my view, so I stop recounting the row and simply keep following the window I picked. I step forward again to bring myself alongside that stretch of wall.", + "The near windows on my right now loom close enough that their bars and curtains fill much of that side, so I am running almost parallel to this wall rather than approaching it head on. My window lies further along past the corner ahead, so I keep walking forward.", + "The gap between the two buildings is still open ahead of me and the corner of this facade has not yet come abreast. I step forward again to carry myself along the wall toward the stretch where my window sits.", + "The wall on my right has crowded so close that only a couple of its openings fit in my view and my line is drifting into it. I turn left to swing my heading back out into the open square so I can travel along this facade instead of into it.", + "With the heading eased outward, the paving ahead runs clear and the facade sits at a workable angle on my right. I walk forward to continue along it toward the window I am going to.", + "The building across the square keeps sliding leftward as I advance, which tells me the pace along this wall is steady. Nothing blocks the paving in front of me, so I press on toward the window.", + "Open water is now showing beyond the far end of the square, so this facade must be running out toward its waterside corner. The window I chose lies on that stretch, so I continue walking forward.", + "The near corner of the yellow wall has drawn close on my right, with its ground-floor openings and the brown door coming into plain view. I take another step forward to draw level with that end of the run.", + "The doorway and the pair of barred windows beside it now sit squarely ahead of me, close enough to read their frames. I keep walking forward to close the last of the paving before the wall.", + "The sunlit yellow face past the shaded door carries the barred pair I have been following, and my window is the one set closest to that doorway. Only a short stretch of paving separates me from it, so I keep walking straight in.", + "The frames and their green bars are sharp now, and the sill line sits well above my eye, meaning I am still several paces out. I advance again to bring myself under that stretch of wall.", + "From this range the ground-floor openings no longer read as one countable run, since the corner and the far end have dropped out of my view. That costs me nothing, because I am holding the window beside the brown door rather than a place in a line. I step forward.", + "The doorway and its stone step are large enough now that I am nearly against the facade, though the window I want still sits off to the right of my line. A little more closing should put its sill within reach.", + "The wall now fills almost everything in front of me, the door panel and its brass knob plainly legible. My window's twin lights sit just to the right at this distance, so one more pace should bring me level with them.", + "Standing this close, the door has swallowed the left half of my view while the barred window I am going to is pushed against the right edge. I turn right so that window sits squarely ahead of me instead of the doorway.", + "The turn has put the barred double window centred in front of me, with clear paving under the wall. I take one more step to stand directly at it.", + "The barred window's sill and glass fill my view at arm's length, my own shadow cast on the stone. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e20ccf134231195c4e16d638ccc0897fc8080eb --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_b/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Go to the rightmost window on the left building's ground floor.", + "Type": 2, + "Start_Pose": [ + -3907.806, + 4742.291, + 118.15, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3907.806, + 4742.291, + 118.15, + 0.0, + -121.92, + 0.0 + ], + [ + -3974.352, + 4635.464, + 118.15, + 0.0, + -121.92, + 0.0 + ], + [ + -4040.898, + 4528.636, + 118.15, + 0.0, + -121.92, + 0.0 + ], + [ + -4040.898, + 4528.636, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4146.356, + 4459.941, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4251.815, + 4391.246, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4357.273, + 4322.551, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4462.732, + 4253.856, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4568.19, + 4185.161, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4673.649, + 4116.466, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4779.107, + 4047.771, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4779.107, + 4047.771, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -4903.717, + 4030.08, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5028.326, + 4012.39, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5152.936, + 3994.7, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5277.545, + 3977.01, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5402.155, + 3959.32, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5526.764, + 3941.629, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5651.374, + 3923.939, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5651.374, + 3923.939, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -5756.832, + 3855.244, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -5862.291, + 3786.549, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -5967.749, + 3717.854, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -6073.208, + 3649.159, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -6073.208, + 3649.159, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -6197.817, + 3631.469, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -6197.817, + 3631.469, + 118.15, + 0.0, + -171.92, + 0.0 + ] + ], + "Rationale": [ + "Two buildings face this square, and the left one shows a row of ground floor windows along its shaded side wall, ending at the corner nearest the tree. I fix on that last window before the corner as my target and step forward across the paving to close the distance.", + "The left building's facade is filling more of my view and its ground floor windows are clearer, so continuing straight keeps shortening the gap. I hold my heading and walk forward again toward that end window near the building corner.", + "Straight ahead I am aimed at the corner of the building rather than the wall carrying the ground floor windows, so I need to swing my heading toward the shaded side that runs off to the left. I turn left to bring that window run into the center of my view before advancing further.", + "The turn has opened the square to the left and the ground floor windows now stretch across the right side of my view along their wall. With clear paving ahead, I walk forward to follow that row toward my target window.", + "The windows on that ground floor wall are growing larger and better separated as I close in, confirming I am tracking the correct facade. Nothing blocks the paving in front of me, so I continue straight along it.", + "I am now walking parallel to the ground floor wall, with the barred windows sliding past on my right. The end of the row still lies further along, so I keep stepping forward rather than turning here.", + "The nearest windows are already beside me while the wall continues away toward the far end of the square, so my target window is still ahead. I advance again along the same line to keep closing on it.", + "From this close angle the wall is foreshortened and the far end of the run is still out of reach, so I am not yet at the window I chose. I keep walking forward along the facade toward its far corner.", + "The barred windows on my right are now large and steeply angled, which means I am running very close alongside the wall rather than approaching its far end. The window I want still lies beyond the ones sliding past me, so I step forward again.", + "At this range the nearest window frames tower over me and the wall runs on past them, so I have not yet drawn level with the end of this run. The paving beside the building is clear, so I keep advancing along it.", + "Hugging the wall this tightly has squeezed my view down to one window and the blank plaster beside it, so I can no longer judge how much of the facade remains. I turn left to swing my heading off the wall and open the square ahead again.", + "The turn has widened my view so the courtyard and the far corner of the square are visible again, with the building's windowed wall now on my right. With open paving in front, I walk forward to keep working toward the far end of that ground floor run.", + "The windows beside me are drifting rearward as the wall's forward extent shrinks, so the end I am aiming for is drawing nearer. Nothing stands in my path across the open paving, so I continue at this heading.", + "Only a single window panel remains visible on the near wall while sky and open ground appear past its edge, telling me the corner of this facade is close ahead. I step forward again to reach that far end of the row.", + "The wall I have been following has slipped to my far right and the open end of the square is spreading in front of me, so I am nearly abreast of its last window. I advance again to bring myself level with that end of the facade.", + "My heading now points across the open square toward the water edge, with the building I am tracking having passed off to my right side. I keep walking forward to gain the ground beyond its corner before turning back onto the window I chose.", + "The end wall of the building now faces me, with its doorway and the last barred windows beside it, and open water showing past the corner. Those windows next to the door mark the finish of the ground floor run I have been tracking, so I walk forward to close on them.", + "The pair of barred windows right of the doorway is widening steadily, and no further wall continues past that corner. Since the corner window is my goal, I step forward again to bring myself within a short distance of it.", + "The plaster face with the doorway now sits squarely across my line, so pressing straight on would only bring me flat against the wall short of the corner. I turn right to put the open waterfront pavement in front of me, which should let me keep advancing beside the last windows.", + "The turn has put clear pavement ahead with the facade and its final barred windows running along my left. I walk forward on that strip to draw level with the window at the corner end.", + "The barred windows on my left are swelling as I pass under them, and only a short stretch of wall separates me from where it meets the waterfront. I keep stepping forward to reach the last of them.", + "One barred window dominates the wall on my left, with the corner and the lagoon opening just past it. That is the end window I settled on, so a further step should bring me alongside it.", + "The corner is almost at my shoulder and the last barred window is close on my left, though I am still slightly behind it. I advance once more to set myself beside that window before turning onto it.", + "Only the edge of the barred window remains at my left margin while open water fills the rest of my view, so walking on would carry me clear past it. I turn left to bring that last ground floor window at the building's corner in front of me.", + "The barred window with its pale stone surround now sits square in front of me, with the building's corner edge and the open water just beyond its right side. I am still a stride or two off the wall, so one more step forward should place me directly at it.", + "I stand right at the barred ground floor window beside the building's corner edge, its frame and grille filling my view. The target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f5e032314ae803ea2b97cdc60c928865d140dde --- /dev/null +++ b/dataset/trajectory/Venice/task_x-003908_y004742_z000118_t2_c/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Go to the third ground-floor window from the right on the left building.", + "Type": 2, + "Start_Pose": [ + -3907.806, + 4742.291, + 118.15, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3907.806, + 4742.291, + 118.15, + 0.0, + -121.92, + 0.0 + ], + [ + -3907.806, + 4742.291, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4013.264, + 4673.596, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4118.723, + 4604.901, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4224.181, + 4536.206, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4329.64, + 4467.511, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4435.098, + 4398.816, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4540.556, + 4330.121, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4646.015, + 4261.426, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4751.473, + 4192.731, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4856.932, + 4124.036, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4962.39, + 4055.341, + 118.15, + 0.0, + -146.92, + 0.0 + ], + [ + -4962.39, + 4055.341, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5087.0, + 4037.65, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5211.609, + 4019.96, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5336.219, + 4002.27, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5460.828, + 3984.58, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5585.438, + 3966.89, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5710.048, + 3949.199, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5834.657, + 3931.509, + 118.15, + 0.0, + -171.92, + 0.0 + ], + [ + -5834.657, + 3931.509, + 118.15, + 0.0, + 163.08, + -0.0 + ], + [ + -5955.068, + 3968.139, + 118.15, + 0.0, + 163.08, + -0.0 + ], + [ + -6075.479, + 4004.768, + 118.15, + 0.0, + 163.08, + -0.0 + ], + [ + -6195.89, + 4041.398, + 118.15, + 0.0, + 163.08, + -0.0 + ], + [ + -6195.89, + 4041.398, + 118.15, + 0.0, + 163.08, + -0.0 + ] + ], + "Rationale": [ + "The building on my left is only clipped at the edge of my view, so I cannot yet read its ground-floor row. I will turn left to swing that facade in front of me and count in from the right corner where it meets the square. The openings look alike, so that corner is what I hold onto.", + "The turn has put the left building's ground floor in front of me, a row of similar shuttered windows running left from its right corner on the square. It sits far across the open pavement, so I step forward to close distance before I can settle on the third opening in from that corner.", + "The facade is still small and its lower windows read as one indistinct band from here. The pavement ahead is clear, so I keep walking on this diagonal toward the window I marked near that right corner.", + "Each stride is enlarging the left building slightly, but I am still out in the middle of the square with nothing to interact with. Holding this heading and moving forward should bring the ground-floor row close enough to distinguish individual openings.", + "The lower row on the left building is starting to resolve, with barred windows and a dark service entrance toward its far end. That end is not my reference, so I keep advancing while my count from the near right corner still holds.", + "The tall facade on my right is sliding past my shoulder as I cross the square, which tells me my line is carrying me toward the opposite building rather than into the wall beside me. Nothing blocks the paving, so I walk on.", + "The left building's windows are clearly separated now, yet I am still too far off to stand at any one of them. I continue forward to reach the near end of that ground-floor row.", + "The near building on my right now fills much of my view, but the gap toward the left facade stays open ahead. Another step forward should shorten the remaining stretch to the window I am aiming for.", + "The barred openings sweeping past my right shoulder belong to the near building, not to the row I am counting on the facade across the square. That row still sits ahead and to my left with clear paving between us, so I keep walking.", + "From here the lower band of that facade separates into distinct barred windows with a dark doorway set among them, which gives me something firmer than a blur to aim at. A good stretch of square still lies between us, so I press on across it.", + "The near wall is swelling on my right as I draw level with it, while the facade I want holds steady off to the left. Nothing interrupts the stones underfoot, so another stride should bring me nearer that ground-floor row.", + "My heading now runs along the near wall, which has pushed the facade I care about out to the left margin of my view. Turning left should swing that ground-floor row back in front of me so the opening I chose stays where I can track it as I close in.", + "The turn has put the lower row back in front of me, with its dark doorway and the barred windows on either side of it plainly set out. Walking straight from here should take me over the remaining open ground toward my opening.", + "The right end of the row now reads clearly: two barred windows sit on the corner that turns toward the water, then the tall doorway. That places my window immediately to the left of the doorway, and I walk on holding that pairing rather than a count.", + "The doorway and the windows beside it now stand large ahead of me, yet I am still out on open paving well short of the wall. Continuing forward should close most of what remains before the window on the doorway's left.", + "The near building has dropped completely out of my view and this facade fills it, so the row no longer presents an end to count from; the doorway is the mark I follow. I keep moving toward the barred window set just to its left.", + "The doorway sits square in front of me with its two sunlit companions to the right, so the shadowed grilled opening on its left side is the one I want. A wide stretch of stones still lies between me and that wall, and nothing interrupts it, so I step forward.", + "The bars and pale surround of the window on the doorway's left are readable from here, so I am no longer guessing which opening is mine. I am still standing out on the paving rather than at the wall, so I keep walking toward it.", + "The wall grows with each stride and the doorway now dominates the middle of my view, with my window holding just to its left. Nothing obstructs the stones ahead, so I press on to cut down the last of the gap.", + "My heading points me at the doorway itself, which leaves the grilled window on its left sitting well off toward the edge of my view. I will turn left so that opening comes in front of me for the last few strides.", + "The turn has placed the shadowed grilled window ahead of me with the doorway now sitting off to its right. Only a short run of paving remains, so I walk straight in toward the wall.", + "The iron bars and white surround stand large in front of me with the door frame close on the right, so my line is on the correct opening. A further stride should bring me nearly to the sill.", + "The grille is almost within reach and the door's stone jamb rises immediately beside it, which fixes this as the opening I chose. One more step should set me right against the wall in front of it.", + "The barred window beside the door's stone jamb fills my view at arm's length. I stand at the target opening, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Venice/task_x-004113_y004581_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-004113_y004581_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf1f4ef992194ba581e415a7823226a04ab57b6 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-004113_y004581_z000118_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the rightmost ground-floor brown window on the right building.", + "Type": 2, + "Start_Pose": [ + -4113.443, + 4581.167, + 118.15, + 0, + -121.92, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4113.443, + 4581.167, + 118.15, + 0, + -121.92, + 0 + ], + [ + -4179.989, + 4474.339, + 118.15, + 0.0, + -121.92, + 0.0 + ], + [ + -4179.989, + 4474.339, + 118.15, + 0.0, + -96.92, + 0.0 + ], + [ + -4195.153, + 4349.397, + 118.15, + 0.0, + -96.92, + 0.0 + ], + [ + -4210.317, + 4224.455, + 118.15, + 0.0, + -96.92, + 0.0 + ], + [ + -4225.481, + 4099.513, + 118.15, + 0.0, + -96.92, + 0.0 + ], + [ + -4240.645, + 3974.571, + 118.15, + 0.0, + -96.92, + 0.0 + ], + [ + -4240.645, + 3974.571, + 118.15, + 0.0, + -71.92, + 0.0 + ], + [ + -4205.91, + 3922.092, + 118.15, + 0.0, + -71.92, + 0.0 + ], + [ + -4205.91, + 3922.092, + 118.15, + 0.0, + -71.92, + 0.0 + ] + ], + "Rationale": [ + "The building on the right shows a run of brown barred windows along its ground floor, and the one I want is the last of them before the wall ends at the corner beside the orange tree. It is still far off across the open pavement, so I will walk forward to close that distance.", + "The facade now fills much of my view, but the brown barred windows at the corner end of the ground floor lie off to my right, partly cut by the frame. I will turn right so that corner end of the wall sits ahead of me before I keep walking.", + "The turn has put the end of the facade in front of me, with the last brown barred windows just left of the corner and the canal bridge beyond. Nothing blocks the paving between us, so I will walk straight ahead toward that corner window.", + "The corner window pair has grown larger and the wall edge is drifting toward the right of my view, so I am closing correctly on the window beside the corner. I will keep walking forward along the open paving.", + "I am now near the end of the facade, with the barred brown window beside the corner filling the middle of my view. It is still a few paces off, so another step forward should bring me closer to standing at it.", + "The window beside the corner now dominates my view, its red frame and iron bars clearly visible, and the wall's edge shows just past it. I will step forward once more to come right up against it.", + "This close the ground floor no longer reads as a countable row; I only see glass, bars and the pillar between two openings. The one I want is the opening on the right, nearer the building's end, so I turn right to face it squarely.", + "The barred brown window is now centered before me, with the corner pilaster and the open quay just past its right edge, confirming this is the last one on this wall. A short step forward should place me right at it.", + "The barred brown window's glass and frame fill my view at arm's length, with the corner edge just beyond it. I am standing at it, so the task is complete." + ] +} diff --git a/dataset/trajectory/Venice/task_x-004465_y-002329_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-004465_y-002329_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..133ba1055c5ed67a9d3cdfeb1a3ff4325003c52f --- /dev/null +++ b/dataset/trajectory/Venice/task_x-004465_y-002329_z000118_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the rightmost arch on the ground floor.", + "Type": 2, + "Start_Pose": [ + -4465.245, + -2328.798, + 118.15, + 0.0, + 86.4, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4465.245, + -2328.798, + 118.15, + 0.0, + 86.4, + -0.0 + ], + [ + -4465.245, + -2328.798, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4511.168, + -2211.616, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4557.091, + -2094.435, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4603.014, + -1977.253, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4648.937, + -1860.071, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4694.86, + -1742.889, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4740.783, + -1625.708, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4786.706, + -1508.526, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4786.706, + -1508.526, + 118.15, + 0.0, + 111.4, + -0.0 + ] + ], + "Rationale": [ + "The ground-floor arcade runs across the pink facade in front of me, and its right end stops where the building meets the dark corner wall, so that last arch beside the corner is my target. It lies well to the right of my current heading. I will turn right to bring it in front of me.", + "The turn has put the arch beside the dark corner wall ahead of me, at the right end of the arcade. Open paving stretches between us with only the well basin off to my left. I will walk forward toward that arch.", + "The arcade has grown larger and the arch next to the dark corner wall is still my mark, roughly straight ahead. The courtyard remains clear in that direction. I keep walking forward.", + "The columns of the arcade are now clearly separated, and the arch adjoining the dark green corner wall is the one I am heading for. There is still plain paving between me and its opening. I advance again.", + "The near arches now fill the left side of my view and the far end of the arcade has slipped out of sight, so I no longer count the row and simply keep to the arch standing against the green corner wall. It is close ahead and slightly left. I step forward.", + "Only two arch openings remain in view, and the one bordering the green shuttered wall is my target. Its threshold is a few paces off with clear ground between. I continue forward.", + "The arch beside the green shuttered wall now spans directly above and ahead of me, with its outer pier standing close on my right. I am at its mouth but not yet under it. I will step forward to move into the opening.", + "I am under the vault with the outer pier of the arch beside the green shuttered wall right at my shoulder. One more step should place me properly within that end arch rather than at its edge. I move forward.", + "I stand beneath the vault of the end arch, its outer pier at my right and the green shuttered wall just beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-004465_y-002329_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-004465_y-002329_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..504e4587bd621b800f5fa05d0824ce44e39527d1 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-004465_y-002329_z000118_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the second arch from the right on the ground floor.", + "Type": 2, + "Start_Pose": [ + -4465.245, + -2328.798, + 118.15, + 0.0, + 86.4, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4465.245, + -2328.798, + 118.15, + 0.0, + 86.4, + -0.0 + ], + [ + -4457.342, + -2203.187, + 118.15, + 0.0, + 86.4, + -0.0 + ], + [ + -4457.342, + -2203.187, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4503.265, + -2086.006, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4549.188, + -1968.824, + 118.15, + 0.0, + 111.4, + -0.0 + ], + [ + -4549.188, + -1968.824, + 118.15, + 0.0, + 86.4, + -0.0 + ], + [ + -4541.286, + -1843.213, + 118.15, + 0.0, + 86.4, + -0.0 + ], + [ + -4533.383, + -1717.603, + 118.15, + 0.0, + 86.4, + -0.0 + ], + [ + -4525.48, + -1591.992, + 118.15, + 0.0, + 86.4, + -0.0 + ], + [ + -4517.577, + -1466.381, + 118.15, + 0.0, + 86.4, + -0.0 + ], + [ + -4517.577, + -1466.381, + 118.15, + 0.0, + 86.4, + -0.0 + ] + ], + "Rationale": [ + "The ground floor arcade stretches across the building ahead, and counting in from its right end, my target is the second arch, the one framing a dark barred window next to the shadowed end arch on the corner. I will walk forward across the open paving to close distance on that arcade.", + "The arcade is closer now, but the barred-window arch I picked lies off to the right of my heading while the wellhead crowds the middle of my view. I will turn right so that arch and the shadowed corner arch beside it come toward the center of my view.", + "The turn has swung the right portion of the arcade into view, with my barred-window arch and the darker corner arch beyond it ahead of me. The paving between us is clear of obstacles, so I will walk forward to close the gap.", + "The arches have grown noticeably larger, and the arch I am heading for, the one with the barred window under its vault, stands just left of center with the shadowed corner arch to its right. Nothing obstructs the pavement, so I will keep walking toward it.", + "From this close position the arch I chose has drifted to the left of my heading while the corner building's wall and door fill the right side of my view. I will turn left to square up with the arcade so I can walk straight at that opening.", + "Squaring up has put the arcade front-on, with the arch carrying the barred window centered directly ahead of me. I will step forward toward its opening.", + "The end of the arcade has slipped out of my view at this range, but the arch with the barred window standing straight ahead is still the one I am going to. Its piers frame clear ground, so I will keep walking toward it.", + "I am almost under the arch now, with its vault curving overhead and the barred window set in the wall behind it. One more step forward should bring me squarely into that opening.", + "The vault of my arch now arches right over me and its barred window sits ahead between the two piers, so the row no longer reads as a row from in here. One more step should carry me fully under that opening and up to the window wall.", + "I stand beneath the arch with its barred window directly before me between the flanking piers. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-004700_y000392_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-004700_y000392_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0bdfbe03befb59b9b1d4fc2deea0c0ba3818c688 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-004700_y000392_z000118_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the leftmost autumn tree near the building.", + "Type": 2, + "Start_Pose": [ + -4699.698, + 392.003, + 118.15, + 0.0, + 26.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4699.698, + 392.003, + 118.15, + 0.0, + 26.88, + -0.0 + ], + [ + -4587.438, + 448.907, + 118.15, + 0.0, + 26.88, + -0.0 + ], + [ + -4475.177, + 505.811, + 118.15, + 0.0, + 26.88, + -0.0 + ], + [ + -4362.916, + 562.714, + 118.15, + 0.0, + 26.88, + -0.0 + ], + [ + -4362.916, + 562.714, + 118.15, + 0.0, + 1.88, + -0.0 + ], + [ + -4237.125, + 566.843, + 118.15, + 0.0, + 1.88, + -0.0 + ], + [ + -4111.334, + 570.972, + 118.15, + 0.0, + 1.88, + -0.0 + ], + [ + -3985.543, + 575.101, + 118.15, + 0.0, + 1.88, + -0.0 + ], + [ + -3859.751, + 579.23, + 118.15, + 0.0, + 1.88, + -0.0 + ], + [ + -3733.96, + 583.359, + 118.15, + 0.0, + 1.88, + -0.0 + ], + [ + -3733.96, + 583.359, + 118.15, + 0.0, + 1.88, + -0.0 + ] + ], + "Rationale": [ + "Scanning the row of autumn trees lining this square, the one furthest left is the yellow-crowned tree standing right against the pale arcaded building on my left, and I fix on that trunk rather than on a position in the row. The pavement ahead is open, so I walk forward to close the distance.", + "The yellow tree beside the arcaded building is still ahead and slightly to my left, its trunk now larger in view. Nothing blocks the paving between us, so I keep walking straight toward it.", + "My tree's trunk now rises clearly to the left of my heading, with the building's facade and railing behind it. Distance is still considerable, so I take another stride forward before correcting my heading.", + "Walking straight has carried me level with the tree's line, and its trunk now sits well off to the left edge of what I face. I turn left to bring that trunk back toward the middle of my view so my next strides lead directly to it.", + "The turn has put the yellow tree squarely ahead of me, with the arcade columns to my left and open paving in between. I walk forward along this heading to close on its trunk.", + "The tree stays centered and its canopy now spreads across most of my view, so my heading is good. I continue walking to shorten the remaining stretch of pavement.", + "The trunk is directly in front of me with the canal railing and bench line just beyond it, confirming I am nearly at its base. More autumn trees show across the water, but the one I am walking to is this near trunk. I step forward again.", + "The trunk now dominates my view and the paved circle around its base is visible just ahead of my feet. One more step forward should place me right at the tree, short of the railing beyond.", + "The bark fills the center of my view and the round paved base sits just short of my feet, so I am close but not yet standing at the trunk. The stone bollards and railing beyond mark the canal edge, leaving one clear stride of pavement. I walk forward to reach the base.", + "The trunk stands at arm's length, its paved base right beneath me. I have reached the tree beside the building, so stopping here completes the task." + ] +} diff --git a/dataset/trajectory/Venice/task_x-004700_y000392_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-004700_y000392_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a954a10a9eb7b75c5649a7cb8ca94fe7c6cbd6c3 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-004700_y000392_z000118_t2_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the rightmost autumn tree by the bridge.", + "Type": 2, + "Start_Pose": [ + -4699.698, + 392.003, + 118.15, + 0.0, + 26.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4699.698, + 392.003, + 118.15, + 0.0, + 26.88, + -0.0 + ], + [ + -4587.438, + 448.907, + 118.15, + 0.0, + 26.88, + -0.0 + ], + [ + -4475.177, + 505.811, + 118.15, + 0.0, + 26.88, + -0.0 + ], + [ + -4362.916, + 562.714, + 118.15, + 0.0, + 26.88, + -0.0 + ], + [ + -4362.916, + 562.714, + 118.15, + 0.0, + 51.88, + -0.0 + ], + [ + -4285.222, + 661.73, + 118.15, + 0.0, + 51.88, + -0.0 + ], + [ + -4207.528, + 760.746, + 118.15, + 0.0, + 51.88, + -0.0 + ], + [ + -4129.834, + 859.762, + 118.15, + 0.0, + 51.88, + -0.0 + ], + [ + -4052.14, + 958.777, + 118.15, + 0.0, + 51.88, + -0.0 + ], + [ + -3974.446, + 1057.793, + 118.15, + 0.0, + 51.88, + -0.0 + ], + [ + -3896.752, + 1156.809, + 118.15, + 0.0, + 51.88, + -0.0 + ], + [ + -3896.752, + 1156.809, + 118.15, + 0.0, + 76.88, + -0.0 + ], + [ + -3868.183, + 1279.383, + 118.15, + 0.0, + 76.88, + -0.0 + ], + [ + -3839.614, + 1401.956, + 118.15, + 0.0, + 76.88, + -0.0 + ], + [ + -3811.045, + 1524.53, + 118.15, + 0.0, + 76.88, + -0.0 + ], + [ + -3782.476, + 1647.104, + 118.15, + 0.0, + 76.88, + -0.0 + ], + [ + -3782.476, + 1647.104, + 118.15, + 0.0, + 76.88, + -0.0 + ] + ], + "Rationale": [ + "Along the canal ahead I can see the arched bridge with several autumn trees lining the walkway, and the last one on the right is the tall broad tree with the deep orange crown standing right where the bridge meets this bank. I fix on that orange-crowned tree and walk forward across the open pavement to close the distance.", + "The bridge railing and its pale arch are noticeably larger now, and the orange-crowned tree beside it still sits ahead and to my right. Nothing blocks the paving between me and the canal edge, so I keep walking forward.", + "The canal wall and the bridge's pink arch are clearer, but the orange-crowned tree I chose is still well off to my right and some way ahead. Another stride forward should bring me nearer the bridge before I adjust my heading.", + "My current heading points at the far bank and the yellow trees on the left, while the orange-crowned tree by the bridge sits at the right edge of my view. I turn right to swing that tree and the bridge approach into the middle of my path so I can walk straight at it.", + "The turn has brought the big orange-crowned tree and the bridge into the centre of my view, with open pavement running toward them. I walk forward along that line to close on the tree.", + "The trunk of the orange-crowned tree stands plainly ahead of me and the bridge railing beside it keeps growing. The route stays clear, so I take another step forward toward that trunk.", + "I am still a few strides short of the tree I picked out, whose trunk rises just left of my heading with the canal railing behind it. I continue walking forward to reach its base.", + "The tree's thick trunk now dominates the middle of my view and the bridge's stone parapet and bollards sit just past it. A further step forward should put me close alongside its base.", + "The trunk I am aiming for stands slightly right of centre with the pink bridge arch and its ironwork just beyond, and the paving between us is clear apart from scattered leaves. I keep walking forward toward that trunk.", + "The bridge parapet and its curling railing now fill much of the left of my view, and the trunk I want rises close on the right of my heading. Another stride forward should bring me level with its base.", + "The trunk has drifted to the right side of my path while my heading now points along the canal past the bridge. I turn right so the tree sits squarely in front of me and I can step up to its base rather than pass it.", + "The turn has put the thick trunk dead centre against the bridge's stone ramp, with the pavement between the canal wall and the buildings open ahead. I walk forward along that lane toward its base.", + "Bark texture is now readable on the trunk and the low kerb around its base is coming into view just ahead. I continue forward to close the last stretch.", + "The trunk fills the centre of my view from the paving up past the leaf canopy, and the circular cobbled ring at its foot is only a step or two off. I move forward again to stand right beside it.", + "The bark now dominates my view and the bollard and bridge steps sit just past its right side, so I am nearly touching distance. One more step forward should put me alongside the trunk.", + "The trunk stands right beside me, against the bridge's pink parapet and stone steps. I have reached this tree, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-004770_y000397_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x-004770_y000397_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e37f832744bba64f311eab3f86409c53e2194b58 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-004770_y000397_z000118_t2_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the second door from the left on the far building.", + "Type": 2, + "Start_Pose": [ + -4770.071, + 397.319, + 118.15, + 0.0, + 116.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4770.071, + 397.319, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + -4825.559, + 510.286, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + -4881.048, + 623.253, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + -4881.048, + 623.253, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4883.596, + 749.086, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4886.144, + 874.919, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4888.692, + 1000.752, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4891.24, + 1126.585, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4893.788, + 1252.419, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4896.336, + 1378.252, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4898.884, + 1504.085, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4901.432, + 1629.918, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4903.98, + 1755.752, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4906.528, + 1881.585, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4909.076, + 2007.418, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4911.624, + 2133.251, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4914.171, + 2259.084, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + -4914.171, + 2259.084, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + -4965.087, + 2356.517, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + -4965.087, + 2356.517, + 118.15, + 0.0, + 116.16, + -0.0 + ] + ], + "Rationale": [ + "Across the open square I can see the pale green far building, and its ground floor carries a row of dark openings toward the left side of the square. Counting that row from its left end, my target is the second opening, and since they all look alike I hold it as the one standing immediately right of the leftmost bay. It is still far off, so I walk forward.", + "The far green building has grown slightly but its ground floor row is still small and partly crowded by the yellow wall on my right. Nothing blocks the paved square ahead of me, so I keep walking to close the gap toward the door I picked out.", + "My heading points along the yellow facade on the right, while the green building with the door row sits off to my left and is being squeezed toward the edge of my view. Turning left should swing that facade into the center so I can walk straight at my door.", + "The turn has placed the green building squarely ahead, with its row of dark ground floor openings now readable across the middle of my view. The square between us is empty pavement, so I step forward toward the door I singled out.", + "The green facade is filling more of my view and the dark openings under it are separating into distinct bays. I am still well out in the square, so I keep advancing straight at that row.", + "My heading is holding on the green building and the doorway row keeps growing in front of me. Nothing stands between me and it, so another step forward continues closing on the door beside the leftmost bay.", + "The four dark ground floor openings are now clearly resolved along the base of the green building, with the wide bay at the left end and my door just to its right. I am still several strides out, so I continue walking toward it.", + "The green facade now dominates my view and the door next to the leftmost bay is plainly visible slightly left of center. Since I am not yet close enough to stand at it, I keep stepping forward.", + "The ground floor row now reads clearly as a wide shopfront at the left end followed by a narrow glazed door, then another shopfront and a further door. That narrow door beside the leftmost bay is mine, sitting just left of center, and there is still open pavement between us, so I walk on.", + "The facade is close enough now that the doors show their glazing and panelled bases, and my narrow door beside the wide left bay sits a little left of my heading. No one and nothing occupies the paving in front of it, so I keep advancing.", + "My door still stands just right of the wide shopfront at the left of the row, and the whole ground floor now spans most of my view. I remain several strides short of standing at it, so I continue straight ahead.", + "The row is beginning to lose its ends as I close in, with the leftmost bay sliding toward the edge of my view, but I am still holding the narrow door that sits directly beside it. That door lies slightly left of my line, so another step forward should bring me nearer without needing a turn yet.", + "Only two shopfronts and two doors remain framed in front of me and the wide left bay is nearly out of view, yet my narrow glazed door is plainly the one just inside it. I am still short of the wall, so I step forward again.", + "At this range the openings no longer read as a countable row, so I simply follow the narrow glazed door I have been tracking, now near the middle of my view with its handle catching the light. A few more paces of pavement separate me from it.", + "My door and its brass handle are now large and slightly right of center, with the barred windows of the neighbouring wall beside them. I am close but not yet standing at the threshold, so I walk on.", + "The glazed door with its brass handle occupies the right half of my view, its stone surround and panelled base clear at arm's length range. A short step more should put me squarely in front of it rather than beside the shop window on my left.", + "The glazed door sits to the right of my line, with the shop window still taking the left half of my view. A small turn to the right should put its panel and handle squarely in front of me before I close the last stretch.", + "The turn has centered the tall glazed door, its handle and lock plates clear against the panel, with the barred window off to its right. Only a short stretch of paving remains, so I step forward to stand at the threshold.", + "The glazed door's handle and lock plates fill my view at arm's reach. I am standing at this door, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x-004770_y000397_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x-004770_y000397_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad8aabca6905265837b1c9e02cb3ed4ca34af65 --- /dev/null +++ b/dataset/trajectory/Venice/task_x-004770_y000397_z000118_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the green roller shutter on the right building.", + "Type": 2, + "Start_Pose": [ + -4770.071, + 397.319, + 118.15, + 0.0, + 116.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4770.071, + 397.319, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + -4825.559, + 510.286, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + -4881.048, + 623.253, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + -4881.048, + 623.253, + 118.15, + 0.0, + 141.16, + -0.0 + ], + [ + -4979.08, + 702.185, + 118.15, + 0.0, + 141.16, + -0.0 + ], + [ + -5077.111, + 781.117, + 118.15, + 0.0, + 141.16, + -0.0 + ], + [ + -5175.143, + 860.049, + 118.15, + 0.0, + 141.16, + -0.0 + ], + [ + -5257.795, + 938.409, + 118.15, + 0.0, + 141.16, + -0.0 + ], + [ + -5257.795, + 938.409, + 118.15, + 0.0, + 141.16, + -0.0 + ] + ], + "Rationale": [ + "The green corrugated roller shutter sits in the pale yellow building on the right side of the square, next to a brown wooden door, while the greenish building ahead on the left has only grey shopfronts. I will walk forward across the open paving to close distance with that right-hand facade.", + "The green shutter and the brown door beside it have grown larger and shifted slightly toward the centre of my view, confirming I am closing in on the right-hand building. Still some distance of open pavement remains, so I will keep walking straight ahead.", + "The green shutter now lies off to my right along the yellow facade, so walking straight would carry me past its front. Turning right should swing my heading onto the shutter and its neighbouring brown door for a direct approach.", + "The turn has brought the green shutter and the brown door squarely into the middle of my view, with the barred windows to their right. The pavement in front is clear, so I will step forward toward the shutter.", + "The shutter fills more of my view and its horizontal slats are becoming distinct, so my heading is still good. I will continue walking to bring myself right up against it.", + "The green shutter now dominates the view with its stone frame clearly visible, but I am still a few paces short of standing at it. I will step forward again to close that last gap.", + "The shutter now spans nearly my whole view at a steep angle, meaning I am close but slightly off to its side. One more step forward should place me directly at its face.", + "The weathered green slats of the roller shutter fill my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8497fadf240441e7ba1ca7c98bb73f426197edda --- /dev/null +++ b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the rightmost green door on ground level.", + "Type": 2, + "Start_Pose": [ + 188.049, + 3631.039, + 118.15, + 0, + -157.44, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 188.049, + 3631.039, + 118.15, + 0, + -157.44, + 0 + ], + [ + 188.049, + 3631.039, + 118.15, + 0.0, + -132.44, + 0.0 + ], + [ + 103.117, + 3538.157, + 118.15, + 0.0, + -132.44, + 0.0 + ], + [ + 18.185, + 3445.275, + 118.15, + 0.0, + -132.44, + 0.0 + ], + [ + 18.185, + 3445.275, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -19.536, + 3325.202, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -57.256, + 3205.128, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -94.977, + 3085.055, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -132.698, + 2964.981, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -170.419, + 2844.908, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -208.14, + 2724.835, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -245.861, + 2604.761, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -283.581, + 2484.688, + 118.15, + 0.0, + -107.44, + 0.0 + ], + [ + -283.581, + 2484.688, + 118.15, + 0.0, + -132.44, + 0.0 + ], + [ + -368.513, + 2391.806, + 118.15, + 0.0, + -132.44, + 0.0 + ], + [ + -453.445, + 2298.924, + 118.15, + 0.0, + -132.44, + 0.0 + ], + [ + -453.445, + 2298.924, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -569.673, + 2250.638, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -569.673, + 2250.638, + 118.15, + 0.0, + -157.44, + 0.0 + ] + ], + "Rationale": [ + "Along this facade the ground-level doors run off toward my right, and the green one furthest along that run, past the red doors, is the one I want. Turning right should swing the far end of that row and the open square into view so I can set a heading toward it.", + "The square now opens ahead of me with the building line running down my left, and further along it I can pick out a green door past the red one. The paving in front is clear, so I will walk forward to close that distance.", + "The facade on my left is sliding past and the green door further down it is growing, so my heading is still good. I will keep walking forward across the open paving toward it.", + "My path is drifting toward the wall on my left while the lane alongside it continues off to my right past the tree. A small turn right should point me down that open lane so I can keep advancing beside the facade toward the green door.", + "The lane ahead runs clear between the brick building on my left and the open square by the tree. The green door I am heading for sits further down that left-hand wall, so I will walk forward.", + "The green door on the left wall is noticeably nearer and the red door beside it has grown too, confirming I am tracking the right stretch of facade. The paving stays clear, so I continue forward.", + "The green panelled door on my left is now clearly resolved beside the dark red one, and nothing blocks the lane. I will keep stepping forward to bring myself alongside it.", + "The green door is still well ahead on my left, so I have not yet drawn level with it. The route beside the building remains open, so I will advance again to shorten the gap.", + "The dark red door has slid back to the edge of my view while the green one beyond it now sits squarely along the wall to my left, still some way ahead of me. Nothing stands on the paving between us, so I keep walking to draw nearer.", + "The red door has almost passed off my left shoulder and the wide green shuttered opening beside its narrow green panelled door now takes up much of the wall. I am close but not yet level with it, so another step forward is warranted.", + "The green shuttered front with its slim panelled door is broad on my left now, its pale stone surround fully legible. The lane beside the tree remains unobstructed, so I advance again to bring myself level with that frontage.", + "The green frontage is close enough that I can read the grain of its slats and the handle on the panelled door beside it. I am still a pace or two short of standing in front of it, so I step forward once more.", + "I am now abreast of the green frontage, but my heading still runs down the lane so it sits off to my left rather than in front of me. Turning left should bring the doorway into the centre of my view and let me approach it directly.", + "The turn has swung the green panelled door and its shuttered opening into clear view ahead and slightly left, with open pavement between us. I walk forward to close that last stretch to the threshold.", + "The glazed green door and the slatted shutter beside it fill much of my view, though the pavement in front of them still runs a little further. One more step should put me right up against that frontage.", + "I have come right up beside the green shutter, but it runs away to my left at a steep angle rather than facing me. A turn left should square me onto the doorway so I finish standing properly in front of it.", + "The turn has squared me onto the green frontage, with the panelled door and its slatted shutter filling my view straight ahead. Only a short strip of paving separates me from the threshold, so I will step forward to close it.", + "The green shutter fills my view at arm's length, so I am standing at the target doorway. The task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..48cc77fae217f8449be41fc763b848520cdc2c90 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the third ground-floor window from the left.", + "Type": 2, + "Start_Pose": [ + 188.049, + 3631.039, + 118.15, + 0.0, + -157.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 188.049, + 3631.039, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + 71.821, + 3582.753, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -44.407, + 3534.467, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -160.635, + 3486.181, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -276.863, + 3437.895, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -393.091, + 3389.61, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -509.319, + 3341.324, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -509.319, + 3341.324, + 118.15, + 0.0, + -132.44, + 0.0 + ], + [ + -594.251, + 3248.442, + 118.15, + 0.0, + -132.44, + 0.0 + ], + [ + -594.251, + 3248.442, + 118.15, + 0.0, + -157.44, + 0.0 + ], + [ + -594.251, + 3248.442, + 118.15, + 0.0, + -157.44, + 0.0 + ] + ], + "Rationale": [ + "Counting the ground-floor openings along this facade from the left, the third one is the barred window that sits just past the pale stone quoin, on the far side of the red door. The barred windows all look alike, so I hold that one by its place beside the quoin. It is still far off, so I walk straight ahead to close the distance.", + "The facade is larger now, with the red door and the stone quoin clearly separating the barred openings I am aiming past. My window beside that quoin is still well ahead and slightly left of my heading. I keep walking forward.", + "The wall keeps filling more of my view as I close on it, and the barred window next to the stone quoin is still the one I am going to. Nothing blocks the open paving in front of me. I continue straight ahead.", + "The openings at the far left of the facade are sliding out of my view as I come alongside the wall, so I stop reading the row as a count and simply follow the barred window on the near side of the stone quoin. It is now clearly ahead and to my right. I step forward again.", + "The red door now dominates the left of my view and the quoin with its barred windows is just beyond it at my right. I am close to the wall but not yet level with the window I want. Another step forward should bring me alongside it.", + "I am right up against the brickwork, with only the door edge at my left and the grilled window past the quoin at my right. Up close the facade no longer reads as a row, but the window beside that stone corner is still my target. I move forward to draw level with it.", + "Standing this close, most of my view is plain brick and the quoin, with the grilled window pushed to the right edge. I need it centred rather than at the margin, so I turn to the right to swing my gaze along the wall onto it.", + "The turn brought the grilled window past the quoin into clear view ahead of me, with the pavement running open along the base of the wall. I am still a short way short of standing at it. I walk forward to close that last gap.", + "I am standing right at the grilled window now, but my gaze skims along it at a sharp angle, so the bars and sill stretch away across my view. Turning left should square me onto the opening instead of glancing down the wall.", + "The barred window beside the stone quoin fills my view squarely, an arm's length away. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f030df37e36a2df0aa728745c24d9e1edbad905b --- /dev/null +++ b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the first green door from the left at ground level.", + "Type": 2, + "Start_Pose": [ + 188.049, + 3631.039, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 188.049, + 3631.039, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 87.481, + 3706.713, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -13.088, + 3782.386, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -113.656, + 3858.06, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -214.224, + 3933.734, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -314.793, + 4009.407, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -415.361, + 4085.081, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -415.361, + 4085.081, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -474.526, + 4196.167, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -533.69, + 4307.252, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -592.855, + 4418.338, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -614.465, + 4527.156, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -614.465, + 4527.156, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -614.465, + 4527.156, + 118.15, + 0.0, + 143.04, + -0.0 + ] + ], + "Rationale": [ + "Along the brick facade I pick my target: the twin green-framed shop doors under the dark green sign board, just left of the plain wooden door, are the leftmost green ones at ground level. They lie far across the open pavement, so I will walk forward to begin closing that distance.", + "The building is slightly nearer, yet the green shop doors beside the plain wooden door are still well ahead of me. The paving between us is clear and level, so I keep walking forward.", + "The green shop doors under the dark sign board now read clearly, with the plain wooden door to their right and the awning's green roller shutter beyond that. Nothing stands in the way, so I advance again toward that ground-level frontage.", + "My heading runs toward the shuttered bay under the striped awning, while the green shop doors I want sit further to the left. Distance is still the main thing to lose before any turn is useful, so I step forward again.", + "The facade now fills much of my view and the green shop doors have slid toward the left side as I close in. I am not yet near enough for a turn to line me up usefully, so I take another step forward.", + "Up close the frontage no longer reads as a countable row, so I simply hold onto the green shop doors beside the plain wooden door. They stand ahead on my left, and one more forward step should bring me alongside that stretch of wall.", + "The plain wooden door, its window and the brick pier now fill the middle of my view, while the green shop doors I am heading for sit off to the left. Turning left should swing my heading onto them so I can walk in straight.", + "The turn opened the view along the facade, and the green-framed shop doors under the dark sign board now lie ahead of me rather than off to the side. Open pavement still separates us, so I walk forward toward them.", + "The plain wooden door with its brass knob now fills my right side, and past its brick pier the pair of green-framed shop doors under the dark sign board stands a little further along. A clear strip of pavement runs beside the wall, so I keep walking forward to draw level with them.", + "The brick pier is sliding past on my right and the green shop fronts with their painted lower panels are opening up ahead of me. I am close but still short of standing at them, so I take another step forward.", + "The green shop front is now right beside me, its dark frame and painted base filling the near wall, but my footing is still a touch short of its doorway. One more short step forward should put me squarely at the entrance.", + "I am standing right at the green shop front, but my heading still runs along the wall so the doorway sits at the edge of my view rather than in front of me. Turning right should bring the green door itself squarely ahead.", + "The green door's glazed panel and dark frame fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..489ef585a217265f860b5a54f371de840251251d --- /dev/null +++ b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the rightmost ground-floor window with brown frame.", + "Type": 2, + "Start_Pose": [ + 188.049, + 3631.039, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 188.049, + 3631.039, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 188.049, + 3631.039, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 64.922, + 3657.121, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -58.205, + 3683.202, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -181.332, + 3709.284, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -181.332, + 3709.284, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + -303.945, + 3680.886, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + -426.559, + 3652.489, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + -549.172, + 3624.091, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + -549.172, + 3624.091, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -607.904, + 3646.987, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -607.904, + 3646.987, + 118.15, + 0.0, + 168.04, + -0.0 + ] + ], + "Rationale": [ + "From here the ground-floor openings run left to right along this brick facade, and the last brown-framed ones are the barred pair far to my right, past the striped awning. I will turn right so that end of the run sits ahead of me rather than at the edge of my view.", + "The barred brown-framed windows now lie right of center, with the red door just beyond them, but the whole facade is still far across the open pavement. I will walk forward over the clear paving to close that distance.", + "The wall has grown noticeably larger, yet the brown-framed barred windows are still several strides off and their sills sit high in my view. Another step forward should keep bringing that stretch of the facade nearer.", + "The two barred windows with brown frames are clearly resolved now, with the red door to their right, though I am still out on the open square. I will keep walking straight to reach the base of that wall.", + "My approach is oblique, so the brown-framed barred windows and the doorway beyond them are drifting toward the right of my view. Turning right should swing my heading onto that far end of the run and square me up with the wall there.", + "The turn worked: the pair of brown-framed barred windows now sits ahead of me with the red door just to their right. I will step forward to close the last of the open pavement between me and that wall.", + "The brickwork now fills most of my view and the barred windows read at close to eye level, but I am still a stride or two short of standing at the wall. Moving forward again should bring me right up beside the brown-framed window next to the red door.", + "I am close enough to see individual bricks, with the brown-framed barred window on my left and the red door on my right, so only a short gap remains. One more step forward should place me directly at that window.", + "Standing this close, most of my view is bare brickwork and only the corner of the barred brown-framed window shows at the far left edge. I will turn left so that window sits centered in front of me instead of slipping off the side.", + "The turn centered the barred window with its brown wooden frame and sill directly ahead of me. A short step forward should bring me right up against it and settle me at that end of the run.", + "The barred brown window frame fills my view at arm's length. I have reached it, so the task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_e/infos.json b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6e7e698e665496af10fa484d4f7ac39e120140c2 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_e/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the second green door from the left.", + "Type": 2, + "Start_Pose": [ + 188.049, + 3631.039, + 118.15, + 0, + 143.04, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 188.049, + 3631.039, + 118.15, + 0, + 143.04, + 0 + ], + [ + 87.481, + 3706.713, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -13.088, + 3782.386, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -113.656, + 3858.06, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -214.224, + 3933.734, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -314.793, + 4009.407, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -415.361, + 4085.081, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -415.361, + 4085.081, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -474.526, + 4196.167, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -533.69, + 4307.252, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -592.855, + 4418.338, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -614.465, + 4527.156, + 118.15, + 0.0, + 118.04, + -0.0 + ], + [ + -614.465, + 4527.156, + 118.15, + 0.0, + 118.04, + -0.0 + ] + ], + "Rationale": [ + "Along the brick frontage ahead I can see two green shop doors set side by side under a dark green signboard, and a wider green rolling shutter further right beneath the striped awning. Counting from the left, my target is the right-hand door of that paired pair. It lies well across the open paving, so I walk forward.", + "The paired green shop doors are still far down the facade to my right front, next to the brown wooden entrance. The square between us is empty stone with nothing in the way, so I keep walking toward the right-hand door of that pair.", + "The frontage has grown larger and the two green shop doors now read clearly to the left of the brown wooden door. I am still many paces short of them, so I continue advancing across the open square toward the right-hand door of the pair.", + "The brick building now fills most of my view, with the paired green shop doors sitting to the left of the brown wooden entrance and the awning shading the shutter on the right. I am still too far out to stop at my door, so I step forward again.", + "The striped awning and the wide green shutter loom close on my right, while the two green shop doors remain ahead and slightly left along the same wall. I keep walking to close the remaining gap to the right-hand door of that pair.", + "I am nearly level with the brick pier that carries the brown wooden door, and the two green shop doors lie a little further along the wall to my left. Another step forward should bring me abreast of that stretch of frontage before I angle in.", + "The brick pier and the wooden door now fill the middle of my view, and the pair of green shop doors has slid to the far left edge while the wall runs away at an angle. I turn left so that pair lies straight ahead and I can walk down the frontage toward the right-hand one.", + "The wide green shutter has passed out of my view, leaving the two paired green shop doors ahead along the wall with the brown door on my right. With my heading now on that pair, I walk forward toward the right-hand door of the two.", + "The brown wooden door now stands close on my right, and just past it the two green shop doors run along the wall ahead on my left. The nearer of that pair, the one I settled on, is still a few paces off, so I keep walking along the frontage.", + "The wooden door has grown to fill my right side while the green shopfronts open up close ahead on the left, their dark glass and green panelling clearly separate now. My door of that pair is only a short distance further along, so I advance again.", + "I am beside the brick pier now, with the green shopfront panelling and its glass panes filling the left of my view at close range. One more short step should bring me level with the door itself rather than the pier edge.", + "The green shop door I chose stands directly beside me, its glass and green base panel within arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_f/infos.json b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_f/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3ae066185e286f33ffbb313ccc562afb970f1c2 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000188_y003631_z000118_t2_f/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the third window from the right on the first floor.", + "Type": 2, + "Start_Pose": [ + 188.049, + 3631.039, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 188.049, + 3631.039, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 87.481, + 3706.713, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -13.088, + 3782.386, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -113.656, + 3858.06, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -214.224, + 3933.734, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -314.793, + 4009.407, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -415.361, + 4085.081, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -515.929, + 4160.755, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -607.809, + 4235.388, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -607.809, + 4235.388, + 118.15, + 0.0, + 143.04, + -0.0 + ] + ], + "Rationale": [ + "Counting the ground floor openings from the right end of the brick facade, the first two are the pale curtained windows, and the third is the barred window beside the wooden door under the striped awning. I fix on that barred window by the door so I no longer need the count. I walk forward toward the facade.", + "The brick facade with the striped awning is still some distance ahead and slightly to my right, and the wooden door I am aiming beside is clearly visible. Nothing blocks the open paving in front of me. I keep walking straight toward it.", + "The green rolling shutter and the awning above it have grown noticeably, so my heading is carrying me onto the right part of this facade. The wooden door that marks my window is still ahead of me. I continue forward without turning.", + "I can now pick out the small window with its narrow frame immediately right of the wooden door, which is the one I chose. The distance is still too great to count as arrival. I step forward again along the same line.", + "The iron bars across the window next to the wooden door are visible now, confirming the opening I am heading for. The awning edge and the shutter frame it on the right. I keep advancing straight at it.", + "From this close angle the curtained windows at the right end have slid out of my view, so the facade no longer reads as a countable row. That does not matter, since I am following the barred window beside the wooden door itself. I walk on toward it.", + "The barred window and the wooden door now fill much of my view, with the brick wall close on my right. I am nearly at the wall but not yet standing at the window. Another step forward should bring me right up to it.", + "The barred window is directly ahead at arm's reach, with its stone sill and iron grille dominating my view. A last short step should place me squarely in front of it. I move forward once more.", + "The barred window's stone sill and iron grille fill my view at touching distance. I am standing at the target window, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_a/infos.json b/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..39d0f8c878d7134812f994563014024d5448c391 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the tree trunk in the courtyard.", + "Type": 0, + "Start_Pose": [ + 284.427, + 1101.593, + 118.15, + -0.006, + -92.199, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 284.427, + 1101.593, + 118.15, + -0.006, + -92.199, + 0.0 + ], + [ + 279.598, + 975.827, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 279.598, + 975.827, + 118.15, + -0.006, + -117.199, + -0.0 + ], + [ + 222.07, + 863.885, + 118.15, + -0.006, + -117.199, + -0.0 + ], + [ + 164.542, + 751.943, + 118.15, + -0.006, + -117.199, + -0.0 + ], + [ + 107.014, + 640.0, + 118.15, + -0.006, + -117.199, + -0.0 + ], + [ + 49.486, + 528.058, + 118.15, + -0.006, + -117.199, + -0.0 + ], + [ + 49.486, + 528.058, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 44.657, + 402.292, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 39.828, + 276.526, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 39.828, + 276.526, + 118.15, + -0.006, + -92.199, + -0.0 + ] + ], + "Rationale": [ + "From my starting spot at the edge of the open courtyard I can see the large tree ahead, its pale trunk rising out of the paving in front of the buildings. Nothing blocks the flagstones between me and it, so I will step forward to begin closing that distance.", + "The trunk now sits noticeably left of the center of my view while I am facing straight at the wall and awning ahead. I will turn left so my heading points more directly at the trunk and its base before continuing forward.", + "After reorienting, the tree and the patterned ground around its base are well inside my view with open courtyard between us. I will move forward along this heading to reduce the remaining distance.", + "The trunk has grown larger and its base with the surrounding stone circle is clearly ahead and slightly right of center. Since the way is still clear, I will keep advancing rather than adjust my heading yet.", + "I am now under the outer edge of the canopy, with the trunk and its bordered base ahead on the right side of my view. I will continue forward to keep closing on the trunk itself.", + "The trunk is much closer, and the shaded base area is only a short stretch of paving in front of me. I will step forward again to bring myself up beside it.", + "At this short range the trunk has drifted toward the right edge of my view, so walking straight would carry me past it. I will turn right to bring the trunk back to the center of my heading.", + "The trunk is now centered directly ahead with its stone base spread just in front of my feet. I will move forward once more to stand right at the trunk.", + "The trunk now rises through the center of my view with its cobbled base just ahead, but a short stretch of paving still separates me from it. I will step forward once more to close that remaining gap and stand directly at the trunk.", + "The tree trunk fills the near foreground at arm's length in the courtyard. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_b/infos.json b/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3aa4178d09f9438e70c7afe25a7d56b6ebee3e --- /dev/null +++ b/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the storefront beneath the red-and-white striped awning.", + "Type": 0, + "Start_Pose": [ + 284.427, + 1101.593, + 118.15, + -0.006, + -92.199, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 284.427, + 1101.593, + 118.15, + -0.006, + -92.199, + 0.0 + ], + [ + 279.598, + 975.827, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 274.769, + 850.06, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 269.939, + 724.294, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 269.939, + 724.294, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 318.714, + 608.27, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 367.488, + 492.246, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 416.262, + 376.222, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 465.037, + 260.198, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 513.811, + 144.174, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 562.585, + 28.15, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 562.585, + 28.15, + 118.15, + -0.006, + -67.199, + -0.0 + ] + ], + "Rationale": [ + "From the open paving of the square I can already pick out the red-and-white striped awning over a recessed shop entrance on the building ahead, a little to the right of my heading. Nothing blocks the stone surface between me and that facade, so I will move forward to start closing the gap.", + "The striped awning and the doorway beneath it now sit noticeably larger in view, confirming I am headed at the right part of the facade. I will keep advancing straight since the paving in front of me stays clear.", + "The shopfront with the striped awning is clearly resolved now, with its glass door and window under the canopy, but it is still several steps away and offset toward my right. Another forward step should bring me close enough to fine tune my heading.", + "I am now near the building, yet the awning storefront lies to the right of my current facing while the tree and blank wall fill the center of my view. I will turn right to bring that entrance into the middle of my path before continuing.", + "The turn has put the striped awning and its recessed entrance ahead of me instead of off to the side. With open paving between us, I will step forward to close the remaining distance.", + "The awning is growing wider in my view and the shop door under it is clearly centered on my line of travel. I will continue forward toward that entrance.", + "I am close enough now to read the individual stripes of the canopy and the panelled green door beneath it. Another step forward should place me right in front of that storefront.", + "The striped canopy now overhangs the top of my view and the shop door with its display window is directly in front of me, slightly left of center. I will advance once more to stand squarely at the entrance beneath the awning.", + "The red-and-white striped awning now fills the upper left of my view with the shop window and its green door directly ahead, so I am nearly at the target storefront. A short step forward should close the last of the gap and place me squarely in front of the entrance beneath the awning.", + "The awning has risen to the very top edge of my view and the green door with its brass handle stands just ahead, confirming I am beneath the striped canopy. One more forward step should bring me right up to the doorway so the storefront is unambiguously reached.", + "The storefront door with its brass handle fills my view at arm's length beneath the awning. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_c/infos.json b/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..41fe4e969c18d2bb40a6bb5295d23eb8faee33ba --- /dev/null +++ b/dataset/trajectory/Venice/task_x000284_y001102_z000118_t0_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the green door under the striped awning.", + "Type": 0, + "Start_Pose": [ + 284.427, + 1101.593, + 118.15, + -0.006, + -92.199, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 284.427, + 1101.593, + 118.15, + -0.006, + -92.199, + 0.0 + ], + [ + 279.598, + 975.827, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 274.769, + 850.06, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 274.769, + 850.06, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 323.543, + 734.036, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 372.317, + 618.013, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 421.092, + 501.989, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 469.866, + 385.965, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 518.64, + 269.941, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 567.415, + 153.917, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 616.189, + 37.893, + 118.15, + -0.006, + -67.199, + -0.0 + ], + [ + 616.189, + 37.893, + 118.15, + -0.006, + -92.199, + -0.0 + ], + [ + 616.189, + 37.893, + 118.15, + -0.006, + -92.199, + -0.0 + ] + ], + "Rationale": [ + "From the open square I can already pick out the pink and white striped awning on the building facade ahead, with a dark green door recessed beneath it. Nothing blocks the paving between me and that wall, so I will move forward to begin closing the large gap toward the awning.", + "The striped awning and the green door under it now sit larger and clearer near the middle of my view, confirming I am heading the right way. I will keep moving forward across the paving to reduce the remaining distance.", + "I am now close enough that the facade fills much of my view, and the tree with its raised planter sits directly on my left, crowding the straight line I was following. Turning right should point me along the open paving on the near side of that planter, giving me a clean diagonal run toward the awning and the green door.", + "With my heading shifted, the striped awning and its green door now sit off to my left front while clear paving stretches ahead of me. I will move forward along this open lane to keep closing distance on the awning.", + "The awning has grown noticeably wider and the green door beneath it is clearly visible, so this diagonal line is carrying me in nicely. I will continue forward to draw level with the doorway.", + "The striped awning now spans a large part of my left view and the green door under it shows its panels and frame in detail. Since I am still a few steps short of standing at that door, I will move forward again.", + "I am close to the shopfront, with the awning overhead to my left and the green door with its glass panel just ahead of that. Another step forward should bring me alongside the door itself.", + "The green door under the striped awning is now only a short step away on my left, with its handle and glazed panel plainly in view. I will advance once more to bring myself right up to that doorway.", + "The green door with its striped awning above now fills the left half of my view, but I am still a couple of paces out on the pavement from its threshold. I will step forward again to close the remaining gap toward the doorway.", + "The green door is now very close on my left, with its handle and frosted panel clearly resolved, and the awning edge cutting across the top of my view. One more forward step should bring me right up beside the doorway rather than leaving me short of it.", + "I am right at the door now, but it has slipped to the far left edge of my view while the plain wall and barred window dominate ahead. Turning left should bring the green door back to the center of my view and square me up with it.", + "The green door under the striped awning is directly in front of me, centered and within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_a_p/infos.json b/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28d5b3beacd11ec3d83ed675d5141f5b509e7fda --- /dev/null +++ b/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the trash bag near the trunk.", + "Type": 5, + "Start_Pose": [ + 342.36, + 1167.988, + 118.15, + 0, + -95.04, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 81.282, + 243.12, + 34.393, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 342.36, + 1167.988, + 118.15, + 0, + -95.04, + 0 + ], + [ + 331.303, + 1042.616, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 320.246, + 917.243, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 309.189, + 791.871, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 298.133, + 666.498, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 287.076, + 541.126, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 287.076, + 541.126, + 118.15, + 0.0, + -120.04, + 0.0 + ], + [ + 224.07, + 432.173, + 118.15, + 0.0, + -120.04, + 0.0 + ], + [ + 161.064, + 323.22, + 118.15, + 0.0, + -120.04, + 0.0 + ], + [ + 161.064, + 323.22, + 118.15, + 0.0, + -120.04, + 0.0 + ], + [ + 161.064, + 323.22, + 118.15, + 0.0, + -120.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 81.282, + 243.12, + 34.393, + 0.0, + 0.0, + 0.0 + ], + [ + 179.855, + 313.058, + 88.256, + -28.202, + -69.896, + 1.862 + ], + [ + 179.855, + 313.058, + 88.256, + -28.202, + -69.896, + 1.862 + ] + ], + "PD_Dist_2D": [ + 961.0, + 837.7, + 715.2, + 594.2, + 475.7, + 362.2, + 362.2, + 236.9, + 113.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The trash bag sits far ahead at the base of the tree, close to the building facade across the open square. Nothing blocks the paving between me and it, so I will walk straight forward to cut down that long distance.", + "The tree and the striped awning now fill more of my view, so my heading is carrying me toward the bag rather than off to one side. The bag remains well beyond arm's reach, so I will keep walking forward.", + "The bag at the foot of the tree is clearer now, resting on the dark grate that rings the trunk. It is still several strides away and my path across the pavement stays clear, so I will continue advancing.", + "The tree trunk and the windows behind it are noticeably closer, confirming steady progress toward the bag. I am not yet near enough to reach down for it, so another step forward is the right move.", + "The bag is now plainly visible against the trunk in the left half of my view, but a grasp from here would still be too far. I will take another step forward to close the remaining gap.", + "The bag has drifted to the left edge of my view while my heading points at the shopfront and awning ahead. A modest turn to the left should bring the bag back toward the center of my view so I can walk straight at it.", + "The turn worked, and the bag now sits near the middle of my view at the base of the trunk. With my heading lined up and open paving between us, I will step forward to close in for the grab.", + "The bag is large in front of me now, slumped against the trunk on the grate, but it is still a stride beyond comfortable reach. One more forward step should put me close enough to pick it up.", + "The trash bag now sits directly at the base of the tree trunk in the lower part of my view, close enough that no further stepping is needed. My hands are still empty, so I will reach out and attempt to grasp it now.", + "The trash bag is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_a_pd/infos.json b/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd8d7e3cc39485f096c06efb1613909fc4fd9cdc --- /dev/null +++ b/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the ceramic pot, then put it down near the tree trunk.", + "Type": 5, + "Start_Pose": [ + 342.36, + 1167.988, + 118.15, + 0, + -95.04, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 496.59, + 521.387, + 33.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 342.36, + 1167.988, + 118.15, + 0, + -95.04, + 0 + ], + [ + 331.303, + 1042.616, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 331.303, + 1042.616, + 118.15, + 0.0, + -70.04, + 0.0 + ], + [ + 374.267, + 924.317, + 118.15, + 0.0, + -70.04, + 0.0 + ], + [ + 417.231, + 806.018, + 118.15, + 0.0, + -70.04, + 0.0 + ], + [ + 460.194, + 687.719, + 118.15, + 0.0, + -70.04, + 0.0 + ], + [ + 460.194, + 687.719, + 118.15, + 0.0, + -70.04, + 0.0 + ], + [ + 460.194, + 687.719, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 460.194, + 687.719, + 118.15, + 0.0, + -120.04, + 0.0 + ], + [ + 397.188, + 578.767, + 118.15, + 0.0, + -120.04, + 0.0 + ], + [ + 334.182, + 469.814, + 118.15, + 0.0, + -120.04, + 0.0 + ], + [ + 334.182, + 469.814, + 118.15, + 0.0, + -145.04, + 0.0 + ], + [ + 231.033, + 397.697, + 118.15, + 0.0, + -145.04, + 0.0 + ], + [ + 127.885, + 325.58, + 118.15, + 0.0, + -145.04, + 0.0 + ], + [ + 186.893, + 366.836, + 118.15, + 0.0, + -145.04, + 0.0 + ], + [ + 186.893, + 366.836, + 118.15, + 0.0, + -145.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 496.59, + 521.387, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 496.59, + 521.387, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 496.59, + 521.387, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 496.59, + 521.387, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 496.59, + 521.387, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 496.59, + 521.387, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 480.057, + 695.582, + 88.256, + -28.202, + -19.896, + 1.862 + ], + [ + 480.571, + 686.54, + 88.529, + -28.189, + -44.884, + 1.872 + ], + [ + 477.58, + 677.484, + 87.862, + -28.215, + -69.913, + 1.849 + ], + [ + 415.82, + 568.328, + 87.675, + -28.202, + -69.899, + 1.858 + ], + [ + 352.89, + 459.508, + 87.937, + -28.208, + -69.899, + 1.852 + ], + [ + 346.332, + 453.471, + 88.593, + -28.2, + -94.896, + 1.865 + ], + [ + 243.683, + 380.48, + 88.062, + -28.194, + -94.892, + 1.865 + ], + [ + 140.374, + 308.255, + 87.681, + -28.202, + -94.899, + 1.859 + ], + [ + 129.524, + 326.726, + 98.15, + 0.0, + -145.04, + 0.0 + ], + [ + 129.524, + 326.726, + 98.15, + 0.0, + -145.04, + 0.0 + ] + ], + "PD_Dist_2D": [ + 664.7, + 546.8, + 546.8, + 421.1, + 295.5, + 170.3, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 20.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits alone on the paving well ahead of me, right of center, and the large tree stands off to my left near the building. Nothing blocks the open square between us, so I will walk straight forward to close that distance before refining my heading.", + "After advancing, the pot has drifted noticeably to the right side of my view rather than staying ahead of me. Walking on this heading would carry me past it, so I will turn right to bring the pot back toward the center of my path.", + "The turn has placed the ceramic pot near the middle of my view, sitting on clear paving with the shopfront awning behind it. The remaining gap is still large, so I will step forward along this corrected heading to keep closing on it.", + "The pot has grown larger and remains slightly left of center, confirming my heading is good enough to keep going. It is still several paces away and far too distant to reach, so I will advance again.", + "The ceramic pot now fills a good part of the lower view, its rim clearly visible ahead of me. One more step should bring it directly at my feet where a grasp becomes plausible, so I will move forward again.", + "The ceramic pot is right at the bottom edge of my view, close enough that I am standing almost over it. No further approach is needed and my hands are empty, so I will attempt to pick it up now.", + "The grasp worked, and the ceramic pot is now held in my hands rather than resting on the paving. The tree I need to reach stands away to my left, behind me from this heading, so I will turn left to begin swinging my facing toward its trunk.", + "I still carry the pot, and my view now shows the shopfront wall with the tree trunk only just entering at the far left edge. That is not yet a heading I can walk along toward the trunk, so I will turn left once more to bring it properly into view.", + "The pot is in my hands and my heading is now across the square toward the large tree whose trunk rises from the planted bed ahead and slightly left. Nothing blocks the open paving between me and that bed, so I will walk forward to close the distance to the trunk.", + "The trunk and its cobbled bed now fill more of my view, confirming the previous step carried me toward the tree while the pot stays with me. I am still several paces short of a place where the pot would sit right beside the trunk, so I will keep walking forward.", + "From here the trunk sits toward the left of my view, with the shop awning and wall filling the right side. Turning left should bring the trunk closer to the center of my heading so my next steps carry me straight to its base rather than past it.", + "The trunk is now near the middle of my view with the cobbled bed spreading in front of me, so my heading points at the tree. I will step forward to reach the trunk and put the pot down beside it.", + "The trunk has grown much larger and the bed's edge is right in front of me, but I am not yet close enough for the pot to rest against the tree's base. One more step forward should place me right at the trunk before I release the pot.", + "The trunk now towers directly in front of me and its cobbled bed lies under my feet, so I am as close to the tree as I can stand while carrying the pot. This is the intended placement spot, so I will release the ceramic pot here beside the trunk.", + "The ceramic pot now rests on the ground right beside the tree trunk and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_b_p/infos.json b/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..046ca0f6cf7828aa7aa35e70ae832f319dcb8621 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_b_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the tomato from near the building wall.", + "Type": 5, + "Start_Pose": [ + 342.36, + 1167.988, + 118.15, + 0, + -95.04, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 220.418, + 201.758, + 80.983, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 342.36, + 1167.988, + 118.15, + 0, + -95.04, + 0 + ], + [ + 331.303, + 1042.616, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 320.246, + 917.243, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 309.189, + 791.871, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 298.133, + 666.498, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 287.076, + 541.126, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 276.019, + 415.754, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 264.962, + 290.381, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 264.962, + 290.381, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 264.962, + 290.381, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 264.962, + 290.381, + 118.15, + 0.0, + -95.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 220.418, + 201.758, + 80.983, + 0.0, + 0.0, + 0.0 + ], + [ + 286.287, + 289.113, + 88.256, + -28.202, + -44.895, + 1.862 + ], + [ + 286.287, + 289.113, + 88.256, + -28.202, + -44.895, + 1.862 + ] + ], + "PD_Dist_2D": [ + 973.9, + 848.1, + 722.4, + 596.8, + 471.2, + 345.9, + 221.1, + 99.2, + 99.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits far ahead on the pavement at the base of the building wall, just right of the tree trunk and left of the awning. It is roughly centered in my heading, so no turn is needed yet. I will walk straight forward to close the large open distance across the square.", + "The tomato appears slightly larger and still sits near the middle of my view beneath the shop awning. My heading remains well aligned with it, so continuing straight is the most direct approach. I will step forward again.", + "The wall and windows now fill more of my view and the tomato is noticeably closer, resting on the paving at the tree's edge. Nothing blocks the straight line between me and it. I keep walking forward to reduce the remaining distance.", + "The tomato is clearly resolved now, slightly left of center in front of the shaded wall, but still several paces away. My alignment is good enough that a turn would waste effort. I will advance again toward it.", + "The tomato has grown large in the lower left of my view, yet it is still beyond arm's reach. Closing more ground is required before any grasp attempt makes sense. I will keep stepping forward.", + "The tomato now dominates the lower part of my view against the barred windows, but it still sits ahead of my feet rather than directly below me. One more step should bring it within reach. I will move forward again.", + "The tomato has dropped out of the bottom of my forward view because I am close and my gaze is level with the wall. A short final step should place it right at my feet for grasping. I will advance once more.", + "My view is filled with the wall and shop front, and the tomato is no longer visible because it lies close beneath my forward gaze. To confirm its exact position and bring it into reach for grasping, I need my line of sight aimed at the ground. I will look down.", + "After lowering my view, the tomato fills the lower part of my sight, resting on the pavement just in front of me by the building wall. It is well within arm's reach and nothing blocks my hands, so I will grasp it now and expect to lift it from the ground.", + "The tomato is now held in my hands instead of resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_b_pd/infos.json b/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66fa050176be9821537a79539f2d656bbea5355b --- /dev/null +++ b/dataset/trajectory/Venice/task_x000342_y001168_z000118_t5_b_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the wicker basket, then leave it near the dark door on the left.", + "Type": 5, + "Start_Pose": [ + 342.36, + 1167.988, + 118.15, + 0, + -95.04, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 284.693, + 514.109, + 62.15, + -75.964, + -14.036, + -90 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 342.36, + 1167.988, + 118.15, + 0, + -95.04, + 0 + ], + [ + 331.303, + 1042.616, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 320.246, + 917.243, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 309.189, + 791.871, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 298.133, + 666.498, + 118.15, + 0.0, + -95.04, + 0.0 + ], + [ + 298.133, + 666.498, + 118.15, + 0.0, + -95.039, + 0.0 + ], + [ + 298.133, + 666.498, + 118.15, + 0.0, + -120.039, + 0.0 + ], + [ + 298.133, + 666.498, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + 194.985, + 594.38, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + 91.838, + 522.261, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + -11.31, + 450.142, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + -114.457, + 378.024, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + -217.604, + 305.905, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + -320.752, + 233.786, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + -423.899, + 161.668, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + -527.047, + 89.549, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + -468.039, + 130.806, + 118.15, + 0.0, + -145.039, + 0.0 + ], + [ + -468.039, + 130.806, + 118.15, + 0.0, + -145.039, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 284.693, + 514.109, + 62.15, + -75.964, + -14.036, + -90.0 + ], + [ + 284.693, + 514.109, + 62.15, + -75.964, + -14.036, + -90.0 + ], + [ + 284.693, + 514.109, + 62.15, + -75.964, + -14.036, + -90.0 + ], + [ + 284.693, + 514.109, + 62.15, + -75.964, + -14.036, + -90.0 + ], + [ + 284.693, + 514.109, + 62.15, + -75.964, + -14.036, + -90.0 + ], + [ + 319.458, + 665.231, + 88.256, + -28.202, + -44.895, + 1.862 + ], + [ + 316.102, + 656.818, + 88.529, + -28.189, + -69.883, + 1.872 + ], + [ + 309.564, + 649.875, + 87.862, + -28.215, + -94.912, + 1.849 + ], + [ + 207.461, + 577.045, + 87.675, + -28.202, + -94.898, + 1.858 + ], + [ + 104.438, + 505.015, + 87.937, + -28.208, + -94.898, + 1.852 + ], + [ + 1.507, + 433.039, + 88.359, + -28.189, + -94.881, + 1.867 + ], + [ + -101.421, + 361.088, + 88.74, + -28.207, + -94.905, + 1.857 + ], + [ + -204.531, + 288.985, + 88.889, + -28.192, + -94.891, + 1.872 + ], + [ + -307.825, + 216.777, + 88.658, + -28.206, + -94.902, + 1.864 + ], + [ + -411.2, + 144.489, + 88.147, + -28.205, + -94.902, + 1.852 + ], + [ + -514.545, + 72.234, + 87.712, + -28.2, + -94.891, + 1.863 + ], + [ + -525.407, + 90.695, + 83.15, + 90.0, + -145.039, + 0.0 + ], + [ + -525.407, + 90.695, + 83.15, + 90.0, + -145.039, + 0.0 + ] + ], + "PD_Dist_2D": [ + 656.4, + 530.6, + 404.7, + 278.8, + 153.0, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The round wicker basket sits out on the open paving ahead of me, roughly centered under the awning of the far facade. It is much too far to grasp from here, so I will walk straight toward it to close the gap.", + "The basket has grown noticeably larger and stays near the center of my view, confirming my heading is good. Still several strides of open pavement separate us, so I keep walking forward without adjusting direction.", + "The basket now sits clearly below the striped awning and fills more of my view, but it is still beyond arm's reach. I continue straight ahead to bring it close enough for a grasp.", + "The basket is close now, sitting just ahead of my feet on the paving with its woven texture clearly visible. One more step forward should put it within reach so I can attempt the grasp.", + "The wicker basket now dominates the bottom of my view, right at my feet and well within reach. This is the moment to attempt the grasp so I can carry it toward the dark door on the left.", + "The basket is in my hands, so the grasp took hold and it is no longer resting on the paving. The task asks me to set it near the dark door on the left, which lies away from this shopfront, so I will rotate left to search that side of the square.", + "Facing this way I can see the shaded wall beside the tree with a couple of dark doorways, but they sit off toward the left edge of my view. Another left rotation should bring that corner and its dark doors squarely in front of me before I carry the basket over.", + "Now the shaded corner is centered ahead, with the archway on the left and two dark doors set into the wall in front of me. With the basket still in hand, I will walk forward to close the distance to those doors.", + "The wicker basket is in my hands and travels with me, so I only need to carry it to the drop area. From here the dark doors sit in the far wall across the courtyard, with the archway opening off to my left. I will keep walking straight to close that distance.", + "The dark doorways ahead have grown larger, confirming my heading is carrying the basket toward them. There is still open paving between me and that wall. Another step forward should keep shortening the gap.", + "I am still holding the basket and the two dark doors on the wall ahead are now clearly distinguishable. Nothing blocks the stretch of stone between us. I continue advancing rather than turning, since my current heading already points at them.", + "The doors now dominate the view and their panels and frames are readable, so I am within a few strides. The basket remains with me. I step forward again to reach the door surroundings.", + "Two dark doors are close now, the recessed one on the left of the corner being the one I want to set the basket beside. The paving right up to its threshold is clear. I keep walking toward it.", + "The dark door ahead of me now fills much of my view, its handle and plate plainly visible, so I am nearly at it. The basket is still carried. One more step should bring me into placing range.", + "I am almost against the dark door, with its frame and the corner wall filling my view and the basket still in hand. A final short step should put me right beside the threshold, close enough to leave the basket there.", + "I am standing directly at the dark door, its handle and edge right in front of me, and the basket is still in my hands. This spot satisfies leaving it near the door, so I will release the basket here and expect it to settle on the pavement beside the threshold.", + "The wicker basket now rests on the ground beside the dark door, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000361_y000924_z000118_t3_a/infos.json b/dataset/trajectory/Venice/task_x000361_y000924_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f0c5903c5dccad530f7a53586a2af55dea202960 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000361_y000924_z000118_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Go to the red bench, then go to the striped awning storefront.", + "Type": 3, + "Start_Pose": [ + 361.001, + 923.862, + 118.15, + 0.0, + -62.4, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 361.001, + 923.862, + 118.15, + 0.0, + -62.4, + 0.0 + ], + [ + 361.001, + 923.862, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 460.985, + 847.418, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 560.969, + 770.975, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 660.954, + 694.531, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 760.938, + 618.087, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 860.922, + 541.643, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 860.922, + 541.643, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 983.845, + 514.617, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 1106.768, + 487.591, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 1229.691, + 460.564, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 1297.833, + 436.445, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 1297.833, + 436.445, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 1297.833, + 436.445, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 1297.833, + 436.445, + 118.15, + 0.0, + -62.4, + 0.0 + ], + [ + 1297.833, + 436.445, + 118.15, + 0.0, + -87.4, + 0.0 + ], + [ + 1297.833, + 436.445, + 118.15, + 0.0, + -112.4, + 0.0 + ], + [ + 1297.833, + 436.445, + 118.15, + 0.0, + -137.4, + 0.0 + ], + [ + 1205.188, + 351.254, + 118.15, + 0.0, + -137.4, + 0.0 + ], + [ + 1112.544, + 266.063, + 118.15, + 0.0, + -137.4, + 0.0 + ], + [ + 1019.899, + 180.873, + 118.15, + 0.0, + -137.4, + 0.0 + ], + [ + 1019.899, + 180.873, + 118.15, + 0.0, + -162.4, + 0.0 + ], + [ + 899.932, + 142.817, + 118.15, + 0.0, + -162.4, + 0.0 + ], + [ + 779.964, + 104.761, + 118.15, + 0.0, + -162.4, + 0.0 + ], + [ + 659.996, + 66.705, + 118.15, + 0.0, + -162.4, + 0.0 + ], + [ + 659.996, + 66.705, + 118.15, + 0.0, + -137.4, + 0.0 + ], + [ + 659.996, + 66.705, + 118.15, + 0.0, + -112.4, + 0.0 + ], + [ + 604.342, + -26.555, + 118.15, + 0.0, + -112.4, + 0.0 + ], + [ + 604.342, + -26.555, + 118.15, + 0.0, + -112.4, + 0.0 + ] + ], + "Rationale": [ + "I need a red bench first, and the only one I can pick out sits at the far right edge of the square, almost out of my view past the tree. My heading points along the building wall instead. I will turn right to bring that bench area in front of me before walking.", + "The turn has opened up the plaza, and I can now see several red benches ahead beyond the leafy tree. The paving between me and them is clear and level. I will walk forward to close that gap.", + "The benches under the tree are noticeably larger than a moment ago, so my heading is carrying me toward them. Nothing blocks the stone paving ahead. I will keep walking to shorten the distance.", + "I can now make out one red bench clearly to the right of the tree trunk, still several paces off across the open square. My path stays unobstructed on the flat stone. I will continue forward toward it.", + "The nearest red bench sits ahead and a little right, its slats and iron legs now clearly resolved. I am still too far away to count as having reached it. I will walk on to keep closing in.", + "The red bench fills a good part of the right side of my view, and the tree with its grated base is close on my left. A few more paces should bring me level with the bench. I will step forward again.", + "The red bench now sits off to my right while my heading runs past it toward the wall and tree. To reach it I need it squarely in front of me. I will turn right so my path lines up with the bench.", + "The turn has placed the red bench near the middle of my view with clear paving leading to it. It is still a short walk off across the square. I will step forward to reach it.", + "The red bench sits squarely ahead of me in the open square, its slatted back filling the middle of my view. My heading is already lined up on it, so I will walk straight forward to cut the remaining distance.", + "The bench now spans the lower half of my view, its armrests and legs clearly resolved, so only a short gap remains. I will step forward again to stand right at it.", + "The bench's top rail is close enough that it cuts across my view just below eye level, so I am nearly on top of it. One more step forward should bring me level with it rather than leaving me short.", + "The red bench is directly beneath me, its painted rail crossing the very bottom of my view with nothing left between us. I have reached the red bench. I mark reaching it before setting off across the square toward the storefront with the striped awning.", + "Standing at the red bench, my view faces the pink facades and the second tree, with no striped awning anywhere ahead. The shopfront with the candy striped awning lies back around to my left, so I will turn that way to begin swinging my heading toward it.", + "The sweep has brought the cream and pink building fronts across my view, but the striped awning is still not among them. I will keep turning left to carry my heading further around toward that shopfront.", + "My view now shows the plain wall and green doors along this side of the square, with an open passage opening at the left edge. The awning I want is still further round, so another left turn should bring that stretch of frontage forward.", + "A tree trunk and its grating sit close in front of me, screening much of the frontage beyond it. Continuing the left turn should clear that foliage and bring the shopfronts with their awnings into the open part of my view.", + "The trunk of this tree fills most of my view and only a sliver of a pale striped canopy shows at the far left edge of the shopfront row. I will turn left once more to swing that awning and the storefronts it covers into open view ahead of me.", + "The row of shopfronts now runs away to my left and I can pick out a striped awning above one of them further along the frontage. The paving between the tree basins is clear, so I will walk forward to cut down that distance.", + "The striped awning ahead on the left is larger than it was and the shaded frontage under it is becoming readable. Nothing blocks the walkway, so I keep stepping forward toward that storefront.", + "The awning with its pale stripes is clearly visible over the shop windows further down the facade, but I am still several paces short of it. I will advance again to bring myself alongside that frontage.", + "The plain wall on my right is crowding my view while the striped awning and its shop sit off to my left along the frontage. Turning left should put that storefront in front of me so I can walk straight at it.", + "The striped awning and the green shop door beneath it now lie ahead along the arcade of frontages, with clear paving under my feet. I will step forward to close on that storefront.", + "The awning's red and white stripes are unmistakable now, jutting out over the dark shop window just ahead on my right. A few more paces should bring me level with its entrance, so I walk on.", + "The striped awning now runs above me along the right and the shop's glazed door and display window are close alongside. I will move forward once more to draw level with that entrance.", + "The shopfront with the red and white striped awning is now beside me on the right, its dark display window and green framed entrance angled sharply across my view. Walking straight would only carry me past it along the pavement, so I will turn right to face the storefront directly.", + "Facing the shop more squarely now, the awning and display window run off to my left while the green glazed door sits toward the right edge of my view. One more turn right should place that entrance in the center of my heading before I close the last stretch.", + "The green glass door of the awning shop is centered squarely ahead with its handle plainly visible, and only a short stretch of pavement separates me from it. I will step forward to close that remaining gap and stand at the storefront itself.", + "I am pressed right up at the glazed front of the striped awning shop. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb9c0edccaf0bc3dc1e1980e267d5b73911b2df --- /dev/null +++ b/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the rightmost ground-floor window on the building.", + "Type": 2, + "Start_Pose": [ + 443.446, + 4713.672, + 118.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 443.446, + 4713.672, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 443.446, + 4713.672, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 403.469, + 4833.013, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 363.491, + 4952.354, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 323.514, + 5071.695, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 283.537, + 5191.036, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 243.56, + 5310.378, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 203.582, + 5429.719, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 203.582, + 5429.719, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + 116.915, + 5520.983, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + 30.247, + 5612.248, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + -56.42, + 5703.513, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + -143.088, + 5794.777, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + -143.088, + 5794.777, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + -183.065, + 5914.118, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + -183.065, + 5914.118, + 118.15, + 0.0, + 108.52, + -0.0 + ] + ], + "Rationale": [ + "Along the pink building's ground floor I can count the barred windows, and the one I want is the last of them before the wall meets the yellow building at the inner corner. That end of the facade lies off to my right, so I will turn right to bring it into my heading.", + "The barred window beside the corner where the pink wall meets the yellow building now sits ahead of me across open pavement. Nothing blocks the square between us, so I will walk forward to close the distance.", + "The pink facade and its barred windows are noticeably larger, so my last step gained real ground toward the corner window. The pavement ahead is still empty, so I will keep walking forward.", + "The corner between the pink and yellow walls is clearly resolved now, with my target window the last barred one on the pink side. I am still several strides short of it, so I continue forward.", + "The ground-floor windows are growing wider and their bars are becoming distinct, confirming steady progress toward the corner. The courtyard remains open in front of me, so another forward step is the direct way to keep closing.", + "The shuttered opening of the yellow building now stands out on the right, marking the corner beside which my window sits. I still have distance to cover on the pavement, so I will step forward again.", + "The pink wall now dominates my view and the barred windows are close to eye level, but I am still short of the one beside the corner. I will advance once more to bring that end of the wall within a few steps.", + "My heading runs into the middle of the pink wall, while the window I want lies further along toward the corner with the yellow building. Turning right swings my walking line toward that corner so the remaining steps carry me to it rather than into the flat wall.", + "My heading now runs at the inner corner where the pink wall meets the yellow one, with the shuttered opening and its door just right of that seam. The barred window I want sits on the pink side of that seam, so walking straight ahead should carry me toward it.", + "The shutter and door on the yellow side have grown noticeably, so that step gained ground on the corner. The pink wall's last barred opening still stands a few strides off to the left of the seam, so I keep walking forward.", + "From this near angle the pink facade no longer reads as a row I could count along; only the single barred opening beside the corner and one further back remain in view. The one hard against the seam is mine, and I will step forward again to reach it.", + "The barred opening beside the corner is now large enough that its grille and white surround are sharp, but it still sits off to my left rather than in front of me. Another forward step should bring me level with that stretch of wall before I square up to it.", + "I have come close enough that the shuttered bay fills most of my view and the barred window has slipped to the far left edge. Turning left should swing my facing off the shutter and put that window squarely in front of me.", + "The turn worked: the barred window now sits centered on the pink wall with the shutter pushed to the side. Only a short stretch of pavement separates me from it, so I will step forward to stand at it.", + "The barred window and its sill fill my view at arm's length. I have arrived at it, so the task is done and there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d981f1080ea2c150a5c45d9edbb6ba9414ec35d2 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_b/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Go to the second door from the left on the white building.", + "Type": 2, + "Start_Pose": [ + 443.446, + 4713.672, + 118.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 443.446, + 4713.672, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 457.65, + 4838.727, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 457.65, + 4838.727, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 523.374, + 4946.062, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 589.097, + 5053.398, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 654.821, + 5160.733, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 720.545, + 5268.068, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 786.268, + 5375.404, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 851.992, + 5482.739, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 917.716, + 5590.075, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 983.44, + 5697.41, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 983.44, + 5697.41, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 1088.367, + 5766.913, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 1193.295, + 5836.416, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 1298.223, + 5905.919, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 1403.151, + 5975.421, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 1502.664, + 5977.954, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 1502.664, + 5977.954, + 118.15, + 0.0, + 33.52, + -0.0 + ] + ], + "Rationale": [ + "The white building stands off to my left, and along its ground floor the reddish brown wooden door next to the green metal shutters is the second one counting from the left end, so that is my target. It lies far across the open paving, so I walk forward to close the gap.", + "My heading is aimed at the pink building straight ahead, while the white facade holding my reddish brown door sits away at the left margin of my view. I will turn left so that facade comes in front of me and I can walk straight at it.", + "The turn has brought the white building squarely into the left half of my view, with its row of shutters and the reddish brown door at ground level. The facade is still far off across the paving, so I step forward toward it.", + "The white facade has grown, and the reddish brown door I am after is clear beside the green shutters, just left of the alley corner. Nothing blocks the paving between us, so I keep walking straight ahead.", + "My heading still points at the corner where the white and pink buildings meet, and the reddish brown door sits a little left of center on the white ground floor. I am not close enough to stand at it yet, so I continue forward.", + "The olive door on the pink corner building is growing large on my right, but my target is the reddish brown door on the white facade to the left of the alley. The white row's far left end is drifting out of my view, so I hold onto that door itself and step forward.", + "The reddish brown door on the white building is now clearly framed beside the shuttered bays, and the pavement toward it stays open. I keep advancing to bring myself up to that facade.", + "I am close enough now to make out the panels of the reddish brown door on the white building, while the olive door on the pink wall to my right is not the one I want. I take another step forward to keep closing on my door.", + "The pink corner and its olive door now crowd my right side, while the reddish brown door on the white wall still sits ahead and left beside the shuttered bay. The paving between us is clear, so I keep walking to bring myself level with that corner.", + "The corner where the two facades meet is nearly beside me, and my reddish brown door lies further along the white wall past that corner. Another step forward should carry me to the mouth of the gap where I can swing toward it.", + "The olive door on the pink wall now fills my right and my heading runs straight into the narrow gap, not toward my door. The reddish brown door stands off to my left along the white facade, so I turn left to put that wall in front of me.", + "The turn has laid the white facade open before me, with the reddish brown door and its shuttered neighbours running away to the left and the far end of the row no longer in my view, so I simply follow that door itself rather than any count. It sits well down the wall, so I walk toward it.", + "The reddish brown door is squarely ahead in the shaded stretch of white wall, its recessed frame now clearly separated from the metal shutter beside it. The paving along the facade is unobstructed, so I press on.", + "The door has grown enough that I can pick out its raised panels and the small brass knob at hand height. A couple more strides along this wall should put me at its threshold, so I continue.", + "The door's stone step and deep frame are right in front of me, slightly to my left as the wall angles past. I step forward again to bring myself onto that threshold.", + "The wall fills most of my view and only the dark edge of the reddish brown door remains visible just ahead on my left. One short step should close the last of the gap and set me right at it.", + "The reddish brown door fills my view at arm's length, its brass knob right before me. I am standing at it, so the task is done." + ] +} diff --git a/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa11da174165e448c6a8643ee98cf1dacef1bec --- /dev/null +++ b/dataset/trajectory/Venice/task_x000443_y004714_z000118_t2_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the leftmost garage door on the far right yellow building.", + "Type": 2, + "Start_Pose": [ + 443.446, + 4713.672, + 118.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 443.446, + 4713.672, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 443.446, + 4713.672, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 403.469, + 4833.013, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 363.491, + 4952.354, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 323.514, + 5071.695, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 283.537, + 5191.036, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 243.56, + 5310.378, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 243.56, + 5310.378, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + 156.892, + 5401.642, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + 70.225, + 5492.907, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + -16.443, + 5584.171, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + -103.11, + 5675.436, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + -189.778, + 5766.701, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + -189.778, + 5766.701, + 118.15, + 0.0, + 158.52, + -0.0 + ], + [ + -306.895, + 5812.787, + 118.15, + 0.0, + 158.52, + -0.0 + ], + [ + -306.895, + 5812.787, + 118.15, + 0.0, + 158.52, + -0.0 + ] + ], + "Rationale": [ + "Across the square I can see the pink block ahead and only a sliver of the yellow building at the far right edge, so its garage doors are still out of my view. I will turn right to swing that yellow facade into the middle of my view and pick out its leftmost shuttered opening.", + "The yellow building now stands ahead on the right, and the garage opening nearest the corner where its wall meets the pink block is the leftmost one on that facade, so that shuttered bay is my target. It is still far across the open paving, so I will walk forward toward it.", + "The shuttered bay tucked into the corner of the yellow wall is growing slightly larger but is still a long way off. The paving ahead is clear, so I keep walking straight toward it.", + "The corner where the pink and yellow walls meet is closer now, and the dark garage shutter beside it reads more clearly. Nothing blocks my path, so I continue advancing across the square.", + "The shuttered garage bay against the yellow wall's corner is clearly resolved ahead on my right, with its dark glass door beside it. I am still several strides short of it, so I keep moving forward.", + "The corner garage bay now fills a good part of the right side of my view, its metal shutter and glazed door plainly visible. There is still ground to cover before I stand in front of it, so I walk on.", + "As I have closed in, the corner garage bay has slid toward the right edge of my view while the pink wall dominates the centre. I will turn right so that shutter sits ahead of me and I can walk straight into it.", + "The corner garage bay with its ribbed shutter and dark glazed door is now roughly ahead of me on the yellow wall. A short stretch of paving still separates me from it, so I step forward to close the gap.", + "The ribbed shutter and its neighbouring glazed door sit just left of centre, still small enough that I have paving left to cross. The ground between us is open, so I keep walking toward the bay.", + "The shutter's horizontal ribs are now readable and the corner where the pink wall meets the yellow one is only a few strides off. I advance again to bring myself right up against the bay.", + "The shutter and the dark door beside it now fill most of the right half of my view, but I am not yet close enough to stand at the opening. I step forward once more.", + "The metal slats are close enough to show their mottled texture, and the door handle beside them catches the light. A short gap of paving remains, so I close it with another stride.", + "Standing this close, the shutter fills the right side of my view while the pink corner wall crowds the left, so my heading is skewed off the bay. I turn right to square myself onto the shuttered opening.", + "The shutter is now squarely before me with its glazed door at my right shoulder. One last step should put me directly at the opening.", + "The shuttered bay fills my view at arm's length. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8764b65713e73761b782a6d27c2e51a9dc7d7a57 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the rightmost door on the far building.", + "Type": 2, + "Start_Pose": [ + 543.205, + 1243.772, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 543.205, + 1243.772, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 442.637, + 1319.446, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 442.637, + 1319.446, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 319.51, + 1345.527, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 319.51, + 1345.527, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + 196.896, + 1317.13, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + 74.283, + 1288.732, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + -48.331, + 1260.334, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + -170.944, + 1231.936, + 118.15, + 0.0, + -166.96, + 0.0 + ], + [ + -170.944, + 1231.936, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -294.071, + 1258.018, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -417.198, + 1284.1, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -540.325, + 1310.181, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -540.325, + 1310.181, + 118.15, + 0.0, + 168.04, + -0.0 + ] + ], + "Rationale": [ + "Across the open square, the far brick facade shows a row of openings, and the last one on its right end is a plain dark brown paneled door beside the tall shuttered windows, so that is the one I am going to. Nothing blocks the paving ahead of me. I will walk forward to close some of that distance.", + "The dark brown door I chose sits well off to the right of my heading, near the edge of what I can see, while my path points at the tree and the lighter buildings ahead. Turning right should swing that door and its stretch of brick wall toward the middle of my view.", + "The brick facade with my dark brown door now fills the middle of my view, with the green shuttered door and the wide shop opening to its left. The square between us is empty paving. I will step forward to shorten the gap.", + "The dark brown door still sits right of the center of my view while my heading leans toward the tree trunk and the shop window on the left. A right turn should put that door closer to straight ahead before I cover the remaining distance.", + "My dark brown door is now nearly ahead of me, with the pale building and its archway standing off to the right as a separate frontage. The paving in front is clear. I will walk forward toward the door.", + "The dark brown door has grown larger just left of center, its panels and frame now clearly readable. Still a good stretch of open square lies between us. I will keep walking straight toward it.", + "From this close range the brick wall no longer reads as a countable row, but I am still holding the same dark brown paneled door beside the barred windows. It sits ahead and a little to my left with clear ground in between. I will advance again.", + "The dark brown door with its raised panels is close now, standing to my left with the barred windows beside it. I am not yet directly in front of its threshold. I will step forward once more to draw level with it.", + "The paneled door I am heading for now sits well toward the left edge of my view, while my heading points at the barred windows and the pale corner beyond them. Swinging left by a notch should bring the door frame back toward the middle so I can walk straight in.", + "The door with its raised panels and small handle now stands close to the center of my view, with the shop window on its left and the grated windows on its right. Open paving runs right up to its step. I will walk forward toward it.", + "The stone surround and the brass knob are legible now, so I am within a few paces of the threshold but not yet standing at it. The ground ahead stays clear. Another step forward should bring me right up against the door.", + "The door now dominates my view, its frame taller than the surrounding brick can hold, yet a short stretch of paving still separates me from its sill. One more step should place me directly at it.", + "The paneled door and its brass knob fill my whole view at arm's length. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c9f5a557db0940caeaddf659148615cb7c57c7 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the second door from the right on the street.", + "Type": 2, + "Start_Pose": [ + 543.205, + 1243.772, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 543.205, + 1243.772, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 442.637, + 1319.446, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 342.068, + 1395.119, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 342.068, + 1395.119, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 218.941, + 1421.201, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + 95.815, + 1447.283, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -27.312, + 1473.364, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -27.312, + 1473.364, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -127.881, + 1549.038, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -228.449, + 1624.711, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -329.017, + 1700.385, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -329.017, + 1700.385, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -452.144, + 1726.467, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -575.271, + 1752.548, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -575.271, + 1752.548, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -597.92, + 1820.429, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -597.92, + 1820.429, + 118.15, + 0.0, + 143.04, + -0.0 + ] + ], + "Rationale": [ + "Counting the street doors on the brick block from its right end, the dark brown one is first and mine is the next along, the narrow door set immediately left of the wide shopfront opening. It sits well across the open paving from me, so I will walk forward to close that distance and see it better.", + "The block carrying my door is still ahead and off to my right, with the tree trunk cutting across the middle of my view. Another step forward should shorten the gap and give a cleaner line on the doorway beside the wide shopfront.", + "My heading still points down the open square while the facade holding my door lies off to the right, partly hidden behind the trunk. I will turn right so that stretch of wall, and the doorway next to the wide shopfront, comes into the middle of my view.", + "The turn has put the brick facade squarely in front of me, and I can now pick out the pale door with its dark ironwork transom standing just left of the wide shopfront. The paving between us is clear, so I will step forward toward it.", + "The pale yellow door and its transom grille are plainly ahead of me, but still several strides off across the flagstones. I will keep walking forward to close in on it.", + "The yellow door and the shopfront beside it fill much more of my view now, yet I am not close enough to be standing at the doorway. I will advance again to shorten what remains.", + "Walking straight has let the yellow door slide toward the left side of my view while the wide shopfront now takes the centre. I will turn left to bring that door back onto my heading before pressing on.", + "The turn has brought the pale yellow door with its ornate transom back near the centre of my view, with the wide shopfront to its right. The pavement in front of me is clear, so I will walk forward to close the remaining distance.", + "The pale yellow door with its dark transom grille sits just right of my heading, with the wide dark shopfront beside it and the green shutter further along the wall. Several strides of open paving still separate me from that doorway, so I keep walking straight at it.", + "The yellow door is noticeably larger now, dappled with leaf shadow, and the shopfront beside it is beginning to loom on my right. I am still out on the open pavement rather than at the threshold, so another step forward is worth taking.", + "From this near angle the facade reads as a steep run rather than a countable row, and my target door sits off to the right of where I am pointed while my heading skims along the wall. Turning right should square me onto the yellow door instead of past it.", + "The turn has put the yellow door and its ironwork transom squarely before me, with the dark shopfront glass filling the right half of my view. Only a short stretch of paving remains between me and its step, so I advance.", + "I am close enough to make out the brass knob on the yellow door panel, though it now sits toward my left with the brick pier and shop window taking the centre. A further step should bring me right up against the doorway.", + "At this range only brickwork and the edge of the dark shop glass fill my view, and the yellow door has slipped out past my left shoulder. I will turn left to swing that doorway back in front of me.", + "The turn has recovered the yellow door, its knob and stone jamb plain on my left while brick fills the rest. A short step forward should set me directly in front of the doorway rather than beside it.", + "The yellow door fills my view, its brass knob within arm's reach beside the stone jamb. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b8ba6eb20664e887fcd090e2827a3d498a8360e --- /dev/null +++ b/dataset/trajectory/Venice/task_x000543_y001244_z000118_t2_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the second window from the right on the ground floor.", + "Type": 2, + "Start_Pose": [ + 543.205, + 1243.772, + 118.15, + 0.0, + 143.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 543.205, + 1243.772, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 442.637, + 1319.446, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 342.068, + 1395.119, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 241.5, + 1470.793, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 140.932, + 1546.467, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + 40.363, + 1622.14, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -60.205, + 1697.814, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -160.773, + 1773.488, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -261.342, + 1849.161, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -361.91, + 1924.835, + 118.15, + 0.0, + 143.04, + -0.0 + ], + [ + -361.91, + 1924.835, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -485.037, + 1950.917, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -597.763, + 1976.64, + 118.15, + 0.0, + 168.04, + -0.0 + ], + [ + -597.763, + 1976.64, + 118.15, + 0.0, + 168.04, + -0.0 + ] + ], + "Rationale": [ + "Counting from the right end of the brick facade on my right, the second ground-floor window is what I want, and since these openings look much alike I pin it as the barred window set immediately left of the tall doorway with a glazed transom. It is far down the street, so I walk forward along the paving.", + "The facade on my right is opening up as I advance, and the doorway with the transom that marks my window is becoming easier to pick out beyond the tree. Nothing blocks the paving ahead, so I keep walking straight to close the distance.", + "The tree trunk now sits close on my left while the brick wall with my target window runs away to my right. I am still short of it, so another step forward along the open paving is the direct way to gain ground.", + "The pale door with the dark transom and the barred window beside it are clearer now on the right side of the facade. The route ahead stays clear, so I keep walking rather than turning yet.", + "The far right end of the facade has slid out of my view as I come alongside the wall, so I keep following the barred window next to the pale door instead of trying to count the row again. It is still ahead of me, so I continue forward.", + "The wall with the green shutter, the pale door and the barred window beside it now fills the right of my view, but I am still level with the openings further left. Walking on should bring me nearer the window I am heading for.", + "The barred window and the pale door beside it sit clearly to my right but still slightly ahead of me. I step forward again to draw level with them before I need to turn toward the wall.", + "The grilled window and the pale door next to it are now large and close on my right, though my heading still carries me past rather than at them. Another step forward should place me squarely opposite that window.", + "The barred window with the pale door beside it now sits at the right edge of my view, so I am nearly abreast of it but still travelling parallel to the wall. One more stride along the open paving should put me level with that window before I swing toward it.", + "I am now level with the barred window, but it lies off to my right while my heading runs down the street. Turning right should bring the window and the pale door beside it into the middle of my view so I can walk straight at it.", + "The turn has put the grilled window squarely ahead of me, with the pale transomed door to its right and the green shutter to its left. Only a short stretch of paving separates me from the wall, so I walk straight in.", + "The barred window fills the middle of my view now, with its stone sill and grille clearly legible. I am still a pace or two short of standing at it, so I close the last of the gap.", + "The barred window's grille and sill fill my view at arm's length. I have reached the window I set out for, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000629_y000288_z000118_t3_a/infos.json b/dataset/trajectory/Venice/task_x000629_y000288_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..86497c18fc202715aa602dd0f75dc8244f90acf3 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000629_y000288_z000118_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Go to the stone well, then go to the yellow-leafed tree.", + "Type": 3, + "Start_Pose": [ + 629.031, + 288.009, + 118.15, + 0.0, + 116.16, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 629.031, + 288.009, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 573.542, + 400.976, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 573.542, + 400.976, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + 570.994, + 526.809, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + 568.446, + 652.642, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + 565.899, + 778.475, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + 565.899, + 778.475, + 118.15, + 0.0, + 91.16, + -0.0 + ], + [ + 565.899, + 778.475, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 508.913, + 883.153, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 446.008, + 979.573, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 390.519, + 1092.54, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 335.031, + 1205.507, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 279.542, + 1318.473, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 224.053, + 1431.44, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 168.565, + 1544.407, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 168.565, + 1544.407, + 118.15, + 0.0, + 141.16, + -0.0 + ], + [ + 70.533, + 1623.339, + 118.15, + 0.0, + 141.16, + -0.0 + ], + [ + 70.533, + 1623.339, + 118.15, + 0.0, + 141.16, + -0.0 + ] + ], + "Rationale": [ + "The round stone well stands on the paving ahead and slightly to my left, well within this open square. It is still several strides off, so I will walk forward to close the gap before fine-tuning my heading.", + "After closing some distance, the well sits off to my left rather than straight ahead, so walking on would carry me past its side. I will turn left to bring the wellhead nearer the center of my view before advancing again.", + "The stone well now sits squarely ahead of me beside the dark iron pump, with open paving in between. With the heading corrected, I will walk forward to shorten the remaining distance to it.", + "The carved stone well is growing larger and stays centered on my path, so my heading remains good. I will keep walking forward, since I am not yet close enough to count as standing at it.", + "The well's decorated basin and its raised stone step now fill much of the view directly in front of me. One more stride forward should bring me right up beside it.", + "The carved stone well fills the view right in front of me, its rim close enough to touch. I have reached the well. I mark arriving here, then set off for the tree with the yellow leaves standing across the square.", + "The well is right beside me, and the broad tree with yellow foliage rises off to my right, past the stone rim that blocks my forward path. I will turn right to put that tree in front of me and open a clear line across the paving.", + "The tall tree with yellow leaves now stands ahead of me, its trunk rising from the paving beside the brick facades, with only the well's rim at the edge of my view. The way across the square is open, so I will walk forward toward it.", + "The stone well rim has slipped to my left edge, and the tree with the yellow crown now stands squarely ahead across the open paving. Nothing blocks the stretch between us, so I will keep walking straight toward its trunk.", + "The yellow canopy has grown larger overhead and its trunk sits just right of my heading, so my line is still good. I will advance again over the clear stone paving to close the remaining distance.", + "The trunk is thicker in front of me and the dark grate ring at its base is now visible on the ground. That base is what I want to reach, so I keep stepping forward toward it.", + "The yellow leaves have spread across the top of my view while the trunk rises straight ahead, showing I am still a few strides short. The paving remains clear, so I continue walking toward the tree.", + "The trunk now dominates the middle of my view and its ringed base is a short walk away. I will step forward again to bring myself right up beside the yellow-leafed tree.", + "The tree's base grate spreads wide at the bottom of my view and the bark texture is plain, so only a stride or so remains. I will move forward once more to draw level with the trunk.", + "The trunk of the yellow-leafed tree now stands immediately in front of me, filling my path so a straight step would run into it. I will turn right so the open paving beside the tree opens ahead and the trunk sits off my shoulder.", + "With the heading shifted, the trunk now sits to my left and clear paving runs forward past it. A single step should bring me right alongside the yellow-leafed tree.", + "The yellow-leafed tree's trunk fills my view at arm's length, its grate ringing my feet. I am at the destination, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000629_y000288_z000118_t3_b/infos.json b/dataset/trajectory/Venice/task_x000629_y000288_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d26414654b112a01417e132c05809158a2188eb --- /dev/null +++ b/dataset/trajectory/Venice/task_x000629_y000288_z000118_t3_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Go to the yellow-leafed tree, then go to the brown door near two windows on the brick building.", + "Type": 3, + "Start_Pose": [ + 629.031, + 288.009, + 118.15, + 0.0, + 116.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 629.031, + 288.009, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 573.542, + 400.976, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 518.054, + 513.943, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 462.565, + 626.909, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 407.076, + 739.876, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 351.588, + 852.843, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 296.099, + 965.81, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 240.611, + 1078.777, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 185.122, + 1191.743, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 129.633, + 1304.71, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 74.145, + 1417.677, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 18.656, + 1530.644, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 18.656, + 1530.644, + 118.15, + 0.0, + 116.16, + -0.0 + ], + [ + 18.656, + 1530.644, + 118.15, + 0.0, + 141.16, + -0.0 + ], + [ + 18.656, + 1530.644, + 118.15, + 0.0, + 166.16, + -0.0 + ], + [ + 18.656, + 1530.644, + 118.15, + 0.0, + -168.84, + 0.0 + ], + [ + -104.823, + 1506.284, + 118.15, + 0.0, + -168.84, + 0.0 + ], + [ + -228.302, + 1481.924, + 118.15, + 0.0, + -168.84, + 0.0 + ], + [ + -228.302, + 1481.924, + 118.15, + 0.0, + -143.84, + 0.0 + ], + [ + -329.917, + 1407.662, + 118.15, + 0.0, + -143.84, + 0.0 + ], + [ + -431.532, + 1333.4, + 118.15, + 0.0, + -143.84, + 0.0 + ], + [ + -431.532, + 1333.4, + 118.15, + 0.0, + -168.84, + 0.0 + ], + [ + -555.011, + 1309.04, + 118.15, + 0.0, + -168.84, + 0.0 + ], + [ + -555.011, + 1309.04, + 118.15, + 0.0, + -168.84, + 0.0 + ] + ], + "Rationale": [ + "The tree with yellow leaves stands ahead of me near the middle of the open square, with a stone wellhead off to my left and clear paving between us. My heading already points at that tree, so I will walk straight forward to cut down the distance.", + "The yellow canopy still sits ahead and has grown slightly larger, confirming my last step closed distance on it. The wellhead has drifted toward my left side and leaves my path open, so another forward step should keep me tracking the tree.", + "The wellhead now sits close on my left while the yellow-leafed tree remains squarely ahead, its trunk rising from the paving between the buildings. Nothing stands in my way, so I will keep walking straight toward that tree.", + "I have drawn level with the wellhead at my left, and the yellow foliage now spreads across the upper part of my view with the trunk plainly ahead. The route remains open, so I will continue advancing on the tree.", + "The tree's trunk is clearly ahead of me on the paving, with its yellow crown now overhanging much of my view. Brick facades flank the square on my right but nothing crosses my path, so I will step forward again.", + "The trunk keeps getting thicker in front of me and the yellow leaves now reach over my head, so I am closing in steadily. The paving ahead stays clear, and another walking step should bring me nearer the base of the tree.", + "The circular grate around the tree's base is now visible just ahead of me, and the trunk fills the middle of my view. I am close but not yet at it, so I will keep walking forward toward that base.", + "The trunk of the yellow-leafed tree now rises tall in front of me with its base ring only a short stretch of paving away. A few more steps should place me right at it, so I will advance again.", + "The yellow-leafed tree's trunk now rises directly ahead of me in the open square, its canopy spreading over my head. The gap is still a few paces of clear pavement, so I will keep walking straight at it.", + "The trunk of the yellow-leafed tree has grown thicker in front of me and its shadow pattern now spreads across the stones at my feet. I am not yet standing at its base, so another step forward should close the remaining distance.", + "The trunk now dominates the middle of my view and the ring of paving around its root is clearly visible just ahead. One more step should bring me right up beside the yellow-leafed tree.", + "The rough trunk of the yellow-leafed tree stands right beside me, its last golden leaves hanging overhead and its base at my feet. I have reached this tree. I mark reaching it, then set off for the brown door beside the two windows on the brick building.", + "Standing at the tree, the brick building with its row of doors lies off to my right while the trunk still blocks the left of my view. I will turn right to bring that brick facade in front of me and begin the leg toward the brown door by the two windows.", + "The brick facade now fills my view, but the doors I can see are still spread toward the right and the trunk has cleared from my path. Turning right again should carry my heading further along the wall toward the door section I want.", + "I am facing the brick wall squarely now, with a pale door and a shuttered opening ahead and a darker brown door still off at the right edge. Another right turn should swing that brown door and the windows beside it into the centre of my view.", + "The brown door on the brick wall is now ahead of me with two barred windows just to its right, matching the door I am looking for. It is still several paces away across open paving, so I will walk straight toward it.", + "The dark brown door in the brick wall is centred ahead, with the two barred windows to its right confirming this is the entrance I want. I am still a stride or two short of it, so I will walk forward to close that remaining gap.", + "The brick wall now fills most of my view and the doorway sits slightly left of my heading, so pressing straight ahead would carry me into the masonry beside it rather than to the threshold. Turning right should swing my heading along the open frontage so I can approach the door on a clean line.", + "From this heading the brown door stands to my left with the barred windows beside it and clear paving stretching ahead along the wall. I will walk forward over that open ground to draw level with the doorway.", + "The door has grown large at the left of my view, so I am nearly abreast of it but not yet at its stone step. Another stride forward should bring me right in front of the entrance.", + "I am now level with the doorway, which has slipped to the far left edge while the barred windows sit ahead of me. Turning left should bring the brown door squarely in front of my face.", + "The brown door is now centred in front of me, its brass knob and stone surround plainly visible with the barred window off to the right. One short step forward should put me right at the threshold.", + "I stand at arm's length from the brown door's brass knob on the brick building. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13a535afcc43e91d92ce45ef16bb001f4af0e470 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Go to the leftmost green door on the white building.", + "Type": 2, + "Start_Pose": [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 927.434, + 4959.196, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1001.838, + 5060.708, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1076.242, + 5162.219, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1076.242, + 5162.219, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1186.575, + 5222.775, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1296.909, + 5283.331, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1407.242, + 5343.887, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1517.575, + 5404.443, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1627.909, + 5464.999, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1627.909, + 5464.999, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1702.313, + 5566.51, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1776.717, + 5668.022, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1851.121, + 5769.533, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1925.525, + 5871.044, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1999.928, + 5972.556, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1999.928, + 5972.556, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 2107.025, + 5977.954, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 2107.025, + 5977.954, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 2171.817, + 5977.954, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 2171.817, + 5977.954, + 118.15, + 0.0, + 53.76, + -0.0 + ] + ], + "Rationale": [ + "The white building stands ahead and to my right, its ground floor lined with green shuttered doors, and the leftmost of them is the one tucked beside the pale doorway at the left end of that run. That whole frontage is still far across the open paved square, so I walk forward to close the distance.", + "The white facade has grown a little, but the green door I want is still small and distant across the paving. The square in front of me is clear, so I keep walking straight ahead to shorten the gap.", + "The shuttered green doors and the pale doorway beside them are now clearly separated at the base of the white building, confirming which one I am heading for. I am still well short of it, so another step forward is the simplest way to keep closing.", + "On this heading I am aimed at the middle of the frontage, while the green door I want lies further along toward the left end of the run. I turn left to swing my path down the open square parallel to the facade, which should point me at that end.", + "The turn has opened the plaza ahead with the white building's ground-floor doors running along my right. With a clear lane of paving in front of me, I walk forward to advance toward the end of that run where my door sits.", + "The green shutters on my right are noticeably larger, so my line along the facade is working. Nothing stands in the lane ahead, so I keep stepping forward toward the door I picked out.", + "I am now close alongside the white wall, with its shuttered green bays sliding past on my right and the pale doorway still ahead of them. I continue forward, since I have not yet drawn level with my door.", + "The green shuttered bays and the pale doorway beside them fill more of my right-hand view, and my target still lies a little further along. I walk forward again to reach a position beside it.", + "The pale doorway that anchors the left end of the shuttered run still sits ahead of my right shoulder, so I have not yet drawn level with the green door beside it. The paving in front of me stays empty, so I take another stride along the wall.", + "I have come far enough along the plaza that the pale doorway and the green door next to it now sit off to my right rather than ahead. Walking straight would carry me past them, so I turn right to bring that stretch of the white facade in front of me.", + "The turn has put the ground-floor bays squarely in front of me, with the pale doorway and its neighbouring green door over toward the left of my view. A wide band of paving still separates me from the wall, so I walk in.", + "The shutters have grown enough that I can pick out the frame lines between the bays, yet the wall is still several strides off. I keep walking straight in toward the door standing next to the pale one.", + "The white wall now leans across most of my view and the pale doorway has slid toward my left edge, which tells me I am coming in close to the end of the run I want. Nothing blocks the last stretch, so I advance again.", + "At this range the corrugated shutters and the recessed door beside the pale one are only a couple of paces away on the wall in front of me. I step forward once more to bring myself right up against that end of the frontage.", + "The nearest shutter now looms over most of my view while the door I want and the pale one sit just past it to my left. One more step should bring me alongside that bay rather than short of it.", + "Standing this close, the shutter panel fills nearly everything I can see and the door I came for has dropped out of my view past the left edge. I turn left to swing my gaze back along the wall so that door and its frame come in front of me again.", + "The turn has opened the wall back up, and past the near shutter I can see the pale doorway and the recessed panel next to it along the frontage ahead of me. That last bay still sits a stride further down the wall, so I walk forward to draw level with it.", + "Moving up has brought me level with the bay, but I am angled along the plaza rather than into the wall, so the shutter beside the door is what faces me. I turn right to square my body against the frontage before stepping across to the door itself.", + "Facing the wall now, the shutter fills my view but the door frame edge sits at my left, meaning I am beside the bay rather than in front of the doorway. A short step forward should bring me level with the door itself.", + "The green door with its glazed panel stands directly before me within arm's reach. I have reached it, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da5d27415ce0f64925bb363ea273e96fb347df75 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the rightmost door on the white building.", + "Type": 2, + "Start_Pose": [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 927.434, + 4959.196, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1001.838, + 5060.708, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1076.242, + 5162.219, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1150.646, + 5263.73, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1225.05, + 5365.242, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1299.454, + 5466.753, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1373.858, + 5568.264, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1448.261, + 5669.775, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1448.261, + 5669.775, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1472.794, + 5793.22, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1497.326, + 5916.665, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1497.326, + 5916.665, + 118.15, + 0.0, + 78.76, + -0.0 + ] + ], + "Rationale": [ + "Along the white building's ground floor I can pick out a pale door, then the green shuttered shop fronts, and last a dark maroon panelled door at the far right corner where the pink building begins; that maroon one is my goal. It stands far across the open square, so I walk straight toward it.", + "The maroon door at the right end of the white facade is still small and well ahead of me. The paving between us is open and clear, so I continue walking forward to close the distance.", + "The olive door further right belongs to the pink building past the corner, not to the white one, so I stay fixed on the maroon door. It is growing but still distant, and I keep stepping forward toward it.", + "The maroon door and its stone surround are becoming clearer slightly right of my heading. Nothing stands in the way across the square, so I advance again.", + "I am now close enough to see the maroon door's panels and the small transom above it. Still several strides short of the wall, I keep walking straight ahead.", + "The left end of this ground floor is sliding toward the edge of my view as I close in, so I simply follow the maroon door itself rather than any row. It sits just left of the building's corner ahead, and I step forward again.", + "The maroon door now stands tall a little right of centre, its knob and dark panels plainly visible. I still have open pavement in front of me, so I walk closer.", + "The maroon door fills the right side of my view, but my heading still carries me past the shop shutters rather than onto it. Another step forward should bring me level with the doorway before I swing toward it.", + "I am now level with the maroon door, which sits off to my right while my heading points along the shutters. A small pivot to the right should put the doorway squarely in front of me, so I turn that way.", + "The maroon door with its brass knob and dark transom now sits near the centre of my view, framed by its pale stone surround at the building's corner. Only a short stretch of paving separates me from it, so I walk straight in.", + "The door's panels and knob now dominate my view, but I am still a stride short of the threshold itself. One more step forward should bring me right up against it.", + "The maroon door fills my view at arm's length, its knob directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e7bb880c41b28254b10f1df96b8f3d484814c45 --- /dev/null +++ b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_c/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the second green door from the left.", + "Type": 2, + "Start_Pose": [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 927.434, + 4959.196, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1001.838, + 5060.708, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1076.242, + 5162.219, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1150.646, + 5263.73, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1225.05, + 5365.242, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1299.454, + 5466.753, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1373.858, + 5568.264, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1448.261, + 5669.775, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1522.665, + 5771.287, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1597.069, + 5872.798, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1597.069, + 5872.798, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1707.403, + 5933.354, + 118.15, + 0.0, + 28.76, + -0.0 + ], + [ + 1707.403, + 5933.354, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 1707.403, + 5933.354, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1733.282, + 5980.067, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1733.282, + 5980.067, + 118.15, + 0.0, + 78.76, + -0.0 + ] + ], + "Rationale": [ + "Across the open square, the white building's ground floor carries a run of green fronts, and counting them from the left settles my target as the second one, the glazed green door under the dark awning near the corner with the red door. The paving ahead is empty, so I walk straight toward that frontage.", + "The white facade has grown noticeably, and the green fronts with the glazed door beside the red corner door stay in the middle of my view. Distance is still the only thing separating me from that door, so I keep walking forward.", + "The green shutters and the glazed green door under the awning now read clearly along the ground floor slightly left of my heading. My current heading already points into that stretch of pavement, so another step forward is the simplest way to close in.", + "I am still well out in the square, with the green frontage and its glazed door filling only a modest part of my view. Nothing obstructs the route, so I keep advancing rather than turning this early.", + "The dark awning over the green shutters is now plainly visible, and the glazed green door I am heading for sits at the right end of that run, just before the wall carrying the red door. I walk on to bring myself in front of it.", + "The frontage is close enough that the shutter panels and the glazed door frame separate cleanly, and the pavement in front of them is open. I continue straight to reduce the remaining gap before I need to turn toward the door.", + "The left end of the green run is beginning to slide out of my view as I close in, so I stop relying on the count and simply follow the glazed door standing at the far end of the shutters. The red corner door on my right is not my target, and the way ahead is clear, so I keep walking.", + "I am now near the wall, with the shutters and the glazed green door off to my left and the red door directly ahead on the corner block. A further step along this line should carry me level with that glazed door instead of the corner.", + "The glazed green door with its slim frame sits just left of the corner block, and the dark red door on the right edge of my view is not what I want. The pavement between me and that frontage is still clear, so I press on toward it.", + "The glazed green door now stands large at the end of the shutter run, its panels and handle plate reading clearly. I am close but still slightly short of standing in front of it, so I take another step along the wall.", + "I am now hard against the facade with the glazed green door filling the right of my view and the wall crowding me. Swinging my heading left opens the line along the frontage so I can close the last of the gap without scraping the corner pier.", + "With my heading angled along the wall, the shutters and the glazed green door lie ahead on my right and the open square shows past them on the left. One more stride along this line should bring me level with the door itself.", + "I have drawn level with the frontage, and the glazed green door is now off to my right rather than in front of me. Turning right starts bringing my heading back onto its face.", + "The glazed door with its long brass handle fills the middle of my view, but its frame is still angled rather than square to me. A second turn the same way should settle me squarely on the door.", + "The green door and its brass handle now sit dead ahead, filling my view with only a short stretch of pavement left. A final short step should put me right at its threshold.", + "The green door's handle and lock are at arm's reach directly before me. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c6dfe267184c094c9fdaa545147101c828c503c --- /dev/null +++ b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the second window from the right on the first floor.", + "Type": 2, + "Start_Pose": [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 853.03, + 4857.685, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 877.562, + 4981.13, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 902.095, + 5104.575, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 926.627, + 5228.02, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 951.159, + 5351.465, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 975.692, + 5474.91, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1000.224, + 5598.355, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1000.224, + 5598.355, + 118.15, + 0.0, + 103.76, + -0.0 + ], + [ + 970.288, + 5720.602, + 118.15, + 0.0, + 103.76, + -0.0 + ], + [ + 940.352, + 5842.849, + 118.15, + 0.0, + 103.76, + -0.0 + ], + [ + 910.415, + 5965.095, + 118.15, + 0.0, + 103.76, + -0.0 + ], + [ + 910.415, + 5965.095, + 118.15, + 0.0, + 103.76, + -0.0 + ] + ], + "Rationale": [ + "The pink building on the right carries a ground floor row of barred windows beside a pale green door, and counting in from the right end of that row, my target is the wide barred window next to that door. It lies off to my right, so I turn right to bring it in front of me.", + "The pink facade now sits ahead of me across the open square, with the pale green door and the wide barred window beside it clearly framed. A long stretch of empty paving still separates us, so I walk forward to begin closing that gap.", + "The barred window next to the pale green door is larger in my view but still well beyond arm's reach across the square. The pavement ahead is clear, so I keep walking straight toward it.", + "The pink wall fills more of my view and the grilles on its ground floor windows are now clearly picked out. My heading still points at the window beside the pale green door, so I continue forward without adjusting it.", + "I am roughly midway across the square, with the pale green door and the barred window beside it sitting slightly right of my heading. Nothing blocks the paving, so I keep advancing to shorten the remaining distance.", + "The pale green door and the barred window beside it now dominate the right half of my view, and the corner where the pink and white buildings meet is close. I step forward again to reach comfortable standing distance from that window.", + "The door and its neighbouring barred window are large and near, though a few paces of paving still lie between me and the wall. I walk forward once more to close that last stretch.", + "Standing this close, the far end of the window row has slipped out of my view, so I hold to the barred window immediately right of the pale green door. It sits right of my heading while the neighbouring white building crowds my left, so I turn right to square myself with that window.", + "The turn has squared me with the pink wall, and the barred window immediately right of the pale green door sits just left of centre with clear paving in between. I step forward to bring myself up against that window.", + "The grille beside the green door now fills much of my view, with its neighbour further along the wall clearly separate from it. Only a short stretch of paving remains, so I walk on toward the wall.", + "The barred window beside the door dominates my view, its bars and red frame sharply detailed, though I am still a pace or two short of the sill. One more step should put me right at it.", + "The barred window's sill and frame fill my view at arm's length. I have reached my target, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_e/infos.json b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bfc1923b90f26031ccbd5b879ff00fab0264e04f --- /dev/null +++ b/dataset/trajectory/Venice/task_x000853_y004858_z000118_t2_e/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the door on the orange building to the right.", + "Type": 2, + "Start_Pose": [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 853.03, + 4857.685, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 927.434, + 4959.196, + 118.15, + 0.0, + 53.76, + -0.0 + ], + [ + 927.434, + 4959.196, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 951.966, + 5082.641, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 976.499, + 5206.086, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1001.031, + 5329.531, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1025.563, + 5452.976, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1050.096, + 5576.421, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1074.628, + 5699.866, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1099.16, + 5823.311, + 118.15, + 0.0, + 78.76, + -0.0 + ], + [ + 1099.16, + 5823.311, + 118.15, + 0.0, + 103.76, + -0.0 + ], + [ + 1069.224, + 5945.558, + 118.15, + 0.0, + 103.76, + -0.0 + ], + [ + 1069.224, + 5945.558, + 118.15, + 0.0, + 103.76, + -0.0 + ] + ], + "Rationale": [ + "Across the square the orange building on my right shows a single olive green door beside a barred window, while the pale building on my left carries the row of shuttered shopfront doors. That olive door on the orange wall is my target, and it is still far across the open pavement, so I will walk forward to close the gap.", + "The olive door on the orange wall now sits well to the right of my heading, so walking straight ahead would carry me toward the pale building instead. I will turn right to swing that door toward the center of my view before continuing.", + "The turn has brought the olive door on the orange wall near the middle of my view, with the corner of the pale building just to its left. The heading looks good and there is clear pavement between me and it, so I will step forward.", + "The olive door and its surrounding orange wall have grown slightly, confirming I am closing on it along a good line. Nothing blocks the paving between us, so I will keep walking forward.", + "The olive door stays a little right of center as the orange facade fills more of my view, so my heading is still serviceable. I am not yet close enough to stop, so I will continue forward.", + "The olive door on the orange wall is clearly nearer now, its frame and step visible, and the dark alley mouth stays to its left. Distance still separates me from it, so I will walk forward again.", + "The olive door now reads at close to full height in my view, with its handle beginning to show, so I am within a few strides. I will step forward again to bring myself up to it.", + "The olive door on the orange wall dominates my view, its panels and brass handle plainly visible, though it sits a little right of straight ahead. A short remaining gap of pavement separates me from its threshold, so I will advance once more.", + "The olive door fills the right half of my view and its brass knob is sharp, but a last stretch of paving still lies between me and its threshold. I will take another step forward to close that remainder.", + "From this close range the olive door has slid to the right edge of my view, half cut off by the pink corner, while the alley opens straight ahead. I will turn right to bring the door square in front of me before stepping up to it.", + "The turn has set the olive door and its barred window squarely ahead of me on the pink wall. Only a short step of pavement remains, so I will walk forward to reach the threshold.", + "The olive door's panel and brass knob fill my view at arm's length. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8d10bb70cd2b7d10d3746c29bfd6a57fec047f6 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Go to the leftmost lamp post.", + "Type": 2, + "Start_Pose": [ + 1695.677, + -1858.884, + 118.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1695.677, + -1858.884, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1582.022, + -1912.949, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1468.367, + -1967.013, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1354.712, + -2021.078, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1241.056, + -2075.143, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1127.401, + -2129.208, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1013.746, + -2183.272, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1013.746, + -2183.272, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 887.891, + -2184.239, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 762.035, + -2185.205, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 636.18, + -2186.172, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 510.325, + -2187.138, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 384.47, + -2188.105, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 258.614, + -2189.071, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 132.759, + -2190.038, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 6.904, + -2191.005, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + -118.952, + -2191.971, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + -244.807, + -2192.938, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + -244.807, + -2192.938, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + -358.462, + -2247.002, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + -472.117, + -2301.067, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + -585.772, + -2355.132, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + -585.772, + -2355.132, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + -631.116, + -2429.407, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + -631.116, + -2429.407, + 118.15, + 0.0, + -129.56, + 0.0 + ] + ], + "Rationale": [ + "Two lamp posts stand along this canal quay, and the leftmost is the far one rising out of the big yellow tree beside the arched bridge, not the tall post close on my right. Since the posts otherwise look alike, I hold that one by the tree and bridge as my target. The pavement runs straight toward it, so I walk forward.", + "The near post on my right has grown larger, which only confirms it is the closer one and not the lamp post I want. My target still stands far ahead at the yellow tree by the bridge. I keep walking forward along the open quay.", + "The near lamp post is now beside me at the edge of my view, while the post at the yellow tree by the bridge is still well down the quay. Nothing blocks the paving between us, so I continue forward.", + "Another slim lamp post has come into view further down the street past the trees, so the row I first counted no longer reads the same from here. I stay with the post at the yellow tree beside the arched bridge. I walk forward toward it.", + "The post at the yellow tree and the bridge behind it are noticeably nearer, and the canal railing on my right keeps me on the quay. The paving stays clear, so another step forward should bring me closer to that lamp post.", + "The lamp post at the yellow tree now stands clearly ahead of me with the arched bridge just beyond it. There is still open ground between us, so I keep advancing rather than turning yet.", + "The lamp post at the yellow tree sits a little to the left of where I am facing, and the wide stretch of pavement continues that same way while the railing crowds my right. Turning left should put the open walkway and that post squarely in front of me before I keep going.", + "After the turn the promenade runs straight ahead with the lamp post at the yellow tree and the bridge framed in front of me. The way is clear of obstacles, so I walk forward to close the remaining distance.", + "The quay ahead is empty of people and obstacles, and my lamp post still stands far off where the yellow canopy hangs over the arch. Nothing but distance separates us, so I keep walking straight down the paving.", + "A post along the canal railing on my right has grown tall as I come level with it, but that is not the one I settled on; mine is still further along at the bridge. I walk on instead of stopping short here.", + "That railing post is slipping past my shoulder, and with these quay posts dropping behind me the line of them no longer counts the way it did when I started. I am still going to the one standing under the yellow branches at the arch, so I press forward.", + "With that post behind me the walkway opens up and the pale balustrade of the bridge reads more clearly, my lamp post rising at the canal edge just short of it. The stones between are unbroken, so another stride should carry me closer.", + "My lamp post now stands out plainly, its green shaft against the yellow leaves at the bridge corner. The orange tree down the left side marks the far end of this quay, past where I need to stop. I continue ahead.", + "The pink stonework of the arch and the post at its near corner sharpen with every step, yet a good stretch of open paving still lies between us. I keep advancing along the canal side of the walkway.", + "The dark lamp head is clear above the yellow foliage, though the base of the post is still some way off along the railing. The route stays unobstructed, so I walk on toward it.", + "I can now make out the bridge steps and the low white bollards at the water's edge, with my lamp post planted just before them. A few more paces should bring me level with its base, so I move forward.", + "The pale bollards and the pink arch of the bridge are close now, and my lamp post rises off to my right with its shaft still in shade. A short stretch of unbroken stone remains before I draw level with its foot, so I step ahead.", + "Holding this heading has pushed the lamp post out toward the right edge of what I can see, close to the bridge ramp. Swinging right should bring it back in front of me for the final approach.", + "The green shaft now stands square in the middle of my view against the yellow canopy, its base planted on the quay beside the railing. Open stone lies between, so I walk on.", + "The fluted column and its stepped foot read plainly a short way off, with the canal railing running past to its right rather than across my path. Another stride closes more of that gap.", + "The post towers over me now, its base only a stride or two along the paving. Nothing stands in the last of the way, so I advance again.", + "At this range the shaft has slipped right of centre and its foot sits off my right shoulder near the railing. A turn that way should set the base directly before me for the last step.", + "The heavy green base now sits squarely ahead, just beyond the pale kerb at the water's edge. One short step should place me right at the foot of it.", + "The fluted base of the lamp post fills the near side of my view at arm's length beside the canal railing. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08cf59aea6fd03d8a0505f73f5fb0f2e5f8fd660 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the rightmost lamp post near the railing.", + "Type": 2, + "Start_Pose": [ + 1695.677, + -1858.884, + 118.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1695.677, + -1858.884, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1582.022, + -1912.949, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1468.367, + -1967.013, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1354.712, + -2021.078, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1354.712, + -2021.078, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + 1274.554, + -2118.11, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + 1194.396, + -2215.142, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + 1194.396, + -2215.142, + 118.15, + 0.0, + -104.56, + 0.0 + ], + [ + 1162.756, + -2336.959, + 118.15, + 0.0, + -104.56, + 0.0 + ], + [ + 1162.756, + -2336.959, + 118.15, + 0.0, + -104.56, + 0.0 + ] + ], + "Rationale": [ + "Along the canal railing on my right I can pick out a line of green lamp posts, and the one furthest to the right, standing closest to me beside the railing near the pale corner building, is my target. It is still some distance ahead across the open pavement, so I will walk forward to close the gap.", + "The green lamp post beside the railing near the pale corner building has grown larger and shifted toward my right edge, confirming I am closing on it. The paving ahead stays clear, so I will keep walking forward.", + "My lamp post beside the railing now towers at the right edge of my view, but I am still short of it and offset to its left. Another step forward should bring me level with the railing before I swing toward it.", + "Walking straight ahead carries me past the railing rather than toward the lamp post standing beside it, which has drifted to the far right of my view. I will turn right to bring the canal-side railing and that lamp post back into the centre of my heading.", + "The turn has put the canal railing and the tall green lamp post standing at it squarely ahead of me. The open paving between us is clear, so I will step forward toward that post.", + "The lamp post at the railing is noticeably nearer, its base now visible on the pavement ahead of me. I am still a few paces short, so I will continue walking toward it.", + "The lamp post now stands close on my right side with the railing running away to the left of my heading. A turn to the right should square me up on the post so I can step in beside it.", + "The tall green lamp post at the railing is now centred right in front of me, with only a short stretch of paving left. I will take a final step forward to stand right at its base.", + "The lamp post's green shaft fills my view at arm's length, the railing running right beside it. I have reached it, so nothing further is needed." + ] +} diff --git a/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f2680c9ea67278ddada0d65fcacea27b8e853ab --- /dev/null +++ b/dataset/trajectory/Venice/task_x001696_y-001859_z000118_t2_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the second rightmost lamp post near the railing.", + "Type": 2, + "Start_Pose": [ + 1695.677, + -1858.884, + 118.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1695.677, + -1858.884, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1582.022, + -1912.949, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1468.367, + -1967.013, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1354.712, + -2021.078, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1241.056, + -2075.143, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1127.401, + -2129.208, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 1013.746, + -2183.272, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 900.091, + -2237.337, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 786.436, + -2291.402, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 672.781, + -2345.466, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 559.125, + -2399.531, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 445.47, + -2453.596, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 445.47, + -2453.596, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 319.615, + -2454.562, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 319.615, + -2454.562, + 118.15, + 0.0, + -179.56, + 0.0 + ] + ], + "Rationale": [ + "Two green lamp posts stand along the canal railing on my right, and the nearer one just off my right shoulder is the rightmost of them, so my target is the next one down the quay, the one rising beside the yellow tree. The pavement between us is open and clear. I walk forward toward it.", + "The lamp post by the yellow tree is still well down the quay, its lamp head small against the buildings across the canal. Nothing blocks the paving between me and the railing line. I continue straight ahead.", + "The near post has grown large at my right side as I come level with it, while the lamp post beside the yellow tree remains further along the railing. That further one is the one I want. I keep walking forward.", + "The near post is sliding out at my right as I pass it, leaving the lamp post at the yellow tree as the one I am heading for. It is still several strides down the quay. I step forward again.", + "The post I passed is now behind me and out of sight, so the lamp post standing at the yellow tree beside the railing is the only one I am tracking. It sits ahead and slightly left of my heading, and the way is clear. I move forward.", + "The lamp post at the yellow tree has grown noticeably, its ornate head now clear above the railing. I am still short of its base. I continue straight toward it.", + "The railing now runs close along my right and the lamp post beside the yellow tree stands a little left of my path, its shaft filling more of my view. Nothing obstructs the paving between us. I keep advancing.", + "The lamp post beside the yellow tree now rises the full height of my view, but its base is still some paces ahead along the quay. I am not yet close enough to call myself standing at it. I walk forward again.", + "The lamp post by the yellow tree stands just left of centre with its base still a few paces off along the railing. Open paving runs right up to it. I step forward again.", + "Its octagonal base is now visible on the paving ahead and slightly left, close but not yet at my side. The railing runs unobstructed alongside. I keep walking toward the post.", + "The green shaft fills the left half of my view and its foot sits just short of my stride. A little more distance closes the gap to standing beside it. I advance once more.", + "The lamp post has drifted to my left edge, close enough that continuing straight would carry me past it along the quay. Turning left swings my heading onto its base so my final step lands beside it.", + "The lamp post now stands centred in my view with its base a short step ahead on the paving. One more stride should bring me right up against it. I move forward.", + "The green lamp post fills my view with its base at my feet by the railing. I am there, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Venice/task_x001736_y000005_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x001736_y000005_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..30621e5ddc1a8fcec900ed5c575636b3b7070915 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001736_y000005_z000118_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the leftmost ground-floor window.", + "Type": 2, + "Start_Pose": [ + 1736.162, + 4.766, + 118.15, + 0.0, + -62.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1736.162, + 4.766, + 118.15, + 0.0, + -62.4, + 0.0 + ], + [ + 1736.162, + 4.766, + 118.15, + 0.0, + -87.4, + 0.0 + ], + [ + 1741.871, + -120.963, + 118.15, + 0.0, + -87.4, + 0.0 + ], + [ + 1747.581, + -246.693, + 118.15, + 0.0, + -87.4, + 0.0 + ], + [ + 1753.29, + -372.422, + 118.15, + 0.0, + -87.4, + 0.0 + ], + [ + 1758.999, + -498.152, + 118.15, + 0.0, + -87.4, + 0.0 + ], + [ + 1758.999, + -498.152, + 118.15, + 0.0, + -112.4, + 0.0 + ], + [ + 1711.697, + -607.907, + 118.15, + 0.0, + -112.4, + 0.0 + ], + [ + 1711.697, + -607.907, + 118.15, + 0.0, + -112.4, + 0.0 + ] + ], + "Rationale": [ + "I need the leftmost window on the ground floor, but the facade runs out of my view at the left edge, so I cannot yet be sure which window ends the row. I will turn left to open up that left stretch of the wall before committing to a target.", + "The left end of the wall is now visible: beyond the recessed green shopfront doors there are no more ground-floor windows, so the barred window with the reddish-brown frame and white curtains, standing just left of the dark glazed door, is my target. It sits well ahead across the paving, so I will walk forward toward it.", + "The barred window with the reddish-brown frame and white curtains has grown larger and sits slightly left of my heading, so my line of travel is good. I am still several paces out from the wall, so I will keep walking forward.", + "The curtained window with its white stone surround and iron bars is clearly resolved now, with the dark glazed door to its right confirming I am closing on the right part of the wall. Nothing blocks the paving between us, so I will continue advancing.", + "The barred window now fills much of the left half of my view and its sill detail is sharp, but I am still a couple of paces short of the wall. I will step forward again to close that remaining gap.", + "I am close to the wall now, but the curtained barred window has drifted to the far left edge of my view while blank plaster occupies the center. I will turn left to bring it back in front of me before stepping in.", + "The barred window with the reddish frame and white curtains is centered ahead of me and the wall corner beyond it confirms nothing else of its kind lies further along. A short step forward should bring me right up to it.", + "The barred, red-framed curtained window fills my view at arm's length, its sill directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001736_y000005_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x001736_y000005_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8b567e575eb4e05453f19bfe0c292e142ae8afe5 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001736_y000005_z000118_t2_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the rightmost ground-floor window.", + "Type": 2, + "Start_Pose": [ + 1736.162, + 4.766, + 118.15, + 0.0, + -62.4, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1736.162, + 4.766, + 118.15, + 0.0, + -62.4, + 0.0 + ], + [ + 1736.162, + 4.766, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 1836.146, + -71.678, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 1936.13, + -148.121, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 1936.13, + -148.121, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 2059.053, + -175.148, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 2181.976, + -202.174, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 2304.899, + -229.201, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 2427.822, + -256.227, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 2550.71, + -277.946, + 118.15, + 0.0, + -12.4, + 0.0 + ], + [ + 2550.71, + -277.946, + 118.15, + 0.0, + -37.4, + 0.0 + ], + [ + 2550.71, + -277.946, + 118.15, + 0.0, + -37.4, + 0.0 + ] + ], + "Rationale": [ + "The ground-floor openings run left to right across this courtyard, from the barred window on the cream wall, past the doors, to the barred windows on the pink building at the far right corner; the last of those is my target. It sits at the edge of my view, so I turn right to bring that corner and the open paving in front of me.", + "The pink building carrying my target window is now roughly ahead of me, beyond a wide stretch of clear paving. Nothing blocks that stretch, so I step forward to cut the distance to it.", + "The corner of the pink building and its barred windows have grown larger, confirming my heading is taking me toward that end of the row. The paving between us is still clear, so I keep walking forward.", + "The stone quoined corner of the pink building is close in front of me, and the facade with the awning and its barred window runs away to my right. I turn right so my heading follows that wall instead of running into the corner.", + "My heading now runs along the pink facade, with the awning and the barred window beneath it further down on my left. The walkway beside the wall is open, so I walk forward along it.", + "The barred window and the awning on this pink wall are noticeably nearer as I advance beside the facade. The path stays clear, so I continue forward toward them.", + "More ground-floor windows on the building across the square have come into view, but my target remains the barred window under the awning on this near pink wall. It is still ahead on my left, so I keep walking toward it.", + "The awning and the barred window beneath it are now close along the wall to my left, though I am not yet level with them. A few more steps forward should bring me alongside that window.", + "The barred window on my left is now large enough that I can see the sill and the goods behind the glass, but its frame still sits ahead of my shoulder rather than beside it. The paving under the awning stays open, so one more step should bring me level with it.", + "I am now standing right beside the barred window, its sill and grille running along the very edge of my view on the left while my heading still points down the walkway. Turning left should square me up to face the window instead of passing it.", + "The barred window at the far right end of the ground-floor row fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a79bd711f9da7f0ef84982ffcc501a493f6be11d --- /dev/null +++ b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the first tree trunk from the left.", + "Type": 2, + "Start_Pose": [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1736.276, + 822.353, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 1847.526, + 763.499, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 1958.777, + 704.644, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 1958.777, + 704.644, + 118.15, + 0.0, + -52.88, + 0.0 + ], + [ + 2034.731, + 604.288, + 118.15, + 0.0, + -52.88, + 0.0 + ], + [ + 2110.685, + 503.931, + 118.15, + 0.0, + -52.88, + 0.0 + ], + [ + 2133.151, + 406.985, + 118.15, + 0.0, + -52.88, + 0.0 + ], + [ + 2149.509, + 310.648, + 118.15, + 0.0, + -52.88, + 0.0 + ], + [ + 2149.509, + 310.648, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2260.76, + 251.793, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2371.317, + 193.253, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2371.317, + 193.253, + 118.15, + 0.0, + -27.88, + 0.0 + ] + ], + "Rationale": [ + "Scanning the square, the leftmost tree trunk is the thick grey one at the far left edge, rising behind the near bench against the pale building corner, while the orange-leaved tree stands off to the right. It sits too far left of my heading to walk straight at it. I will turn left to bring that trunk into the middle of my view.", + "The thick grey trunk with its bench now stands ahead of me, slightly left of center, with open paving between us. Nothing blocks that stretch of stone. I will walk forward to close the distance.", + "The trunk and the bench beneath it have grown noticeably larger, confirming I am heading straight at the tree I chose. There is still a good span of empty paving before it. I will keep walking forward.", + "The bench now dominates the near ground and my trunk has drifted to the upper left of my view, so walking straight would carry me past its left side at an angle. A turn to the left should place the trunk squarely ahead again. I will turn left before continuing.", + "The trunk I am after now rises near the middle of my view, just past the end of the bench, with clear stone in front of me. The heading looks right for a straight approach. I will step forward.", + "The bark is now clearly resolved and the bench slides toward my right side as I close in, so my line still leads to the tree. Several strides of paving remain before I reach its base. I will continue forward.", + "The trunk rises tall through the center of my view with the bench passing along my right, and the cobbled ring at its base is coming into sight. I am close but not yet standing at it. I will walk forward again.", + "The cobbled ring around the base of this trunk lies just a step or two ahead and the bark fills much of the right side of my view. From here the trees no longer read as a countable row, so I simply keep to this trunk. I will step forward to reach it.", + "My trunk has slipped to the right edge of my view, with only bare paving and building fronts filling the space straight ahead. Walking on this heading would take me past it on the left. A turn to the right should put the bark back in front of me for the last steps.", + "The trunk now stands squarely in the middle of my view with its ringed cobble base spread out below it. Only a short stretch of open stone separates me from the bark. I will step forward along this line.", + "The bark now runs floor to ceiling through the center of my view and the cobbles under it are right at my feet. One more stride should bring me right up against the trunk. I will move forward.", + "The rough bark of this trunk fills the view at arm's length. I am standing at it, so the task is done and there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dc4d4223f378d9251cf8e9bd830e696b676863ef --- /dev/null +++ b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the second tree trunk from the left.", + "Type": 2, + "Start_Pose": [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1861.976, + 816.029, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1987.676, + 809.706, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2113.376, + 803.382, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2239.076, + 797.058, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2364.776, + 790.735, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2490.476, + 784.411, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2616.176, + 778.087, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2616.176, + 778.087, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2727.427, + 719.233, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2838.677, + 660.378, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2949.928, + 601.524, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3061.178, + 542.67, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3172.428, + 483.815, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3283.679, + 424.961, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3394.929, + 366.107, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3506.18, + 307.252, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3599.814, + 275.358, + 117.853, + 0.0, + -27.88, + 0.0 + ], + [ + 3599.814, + 275.358, + 117.853, + 0.0, + -52.88, + 0.0 + ], + [ + 3599.814, + 275.358, + 117.853, + 0.0, + -52.88, + 0.0 + ] + ], + "Rationale": [ + "Scanning the trunks across the square, the shady dark tree at the left edge is first, so my target is the next one over, the tree with the bright yellow-green crown standing left of centre near the pink facades. The orange-leafed tree on the right is not it. It lies far across the open pavement, so I walk forward.", + "The yellow-green tree sits slightly left of my heading with clear paving between us, and the benches on either side leave the middle of the square open. I keep walking forward to close the gap before adjusting my heading.", + "The bright-crowned tree is growing larger and drifting a little further left as I advance, which matches steadily closing on it. The way ahead is flat open stone, so another step forward is the simplest gain.", + "The stone wellhead has come into view at centre right, well clear of my line, while the yellow-green tree still stands ahead to my left. Nothing blocks me, so I continue walking straight toward it.", + "The target tree now shows its full trunk against the buildings and is clearly nearer, but I am still several strides short of it. I press forward on the same heading rather than turn this early.", + "The yellow-green tree keeps sliding toward the left side of my view as I close on it, which is expected while I walk past it on this heading. Open paving remains between us, so I take another step forward.", + "The wellhead now looms large on my right and the tree I want is near the left edge, still a good distance off across the stone. I keep moving forward to gain ground before swinging my heading toward it.", + "The yellow-green tree has drifted out to the far left of my view, so continuing straight would carry me past it rather than to it. I turn left to bring that trunk back in front of me and set a heading I can walk down.", + "The turn has left the yellow-green tree standing squarely ahead of me with clear stone all the way to its base. The other trunks I counted at the start are no longer in my view, so I just follow this crown itself and advance along the new heading.", + "The crown is spreading wider across my view while its trunk holds close to the middle of my heading, which tells me the bearing is right. I continue walking to shorten the remaining stretch of pavement.", + "I can now make out the dark grating set around the foot of the tree, a sign the base is within reach of a few more strides. The stone in front of me is empty, so I press on without altering course.", + "The canopy has begun to spill over the top of my view and the trunk sits just left of centre, close enough that only a short run of paving remains. I keep advancing rather than adjusting a heading that is already good.", + "The trunk and its grated bed are plainly ahead, with the tree's shadow now stretching toward my feet. A couple more strides should bring me right up against the trunk, so I walk on.", + "Leaves now cover most of the upper view and the bare lower trunk rises straight in front of me, so I am nearly beneath this tree. I take another stride to close on the trunk itself.", + "I am under the spread of the branches now, with the thick trunk and the ring of grating filling the centre of my view. Standing beside it needs only a little more ground, so I keep walking in.", + "The trunk now towers over the middle of my view and its grated base lies barely a stride away. One more step forward should put me right at the tree rather than short of it.", + "The bare trunk now rises like a column through the middle of my view with its grated bed spread at my feet, so only a pace of stone separates us. I step forward once more to draw level with the bark rather than stopping short of it.", + "I have come up alongside the trunk, and its bark now grazes the far left edge of my view while the shopfronts and doorways fill everything ahead. Turning left should swing my facing back onto the tree I walked to, so I am squarely at it.", + "The bright yellow-green tree's trunk stands directly before me, close enough to touch and filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..14fa7a6402dd7cc28295037feb20dcf02cdb8630 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_c/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Go to the third tree trunk from the left.", + "Type": 2, + "Start_Pose": [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1861.976, + 816.029, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1987.676, + 809.706, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2113.376, + 803.382, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2239.076, + 797.058, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2239.076, + 797.058, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2355.672, + 844.45, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2472.267, + 891.842, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2588.862, + 939.234, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2588.862, + 939.234, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2674.505, + 1031.461, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2760.148, + 1123.688, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2845.79, + 1215.915, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2931.433, + 1308.142, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3017.076, + 1400.369, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3102.718, + 1492.596, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3188.361, + 1584.823, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3188.361, + 1584.823, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3304.957, + 1632.215, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3421.552, + 1679.607, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3538.147, + 1726.999, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3538.147, + 1726.999, + 118.15, + 0.0, + 22.12, + -0.0 + ] + ], + "Rationale": [ + "Counting the trunks across the square from the left, there is the big green tree at the near left edge, the green one standing mid square, and then the golden orange crowned one on the right, so that golden tree is my target. Its autumn foliage sets it apart clearly from the two green ones. I step forward into the open pavement to begin closing on it.", + "The golden crowned tree sits ahead and to my right, still well across the square. Nothing blocks the paving between the benches, so I keep walking forward to cut down the distance before adjusting my heading.", + "I am now level with the bench on my right, and the golden tree stands beyond it near the pink facade. Continuing straight keeps me on open pavement and brings me nearer to that tree before I swing toward it.", + "The wellhead in the middle of the square is coming close, and the golden leaved tree stands off to its right. I take another step forward on the clear paving to reach a position where turning toward that tree gives me a short straight run.", + "My heading is carrying me past the golden leaved tree, which sits noticeably right of center beyond the wellhead. I turn right to bring that tree closer to the middle of my view so I can walk straight at it.", + "The turn has put the golden leaved tree just right of center, with the wellhead now to its left. The green trees I first counted from have slipped behind me, so I simply hold on this golden crowned tree and step forward toward it.", + "The golden crowned tree is growing larger ahead of me and its trunk is now clearly visible above the paving. The route past the wellhead stays open, so I keep walking straight toward it.", + "I am passing beside the wellhead on my left, and the golden leaved tree stands ahead with its trunk plainly in view. I advance again to keep shrinking the gap to that trunk.", + "The wellhead now sits large on my left and my heading is drifting past it, while the golden leaved tree stands off to the right of where I am pointed. I turn right so that tree comes back toward the middle of my view and the open paving ahead of it lines up with my stride.", + "The turn has cleared the wellhead to my left edge and set the golden leaved tree near the center of my view. More amber foliage hangs in from the right, but the tree I am walking to is the one standing free in the middle of the square ahead, so I step forward.", + "Its trunk rises clearly from the paving just left of center, with nothing but flat stone between us. I walk on to keep eating into that gap.", + "The amber crown is spreading wider across my view and the pink and yellow facades behind it are growing taller, so I am closing steadily. Another step forward keeps that progress going.", + "The trunk is easing slightly leftward as I advance, which tells me my line passes just to its right side. That offset is small and there is still ground to cover, so I continue straight.", + "The dark grating set into the paving around the tree's base is now visible, a good marker of where the trunk actually stands. I keep walking toward it.", + "The golden canopy is beginning to reach over the top of my view and the trunk has thickened noticeably. I am close but not yet beside it, so I advance again.", + "The trunk now sits well to the left of my heading with its grated bed just ahead, and the shade of its leaves falls across the stones under me. One more step forward should bring me level with that base.", + "The trunk and its grated bed sit far over on my left while my heading points into empty paving toward the yellow corner. I turn left to bring the trunk back to the center of my view so the last few steps run straight at it.", + "The turn has set the trunk squarely in front of me with its grated bed just beyond a couple of paces of clear stone. I step forward to close that last short gap.", + "The trunk has widened and its branching fork is now above my eye line, so I am nearly on top of the grated bed. Another step should bring me right up against the base.", + "The bark now fills the middle of my view and the grating runs under my feet at the edge of the stone. One more step should place me right beside the trunk.", + "The golden leaved tree's bark fills my view at arm's length with its grating at my feet. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8911ef7cac7731c977a406809332c58d6e24184f --- /dev/null +++ b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_d/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Go to the first tree trunk from the right.", + "Type": 2, + "Start_Pose": [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1861.976, + 816.029, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1987.676, + 809.706, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2113.376, + 803.382, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2239.076, + 797.058, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2239.076, + 797.058, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2355.672, + 844.45, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2472.267, + 891.842, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2588.862, + 939.234, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2705.458, + 986.626, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2822.053, + 1034.018, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2938.649, + 1081.41, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3055.244, + 1128.802, + 118.202, + 0.0, + 22.12, + -0.0 + ], + [ + 3055.244, + 1128.802, + 118.202, + 0.0, + 47.12, + -0.0 + ], + [ + 3140.887, + 1221.029, + 118.202, + 0.0, + 47.12, + -0.0 + ], + [ + 3226.53, + 1313.256, + 118.202, + 0.0, + 47.12, + -0.0 + ], + [ + 3312.172, + 1405.483, + 118.202, + 0.0, + 47.12, + -0.0 + ], + [ + 3397.815, + 1497.71, + 118.202, + 0.0, + 47.12, + -0.0 + ], + [ + 3483.458, + 1589.937, + 118.202, + 0.0, + 47.12, + -0.0 + ], + [ + 3569.1, + 1682.164, + 118.202, + 0.0, + 47.12, + -0.0 + ], + [ + 3569.1, + 1682.164, + 118.202, + 0.0, + 47.12, + -0.0 + ] + ], + "Rationale": [ + "Counting the trunks along the square from the right edge, the first one is the tree with golden orange foliage standing in front of the pink building, clearly distinct from the green crowned trees on the left. It sits well ahead across the open paving, so I will walk forward to close that distance.", + "The orange leaved tree is now larger on my right, so my heading is still carrying me usefully toward it. The paving between the benches stays clear, so I will keep walking forward.", + "The bench on my right has slid close to the frame edge while the orange leaved tree stands beyond it near the pink facade. Nothing blocks the open stone between me and that side of the square, so I continue forward.", + "The wellhead in the middle of the square has come noticeably closer, and my target tree with the orange crown remains off to the right of my path. I will step forward again to reach the middle of the square before adjusting my heading.", + "The orange leaved tree sits noticeably right of where I am facing, so walking straight would carry me past it toward the far corner. I will turn right to swing my heading toward that tree.", + "After the turn the orange crowned tree sits much closer to the center of my view, so my heading now points across the square toward it. The paving ahead past the wellhead is open, so I will walk forward.", + "The orange leaved tree and the wellhead beside it both loom larger, confirming I am closing on my target. My line stays clear of the wellhead, which passes to my left, so I keep advancing.", + "The trunk of the orange leaved tree is now clearly visible above its shadowed base, still some distance ahead and slightly right. Nothing stands between me and it, so I will step forward again to close the remaining gap.", + "The wellhead has drifted to my left side, leaving open paving straight ahead toward the orange crowned tree standing against the pink facade. Its trunk is still a fair way off, so I keep walking forward.", + "The wellhead has swung to the lower left corner, so my path past it is clean. The orange tree fills more of the view and its base is still several paces away, so I press on.", + "Only the rim of the stone wellhead clips my lower left now, and the orange tree's trunk rises clearly from the paving ahead. Nothing interrupts the ground between us, so I continue advancing.", + "The building windows and shutters have grown large across my view, showing how much ground I have covered toward that side of the square. The orange tree still stands ahead on my right, so another step forward should bring me closer to its trunk.", + "The orange tree has slipped toward the right edge of my view as I closed in, so straight ahead would take me along the facade instead of to its trunk. I will turn right to bring the trunk back in front of me.", + "The turn placed the orange tree squarely in the middle of my view with its trunk rising from the grated square in the paving. That grate is a short walk away, so I step forward toward it.", + "The trunk holds the center of my view and the grate around its base has grown wider, so my heading is still true. I keep walking to close the last stretch.", + "The crown now spreads across the top of my view and the bark of the trunk is clearly resolved just ahead. A few more paces should put me right at its base, so I continue forward.", + "The trunk of the orange leaved tree rises straight through the middle of my view and the grate ringing its base almost fills the ground ahead. Only a short stretch of paving separates me from it, so I will step forward again.", + "The bark now shows its ridges clearly and the grate spreads across the lower half of my view, so the base is only a pace or two off. I keep walking to bring myself right up against the trunk.", + "The trunk dominates my view from the paving up past the top of the frame, with the grate underfoot just ahead. One more step should place me directly at its base.", + "The orange leaved tree's trunk fills my view at arm's length, its bark right in front of me. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_e/infos.json b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..669f2df8b73e6f66ad50a6037abb3d7c363bc14c --- /dev/null +++ b/dataset/trajectory/Venice/task_x001736_y000822_z000118_t2_e/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the second tree trunk from the right.", + "Type": 2, + "Start_Pose": [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1736.276, + 822.353, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1861.976, + 816.029, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 1987.676, + 809.706, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2113.376, + 803.382, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2239.076, + 797.058, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2364.776, + 790.735, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2364.776, + 790.735, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2476.027, + 731.88, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2587.277, + 673.026, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2698.527, + 614.171, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2809.778, + 555.317, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2921.028, + 496.463, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3032.279, + 437.608, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3143.529, + 378.754, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3254.78, + 319.9, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3366.03, + 261.045, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3366.03, + 261.045, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 3491.73, + 254.722, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 3491.73, + 254.722, + 118.15, + 0.0, + -2.88, + 0.0 + ] + ], + "Rationale": [ + "Counting the trunks across the square from the right, the orange-crowned tree is the last one, so my target is the leafy green tree standing just left of it, out near the middle of the open paving beyond the benches. It is far off across the square, so I will walk straight forward to close that distance.", + "The green tree I picked out is still well ahead of me, sitting between the benches and the pale building facade. The pavement in front of me is clear, so I will keep walking forward.", + "The benches have drawn back to the edges of my view and the green tree I am heading for now shows its trunk more plainly against the buildings. Nothing blocks the paving between us, so I continue forward.", + "The stone wellhead in the middle of the square has come up on my right, and my green tree stands off to the left of it, still some way off. The open paving lets me keep advancing, so I step forward again.", + "I am now level with the near side of the square and the green tree I chose sits ahead and a little to my left, its crown growing larger. The way is still clear, so I keep walking forward before adjusting my heading.", + "My current heading points at the wellhead and the facade beyond it, while the green tree I am going to sits clearly to the left of that line. Turning left should swing my view onto the tree so I can walk straight at it.", + "The turn has brought the green tree near the middle of my view, and the orange-crowned tree has slid out of sight behind me, so from here I simply follow this leafy tree in front of the pink facade. The paving between us is open, so I walk forward.", + "The leafy tree I am heading for holds its place ahead of me and its trunk is thickening as I close in. There is still a good stretch of empty paving between us, so I keep stepping forward.", + "Its crown now spreads across the upper part of my view and the dark planting patch at its foot is visible, so I am closing in on the right tree. My path over the paving stays unobstructed, so another step forward is straightforward.", + "The trunk stands a little right of my heading and the pink facade behind it keeps sliding wider, both signs that I am still short of it. Nothing crosses the paving, so I press on rather than correct my heading yet.", + "The iron railings and gateway along the left have opened up as I advance, while the leafy tree keeps growing across my forward view. Distance is still the main thing between us, so I take another step toward it.", + "No other trunks share my view any more, so there is nothing here to count and I simply hold to this one leafy tree by the pink wall. Its trunk sits just right of straight ahead and remains several paces off, so I keep walking.", + "The lower branches now reach over the top of my view and the grated ring around the base is clearly outlined on the pavement. I am not yet standing at that ring, so I advance again.", + "Shade from the crown has spread across the stones in front of my feet, showing how near the tree has become, though the trunk itself is still a short walk off. I continue forward to reach its base.", + "The trunk is now thick and close on the right of my view, with its paved ring beginning just ahead of me. One more step should bring me right up against it.", + "Standing almost at the ring, my heading points past the trunk toward the shopfront on the left, leaving the tree off to my right. Turning right should bring the trunk squarely in front of me for the final step in.", + "The turn has set the trunk squarely ahead of me, rising through the centre of my view with its grated ring spread across the paving at my feet. Only a step of clear ground remains, so I walk forward to stand right at the base.", + "The leafy tree's trunk fills my view at arm's length, its bark and root ring right before me. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..936f5c2424b7026d24f6494b8821bb6e270a23ca --- /dev/null +++ b/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the rightmost door on the ground floor.", + "Type": 2, + "Start_Pose": [ + 1740.416, + 5297.856, + 118.15, + 0.0, + -124.8, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1740.416, + 5297.856, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1668.587, + 5194.507, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1668.587, + 5194.507, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1647.164, + 5070.484, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1625.742, + 4946.462, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1604.319, + 4822.44, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1582.897, + 4698.417, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1561.475, + 4574.395, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1540.052, + 4450.372, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1540.052, + 4450.372, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1573.051, + 4328.916, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1606.05, + 4207.46, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1639.049, + 4086.004, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1639.049, + 4086.004, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1617.626, + 3961.982, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1617.626, + 3961.982, + 118.15, + 0.0, + -99.8, + 0.0 + ] + ], + "Rationale": [ + "Scanning the ground floors around the square, the last door at the right end of the row is the dark glazed shopfront tucked under the red and white striped awning. It lies far across the open paving, so I will walk forward to close some of that distance before refining my heading.", + "The awning shopfront I chose sits well over to my right, near the edge of what I can see, while my body still faces across the open square. I will turn right so that facade comes toward the middle of my view and I can walk straight at it.", + "The turn worked: the striped awning and its dark glazed door now sit ahead of me, slightly right of center. Nothing stands between me and that facade, so I will step forward across the open paving toward it.", + "As I advance, another ground-floor doorway has come into view further along the wall on my right, so the row no longer ends where it did. I am still going to the dark glazed door under the striped awning, and I will keep walking straight toward it.", + "The facade is filling more of my view and the awning door is clearly resolved, with its dark frame and glazed panel beneath the striped canopy. There is still a stretch of paving in front of me, so I will continue walking toward it.", + "Two plainer doors, one pale wood and one brown, now stand to the left of the awning, but my target is the dark glazed one sheltered by the striped canopy. The wall is still several paces off, so I will keep moving forward.", + "The awning shopfront is now large in my view, sitting to the right of the two plainer doorways, and I can make out its handle and the green panelling beside it. I will step forward again to bring myself closer to that entrance.", + "At this range the wall no longer reads as a countable row, but the dark glazed door beneath the striped awning is unmistakable off to my right. I will advance once more to draw level with that shopfront before turning to face it.", + "I have drawn level with the wall, and the glazed entrance under the striped canopy now sits over at my right shoulder while the two plainer doorways occupy the middle of my view. Turning right should swing that shopfront into the center so I can walk straight up to it.", + "The dark glazed entrance beneath the striped canopy is now centered in front of me, with clear paving between us. I will walk forward to close that remaining gap.", + "The canopy stripes and the brass handle on the dark leaf are sharp now, though the facade still stands a few paces off. Another step forward should bring me right up under the awning.", + "The awning now overhangs the top of my view and the glazed shopfront fills nearly everything ahead, so I am almost at the threshold. I will advance once more to stand close in front of that entrance.", + "At this range the wide display glass has taken over my view and the glazed door with its brass handle has slipped to the left edge. I will turn left so that leaf sits squarely in front of me rather than off to the side.", + "The turn put the dark glazed leaf and its long brass handle back in the middle of my view, with the shop window off to the right. One short step forward should place me directly at that doorway.", + "The dark glazed door with its brass handle fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..36f2c76f5fd90e7550973a1bae098bd431c4c2fd --- /dev/null +++ b/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the second door from the right on the ground level.", + "Type": 2, + "Start_Pose": [ + 1740.416, + 5297.856, + 118.15, + 0.0, + -124.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1740.416, + 5297.856, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1668.587, + 5194.507, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1596.757, + 5091.158, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1524.928, + 4987.809, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1524.928, + 4987.809, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1503.505, + 4863.786, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1482.083, + 4739.764, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1460.66, + 4615.742, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1439.238, + 4491.719, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1417.816, + 4367.697, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1396.393, + 4243.674, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1374.971, + 4119.652, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1353.548, + 3995.629, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1326.42, + 3923.491, + 119.445, + 0.0, + -99.8, + 0.0 + ], + [ + 1326.42, + 3923.491, + 119.445, + 0.0, + -99.8, + 0.0 + ] + ], + "Rationale": [ + "Counting the ground-level doors of the salmon building ahead on my right, the rightmost is the dark shopfront under the striped awning, so my target is the one just left of it, a dark plum door with a small plaque beside a barred window. It lies well across the open square, so I will walk forward to close that distance.", + "The plum door with the plaque, next to the awning shopfront, is still a long way off across the empty paving. Nothing blocks the square between us, so I will keep walking forward.", + "The facade is growing larger and the plum door beside the awning shopfront is clearer, but it still sits to the right of my heading and far away. I will continue walking forward to close the gap before adjusting my direction.", + "My straight path is carrying me toward the left part of the facade, while the plum door with the plaque and its neighbouring awning shopfront sit off to my right. A modest turn to the right should place that door near the centre of my view so I can walk straight at it.", + "The turn has brought the plum door with the plaque, immediately left of the striped awning shopfront, into a much more central position ahead of me. With that line established, I will walk forward toward it.", + "The plum door with the plaque stays roughly ahead as the facade fills more of my view, so my heading is still good. I will keep stepping forward across the open paving.", + "I can now make out the plaque and handle on the plum door, with the dark shopfront and its awning close on its right. Since it remains aligned with my heading, I will continue walking toward it.", + "The plum door with the plaque is clearly framed slightly right of centre and its threshold is still several paces away. I will walk forward again to bring myself up to it.", + "The plum door with the plaque sits just right of centre, its recessed frame and letter slot now distinct, with the awning shopfront beside it on my right. Only a short stretch of paving separates me from its step, so I will walk forward again.", + "The facade now fills my view so I can no longer see where the row of doors ends, but the plum door with the plaque and the barred window beside it is unmistakable straight ahead. Its step is still a couple of paces off, so I keep walking.", + "The plum door stands squarely before me now, its plaque, knob and letter plate all legible, framed by the barred window on one side and the pale doorway on the other. I am not yet at its threshold, so another step forward is needed.", + "The plum door and its stone surround now dominate my view, with the paving edge running just below the sill. A short advance should bring me right up against the threshold rather than leaving me standing off it.", + "The plum door's panels, plaque and handle fill nearly everything I can see, so I am practically on its step. One last short push forward should close the final hand's breadth to the door itself.", + "I am pressed right up against the plum door's handle and lower panel, with no gap left. I have reached the intended door, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8064f68a866ca274977fdd60cf82c2a0f940d599 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the striped awning on the far right.", + "Type": 2, + "Start_Pose": [ + 1740.416, + 5297.856, + 118.15, + 0.0, + -124.8, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1740.416, + 5297.856, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1740.416, + 5297.856, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1718.994, + 5173.833, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1697.571, + 5049.811, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1676.149, + 4925.789, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1654.726, + 4801.766, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1633.304, + 4677.744, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1611.882, + 4553.721, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1611.882, + 4553.721, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1644.88, + 4432.265, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1677.879, + 4310.809, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1710.878, + 4189.353, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1743.877, + 4067.897, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1743.877, + 4067.897, + 118.15, + 0.0, + -74.8, + 0.0 + ], + [ + 1743.877, + 4067.897, + 118.15, + 0.0, + -74.8, + 0.0 + ] + ], + "Rationale": [ + "Across the square I can pick out only one striped canopy, the red and white one over the green shopfront at the right end of the pink building, so that fabric is what I follow from here. It lies well off to my right, outside my forward heading. I will turn right to bring it in front of me.", + "The striped awning and its green shopfront now sit ahead of me, only slightly right of center, but a wide stretch of paving still separates us. The square is open and unobstructed, so I will walk forward to close that distance.", + "The awning has grown noticeably and its dark shop doors are becoming readable, yet the facade is still far off. My heading remains lined up on it with clear pavement between, so I will keep walking forward.", + "The striped canopy sits just right of my line of travel and the green sill beneath the shop window is now visible. Nothing stands between me and that storefront, so another step forward should shorten the gap.", + "The pink facade now fills most of my view and the striped awning stands out clearly above the shop entrance. I am still several paces short of it, so I continue advancing straight ahead.", + "I can now make out the scalloped edge of the striped awning and the green paneling under the shop window. The building still stands back from me, so I will step forward again to draw close to that storefront.", + "The striped awning is close now, sitting to the right of my heading above the dark shop doors. There is still open paving in front of me, so I will keep walking forward before correcting that offset.", + "Standing near the facade, the striped awning and the shop doorway beneath it sit off to my right rather than straight ahead of me. I will turn right so that storefront lands squarely in front of me for the last short approach.", + "The turn worked: the striped canopy and its green shopfront now sit centered in my view instead of hanging off to the side. A few paces of open paving remain between me and the storefront, so I will walk forward.", + "The awning's pink and white stripes and the scalloped valance are now sharp, and the glazed door beneath it fills a good part of my view. I am still a couple of paces short of standing under it, so I keep advancing.", + "The canopy has spread across the upper left of my view and the green sill under the window is close enough to see its panel lines. Another step should put me right beneath the fabric rather than short of it.", + "The striped fabric now cuts across the top of my view with its dark scalloped edge overhead, and the shop glass is an arm's reach away on my left. One more step should bring me fully under the canopy.", + "Standing this close, my forward gaze catches only the shop window and the green sill, with the canopy above the top of my view. I will look up to bring the striped fabric itself into sight and confirm I am standing under it.", + "The striped awning hangs directly overhead, its frame and scalloped edge within reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf6996bc0b6ceeeabb43c202091108d541727b8 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001740_y005298_z000118_t2_d/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Go to the third green-framed glass door from the right on the ground floor.", + "Type": 2, + "Start_Pose": [ + 1740.416, + 5297.856, + 118.15, + 0, + -124.8, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1740.416, + 5297.856, + 118.15, + 0, + -124.8, + 0 + ], + [ + 1668.587, + 5194.507, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1668.587, + 5194.507, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1559.81, + 5131.197, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1451.033, + 5067.888, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1342.256, + 5004.578, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1233.479, + 4941.269, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1233.479, + 4941.269, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 1108.138, + 4929.862, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 982.797, + 4918.455, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 857.456, + 4907.048, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 732.115, + 4895.641, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 606.774, + 4884.234, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 481.433, + 4872.827, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 356.092, + 4861.42, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 230.751, + 4850.013, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 105.41, + 4838.606, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + -19.931, + 4827.199, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + -145.272, + 4815.792, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + -270.613, + 4804.386, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + -270.613, + 4804.386, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + -379.39, + 4741.076, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + -488.166, + 4677.766, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + -596.943, + 4614.457, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + -596.943, + 4614.457, + 118.15, + 0.0, + -149.8, + 0.0 + ] + ], + "Rationale": [ + "Counting the green-framed glass shopfronts along the ground floor from the right end, the third one stands on the brick facade across the square, just left of a plain tan door with a striped canopy shop beyond. They look alike, so I hold it by those neighbours and walk forward into the open square.", + "The salmon building fills my right side, while the shopfront I want lies off beyond my left shoulder. I turn left so the brick facade carrying that row should come into the middle of my view before I cross the square.", + "The brick facade with its line of ground-floor fronts now sits ahead of me across empty paving, my green-framed glass door among them beside the plain tan door. The pavement is clear, so I step forward to close the distance.", + "The ground-floor fronts on that brick facade are still too far off to tell apart clearly. I keep walking straight ahead over the open stone to bring them within reading distance.", + "The facade is growing steadily and the shuttered and glazed openings at its base are starting to separate. Since my heading still points at that run of fronts, I continue forward.", + "I can now make out a green glazed front and a canopied shop side by side at the base of the brick building, which matches the neighbours I pinned my door to. Another stride forward should bring that stretch of wall much closer.", + "The stretch of ground-floor fronts I am heading for sits left of my current heading, while the salmon corner crowds the right of my view. I turn left to put that row squarely in front of me.", + "The brick facade now runs across the middle of my view, with the green glazed front and the canopied shop beside it plainly visible at street level. With open paving between us, I walk forward toward that door.", + "The green glazed shopfront sits just left of centre with the plain tan door and the striped canopy immediately to its right, exactly the grouping I fixed on. Nothing blocks the paving between us, so I keep walking straight at it.", + "The brick facade is filling more of my view now and the glazed front with its neighbouring tan door reads clearly at street level. My heading still lands on that door, so another stride forward is the plain choice.", + "From here the shuttered front, the glazed one, and the canopied shop separate cleanly along the base of the brick wall. My door stays a little left of my heading and well within reach of a straight walk, so I press on.", + "The green shopfront with its awning-board sits squarely in the middle of my path, the tan door tight against its right. There is still a good stretch of empty square to cover, so I continue.", + "Detail on the glazed front is sharpening, its dark panes and green surround now distinct from the flat brown door on its left. Nothing stands between me and it, so I take another step toward the facade.", + "The base of the building now spans most of my view, with the green front and its flanking doors at eye level. I am close but not yet at the threshold, so I keep advancing.", + "The green front is close enough that its glazed panel and the panelled skirt below stand out plainly, still with the tan door hard on its right. A few more paces should put me right at it.", + "The upper storeys are dropping out of my view as the shopfront grows, which tells me I am nearly against the wall. The green glazed front stays centred, so I walk on to close the last of the gap.", + "The brickwork ahead now shows only ground-floor detail, the green surround and its panelled base sharp between the brown door on the left and the tan one on the right. A short band of paving still separates me from the wall, so I walk on.", + "At this range the front splits into two parts: a wide display pane and, on its right, the glazed leaf that actually opens. That leaf is what I am after, and a couple more paces should bring me level with it.", + "The handle and lock plate on the glazed leaf are becoming visible against its green frame, so I have the right opening in front of me. I keep stepping forward to close the last of the paving.", + "My heading lands on the wide display pane, while the glazed leaf with its handle sits off to the right of it. A turn to the right should put that leaf straight ahead so my remaining steps carry me onto it rather than onto the window.", + "The glazed leaf now sits near the middle of my view with the tan door well clear to its right, so my line is right. A short walk forward should bring me up against it.", + "The green frame is beginning to crowd my view from the left, the leaf's brass handle plainly in front of me. Only a stride or two of paving is left, so I continue.", + "The glazed leaf and its stone jamb now dominate what I can see, though I am still a pace short of the threshold itself. One more step should place me directly at the door.", + "I am standing at the green-framed glass door, its handle and lock plate an arm's length away. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Venice/task_x001755_y-000214_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x001755_y-000214_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c7d72d77c410ddddf2c90cf77b91ddb80338c --- /dev/null +++ b/dataset/trajectory/Venice/task_x001755_y-000214_z000118_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Walk to the third bench from the left in the row of benches.", + "Type": 2, + "Start_Pose": [ + 1754.595, + -214.139, + 118.15, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1754.595, + -214.139, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1756.177, + -88.29, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1757.758, + 37.559, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1759.34, + 163.408, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1760.921, + 289.257, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1762.503, + 415.106, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1764.084, + 540.955, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1765.666, + 666.804, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1765.666, + 666.804, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 1820.285, + 780.194, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 1874.905, + 893.584, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 1929.524, + 1006.973, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 1984.144, + 1120.363, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2038.763, + 1233.752, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2093.383, + 1347.142, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2093.383, + 1347.142, + 118.15, + 0.0, + 64.28, + -0.0 + ] + ], + "Rationale": [ + "Counting the benches across the square from the left, the third one is the seat standing beside the big orange-leaved tree in front of the dark doorway, so that tree and doorway are what I will follow from here. It sits well ahead across open pavement. I walk forward to close that distance.", + "The bench beside the orange tree and its doorway is still far off on the left side of the square. The paving between me and it remains clear. I keep walking forward.", + "The facade and the benches along it are growing larger, which tells me my heading is carrying me into the square rather than past it. My bench by the orange tree is still ahead and to the left. I continue forward.", + "The bench beside the orange tree, with the recessed doorway behind it, is clearly resolved now but still several strides away. Nothing blocks the stone paving in front of me. I step forward again.", + "The near end of the row has begun sliding out toward my left edge, so I hold on to the bench under the orange tree by its doorway rather than recounting the row from here. It still lies ahead-left at some distance. I advance.", + "The tree canopy and the facade fill much more of my view, confirming I am closing on that side of the square. The bench under the orange tree remains off to my left, not yet in front of me. I keep moving forward before adjusting heading.", + "I am now close to the row, and my bench under the orange tree sits clearly to the left of my current heading. One more forward step should bring me level enough with it to turn efficiently. The pavement ahead is clear.", + "Walking straight would carry me past the bench I want, since it now stands off to my left under the orange tree with the doorway behind it. Turning left should swing that bench into the middle of my view. I rotate left to line up the final approach.", + "The turn did its job: the bench under the orange tree, with the dark doorway just behind it, now sits ahead rather than off to my side. Open paving runs straight to it. I walk forward on this heading.", + "The bench and its doorway are growing steadily in front of me, so this heading is true. Only a stretch of empty pavement separates us. I keep walking.", + "The other seats have slipped out of view, so there is no row left to count from here; I simply follow the bench standing under the orange tree by the doorway. It sits a little left of straight ahead and still a few strides off. I advance.", + "My bench now stands alone in front of me with the tree trunk rising behind its backrest and the dark door beyond. The gap is down to a short walk. I step forward again.", + "The slats and iron legs are close enough to read individually, so I am nearly upon the bench. A couple more paces should put me right beside it. I keep moving.", + "The bench now spans most of my lower view, with the tree and the dark door immediately past it. One short step should bring me level with its seat rather than stopping short of it. I move forward.", + "The bench beneath the orange tree, its dark doorway right behind it, is now at arm's length beside me. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001806_y-000014_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x001806_y-000014_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3bcbecb8540b2c2da470684065eb2a37ed26b1ba --- /dev/null +++ b/dataset/trajectory/Venice/task_x001806_y-000014_z000118_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the leftmost ground-floor window.", + "Type": 2, + "Start_Pose": [ + 1805.963, + -13.562, + 118.15, + 0.0, + -124.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1805.963, + -13.562, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1805.963, + -13.562, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1697.186, + -76.872, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1588.409, + -140.181, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1479.633, + -203.491, + 118.15, + 0.0, + -149.8, + 0.0 + ], + [ + 1479.633, + -203.491, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 1354.292, + -214.898, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 1292.108, + -224.925, + 118.15, + 0.0, + -174.8, + 0.0 + ], + [ + 1292.108, + -224.925, + 118.15, + 0.0, + -174.8, + 0.0 + ] + ], + "Rationale": [ + "Along this ground floor I can count the row of street-level windows, and the one at the left end is the wide barred window with the white frame near the building corner, so that is my target. It sits at the very edge of my view, so I will turn left to bring it in front of me.", + "The wide barred window with the white frame now sits ahead of me on the facade, with open pavement between us. I will walk forward to close that distance.", + "The barred white-framed window has grown noticeably larger and the wall is filling more of my view, so my heading is carrying me toward it. I will keep walking forward across the open paving.", + "The barred window with the white frame is now big in my view but still several paces off, and it has drifted toward my left side. Another step forward should bring me up close to the wall before I correct my facing.", + "The barred white-framed window has slid to the left margin of my view and is cut off there, while the blank wall and the doorway occupy the center. I will turn left so the window is squarely in front of me before stepping closer.", + "The barred window with the white surround is now centered in my view, so my facing is right. I will step forward to close the last of the gap to the wall beneath it.", + "I am close enough that the sill and the lower bars fill most of my view, but the window sits high in the frame, suggesting I am still slightly short of standing right at it. One more short step should place me directly in front of it.", + "The barred white-framed window fills my view at arm's length, glass and glazing bars directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001806_y-000014_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x001806_y-000014_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10f3839ad3b4e8edff6c3b55d4f9aef621b4d0e8 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001806_y-000014_z000118_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the rightmost ground-floor window.", + "Type": 2, + "Start_Pose": [ + 1805.963, + -13.562, + 118.15, + 0.0, + -124.8, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1805.963, + -13.562, + 118.15, + 0.0, + -124.8, + 0.0 + ], + [ + 1805.963, + -13.562, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1784.541, + -137.584, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1763.118, + -261.607, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1741.696, + -385.629, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1720.273, + -509.652, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1699.145, + -607.765, + 118.15, + 0.0, + -99.8, + 0.0 + ], + [ + 1699.145, + -607.765, + 118.15, + 0.0, + -99.8, + 0.0 + ] + ], + "Rationale": [ + "Scanning the ground floor across this courtyard, the row of windows ends on the right-hand wing, where a small white-framed window with an orange sash sits just left of a dark door. That one is my target, and it lies off to my right edge. I will turn right to bring it into the center of my view.", + "The turn has placed the white-framed window with its orange sash ahead of me, next to the dark door on the sunlit wall. It is still far across the open paving. I will walk forward toward it.", + "The window with the orange sash and the dark door beside it have grown larger, so my heading is carrying me straight at them. Plenty of clear paving still separates me from that wall. I will keep walking forward.", + "The barred window with its orange sash now shows clearly on the wall ahead, and the shopfront openings have slid away to my left, so this is the only ground-floor window on the face in front of me. I am still several paces short of it. I will continue forward.", + "The barred window fills a good part of my view now, its sill and grille clearly resolved, but I am not yet standing at the wall. Closing the remaining gap should put me right in front of it. I will step forward again.", + "The barred window and its stone sill now dominate my view, with only a little stucco between me and the wall. One more short step should bring me right up against the window. I will move forward.", + "I stand directly at the barred window with its orange sash and curtained glass filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001831_y000331_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x001831_y000331_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0c82e075b647ebc614bdbdd6084292df3e036b1 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001831_y000331_z000118_t2_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the leftmost autumn tree in the plaza.", + "Type": 2, + "Start_Pose": [ + 1831.215, + 330.913, + 118.15, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1831.215, + 330.913, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1832.797, + 456.762, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1834.378, + 582.611, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1835.96, + 708.46, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 1835.96, + 708.46, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 1890.579, + 821.85, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 1945.199, + 935.239, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 1999.818, + 1048.629, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2054.438, + 1162.019, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2054.438, + 1162.019, + 118.15, + 0.0, + 39.28, + -0.0 + ], + [ + 2151.86, + 1241.701, + 118.15, + 0.0, + 39.28, + -0.0 + ], + [ + 2249.283, + 1321.384, + 118.15, + 0.0, + 39.28, + -0.0 + ], + [ + 2249.283, + 1321.384, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2297.904, + 1331.888, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2359.03, + 1433.163, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2413.649, + 1546.553, + 118.15, + 0.0, + 64.28, + -0.0 + ], + [ + 2413.649, + 1546.553, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 2415.231, + 1672.402, + 118.15, + 0.0, + 89.28, + -0.0 + ], + [ + 2415.231, + 1672.402, + 118.15, + 0.0, + 89.28, + -0.0 + ] + ], + "Rationale": [ + "Two autumn trees rise over this plaza, and the leftmost is the one with deep orange foliage standing above a bench near the pink facade on my left. I fix on that broad-crowned orange tree as my goal. A wide stretch of open paving lies between us, so I will walk forward to start closing it.", + "The orange tree I chose still sits well to my left, but the paving directly ahead remains clear and its crown is growing larger. I will keep stepping forward to cut the remaining distance before committing to any turn.", + "Closing in has pushed the two crowns apart toward opposite edges of my view, with my orange tree drifting off to the left. Nothing blocks the stones in front of me, so another forward step should bring me closer before I swing toward it.", + "My heading now points straight at the building wall between the two trees, and the orange tree with the bench under it has slid to the far left of my view. Walking on like this would carry me past it, so I will turn left to bring that tree onto my path.", + "The turn has set the broad orange tree and the bench beneath it near the center of my view, though a smaller crown has appeared farther left along the plaza. That newcomer is not the tree I settled on, so I hold to the big bench tree and walk forward toward it.", + "The heavy trunk and the bench at its base sit just ahead and slightly left, both clearly larger than a moment ago. The stones between us are empty, so I will keep walking straight toward it.", + "The crown of my tree now spreads across the top of my view and its bench sits plainly ahead of me. Nothing stands in the way, so I continue forward to close the last stretch.", + "The bench under my tree is only a short walk ahead and the thick trunk rises just beyond it. I will step forward again to arrive right at the base of that tree.", + "The bench now sits squarely across my line to the trunk, its backrest filling the paving right in front of me. Rather than press into it, I will turn left so my path runs past its near end and leaves the trunk open on my right.", + "The lane beside the bench is open now, with my thick-trunked tree standing to the right and only a slighter, thinner orange tree far off to the left. That distant one is not what I chose, so I keep to the bench tree and step forward along the clear paving.", + "The heavy grey trunk on my right is much nearer, and the bench slats now run past my shoulder rather than across my way. Another walking step should carry me level with the base of that tree.", + "I have come alongside the trunk, which now rises at the right edge with its ringed paving grate at ground level. Continuing straight would take me past it, so I turn right to put the trunk in front of me.", + "The turn has set the trunk near the middle of my view with its circular grate on the stones just beyond the bench end. The way to it looks clear, so I advance toward the base.", + "The trunk is broader now and the dark grate around its roots lies plainly ahead on the paving. I will keep walking to close that last short gap.", + "Bark texture is readable on the trunk and the grate now spreads across the ground just in front of my feet. One more step should put me right at the tree.", + "The trunk towers at arm's reach but sits off to the right of my heading, with its grate running rightward under the wall. A turn to the right should square me onto it for the final step to its base.", + "The heavy grey trunk now stands just left of center with its dark grate spread over the stones directly under it. Only a pace of clear paving separates me from that base, so I step forward to stand at the tree.", + "The thick bark of the orange-crowned tree fills my view at arm's length, its grate underfoot. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0765bf6fbd7c95717cbcfef201bcb89d691c3230 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the leftmost dark door on the building facade.", + "Type": 2, + "Start_Pose": [ + 1887.99, + 993.809, + 118.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1887.99, + 993.809, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1887.99, + 993.809, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1891.768, + 1119.611, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1895.545, + 1245.414, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1895.545, + 1245.414, + 118.15, + 0.0, + 63.28, + -0.0 + ], + [ + 1952.135, + 1357.833, + 118.15, + 0.0, + 63.28, + -0.0 + ], + [ + 2008.726, + 1470.252, + 118.15, + 0.0, + 63.28, + -0.0 + ], + [ + 2065.316, + 1582.671, + 118.15, + 0.0, + 63.28, + -0.0 + ], + [ + 2121.906, + 1695.09, + 118.15, + 0.0, + 63.28, + -0.0 + ], + [ + 2121.906, + 1695.09, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 2125.683, + 1820.892, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 2129.461, + 1946.695, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 2129.461, + 1946.695, + 118.15, + 0.0, + 63.28, + -0.0 + ], + [ + 2186.051, + 2059.114, + 118.15, + 0.0, + 63.28, + -0.0 + ], + [ + 2186.051, + 2059.114, + 118.15, + 0.0, + 63.28, + -0.0 + ] + ], + "Rationale": [ + "Several dark doors are spaced along this pink facade, and the row continues past the left edge of my view, so I cannot yet see where it ends. I will turn left to bring the far left end of the facade into view and settle which door is the leftmost one.", + "Now the left end of the pink wall is visible, and the last dark door before the wall stops at the corner beside the pale yellow building is my target. It is still far across the open square, so I will walk forward to close that distance.", + "The corner door at the left end of the pink wall has grown noticeably and sits slightly left of my heading. Nothing blocks the paving in front of me, so I will keep walking straight to shorten the remaining gap.", + "My forward walking has carried me toward the middle of the wall, and the door at the corner end now sits well off to my left while the doors ahead of me are the wrong ones. I will turn left to put that corner door back near my heading before continuing.", + "The turn has brought the corner door back into the right half of my view, standing where the pink wall ends against the yellow building. The paving between us is open apart from the bench well off to my left, so I will step forward toward it.", + "The corner door is bigger and more clearly framed by its stone surround, confirming I am closing on the right one. I will continue walking forward across the open paving toward it.", + "The other doors of the row have dropped out of my view and only this corner door remains on the pink wall ahead, so I hold to it rather than to any count. It is still a few paces off, so I will walk forward again.", + "The corner door now fills a good part of the wall in front of me, with its panels and handle becoming distinct. I will keep walking forward to reach the ground directly in front of it.", + "Standing this close to the wall's end, the doorway and its stone surround sit off to the right of my heading while the empty square fills the left of my view. A small turn to the right should square me onto it before I cover the last stretch of paving.", + "The doorway now sits squarely ahead, the last one before this pink wall turns the corner toward the yellow building. Clear paving runs right up to its threshold, so I walk forward.", + "Panels, the brass knob and the barred windows on either side are all sharp now, and the doorway takes up much of the wall in front of me. I am still a pace or so short of its threshold, so I advance again.", + "At this range the doorway has slipped to the far left edge of my view, with bare wall and a barred window taking the middle. A turn to the left should bring the door back in front of me for the final step.", + "The door is back in front of me, its knob and recessed panels plainly readable inside the deep stone frame. A single step forward should bring me right up against its threshold.", + "The dark panelled face and brass knob of this door fill my view at arm's length. I am standing at it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77ce20788235e390afe25e009d095cd8f22daa16 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the second door from the left on the ground floor.", + "Type": 2, + "Start_Pose": [ + 1887.99, + 993.809, + 118.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1887.99, + 993.809, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1838.247, + 1109.421, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1788.505, + 1225.033, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1738.762, + 1340.645, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1689.02, + 1456.258, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1639.277, + 1571.87, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1589.534, + 1687.482, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1539.792, + 1803.094, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1490.049, + 1918.706, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1490.049, + 1918.706, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 1396.107, + 2002.464, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 1396.107, + 2002.464, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1341.858, + 2070.129, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1341.858, + 2070.129, + 118.15, + 0.0, + 113.28, + -0.0 + ] + ], + "Rationale": [ + "Counting along the pink building's ground floor, the second entrance from the left is the dark wooden door with a pale nameplate above its handle, set between barred windows. I fix on that plaqued door and walk straight across the open paving toward it.", + "The dark door with the pale nameplate sits near the middle of my view and has grown slightly, so my heading is still good. I continue walking forward to close the remaining stretch of plaza.", + "The far left end of the facade has slid out of my view, so I stop relying on the row and keep tracking the dark door with the pale nameplate itself. It stays roughly ahead of me, and I step forward again.", + "The nameplated dark door and its flanking barred windows are now clearly resolved a little left of center. Nothing blocks the paving between us, so I keep advancing on it.", + "More doorways along this wall come into view as I close in, but my target remains the dark door carrying the pale nameplate, still ahead of me. I walk forward again to shorten the gap.", + "The dark door's pale nameplate is now legible as a bright strip, confirming I am tracking the right entrance. A few metres of pavement still separate me from it, so I continue straight ahead.", + "The nameplated door now stands just right of center and fills much of the wall ahead, so I am nearly at the facade. I take another step forward to bring myself in front of it.", + "The dark door with its nameplate and handle is close on my right side, with only a short stretch of pavement left. I move forward once more to draw level with its threshold.", + "The wall and its barred window now fill my path straight ahead, while the nameplated door sits just off to the side of my heading. Swinging right by a small amount should point me along the pavement running past the facade, so a step should carry me level with that entrance instead of into masonry.", + "With the pavement along the facade now open in front of me, the nameplated door stands close on my left. I walk one step forward to bring myself even with its frame.", + "I am now beside the entrance, its nameplate and lever handle filling the left edge of my view at a sharp angle. Turning back to the left should square me up with the door leaf so my final step lands straight in front of it.", + "The dark door with its pale nameplate and brass lever now sits centered ahead of me, framed by its stone surround. Only a short step of pavement remains, so I move forward to stand directly at its threshold.", + "The nameplated door's brass handle fills my view at arm's length. I am standing at that entrance, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..322a0d16b4f5e9f6e3e7414c8de98262c33d7c00 --- /dev/null +++ b/dataset/trajectory/Venice/task_x001888_y000994_z000118_t2_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the third shuttered window from the left at ground level.", + "Type": 2, + "Start_Pose": [ + 1887.99, + 993.809, + 118.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1887.99, + 993.809, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1838.247, + 1109.421, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1788.505, + 1225.033, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1738.762, + 1340.645, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 1738.762, + 1340.645, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1742.54, + 1466.448, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1746.318, + 1592.25, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1750.095, + 1718.052, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1753.873, + 1843.855, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1757.651, + 1969.657, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1761.138, + 2057.887, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 1761.138, + 2057.887, + 118.15, + 0.0, + 88.28, + -0.0 + ] + ], + "Rationale": [ + "Along the pink facade to my left runs a row of barred, shuttered ground-level windows, and counting from its left end the third one sits beneath the middle balcony, a couple of bays short of the dark doorway. It is far off across the open square, so I walk forward to close that distance.", + "The pink wall and its shuttered windows have grown a little, but they still sit well off to my left and far away. The paving ahead is clear of the bench and tree, so I keep walking forward to gain ground before I turn toward the window.", + "The barred window row is clearer now, yet the whole facade still lies to my left of my heading and remains several strides away. I continue straight ahead over the open stone to shorten the approach.", + "Walking straight has carried me nearly abreast of the building, and the shuttered window I picked out now sits off the left side of my heading rather than in front of me. I turn left to bring that stretch of the facade square into my view before advancing further.", + "The turn worked: the wall now faces me squarely, with its ground-level windows and two dark doors spread across my view and the window I am after lying ahead. Only open paving separates us, so I walk straight toward it.", + "The windows and their grilles are noticeably larger, so my heading is holding on the right part of the wall. I am still a good stretch from the sill, so I keep stepping forward.", + "From here the balconies overhead and the curtained, barred windows fill most of my view, with the target window still centered on my path. The base of the wall is not yet within a step, so I advance again.", + "The left end of the row has now slipped out of my view, so I stop counting bays and simply hold on the shuttered window I already chose, which sits squarely ahead of me. A short span of paving remains, so I walk forward to stand right at it.", + "Only a couple of barred bays and bare plaster fill my view now, with the window I chose sitting just right of center and its grille already legible. A short stretch of paving still separates me from the wall, so I step forward again.", + "The barred window I am after now looms directly above and ahead of me, its bars and curtain filling the upper part of my view while plaster occupies the rest. I am close but not yet at the sill, so I take one more short step in.", + "I stand right at the barred window I chose, its grille and sill filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..02ff9765f98814fdae203180797e20e929bd4756 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the third bench on the right.", + "Type": 2, + "Start_Pose": [ + 2015.565, + 2057.886, + 118.15, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2015.565, + 2057.886, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2010.821, + 1932.116, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2006.078, + 1806.347, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2001.334, + 1680.577, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1996.59, + 1554.808, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1991.847, + 1429.038, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1987.103, + 1303.269, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1982.359, + 1177.499, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1977.616, + 1051.729, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1977.616, + 1051.729, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2026.469, + 935.739, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2075.322, + 819.748, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2124.176, + 703.757, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2172.018, + 591.721, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2172.018, + 591.721, + 118.15, + 0.0, + -67.16, + 0.0 + ] + ], + "Rationale": [ + "Along the right side of the square I can pick out two benches near me and, further along beside the thick tree trunk in front of the pink awning building, a third one, which is my target. They all look alike, so I hold that tree and awning as its marker instead of the count. I step forward across the open pavement toward it.", + "The bench beside the big tree is still well ahead on my right, and the paving between us is clear and level. Walking straight on is the most direct way to shorten that gap, so I keep moving forward.", + "The buildings on the far side of the square are growing larger, which tells me my forward steps are gaining real ground. The bench under the tree beside the awning is still ahead of me and slightly right. I continue straight rather than turning this early.", + "The tree marking my bench now spreads well across the upper right of my view, so I am closing on that corner of the square. The bench itself sits low under the canopy, still some distance off. Another forward step keeps me on the direct line.", + "I am still on open paving with nothing between me and the far side of the square. The bench beneath the tree by the awning building remains my aim and is not yet within reach. I walk forward again.", + "The awning and the shopfronts under the tree are becoming distinct, confirming I am approaching that side of the square. My bench sits just in front of the trunk there, still ahead of me. Continuing forward is the efficient move.", + "The benches that were closest on my right have slid to the edge of my view as I pass them, so the row no longer reads the way it did from the start. The bench I am going to is the one under the big tree beside the awning building, still ahead. I keep walking toward it.", + "The bench under the tree by the awning is now clearly ahead and a little to my right, sitting in the shade of the canopy. There is still open pavement between us, so I advance again to bring myself alongside it.", + "My target bench has slipped to the right edge of my view, sitting in the shade of the trunk beside the striped awning, so holding this heading would carry me past its front. A small pivot to the right should swing it back toward the middle of my path.", + "The pivot has set the bench under the trunk near the centre of my path, with clear paving leading to it. Another bench crowds my right foreground, but that near one is not what I am after. I step forward toward the one at the tree.", + "The bench beneath the tree now stands alone in front of me, its backrest and legs clearly resolved, and the foreground bench has fallen away behind my shoulder. Nothing blocks the remaining stretch of paving, so I keep walking straight at it.", + "Individual slats and the cast iron frame are now distinct, so only a short stretch of stone remains between me and the seat. My heading still runs straight at it with no need to correct. I advance again.", + "The bench fills the lower half of my view and its armrest end is almost within reach, so one more short step should put me right beside it. The ground in front stays flat and clear, so I take that step.", + "The bench under the tree beside the awning building is directly against me, filling my view at arm's length. I am at my target, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ba5697a3c77db952bb324c4f87058dcfee44cc --- /dev/null +++ b/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the second bench from the left in the background.", + "Type": 2, + "Start_Pose": [ + 2015.565, + 2057.886, + 118.15, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2015.565, + 2057.886, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2010.821, + 1932.116, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2010.821, + 1932.116, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1953.37, + 1820.135, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1895.918, + 1708.154, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1838.466, + 1596.173, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1781.014, + 1484.192, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1723.563, + 1372.21, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1666.111, + 1260.229, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1608.659, + 1148.248, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1608.659, + 1148.248, + 118.15, + 0.0, + -142.16, + 0.0 + ], + [ + 1509.265, + 1071.039, + 118.15, + 0.0, + -142.16, + 0.0 + ], + [ + 1509.265, + 1071.039, + 118.15, + 0.0, + -142.16, + 0.0 + ] + ], + "Rationale": [ + "Counting the benches lining the far side of the square from the left, the second one stands just beside the striped awning entrance of the pale building, so that awning is what I will follow from here. It lies well across the open paving ahead and slightly left. I will walk forward to close some of that distance.", + "The bench beside the striped awning sits far to the left of my current heading, while my path points at the empty middle of the square. A moderate turn to the left should bring it into the central part of my view where I can walk straight at it.", + "The turn worked, and the bench in front of the striped awning now sits near the middle of my view with clear paving between us. Nothing blocks the line, so I will step forward along it.", + "The bench under the striped awning holds just left of center and has grown a little, confirming I am tracking the right one. The square remains open in front of me, so I continue walking toward it.", + "I am still several strides short of the bench by the awning, which sits ahead with the stone wellhead off to its left. My heading needs no correction yet, so another forward step is the simplest gain.", + "The awning and its bench are noticeably closer and remain aligned with my path across the open stones. I keep walking straight to eat up the remaining distance.", + "The nearer bench that had filled my left edge has passed out of view, so I can no longer judge anything by the left end of the row. What matters is that my bench, the one set in front of the striped awning, is still ahead and left of center, so I press forward.", + "The bench below the awning now reads large and clearly separate from the other bench further right, and it lies just left of my line. A few more paces of paving remain before I stand at it, so I step forward again.", + "The bench I am heading for now spans my lower left, near enough that individual slats and its ironwork legs read clearly, yet its seat still lies ahead of me rather than beside me. Open stone fills the gap, so one more stride should bring me alongside it.", + "At this range the bench has drifted so far toward my left edge that its far end is sliding out of view, while my heading now points at bare paving past it. A single notch to the left should set the seat back in front of me for a straight final approach.", + "The swing worked: the bench sits squarely in the middle of my view now, its full back and armrest visible with the stone wellhead beyond it. Only a short stretch of paving remains, so I walk forward to stand at it.", + "The bench in front of the striped awning fills the space directly before me, within arm's reach. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9342208966b9308db4e220f0d58f8bf066044715 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_c/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the third bench from the left under the trees.", + "Type": 2, + "Start_Pose": [ + 2015.565, + 2057.886, + 118.15, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2015.565, + 2057.886, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2010.821, + 1932.116, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2006.078, + 1806.347, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2001.334, + 1680.577, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1996.59, + 1554.808, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1991.847, + 1429.038, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1987.103, + 1303.269, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1987.103, + 1303.269, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1929.651, + 1191.287, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1872.2, + 1079.306, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1814.748, + 967.325, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1757.296, + 855.344, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1699.844, + 743.363, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1642.393, + 631.381, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 1642.393, + 631.381, + 118.15, + 0.0, + -142.16, + 0.0 + ], + [ + 1542.998, + 554.172, + 118.15, + 0.0, + -142.16, + 0.0 + ], + [ + 1542.998, + 554.172, + 118.15, + 0.0, + -142.16, + 0.0 + ] + ], + "Rationale": [ + "Counting the benches under the trees from the left edge of the square, the first sits at the far left, the second beside the awning, and the third is the one standing under the leafy tree by the pink building ahead on my right. All of these benches look alike, so I will hold my target by that tree and building rather than by its place in the row. I step forward to close the open paving between us.", + "The bench beneath the leafy tree by the pink building is still off to my right and clearly distant. Nothing blocks the flat stone paving ahead of me, so I continue walking forward to cut down that distance before I adjust my heading.", + "The bench under the tree near the pink facade is growing larger in my view, which tells me I am gaining on it. The square is still open in front of me, so another forward step is the simplest way to keep closing.", + "I keep the bench under the tree by the pink building on my right as my mark, and it is still several strides away. Walking straight ahead continues to shorten the gap without needing to change heading yet.", + "The tree and the awning beside my target bench now fill more of my view, so I am well into the square. I advance again, since my heading still carries me toward that bench rather than past it.", + "My target bench under the tree sits ahead and slightly to my right, still beyond comfortable arrival distance. One more forward stride should bring me close enough that a small heading change is all that remains.", + "Walking straight has carried me toward the near side of the square, and the buildings ahead now dominate my view while open paving opens to my left. I turn left to swing my heading onto the line of benches along that side so I can walk toward my target rather than drift past its row.", + "After the turn, benches under the trees lie ahead along my left, with clear paving between me and them. I walk forward on this new heading to follow that side of the square toward the bench I chose.", + "The bench sitting under the leafy tree beside the striped awning is now clearly ahead and to my left, with only open stone between us. My heading already runs along this side of the square, so I keep walking rather than turning early.", + "The bench under the tree by the awning is noticeably wider in my view than a moment ago, so this heading is carrying me straight at it. I step forward again to keep eating up the remaining paving.", + "The benches that were off to my far left have slipped out of my view, so there is no row left to count from here; the bench beneath the tree next to the awning is the one I am going to. It still sits a few strides off, so I advance.", + "My bench now shows its slats plainly under the tree canopy, close enough that I can see the ground shadow beneath it. Nothing stands between us, so I press on toward it.", + "The bench fills much of my lower left view now, its backrest angled across my path. A little more ground remains before I am truly beside it, so I take another step forward.", + "At this range the bench has drifted to the very edge of my view and is being cut off, with the far corner of the buildings taking the center instead. I turn left to bring the bench back in front of me before closing the last bit of distance.", + "The turn has put the bench squarely in front of me, whole and centered under its tree. Only a short stretch of paving separates us, so one forward step should set me right at it.", + "The bench under the tree beside the awning now spans my whole foreground at arm's length. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce6ed3347a29761b5dd3aa85d060448120699595 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002016_y002058_z000118_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the second bench from the right on the far side.", + "Type": 2, + "Start_Pose": [ + 2015.565, + 2057.886, + 118.15, + 0.0, + -92.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2015.565, + 2057.886, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2010.821, + 1932.116, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2006.078, + 1806.347, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2001.334, + 1680.577, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1996.59, + 1554.808, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1991.847, + 1429.038, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 1991.847, + 1429.038, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2040.7, + 1313.047, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2089.553, + 1197.057, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2138.407, + 1081.066, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2138.407, + 1081.066, + 118.15, + 0.0, + -67.16, + 0.0 + ] + ], + "Rationale": [ + "Along the far side of this square the benches form one row, and counting in from its right end, my target is the second, the one standing out on the open paving beside the big leafy tree. The benches themselves look alike, so I will hold that tree as its marker. I will walk forward across the empty pavement to close the distance.", + "The bench by the big tree is still well ahead of me and slightly off to my right, with clear paving between us. Nothing blocks a straight advance, so I will keep walking forward to shorten the gap before worrying about heading.", + "The buildings on the far side are growing larger, so I am gaining ground, but the bench I want by the tree is still some way off. I will continue straight ahead across the open paving.", + "My target bench sits to the right of my current heading, but it is still too far to line up usefully. Walking straight on brings me nearer the far edge of the square first, so I will step forward again.", + "The far facades and the big tree now fill much of my view, so I am close to that side of the square. The bench I am heading for still lies off to my right, and one more forward step should put me level with it before I turn.", + "I have reached the far side, and the bench beside the big tree now stands clearly to my right rather than ahead of me. A modest turn to the right should swing it into the center of my path so I can walk straight at it.", + "The turn brought the bench under the big tree into the middle of my view, with the tree trunk directly behind it as I expected. From here the row no longer reads as a row, so I simply follow this bench and step forward toward it.", + "The bench I am heading for now fills the near right of my view, its slats clearly resolved, so only a short gap remains. I will walk forward once more to stand right beside it.", + "The bench under the big tree now looms across the lower right of my view, close enough that its backrest cuts off the paving behind it. A last short step should bring me level with its seat rather than stopping short of it.", + "I stand right at the bench beneath the big tree, its seat and armrest within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Venice/task_x002166_y000723_z000118_t3_a/infos.json b/dataset/trajectory/Venice/task_x002166_y000723_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cdea0d9388bdc89d3d422665fd9aed16e3a1bd8e --- /dev/null +++ b/dataset/trajectory/Venice/task_x002166_y000723_z000118_t3_a/infos.json @@ -0,0 +1,346 @@ +{ + "Instruction": "Go to the stone well, then go to the orange tree.", + "Type": 3, + "Start_Pose": [ + 2166.145, + 723.233, + 118.15, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2166.145, + 723.233, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2291.845, + 716.909, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2417.545, + 710.586, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2417.545, + 710.586, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2534.141, + 757.977, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2650.736, + 805.369, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2767.331, + 852.761, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2883.927, + 900.153, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2883.927, + 900.153, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2883.927, + 900.153, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2883.927, + 900.153, + 118.15, + 0.0, + 72.12, + -0.0 + ], + [ + 2915.108, + 928.112, + 118.15, + 0.0, + 72.12, + -0.0 + ], + [ + 2947.978, + 937.585, + 128.092, + 0.0, + 72.12, + -0.0 + ], + [ + 2947.978, + 937.585, + 128.092, + 0.0, + 72.12, + -0.0 + ], + [ + 2919.609, + 849.648, + 118.15, + 0.0, + 72.12, + -0.0 + ], + [ + 2891.24, + 761.711, + 118.15, + 0.0, + 72.12, + -0.0 + ], + [ + 2891.24, + 761.711, + 118.15, + 0.0, + 97.12, + -0.0 + ], + [ + 2891.24, + 761.711, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 2824.322, + 868.305, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 2824.322, + 868.305, + 118.15, + 0.0, + 97.12, + -0.0 + ], + [ + 2808.722, + 993.194, + 118.15, + 0.0, + 97.12, + -0.0 + ], + [ + 2808.722, + 993.194, + 118.15, + 0.0, + 72.12, + -0.0 + ], + [ + 2808.722, + 993.194, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2894.365, + 1085.421, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2980.007, + 1177.648, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3065.65, + 1269.875, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3151.293, + 1362.102, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3236.935, + 1454.329, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3322.578, + 1546.556, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3408.221, + 1638.783, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3408.221, + 1638.783, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3524.816, + 1686.175, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3524.816, + 1686.175, + 118.15, + 0.0, + 22.12, + -0.0 + ] + ], + "Rationale": [ + "The round stone well with its low pump column stands ahead on the right side of the open square, well across the paving from me. Nothing blocks the flagstones between us, so I will walk straight ahead to cut down that distance before adjusting my heading.", + "The well has grown slightly larger and sits a little lower in view, confirming my previous step closed some distance. It is still off to my right and far away, so another straight walk across the open paving is the cheapest way to keep gaining ground.", + "The stone well now sits well right of the center of my view, so walking straight would carry me past it along the building facade. I will turn right to swing my heading onto the well before continuing.", + "After the turn, the round well and its pump column sit near the middle of my view with clear paving in between. My heading is good, so I will walk forward to close on it.", + "The well's carved drum and the dark pump beside it are noticeably nearer and still sit ahead of me, so my line is holding. I will keep walking forward to reach it.", + "The round stone well now sits large in front of me with its iron pump at its right side, so I am close but not yet beside it. My path across the open pavement is clear of obstacles, so I will walk forward again to shrink the remaining gap.", + "The carved stone drum of the well now dominates the lower half of my view and its pump stands close on my right. One more step should bring me right up against the well curb rather than leaving me a stride short.", + "The carved stone well is directly against me, its lid and curb filling the near view. I have reached the well. I mark arriving here before setting off across the square for the orange-leaved tree standing to my right.", + "With the well right at my feet, my next destination is the tree with orange leaves off to my right, well outside my forward heading. I will turn right to bring that tree toward the middle of my view before walking.", + "The turn brought the orange canopy into view, but the well curb on my left and the iron pump on my right still frame a narrow forward line. Another right turn should swing my heading clear of both and onto open pavement leading toward the tree.", + "Having marked the stone well, I am now turned away from its rim toward the open square where orange foliage stands out ahead. I will walk forward to close the gap toward that orange tree, keeping the well's kerb to my left. The paving ahead looks clear enough for a stride.", + "The last stride carried me only a short distance, and the well's curved base still crowds my left side while the pump post sits close on my right. The orange tree across the square is a little larger now, so I will push forward again through this narrow gap. It may gain me a bit more ground.", + "My last two strides each gained less ground than a normal step, and the well's stone rim now fills the lower left of my view at arm's reach. The orange tree still lies ahead across the square, so I will try one more step forward to slip past the rim. If the stone is holding me, this attempt should reveal it.", + "That last forward push moved me nowhere at all, so the well's stone base beside me is clearly blocking this line. Pressing on here will not bring me any closer to the orange tree. I will step back to break contact and open room to reorient around the obstruction.", + "Backing off has pulled the well and the pump post fully into view again, confirming how tightly I was wedged between them. I still lack space to swing around cleanly toward the orange tree. I will back up once more to gain enough clearance for a turn.", + "My earlier push straight ahead stalled against the well and its stone pump, and after backing off I now have room in front of me again. Rather than press the same blocked line, I will turn right to swing my heading toward the open paving beside the pump, where a route past this stonework toward the orange trees should open.", + "The pump column still stands close in the middle of my view with the well rim crowding my left, so my heading is not yet clear of the stonework. I will turn right again to bring the open square and the orange trees on that side fully in front of me.", + "The well and its pump are now behind my left shoulder and nothing blocks the paving ahead. With a broad orange tree standing over the benches in front of me, I will step forward along this clear lane to close the distance.", + "Moving forward carried me clear of the stonework, but this heading runs me toward the bench row and the building wall on the right. I will turn left to bring the open square back in front of me, where an orange tree stands free of the facades.", + "The turn has put wide, empty paving directly in front of me with the orange canopy spreading overhead to the right. Nothing stands in the way, so I will walk forward to advance further into the square toward that tree.", + "The orange canopy crowding my right belongs to a tree tucked against the building line with a bench under it, not the one standing clear in the open square that I want to reach. Turning left should swing my heading off this near canopy and across the open paving toward the freestanding orange tree.", + "The turn brought an orange tree into my left field with its trunk standing clear on the open pavement, but it is still well off my forward line. Another left step of the same size should bring that tree close to the center of my view before I start walking.", + "The orange tree now stands squarely ahead in the middle of the open square, with the stone well rim slipping past at my lower left. My heading is clean and the paving between us is empty, so I will walk straight toward the tree.", + "The orange tree has grown larger and stays near the center of my view, so my heading is still carrying me toward it. Nothing blocks the paving between us, so another step forward should close more of the gap.", + "The trunk of the orange tree and the grate around its base are now clearly resolved slightly left of center, confirming I am still on line. I will keep walking forward to shorten the remaining distance across the square.", + "The tree with orange foliage stands just left of center across open paving, its canopy noticeably wider than a moment ago. Nothing blocks the stones between us, so I will walk straight on to keep shrinking that gap.", + "The orange canopy now spreads across the top of my view and the trunk with its grated base is clearly ahead of me. I am still several strides short of standing at it, so I continue walking forward.", + "The trunk of the orange tree is thick in front of me and its shaded grate is close on the paving. The route remains clear, so another step forward should bring me almost alongside it.", + "The orange tree's trunk now rises just left of my heading with its grate only a stride or two off. I keep walking so I close the last of the distance to it.", + "The orange tree's trunk has drifted to the left edge of my view while my heading points into the empty square beyond it. Turning left should bring the trunk back to the center of my view so my last step goes toward it rather than past it.", + "The orange tree's trunk now sits centered in my view with its golden canopy spreading overhead, so my heading is right. A short stretch of open pavement still separates me from its base, so I will walk forward to close that remaining gap.", + "The orange tree's trunk stands directly in front of me, filling my view at arm's reach. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/Venice/task_x002166_y000723_z000118_t3_b/infos.json b/dataset/trajectory/Venice/task_x002166_y000723_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..281f6d9ea5ca56b469b42cb6a6a5656f3f39ca6f --- /dev/null +++ b/dataset/trajectory/Venice/task_x002166_y000723_z000118_t3_b/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Go to the trunk of the green tree, then go to the stone well.", + "Type": 3, + "Start_Pose": [ + 2166.145, + 723.233, + 118.15, + 0, + -2.88, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2166.145, + 723.233, + 118.15, + 0, + -2.88, + 0 + ], + [ + 2291.845, + 716.909, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2417.545, + 710.586, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2417.545, + 710.586, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2528.796, + 651.731, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2640.046, + 592.877, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2751.296, + 534.023, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2862.547, + 475.168, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2973.797, + 416.314, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3085.048, + 357.459, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3196.298, + 298.605, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3307.548, + 239.751, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3307.548, + 239.751, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 3433.248, + 233.427, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 3558.949, + 227.103, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 3558.949, + 227.103, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 3558.949, + 227.103, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3558.949, + 227.103, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3558.949, + 227.103, + 118.15, + 0.0, + 72.12, + -0.0 + ], + [ + 3558.949, + 227.103, + 118.15, + 0.0, + 97.12, + -0.0 + ], + [ + 3558.949, + 227.103, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 3492.03, + 333.698, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 3425.111, + 440.293, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 3358.193, + 546.887, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 3291.274, + 653.482, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 3224.356, + 760.076, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 3157.437, + 866.671, + 118.15, + 0.0, + 122.12, + -0.0 + ], + [ + 3157.437, + 866.671, + 118.15, + 0.0, + 122.12, + -0.0 + ] + ], + "Rationale": [ + "The square opens ahead, with a broad green-leafed tree standing off to my left and the stone wellhead sitting out to my right. Since the tree trunk is where I have to arrive first, I will walk forward across the paving to cut down that distance.", + "The green tree has grown larger in my view and its slim trunk is now visible under the canopy, still angled to my left. Another step forward should keep shrinking the gap before I correct my heading toward it.", + "Walking straight has carried me toward the buildings rather than the tree, whose trunk now sits well to the left of my heading. I will turn left to swing that trunk into the middle of my view so I can walk straight at it.", + "The turn has brought the green tree into the middle of my view, its trunk rising clearly from the paving ahead. With a clean line across the stones I will walk forward toward that trunk.", + "The green canopy is spreading wider in front of me and the trunk stands squarely on my line of travel. The paving between us is still open, so I will keep walking straight toward the base of the tree.", + "The tree now dominates the center of my view and I can pick out the dark grating ring around its trunk. Several strides still separate me from it, so I will continue forward.", + "The trunk is thicker and closer, with its shadow stretching across the stones toward me. I will step forward again to close the remaining gap to the base of the green tree.", + "The green canopy now fills the upper part of my view and the ringed base of the trunk lies just ahead on my line. Nothing blocks the paving, so I will keep walking in to reach the trunk itself.", + "The green tree stands just ahead and slightly right, its trunk and the grate ringing its base now clearly visible above the paving. Nothing blocks the stretch of stone between us, so I will keep walking straight to close the remaining distance to that trunk.", + "The green tree's trunk has grown noticeably larger and its shaded base grate is closer, confirming my heading is carrying me toward it. I will step forward again, since a few more strides should bring me right up to the trunk.", + "The trunk now rises tall on my right with its circular grate spreading close to my feet, so only a short gap remains. Walking straight ahead again should carry me alongside the base of the green tree.", + "The green tree's trunk sits off to my right rather than in front of me, so walking straight would take me past it. I will turn right to bring the trunk into the center of my view before advancing the last steps.", + "The turn has placed the green tree's trunk squarely in front of me, with its grate ring directly on my path. I will walk forward so this heading carries me straight in to the base of the trunk.", + "The trunk is centered and close enough that its bark texture and lower branches dominate my view. One more step forward should put me right at the foot of the green tree.", + "The green tree's broad, ridged trunk fills the middle of my view at arm's length, its bark and root grate right at my feet. I have arrived at the trunk of the green tree. I mark reaching it, and the stone well out in the square is where I head now.", + "The trunk directly in front of me hides most of the square, and the stone well lies well behind my present heading, back across the open paving. I will turn right to begin swinging my view around, which may bring the well's round stone curb into sight.", + "Having marked the leafy tree behind me, I now need the stone well, but ahead I only see a pink facade with doors and shuttered windows. I will keep pivoting right to bring more of the open square into view and find that well.", + "The sweep has opened up more of the plaza, with an orange tree appearing at the far right edge, yet no stone wellhead is in sight. I will turn right again to continue scanning across the square for it.", + "More of the open paving and the orange tree are now centered, but the low stone wellhead still has not come into view. Another right turn should carry my gaze further across the square toward the part I have not yet examined.", + "The round stone wellhead with its slender post is now visible ahead and to my right, beneath the orange trees. One more right turn should place it near the center of my view so I can walk straight at it.", + "The stone well now sits close to the middle of my view with clear paving between us. I will walk forward to close that distance.", + "The well has grown larger and stays centered on my heading, so my line toward it is good. I will keep stepping forward across the open paving.", + "The carved stone rim and the small pillar beside it are clearly resolved a short way ahead of me. Continuing forward should bring me right up beside the well.", + "The well now fills much of the lower center of my view and remains straight ahead. A few more steps should put me directly at its base, so I will walk on.", + "The round stone well now dominates the middle of my view, its carved basin only a couple of paces ahead across open pavement. Nothing blocks the straight line to it, so I will step forward to shrink the last of that gap.", + "The well's carved basin now fills the lower half of my view, close enough that its stone rim reads clearly, yet I am still a stride short of standing at it. One more step forward should bring me right up against its base.", + "The stone well's rim and lid are directly before me, within arm's reach. Both named destinations are reached, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_a/infos.json b/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5093c15f70447409db0c602f6132acaccc98e30f --- /dev/null +++ b/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the stone well in the center of the plaza.", + "Type": 0, + "Start_Pose": [ + 2218.869, + 732.256, + 118.15, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2218.869, + 732.256, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2344.569, + 738.58, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2470.269, + 744.903, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2595.969, + 751.227, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2595.969, + 751.227, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2707.219, + 810.081, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2818.47, + 868.936, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2929.72, + 927.79, + 121.691, + 0.0, + 27.88, + -0.0 + ], + [ + 2929.72, + 927.79, + 121.691, + 0.0, + 27.88, + -0.0 + ] + ], + "Rationale": [ + "I can see the round stone well with its metal pump standing in the open paving ahead and slightly right of my heading. The plaza in front of me is clear, so I will move forward to begin closing the distance to it.", + "The well now appears slightly larger and its base is clearer, confirming my heading carries me toward it. I will continue forward across the empty pavement to keep reducing the gap.", + "The well and the pump beside it are now clearly detailed, but still several strides away and offset to the right of my forward axis. Another forward step should bring me close enough to fine tune my heading.", + "From here the well sits noticeably right of my forward direction, near the right edge of what I can see, so walking straight ahead would pass it by. I will turn right to bring the well onto my heading before advancing further.", + "The well is now centered in front of me with the pump just to its right and clear paving between us. I will move forward along this corrected heading to close the remaining distance.", + "The carved stone drum of the well now fills much of the lower view, so only a short gap remains. I will step forward again to arrive right at its rim.", + "The well's lid and stonework dominate the foreground, indicating I am nearly touching distance from it. One more forward step should place me directly at the well.", + "The well's stone rim and metal lid fill the foreground directly in front of me at arm's reach. The task is complete, so I stop here at the target." + ] +} diff --git a/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_b/infos.json b/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d5d138d2aa5be6f91ea946963f4c448667b4ee3 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Approach the orange autumn tree.", + "Type": 0, + "Start_Pose": [ + 2218.869, + 732.256, + 118.15, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2218.869, + 732.256, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2218.869, + 732.256, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2330.119, + 791.11, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2441.37, + 849.965, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2552.62, + 908.819, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2663.871, + 967.673, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2775.121, + 1026.528, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2886.371, + 1085.382, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 2997.622, + 1144.236, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 3108.872, + 1203.091, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 3220.123, + 1261.945, + 118.15, + 0.0, + 27.88, + -0.0 + ], + [ + 3220.123, + 1261.945, + 118.15, + 0.0, + 52.88, + -0.0 + ], + [ + 3296.077, + 1362.302, + 118.15, + 0.0, + 52.88, + -0.0 + ], + [ + 3372.031, + 1462.658, + 118.15, + 0.0, + 52.88, + -0.0 + ], + [ + 3447.985, + 1563.015, + 118.15, + 0.0, + 52.88, + -0.0 + ], + [ + 3523.939, + 1663.372, + 118.15, + 0.0, + 52.88, + -0.0 + ], + [ + 3523.939, + 1663.372, + 118.15, + 0.0, + 52.88, + -0.0 + ] + ], + "Rationale": [ + "The orange autumn tree stands at the far right edge of my view, while the yellow-green tree and the pale building fill the space straight ahead of me. I will turn right so the orange canopy moves toward the center of my heading and gives me a clear walking line across the paved square.", + "After turning, the orange autumn tree now sits ahead of me across the open square, just right of the stone well. The pavement between us looks flat and unobstructed, so I will step forward to begin closing that distance.", + "The orange tree's crown has grown slightly larger and the stone well to its left is nearer, confirming my heading leads toward the target. I will continue forward since the paving ahead remains clear.", + "I am still well short of the orange tree, whose trunk meets the pavement near the middle of my view beside the pink facade. Another forward step should keep shrinking that gap without needing any turn.", + "The well has slid to my left side and the orange canopy now occupies a larger portion of the space ahead, so my line of travel is good. I will keep walking forward toward the tree.", + "The orange tree is clearly closer, with its trunk and the dark ground patch at its base now visible ahead of me. The pavement between is open, so I will take another step forward.", + "I am passing the rim of the stone well on my left while the orange canopy continues to rise ahead of me. Since I am still several paces from the tree, I will move forward again.", + "The orange tree now dominates the upper part of my view with its leaves and shadow pattern spreading across the paving in front of me. It is still not within arm's reach, so I will continue forward to close the remaining distance.", + "The orange autumn tree stands ahead and slightly to my right, its crown now filling much of the upper right area of my view. The paved square in front of me is clear, so I will step forward again to keep closing the gap.", + "The tree's trunk and the dark grating around its base are clearly visible ahead to my right, confirming I am steadily nearing it. Nothing blocks the pavement between us, so another step forward should bring me closer.", + "From this closer position the tree sits off to my right rather than straight ahead, so walking forward now would pass beside it. I will turn right to bring the trunk toward the center of my view before continuing.", + "The turn has put the orange crown and trunk nearly straight ahead of me, with its shaded base visible on the open pavement. With the heading corrected, I will walk forward to reduce the remaining distance.", + "The trunk is centered and the surrounding grate is clearly resolved, so my heading is good and I am still a few steps away. I will continue forward along this straight line toward it.", + "The canopy now spreads over my head and the trunk with its square grate dominates the near ground ahead. I am close but not yet beside it, so one more forward step should tighten the approach.", + "The bark texture of the trunk is clearly readable and the base grate is just in front of my feet, so I am nearly at the tree. A final short step forward should place me directly at it.", + "The orange autumn tree's trunk stands directly in front of me at arm's length, its canopy overhead. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_c/infos.json b/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ae2d981e2d933eeb95e9de23585d584ff44cba89 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002219_y000732_z000118_t0_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the yellow-leaved tree in the courtyard.", + "Type": 0, + "Start_Pose": [ + 2218.869, + 732.256, + 118.15, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2218.869, + 732.256, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2344.569, + 738.58, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2470.269, + 744.903, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2595.969, + 751.227, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2721.669, + 757.551, + 118.15, + 0.0, + 2.88, + -0.0 + ], + [ + 2721.669, + 757.551, + 118.15, + 0.0, + -22.12, + 0.0 + ], + [ + 2838.264, + 710.159, + 118.15, + 0.0, + -22.12, + 0.0 + ], + [ + 2954.86, + 662.767, + 118.15, + 0.0, + -22.12, + 0.0 + ], + [ + 3071.455, + 615.375, + 118.15, + 0.0, + -22.12, + 0.0 + ], + [ + 3188.051, + 567.983, + 118.15, + 0.0, + -22.12, + 0.0 + ], + [ + 3304.646, + 520.591, + 118.15, + 0.0, + -22.12, + 0.0 + ], + [ + 3421.242, + 473.199, + 118.15, + 0.0, + -22.12, + 0.0 + ], + [ + 3421.242, + 473.199, + 118.15, + 0.0, + -47.12, + 0.0 + ], + [ + 3506.884, + 380.972, + 118.15, + 0.0, + -47.12, + 0.0 + ], + [ + 3592.527, + 288.745, + 118.15, + 0.0, + -47.12, + 0.0 + ], + [ + 3592.527, + 288.745, + 118.15, + 0.0, + -47.12, + 0.0 + ] + ], + "Rationale": [ + "From the edge of the open paved courtyard I can pick out the tree with bright yellow foliage standing to the left of the pink building, distinct from the darker amber tree on the right side. The paving straight ahead is flat and unobstructed, so I will step forward to begin closing the gap toward that yellow-leaved tree.", + "The yellow-leaved tree on the left has grown slightly larger and the stone wellhead ahead of me stays off to my right, so nothing blocks my path. I will keep walking forward to gain ground across the courtyard toward that tree.", + "The yellow crown on the left now fills more of my view and the buildings behind it are clearer, confirming I am closing distance. The wellhead remains to my right with plenty of room, so I will continue straight forward.", + "The yellow-leaved tree sits ahead and to my left with its trunk clearly visible above the paving, and the well curb is now close on my right but clear of my line. I will take another step forward to shorten the remaining distance before adjusting my heading.", + "My forward motion has pushed the yellow-leaved tree well off to my left while the empty facade and the well now dominate straight ahead. I will turn left to swing my heading onto the tree so my next steps carry me directly toward it.", + "After the turn the yellow-leaved tree stands near the middle of my view with clear paving running up to it. With my heading now on the target, I will walk forward to close the remaining distance.", + "The tree's yellow crown and grey trunk are noticeably larger than a moment ago, so my heading is holding true. I will keep stepping forward across the open stones toward it.", + "The yellow-leaved tree now rises high in front of me and I can see the dark grating ring around its base, which tells me I am getting close. I will continue forward since there is still a stretch of paving between me and that base.", + "The yellow-leaved tree stands slightly to my left with its canopy spreading over the upper part of my view, and the paving between us is clear and open. I will keep walking straight ahead to close more of that remaining gap.", + "The tree's trunk and the dark grated ring around its base are now clearly visible just left of my heading, confirming I am steadily closing on the target. Another step forward should bring me nearer without needing to reorient yet.", + "The canopy now hangs over much of my view and the trunk with its grated surround sits close on my left, so I am only a short distance short of the tree. I will step forward again to keep shrinking that distance.", + "As I have come close, the tree's trunk has drifted to the left edge of my view while my heading points at the building wall beyond it. Turning left should bring the trunk back in front of me so my final steps lead straight to the tree.", + "The trunk of the yellow-leaved tree now sits centered ahead of me with its grated base spread across the paving just in front. I will walk forward to close the last of the distance to it.", + "The trunk fills the middle of my view and its grated surround starts right at my feet, so only a short step remains to stand at the tree. I will move forward once more to finish closing that gap.", + "The tree's bark fills the space directly in front of me with its leafy canopy overhead. The task is complete, so I stop here rather than walking into the trunk." + ] +} diff --git a/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_a_p/infos.json b/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6eab0ae2d1912e38ba1a261dd771dd8da30d8873 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the plate from near the stone well in the plaza.", + "Type": 5, + "Start_Pose": [ + 2243.659, + 1257.519, + 118.15, + 0, + -2.88, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2983.771, + 1220.169, + 68.15, + 90, + 90, + 90 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2243.659, + 1257.519, + 118.15, + 0, + -2.88, + 0 + ], + [ + 2369.359, + 1251.195, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2495.059, + 1244.872, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2620.759, + 1238.548, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2746.459, + 1232.224, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2872.159, + 1225.901, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2872.159, + 1225.901, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2872.159, + 1225.901, + 118.15, + 0.0, + -2.88, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2983.771, + 1220.169, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 2983.771, + 1220.169, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 2983.771, + 1220.169, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 2983.771, + 1220.169, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 2983.771, + 1220.169, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 2983.771, + 1220.169, + 68.15, + 90.0, + 0.0, + 0.0 + ], + [ + 2872.622, + 1247.258, + 88.256, + -28.202, + 47.265, + 1.862 + ], + [ + 2872.622, + 1247.258, + 88.256, + -28.202, + 47.265, + 1.862 + ] + ], + "PD_Dist_2D": [ + 741.1, + 615.2, + 489.3, + 363.5, + 237.6, + 111.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate is standing on the pavement beside the stone well across the plaza, roughly straight ahead of me. It is far too distant to reach, so I will walk forward along this heading to close the gap.", + "The plate and the well now appear noticeably larger and remain centered slightly left of my heading, confirming I am on a good line. I will keep walking straight since no obstacle lies between me and the target.", + "The plate is clearly resting on the stones just right of the well basin and is still several strides away. My heading needs no correction, so another forward step should bring it closer to reach.", + "The well rim now fills the left edge of my view and the plate sits close to the middle of the pavement ahead. I will step forward again to shorten the remaining distance before attempting a grasp.", + "The plate is directly in front of me and nearly at arm's length, with the well immediately to my left. One more forward step should place me close enough to reach down and take it.", + "The plate fills the lower portion of my view, close beside the well, with nothing between it and me. This is within grasping range, so I will attempt to pick it up now.", + "The plate is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_a_pd/infos.json b/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f841419eb8d8c8e2eb96cb54916d92d463263514 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the jerry can, then place it near the orange tree.", + "Type": 5, + "Start_Pose": [ + 2243.659, + 1257.519, + 118.15, + 0, + -2.88, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2771.242, + 922.323, + 30.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2243.659, + 1257.519, + 118.15, + 0, + -2.88, + 0 + ], + [ + 2369.359, + 1251.195, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2369.359, + 1251.195, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2480.609, + 1192.341, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2591.86, + 1133.487, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2703.11, + 1074.632, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2703.11, + 1074.632, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2703.11, + 1074.632, + 118.15, + 0.0, + -2.88, + 0.0 + ], + [ + 2703.11, + 1074.632, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 2703.11, + 1074.632, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2788.753, + 1166.859, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2874.397, + 1259.085, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 2960.04, + 1351.312, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3045.683, + 1443.538, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3131.326, + 1535.765, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3216.97, + 1627.991, + 118.15, + 0.0, + 47.12, + -0.0 + ], + [ + 3216.97, + 1627.991, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3333.565, + 1675.382, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3450.161, + 1722.774, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3383.46, + 1695.663, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3383.46, + 1695.663, + 118.15, + 0.0, + 22.12, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2771.242, + 922.323, + 30.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2771.242, + 922.323, + 30.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2771.242, + 922.323, + 30.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2771.242, + 922.323, + 30.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2771.242, + 922.323, + 30.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2771.242, + 922.323, + 30.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2712.556, + 1093.793, + 88.256, + -28.202, + 22.264, + 1.862 + ], + [ + 2703.615, + 1096.947, + 88.529, + -28.189, + 47.276, + 1.872 + ], + [ + 2694.771, + 1095.556, + 87.862, + -28.215, + 72.247, + 1.849 + ], + [ + 2687.38, + 1096.7, + 87.916, + -14.092, + 89.463, + 6.87 + ], + [ + 2772.609, + 1180.856, + 88.482, + -28.198, + 97.265, + 1.865 + ], + [ + 2858.452, + 1273.301, + 87.945, + -28.191, + 97.278, + 1.871 + ], + [ + 2944.188, + 1365.614, + 87.664, + -28.214, + 97.25, + 1.852 + ], + [ + 3029.765, + 1457.779, + 87.874, + -28.203, + 97.26, + 1.856 + ], + [ + 3115.235, + 1549.826, + 88.283, + -28.187, + 97.276, + 1.872 + ], + [ + 3200.688, + 1641.837, + 88.686, + -28.2, + 97.264, + 1.866 + ], + [ + 3208.983, + 1647.159, + 87.715, + -28.201, + 72.266, + 1.862 + ], + [ + 3325.216, + 1695.034, + 87.753, + -28.211, + 72.254, + 1.853 + ], + [ + 3441.611, + 1742.348, + 88.107, + -28.203, + 72.257, + 1.859 + ], + [ + 3448.308, + 1722.021, + 68.15, + 0.0, + 22.12, + -0.0 + ], + [ + 3448.308, + 1722.021, + 68.15, + 0.0, + 22.12, + -0.0 + ] + ], + "PD_Dist_2D": [ + 625.1, + 519.3, + 519.3, + 396.7, + 277.1, + 166.9, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.8, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red jerry can sits on the pavement to the left of the stone wellhead, still far across the open square. I will walk straight ahead to cut down that distance before refining my heading toward it.", + "Moving up has brought the square closer, but the jerry can now sits well off to my left near the wellhead rather than in front of me. I will turn left so my heading points at the can and further forward steps close the gap directly.", + "The jerry can now stands ahead of me on the paving, just left of the well and its pump column. With my heading pointed at it, I will step forward to close the remaining distance.", + "The can has grown noticeably larger and sits slightly left of my path, but it is still several strides away and out of reach. I will keep walking forward to reach a grasping distance.", + "The jerry can is now close and low on my left, its handle and ribbed side clearly detailed, yet not quite within arm's reach. One more step forward should bring it beside me where a grasp is plausible.", + "The jerry can is right at my side in the near foreground, close enough that nothing separates me from it. I will attempt to pick it up now so I can carry it toward the orange tree.", + "The grasp worked: the reddish jerry can is now held in my hands rather than resting on the pavement. The orange-leaved tree lies well around to my right across the square, so I will turn right to begin swinging my heading toward it.", + "I still have the jerry can with me, and the orange-crowned tree has come into view at the far right edge beyond the wellhead. Another turn right should bring it in front of me so I can walk a straight line toward it.", + "The jerry can is in my hands, and the orange tree stands right of center while the wellhead rim still crowds the left of my view. One more step of turning right should bring that tree squarely ahead so I can walk straight toward it.", + "The orange tree with its yellow crown now sits near the middle of my view across open paving, and I am still carrying the jerry can. Nothing blocks the square between us, so I will walk forward to begin closing that distance.", + "The tree has grown larger and its trunk and shaded base are now clearly visible ahead, so my heading is carrying the can toward the goal. The paving stays flat and unobstructed, so another step forward is the direct way to continue.", + "The orange tree keeps filling more of my view, confirming I am steadily closing on it with the jerry can. The distance is still too great for placing the can nearby, so I will keep walking forward.", + "The trunk and the dark grate around the tree's base are now distinct ahead of me, but I am still several strides short of a sensible spot to set the can down. I will advance again to shorten that remaining gap.", + "The tree's canopy now spreads across the upper part of my view and its base grate lies clearly ahead and slightly left. I am close but not yet beside the trunk, so another forward step should bring me into placing range.", + "The trunk and its paved grate are close on my left as the canopy overhangs my path, and I am still holding the jerry can. One more step forward should bring me level with the tree base where the can belongs.", + "The orange tree has drifted to the left edge of my view as I advanced, so walking straight on would carry me past it. Turning left should bring the trunk and its grate back in front of me for the placement.", + "The orange-leaved tree now sits squarely ahead of me after my heading correction, with open pavement between us and the jerry can still carried with me. I will step forward to close the remaining gap toward its trunk. That should bring me near enough to set the can beside it.", + "The tree's trunk and its grated base now fill much of the view directly ahead, so I am close but not yet standing beside it. I will take one more step forward to reach the ground right at the trunk. That should put the drop location within easy reach.", + "I am standing right at the base of the orange tree, with its trunk and surrounding grate immediately in front of me and the jerry can still held. This spot satisfies the requirement of placing the can near the tree. I will release it here and expect it to settle on the pavement.", + "The jerry can is released and resting on the pavement right beside the orange tree's trunk. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_b_p/infos.json b/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2d8a6990c6eb939311420c41fee1f1775c0a406e --- /dev/null +++ b/dataset/trajectory/Venice/task_x002244_y001258_z000118_t5_b_p/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the trash bag from the green tree.", + "Type": 5, + "Start_Pose": [ + 2243.659, + 1257.519, + 118.15, + 0, + -2.88, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3487.087, + 386.29, + 38.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2243.659, + 1257.519, + 118.15, + 0, + -2.88, + 0 + ], + [ + 2243.659, + 1257.519, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2354.909, + 1198.665, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2466.16, + 1139.81, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2577.41, + 1080.956, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2688.661, + 1022.102, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2799.911, + 963.247, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 2911.161, + 904.393, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 3022.412, + 845.539, + 121.773, + 0.0, + -27.88, + 0.0 + ], + [ + 3133.662, + 786.684, + 118.168, + 0.0, + -27.88, + 0.0 + ], + [ + 3244.913, + 727.83, + 118.168, + 0.0, + -27.88, + 0.0 + ], + [ + 3244.913, + 727.83, + 118.168, + 0.0, + -52.88, + 0.0 + ], + [ + 3320.867, + 627.473, + 118.168, + 0.0, + -52.88, + 0.0 + ], + [ + 3396.821, + 527.117, + 118.168, + 0.0, + -52.88, + 0.0 + ], + [ + 3396.821, + 527.117, + 118.168, + 0.0, + -52.88, + 0.0 + ], + [ + 3396.821, + 527.117, + 118.168, + 0.0, + -52.88, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3487.087, + 386.29, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3413.48, + 540.49, + 88.256, + -28.202, + -2.735, + 1.862 + ], + [ + 3413.48, + 540.49, + 88.256, + -28.202, + -2.735, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1518.3, + 1518.3, + 1393.5, + 1268.9, + 1144.6, + 1020.7, + 897.3, + 774.7, + 653.3, + 534.1, + 418.7, + 418.7, + 292.9, + 167.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The bright green tree sits far out at the left edge of my view while the orange one stands to my right, so my current heading points across the square rather than at my target. I will turn left to bring the green tree into my forward path before walking.", + "The green tree now sits well inside my view, slightly left of center, with open paving stretching toward it. Nothing blocks the line between me and its trunk, so I will walk forward to close the long distance across the square.", + "The green tree has grown slightly larger ahead and to my left, confirming my heading is carrying me toward it. The wellhead sits off to my right and does not sit in my path, so I will keep walking forward.", + "The tree's canopy and trunk are noticeably nearer now, and the pale wellhead has drifted toward my right side as I advance. The gap is still large and the ground stays clear, so another forward step should keep shrinking it.", + "The stone wellhead is now close on my right, and the green tree stands ahead and slightly left with its base still some distance away. My heading remains good and the route past the wellhead is open, so I will continue walking.", + "I am drawing level with the wellhead on my right while the green tree ahead keeps growing in my view. Its trunk and the shaded ground around its base are still several strides off, so I will step forward again.", + "The wellhead has slipped to the lower right corner and no longer stands between me and the tree. The green canopy now dominates the upper left and the trunk's base is clearer, but I am still too far to reach it, so I keep walking.", + "The trunk of the green tree is directly ahead-left with a dark rounded shape resting against its base, likely the trash bag I need. It is still beyond arm's reach, so I will walk forward to close the remaining gap.", + "The green-leafed tree stands ahead and slightly left, and a dark rounded object sits against its trunk base where the trash bag should be. It is still too far to make out clearly, so I keep walking straight toward it to close the gap.", + "The tree now fills much of the left side of my view and the dark lump at its foot is clearly a bag shape rather than a shadow. My path across the open square is still clear, so another step forward should bring the bag within reach range.", + "The trash bag is now unmistakable at the foot of the green tree, but it sits well to the left of my heading, so walking straight would carry me past it. I turn left to bring the bag toward the center of my view before advancing again.", + "After the turn the trash bag sits near the middle of my view at the base of the green tree, so my heading now leads straight to it. Nothing blocks the paving between us, so I step forward to shorten the remaining distance.", + "The bag has grown large in the lower center of my view and its creased plastic is clearly visible against the tree trunk. It is still a couple of paces off, so I advance once more to get close enough for a grasp.", + "The trash bag now sits directly in front of me at the foot of the green tree, filling the near foreground within arm's reach. My hands are empty and nothing stands between us, so I attempt to pick it up.", + "The trash bag is now held in my hands and no longer resting at the tree base. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a8827a962ae2f5cfbaa829110cfac2d520035b3 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the first bench on the left.", + "Type": 2, + "Start_Pose": [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 2212.589, + 1321.698, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 2086.941, + 1314.409, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1961.293, + 1307.12, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1835.646, + 1299.831, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1709.998, + 1292.542, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1709.998, + 1292.542, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1593.042, + 1339.037, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1486.479, + 1383.177, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1486.479, + 1383.177, + 118.15, + 0.0, + 158.32, + -0.0 + ] + ], + "Rationale": [ + "Several red benches line the far side of this square, and the one furthest to my left stands under the yellow-leaved tree beside the pale pink building. It sits at the very edge of my view, so I will turn left to bring that bench in front of me before setting off.", + "The bench under the yellow-leaved tree by the pink building now lies ahead and a little to my left, still far across the open paving. Nothing stands between me and it, so I will walk forward to begin closing that gap.", + "The bench beneath the yellow tree has grown slightly larger on the left of my view, but I am still out in the middle of the square. The stones ahead stay clear, so I keep walking toward it.", + "I can now make out the slats and dark iron legs of the bench under the yellow tree ahead on my left. A good stretch of empty paving still separates us, so I step forward again.", + "The bench under the yellow tree occupies more of my left view and the pink facade behind it is clearer. I am not yet level with it, so I advance across the remaining open ground.", + "The bench under the yellow tree now stretches broadly across the left of my view, close but still offset from my heading. Another step forward should bring me alongside it.", + "The bench under the yellow tree has slid to my left side as I drew level with it, and from this close the far seating no longer reads as one row. To face that bench squarely instead of walking past it, I will turn left.", + "The turn has set the bench under the yellow tree squarely in front of me, its full length and iron legs plainly visible against the pink building. A short stretch of paving still remains, so I will walk forward to stand at it.", + "The bench under the yellow tree now fills the lower half of my view, its slats large and the shadowed paving beneath it clear. Only a step or so of ground is left before I am right at its edge, so I move forward once more.", + "The bench under the yellow tree is directly against me, its slats filling the near view within arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..39a17a895bea2822fd9b416200d9aaae46e99de5 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the second bench from the left.", + "Type": 2, + "Start_Pose": [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2214.747, + 1283.671, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2103.952, + 1223.964, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1993.157, + 1164.257, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1882.361, + 1104.55, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1771.566, + 1044.843, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1660.771, + 985.136, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1660.771, + 985.136, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1535.123, + 977.847, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1486.89, + 971.565, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1486.89, + 971.565, + 118.15, + 0.0, + -176.68, + 0.0 + ] + ], + "Rationale": [ + "Four red benches line this square, and counting from the left edge the second one is the one standing out in the open near the stone wellhead. It sits well ahead of me across the paving, so I will walk straight forward to close that distance.", + "The bench by the wellhead is still a fair way off, slightly left of my heading, with nothing blocking the open paving between us. I will keep walking forward to shorten the gap before worrying about my heading.", + "The bench beside the wellhead has grown noticeably larger and sits just left of my path, so I am gaining on it. Another step straight ahead should bring me closer before I adjust my facing.", + "The bench at the far left edge has slipped out of my view, so I stop counting the row and simply keep following the bench standing in front of the wellhead. It is still ahead and to my left, so I will continue walking forward.", + "The wellhead bench now fills much of the left half of my view, which tells me I am getting close but not yet beside it. The paving in front of me is clear, so I will step forward again.", + "The bench in front of the wellhead is close now, sitting low and broad on my left, but my heading still carries me past its near end. One more forward step should bring me level with it before I correct my facing.", + "The bench by the wellhead now lies along my left side rather than in front of me, so walking straight would carry me past it. I will turn left to bring the bench squarely into the center of my view.", + "The bench is now centered ahead of me with the wellhead directly beyond it, so my facing is right. A short walk forward should place me at the bench itself.", + "The bench's backrest now spans the whole bottom of my view with the wellhead framed just beyond it, so only a small gap of paving is left. I will take one more short step forward to stand right at it.", + "The bench standing in front of the wellhead is right against me, its backrest filling my view at arm's reach. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aa029aaa99f25a6e3d14a86444ebe7134fccc5f0 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the third bench from the left near the yellow tree.", + "Type": 2, + "Start_Pose": [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2214.747, + 1283.671, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2103.952, + 1223.964, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1993.157, + 1164.257, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1993.157, + 1164.257, + 118.15, + 0.0, + -126.68, + 0.0 + ], + [ + 1917.975, + 1063.32, + 118.15, + 0.0, + -126.68, + 0.0 + ], + [ + 1842.794, + 962.383, + 118.15, + 0.0, + -126.68, + 0.0 + ], + [ + 1767.613, + 861.446, + 118.15, + 0.0, + -126.68, + 0.0 + ], + [ + 1692.431, + 760.509, + 118.15, + 0.0, + -126.68, + 0.0 + ], + [ + 1617.25, + 659.572, + 118.15, + 0.0, + -126.68, + 0.0 + ], + [ + 1542.069, + 558.635, + 118.15, + 0.0, + -126.68, + 0.0 + ], + [ + 1542.069, + 558.635, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1486.877, + 503.604, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1486.877, + 503.604, + 118.15, + 0.0, + -151.68, + 0.0 + ] + ], + "Rationale": [ + "Counting the benches across the square from the left, the third one is the one sitting under the leafy yellow tree in front of the pale cream building on the right. The benches all look alike, so I fix on that tree-and-building corner as what marks mine. I walk forward into the open pavement to close the distance.", + "The bench under the yellow tree by the cream building sits ahead and to my right, and the gap between us is still wide. Nothing blocks the open paving in front of me. I keep walking forward.", + "The bench beneath the yellow tree at the cream building is growing larger off to my right as I advance. I am still well short of it, with clear stone underfoot. I step forward again.", + "My heading is carrying me left of the bench I want, which now sits well over to my right beneath the yellow tree against the cream facade. Turning right should swing that bench toward the middle of my view so I can walk straight at it.", + "The turn brought the bench under the yellow tree roughly in front of me, with the cream building behind it. The benches at the far left have slid out of view, so I simply follow this one rather than counting the row again. I walk forward toward it.", + "The bench under the yellow tree stays centered ahead of me and is filling more of my view. The paving between us is empty. I continue forward.", + "I am closing on the bench beneath the yellow tree, its slats and legs now clearly detailed just left of center. I still have several strides of open ground to cover before I am beside it. I keep advancing.", + "The bench under the yellow tree now dominates the lower half of my view, so only a short stretch of pavement remains. Moving forward should bring me right up alongside it.", + "The bench under the yellow tree is close enough now that its armrest and cast legs read clearly, though it sits low and left in my view rather than right at my feet. A couple of strides of clear paving still separate us. I step forward again.", + "The bench beneath the yellow tree now spans most of the lower left of my view, its backrest slats almost within reach. I am nearly beside it but not yet level with the seat. One more forward stride should bring me up to it.", + "At this range the bench has slid to my left and its far end is cut off by the edge of my view, so my heading is carrying me past its right end toward the open alley. Turning left should bring the whole bench back in front of me.", + "The turn has put the bench under the yellow tree squarely across the front of my view, with the tree trunk and cream wall behind it. Only a short gap of paving remains before I stand right at its side. I take one small step forward.", + "I am standing right at the bench beneath the yellow tree against the cream building. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0abe2349dcfb832f20e307d9f50e584bf9f75cde --- /dev/null +++ b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_d/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Go to the second tree from the left in the plaza.", + "Type": 2, + "Start_Pose": [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2214.747, + 1283.671, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2103.952, + 1223.964, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1993.157, + 1164.257, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1882.361, + 1104.55, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1771.566, + 1044.843, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1660.771, + 985.136, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1549.976, + 925.429, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1485.538, + 869.579, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1394.099, + 802.882, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1283.304, + 743.175, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1172.509, + 683.468, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 1061.713, + 623.761, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 950.918, + 564.054, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 840.123, + 504.347, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 729.328, + 444.64, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 618.533, + 384.933, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 507.738, + 325.226, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 396.942, + 265.519, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 286.147, + 205.812, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 175.352, + 146.105, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 175.352, + 146.105, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 175.352, + 146.105, + 118.15, + 0.0, + -176.68, + 0.0 + ] + ], + "Rationale": [ + "Counting the plaza's trees from the left, the broad yellow canopy at the corner is first, so my target is the next one, the tree rooted out in the open beside the arched passage under the pale facade. It stands well ahead across the paving, so I walk straight forward toward it.", + "The tree by the archway sits near the middle of my view and has grown slightly larger, confirming my heading is good. Nothing blocks the paving between me and it, so I keep walking forward.", + "My target tree by the archway keeps expanding in front of me while the benches drift toward the frame edges, which tells me I am closing distance on the right line. I continue straight ahead without adjusting my heading.", + "The nearest bench now sits low and to my left rather than in my path, so the lane toward the tree by the archway remains open. That tree still holds the middle of my view, so I step forward again.", + "The stone wellhead and the arch behind my target tree are becoming clearer, showing I am still far enough that more walking is needed. My heading remains on the tree, so I advance again.", + "The bench on my left is now close and passing beside me, leaving the way toward the tree by the archway clear. Its trunk is visible ahead against the pale wall, so I keep moving straight in.", + "The benches have fallen to either side and the wellhead sits off to my left, while the tree standing before the arched passage and the striped awning is still ahead of me. I walk forward to keep closing on it.", + "The corner tree I first counted from has slipped out of my view, so I simply follow the tree rooted before the arched passage, which now dominates the center of my sight. Its trunk and the paving around it are plainly ahead, so I continue walking toward it.", + "The stone wellhead has slipped to my left edge and the seating is behind me, leaving nothing but bare paving between me and the tree standing in front of the arched passage. Its crown and the striped awning beside it sit squarely ahead, so I walk on toward it.", + "The other canopies have dropped out of my view, so the row I first sorted through is gone and only my chosen tree, the one rooted before the arched passage next to the striped awning, remains in front of me. That is all the reference I need, and it is still some way off, so I keep walking.", + "The canopy now spreads across the top of my view and the trunk reads clearly against the pale wall, both signs that the gap is shrinking. The paving between us is empty, so another forward step should bring me closer still.", + "I can pick out where the trunk meets the ground now, a little left of the awning's near edge, which gives me a precise point to walk at. Nothing stands between that point and me, so I advance again.", + "The arched passage behind my tree is close enough that I can see through it, and the trunk has thickened noticeably in my view. Still a few strides of open square remain, so I keep pressing forward.", + "The iron grate ringing the tree's roots is visible on the paving now, marking exactly where the trunk stands. I aim at that patch and walk on to close the last of the distance.", + "The trunk rises tall enough that its lower branches are cut off by the top of my view, and the shaded grate around its base lies just ahead and slightly left. I am not yet standing at it, so I continue walking.", + "Only a short stretch of stone separates me from the grate at the tree's foot, and the trunk now dominates the middle of my view with the shop awning close on my right. A further step should put me right beside it.", + "The grate at the tree's base now sits just left of center with its shadow spilling toward me, and the canopy overhead is cut off by the top of my view. A couple more strides of paving remain before I stand at the trunk, so I keep walking.", + "I am close enough that the leaves overhead throw a dappled pattern across the stones in front of me, and the trunk stands slightly left of my heading. Since the gap is still a stride or two, I press on toward its base.", + "The trunk now rises like a column just left of my path, with the ringed grate at its foot spread across the ground before me. One more forward step should bring me level with it.", + "The bark is detailed enough that I can read its texture, and the grate around the roots reaches almost to my feet. A last short step should set me right at the trunk rather than short of it.", + "I have drawn level with the tree, but it has slipped off the left edge of my sight so I am facing the shop wall and the doorway instead. Turning left should swing the trunk back in front of me and settle me facing the tree I came for.", + "The trunk of the tree beside the arched passage now fills the center of my view at arm's length. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_e/infos.json b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0640988a79710fb9391cfd5b4489f473809d01 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002326_y001343_z000118_t2_e/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Go to the first tree on the left with orange leaves.", + "Type": 2, + "Start_Pose": [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -151.68, + 0.0 + ], + [ + 2325.542, + 1343.378, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 2212.589, + 1321.698, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 2086.941, + 1314.409, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 2086.941, + 1314.409, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1969.985, + 1360.904, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1853.029, + 1407.399, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1736.073, + 1453.894, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1619.117, + 1500.389, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1619.117, + 1500.389, + 118.15, + 0.0, + 133.32, + -0.0 + ], + [ + 1532.769, + 1591.956, + 118.15, + 0.0, + 133.32, + -0.0 + ], + [ + 1446.421, + 1683.522, + 118.15, + 0.0, + 133.32, + -0.0 + ], + [ + 1446.421, + 1683.522, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1446.421, + 1683.522, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1320.773, + 1676.234, + 118.15, + 0.0, + -176.68, + 0.0 + ], + [ + 1320.773, + 1676.234, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1229.302, + 1716.132, + 118.15, + 0.0, + 158.32, + -0.0 + ], + [ + 1229.302, + 1716.132, + 118.15, + 0.0, + 158.32, + -0.0 + ] + ], + "Rationale": [ + "Scanning the square, the nearest orange-leaved tree along the left side is the big one at the edge of my view, standing against the pale pink building, while the other crowns further off are green. My current heading points across the open plaza past it, so I will turn left to bring that tree into the center of my path.", + "The orange-leaved tree now sits in the left half of my view with its trunk rising from the paved surround beside the pink building. The stretch of pavement between us is clear of benches and obstacles, so I will walk forward to close the distance.", + "The orange crown has grown noticeably larger and its trunk is clearer against the building facade, confirming I am closing on it. The paving directly ahead remains open, so I will keep walking forward rather than adjust my heading yet.", + "As I advance, the orange-leaved tree has drifted toward the left portion of my view and my heading is carrying me past its trunk toward the fountain area. Turning left should swing my facing back onto the tree so the remaining approach runs straight at it.", + "The orange-leaved tree is now squarely ahead, its trunk rising just behind the red bench, and the pink building runs along my left. The lane of paving in front of me is open, so I will step forward to shorten the gap.", + "The trunk and the bench beneath the orange crown fill more of my view, so the approach is working. I still have several strides of clear pavement, so I will continue walking forward toward the tree.", + "The orange foliage now spreads across the top of my view and the trunk sits close beyond the bench, but I am not yet standing at the tree. Another step forward should bring me up beside its base.", + "I am nearly at the orange-leaved tree, with its trunk and the circular paved surround just ahead and the bench angled to my right. I will walk forward again to draw level with the trunk.", + "The bench end now fills the paving straight in front of me, while the orange-leaved tree's trunk and its circular grate sit just to its left. Turning left should take my heading off the bench and onto the clear strip of pavement running along the pink facade toward that trunk.", + "With the bench swung off to my right, an unbroken lane of paving runs ahead beside the building doorways, and the tree's trunk rises at the edge of that lane. I will walk forward along it to draw nearer the base of the orange-leaved tree.", + "The grated ring at the tree's foot is now plainly laid out to my right and the trunk stands beside it, so I am nearly abreast of it. Another stride along this clear paving should put me level with the base.", + "My heading is now carrying me along the doorways rather than to the tree, whose trunk has slid to the right edge of my view. I will turn right to bring that trunk back toward the middle of my path.", + "The trunk is centered now but only a couple of paces off, so walking straight ahead would put me into it rather than beside it. A further turn right should aim me at the open paving just past its flank, leaving room to step up alongside the base.", + "The trunk sits close on my left with clear square paving opening in front of me toward the fountain side. I will step forward to draw level with the base of the orange-leaved tree.", + "The trunk of the orange-leaved tree is right beside me at the left edge, so my facing runs past it into the open square. Turning left should put the trunk squarely in front of me for the last short step.", + "The trunk now stands dead center with its yellow-orange canopy spreading directly overhead. One short step forward should bring me right up against its base.", + "The orange-leaved tree's bark fills my view at arm's length, its canopy overhead. I am standing at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_a/infos.json b/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..79f4f6fd66472e47e52a6eccacd43469212ee02e --- /dev/null +++ b/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the tree in the sunlit courtyard.", + "Type": 0, + "Start_Pose": [ + 2396.71, + 602.837, + 118.15, + 0.0, + -26.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2396.71, + 602.837, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 2508.971, + 545.933, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 2508.971, + 545.933, + 118.15, + 0.0, + -1.88, + 0.0 + ], + [ + 2634.762, + 541.804, + 118.15, + 0.0, + -1.88, + 0.0 + ], + [ + 2760.553, + 537.675, + 118.15, + 0.0, + -1.88, + 0.0 + ], + [ + 2886.344, + 533.546, + 118.15, + 0.0, + -1.88, + 0.0 + ], + [ + 3012.136, + 529.417, + 118.15, + 0.0, + -1.88, + 0.0 + ], + [ + 3137.927, + 525.288, + 118.15, + 0.0, + -1.88, + 0.0 + ], + [ + 3263.718, + 521.159, + 118.15, + 0.0, + -1.88, + 0.0 + ], + [ + 3263.718, + 521.159, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 3375.979, + 464.256, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 3488.239, + 407.352, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 3600.5, + 350.448, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 3600.5, + 350.448, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 3600.5, + 350.448, + 118.15, + 0.0, + -51.88, + 0.0 + ] + ], + "Rationale": [ + "The sunlit courtyard opens ahead of me and a large leafy tree stands in the bright paving just right of my forward line, which matches the target I need to reach. Nothing blocks the open pavement between me and it, so I will step forward to begin closing that distance.", + "From here my heading points at the narrow shaded gap between the buildings on the left rather than into the open part of the courtyard where the tree stands. I will turn right to face the wide sunlit paving so I have a clean crossing line, keeping the tree off to my left as I go.", + "Now I am facing the broad open plaza, with the target tree clearly visible ahead on my left and the stone basin off to my right. The paving between us is flat and empty, so I will move forward to cut the remaining distance.", + "The tree's canopy has grown noticeably larger in my upper left, confirming that my current heading is carrying me toward it. I still have plenty of open pavement in front of me, so another forward step should keep shrinking the gap.", + "I can now see the tree's trunk and the dark shaded patch at its base on my left, so I am well within the same open stretch of courtyard. I will continue forward, since I am not yet close enough to stand beside it.", + "The trunk and the dark grating ring around the tree's roots are clearly resolved to my left, but they are still a few paces off my line of travel. Advancing again should bring me level with the tree instead of stopping short of it.", + "The tree now occupies a large part of my left view with its shadow spilling across the paving toward me, so I am close but still offset from it. I will take another forward step across the open plaza to reduce that remaining gap.", + "The trunk and the grated soil ring sit just to my left and the facade ahead is close, showing I am nearly at the tree's position in the courtyard. One more forward step should place me alongside it before I need to reorient toward it.", + "The sunlit tree now sits toward the left edge of my view, with its trunk and dark grate near the left border while my heading points at the pink facade ahead. I will turn left to bring the trunk and its base back toward the center of my path so I can keep closing distance directly.", + "The tree is now centered in front of me, its trunk rising from the dark grate a few paces away and its canopy filling the upper view. I will move forward along this heading to keep reducing the remaining gap to the trunk.", + "The trunk has grown noticeably larger and the grated soil ring around its base is close to the bottom of my view. Another step forward should bring me right up beside the tree in the sunlit courtyard.", + "The trunk is very near on my left and the canopy is directly overhead, so I am nearly at the tree's base. I will take one more short step forward to settle beside the trunk and its grate rather than stopping short of it.", + "I am standing right at the tree, but the trunk has slipped out to my left edge and only the canopy and grate remain in view ahead. I will turn left so the trunk sits clearly in front of me, confirming I am positioned at the courtyard tree.", + "The sunlit courtyard tree's trunk stands directly in front of me at arm's length, with its grate at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_b/infos.json b/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..38bdd8b20b63062e6ca2c4aa009eac1ee406e00b --- /dev/null +++ b/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the window immediately beside the green door under the orange-and-white striped awning.", + "Type": 0, + "Start_Pose": [ + 2396.71, + 602.837, + 118.15, + 0.0, + -26.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2396.71, + 602.837, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 2508.971, + 545.933, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 2621.231, + 489.029, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 2733.492, + 432.126, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 2733.492, + 432.126, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2811.186, + 333.11, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2888.88, + 234.094, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2966.574, + 135.078, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 3044.268, + 36.063, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 3121.962, + -62.953, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 3121.962, + -62.953, + 118.15, + 0.0, + -76.88, + 0.0 + ], + [ + 3150.531, + -185.527, + 118.15, + 0.0, + -76.88, + 0.0 + ], + [ + 3178.708, + -277.766, + 118.15, + 0.0, + -76.88, + 0.0 + ], + [ + 3178.708, + -277.766, + 118.15, + 0.0, + -76.88, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the open paved square I can already pick out the striped awning stretched over the ground floor of the building on my left, which is where the green door and its neighbouring window should be. A wide stretch of empty paving separates me from that facade, so I will step forward to begin closing that gap. Moving straight ahead should also bring the shaded shopfront under the awning into clearer view.", + "The striped awning on the left building has grown slightly larger and the dark openings beneath it are becoming easier to distinguish. Nothing blocks the paving in front of me, so another forward step is the simplest way to keep reducing the distance. I expect the doorway and window details under the awning to resolve as I get nearer.", + "The awninged ground floor now sits along the left side of my view, with barred windows and a dark doorway beginning to separate from one another. I am still out in the middle of the square rather than beside that wall, so I will continue straight forward. Advancing further should put me level with the corner of that building before I turn toward it.", + "I have come far enough across the square that the building with the striped awning lies well off to my left, while my heading points into the open passage between the buildings. Turning left should swing that awninged facade, with its doorway and adjacent windows, toward the centre of my path. This heading change is what I need before walking along the wall.", + "After the turn the striped awning and the shaded shopfront beneath it now sit ahead and to my left, with clear paving running alongside them. I will step forward along this line to close on that ground-floor stretch. Getting nearer should let me tell the green door apart from the barred windows next to it.", + "The awninged wall is much closer now and I can make out a recessed dark doorway with grilled windows continuing to its right along the same facade. I am still a few paces short of standing beside those windows, so another forward step is warranted. Continuing should bring the specific door and its neighbouring window within easy reach.", + "Walking parallel to this wall keeps revealing more of the ground floor, and the shaded entrance under the striped awning is now clearly ahead on my left. Since the paving stays open in front of me, I will keep advancing rather than turning yet. A little more forward travel should place me beside the door and the window immediately next to it.", + "I can now see the green door tucked under the end of the striped awning on my left, with two barred windows set in the wall directly beside it. My body is still slightly short of those windows, so I will take another step forward along the facade. That should bring the window adjoining the green door level with me for a final turn toward it.", + "The barred windows on the pink wall to my left, sitting just past the dark green door under the striped awning, are the ones I need to reach, and open pavement still lies ahead of me. I will step forward again to close the remaining gap along this facade before I swing toward the window pair.", + "I am now level with the pink facade, and the two barred windows beside the green door sit off to my left rather than in front of me. I will turn left so my heading points squarely at that window pair before stepping closer.", + "With my turn complete, I can now see the two barred windows and the dark green door under the striped awning directly ahead of me on the pink wall. I will walk forward to shorten the remaining few steps to that window.", + "The barred window now fills most of my view, with its sill and stone surround close in front of me, so I am nearly at the wall. I will take one more short step forward to stand immediately at this window beside the green door.", + "The barred window and its stone surround are directly at arm's length in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_c/infos.json b/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf163717102089c35f6e1e85062e3d7268dd0358 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002397_y000603_z000118_t0_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Reach the wooden door beneath the awning.", + "Type": 0, + "Start_Pose": [ + 2396.71, + 602.837, + 118.15, + 0.0, + -26.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2396.71, + 602.837, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 2508.971, + 545.933, + 118.15, + 0.0, + -26.88, + 0.0 + ], + [ + 2508.971, + 545.933, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2586.665, + 446.917, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2664.359, + 347.902, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2742.053, + 248.886, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2819.747, + 149.87, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2897.441, + 50.854, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2975.135, + -48.161, + 118.15, + 0.0, + -51.88, + 0.0 + ], + [ + 2975.135, + -48.161, + 118.15, + 0.0, + -76.88, + 0.0 + ], + [ + 3003.704, + -170.735, + 118.15, + 0.0, + -76.88, + 0.0 + ], + [ + 3028.509, + -279.338, + 118.15, + 0.0, + -76.88, + 0.0 + ], + [ + 3028.509, + -279.338, + 118.15, + 0.0, + -76.88, + 0.0 + ] + ], + "Rationale": [ + "From the open square I can already pick out the red and white striped awning on the pink building to my left, with a dark recessed doorway under it. Nothing blocks the paving directly ahead, so I will move forward to close some of the gap and get a clearer look at that sheltered door.", + "The awning and the doorway beneath it sit well off to my left edge, while my heading points across the empty square toward the far buildings. I will turn left so the awning and its door move toward the middle of my view and give me a straight approach line.", + "With the turn done, the striped awning and the shaded entrance under it now sit ahead and slightly left instead of at the very edge. The pavement between me and that facade is clear, so I will move forward to start closing the distance.", + "The awning has grown noticeably larger and the dark door panel beneath it is now distinct at the left of my path. Since my heading still leads along that facade with nothing in the way, I will keep moving forward.", + "The shopfront under the striped awning fills more of my left view, and the doorway with its glazed upper panel is clearly the target beneath that shelter. I still have several body lengths of open paving to cross, so another forward step should shorten that gap.", + "The awning now spans much of the upper left of my view and the barred windows beside the door are legible, which tells me I am much closer but not yet at the entrance. I will move forward again to keep reducing the remaining distance.", + "The dark door under the awning is close enough that I can make out its frame and the shaded step in front of it, still slightly left of my heading. The way in is unobstructed, so I will advance once more toward that threshold.", + "The awning and the door beneath it now dominate my left side, and the facade with its barred windows is only a short distance ahead. I will take another step forward to pull nearly level with that sheltered entrance before I finish squaring up to it.", + "The dark wooden door under the striped awning has slid to the far left edge of my view, with the barred windows and wall now filling the center. I will turn left to bring the door back in front of me so my heading points straight at it before closing the last distance.", + "The wooden door with its glazed panel and awning above now sits near the center of my view, so my heading is lined up with the target. I will move forward to close the remaining gap along the building front.", + "The door now fills the left half of my view and its handle and lock are clearly visible, so I am close but not yet at contact range. I will move forward once more to finish arriving directly at the doorway.", + "The wooden door's handle and lock fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_a_p/infos.json b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a5411f7bd977d6d5aca442959fee9a36a11f7a46 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the jerry can from near the tree.", + "Type": 5, + "Start_Pose": [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2444.652, + 245.734, + 30.312, + 0, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + [ + 2651.775, + 877.024, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2647.032, + 751.255, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2642.288, + 625.485, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2642.288, + 625.485, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2584.836, + 513.504, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2527.385, + 401.523, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2527.385, + 401.523, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2527.385, + 401.523, + 118.15, + 0.0, + -117.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2444.652, + 245.734, + 30.312, + 0.0, + 90.0, + -0.0 + ], + [ + 2444.652, + 245.734, + 30.312, + 0.0, + 90.0, + -0.0 + ], + [ + 2444.652, + 245.734, + 30.312, + 0.0, + 90.0, + -0.0 + ], + [ + 2444.652, + 245.734, + 30.312, + 0.0, + 90.0, + -0.0 + ], + [ + 2444.652, + 245.734, + 30.312, + 0.0, + 90.0, + -0.0 + ], + [ + 2444.652, + 245.734, + 30.312, + 0.0, + 90.0, + -0.0 + ], + [ + 2444.652, + 245.734, + 30.312, + 0.0, + 90.0, + -0.0 + ], + [ + 2546.663, + 392.318, + 88.256, + -28.202, + -67.015, + 1.862 + ], + [ + 2546.663, + 392.318, + 88.256, + -28.202, + -67.015, + 1.862 + ] + ], + "PD_Dist_2D": [ + 786.1, + 664.4, + 544.5, + 428.1, + 428.1, + 302.2, + 176.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The task target is the jerry can standing at the base of the big tree across the paved square, and from here it is only a small reddish shape beside the trunk. Nothing blocks the open pavement between us, so I will walk straight ahead to close that distance.", + "The tree and the reddish can beside its trunk now fill more of my view, confirming my heading is good. The square in front of me is still clear, so I will keep walking forward toward the can.", + "The jerry can is now clearly recognizable at the left side of the tree trunk, but it is still several strides away and drifting toward my left. I will advance again to shorten the remaining gap before adjusting my heading.", + "The can has moved well off to the left edge of my view while my heading still points at the pink building ahead. Turning left should bring the can back near the center of my path so I can walk straight into grasping range.", + "The turn has put the jerry can near the middle of my view at the foot of the tree. The pavement between us is open, so I will step forward to close in on it.", + "The can now sits large and centered just ahead of the tree trunk, but it is still a stride or two beyond arm's reach. One more forward step should place me close enough to attempt the grasp.", + "The jerry can is directly in front of me at the base of the tree, filling the lower center of my view at arm's length. My hands are empty and nothing stands between us, so I will attempt to pick it up now.", + "The jerry can is now held in my hands rather than resting by the tree. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_a_pd/infos.json b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa86b538c6aabb1de2adc1aea2b3a11afb6d77c --- /dev/null +++ b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the ceramic pot, then set it down near the bench under the tree.", + "Type": 5, + "Start_Pose": [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2854.258, + 542.837, + 33.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + [ + 2656.519, + 1002.794, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2705.372, + 886.803, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2754.226, + 770.813, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2803.079, + 654.822, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2803.079, + 654.822, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2803.079, + 654.822, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2803.079, + 654.822, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2803.079, + 654.822, + 118.15, + 0.0, + -142.16, + 0.0 + ], + [ + 2703.685, + 577.612, + 118.15, + 0.0, + -142.16, + 0.0 + ], + [ + 2703.685, + 577.612, + 118.15, + 0.0, + -167.16, + 0.0 + ], + [ + 2580.973, + 549.642, + 118.15, + 0.0, + -167.16, + 0.0 + ], + [ + 2458.261, + 521.673, + 118.15, + 0.0, + -167.16, + 0.0 + ], + [ + 2335.55, + 493.703, + 118.15, + 0.0, + -167.16, + 0.0 + ], + [ + 2405.749, + 509.703, + 118.15, + 0.0, + -167.16, + 0.0 + ], + [ + 2405.749, + 509.703, + 118.15, + 0.0, + -167.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2854.258, + 542.837, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2854.258, + 542.837, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2854.258, + 542.837, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2854.258, + 542.837, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2854.258, + 542.837, + 33.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2822.522, + 663.673, + 88.256, + -28.202, + -17.015, + 1.862 + ], + [ + 2823.489, + 654.668, + 88.529, + -28.189, + -42.003, + 1.872 + ], + [ + 2820.957, + 645.474, + 87.862, + -28.215, + -67.032, + 1.849 + ], + [ + 2815.339, + 630.193, + 88.043, + -14.175, + -99.968, + 6.959 + ], + [ + 2717.361, + 561.195, + 88.482, + -28.198, + -92.015, + 1.865 + ], + [ + 2708.736, + 557.745, + 88.353, + -28.189, + -117.002, + 1.869 + ], + [ + 2586.668, + 529.043, + 88.736, + -28.205, + -117.025, + 1.859 + ], + [ + 2464.002, + 501.075, + 88.889, + -28.191, + -117.01, + 1.872 + ], + [ + 2341.125, + 473.078, + 88.664, + -28.206, + -117.022, + 1.863 + ], + [ + 2337.499, + 494.147, + 98.15, + 0.0, + -167.16, + 0.0 + ], + [ + 2337.499, + 494.147, + 98.15, + 0.0, + -167.16, + 0.0 + ] + ], + "PD_Dist_2D": [ + 500.7, + 500.7, + 374.8, + 249.0, + 123.1, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 20.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits well off to my right on the open pavement, while my heading points across the square toward the tree and bench. I will turn right to bring the pot in front of me so a straight walk can close the gap.", + "The pot now sits near the middle of my view with clear, flat paving between us and no obstruction in the way. I will walk forward to shorten the distance before attempting to grasp it.", + "The pot has grown noticeably larger and stays centered, confirming my heading is good, but it is still several paces away and too far to reach. I will step forward again to keep closing in.", + "The pot now fills a good part of the lower view and its rim and shadow are clearly resolved, yet it is still slightly ahead of arm's reach. One more step forward should place it directly at my feet for the pickup.", + "The pot's rim is right at the bottom edge of my view, meaning it is immediately in front of me and within reach. I will attempt to pick it up now so I can carry it toward the bench under the tree.", + "The grasp worked, and the ceramic pot is now held in my hands rather than resting on the pavement. The bench under the tree lies well behind my right shoulder from this heading, so I will turn left to begin swinging around toward it.", + "I am still carrying the pot, and my view shows only the awning and shopfronts of the pink building with no bench in sight. I will keep turning left to continue rotating toward the shaded side of the square where the bench stands.", + "The big tree and its planted base now dominate my view, and the red bench has just appeared at the far left edge. Another left turn should bring that bench closer to the center of my heading so I can walk straight to it.", + "The pot is secure in my hands and my heading now covers the shaded area where the wooden bench sits beneath the large tree. That destination is still several strides away across the open paving, so I will walk forward to carry the pot closer.", + "The bench under the tree sits off to my left, while my heading points more at the tree trunk and the building behind it. I will turn left so the bench lies straight ahead and my remaining approach stays direct.", + "The bench under the tree is now centered in front of me with clear paving between us. Still holding the pot, I will step forward to shorten that gap before choosing a place to set it down.", + "The bench has grown larger and stays squarely ahead, but I am not yet within easy reach of its side. I will advance another stride to bring the pot close enough to place beside it.", + "The bench now fills the lower part of my view, its backrest and legs clearly close. One more step forward should put me right alongside it, close enough to set the pot down near its base.", + "I am standing immediately at the bench under the tree, its rail right in front of me. The pot is still in my hands and this spot satisfies the requested placement, so I will release it here beside the bench.", + "The ceramic pot now stands on the pavement right beside the bench under the tree, no longer in my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_b_p/infos.json b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba474c3dc327ae1b453dbc677c5ce3ecd234583 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the trash bag from beside the bench on the left.", + "Type": 5, + "Start_Pose": [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2403.249, + 374.276, + 37.04, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + [ + 2651.775, + 877.024, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2651.775, + 877.024, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2594.324, + 765.043, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2536.872, + 653.062, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2479.42, + 541.081, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2479.42, + 541.081, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2479.42, + 541.081, + 118.15, + 0.0, + -117.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2403.249, + 374.276, + 37.04, + 0.0, + 0.0, + 0.0 + ], + [ + 2403.249, + 374.276, + 37.04, + 0.0, + 0.0, + 0.0 + ], + [ + 2403.249, + 374.276, + 37.04, + 0.0, + 0.0, + 0.0 + ], + [ + 2403.249, + 374.276, + 37.04, + 0.0, + 0.0, + 0.0 + ], + [ + 2403.249, + 374.276, + 37.04, + 0.0, + 0.0, + 0.0 + ], + [ + 2403.249, + 374.276, + 37.04, + 0.0, + 0.0, + 0.0 + ], + [ + 2498.698, + 531.876, + 88.256, + -28.202, + -67.016, + 1.862 + ], + [ + 2498.698, + 531.876, + 88.256, + -28.202, + -67.016, + 1.862 + ] + ], + "PD_Dist_2D": [ + 677.6, + 560.8, + 560.8, + 435.0, + 309.2, + 183.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The bench sits far off on the left side of the square with a dark bag resting on the pavement beside it, still too distant to reach. I will walk forward across the open paving to cut down that gap before adjusting my heading.", + "Moving forward brought me closer, but the bench and the bag beside it now sit at the extreme left edge of my view, nearly out of sight. I will turn left to bring the trash bag into the center of my heading before continuing.", + "The turn worked, and the bench with the dark trash bag beside it now sits centered ahead of me under the tree. I will walk straight forward along this clear paving to close the remaining distance.", + "The bag beside the bench is noticeably larger now, but it still sits well beyond arm's reach near the tree base. I will keep walking straight ahead since my heading remains lined up with it.", + "The trash bag now fills much of the lower center of my view beside the bench, yet it is still a stride away from grasping range. I will take one more step forward to stand directly over it.", + "The trash bag is right at my feet in front of me, beside the bench and clear of the tree base. Nothing blocks my hands, so I will attempt to pick it up now.", + "The trash bag is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_b_pd/infos.json b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe99bb6254b0ea2bd72f1d9f43921da9dd8bd5b --- /dev/null +++ b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_b_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the wicker basket under the tree, then leave it near the striped awning storefront.", + "Type": 5, + "Start_Pose": [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2483.065, + 248.577, + 52.43, + 90, + -90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + [ + 2651.775, + 877.024, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2647.032, + 751.255, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2642.288, + 625.485, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2637.544, + 499.716, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2637.544, + 499.716, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2580.093, + 387.734, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2580.093, + 387.734, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2580.093, + 387.734, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2580.093, + 387.734, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2628.947, + 271.744, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2677.801, + 155.754, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2726.655, + 39.764, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2775.51, + -76.227, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2824.364, + -192.217, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2796.416, + -125.863, + 118.15, + 0.0, + -67.16, + 0.0 + ], + [ + 2796.416, + -125.863, + 118.15, + 0.0, + -67.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2483.065, + 248.577, + 52.43, + 90.0, + -90.0, + 0.0 + ], + [ + 2483.065, + 248.577, + 52.43, + 90.0, + -90.0, + 0.0 + ], + [ + 2483.065, + 248.577, + 52.43, + 90.0, + -90.0, + 0.0 + ], + [ + 2483.065, + 248.577, + 52.43, + 90.0, + -90.0, + 0.0 + ], + [ + 2483.065, + 248.577, + 52.43, + 90.0, + -90.0, + 0.0 + ], + [ + 2483.065, + 248.577, + 52.43, + 90.0, + -90.0, + 0.0 + ], + [ + 2483.065, + 248.577, + 52.43, + 90.0, + -90.0, + 0.0 + ], + [ + 2599.371, + 378.53, + 88.256, + -28.202, + -67.015, + 1.862 + ], + [ + 2602.412, + 387.51, + 88.529, + -28.189, + -42.003, + 1.872 + ], + [ + 2600.91, + 396.336, + 87.862, + -28.215, + -17.032, + 1.849 + ], + [ + 2648.514, + 280.302, + 87.675, + -28.202, + -17.018, + 1.858 + ], + [ + 2697.308, + 164.452, + 87.937, + -28.208, + -17.018, + 1.852 + ], + [ + 2746.069, + 48.704, + 88.359, + -28.189, + -17.001, + 1.867 + ], + [ + 2794.805, + -67.037, + 88.74, + -28.207, + -17.025, + 1.857 + ], + [ + 2843.651, + -182.987, + 88.889, + -28.192, + -17.011, + 1.872 + ], + [ + 2823.587, + -190.374, + 83.15, + 90.0, + -67.16, + 0.0 + ], + [ + 2823.587, + -190.374, + 83.15, + 90.0, + -67.16, + 0.0 + ] + ], + "PD_Dist_2D": [ + 773.9, + 650.7, + 528.7, + 409.2, + 294.8, + 294.8, + 169.6, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket is visible far ahead, resting at the base of the large tree across the open paved square. Nothing blocks the straight line between me and it, so I will walk forward to begin closing that gap.", + "The tree and the basket at its foot are noticeably larger now, confirming my heading is correct. The pavement remains open, so another forward step should keep shrinking the distance to the basket.", + "The basket at the tree base is clearly resolved and slightly left of my centerline, still too far to reach. I will keep walking forward, since more ground must be covered before any grasp is plausible.", + "The tree now fills much of the upper view and the basket sits on the shaded patch ahead to my left, but it remains out of arm's reach. Another step forward should bring me into the zone where I can align and reach for it.", + "The basket has drifted to the lower left edge of my view while my heading points past it toward the storefront wall. I will turn left to bring the basket back to the center of my view so a straight approach lines up with it.", + "The basket now sits centered ahead against the tree trunk with clear pavement between us. I will step forward to close the last stretch so the basket falls within grasping range.", + "The wicker basket is directly in front of me at the foot of the tree, filling the lower part of my view at close range. My hands are empty and nothing stands between us, so I will attempt to pick it up now.", + "The grasp succeeded and the wicker basket is now held in my hands rather than resting on the paving. The striped awning storefront lies off to my right from this heading, so I will turn right to begin facing the delivery spot.", + "The basket is no longer resting at the tree base and stays with me as I turn, so the grasp held. The striped awning storefront sits ahead but still off to my right edge, so I will turn right again to put its entrance squarely in front of me before walking over.", + "The striped awning and its shop door are now centered ahead across the open paving, with the basket still in my hands. Nothing blocks the square between me and that facade, so I will walk straight toward the storefront to close the distance for setting the basket down.", + "The awning and the shop door have grown larger, confirming my heading is carrying the carried basket toward the right storefront. I am still several paces out on open pavement, so I will keep walking forward to close in on the drop area.", + "The striped awning now fills much of the upper view and the glazed shop door is clearly ahead, but I am not yet close enough to leave the basket right at the storefront. I will step forward again to bring myself alongside the entrance.", + "I am close to the striped awning storefront now, with the display window and door filling the view and the basket still in hand. A short further step should put me right at the shopfront where placing the basket clearly counts as near it.", + "The shopfront glass and door are directly in front of me under the striped awning, only a step of pavement remaining. I will advance once more so the basket can be set down right against this storefront rather than out in the open square.", + "I am now right against the shop window and door beneath the striped awning, as close to this storefront as I can stand. The basket is still in my hands, so I will release it here to leave it at the awning storefront as the task requires.", + "The wicker basket now rests on the pavement at the storefront under the striped awning. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_c_pd/infos.json b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e92b329ce091daffad31f6c455ae35f7bdb16f1e --- /dev/null +++ b/dataset/trajectory/Venice/task_x002657_y001003_z000118_t5_c_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the metal bucket, then drop it near the large tree.", + "Type": 5, + "Start_Pose": [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2354.258, + 632.837, + 38.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "TurnLeft", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2656.519, + 1002.794, + 118.15, + 0, + -92.16, + 0 + ], + [ + 2656.519, + 1002.794, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2599.067, + 890.813, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2541.616, + 778.832, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2541.616, + 778.832, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2484.164, + 666.85, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2484.164, + 666.85, + 118.15, + 0.0, + -142.16, + 0.0 + ], + [ + 2484.164, + 666.85, + 118.15, + 0.0, + -142.16, + 0.0 + ], + [ + 2484.164, + 666.85, + 118.15, + 0.0, + -117.16, + 0.0 + ], + [ + 2484.164, + 666.85, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2479.421, + 541.081, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2474.678, + 415.311, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2469.935, + 289.542, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2472.648, + 361.49, + 118.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2472.648, + 361.49, + 118.15, + 0.0, + -92.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2354.258, + 632.837, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2354.258, + 632.837, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2354.258, + 632.837, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2354.258, + 632.837, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2354.258, + 632.837, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2354.258, + 632.837, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2354.258, + 632.837, + 38.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2497.092, + 650.909, + 88.256, + -28.202, + -92.015, + 1.862 + ], + [ + 2503.538, + 657.828, + 88.529, + -28.189, + -67.003, + 1.872 + ], + [ + 2506.158, + 666.296, + 87.862, + -28.215, + -42.032, + 1.849 + ], + [ + 2500.772, + 540.567, + 87.675, + -28.202, + -42.018, + 1.858 + ], + [ + 2496.033, + 414.95, + 87.937, + -28.208, + -42.018, + 1.852 + ], + [ + 2491.308, + 289.44, + 88.359, + -28.189, + -42.001, + 1.867 + ], + [ + 2470.01, + 291.54, + 78.15, + 0.0, + -92.16, + 0.0 + ], + [ + 2470.01, + 291.54, + 78.15, + 0.0, + -92.16, + 0.0 + ] + ], + "PD_Dist_2D": [ + 477.7, + 477.7, + 355.6, + 237.5, + 237.5, + 134.3, + 134.3, + 20.5, + 21.4, + 22.0, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket sits at the far left edge of my view, almost out of sight beside the bench, while the large tree stands ahead of me. I will turn left so the bucket comes into the center of my view and I can walk straight toward it.", + "The bucket is now fully visible ahead of me, slightly left of center, but still far across the paved square. I will walk forward to close that distance before I can reach for it.", + "The bucket has grown noticeably larger in front of me, yet it is still several paces away and too distant to grasp. I will take another step forward to bring it within arm's reach.", + "The metal bucket now fills the lower left of my view, close enough that its rim is clearly detailed. I will try to pick it up from here, since it looks like it may already be within grasping range.", + "My hands are still empty, so that grasp did not take hold of the bucket. It must have been just beyond my reach. I will step forward to stand closer before trying again.", + "My hands are still empty after the earlier grasp attempt, and from here the metal bucket has slipped out of my view behind the bench area on the left. I need it framed in front of me before another attempt is worthwhile. I will turn left to swing the bucket back into view.", + "The metal bucket is now back in view at close range in the lower left of my field, well within arm's reach. My hands are still empty, so this is the moment to close on it. I will attempt the pick and expect to take hold of the bucket.", + "The grasp worked, and the metal bucket is now held in my hands rather than resting on the pavement. The large tree that must receive it is not ahead of my current heading but off to my right. I will turn right to begin bringing that tree into the front of my view.", + "Carrying the bucket, I can see the large tree with its broad trunk sitting toward the right edge of my view, still off my line of travel. One more turn in the same direction should place it near the center so I can walk straight at it. I will turn right again.", + "The large tree now stands centered ahead of me with its shaded base and open paving in between, and the bucket is still in my hands. The route across the square is clear of benches and other obstacles. I will walk forward to close the remaining distance to the trunk.", + "The bucket is still in my hands, moving with me as I walk, so the carry is holding. The large tree stands directly ahead across the open pavement, its trunk and shaded root grate centered in front of me. I will step forward again to close the remaining gap to it.", + "The trunk now fills much of my view and its base with the surrounding grate sits just ahead, but I am not yet standing at it. Carrying the bucket, one more step should bring me right against the tree base where releasing it counts as near the tree.", + "The trunk bark fills the center of my view at arm's reach, so I am standing right at the large tree with the bucket still in hand. This is the drop point the task asks for, so I will release the bucket here and expect it to settle beside the trunk.", + "The metal bucket rests on the pavement right at the base of the large tree, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_a/infos.json b/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c18085f8e87dfdc755bc06aef5fe4d083cb2f564 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Go to the orange tree trunk, then go to the yellow building's wooden door.", + "Type": 3, + "Start_Pose": [ + 2665.209, + 1290.681, + 118.15, + 0.0, + 56.64, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2665.209, + 1290.681, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + 2665.209, + 1290.681, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 2772.36, + 1356.704, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 2879.512, + 1422.727, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 2986.663, + 1488.751, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3093.815, + 1554.774, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3200.966, + 1620.797, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3308.118, + 1686.82, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3308.118, + 1686.82, + 118.15, + 0.0, + 6.64, + -0.0 + ], + [ + 3433.132, + 1701.373, + 118.15, + 0.0, + 6.64, + -0.0 + ], + [ + 3433.132, + 1701.373, + 118.15, + 0.0, + 6.64, + -0.0 + ], + [ + 3433.132, + 1701.373, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3433.132, + 1701.373, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + 3433.132, + 1701.373, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 3433.132, + 1701.373, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 3397.092, + 1821.962, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 3361.051, + 1942.55, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 3325.01, + 2063.138, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 3288.97, + 2183.727, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 3252.929, + 2304.315, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 3252.929, + 2304.315, + 118.15, + 0.0, + 131.64, + -0.0 + ], + [ + 3169.302, + 2398.374, + 118.15, + 0.0, + 131.64, + -0.0 + ], + [ + 3085.676, + 2492.433, + 118.15, + 0.0, + 131.64, + -0.0 + ], + [ + 3002.049, + 2586.491, + 118.15, + 0.0, + 131.64, + -0.0 + ], + [ + 2918.422, + 2680.55, + 118.15, + 0.0, + 131.64, + -0.0 + ], + [ + 2918.422, + 2680.55, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 2882.381, + 2801.139, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 2846.341, + 2921.727, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 2846.341, + 2921.727, + 118.15, + 0.0, + 106.64, + -0.0 + ] + ], + "Rationale": [ + "The tree with orange autumn leaves stands off at the left edge of my view, its trunk almost clipped by the border while the open square runs ahead of me. A small turn to the left should bring that trunk into the middle of my heading so I can walk straight at it.", + "The orange tree now rises near the center of my view, its trunk clearly separated from the buildings behind it. The paving between us is flat and unobstructed, so I will walk forward to close the distance to that trunk.", + "The trunk has grown a little larger and stays roughly straight ahead, which tells me my heading is still good. A considerable stretch of square still separates me from the tree, so I keep walking forward.", + "The canopy now spreads across the upper part of my view and the base of the trunk is visible above the paving. I am still several strides short of the tree, so I advance again.", + "The tree's circular grate around its base has come into sight just left of my heading, confirming I am aimed at the right trunk. Distance remains, so I take another step forward toward it.", + "The trunk is noticeably thicker in my view and the patterned grate at its foot is plainly laid out ahead and to my left. Nothing stands in the way, so I keep walking toward the tree.", + "The trunk now fills a tall band of my view and its grated surround begins close to my feet, so only a short stretch of paving remains. I will step forward again to come right up to the trunk.", + "Closing in has pushed the thick trunk over to the left side of my view rather than straight ahead. A turn to the left should square my heading back onto the trunk before I make the final step to it.", + "The orange tree's thick trunk now fills the center of my view, with its paved root ring spreading just ahead of my feet. I am a stride short of standing at the trunk itself, so I will walk forward once more to close that last gap.", + "The bark of the orange-leaved tree rises directly in front of me and its root grating lies at my feet, so nothing separates me from the trunk any more. I have arrived at this tree trunk. I mark reaching it and now set off for the wooden door on the yellow building.", + "From this spot at the trunk I see only the pink facade with its shuttered windows, and no yellow wall anywhere in front of me. I will turn right to swing my view around the square and search for the yellow building and its wooden door.", + "The trunk has slid toward my left and the same pink wall with its garage-like shutters still occupies my heading. No yellow facade has come into view yet, so I will keep turning right to bring more of the square in front of me.", + "The tree is nearly out of my view now and I am looking at the corner where the pink block meets a pale yellow facade just entering at my right edge. Another right turn should bring that yellow wall toward the middle of my view where I can pick out its door.", + "The yellow building now stands in the right half of my view, and a wooden door is visible at its ground floor between the barred windows. It is still off to the side of my heading, so one more turn right should place that door in front of me.", + "The yellow facade is now centered in my view and its wooden door sits at ground level, straight ahead across open paving. With my heading set on it, I will walk forward to begin closing that distance.", + "The yellow wall and its wooden door have grown larger and remain slightly right of center as I face them. A good stretch of paving still lies between us, so I will keep walking forward toward that door.", + "The pale yellow facade now dominates my view, and the plain wooden door sits in its ground floor between the barred windows, still well across the open paving. The square in front of me is clear of obstacles, so I walk forward to cut down that distance.", + "The wooden door on the yellow wall has grown noticeably and sits just right of my heading, confirming I am closing on it. The paving ahead stays clear, so I keep walking forward.", + "The yellow wall and its wooden door keep filling more of my view, with the striped awning and the corner to the right marking the far edge of the square. There is still a stretch of open paving before the doorway, so I advance again.", + "The wooden door sits off to the right of where I am pointed, so holding this heading would carry me along the yellow wall and past it. I turn right to swing my heading toward the doorway and the open ground directly in front of it.", + "After the turn the wooden door on the yellow wall is comfortably inside my view, with clear paving running straight toward it. I walk forward to close the remaining distance.", + "The doorway is clearly larger now, its frame and the neighboring barred windows sharpening as I near the yellow wall. Nothing stands between me and it, so I continue walking forward.", + "The wooden door and its stone surround are close enough that I can make out the panel and handle, though a few paces of paving still separate us. I step forward again to bring myself right up to it.", + "The yellow wall now looms in front of me and the wooden door stands to my left with its handle and plate plainly visible. A short stretch of paving remains, so I walk forward to draw level with the doorway.", + "The pale wooden door in the yellow wall is now close, but it sits far over on my left edge while my heading points at the corner and the awning. I will turn left so the doorway comes into the middle of my view and I can walk straight at it.", + "The wooden door on the yellow wall is now centered ahead, flanked by its barred windows, and the pavement in front of it is clear. I will walk forward to close the remaining gap to the doorway.", + "The door fills much more of my view now, with its handle and nameplate clearly visible, yet I am still a stride or two short of standing at it. One more step forward should bring me right up to the threshold.", + "The yellow building's wooden door fills my view at arm's length, its brass knob directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_b/infos.json b/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0d09f13066d6374a69673bfae93ff5289480442a --- /dev/null +++ b/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_b/infos.json @@ -0,0 +1,376 @@ +{ + "Instruction": "Go to the yellow building's door, then go to the orange tree trunk.", + "Type": 3, + "Start_Pose": [ + 2665.209, + 1290.681, + 118.15, + 0.0, + 56.64, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2665.209, + 1290.681, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + 2665.209, + 1290.681, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2683.508, + 1415.203, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2701.807, + 1539.724, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2720.106, + 1664.246, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2738.405, + 1788.768, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2756.704, + 1913.289, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2775.003, + 2037.811, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2793.302, + 2162.332, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2811.6, + 2286.854, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2829.899, + 2411.376, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2848.198, + 2535.897, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2866.497, + 2660.419, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2866.497, + 2660.419, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 2830.457, + 2781.007, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 2830.457, + 2781.007, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2848.756, + 2905.529, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2848.756, + 2905.529, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2848.756, + 2905.529, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + 2848.756, + 2905.529, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 2848.756, + 2905.529, + 118.15, + 0.0, + 6.64, + -0.0 + ], + [ + 2848.756, + 2905.529, + 118.15, + 0.0, + -18.36, + 0.0 + ], + [ + 2848.756, + 2905.529, + 118.15, + 0.0, + -43.36, + 0.0 + ], + [ + 2940.262, + 2819.117, + 118.15, + 0.0, + -43.36, + 0.0 + ], + [ + 3031.768, + 2732.705, + 118.15, + 0.0, + -43.36, + 0.0 + ], + [ + 3123.275, + 2646.292, + 118.15, + 0.0, + -43.36, + 0.0 + ], + [ + 3123.275, + 2646.292, + 118.15, + 0.0, + -68.36, + 0.0 + ], + [ + 3169.688, + 2529.304, + 118.15, + 0.0, + -68.36, + 0.0 + ], + [ + 3216.101, + 2412.315, + 118.15, + 0.0, + -68.36, + 0.0 + ], + [ + 3262.515, + 2295.327, + 118.15, + 0.0, + -68.36, + 0.0 + ], + [ + 3308.928, + 2178.339, + 118.15, + 0.0, + -68.36, + 0.0 + ], + [ + 3355.342, + 2061.35, + 118.15, + 0.0, + -68.36, + 0.0 + ], + [ + 3355.342, + 2061.35, + 118.15, + 0.0, + -43.36, + 0.0 + ], + [ + 3446.848, + 1974.938, + 118.15, + 0.0, + -43.36, + 0.0 + ], + [ + 3538.355, + 1888.526, + 118.15, + 0.0, + -43.36, + 0.0 + ], + [ + 3538.355, + 1888.526, + 118.15, + 0.0, + -43.36, + 0.0 + ] + ], + "Rationale": [ + "The yellow building sits to the right of the pink facade, and its pale entrance door is off toward the right edge of my view, partly screened by the orange foliage overhead. I will turn right to bring that yellow wall and its door in front of me before walking out across the open square.", + "The yellow building now faces me across the square, with its tan door standing between the barred ground-floor windows. The paving ahead is clear and open, so I will step forward to begin closing the gap toward that door.", + "The yellow wall has grown wider in front of me and the tan door remains squarely ahead, so my heading still serves. Nothing blocks the flat paving between us, and I will walk forward again.", + "The door on the yellow facade is still lined up with my path and the windows on either side of it are becoming easier to distinguish. The distance is still considerable, so I will keep walking straight toward it.", + "The corner where the yellow building meets the pink one is opening up on my right, and the tan door stays fixed slightly right of center. My heading needs no correction yet, so I will advance again.", + "The balconies and upper windows of the yellow building now fill much of my view, which tells me I am noticeably closer. The door remains directly on my line, so another step forward continues the approach.", + "The ground-floor windows and the tan door are large and clear now, with the striped awning on the neighboring wall visible to my right. There is still open pavement between me and the entrance, so I will keep moving toward it.", + "The yellow wall now spans nearly my whole view and the tan door sits just right of center, framed in its stone surround. I am close but not yet at the threshold, so I will walk forward once more.", + "The pale yellow facade now fills my view and its wooden door sits just right of center at ground level, still some distance off across the open paving. Nothing blocks the stretch of stone between me and that wall, so I will keep walking straight to close the gap.", + "The yellow wall has grown larger and the wooden door is now clearly framed slightly right of my heading, with barred windows on either side. The paving in front stays open, so another step forward should bring me nearer to that doorway.", + "The wooden door is close enough now that I can make out its frame and the small plate on its upper panel. It still lies a short walk ahead and just off my centerline, so I keep advancing across the flagstones.", + "The yellow wall now occupies nearly the whole view and the door with its handle sits a couple of paces ahead, marginally right of my heading. One more step forward should put me at the threshold distance I need.", + "I am right up against the yellow facade, but the wooden door has drifted to the right edge of my view rather than sitting in front of me. Turning right should bring the doorway back toward the middle of my heading before I step in.", + "The turn has brought the wooden door back near the center of my view, framed in pale stone between the barred windows. With the way clear, I will step forward to close the last of the distance to it.", + "Standing this close, the doorway now sits left of my centerline with the wall and window filling the right of my view. A small turn left should square me up on the door itself.", + "The wooden door is now squarely ahead of me, its handle and plate plainly visible only a step away. I will move forward to bring myself right up to it.", + "The wooden door of the yellow building fills my view at arm's length, its brass knob and nameplate right in front of me. I have arrived at this door. I mark reaching it and turn my attention to the orange-leaved tree out in the square, which I am heading for next.", + "Standing this close to the door, the yellow wall blocks nearly everything, so I cannot see the open square or any tree from here. I will turn left to swing my view off the facade and back toward the paved area behind me.", + "The view has slid along the barred window and the yellow wall, but I am still facing masonry with no open square in sight. Another left turn should keep rotating me away from the building toward the paving where the orange tree stands.", + "The wall now runs away to my right and a strip of paving with a pink building has opened on the left, so I am partway around. I will turn left again to bring more of the open square into view and search for the orange-leaved tree.", + "More of the square is opening up on the left, with the pink facades and awnings across the paving, yet no orange tree is in my heading yet. I will keep turning left to bring the open ground fully in front of me.", + "An orange-crowned tree has come into view at the far left of the square while the yellow wall still crowds my right. One more left turn should place that tree near the centre of my heading so I can walk straight at it.", + "The tree with the orange crown now stands ahead of me across the open paving, with clear ground between us. I will walk forward to close that distance toward its trunk.", + "The orange tree has grown larger and its grey trunk is clearly visible ahead, slightly left of my heading. The paving stays clear, so I will keep stepping forward to close on it.", + "The tree with orange foliage in the middle of the square stands ahead and slightly left, still a good distance off across open paving. Nothing interrupts that line, so I walk forward to close on its trunk.", + "The orange tree is much nearer now, but its trunk sits off to the left of my view while my heading points at the pink facade behind it. I turn left so the trunk lines up with the direction I am walking.", + "The turn brought the orange tree's trunk into the middle of my view, with unobstructed paving stretching to it. I step forward along that line to shrink the remaining distance.", + "The orange tree's trunk stays centered ahead and its canopy now spreads across the upper part of my view, so I am gaining on it. I keep walking straight toward it.", + "I can now make out the dark grated square set into the paving around the base of the orange tree, which marks exactly where the trunk meets the ground. That patch is still several strides off, so I advance again.", + "The trunk of the orange tree is thickening in my view and its grated surround is clearly ahead of me. The path stays clear, so I keep stepping toward it.", + "The orange tree's trunk now rises tall in front of me with its grated base only a short walk away. I move forward once more to bring myself right up beside it.", + "At this range the trunk of the orange tree has drifted to the right side of my view, so walking straight would carry me past it. I turn right to put the trunk back in front of me.", + "The tree with the orange canopy now sits squarely ahead of me, its thick trunk rising from the dark paved bed in the middle of my view. Nothing blocks the open stones between us, so I walk forward to close the remaining gap to that trunk.", + "The trunk of the orange tree now fills much of my view, with its paved bed spread just in front of my feet. I am close but not yet beside it, so I take another step forward to stand right at the trunk.", + "The orange tree's trunk stands directly before me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_c/infos.json b/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..966d1a76c1c13b62aac40a296db884fe42473439 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002665_y001291_z000118_t3_c/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Go to the yellow building's wooden door, then go to the pink building's garage door.", + "Type": 3, + "Start_Pose": [ + 2665.209, + 1290.681, + 118.15, + 0.0, + 56.64, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2665.209, + 1290.681, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + 2734.419, + 1395.802, + 118.15, + 0.0, + 56.64, + -0.0 + ], + [ + 2734.419, + 1395.802, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2752.718, + 1520.324, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2771.016, + 1644.846, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2789.315, + 1769.367, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2807.614, + 1893.889, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2825.913, + 2018.411, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2844.212, + 2142.932, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2862.511, + 2267.454, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2880.81, + 2391.976, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2899.109, + 2516.497, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2917.408, + 2641.019, + 118.15, + 0.0, + 81.64, + -0.0 + ], + [ + 2917.408, + 2641.019, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 2881.367, + 2761.607, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 2845.327, + 2882.196, + 118.15, + 0.0, + 106.64, + -0.0 + ], + [ + 2811.449, + 2966.507, + 119.449, + 0.0, + 106.64, + -0.0 + ], + [ + 2811.449, + 2966.507, + 119.449, + 0.0, + 106.64, + -0.0 + ], + [ + 2811.449, + 2966.507, + 119.449, + 0.0, + 81.64, + -0.0 + ], + [ + 2811.449, + 2966.507, + 119.449, + 0.0, + 56.64, + -0.0 + ], + [ + 2811.449, + 2966.507, + 119.449, + 0.0, + 31.64, + -0.0 + ], + [ + 2811.449, + 2966.507, + 119.449, + 0.0, + 6.64, + -0.0 + ], + [ + 2811.449, + 2966.507, + 119.449, + 0.0, + -18.36, + 0.0 + ], + [ + 2930.445, + 2926.054, + 118.15, + 0.0, + -18.36, + 0.0 + ], + [ + 3049.897, + 2886.41, + 118.15, + 0.0, + -18.36, + 0.0 + ], + [ + 3169.35, + 2846.767, + 118.15, + 0.0, + -18.36, + 0.0 + ], + [ + 3288.802, + 2807.123, + 118.15, + 0.0, + -18.36, + 0.0 + ], + [ + 3408.254, + 2767.479, + 118.15, + 0.0, + -18.36, + 0.0 + ], + [ + 3408.254, + 2767.479, + 118.15, + 0.0, + 6.64, + -0.0 + ], + [ + 3408.254, + 2767.479, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3515.406, + 2833.502, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3622.557, + 2899.525, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3729.709, + 2965.548, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3836.86, + 3031.571, + 118.15, + 0.0, + 31.64, + -0.0 + ], + [ + 3836.86, + 3031.571, + 118.15, + 0.0, + 6.64, + -0.0 + ], + [ + 3961.875, + 3046.125, + 118.15, + 0.0, + 6.64, + -0.0 + ], + [ + 3961.875, + 3046.125, + 118.15, + 0.0, + 6.64, + -0.0 + ] + ], + "Rationale": [ + "Across the open plaza I can pick out the yellow building on the right side of the square, with a pale wooden door set into its ground floor between barred windows. Nothing blocks the paved ground ahead, so I walk forward to cut the distance to that facade before refining my heading.", + "The wooden door on the yellow wall sits off to my right, while my current heading points more at the pink block and the tree on the left. I turn right so that yellow facade and its door move toward the middle of my view for a straight approach.", + "The turn has brought the yellow building's wooden door into the center of my view, framed between the pink wall on the left and the shaded arcade on the right. With the heading now good, I step forward across the open paving toward that door.", + "The yellow wall and its wooden door are growing larger and remain almost straight ahead of me. Since my heading still lines up with the door, I keep walking forward rather than spending a turn.", + "The wooden door is now clearly framed by the yellow ground-floor windows and stands only slightly right of my center line. The plaza between us is empty, so another forward stride should close more of that gap.", + "The yellow building now fills much of my view and the wooden door is plainly readable at ground level. I am still too far to treat this as arrival, so I continue advancing straight at it.", + "The door on the yellow wall keeps its place near my center as the ground-floor windows spread wider across my view. There is still open paving before the building, so I take another step forward.", + "I am close enough now to see the panel detail of the wooden door and its stone surround on the yellow wall. The approach is still straight and unobstructed, so I keep moving forward to reach the doorway itself.", + "The pale wooden door in the yellow facade sits just right of center and its frame is still small in my view, so I have distance to cover. I will keep walking straight across the open pavement toward it.", + "The yellow wall now fills most of my view and the wooden door is clearly larger than a moment ago, confirming I am closing on it. Nothing blocks the paving ahead, so I will step forward again.", + "The wooden door and its stone surround are now plainly resolved just right of my heading, but I am still several paces off the wall. I will advance again to shorten that gap.", + "The door's panel, letter slot and handle are readable now, so I am close, yet the threshold still lies ahead of my feet. Another step forward should bring me right up against the yellow building's wall.", + "I am nearly at the yellow wall, but the wooden door sits off to my right rather than straight ahead of me. I will turn right to put the doorway squarely in front before continuing.", + "The wooden door is now centered ahead with its frame square to me, so my heading is right. I will walk straight in toward it.", + "The door panel now dominates my view and the flanking barred windows have slid to the edges, meaning only a short gap remains. I will step forward once more to stand at the threshold.", + "The wooden door's brass knob and letter slot fill my view at arm's-length scale, so I am directly before it. A final short step should bring me right against the doorway.", + "The wooden panel of the yellow building's door fills my whole view, with its brass knob at the top edge, so I am standing right against it. I have reached the yellow building's wooden door, and I mark reaching it before turning away toward the pink building's garage door.", + "Pressed this close to the yellow door, I see nothing but its wooden face and cannot pick a route. I will turn left to swing my view off the wall and start hunting for the pink building with the garage door.", + "The turn has only shifted the brass knob into the middle of my view, so I am still facing flat wood. I will keep turning left to bring the open square and the buildings around it back into sight.", + "A pale stone reveal and a dark edge of the door frame have appeared at the left of my view, so the wall is finally sliding aside. Another left turn should open more of the square and let me spot the pink building's garage door.", + "Past the window reveal on my left I can now see paving and a pink facade across the square, though the yellow wall still blocks most of the frame. I will turn left again to clear the wall and get the pink building fully in view.", + "The square is open on my left with a pink building carrying shuttered ground floor openings, but I am still angled along the yellow wall beside me. One more left turn should point me across the open paving toward that pink facade.", + "I am now facing out across the open paved square, with the pink building and its row of ground floor openings ahead and to my left. Nothing blocks the paving in front of me, so I will walk forward to close the distance toward it.", + "The pink building has grown larger and its ground level shutters are clearer, confirming my heading across the square is good. I will keep walking forward over the clear paving to get near enough to pick out its garage door.", + "The pink block rises across the open square on my right, and beyond its corner I can make out the ground floor shutters of the neighbouring facades. Nothing blocks the paving between us, so I walk straight ahead to cut down that distance before I look for its garage door.", + "The pink wall now fills more of my view on the right and its window details are sharpening, confirming I am closing on it. I am still out in the open square, so another step forward keeps bringing me toward its ground level frontage.", + "The pink building's corner and its barred ground floor window are close on my right, but the shuttered opening I want is not yet in front of me. I continue walking forward so I can come level with that corner and see what lies along its face.", + "I have drawn level with the pink building, and its frontage runs off to my right where a dark shuttered bay edges into view. Walking on would carry me past it, so I turn right to swing my heading onto that face.", + "The turn has brought the pink building's frontage into view, and I can now see a wide rolling shutter with a glazed entrance beside it toward the right of my view. It is still off-centre, so I turn right again to put that garage opening squarely in front of me.", + "The pink building's rolling shutter garage now sits ahead of me with clear paving in between. I walk forward to close on it rather than judging it from across the corner.", + "The metal shutter and its dark lintel are noticeably larger and I can already pick out the ribbing of the panels. I am still several paces short of the pink wall, so I keep walking straight toward the garage opening.", + "The pink building's shutter now dominates the left half of my view, with the glazed door and a second entrance beside it. A little more ground remains before I stand at the garage itself, so I advance again.", + "The pink building's rolling garage shutter now fills the left half of my view, with its glass entrance door beside it, so I am nearly at the right frontage. I will step forward again to draw level with the shutter before turning toward it.", + "I am now abreast of the pink building's garage shutter, but it lies off to my left while I face along the wall. I will turn left so the shutter sits squarely ahead of me for a straight final approach.", + "The corrugated garage shutter of the pink building is centered ahead within its concrete frame, directly in my path. A short step forward should bring me right up to it.", + "The pink building's garage shutter fills my view at arm's length. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x002938_y000086_z000118_t1_a/infos.json b/dataset/trajectory/Venice/task_x002938_y000086_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53c149f3f66eed53c0e633576403811002f7bb51 --- /dev/null +++ b/dataset/trajectory/Venice/task_x002938_y000086_z000118_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Determine where the round stone platform sits in the center of the plaza, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 2937.995, + 85.792, + 118.15, + 0.0, + 9.76, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2937.995, + 85.792, + 118.15, + 0.0, + 9.76, + -0.0 + ], + [ + 2937.995, + 85.792, + 118.15, + 0.0, + 34.76, + -0.0 + ], + [ + 2937.995, + 85.792, + 118.15, + 0.0, + 59.76, + -0.0 + ], + [ + 3001.381, + 194.525, + 118.15, + 0.0, + 59.76, + -0.0 + ], + [ + 3001.381, + 194.525, + 118.15, + 0.0, + 84.76, + -0.0 + ], + [ + 3012.875, + 319.858, + 118.15, + 0.0, + 84.76, + -0.0 + ], + [ + 3024.369, + 445.191, + 118.15, + 0.0, + 84.76, + -0.0 + ], + [ + 3035.864, + 570.524, + 118.15, + 0.0, + 84.76, + -0.0 + ], + [ + 3047.358, + 695.857, + 118.15, + 0.0, + 84.76, + -0.0 + ], + [ + 3058.853, + 821.19, + 118.15, + 0.0, + 84.76, + -0.0 + ], + [ + 3058.853, + 821.19, + 118.15, + 0.0, + 84.76, + -0.0 + ] + ], + "Rationale": [ + "From here the plaza is largely hidden behind the big leafy tree and the long pink facade directly ahead, and I see no round stone platform anywhere in this view. I will turn right to sweep my heading toward the more open paving on that side and look for the plaza's central monument.", + "The turn has opened up a wider stretch of the square, and at the far right edge I can just catch a pale stone shape near the buildings that could be the platform I am looking for. I will turn right once more to bring that candidate fully into the middle of my view before committing to any approach.", + "Now I can clearly see a low, round stone drum sitting on the open paving to the right of center, with a small column beside it, which matches the round platform in the middle of the plaza. The paving between us is flat and unobstructed, so I will walk forward to close distance on it.", + "The round stone platform is noticeably larger now but still sits off to the right of my heading, so walking straight ahead would carry me past it. I will turn right to line my body up with it before continuing.", + "The turn has brought the round stone platform close to the center of my view, with its circular base and the small pillar beside it plainly visible. With the heading now committed, I will step forward across the open paving toward it.", + "The platform has grown in my view and remains centered, so my heading is still good and no adjustment is needed. I will keep walking forward to shorten the remaining gap.", + "The round stone platform now fills much of the lower center of my view, with its circular stone step clearly separated from the paving. I am still a few strides short of standing at it, so I will continue forward.", + "I am close enough to read the carved scrollwork on the stone drum, and its round base occupies the bottom of my view, but a short strip of paving still lies between us. I will take another step forward to bring myself right up to the platform.", + "The round stone platform now fills the lower center of my view, squarely on my heading with clear paving in front of me. It is still a short distance off, so I will take one more step forward to close the final gap and stand right at its rim.", + "The round stone platform is directly in front of me, filling the near view at its base. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003157_y000886_z000124_t0_a/infos.json b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2d836caf5ceabd3236de035aeda1774646274987 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the large orange autumn tree at the edge of the cobblestone plaza.", + "Type": 0, + "Start_Pose": [ + 3156.646, + 885.708, + 124.079, + 0.0, + 29.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 29.76, + -0.0 + ], + [ + 3265.906, + 948.18, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3265.906, + 948.18, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3338.527, + 1050.975, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3411.148, + 1153.769, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3483.769, + 1256.564, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3483.769, + 1256.564, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3506.143, + 1380.418, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3528.517, + 1504.272, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3550.891, + 1628.126, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3550.891, + 1628.126, + 118.15, + 0.0, + 79.76, + -0.0 + ] + ], + "Rationale": [ + "The large orange autumn tree is clearly visible at the right edge of the cobblestone plaza, standing in its own grate beside the pink building. It is still far off across the open paving, so I will move forward over the open stones to begin closing that distance.", + "After advancing, the orange tree sits well off to my right while my heading points along the building facade instead of at it. I will turn right to bring the tree closer to the center of my view before continuing.", + "The turn has brought the orange tree and its trunk into the middle of my view, with clear paving between me and its base. I will move forward along this heading to shorten the remaining distance across the plaza.", + "The tree's canopy now fills more of my upper view and its trunk is noticeably larger, so my heading is still carrying me toward it. I will keep moving forward to close the remaining gap.", + "The trunk and its surrounding grate are now plainly ahead of me at short range, and the crown spreads over most of the upper view. Another forward step should bring me right up to the edge of the tree's base.", + "At this range the trunk has drifted toward the right side of my view while the plaza opens to the left, so I am not squarely facing the tree. I will turn right to recenter the trunk before stepping in the last of the way.", + "The trunk is now centered in front of me with its grate directly ahead on the paving. I will move forward to arrive at the foot of the tree.", + "I am very close now, with the thick trunk and the dark grate filling the lower center of my view and branches overhead. One more forward step should place me at the tree's edge, close enough to stand at it.", + "The orange autumn tree's trunk now rises directly ahead of me and its circular paving grate is entering the lower part of my view, so only a short gap remains. I will step forward once more to close that last distance and stand at the base of the tree at the plaza's edge.", + "The large orange autumn tree's trunk stands immediately in front of me, with its base grate at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003157_y000886_z000124_t1_a/infos.json b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c9393a7d8f347d494849bae6719e9667643a0d8 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t1_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Search the surrounding area for the shop entrance marked by a red-and-white striped awning, then move to that location.", + "Type": 1, + "Start_Pose": [ + 3156.646, + 885.708, + 124.079, + 0.0, + 29.76, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 29.76, + -0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 54.76, + -0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 79.76, + -0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 104.76, + -0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 129.76, + -0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 154.76, + -0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 179.76, + -0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + -155.24, + 0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + -130.24, + 0.0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + -105.24, + 0.0 + ], + [ + 3123.562, + 764.275, + 118.15, + 0.0, + -105.24, + 0.0 + ], + [ + 3090.479, + 642.842, + 118.15, + 0.0, + -105.24, + 0.0 + ], + [ + 3057.395, + 521.409, + 118.15, + 0.0, + -105.24, + 0.0 + ], + [ + 3024.311, + 399.976, + 118.15, + 0.0, + -105.24, + 0.0 + ], + [ + 2991.228, + 278.543, + 118.15, + 0.0, + -105.24, + 0.0 + ], + [ + 2958.144, + 157.11, + 118.15, + 0.0, + -105.24, + 0.0 + ], + [ + 2925.06, + 35.677, + 118.15, + 0.0, + -105.24, + 0.0 + ], + [ + 2891.977, + -85.756, + 118.15, + 0.0, + -105.24, + 0.0 + ], + [ + 2891.977, + -85.756, + 118.15, + 0.0, + -80.24, + 0.0 + ], + [ + 2913.313, + -209.793, + 118.15, + 0.0, + -80.24, + 0.0 + ], + [ + 2932.248, + -277.904, + 118.15, + 0.0, + -80.24, + 0.0 + ], + [ + 2932.248, + -277.904, + 118.15, + 0.0, + -55.24, + 0.0 + ], + [ + 2932.248, + -277.904, + 118.15, + 0.0, + -55.24, + 0.0 + ] + ], + "Rationale": [ + "From my starting spot the pink facade ahead only carries green and white striped window awnings, which do not match the red and white shop awning I am told to find. I am standing still in an open square with unseen frontages behind me on both sides, so a rotation is the cheapest way to widen my search. I will turn right to begin sweeping the surrounding shopfronts.", + "The new heading brings a large orange tree and a yellow building into view, and the shutters and doorways there still show no red and white striped awning. The ground level of this stretch is plain, so nothing here matches the shop entrance. I will keep rotating right to bring the next section of the square into view.", + "This angle shows the yellow facade across the square and the stone rim of a wellhead entering on my right, but no striped shop awning anywhere along the visible ground floors. The wellhead also blocks part of the pavement to my right, hiding whatever lies beyond it. I will continue turning right to look past it at the unexamined side of the square.", + "The wellhead now fills the lower half of my view and the facades I can still see, yellow and pale, carry no red and white striped awning. Trees on the right edge hint at a further part of the square I have not inspected. I will turn right again to keep the visual sweep going.", + "Turning has revealed benches and more trees along the far side of the square, yet none of the shopfronts under them shows the red and white striped awning I am searching for. The sweep is still uncovering new frontage with every step, so it is worth continuing. I will turn right once more to expose the next stretch.", + "The square opens up further on this heading, with benches and a long row of ground-floor openings, but nothing striped in red and white stands out. The buildings at the far end are small and partly shaded, so the target is more likely on a nearer frontage I have yet to face. I will keep rotating right to check it.", + "This view shows a bright green tree and the pale building beside it, whose shutters and garage-like openings carry no awning at all. A reddish wall is just entering the right edge of my view, and I cannot yet see what its ground floor looks like. I will turn right to bring that frontage fully into view.", + "The benches and the pale facade in front of me still offer no red and white striped awning, and the corner building on my right remains mostly cut off by the edge of my view. That unexamined corner is the most promising remaining candidate in this sweep. I will turn right again to face it directly.", + "Sweeping my view across the square has finally brought a red-and-white striped awning into sight, mounted over a shopfront on the pink building to my right. It sits well off to the side of my heading, so I will turn right once more to bring it toward the center of my view before committing to any approach.", + "The striped awning over the shopfront now sits near the middle of my view, so the search part of the task is settled and I can commit to closing distance. The paving ahead is clear of benches and trees along this line, so I will step forward toward the awning.", + "The awning and the recessed shop entrance beneath it have grown larger and remain slightly right of center, confirming my heading is good. I will keep walking straight since the distance is still considerable and nothing blocks the route.", + "The striped canopy and the shaded storefront under it are clearly resolved now, still lined up with my direction of travel. Another stride forward should continue reducing the gap to that entrance.", + "I can now make out the dark panelled doors set back under the red-and-white awning, which confirms this is the shop entrance I was told to find. The approach lane is still open, so I will continue walking straight at it.", + "The entrance under the striped awning fills much more of my view and sits just right of center, so I am on a good line. I will step forward again to get properly close to the doorway rather than stopping out in the square.", + "The shop's glass door and display window under the awning are close enough to read in detail, but I am still a few paces out from the threshold. I will keep advancing to bring myself right up to the entrance.", + "The striped awning now overhangs the top of my view and the shop's door and window are directly in front of me, so I am nearly at the marked entrance. One more step forward should place me at the storefront itself.", + "The red-and-white striped awning now fills the upper part of my view, with the shop's glazed front and its door panel directly ahead of me. Since the target is confirmed and unobstructed, I will keep walking straight to close the last stretch of pavement toward the entrance.", + "I am now right under the striped awning, but my heading points at the large display window while the entrance door sits off to my right edge. A single turn to the right should bring the doorway itself into the center of my view before I step in closer.", + "The turn worked, and the glass entrance door with its handle is now framed just right of center beneath the striped awning. I will walk forward to close the remaining gap and stand at the shop entrance.", + "I am very close now, with the door's glass panel and its brass handle and lock filling the right of my view. A short final step forward should place me right at the threshold of the shop entrance.", + "Standing at the storefront, my view is split between the window pane and the door edge, so I am not squarely facing the entrance. I will turn slightly right to square up with the door before confirming that I have reached the marked shop entrance.", + "I am standing directly at the shop's glass entrance door, its handle and lock within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003157_y000886_z000124_t2_a/infos.json b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7102e96bb5e56d4cfd52024b5f47ad4bc26df867 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t2_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the second door from the left among the brown doors on the ground floor of the tan building.", + "Type": 2, + "Start_Pose": [ + 3156.646, + 885.708, + 124.079, + 0.0, + 29.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 29.76, + -0.0 + ], + [ + 3265.906, + 948.18, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3375.165, + 1010.653, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3484.425, + 1073.125, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3593.685, + 1135.598, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3702.945, + 1198.07, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3812.204, + 1260.542, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3921.464, + 1323.015, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4030.724, + 1385.487, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4139.984, + 1447.959, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4249.243, + 1510.432, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4358.503, + 1572.904, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4467.763, + 1635.377, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4576.517, + 1697.849, + 119.454, + 0.0, + 29.76, + -0.0 + ], + [ + 4576.517, + 1697.849, + 119.454, + 0.0, + 29.76, + -0.0 + ] + ], + "Rationale": [ + "Across the square the tan building shows two brown doors on its ground floor, and counting from the left my target is the right-hand one, the door standing immediately beside the dark shopfront shutters. It lies almost straight ahead of me. I will walk forward to close the open paving between us.", + "The facade has grown larger and the door bordering the shutters still sits close to my heading, so no turn is warranted. I will keep stepping straight ahead over the open paving toward it.", + "Both brown doors read clearly now, and the one flanked by the shopfront shutters, my target, stays near the middle of my view. My heading is already good, so I will simply continue walking forward.", + "I can now make out the panelling and small plaque on the door next to the shutters, and it remains lined up with my path. Nothing blocks the pavement in front of me, so I will keep advancing toward it.", + "The ground floor fills more of my view and the door beside the shutters is still roughly centered, so a straight approach continues to serve. I will walk forward again to shorten the remaining distance.", + "My target, the brown door immediately left of the shopfront shutters, holds its place near the middle of my view as the wall grows closer. Continuing straight should bring me up to its threshold.", + "The barred window and its neighbouring door beside the shutters are close enough to distinguish clearly, and my target sits just right of center. I will step forward again to close the last stretch of pavement.", + "The other brown door has slid toward my left edge as I near the wall, but my target beside the shopfront shutters stays plainly in front of me. I will keep walking forward to reach standing distance from it.", + "The two brown doors are now large on the wall, and mine is the one hugging the shopfront shutters with the barred window on its left. It sits barely right of my heading and the paving in front of me is clear. I will advance again.", + "The other door has swollen against my left edge, so the facade no longer reads as a countable row from this close; I simply keep to the door pressed beside the shutters. It remains squarely ahead of me. Another step forward should bring me nearer its frame.", + "My door stands clearly between the barred window and the shuttered shopfront, its plaque and handle already legible. Nothing on the pavement interrupts the straight line to it. I will step forward once more.", + "The stone surround of the door now dominates the middle of my view, with only a couple of paces of pavement left. My heading still runs into its face rather than the window or the shutters. I will keep walking in.", + "The panelled leaf, its brass plate and its handle now fill nearly my whole view, so I am almost at the threshold. One short step should place me directly in front of the door rather than a stride short of it.", + "The brown door's panelling and its knob sit at arm's length, filling my view. I have reached the intended door, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x003157_y000886_z000124_t3_a/infos.json b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f5f8177aad3f0ee27d953d1a9f687249fb2c43f --- /dev/null +++ b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t3_a/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Walk to the dark brown door on the far left, then continue to the orange autumn tree.", + "Type": 3, + "Start_Pose": [ + 3156.646, + 885.708, + 124.079, + 0.0, + 29.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 29.76, + -0.0 + ], + [ + 3265.906, + 948.18, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3375.165, + 1010.653, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3484.425, + 1073.125, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3593.685, + 1135.598, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3702.945, + 1198.07, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3812.204, + 1260.542, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3921.464, + 1323.015, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4030.724, + 1385.487, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4030.724, + 1385.487, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4156.149, + 1395.931, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4281.574, + 1406.375, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4406.999, + 1416.819, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4532.424, + 1427.263, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4532.424, + 1427.263, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4532.424, + 1427.263, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4532.424, + 1427.263, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 4532.424, + 1427.263, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 4532.424, + 1427.263, + 118.15, + 0.0, + 104.76, + -0.0 + ], + [ + 4532.424, + 1427.263, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 4532.424, + 1427.263, + 118.15, + 0.0, + 154.76, + -0.0 + ], + [ + 4418.58, + 1480.931, + 118.15, + 0.0, + 154.76, + -0.0 + ], + [ + 4304.737, + 1534.599, + 118.15, + 0.0, + 154.76, + -0.0 + ], + [ + 4190.894, + 1588.266, + 118.15, + 0.0, + 154.76, + -0.0 + ], + [ + 4077.051, + 1641.934, + 118.15, + 0.0, + 154.76, + -0.0 + ], + [ + 4077.051, + 1641.934, + 118.15, + 0.0, + 179.76, + -0.0 + ], + [ + 3951.193, + 1642.461, + 118.15, + 0.0, + 179.76, + -0.0 + ], + [ + 3825.335, + 1642.988, + 118.15, + 0.0, + 179.76, + -0.0 + ], + [ + 3825.335, + 1642.988, + 118.15, + 0.0, + 154.76, + -0.0 + ], + [ + 3711.492, + 1696.656, + 118.15, + 0.0, + 154.76, + -0.0 + ], + [ + 3711.492, + 1696.656, + 118.15, + 0.0, + 154.76, + -0.0 + ] + ], + "Rationale": [ + "The pink facade across the square carries a row of ground-floor entrances, and the dark brown door at the far left end of that row is my first destination. Wide open paving lies between me and it with nothing blocking the way. I walk forward to close that distance.", + "The building has grown slightly larger ahead, so my previous step made real headway toward it. The dark brown door on the left of the ground-floor row is still far off across the empty square. I keep walking straight toward it.", + "The row of doors along the base of the pink building is becoming easier to tell apart as I close in. The dark brown one I want sits toward the left of that row, still well ahead of me. Another step forward should keep shrinking the gap.", + "The facade now fills most of my view and the doorways read clearly at ground level. The dark brown door I am heading for lies left of my current heading, but I still have plenty of open paving to cover. I continue walking straight ahead.", + "I can now make out the white stone surrounds and panelling of the dark brown doors ahead. The one I want is the left-hand door of that pair, and it is still several paces away. Walking forward again should bring me within closer reach.", + "The dark brown door with its small plaque stands out clearly at the left of the ground-floor row. The paving in front of it is empty, so nothing interrupts a direct approach. I step forward once more.", + "The wall is close enough now that the awnings and upper windows are cut off above me, and the dark brown door sits just left of my heading. I am not yet standing at it. I keep advancing to draw level with that entrance.", + "The dark brown door and its neighbour now dominate the left half of my view, so only a short stretch of paving remains. Moving straight ahead should bring me close in front of the facade. I take another step forward.", + "The dark brown door at the far left end of this facade now sits off to my left, while my heading still points at the shuttered shopfronts ahead. I will turn left to put that door squarely in front of me before closing the remaining distance.", + "The dark brown door is now centered ahead of me with its barred windows on either side, so my heading is good. I will walk straight forward to cut down the open pavement between me and it.", + "The door has grown noticeably and its brass handle and small plaque are becoming legible, confirming I am closing on it. Nothing blocks the paving ahead, so I keep walking straight toward it.", + "The dark brown door now fills much of my view, with the flanking windows pushed to the edges. I am still a couple of paces short of standing at it, so I advance again.", + "The door panels, plaque and handle fill nearly the whole view and the threshold is just below me. One more step forward should bring me right up against this dark brown door.", + "The dark brown door's panel, brass handle and doorknob are right in front of my face, close enough to touch. I have reached this door at the far left of the facade. I mark reaching it, then set off for the orange autumn tree standing out in the square.", + "Standing this close, the door leaf blocks nearly everything and the open square lies behind my right shoulder. I turn right to begin swinging my heading off the wall and back out toward the orange autumn tree.", + "The turn has slid the door to my left edge and brought pink wall and a barred window into view, but the open square with the orange tree is still further round. I continue turning right to keep swinging my heading away from this wall.", + "Having marked the dark brown door, my view still hugs the barred windows and the blank stucco of this facade, with only a narrow slice of open pavement at the right edge. The orange autumn tree stands out in the square, not against this wall, so I will keep pivoting right to swing my heading back toward the open plaza.", + "The pivot has opened up the square, showing the pink and yellow buildings across the paving, but no orange canopy is in my view yet. I will turn right again to keep sweeping the plaza until the autumn tree comes into sight.", + "Orange leaves have just appeared at the upper right corner, above the yellow building, which tells me the autumn tree lies further around to my right. Another right pivot should bring that canopy properly into my forward view.", + "The orange autumn tree is now clearly in sight, but it sits off in the right half of my view while the pink and yellow facades take the center. One more right pivot should put its trunk near the middle of my heading so I can walk straight at it.", + "The orange tree now stands near the center of my view with its trunk rising from the open paving, and nothing blocks the ground between us. I will walk forward across the square to close that distance.", + "The canopy has grown larger and its trunk still lines up close to my heading, so my approach is working. I will keep stepping forward over the open flagstones toward the tree.", + "The orange foliage now fills much of the upper view and the paved patch around the trunk is visible, so I am getting close. Nothing stands in my path, so I will walk forward again.", + "I can make out the individual branches and the shadow pattern cast on the stones at the tree's base, which means only a short stretch of paving remains. I will advance once more to bring myself up to the trunk.", + "The orange-leaved tree now towers just ahead, but my heading points at the pale building wall on the left, which would carry me past the trunk on its far side. A small right turn should swing me onto the open paving that runs to the tree's planted base.", + "With the square opening ahead and the orange tree's trunk and paved circle clearly in front of me, the way is unobstructed. I will walk forward to cut down the remaining distance to that trunk.", + "The trunk and its shaded paving circle have grown noticeably larger, so I am closing on the orange tree correctly. Another step forward should bring me right up beside its base.", + "Closing in has pushed the orange tree's trunk out to the left edge of my view, leaving me aimed at the empty square beyond it. Turning left should bring the trunk back in front of me for the final step in.", + "The orange tree's trunk is now centered directly in front of me with its paved ring at my feet. One more step forward should place me right at its base.", + "The orange autumn tree's trunk stands immediately before me, filling my view with its canopy overhead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003157_y000886_z000124_t5_a_pd/infos.json b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..72dbe160f77e4ef34e75a5a65e37200290f83abb --- /dev/null +++ b/dataset/trajectory/Venice/task_x003157_y000886_z000124_t5_a_pd/infos.json @@ -0,0 +1,544 @@ +{ + "Instruction": "Pick up the ceramic vase from the base of the orange fall tree, then place it near the dark brown door on the far left.", + "Type": 5, + "Start_Pose": [ + 3156.646, + 885.708, + 124.079, + 0, + 29.76, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3156.646, + 885.708, + 124.079, + 0, + 29.76, + 0 + ], + [ + 3156.646, + 885.708, + 124.079, + 0.0, + 54.76, + -0.0 + ], + [ + 3229.267, + 988.502, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3301.888, + 1091.297, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3301.888, + 1091.297, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3324.262, + 1215.151, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3346.636, + 1339.005, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3369.011, + 1462.86, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3369.011, + 1462.86, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 3369.011, + 1462.86, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3441.631, + 1565.654, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3441.631, + 1565.654, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 3441.631, + 1565.654, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3441.631, + 1565.654, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3567.056, + 1576.099, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3692.481, + 1586.544, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3817.906, + 1596.988, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3817.906, + 1596.988, + 118.15, + 0.0, + -20.24, + 0.0 + ], + [ + 3935.994, + 1553.448, + 118.15, + 0.0, + -20.24, + 0.0 + ], + [ + 4054.081, + 1509.907, + 118.15, + 0.0, + -20.24, + 0.0 + ], + [ + 4172.169, + 1466.367, + 118.15, + 0.0, + -20.24, + 0.0 + ], + [ + 4290.257, + 1422.826, + 118.15, + 0.0, + -20.24, + 0.0 + ], + [ + 4290.257, + 1422.826, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4415.682, + 1433.271, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4541.107, + 1443.716, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4469.355, + 1437.74, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4469.355, + 1437.74, + 118.15, + 0.0, + 4.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3534.618, + 1642.714, + 36.17, + 0.452, + 0.0, + -0.0 + ], + [ + 3423.839, + 1577.477, + 88.256, + -28.202, + 104.905, + 1.862 + ], + [ + 3430.97, + 1583.059, + 88.529, + -28.189, + 79.917, + 1.872 + ], + [ + 3440.113, + 1585.771, + 87.862, + -28.215, + 54.888, + 1.849 + ], + [ + 3564.994, + 1597.356, + 87.675, + -28.202, + 54.902, + 1.858 + ], + [ + 3690.266, + 1607.787, + 87.937, + -28.208, + 54.902, + 1.852 + ], + [ + 3815.432, + 1618.218, + 88.359, + -28.189, + 54.919, + 1.867 + ], + [ + 3824.723, + 1616.448, + 88.062, + -28.194, + 29.909, + 1.865 + ], + [ + 3943.092, + 1573.59, + 87.681, + -28.202, + 29.902, + 1.859 + ], + [ + 4061.134, + 1530.067, + 87.802, + -28.205, + 29.901, + 1.854 + ], + [ + 4178.989, + 1486.608, + 88.182, + -28.207, + 29.898, + 1.858 + ], + [ + 4296.831, + 1443.165, + 88.605, + -28.19, + 29.914, + 1.871 + ], + [ + 4288.209, + 1444.703, + 87.785, + -28.205, + 54.902, + 1.857 + ], + [ + 4413.616, + 1454.528, + 87.705, + -28.199, + 54.905, + 1.862 + ], + [ + 4538.844, + 1464.952, + 88.013, + -28.209, + 54.896, + 1.854 + ], + [ + 4539.114, + 1443.549, + 58.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4539.114, + 1443.549, + 58.15, + 0.0, + 4.76, + -0.0 + ] + ], + "PD_Dist_2D": [ + 846.1, + 846.1, + 722.0, + 598.5, + 598.5, + 476.5, + 357.2, + 244.5, + 244.5, + 244.5, + 120.8, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 20.6, + 21.4, + 21.4, + 21.4, + 21.4, + 22.0, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The orange fall tree sits at the far right edge of my view, mostly cut off, so I cannot judge the ground at its base where the ceramic vase should be. I will turn right to bring the tree and the paving around its trunk into the center of my view. That heading should let me walk straight toward it.", + "The orange tree now stands near the middle of my view with its trunk and the paved square around it clearly framed. It is still far across the open plaza, and no obstacle blocks the stone surface ahead. I will walk forward to close that distance toward the tree base.", + "The tree has grown noticeably larger and the grate at its base is now visible, confirming I am closing on the right spot. I still cannot resolve any vase resting against the trunk from this distance. I will keep walking forward across the clear paving.", + "The trunk and its base grating sit slightly right of my current heading, so walking straight would carry me past the tree on its left side. I will turn right to put the base of the tree squarely ahead. That should keep my approach aimed at where the vase should be standing.", + "With the turn done, the tree trunk and the pale object at its foot are now framed ahead of me on clear paving. I am still several strides short of reaching for anything. I will walk forward to close in on the base of the tree.", + "The ceramic vase is visible ahead as the pale patterned cylinder standing at the foot of the orange tree, still several strides away. My path across the open paving toward it is clear, so I will walk forward to close that gap before attempting any grasp.", + "The vase at the tree base is noticeably larger and lower in my view now, but it still sits beyond comfortable reach. I will keep walking straight ahead to bring it close enough that a pick attempt has a chance.", + "The ceramic vase now fills the lower left of my view against the tree trunk, and my hands are still empty. I will try to grasp it from here, hoping it is already within reach.", + "My hands are still empty, so that grasp attempt did not take hold. The vase sat off to my left rather than straight ahead, which likely spoiled the reach. I will turn left to put it squarely in front of me for a better approach.", + "The ceramic vase now stands directly ahead at the base of the orange tree, centered in my view. Since my earlier attempt from farther back left my hands empty, I will step forward to stand right over it before trying again.", + "The ceramic vase at the base of the orange fall tree now stands right in front of me, filling the near foreground within arm's reach. My earlier grasp attempt from farther back left my hands empty, so closing that gap was the missing condition. I will trigger the pick again and expect the vase to come into my hands this time.", + "The grasp worked, since the vase rim is now carried in front of me instead of resting by the tree. The delivery point is the dark brown door on the far left side of the pink facade, which is off to my left from this heading. I will turn left to begin swinging my heading toward that row of doors.", + "I am holding the vase and now face the pink building, but the tree trunk still crowds the right of my view while the dark doors sit toward the left edge. One more left turn should place the door row squarely ahead and clear of the trunk. I will turn left again before walking across the square.", + "The pink facade with its dark brown doors now lies straight ahead and the open paving between us is clear. Carrying the vase, my heading no longer needs adjusting, only distance. I will walk forward to close the gap toward the door row on the far left of the square.", + "The facade has grown larger and the two dark brown doors are clearly framed ahead, but I am still well out in the open square, too far to set the vase down beside one. Nothing blocks the paving in front of me. I will keep walking forward to continue closing that distance.", + "The ceramic vase is still secure in my hands, so my job now is transport toward the far left door. The pink facade with its two dark brown doors is ahead and slightly left, with clear paving between us. I walk forward to cut down that open stretch.", + "I am close enough that the wall and its shuttered fronts now fill most of my view, and continuing straight would only push me into blank masonry between the doors. The dark brown doors sit off to my left, and the facade continues in that direction. I turn left to face that leftward stretch while still carrying the vase.", + "The turn has opened up the leftward run of the building, showing its corner and the dark brown doors ahead of me. There is still several paces of empty pavement before I could set the vase near a doorway. I walk forward along this heading to close that gap.", + "The dark brown doors have grown larger and their frames are clearer, so this heading is carrying me toward them. I am still too far out on the paving to place the vase beside a doorway. I take another step forward with the vase in hand.", + "One dark brown door with its pale plaque now sits close ahead, with a second one at the right edge of my view. A few more paces should put me within arm's reach of the doorstep where the vase belongs. I keep walking forward.", + "The vase is still held, and the dark brown door on this far wall now fills much of my view with clear paving in front of it. I am not yet within placing range, so I will walk forward again to close the last stretch toward its threshold.", + "Carrying the vase, I see the dark brown door sitting right of my view center, with the wall stretching left. A small turn to the right should square my heading onto the doorway so my remaining steps land me squarely in front of it.", + "The dark brown door now sits centered ahead with its frame and plate plainly visible, and the vase is still in my hands. A step forward should bring me close enough to the threshold that setting the vase down leaves it beside the door.", + "The door panel now dominates my view, but its base still sits a stride away and the vase remains in my hands. One more step forward should put me right at the doorway so the vase can be released close against it.", + "I am pressed right up against the dark brown door, its handle and frame filling my view at arm's length, and the vase is still held. This is as near the doorway as I can stand, so I will release the vase here to leave it beside the door.", + "The ceramic vase now stands on the pavement right at the foot of the dark brown door, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t0_a/infos.json b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e78952518643b4e8d3a4a9b94e3ae87af162396f --- /dev/null +++ b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the brown door beneath the narrow transom window next to the barred ground-floor window.", + "Type": 0, + "Start_Pose": [ + 3392.047, + -546.229, + 118.15, + 0, + 29.76, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3392.047, + -546.229, + 118.15, + 0, + 29.76, + 0 + ], + [ + 3501.307, + -483.757, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3501.307, + -483.757, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3626.732, + -473.313, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3752.157, + -462.869, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3877.582, + -452.424, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4003.007, + -441.98, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4128.431, + -431.536, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4128.431, + -431.536, + 118.15, + 0.0, + -20.24, + 0.0 + ], + [ + 4246.519, + -475.078, + 118.15, + 0.0, + -20.24, + 0.0 + ], + [ + 4246.519, + -475.078, + 118.15, + 0.0, + -20.24, + 0.0 + ] + ], + "Rationale": [ + "From this open paved square I can see the pink facade ahead with several ground-floor entrances, including a dark brown door on the left flanked by a small barred window. I am still too far away to confirm the narrow transom above that door, so I will move forward across the open pavement to close distance and get a clearer read on the facade details.", + "The candidate brown door with the small barred window sits well to the left of my current heading, while my view is dominated by the awning and shop front straight ahead. I will turn left to bring that door and its window into the center of my view so I can approach it directly.", + "The brown door now sits near the center of my view with a barred ground-floor window immediately to its right, matching the target description. The pavement between me and that facade is clear, so I will move forward to keep closing the gap.", + "The door has grown larger and I can now make out a dark rectangular transom panel set above its frame, next to the grated window on its right. Nothing blocks the paving in front of me, so another forward step should bring me closer to that entrance.", + "The narrow transom above the brown door and the barred ground-floor window beside it are now clearly resolved, confirming this is the entrance named in the task. I am still several steps out on the open pavement, so I will continue forward toward the doorway.", + "The brown door fills a good part of my view now, with its transom above and the barred window on its right, but I am not yet close enough to be standing at the threshold. I will step forward again to shorten the remaining gap to the door.", + "The door panel, its handle, and the adjacent barred window are close and sharply detailed, so only a short distance remains before I am at the entrance. I will move forward once more to reach the doorway itself.", + "At this close range the barred window dominates the center of my view and the brown door has slid to the left edge, so my heading is no longer pointed at the entrance. I will turn left to bring the door back to the center of my view before making the final step in.", + "The dark brown door is now centered in front of me, with its narrow transom above and the barred ground-floor window immediately to its right, confirming it as the target. I am still a step off the threshold, so I will move forward to close the last of the gap and stand directly at the door.", + "The brown door's knob, nameplate and panel fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t0_b/infos.json b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5bae4dcf2993c0b6170d79f55defaad1a5c8beec --- /dev/null +++ b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the striped red-and-white awning on the ground floor of the pink building.", + "Type": 0, + "Start_Pose": [ + 3392.047, + -546.229, + 118.15, + 0.0, + 29.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3392.047, + -546.229, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3501.307, + -483.757, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3610.567, + -421.284, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3719.826, + -358.812, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3829.086, + -296.339, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3938.346, + -233.867, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4047.606, + -171.395, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4047.606, + -171.395, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4173.03, + -160.951, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4173.03, + -160.951, + 118.15, + 0.0, + 4.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the striped red-and-white awning over a shopfront on the ground floor of the pink building ahead, slightly left of my heading. The open paved square in front of me is clear, so I will move forward to begin closing the distance to that awning.", + "The awning and the shop window beneath it now appear larger and closer, confirming my heading is carrying me toward the target. The pavement stays open, so I will continue forward.", + "The striped canopy sits just left of center and is clearly the ground-floor awning described in the task, still some distance away across the square. I will keep advancing along this heading to close the remaining gap.", + "The awning stripes are now clearly resolved above the shop display window on the pink wall to my left front. There is nothing blocking the paving between me and the facade, so another forward step should bring me closer.", + "The shopfront under the striped awning now dominates the left half of my view, but I am still offset from being directly in front of it. I will move forward again to reduce the remaining distance to the facade.", + "The awning is very near now, angled across the upper left of my view with the display window below it. I will take one more step forward to arrive close alongside the shopfront.", + "I am right beside the shopfront, but the striped awning and its window are skewed off to my left rather than centered ahead. Turning left should square my heading to the awning so I face it directly.", + "The striped red-and-white awning is now centered directly above the shop window straight ahead of me. A short forward step should place me immediately at the awning to complete the approach.", + "I am right up against the awning shop window, its frame and sill filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t3_a/infos.json b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..43bcd726bf07c71ca5f676a1453aabf3b88427a8 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Go to the dark brown door near the white-and-red striped awning, then navigate to the tree on the courtyard.", + "Type": 3, + "Start_Pose": [ + 3392.047, + -546.229, + 118.15, + 0, + 29.76, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3392.047, + -546.229, + 118.15, + 0, + 29.76, + 0 + ], + [ + 3392.047, + -546.229, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3517.472, + -535.785, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3642.897, + -525.341, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3768.322, + -514.897, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3893.747, + -504.453, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4019.172, + -494.009, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4144.597, + -483.565, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4268.18, + -473.329, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4268.18, + -473.329, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4268.18, + -473.329, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4268.18, + -473.329, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 4268.18, + -473.329, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 4268.18, + -473.329, + 118.15, + 0.0, + 104.76, + -0.0 + ], + [ + 4268.18, + -473.329, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 4187.684, + -376.578, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 4107.187, + -279.826, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 4026.691, + -183.074, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3946.195, + -86.323, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3865.699, + 10.429, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3785.203, + 107.181, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3785.203, + 107.181, + 118.15, + 0.0, + 154.76, + -0.0 + ], + [ + 3677.49, + 153.826, + 117.747, + 0.0, + 154.76, + -0.0 + ], + [ + 3677.49, + 153.826, + 117.747, + 0.0, + 154.76, + -0.0 + ] + ], + "Rationale": [ + "The white-and-red striped awning sits across the pink facade ahead, and the dark brown door I want stands just to its left, offset from my current heading. I will turn left so that door sits closer to the centre of my path before I start walking.", + "The dark brown door beside the striped awning is now roughly ahead of me across open paving, with no obstacle between us. I will walk forward to cut down that distance.", + "The door under the striped awning is growing larger and stays slightly right of my heading, so my line is still usable. The paving ahead remains clear, so I will keep stepping forward toward it.", + "The dark brown door with its barred window is clearly framed ahead, the striped awning immediately to its right. Nothing blocks the stretch of pavement between us, so another step forward should bring me close enough to judge my arrival.", + "The door now dominates the centre of my view with the railing wall passing on my left. I am still a few paces short of it, so I will continue walking straight in.", + "The panelled dark brown door and its brass handle are close enough to read detail, but I am not yet standing at its threshold. I will step forward again to close the last of the gap.", + "The dark brown door now fills most of my view, its handle and plate at arm's-length scale, with the barred window beside it. A further step should put me right at the doorway itself.", + "I am almost against the door, with its handle and the pale stone frame filling my view. One last short step forward should place me directly at this dark brown door beside the striped awning.", + "The dark brown door fills my view, its brass knob and pale stone jamb right in front of me under the striped awning of this facade. I have arrived at that door, so I mark reaching it here before turning away toward the tree standing out in the open courtyard.", + "The door I came for is right against my face and blocks everything else from view. I will turn right to swing my heading off this wall so the open courtyard with its trees can come back into sight.", + "I am now looking along the barred ground floor window instead of the door, but the facade still fills my view. Another turn to the right should carry my heading further off the building toward the open paving.", + "Past the window sill a strip of open square and a distant pink building have appeared at the right edge, so the courtyard lies that way. I will turn right again to bring more of that open space in front of me.", + "The striped awning now hangs overhead and I can see leafy crowns and wide paving opening to the right. Turning right once more should put the courtyard trees closer to the center of my heading.", + "The courtyard is clearly open ahead with a large leafy tree and benches across the square, though the awning and shopfront still crowd my left. One more turn right should line my heading straight onto that tree.", + "The courtyard now lies straight ahead with the big tree and its planted base centered in my path and clear paving between us. I will walk forward to close the distance to it.", + "The tree ahead has grown noticeably larger and its dark grate surround is now visible at the base, so my heading is good. I will keep walking forward across the open paving toward it.", + "The open courtyard is ahead of me and the large leafy tree with its grated base sits just right of my heading. Nothing blocks the paving between us, so I will walk forward to cut down the remaining distance.", + "The tree's trunk and the metal grate around its base now fill more of my view, confirming I am closing on it. The paving stays open, so another step forward should bring me nearer.", + "The trunk is noticeably thicker in front of me and its canopy is spreading over the top of my view. I still have several paces of clear courtyard, so I keep walking straight toward it.", + "The grate around the tree's roots now stretches across the lower part of my view and the trunk rises close ahead. A further step should place me right at the base of the tree.", + "The trunk has drifted to the right side of my view as I approached, so walking straight would carry me past it. I will turn right to bring the tree back in front of me before finishing the approach.", + "The trunk is now squarely ahead of me with its grated pit filling the foreground. One more step forward should put me right beside the tree in the courtyard.", + "The courtyard tree's thick trunk stands immediately beside me, filling the near edge of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t3_b/infos.json b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..789a79407f9e79541176f70be9a28549b19fc68a --- /dev/null +++ b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Walk to the striped awning, then proceed to the golden door on the ground floor.", + "Type": 3, + "Start_Pose": [ + 3392.047, + -546.229, + 118.15, + 0.0, + 29.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3392.047, + -546.229, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3501.307, + -483.757, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3610.567, + -421.284, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3719.826, + -358.812, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3829.086, + -296.339, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3938.346, + -233.867, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3938.346, + -233.867, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4063.771, + -223.423, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4189.196, + -212.979, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4189.196, + -212.979, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4189.196, + -212.979, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4189.196, + -212.979, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4189.196, + -212.979, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 4189.196, + -212.979, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 4211.57, + -89.125, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 4233.944, + 34.73, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 4256.318, + 158.584, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 4267.983, + 282.138, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 4267.983, + 282.138, + 118.15, + 0.0, + 79.76, + -0.0 + ] + ], + "Rationale": [ + "The red and white striped awning sits over a shopfront partway down the pink building on my left, with a golden door further along the same wall. Nothing blocks the open paving between me and it, so I will walk straight ahead to close that distance.", + "The striped awning has grown larger and shifted toward the middle of my view, confirming my heading is carrying me toward it. The pavement ahead stays clear, so I will keep walking forward.", + "The awning and the shuttered shop window beneath it are now clearly detailed, and the golden door stands out along the wall to their right. I am still several strides short of the awning, so I will continue advancing.", + "The striped canopy now occupies much of the left half of my view as the wall slides past me. I am not yet level with the shopfront it shelters, so another step forward is the direct way to reach it.", + "The awning is close overhead on my left and its shopfront window fills a large part of my view, but I am still a stride or two short of standing beneath it. I will walk forward again to draw level with it.", + "The striped awning and its shopfront have slid to the left edge of my view because my heading runs along the wall rather than into it. I will turn left so the canopy sits squarely in front of me before I close the last of the gap.", + "The turn worked, and the striped awning with the shop window under it now sits centered ahead of me. Open paving still separates me from the facade, so I will step forward toward it.", + "The striped canopy has risen to the top edge of my view and the shop window fills most of what I see, so I am nearly under it. One more step forward should bring me right up to the awning.", + "I am standing right against the dark shop window, and at this range the glass fills my whole view so I cannot see what hangs above it. I will look up to bring the canopy over this shopfront into view and confirm I am standing beneath the striped awning.", + "The red and white striped canopy stretches directly above me, its pole and valance framing the shop window I am standing at. I have reached the striped awning. I mark reaching it before setting off along this facade toward the golden door at street level.", + "My gaze is still filled by the canopy and the glass right in front of me, which tells me nothing about the route onward. The golden door sits further along this wall to my right, so I will turn right to begin swinging my heading away from the shopfront and back toward the open pavement.", + "The shop window has slid to my left and a stretch of plain wall with a barred window is coming into view on the right. I am still facing too much into the facade to walk along it, so I will turn right again to bring the pavement running beside the building in front of me.", + "The open square and the paving alongside the building are now opening on my right, with the wall and its doorways receding down my left. One more turn right should line my heading down this pavement so I can walk straight toward the golden door on the ground floor.", + "I am now aimed straight down the pavement that runs beside this wall, with the barred window and a recessed doorway ahead on my left. Nothing blocks the paving in front of me, so I will walk forward to close on the ground floor door.", + "The barred window has slid past on my left and the recessed entrance further along the wall is noticeably larger now. My heading still runs parallel to the facade, so I will keep walking forward to reduce the remaining distance to that ground floor door.", + "The doorway recess in the wall on my left is close now, its frame and reveal clearly separated from the window bay beside it. A few more paces should bring me level with that entrance, so I will step forward again.", + "The tall golden door set into the ground floor of this wall is now just ahead on my left, still a stride or two beyond my shoulder. One more step forward should bring me level with its panels and knob.", + "The golden ground-floor door fills my left side, its knob within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t5_a_p/infos.json b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fde1f4b0ecc5def146c3dd45b0d1c19fd802893d --- /dev/null +++ b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the tomato near the left wooden door beside the striped awning.", + "Type": 5, + "Start_Pose": [ + 3392.047, + -546.229, + 118.15, + 0, + 29.76, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 4177.338, + -407.673, + 87.219, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3392.047, + -546.229, + 118.15, + 0, + 29.76, + 0 + ], + [ + 3501.307, + -483.757, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3610.567, + -421.284, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3610.567, + -421.284, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3735.992, + -410.84, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3861.416, + -400.396, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3986.841, + -389.952, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3986.841, + -389.952, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3986.841, + -389.952, + 118.15, + 0.0, + 4.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4177.338, + -407.673, + 87.219, + 0.0, + 0.0, + 0.0 + ], + [ + 4177.338, + -407.673, + 87.219, + 0.0, + 0.0, + 0.0 + ], + [ + 4177.338, + -407.673, + 87.219, + 0.0, + 0.0, + 0.0 + ], + [ + 4177.338, + -407.673, + 87.219, + 0.0, + 0.0, + 0.0 + ], + [ + 4177.338, + -407.673, + 87.219, + 0.0, + 0.0, + 0.0 + ], + [ + 4177.338, + -407.673, + 87.219, + 0.0, + 0.0, + 0.0 + ], + [ + 4177.338, + -407.673, + 87.219, + 0.0, + 0.0, + 0.0 + ], + [ + 3984.461, + -368.722, + 88.256, + -28.202, + 54.905, + 1.862 + ], + [ + 3984.461, + -368.722, + 88.256, + -28.202, + 54.905, + 1.862 + ] + ], + "PD_Dist_2D": [ + 797.4, + 680.3, + 566.9, + 566.9, + 441.4, + 316.0, + 191.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the red tomato resting on the pavement beside the dark wooden door, just left of the red and white striped awning. It is still far across the open square, so I will walk forward to close that distance.", + "The tomato beside the doorway is noticeably larger now, so my heading is carrying me toward it. It remains too distant for a grasp, so I will continue walking forward.", + "The tomato and its wooden door sit well to the left of my current heading, near the edge of my view. I will turn left to bring the target into the center so my next steps head straight at it.", + "After the turn the tomato sits near the middle of my view, directly in front of the dark wooden door. With the path across the pavement clear, I will walk forward to shorten the gap.", + "The tomato is centered and growing larger, confirming my heading is good. It is still a few paces away, out of reach, so I will step forward again.", + "I now see the tomato close in front of me at the base of the wooden door, but it still sits slightly beyond comfortable reach. I will take one more step forward to stand right over it before attempting a grasp.", + "The tomato is directly in front of me at the foot of the wooden door, filling the lower center of my view at arm's length. My hands are empty, so I will attempt to pick it up now.", + "The tomato is now held in my hand and no longer resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t5_a_pd/infos.json b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3e0991bb7d7dc8f40b9c0af0c0bc630407d6ab34 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003392_y-000546_z000118_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the metal bucket from beneath the striped awning, then put it down near the courtyard tree.", + "Type": 5, + "Start_Pose": [ + 3392.047, + -546.229, + 118.15, + 0, + 29.76, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4166.891, + -327.923, + 50.13, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3392.047, + -546.229, + 118.15, + 0, + 29.76, + 0 + ], + [ + 3501.307, + -483.757, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3610.567, + -421.284, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3719.826, + -358.812, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 3719.826, + -358.812, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3845.251, + -348.368, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 3970.676, + -337.924, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4090.809, + -327.453, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4090.809, + -327.453, + 118.15, + 0.0, + 4.76, + -0.0 + ], + [ + 4090.809, + -327.453, + 118.15, + 0.0, + 29.76, + -0.0 + ], + [ + 4090.809, + -327.453, + 118.15, + 0.0, + 54.76, + -0.0 + ], + [ + 4090.809, + -327.453, + 118.15, + 0.0, + 79.76, + -0.0 + ], + [ + 4090.809, + -327.453, + 118.15, + 0.0, + 104.76, + -0.0 + ], + [ + 4090.809, + -327.453, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 4010.313, + -230.701, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3929.818, + -133.949, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3849.322, + -37.198, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3768.826, + 59.554, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3688.33, + 156.306, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3734.379, + 100.957, + 118.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3734.379, + 100.957, + 118.15, + 0.0, + 129.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4166.891, + -327.923, + 50.13, + 0.0, + 0.0, + 0.0 + ], + [ + 4166.891, + -327.923, + 50.13, + 0.0, + 0.0, + 0.0 + ], + [ + 4166.891, + -327.923, + 50.13, + 0.0, + 0.0, + 0.0 + ], + [ + 4166.891, + -327.923, + 50.13, + 0.0, + 0.0, + 0.0 + ], + [ + 4166.891, + -327.923, + 50.13, + 0.0, + 0.0, + 0.0 + ], + [ + 4166.891, + -327.923, + 50.13, + 0.0, + 0.0, + 0.0 + ], + [ + 4166.891, + -327.923, + 50.13, + 0.0, + 0.0, + 0.0 + ], + [ + 4166.891, + -327.923, + 50.13, + 0.0, + 0.0, + 0.0 + ], + [ + 4088.429, + -306.223, + 88.256, + -28.202, + 54.904, + 1.862 + ], + [ + 4079.199, + -308.39, + 88.529, + -28.189, + 79.917, + 1.872 + ], + [ + 4072.502, + -314.331, + 87.862, + -28.215, + 104.887, + 1.849 + ], + [ + 4065.661, + -317.354, + 87.916, + -14.092, + 122.104, + 6.87 + ], + [ + 4070.163, + -333.344, + 87.932, + -28.208, + 154.902, + 1.851 + ], + [ + 4073.842, + -342.253, + 88.6, + -28.198, + 179.906, + 1.867 + ], + [ + 3994.223, + -244.754, + 88.07, + -28.198, + 179.906, + 1.862 + ], + [ + 3913.6, + -147.845, + 87.683, + -28.202, + 179.902, + 1.86 + ], + [ + 3833.128, + -51.125, + 87.797, + -28.201, + 179.904, + 1.857 + ], + [ + 3752.795, + 45.439, + 88.175, + -28.206, + 179.898, + 1.858 + ], + [ + 3672.467, + 141.98, + 88.599, + -28.192, + 179.911, + 1.869 + ], + [ + 3689.609, + 154.768, + 78.15, + 0.0, + 129.76, + -0.0 + ], + [ + 3689.609, + 154.768, + 78.15, + 0.0, + 129.76, + -0.0 + ] + ], + "PD_Dist_2D": [ + 805.0, + 683.6, + 564.1, + 448.1, + 448.1, + 322.3, + 196.5, + 76.1, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The striped awning is visible across the square on the pink facade, and the dark metal bucket sits on the pavement just left of it. It is far too distant to grasp from here, so I will walk straight ahead to close the gap.", + "The awning and the bucket beneath it have grown noticeably larger, confirming my heading is carrying me toward the target. Plenty of clear pavement still lies between us, so I will continue walking forward.", + "The bucket is now clearly resolved as a dark metal drum standing on the stones beside the shuttered shopfront under the striped awning. I am still several paces short of reaching distance, so I keep advancing along the same line.", + "As I have closed in, the bucket has drifted well over to the left side of my view while my heading points along the facade. Turning left should bring it back to the center of my path so my next steps lead straight to it.", + "The bucket now sits near the middle of my view, directly under the striped awning, so my heading is aimed at it. I will walk forward to close the remaining distance.", + "The metal bucket is centered and much larger now, with its handle visible against the shopfront base. It is still a couple of paces out of arm's reach, so I continue straight toward it.", + "The bucket now dominates the lower center of my view directly beneath the striped awning. One more step forward should put it within arm's reach for a grasp.", + "The bucket's dark rim is immediately in front of me, filling the bottom of my view against the shopfront under the striped awning. This is as close as I can stand, so I will attempt to grasp and lift it now.", + "The grasp worked: the metal bucket is now held in my hands rather than resting on the pavement under the awning. My heading still faces the shopfront wall, so I begin turning right to swing away from the facade toward the open courtyard where the tree stands.", + "The awning and shuttered shop front still block most of my view, so I have not yet cleared the building line. I continue rotating right to bring the open square and its trees into my heading.", + "The square is starting to open on the right edge of my view while the shop wall still occupies the left half. I keep turning right so the open paving and the trees move to the center of my heading.", + "The courtyard now opens ahead and a large leafy tree sits toward the right of my view, so my heading is still angled too far along the building. I turn right again to place that tree closer to straight ahead before walking with the bucket.", + "The big courtyard tree is clearly visible but still sits right of my center line. One more turn right should put it directly ahead so I can carry the bucket straight to it.", + "The courtyard tree with its grated base now stands squarely ahead of me across open paving. Carrying the bucket, I step forward along this heading to close the distance to the drop area near the trunk.", + "The trunk and its circular grate are growing larger, confirming I am on a direct line toward the tree with the bucket in hand. I continue walking forward since the paving is clear and I am still several strides away.", + "The tree's grated base is now close and centered, but I am still short of the spot where setting the bucket down would count as near the trunk. I take another step forward while holding the bucket to tighten that distance.", + "The bucket is still carried with me as I cross the open courtyard, and the large tree with its grated base now fills the centre of my view. I am still a few paces short of its trunk, so I will keep walking straight toward it. That should bring me close enough to set the bucket down beside the tree.", + "The trunk and its circular grating are now directly in front of me and noticeably larger, confirming I am nearly at the drop area with the bucket still in hand. One more step forward should place me right at the base of the tree. I will advance again before releasing the load.", + "I am standing right at the trunk, with the bark filling my view and the grated ring at the tree base immediately underfoot. This is the intended placement spot beside the courtyard tree, and the bucket is still in my hands. I will release it here so it comes to rest next to the tree.", + "The metal bucket now rests on the ground at the base of the courtyard tree and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f128173feb208eb4c8c0f99b17ea461d80a9209 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the second door from the left at ground level.", + "Type": 2, + "Start_Pose": [ + 3428.258, + 6088.121, + 118.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3428.258, + 6088.121, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3442.462, + 6213.176, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3442.462, + 6213.176, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3508.186, + 6320.511, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3573.909, + 6427.847, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3639.633, + 6535.182, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3705.357, + 6642.518, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3771.081, + 6749.853, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3836.804, + 6857.188, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3902.528, + 6964.524, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3902.528, + 6964.524, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 4007.456, + 7034.027, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 4112.383, + 7103.529, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 4112.383, + 7103.529, + 118.15, + 0.0, + 8.52, + -0.0 + ], + [ + 4236.854, + 7122.176, + 118.15, + 0.0, + 8.52, + -0.0 + ], + [ + 4236.854, + 7122.176, + 118.15, + 0.0, + 8.52, + -0.0 + ] + ], + "Rationale": [ + "The ground-level doors run in a line along the pink façade off to my left, and counting from the left end of that run, the one I want is the second. At this distance they look alike, so I fix it as the door standing immediately past the leftmost one on that same wall. I step forward to close the open paving between us.", + "My heading points across the square toward the far yellow building, leaving the door I chose off at the left margin of my view. Turning left should bring that pink façade and its ground-level doorways into the middle of my view so I can walk straight at them.", + "The pink wall now lies ahead of me and the doors along it are centred in my view. A dark glazed shopfront has also come into view beyond the left end, so I stop counting from that end and simply keep following the door I already picked out. It is still far off, so I walk forward.", + "The doorways on the pink wall are resolving as I close in, and my door reads clearly with its pale stone surround. Considerable paving still separates me from it, so I take another stride forward.", + "My door is growing larger slightly left of centre, its olive panel set into the stone surround beside a barred window. Nothing blocks the paving ahead, so I continue walking toward it.", + "The olive door is now distinct, with a plaque above its handle and a brick base under the window beside it. That detail is what I am steering by, and I am still a few strides short, so I move forward again.", + "The doorway in the stone surround with the brick sill beside it stands clearly to my left front, matching the door I chose. The approach is unobstructed, so I keep walking toward it.", + "The dark door at the far left has slid to the very edge of my view as I draw near the wall, so I hold to the olive door in its stone surround rather than any position in the row. It is still ahead and to my left, so I advance another step.", + "The olive door with its brass plaque and knob now reads at close range on my left, framed in stone above the brick base beside the barred window. A short stretch of open paving still lies between me and its threshold, so I step ahead once more.", + "My forward heading now runs past the pink corner toward the yellow block, pushing the olive door hard against the left side of my view. Swinging left should put that doorway back near the centre so the last few strides carry me straight onto it.", + "The turn has brought the olive door and its stone surround back into the left half of my view, with the brick sill and grated window beside it. Nothing stands on the paving between us, so I close the remaining gap with another stride.", + "The doorway fills much of my left view now, its plaque and round brass handle plainly legible, and the recessed step at its base is visible. I am still a stride or two off the threshold, so I keep walking in.", + "At this range the olive door has slid to the far left of my view while my heading runs along the wall rather than into it. A left turn should square me onto the door face so I finish standing before it rather than sliding past.", + "The olive door now sits centred in my view, its stone jambs, plaque and brass knob directly ahead with the barred window off to the side. One short step should place me right at its threshold.", + "The olive door's panel and brass knob fill my view at arm's length. I am standing at the door I set out for, so the task is complete." + ] +} diff --git a/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..79c0aac9e667ecb6c7f003cf990ecfb4c2256f82 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the second closest ground-floor window on the right building.", + "Type": 2, + "Start_Pose": [ + 3428.258, + 6088.121, + 118.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3428.258, + 6088.121, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3442.462, + 6213.176, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3456.666, + 6338.231, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3456.666, + 6338.231, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 3416.689, + 6457.572, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 3376.711, + 6576.913, + 118.15, + 0.0, + 108.52, + -0.0 + ], + [ + 3376.711, + 6576.913, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + 3290.044, + 6668.178, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + 3252.071, + 6755.185, + 118.15, + 0.0, + 133.52, + -0.0 + ], + [ + 3252.071, + 6755.185, + 118.15, + 0.0, + 133.52, + -0.0 + ] + ], + "Rationale": [ + "On the pale cream building to my right I can see two ground-floor windows: the wide barred one at the right edge close beside me, and beyond it a second one set further along toward the corner where that wall meets the pink facade. That further window is my target. I step forward into the open square to begin closing on it.", + "The cream wall on my right has grown larger and its barred ground-floor window is clearer, so my line of travel is still useful. I keep walking forward across the open paving to shorten the distance before I swing toward the wall.", + "My heading still points across the square toward the pink and yellow facades, while the window I want lies off to my right along the cream wall. I turn right to bring that wall and its barred window into the front of my view.", + "The turn has put the cream wall squarely in the right half of my view, with its grated ground-floor window ahead of me and the corner beside the pink facade beyond it. The paving in front is clear, so I walk forward toward that wall.", + "The barred window on the cream wall is noticeably nearer and its sill and grille are now distinct, but I am still several paces short of standing at it. I continue walking forward along the open paving.", + "The window I am heading for now sits well off to my right and I am facing along the wall rather than at it, which would carry me past its face. I turn right to square my heading onto that barred window.", + "The barred window now sits centred on the cream wall directly ahead of me, so my heading is right. I step forward to close the remaining stretch of paving and reach its face.", + "I am nearly at the wall, with the window's sill, grille bars and orange interior filling much of my view. One more short step forward should bring me right up against the window.", + "The barred window's sill and grille fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c44b12d876d1ca70168cf4e680143a63cbe76bc0 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003428_y006088_z000118_t2_c/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Go to the third ground-floor door from the left.", + "Type": 2, + "Start_Pose": [ + 3428.258, + 6088.121, + 118.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3428.258, + 6088.121, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3442.462, + 6213.176, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3456.666, + 6338.231, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3470.87, + 6463.286, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3485.074, + 6588.341, + 118.15, + 0.0, + 83.52, + -0.0 + ], + [ + 3485.074, + 6588.341, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3550.798, + 6695.676, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3616.521, + 6803.012, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3682.245, + 6910.347, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3747.969, + 7017.682, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3813.693, + 7125.018, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3879.416, + 7232.353, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 3945.14, + 7339.689, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 4010.864, + 7447.024, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 4076.587, + 7554.359, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 4142.311, + 7661.695, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 4208.035, + 7769.03, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 4208.035, + 7769.03, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 4312.962, + 7838.533, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 4417.89, + 7908.036, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 4522.818, + 7977.539, + 118.15, + 0.0, + 33.52, + -0.0 + ], + [ + 4522.818, + 7977.539, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 4588.542, + 8084.874, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 4657.023, + 8126.475, + 118.15, + 0.0, + 58.52, + -0.0 + ], + [ + 4657.023, + 8126.475, + 118.15, + 0.0, + 58.52, + -0.0 + ] + ], + "Rationale": [ + "Across the square I can pick out a run of plain ground-floor doors, and since they look much alike I settle the count now and hold the third one from the left end of that run, the one set deep toward where the wall folds into the far corner. It is far off, so I walk straight ahead to close the distance.", + "The doorways are still too distant for their fronts to separate clearly, so nothing yet calls for a change of heading. I keep walking straight over the open paving to bring that stretch of wall nearer.", + "The buildings are noticeably larger now and the doorway row on the left side of the square is resolving into separate frames. Straight ahead is still clear, so I advance again to keep closing on the door I chose.", + "The pink corner block now fills much of the right of my view, while the doors I care about lie off to my left. One more straight step should bring me level with the open side of the square before I swing that way.", + "Dead ahead I have only the pink corner wall with its shuttered windows, while the run of ground-floor doors I am heading for sits well to my left. I turn left so that stretch of doorways comes onto my heading.", + "The turn has put the doorway row back in front of me, with the open paving running clear toward it. I walk forward to close on the door I picked out.", + "As I advance, the gap between the pink corner and the yellow facade opens and more ground-floor doors come into view than I could see at the start, so counting afresh from here would mislead me. I hold to the door I already chose and step forward again.", + "The far wall with its line of shopfronts and doors keeps growing in front of me and the paving stays clear. I walk forward again to shorten the remaining gap to my door.", + "The yellow facade now sits squarely in front of me, with the awninged shop frontage running off to its left and two panelled doors on the plain stretch to the right. My door lies in the left part of that frontage, near where the wall turns, so I keep walking straight across the open paving.", + "An orange-leaved tree has come up on the left, standing just in front of the far end of the shop frontage and hiding part of it. That does not move my door, which is still short of the tree along the same wall, so I press on across the empty square.", + "The two plain panelled doors on the yellow wall are the nearest ones to me now, but neither is what I am after; mine sits further left among the shuttered shop bays under the awning. I walk on to bring myself level with that frontage.", + "The wall is close enough that its doorframes and window grilles read clearly, and the ground between me and it stays flat and empty. Nothing here asks for a turn yet, so I keep advancing toward the left-hand end of the frontage.", + "The brown door on the right of the yellow wall is now large in front of me, which tells me I am nearly abreast of the building line. My own doorway is off to the left under the shop awning, so I continue forward before angling along the frontage.", + "At this range the frontage no longer reads as a neat row from where I stand, since the near doors loom and the far end is foreshortened. I stay with the shop doorway I settled on rather than recount, and take another step toward the wall.", + "The brown door fills the right side and the dark one sits mid-view, both close enough that I could touch the wall in a few paces. My doorway lies beyond them along the shuttered bays, so I walk on to draw level with that stretch.", + "I am now right up against the yellow wall, with the shop bays and their glazed doors running away to my left. One more step forward should put me level with that line of frontage, from which I can swing left and follow it to my door.", + "I am hard against the yellow wall now, and the shuttered bays with their glazed fronts run away to my left while blank plaster fills the rest of my view. Turning left puts that frontage along my heading so I can travel beside it toward my doorway.", + "With the frontage now stretching ahead of me, the pavement beside it is open and unobstructed. I walk forward along the wall to come up on the shop doorway I settled on.", + "The nearest glazed shop entrance on my right is drawing level and the bays beyond it are still ahead. My doorway is further along that run, so I keep pacing beside the wall.", + "The frontage is heavily foreshortened from this angle, the bays compressing into one another, so I trust the doorway I fixed on rather than any tally taken from here. Another stride along the wall should bring me beside it.", + "The dark glazed shop door I have been aiming for now stands immediately to my right beneath the awning fascia, while my heading runs on past it down the arcade. I turn right to face it squarely instead of walking by.", + "The turn has brought the glazed door onto my line, its frame and small sign clear ahead of me. A step straight in should close the last of the gap to its threshold.", + "The door's glazing, brass pull and lock now fill my view, so only a short step remains before I am at its threshold. I move in the last of the way.", + "I am standing right at the glazed shop door, its frame and glass filling my view at arm's length. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_a/infos.json b/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8122a289781316a56c6cce524fb5f1a2e90b9825 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the barred ground-floor window between the striped-awning storefront and the door closest to the black metal courtyard gate.", + "Type": 0, + "Start_Pose": [ + 3486.562, + 50.768, + 118.011, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3486.562, + 50.768, + 118.011, + 0.0, + -2.88, + 0.0 + ], + [ + 3486.562, + 50.768, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 3597.812, + -8.086, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 3709.063, + -66.941, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 3820.313, + -125.795, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 3931.564, + -184.649, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 4042.814, + -243.504, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 4154.065, + -302.358, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 4265.315, + -361.212, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 4265.315, + -361.212, + 118.011, + 0.0, + -27.88, + 0.0 + ] + ], + "Rationale": [ + "From this spot the striped awning hangs over the shopfront with a dark door just to its left, and the black metal courtyard gate stands at the far left edge of my view beside its pale pillar. The barred window I want lies between them, still too far round to my left to walk at directly. I will turn left to bring that stretch of wall in front of me.", + "Now the black metal courtyard gate stands at the left edge of the open paving, and the dark door nearest it sits just right of the gate pillar with the striped awning beyond. The small barred window between that door and the awning is my target, so I will step forward across the pavement to begin closing the sizeable gap.", + "The wall is noticeably larger now and the narrow grated window between the dark door and the awning is clearly resolved slightly right of my heading. The paving ahead is open with nothing in the way, so I will keep walking forward to shorten the distance.", + "My heading still points at the section of wall holding the dark door and the barred window, with the awning immediately to its right. I am still several paces short of the facade, so another forward step should continue reducing the gap.", + "The barred window and its stone surround are now plainly visible just right of the dark door, and the storefront glass fills the right side of my view. I will advance again to bring myself in front of that window rather than the shopfront.", + "I am close enough to make out the door handle and the individual bars over the small window between the door and the awning storefront. A couple more steps forward should place me directly at that window.", + "The barred window now dominates the middle of my view with its stone sill and grille clearly detailed, and the dark door is immediately to its left. I will take one more step forward to stand right up against the target window.", + "I am nearly at the wall, with the grille, wooden sash and stone sill of the target window filling most of my view just ahead and slightly right. A final short step should put me squarely at the barred window between the door and the awning storefront.", + "The barred ground-floor window fills my view at arm's length, its stone sill and iron bars directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_b/infos.json b/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ae23c21ed0c233b47311352ccbdb95bbb84bf04 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the golden door of the building.", + "Type": 0, + "Start_Pose": [ + 3486.562, + 50.768, + 118.011, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3486.562, + 50.768, + 118.011, + 0.0, + -2.88, + 0.0 + ], + [ + 3612.262, + 44.444, + 118.011, + 0.0, + -2.88, + 0.0 + ], + [ + 3612.262, + 44.444, + 118.011, + 0.0, + 22.12, + -0.0 + ], + [ + 3728.857, + 91.836, + 118.011, + 0.0, + 22.12, + -0.0 + ], + [ + 3845.453, + 139.228, + 118.011, + 0.0, + 22.12, + -0.0 + ], + [ + 3962.048, + 186.62, + 118.011, + 0.0, + 22.12, + -0.0 + ], + [ + 4078.644, + 234.012, + 118.011, + 0.0, + 22.12, + -0.0 + ], + [ + 4195.239, + 281.404, + 118.011, + 0.0, + 22.12, + -0.0 + ], + [ + 4267.902, + 326.229, + 118.15, + 0.0, + 22.12, + -0.0 + ], + [ + 4267.902, + 326.229, + 118.15, + 0.0, + 22.12, + -0.0 + ] + ], + "Rationale": [ + "From this spot on the open pavement I can see the pink building facade ahead, with a pale golden door standing to the right of the striped shop awning while the other doorways are dark. Overhanging tree leaves clutter the upper part of my view, so I will move forward across the paving to close distance and get a cleaner line on that golden door.", + "Now closer to the facade, the golden door sits noticeably right of my heading while the dark door and shop front occupy the center of my view. I will turn right to bring that golden door toward the middle of my view before continuing the approach.", + "The golden door is now near the center of my view, framed in stone against the pink wall, with clear paving between me and it. I will move forward along this heading to reduce the remaining distance.", + "The golden door and its stone surround keep growing in my view and stay close to my heading, so my alignment is holding. I will continue straight ahead to keep closing on it.", + "The door now dominates the left-center of my view and I can make out its panels and the pale stone frame, but I am still a few paces short of the wall. I will step forward again to continue the approach.", + "The golden door is now large in front of me and I can see the round handle on its face, which confirms this is the target door. I will advance again to bring myself right up to it.", + "The door fills most of my view with its transom and knob clearly detailed, so only a short gap remains to the threshold. I will move forward once more to stand directly at it.", + "The golden door panels and the brass knob now span nearly my whole view, so I am within a step of the threshold. I will take one last short step forward to finish standing at the door.", + "The golden door fills my view at arm's length, its brass knob clearly visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_c/infos.json b/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bef6c99917011cf13150feede65870d74f91e5bb --- /dev/null +++ b/dataset/trajectory/Venice/task_x003487_y000051_z000118_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the storefront beneath the red-and-white striped awning.", + "Type": 0, + "Start_Pose": [ + 3486.562, + 50.768, + 118.011, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3486.562, + 50.768, + 118.011, + 0.0, + -2.88, + 0.0 + ], + [ + 3612.262, + 44.444, + 118.011, + 0.0, + -2.88, + 0.0 + ], + [ + 3737.962, + 38.121, + 118.011, + 0.0, + -2.88, + 0.0 + ], + [ + 3863.662, + 31.797, + 118.011, + 0.0, + -2.88, + 0.0 + ], + [ + 3989.362, + 25.473, + 118.011, + 0.0, + -2.88, + 0.0 + ], + [ + 3989.362, + 25.473, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 4100.613, + -33.381, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 4211.863, + -92.236, + 118.011, + 0.0, + -27.88, + 0.0 + ], + [ + 4267.911, + -146.434, + 118.15, + 0.0, + -27.88, + 0.0 + ], + [ + 4267.911, + -146.434, + 118.15, + 0.0, + -27.88, + 0.0 + ] + ], + "Rationale": [ + "From across the open paved square I can already pick out the red-and-white striped awning over a shop window in the pink facade ahead of me. It sits roughly straight ahead, so I will move forward to begin closing the long distance across the pavement.", + "The striped awning and the recessed shop window beneath it now fill more of my view, confirming I am heading toward the right facade. The pavement in front of me stays clear, so I will keep moving forward.", + "The awning is close enough now that I can see its scalloped edge and the sill under the dark display glass. There is still open ground between me and the storefront, so another step forward should continue closing that gap.", + "The striped awning has drifted toward the left part of my view while the barred window and door sit to the right, which tells me my heading is slightly off the storefront center. The facade is still a few paces away, so I will advance again before correcting my heading.", + "The awning and its display window are now pushed to the left edge of my view, with only blank wall and a barred window straight ahead of me. I will turn left to bring the striped awning and the storefront back into the center of my heading before approaching further.", + "After the turn the striped awning and the large shop window sit centered ahead of me, so my heading now points at the storefront. I will move forward to close the remaining pavement toward it.", + "The display window and its sill now dominate my view and the awning fabric is overhead, so I am nearly at the storefront. One more step forward should bring me right up in front of the shop window.", + "The dark glass of the shop window fills almost my entire view with the stone surround just at my left, so I am standing immediately beneath the awning. I will take one small step forward to settle directly in front of the storefront.", + "The striped awning's shop window fills my view at arm's length, its glass and sill directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003788_y-001314_z000118_t0_a/infos.json b/dataset/trajectory/Venice/task_x003788_y-001314_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..84360b25ed96b7678366d0d52a8cd5afe681a111 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003788_y-001314_z000118_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk toward the street lamp post.", + "Type": 0, + "Start_Pose": [ + 3788.37, + -1314.324, + 118.15, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3788.37, + -1314.324, + 118.15, + 0.0, + -89.28, + 0.0 + ], + [ + 3789.952, + -1440.173, + 118.15, + 0.0, + -89.28, + 0.0 + ], + [ + 3791.533, + -1566.022, + 118.15, + 0.0, + -89.28, + 0.0 + ], + [ + 3793.115, + -1691.871, + 118.15, + 0.0, + -89.28, + 0.0 + ], + [ + 3793.115, + -1691.871, + 118.15, + 0.0, + -64.28, + 0.0 + ], + [ + 3847.734, + -1805.261, + 118.15, + 0.0, + -64.28, + 0.0 + ], + [ + 3902.354, + -1918.65, + 118.15, + 0.0, + -64.28, + 0.0 + ], + [ + 3956.973, + -2032.04, + 118.15, + 0.0, + -64.28, + 0.0 + ], + [ + 4011.593, + -2145.43, + 118.15, + 0.0, + -64.28, + 0.0 + ], + [ + 4011.593, + -2145.43, + 118.15, + 0.0, + -89.28, + 0.0 + ], + [ + 4013.174, + -2271.279, + 118.15, + 0.0, + -89.28, + 0.0 + ], + [ + 4014.756, + -2397.128, + 118.15, + 0.0, + -89.28, + 0.0 + ], + [ + 4014.756, + -2397.128, + 118.15, + 0.0, + -114.28, + 0.0 + ], + [ + 4014.756, + -2397.128, + 118.15, + 0.0, + -114.28, + 0.0 + ] + ], + "Rationale": [ + "I can see the tall dark street lamp post standing in the open plaza straight ahead, beyond the gap between the two pink gate pillars. Nothing blocks the paved stretch between me and that opening, so I will step forward to close distance toward the lamp.", + "The gate pillars have widened at the sides and the lamp post now stands larger and clearly centered in the gap ahead, confirming my heading is good. I will keep advancing through the opening to reduce the remaining distance.", + "I am passing between the pillars now, and the lamp post rises just ahead of the canal railing with the open square spread in front of me. The path is unobstructed, so another step forward should bring me farther into the square toward the lamp.", + "Out in the open square, the lamp post sits a little to the right of my straight-ahead direction, while the pink wall corner still crowds the left side of my path. I will turn right to point my heading more directly at the lamp and keep the wall behind me.", + "The square is now fully open in front of me, with the lamp post standing clearly ahead on flat paving and the canal railing behind it. With a clean lane toward it, I will move forward to close the gap.", + "The lamp post has grown noticeably taller in front of me, its base now visible near the railing along the canal edge. Since the paving between us is still clear, I will keep stepping forward toward it.", + "The lamp column now spans the full height of my view slightly to my left, so I am getting close but not yet beside it. I will advance again to bring myself right up to its base at the canal railing.", + "The lamp post stands very near on my left, with the gondola and railing along the canal just beyond it. A final step forward should place me directly alongside the post at arm's reach.", + "The green street lamp post is now very close but pushed to the far left edge of my view, with the canal railing stretching ahead of me. I will turn left to swing my heading onto the post so it sits centered before I close the last bit of distance.", + "The lamp post now stands squarely in the middle of my view, rising from the walkway just in front of the canal railing. With my heading lined up on it, I will step forward to shorten the remaining gap.", + "The post's fluted shaft and base have grown noticeably larger and remain straight ahead of me, so my line to it is still good. I will move forward once more to bring myself within touching range of it.", + "I am right up against the railing beside the canal, and the dark lamp post has slid to my left edge where only part of its shaft shows. A small left turn should bring the post fully back in front of me for a clean final facing.", + "The street lamp post stands directly in front of me, its base filling my view at arm's reach. The task is complete, so I stop here rather than move further." + ] +} diff --git a/dataset/trajectory/Venice/task_x003865_y000842_z000118_t1_a/infos.json b/dataset/trajectory/Venice/task_x003865_y000842_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cee4b01b9d73f5a96c70ba1bde86657e087a1769 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003865_y000842_z000118_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search the nearby buildings for the golden-colored wooden door next to a stone quoin corner, then approach that entrance.", + "Type": 1, + "Start_Pose": [ + 3865.178, + 841.547, + 118.15, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3865.178, + 841.547, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 3865.178, + 841.547, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 3865.178, + 841.547, + 118.15, + 0.0, + -69.04, + 0.0 + ], + [ + 3865.178, + 841.547, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 3955.652, + 754.055, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 4046.127, + 666.563, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 4136.601, + 579.07, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 4227.075, + 491.578, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 4275.812, + 406.84, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 4275.812, + 406.84, + 118.15, + 0.0, + -44.04, + 0.0 + ] + ], + "Rationale": [ + "From this spot the plaza ahead is largely screened by the big tree and the pale facade on the left shows only shuttered windows and shopfronts, no golden door or stone quoin. I will turn right to swing my view across the other buildings bordering the square and open up the search area.", + "Swinging right has brought a tall pinkish building into the right side of my view, but from this angle I only see barred windows and a dark recess, with no golden door or quoined corner yet. I will keep turning right to bring that near facade and its corner fully into view.", + "Now I can see a light golden wooden door set in the pink facade, directly beside a corner faced with pale stone quoin blocks, which matches the entrance I was told to find. It sits off to my right, so I will turn right once more to line my heading up with it before closing in.", + "The golden door and the stone quoin corner are now roughly centered ahead of me with clear open paving in between. I am done searching and will walk forward to commit to this entrance.", + "The golden door has grown larger and stays near the middle of my view, so my heading toward it is still good. I will continue walking forward to close the remaining distance across the paving.", + "The door's panels and its round brass handle are now clearly resolved, and the quoined corner stands just to its right as expected. I will keep stepping forward since I am still a few paces short of the entrance.", + "The doorway and its stone surround now fill much of my view, so I am close but not yet standing at the threshold. I will advance again to bring myself right up to the entrance.", + "The golden wooden door now spans nearly my whole view with its brass knob at arm's height and the pale stone jamb on my left. One short step forward should place me directly at the entrance.", + "The golden wooden door fills my view at arm's length, its brass knob and the stone quoin edge beside it clearly visible. The entrance is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x003865_y000842_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x003865_y000842_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..194b610e52fbe9040f9c982067d1c0493a4178d3 --- /dev/null +++ b/dataset/trajectory/Venice/task_x003865_y000842_z000118_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the second yellow-leafed tree from the left in the courtyard.", + "Type": 2, + "Start_Pose": [ + 3865.178, + 841.547, + 118.15, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3865.178, + 841.547, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 3804.083, + 731.511, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 3742.989, + 621.475, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 3742.989, + 621.475, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 3734.122, + 495.928, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 3725.255, + 370.382, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 3725.255, + 370.382, + 118.15, + 0.0, + -94.04, + 0.0 + ] + ], + "Rationale": [ + "Counting the yellow-leafed trees across the courtyard from the left, the first stands close to the pale building on the far left and the second is the broad one ahead of me, rooted in a square metal grate set into the paving. I will hold onto that grated tree pit as my marker and step forward toward it across the open stone.", + "The tree in the square grated pit is noticeably larger now, its trunk and the pit edge clearer against the paving. I am still well short of it, so I keep walking straight ahead.", + "The trunk of the grated-pit tree sits right of my heading, so walking straight would carry me past its left side. A small turn to the right should put it squarely in front of me before I close the last distance.", + "The tree I am after now stands centered ahead with its grated pit plainly visible, while the other yellow-leafed tree has slid out of my view to the left, so I simply follow this trunk rather than any count. The gap is still several paces, so I walk forward.", + "The trunk and its grated pit fill much of the left side of my view, but I am still a step or two off the pit edge. One more advance should bring me right up beside the tree.", + "I stand at the edge of the grated pit with the target tree's trunk towering immediately beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x004644_y-001197_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x004644_y-001197_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1bb0d170826506ce4e6b634197f7ec2aabebb0dd --- /dev/null +++ b/dataset/trajectory/Venice/task_x004644_y-001197_z000118_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the rightmost iron railing section along the canal.", + "Type": 2, + "Start_Pose": [ + 4644.345, + -1196.589, + 118.15, + 0.0, + -5.76, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4644.345, + -1196.589, + 118.15, + 0.0, + -5.76, + 0.0 + ], + [ + 4644.345, + -1196.589, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 4763.175, + -1155.115, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 4882.004, + -1113.641, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 5000.833, + -1072.168, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 5119.663, + -1030.694, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 5238.492, + -989.22, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 5357.321, + -947.746, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 5476.151, + -906.272, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 5594.98, + -864.799, + 118.15, + 0.0, + 19.24, + -0.0 + ], + [ + 5594.98, + -864.799, + 118.15, + 0.0, + 44.24, + -0.0 + ], + [ + 5685.148, + -776.991, + 118.15, + 0.0, + 44.24, + -0.0 + ], + [ + 5766.77, + -689.648, + 127.013, + 0.0, + 44.24, + -0.0 + ], + [ + 5766.77, + -689.648, + 127.013, + 0.0, + 44.24, + -0.0 + ] + ], + "Rationale": [ + "From the open square I can see the iron railing running along the far canal edge, and its right-hand end is the section that meets the stone landing of the pink arched bridge on that side. That end sits well to my right of my current heading, so I will turn right to bring it into view before crossing the paving.", + "The turn has put the canal railing and the pink bridge with its landing ahead of me instead of off to one side. The paved square between us is clear, so I will walk forward toward the railing section beside that bridge landing.", + "The railing and the arch of the bridge beside it have grown slightly larger, confirming I am closing on the canal edge. The stretch of paving in front of me is still empty, so I keep walking toward the railing that runs up to that bridge landing.", + "I can now pick out individual posts along the railing and the steps climbing to the pink bridge on my right. Nothing blocks the square, so another stride forward should bring me nearer to the railing section at the bridge end.", + "The scrolled ironwork now fills a good part of the middle of my view and the bridge ramp stands close on my right. I am still several paces short of the canal edge, so I continue walking toward the railing beside that ramp.", + "The canal water is now visible behind the railing, showing I am nearly at the quay edge. The bridge landing I am aiming beside lies just ahead to my right, so I step forward again.", + "The railing panels and their posts now dominate the lower half of my view, and the bridge arch sits immediately to the right beyond them. A further step should carry me level with the run of railing that ends at that bridge.", + "I am close to the ironwork now, with the canal directly beyond it and the pink bridge stepping up on my right. The final section before that bridge landing still lies slightly ahead, so I keep walking along the quay toward it.", + "The scrollwork stands right at arm's length with the water just beyond it, so I am at the quay edge rather than still crossing open paving. The stretch that ends against the bridge landing lies further along to my right, and the paving beside the railing is clear, so I step forward again.", + "I am now flush against the ironwork, and it runs off to my right toward the bridge, whose arch and stone landing show past the far post. Facing straight at the water would take me nowhere useful, so I turn right to line up along the quay with the panel that ends at that landing.", + "The turn has opened up the quay ahead, with the railing running toward the pale steps that climb to the bridge on my right. The final panel before those steps is still a couple of paces off, so I walk forward along the edge.", + "The stone steps and the low stub post where the ironwork stops are now close on my right, and the arch spans the canal just beyond. A last short step should put me level with that end section rather than a panel short of it.", + "The end panel of the iron railing is beside me, stopping against the bridge landing steps on my right. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x004644_y-001197_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x004644_y-001197_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8cd444661589a58db6e4995f2a5ac563834e75bb --- /dev/null +++ b/dataset/trajectory/Venice/task_x004644_y-001197_z000118_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the first iron railing section left of the canal.", + "Type": 2, + "Start_Pose": [ + 4644.345, + -1196.589, + 118.15, + 0.0, + -5.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4644.345, + -1196.589, + 118.15, + 0.0, + -5.76, + 0.0 + ], + [ + 4769.569, + -1209.22, + 118.15, + 0.0, + -5.76, + 0.0 + ], + [ + 4894.792, + -1221.852, + 118.15, + 0.0, + -5.76, + 0.0 + ], + [ + 5020.016, + -1234.483, + 118.15, + 0.0, + -5.76, + 0.0 + ], + [ + 5145.239, + -1247.115, + 118.15, + 0.0, + -5.76, + 0.0 + ], + [ + 5145.239, + -1247.115, + 118.15, + 0.0, + -30.76, + 0.0 + ], + [ + 5253.392, + -1311.484, + 118.15, + 0.0, + -30.76, + 0.0 + ], + [ + 5361.545, + -1375.854, + 118.15, + 0.0, + -30.76, + 0.0 + ], + [ + 5469.698, + -1440.224, + 118.15, + 0.0, + -30.76, + 0.0 + ], + [ + 5577.851, + -1504.594, + 118.15, + 0.0, + -30.76, + 0.0 + ], + [ + 5686.003, + -1568.963, + 118.15, + 0.0, + -30.76, + 0.0 + ], + [ + 5766.599, + -1632.449, + 126.955, + 0.0, + -30.76, + 0.0 + ], + [ + 5766.599, + -1632.449, + 126.955, + 0.0, + -30.76, + 0.0 + ] + ], + "Rationale": [ + "From this open pavement I can see the canal ahead with wrought iron railings lining its edge, and the section closest to the canal's left end is the one meeting the pink arched bridge abutment. That scrolled panel beside the bridge is my target. I will walk forward across the square to close the distance.", + "The railing line along the canal is larger now, and the scrollwork panel touching the pink bridge abutment stands out on the left. Nothing blocks the paving between me and it, so I keep walking straight ahead.", + "The bridge abutment and the ornate railing beside it are still off to my left, well beyond comfortable reach. Advancing straight keeps shrinking the gap before I need to correct my heading, so I step forward again.", + "I am nearing the canal edge, and the scrolled railing at the foot of the pink bridge now reads clearly at the left of my view. One more step forward should bring me close enough that a small heading change should center it.", + "The railing panel joined to the pink bridge abutment sits near the left border of my view while my heading points across the water instead. I will turn left to swing that panel toward the center of my path before continuing.", + "The turn brought the bridge and its adjoining scrolled railing panel into the middle of my view, with clear paving leading toward it. I will walk forward along that line to close in on the panel.", + "The scrolled iron panel set against the pink bridge abutment is directly ahead and growing, though still several paces off. My heading is good, so I simply step forward again rather than adjust.", + "The ornate railing beside the bridge abutment now fills much of the view, with its low bench and the water just past it. I am not yet standing at it, so I keep walking straight toward the panel.", + "The scrolled panel and the stone bench under it sit just ahead and slightly right of my heading, with open paving between us. A couple more paces should put me at the canal edge beside it, so I step forward.", + "The scrollwork now spans most of my view with the water and the arch behind it, and the bridge ramp railing crowds in from the left. I am close but still a stride short of the panel itself, so I continue forward.", + "The iron scrolls and their post are almost within arm's reach, filling the lower half of my view with the arch rising just beyond. One short step should bring me right up against the panel at the water's edge.", + "The iron railing beside the pink bridge abutment is right against me, its top rail crossing my view above the water. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005291_y-001916_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x005291_y-001916_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4079cd88258714090f4944e2005aab6234bfac --- /dev/null +++ b/dataset/trajectory/Venice/task_x005291_y-001916_z000118_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the rightmost street lamp.", + "Type": 2, + "Start_Pose": [ + 5290.834, + -1916.141, + 118.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5290.834, + -1916.141, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 5177.179, + -1970.206, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 5177.179, + -1970.206, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + 5097.021, + -2067.238, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + 5016.863, + -2164.27, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + 4936.705, + -2261.302, + 118.15, + 0.0, + -129.56, + 0.0 + ], + [ + 4936.705, + -2261.302, + 118.15, + 0.0, + -104.56, + 0.0 + ], + [ + 4905.065, + -2383.119, + 118.15, + 0.0, + -104.56, + 0.0 + ], + [ + 4905.065, + -2383.119, + 118.15, + 0.0, + -104.56, + 0.0 + ] + ], + "Rationale": [ + "Scanning the row of lamps along this quay, the one farthest right stands tall by the canal railing beside the red and white striped mooring pole, which marks it apart from the smaller lamps near the bridge. I will walk forward along the open pavement to close distance toward that side of the square.", + "The lamp by the canal railing sits far to my right, almost at the edge of my view, so walking straight would carry me past it. I will turn right to bring it into the center of my heading before continuing.", + "The turn has placed the tall lamp beside the ironwork railing near the middle of my view, with clear paving between it and me. I will step forward to shorten that gap.", + "The lamp's green fluted shaft is growing larger ahead and its base by the railing is now visible, so I am closing in correctly. I will keep walking straight toward it.", + "The lamp now fills much of the right side of my view and I can see the canal edge and railing running beside it. Another step forward should bring me close alongside its base.", + "The lamp by the striped mooring pole has drifted to my right as I advanced, and the railing ahead blocks any further straight approach on this line. I will turn right so the lamp sits directly ahead of me.", + "The lamp now stands squarely in front of me, its base on the paving just a stride away beside the railing. I will take a final step forward to stand right at it.", + "The tall lamp beside the canal railing and striped mooring pole fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005291_y-001916_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x005291_y-001916_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..94de55a9f428bdecfc7eae516b65e86528506bd4 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005291_y-001916_z000118_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the second closest street lamp.", + "Type": 2, + "Start_Pose": [ + 5290.834, + -1916.141, + 118.15, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5290.834, + -1916.141, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 5177.179, + -1970.206, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 5063.524, + -2024.27, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4949.868, + -2078.335, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4836.213, + -2132.4, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4722.558, + -2186.465, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4608.903, + -2240.529, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4495.248, + -2294.594, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4381.593, + -2348.659, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4267.938, + -2402.723, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4154.282, + -2456.788, + 118.15, + 0.0, + -154.56, + 0.0 + ], + [ + 4154.282, + -2456.788, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 4030.655, + -2457.752, + 118.15, + 0.0, + -179.56, + 0.0 + ], + [ + 4030.655, + -2457.752, + 118.15, + 0.0, + -179.56, + 0.0 + ] + ], + "Rationale": [ + "Two street lamps stand along this canal walkway: one right beside me at the railing on my right, and a second one further ahead where the walkway meets the arched bridge. That farther lamp by the bridge is the second closest, so it is my target. I will walk forward along the quay toward it.", + "The lamp by the bridge is still well ahead of me and only slightly right of my heading. The paving in front is clear, so another forward step should close the gap without any turn.", + "The lamp that stood right at my shoulder has now slipped out of view behind me, so I hold onto the lamp at the near foot of the bridge as the one I am going to. It has grown noticeably larger, meaning I am gaining on it. I will keep walking straight along the canal.", + "A smaller lamp is now visible further down the street beyond the bridge, but it is not the one I chose; mine is the one standing at the canal edge just before the bridge, beside the red and white mooring pole. The route along the quay stays open. I will continue forward.", + "The lamp beside the mooring pole now rises high in my view, its lantern well above the rooftops behind it. There is still open pavement between me and its base, so I keep advancing.", + "My target lamp sits just left of my heading with the canal railing running past it on the right. Nothing blocks the stones in front of me, so another step forward should bring me closer to its base.", + "The lamp's shaft now dominates the left-centre of my view, and I can see its foot on the walkway ahead. I am not yet standing at it, so I will walk forward again.", + "The lamp I am heading for stands close ahead, its post cutting vertically through my view with the canal railing beside it. A few more paces should put me right at its base, so I keep moving forward.", + "The green shaft of the lamp I am going to now rises through the left of my view, and I can pick out its stone base where the paving meets the canal railing. That base is still a few paces off with clear flagstones between, so I step forward again.", + "The post has thickened considerably and slid further toward my left as I close on it, with the ornate railing running past its foot. I am not yet level with its base, so another stride along the quay is the direct way to reach it.", + "I am so near the lamp now that its shaft has drifted to the very edge of my view on the left, nearly out of sight past my shoulder. Swinging left by a small amount should bring the post and its base back in front of me before I take the last step.", + "The turn worked: the lamp's fluted post now stands squarely in the middle of my view with its base just beyond my feet on the open paving. One more step should put me right up against it.", + "The lamp's octagonal base and shaft fill my view at arm's length. I am standing at it, so the task is done and there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7946baa8d9a3b040c3f7ae9768570db39c57c02f --- /dev/null +++ b/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the second bollard from the right along the railing.", + "Type": 2, + "Start_Pose": [ + 5313.833, + 5642.689, + 118.15, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5313.833, + 5642.689, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5366.465, + 5528.363, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5419.098, + 5414.038, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5471.73, + 5299.712, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5471.73, + 5299.712, + 118.15, + 0.0, + -40.28, + 0.0 + ], + [ + 5567.747, + 5218.341, + 118.15, + 0.0, + -40.28, + 0.0 + ], + [ + 5663.764, + 5136.971, + 118.15, + 0.0, + -40.28, + 0.0 + ], + [ + 5759.781, + 5055.6, + 129.379, + 0.0, + -40.28, + 0.0 + ], + [ + 5759.781, + 5055.6, + 129.379, + 0.0, + -40.28, + 0.0 + ] + ], + "Rationale": [ + "Counting from the right end of the railing along the canal, my target is the second dark post; the posts look alike, so I hold it as the one just inward of the corner where the stone landing juts into the water. It lies well ahead across open pavement, so I step forward.", + "The railing and its dark posts have grown larger ahead on my right, confirming I am closing on the run of posts. The bollard I want is still several strides off, so I keep walking straight across the clear paving.", + "The ornate railing and the stone landing beside it now fill much of the right side, but the bollard I am heading for is still ahead of me rather than at my shoulder. Another forward step should bring me level with that stretch of railing.", + "My heading is running past the canal edge instead of along it, leaving the posts off to my right side. A small turn to the right should swing the railing and the bollard I am after into the middle of my view so I can walk straight at it.", + "The railing now lies across my path with the canal open beyond it, so my heading points at the stretch I want. The bollards are still a few strides away, so I advance along the quay.", + "The nearest posts are close enough now that the railing's ironwork reads clearly, and the bollard beside the projecting stone edge sits just ahead on my right. I step forward again to draw level with it.", + "The tall dark bollard by the quay edge is now right at my shoulder, and the posts nearer the right end have dropped behind me so the row no longer reads as a countable line from here. One more step should place me directly beside the bollard I chose.", + "The dark bollard I chose stands directly beside me at the railing, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..733da69c228e81d4d6f26b801ab7ce5bfd8c107e --- /dev/null +++ b/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the third bollard from the right along the railing.", + "Type": 2, + "Start_Pose": [ + 5313.833, + 5642.689, + 118.15, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5313.833, + 5642.689, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5366.465, + 5528.363, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5419.098, + 5414.038, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5471.73, + 5299.712, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5524.362, + 5185.387, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5576.994, + 5071.061, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5629.626, + 4956.736, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5682.259, + 4842.41, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5682.259, + 4842.41, + 118.15, + 0.0, + -40.28, + 0.0 + ], + [ + 5766.606, + 4761.582, + 126.959, + 0.0, + -40.28, + 0.0 + ], + [ + 5766.606, + 4761.582, + 126.959, + 0.0, + -40.28, + 0.0 + ] + ], + "Rationale": [ + "The railing edges the canal on my right, and its dark posts are alike, so I settle the count now: three in from the near right end of that railing, the one standing just past the raised stone landing. I walk forward along the open pavement to close on it.", + "The ironwork railing and its posts have grown larger on my right, confirming I am tracking the correct stretch of the quay. The post I chose is still well ahead of me, so I keep walking straight along the pavement.", + "I am now walking parallel to the canal railing, with the water opening up beyond it to my right. My chosen post still lies further along that run, so another straight step forward keeps the approach efficient.", + "The scrolled ironwork panels between the posts are clearly resolved now, and the post I am heading for sits ahead along this same railing. Nothing blocks the walkway, so I continue forward rather than turning early.", + "I am drawing level with the stretch of railing where my post stands, but it is still a little ahead on my right. Walking on keeps me on the paved edge without crowding the balustrade.", + "The nearest posts have slipped behind me, so I no longer recount from the end of the row and simply stay with the post I picked out. It is just ahead on my right, and one more step should bring me abreast of it.", + "The post I am after now stands close on my right, its rounded cap catching the light above the ironwork. A final forward step should place me alongside it before I face the water.", + "I am beside my post, but it sits off to my right while I face straight down the quay. I turn right so the bollard and the railing come squarely in front of me for the last short step to the water's edge.", + "With the turn done, the capped post and the ironwork it anchors sit ahead of me across the pavement, the canal beyond. A short step forward should close the last of the gap and put me right at that post.", + "The capped post I chose now stands at my shoulder, close enough to touch. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b66c1f8a21d502994b0c8cb044054a3175ff4bf6 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005314_y005643_z000118_t2_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the first bollard from the left near the waterfront.", + "Type": 2, + "Start_Pose": [ + 5313.833, + 5642.689, + 118.15, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5313.833, + 5642.689, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5366.465, + 5528.363, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5419.098, + 5414.038, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5471.73, + 5299.712, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5524.362, + 5185.387, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5576.994, + 5071.061, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5629.626, + 4956.736, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5682.259, + 4842.41, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5734.891, + 4728.084, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5734.891, + 4728.084, + 118.15, + 0.0, + -90.28, + 0.0 + ], + [ + 5734.276, + 4602.227, + 118.15, + 0.0, + -90.28, + 0.0 + ], + [ + 5733.661, + 4476.369, + 118.15, + 0.0, + -90.28, + 0.0 + ], + [ + 5733.046, + 4350.512, + 118.15, + 0.0, + -90.28, + 0.0 + ], + [ + 5732.431, + 4224.654, + 118.15, + 0.0, + -90.28, + 0.0 + ], + [ + 5731.816, + 4098.797, + 118.15, + 0.0, + -90.28, + 0.0 + ], + [ + 5731.201, + 3972.939, + 118.15, + 0.0, + -90.28, + 0.0 + ], + [ + 5731.201, + 3972.939, + 118.15, + 0.0, + -65.28, + 0.0 + ], + [ + 5766.734, + 3859.506, + 127.002, + 0.0, + -65.28, + 0.0 + ], + [ + 5766.734, + 3859.506, + 127.002, + 0.0, + -65.28, + 0.0 + ] + ], + "Rationale": [ + "The canal edge opens on my right, with dark mooring posts spaced along the railing that runs away from me. Reading that row from its left end, the target is the post farthest down the quay, where the pavement meets the waterside corner of the pink building. The paving ahead is clear, so I walk forward toward it.", + "The waterfront railing on my right has grown slightly larger, confirming I am closing on the canal edge. The post I chose still lies well ahead down the quay, so I keep walking straight over the open paving.", + "More of the ironwork along the water now fills the right of my view, but the post I am heading for is still far along the quay by the pink facade. My straight line toward it remains unobstructed, so I step forward again.", + "The canal and its railing are clearly closer on my right, and the pink building marking the far end of the quay is still some distance ahead. Since my target post sits down at that end, I continue walking forward.", + "I am now walking alongside the water, with the railing running parallel on my right and the paved strip open in front of me. The post I want is still further along this edge, so I keep advancing.", + "Nearer posts along the railing have come into my view on the right, so counting a leftmost from here would pick out the wrong one. I stay with the post far down the quay beside the pink facade and keep moving forward over the clear paving.", + "A heavy post now stands close beside me at the railing, but it is not the one I am going to. My post is still ahead where the quay runs up against the pink building, so I continue walking forward.", + "The pink facade at the end of the quay is much larger now, and the walkway between it and the water stays open. The post I chose sits at that far end, so I take another step forward to close the remaining distance.", + "The near ironwork has slid past me and the quay no longer reads as a countable row from this angle, so I hold onto the post at the far waterside corner of the pink building. My heading now points too far across the canal, so I swing left to face the open walkway that runs to that corner.", + "The new heading puts the pink facade squarely in front and leaves the canal railing running along my right shoulder. That is the line that leads to the corner where my post stands, and the paving is clear, so I step forward.", + "The striped awning and the shuttered green doorway at the base of the pink building are noticeably larger, so I am gaining ground along this stretch. The corner where the pavement meets the water is still ahead of me, and I keep walking.", + "A stout railing post passes on my right at the canal edge, but my post lies further on where the quay ends beside this facade. Nothing blocks the paving in front of me, so I advance again.", + "Pale steps have appeared ahead where the pavement drops toward the water, marking the end of this quay stretch. My post sits at that waterside corner, so I keep closing the gap.", + "A dark, capped post now stands out on my right where the pavement meets the canal, matching the one I picked out at this corner. It is still a few strides off, so I continue forward.", + "The steps and the low landing beside them are now directly in front of me, and the post sits just off my right at the water's edge. One more step should bring me level with it.", + "I have drawn level with the corner, and the post now stands off to my right against the water rather than ahead of me. Turning right should place it directly in front so I can take the last stride up to it.", + "The turn has set the capped post at the quay corner near the middle of my view, with the water and the steps flanking it. Only a short stretch of paving separates me from it, so I step forward to close that last gap.", + "The capped post at the waterside corner fills the view right in front of me, within arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_a/infos.json b/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5506d07c0875e9f86008ddeac6fc18da5ad2c408 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the leftmost ground-floor door on the building.", + "Type": 2, + "Start_Pose": [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5569.777, + 7431.124, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5520.035, + 7546.736, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5470.292, + 7662.349, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5420.55, + 7777.961, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5420.55, + 7777.961, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 5424.327, + 7903.763, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 5428.105, + 8029.565, + 118.15, + 0.0, + 88.28, + -0.0 + ], + [ + 5428.105, + 8029.565, + 118.15, + 0.0, + 88.28, + -0.0 + ] + ], + "Rationale": [ + "Scanning the ground floor of this building, the run of shuttered storefronts ends on the left at a frosted-glass door under a dark signboard beside the tree trunk, so that pale door is my target. It is far off across the paving, so I will walk forward to close the distance.", + "The frosted-glass door under the dark signboard beside the tree is clearer now, but still well ahead and off to my left. Continuing straight keeps shortening the gap before I worry about fine alignment.", + "The frosted door beside the tree now shows its panel and handle detail, so I am closing in on it. I am still several paces short of the storefront, so I keep walking forward.", + "The wall fills more of my view and the frosted door beside the tree sits toward my left. Another step forward should bring me near enough that a small heading correction is all that remains.", + "From this close range the frosted door with its brass handles sits well off to my left, near the edge of my view, while I am facing the blank shutters. I will turn left to bring that door in front of me before stepping in.", + "The frosted door with its brass handles is now centered ahead of me under its signboard. I still have a couple of paces of pavement to cover, so I walk straight toward it.", + "The door now fills much of my view with its handles clearly at my right, and only a short strip of pavement remains at its base. One more step forward should put me right at the threshold.", + "The frosted-glass door and its brass handles fill my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_b/infos.json b/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3374328e1931b565cb4a73861d9b031b6cb05588 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the rightmost ground-floor door on the building.", + "Type": 2, + "Start_Pose": [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5569.777, + 7431.124, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5569.777, + 7431.124, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5475.836, + 7514.882, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5381.894, + 7598.64, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5287.952, + 7682.398, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5287.952, + 7682.398, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 5167.414, + 7718.607, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 5046.876, + 7754.816, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4926.338, + 7791.025, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4805.8, + 7827.234, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4685.262, + 7863.443, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4564.724, + 7899.652, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4444.186, + 7935.861, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4323.648, + 7972.07, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4323.648, + 7972.07, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4229.706, + 8055.828, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4136.153, + 8126.433, + 119.399, + 0.0, + 138.28, + -0.0 + ], + [ + 4136.153, + 8126.433, + 119.399, + 0.0, + 113.28, + -0.0 + ], + [ + 4136.153, + 8126.433, + 119.399, + 0.0, + 113.28, + -0.0 + ] + ], + "Rationale": [ + "The pale building's ground floor shows a run of look-alike doorways and shuttered fronts, so I fix my target as the last one at the right end of that run, where the facade carries on past the striped awning. I step forward to close the distance and open a clearer view toward that end.", + "The frontage is closer now, but its right end runs out beyond the edge of my view, so I cannot yet see the doorway I chose. I turn right to swing my heading along the building and bring that far end into sight.", + "The turn has opened the plaza, and the ground-floor frontage now angles away ahead of me toward a corner where a differently coloured wall begins. My door sits at that far end of the run, so I walk forward along the frontage to close in.", + "The nearest shuttered fronts are already sliding past on my left, while the end of this wall is still a good way ahead. Nothing blocks the paving in front of me, so I keep walking toward that end.", + "The awning and rolling shutters loom large on my left, which tells me I am beside the middle of the run rather than its end. The last doorway lies further along, so I advance again.", + "The shopfronts now crowd my left and my heading is drifting toward the wall rather than along it. The remaining stretch of frontage and the corner where it ends lie off to my right, so I turn right to face that way before walking on.", + "The courtyard is open ahead of me now, with the pale frontage running down my left to the corner where it meets the pink wall. My door is the one at that end of the run, so I walk forward across the open paving toward it.", + "The corner where the pale wall ends has grown noticeably closer, and the openings still near me on the left are the shuttered shopfronts rather than the doorway I picked. I keep stepping forward to reach the far end of that frontage.", + "The junction where the pale wall meets the pink one now sits almost straight ahead, and the openings crowding my left are still the shuttered fronts and their service doors. The door I want is the last one before that junction, so I keep walking.", + "The nearer dark doorways have swelled at the edge of my view, a sign I am passing them rather than arriving at my one. Further along the yellow wall, closer to the corner, a paler doorway is starting to separate itself, so I advance again.", + "That further doorway now reads clearly as a plain wooden one set in the yellow wall just short of where the pink facade takes over. Nothing of the frontage continues past it, which matches the end of the run I picked. I step on toward it.", + "From here the frontage no longer reads as a countable row, since the earlier shopfronts have slipped behind me and only this wooden door remains ahead on the yellow wall. It is the one I have been tracking at the end of the building, so I continue closing on it.", + "The wooden door and its stone surround are noticeably larger now, though still several strides off across the paving. My line runs cleanly to it, so I keep moving up.", + "The brass handle on the wooden door is now distinct, so I am within a couple of paces of the wall. I walk forward once more to draw level with the doorway before squaring up to it.", + "The wooden door has swung out to the far left of my view and my heading points past it into the corner of the courtyard. I turn left to bring the doorway back in front of me.", + "The wooden door now sits squarely ahead of me with its frame fully visible and its handle at my level. A short step forward should put me right at it.", + "The panelled door now fills the left of my view with its brass knob at arm's height, so only a short gap of paving remains between me and its threshold. I take one more step to stand directly at the doorway rather than slightly short of it.", + "I am right against the wall now, with the pale stone jamb filling the centre of my view and only the dark edge of the door panel showing on my left. I turn left so the doorway itself sits in front of me instead of its surround.", + "The wooden door at the end of the building's ground-floor run fills my view at arm's length, its brass knob beside me. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_c/infos.json b/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6287052d6c7aa6afa9bf1566e478e1c2b90f5a89 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_c/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the second door from the right on the ground-floor.", + "Type": 2, + "Start_Pose": [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5525.578, + 7399.27, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5431.636, + 7483.028, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5337.694, + 7566.786, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5243.752, + 7650.544, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5149.81, + 7734.302, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5149.81, + 7734.302, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 5029.273, + 7770.511, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4908.735, + 7806.72, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4788.197, + 7842.929, + 118.15, + 0.0, + 163.28, + -0.0 + ], + [ + 4788.197, + 7842.929, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4694.255, + 7926.687, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4600.313, + 8010.445, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4600.313, + 8010.445, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 4548.424, + 8109.837, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 4548.424, + 8109.837, + 118.15, + 0.0, + 113.28, + -0.0 + ] + ], + "Rationale": [ + "Counting the ground-floor doorways in from the right end of this facade, the second one is my target; they look much alike, so I hold it as the door standing beside the rightmost one, near the far corner. I turn right to bring that end of the row toward the center of my view and open a walking line across the paving.", + "My heading now runs along the courtyard, with the shuttered fronts on my left and clear paving stretching ahead toward the corner. The door I chose sits well down that stretch, so I step forward to close the distance.", + "The striped awning and the doorways beyond it are growing larger on my left, confirming I am moving along the right way. Nothing blocks the open paving in front of me, so I keep walking toward the far end of the facade.", + "The awning is nearly abreast of me and the pink building at the corner is filling more of my view, so the end of the row is still ahead. I continue forward over the open flagstones.", + "The shutters on my left are now steeply foreshortened, meaning I am running alongside the facade rather than across it. My door lies nearer the corner, so I keep advancing.", + "The recessed glazed doorway and the wall beyond it are close on my left, and the courtyard corner where the yellow wall meets the pink one is coming into reach ahead. I step forward again to keep closing on that end of the row.", + "The shuttered front is crowding my left edge and my heading is angling into the wall rather than along it. Turning right swings me back over the open square and centers the corner area where the door I am after stands.", + "From this angle several more doorways show along the yellow wall and the pink one, so I stay with the door I picked instead of recounting the row. The paving between me and that corner is clear, so I walk forward.", + "The pink corner block ahead and the yellow wall on my left now frame the last stretch of open courtyard, and the recessed entrances along that wall are still a good way off. The flagstones between are clear, so I keep walking to draw level with them.", + "Two dark entrances stand out on the yellow wall to my left, the wide glazed shop front and, beside it, the paneled one carrying a pale plaque, which is the door I settled on. I step forward once more rather than stopping short of it.", + "The paneled door with the plaque sits off my left shoulder while my heading still runs down the courtyard and would carry me past it. Turning left puts that doorway on my line so I can walk at it squarely.", + "From this near angle the wall no longer reads as a countable row of fronts, so I simply hold to the paneled door with the pale plaque, now sitting ahead with its barred window beside it. Clear paving runs up to its threshold, so I walk on.", + "Only a short run of flagstones remains between me and that doorway, and the glazed shop entrance is sliding out past my left edge as I close. I advance again to bring myself within reach of the panel.", + "Coming in this close has pushed the door off to my left, where it fills the edge of my view while the wall runs away ahead. A left turn should set the panel, plaque and handle back in the middle so my last step lands square on it.", + "The paneled door is centered now, its plaque and brass handle plainly in front of me, with a pace of clear ground remaining. I step forward to stand right at it.", + "The paneled door I chose fills my view at arm's length, its handle directly before me. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_d/infos.json b/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2bb90ecd017059a7efe2146f6a242786744a082b --- /dev/null +++ b/dataset/trajectory/Venice/task_x005620_y007316_z000118_t2_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the second door from the left on the ground-floor.", + "Type": 2, + "Start_Pose": [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 113.28, + -0.0 + ], + [ + 5619.52, + 7315.512, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5525.578, + 7399.27, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5431.636, + 7483.028, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5337.694, + 7566.786, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5243.752, + 7650.544, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5149.81, + 7734.302, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 5055.869, + 7818.06, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4961.927, + 7901.818, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4867.985, + 7985.576, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4774.043, + 8069.334, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4682.528, + 8117.097, + 118.15, + 0.0, + 138.28, + -0.0 + ], + [ + 4682.528, + 8117.097, + 118.15, + 0.0, + 138.28, + -0.0 + ] + ], + "Rationale": [ + "Along the ground floor of the building to my left, the first door sits at the far left corner and the second is the glass-paned one set into the run of metal shutters beside the red and white awning, so that glazed shop door is my target. Right now it lies off to my left and the open paving runs away to my right. I will turn right to put that door and the clear stretch of pavement leading to it ahead of me.", + "The glazed door among the shutters now sits ahead of me down the length of the façade, with open paving between us and no obstruction in the way. I will walk forward along that clear stretch to close the distance.", + "The doorways on the pink building across to my right have come into view, so counting doors from where I stand would no longer land on the right one; I keep following the glazed door in the shuttered row instead. It is still some way off down the façade, so I will keep walking forward.", + "The striped awning and the shutters beside my glazed door are growing larger, confirming I am closing on the right stretch of wall. The paving ahead stays clear, so I will continue walking forward.", + "The corner door at the far end of the façade has slipped out of my view on the left, so I hold onto the glazed door itself, still visible where the shutters end. It remains ahead and to my left along the wall, and I will keep advancing.", + "The glazed door now reads clearly at the end of the shutters, with a darker plain door a little beyond it on the yellow wall. Mine is the glass-panelled one, and there is still a good stretch of pavement to cover, so I will step forward again.", + "The shutters and the balcony above them now fill much of my left side, and the glazed door sits just past the last shutter panel. I am not yet level with it, so I will keep walking forward along the wall.", + "The glass-panelled door in its stone surround is close now, still set immediately beyond the rolled shutter, with the plainer dark door further along the yellow wall. A few more paces should bring me up to it, so I will continue forward.", + "Up close the row no longer reads as a countable line, but the glass-panelled door in its pale stone frame is unmistakable just past the shutter, with the dark plain door on the yellow wall beyond it. It sits slightly ahead of me still, so I will step forward.", + "The glazed door now dominates my left side, its brass fittings catching what light there is, though my line of travel still carries me a little short of being level with its frame. The pavement in front stays clear. I will advance again to draw even with it.", + "The glass panel and its stone jamb fill most of my view, and the brass handle sits just forward of me rather than beside me. One more short step should bring me level with the doorway itself.", + "The glazed door's brass handles and stone jamb are within arm's reach directly beside me. I have arrived at the target door, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_a_p/infos.json b/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..43bf87bc2efc9baa90a0811a555da0cf8a444c95 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the jerry can from near the iron fence on the right.", + "Type": 5, + "Start_Pose": [ + 5663.304, + -1178.146, + 118.15, + 0, + -178.56, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 4827.498, + -1591.002, + 30.312, + 0, + 0.435, + 0.926 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5663.304, + -1178.146, + 118.15, + 0, + -178.56, + 0 + ], + [ + 5663.304, + -1178.146, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 5550.61, + -1234.186, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 5437.916, + -1290.226, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 5325.221, + -1346.266, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 5212.527, + -1402.306, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 5099.833, + -1458.346, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4987.138, + -1514.386, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4888.179, + -1568.661, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4888.179, + -1568.661, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4888.179, + -1568.661, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4888.179, + -1568.661, + 118.15, + 0.0, + -153.56, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4827.498, + -1591.002, + 30.312, + 0.0, + 0.435, + 0.926 + ], + [ + 4898.233, + -1587.51, + 88.256, + -28.202, + -103.415, + 1.862 + ], + [ + 4898.233, + -1587.51, + 88.256, + -28.202, + -103.415, + 1.862 + ] + ], + "PD_Dist_2D": [ + 932.2, + 932.2, + 806.4, + 680.5, + 554.6, + 428.8, + 302.9, + 177.1, + 64.7, + 64.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The yellow jerry can sits at the base of the tree by the iron fence, off to my right and near the edge of my view. Turning right should bring it toward the center of my heading so I can walk straight at it.", + "The jerry can now sits roughly ahead of me at the tree trunk in front of the fence, with open paving between us. I will walk forward to close that long gap.", + "The small yellow can beside the tree trunk is larger than before, so my heading is carrying me toward it. Another step forward should continue shrinking the distance to the fence line.", + "The can remains centered at the foot of the tree, but I am still several paces short of grasping range. I keep walking straight ahead since nothing blocks the paving.", + "The jerry can and the low wall behind it now fill more of my view, confirming my line is good. I advance again to reach the tree base where the can rests.", + "The can's ribbed body and handle are now distinct just right of the tree trunk, yet it is still beyond arm's reach. Stepping forward should bring me close enough to consider grasping.", + "The jerry can stands close in front of me against the wall by the tree, but it sits low and slightly off to my right of the trunk. One more step should put it directly at my feet for a grasp.", + "The can is now at the bottom edge of my view, right beside the tree trunk and the low wall corner. A final short step should place me over it so the handle is within reach.", + "I have closed right up to the low wall by the iron fence, and the jerry can has dropped out of my forward view because it now sits just below my line of sight beside the tree trunk. I will look down to bring it back into view and confirm it is within reach before grasping.", + "With my gaze lowered, the red jerry can is clearly in front of me at the base of the tree, close beside the paving near the fence wall. Nothing stands between us and it fills the near field, so I will attempt the pick now.", + "The jerry can is now held in my hands and no longer resting by the fence. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_a_pd/infos.json b/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9ece4087fc4fb1e73f1d81eb29b0455a4fe90365 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_a_pd/infos.json @@ -0,0 +1,544 @@ +{ + "Instruction": "Pick up the trash bag near the iron fence in front, then leave it near the awning.", + "Type": 5, + "Start_Pose": [ + 5663.304, + -1178.146, + 118.15, + 0, + -178.56, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4466.764, + -1342.115, + 35.393, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5663.304, + -1178.146, + 118.15, + 0, + -178.56, + 0 + ], + [ + 5537.485, + -1181.309, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 5411.666, + -1184.472, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 5285.846, + -1187.635, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 5160.027, + -1190.797, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 5034.208, + -1193.96, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 4908.389, + -1197.123, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 4908.389, + -1197.123, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4795.694, + -1253.163, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4683.0, + -1309.203, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4683.0, + -1309.203, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4570.306, + -1365.243, + 118.15, + 0.0, + -153.56, 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+ 218.7, + 218.7, + 106.1, + 106.1, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this side of the square I can see the dark trash bag sitting against the low wall beneath the iron fence ahead, but it is still far off. I will walk forward across the paving to close that distance before I can reach for it.", + "The bag by the fence is a little larger in view now, so my heading is carrying me toward it. I will keep walking straight since the open pavement ahead is clear of obstacles.", + "I still see the trash bag resting at the foot of the railing ahead and slightly right of my path. Nothing blocks the leaf-strewn pavement between us, so I will continue walking to shorten the gap.", + "The fence and its brick base now fill more of my view, and the bag is clearly picked out against the wall. I am still too far to grasp it, so another step forward is the direct way to get within reach.", + "The bag sits just ahead against the low brick wall under the railing, noticeably closer than before but still beyond arm's length. I will advance again to bring it near enough for a grasp.", + "The dark trash bag sits against the low brick base of the iron fence ahead and slightly right, still several paces away. I will keep walking forward to close that gap before worrying about fine alignment.", + "The bag now sits noticeably right of my heading, near the corner of the brick wall under the fence, so straight advances would carry me past it toward the courtyard gate. I will turn right to put the bag on my forward line before continuing.", + "After the turn the trash bag lies closer to the middle of my view at the base of the fence wall, so my heading is workable. I will step forward along this line to shorten the remaining distance to it.", + "The bag is larger and lower in my view now, resting where the brick base meets the paving, but it is still a couple of paces off and my hands are empty. I will advance again to get within reach.", + "The trash bag now fills the lower left of my view right against the brick base of the iron fence, close enough that a grasp seems plausible. I will attempt to pick it up rather than step nearer and risk bumping into the wall.", + "My hands are still empty, so that grasp attempt did not take hold. I judge I stopped short of reaching range beside the iron fence. I will walk one more step forward to close that remaining gap before trying again.", + "After that step forward I am now right up at the brick wall under the iron fence, but the trash bag is no longer framed in front of me, so it must sit below my current line of sight. Since my earlier grab came away empty, I want the bag clearly in view before reaching again. I will look down to bring it into frame.", + "The trash bag is now clearly framed close in front of me at the foot of the brick wall, well inside reaching distance. My earlier attempt came away with nothing because the bag was not properly in range or in view. I will attempt the pick again from this aligned position.", + "The grasp took hold this time and the trash bag is now carried with me rather than resting on the pavement. Facing the iron fence gives me no route onward, and the striped awning storefront lies back across the open square to my left. I will turn left to begin swinging my heading toward it.", + "The brick pillar and iron railing still fill my view, so one turn was not enough to clear the fence line and face the open square. The bag is still in my hands and ready for transport. I will turn left again to keep rotating toward the awning side of the plaza.", + "The trash bag is in my hands, so the remaining job is to carry it to the awning. My view is still filled by the brick pillar and iron railing, with only the open square showing at the left edge, and no awning is in sight yet. I will keep rotating left to sweep my heading toward that open ground.", + "Turning has cleared the pillar, and I now see the passage between the pink buildings with trees and railing beyond, but no awning yet. The pillar still crowds the right of my view, so my heading is not usable for carrying the bag. I will turn left again to bring more of the square's frontage into sight.", + "The striped awning over the shopfront has come into view on the left side of my field, set into the pink facade. It sits well off my current heading, so walking now would carry the bag past it. One more left turn should place the awning near the center of my view.", + "The striped awning and its shopfront are now centered ahead of me across open, unobstructed paving. With the bag in hand and my heading finally lined up on the drop location, turning further would only spoil the alignment. I will walk forward to close the distance.", + "The awning has grown larger and stays centered, confirming my last step carried me straight toward it. I am still several strides away from the wall beneath it, too far to set the bag down where the task asks. I will continue walking forward along this heading.", + "The trash bag is still in my hands, and the striped awning over the shop front is now filling most of my view ahead. I am not yet close enough for the bag to count as left near it, so I take another step straight toward the storefront.", + "The awning canopy and the shuttered display window now dominate my view, so the carried bag is nearly at its intended resting place. A little pavement still separates me from the wall beneath the awning, so I walk forward again.", + "The striped canopy now hangs across the top of my view, meaning I am nearly under the awning with the bag still in hand. I step forward once more to bring myself right up to the shop front where the bag should be set down.", + "The glass of the shop display fills my view at arm's length, so I am directly under the awning with the bag still carried. One more short step should place me flush against the storefront so the bag lands clearly in the awning's shelter.", + "I am pressed right against the shop front beneath the awning, and my last step gained noticeably less ground, confirming there is no space left to advance. This is the sheltered spot the task asks for, so I release the trash bag here.", + "The trash bag now rests on the ground at the shopfront beneath the awning, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_b_pd/infos.json b/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fb0f349effd4b4797c4a93b921a322eab0bfccf8 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_b_pd/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Pick up the plate near the awning, then set it down near the tree.", + "Type": 5, + "Start_Pose": [ + 5663.304, + -1178.146, + 118.15, + 0, + -178.56, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4670.792, + -644.138, + 66.629, + 90, + -0.404, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5663.304, + -1178.146, + 118.15, + 0, + -178.56, + 0 + ], + [ + 5663.304, + -1178.146, + 118.15, + 0.0, + 156.44, + -0.0 + ], + [ + 5547.937, + -1127.839, + 118.15, + 0.0, + 156.44, + -0.0 + ], + [ + 5432.569, + -1077.532, + 118.191, + 0.0, + 156.44, + -0.0 + ], + [ + 5317.201, + -1027.225, + 118.191, + 0.0, + 156.44, + -0.0 + ], + [ + 5201.834, + -976.918, + 118.191, + 0.0, + 156.44, + -0.0 + ], + [ + 5086.466, + -926.611, + 118.191, + 0.0, + 156.44, + -0.0 + ], + [ + 4971.098, + -876.304, + 118.191, + 0.0, + 156.44, + -0.0 + ], + [ + 4855.731, + -825.997, + 118.191, + 0.0, + 156.44, + -0.0 + ], + [ + 4740.363, + -775.69, + 118.191, + 0.0, + 156.44, + -0.0 + ], + [ + 4740.363, + -775.69, + 118.191, + 0.0, + 131.44, + -0.0 + ], + [ + 4740.363, + -775.69, + 118.191, + 0.0, + 131.44, + -0.0 + ], + [ + 4740.363, + -775.69, 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shopfront wall rather than ahead across the open square. Turning left should swing that shaded storefront toward the center of my view so I can walk straight at it.", + "The striped awning and its dark shuttered opening now sit ahead and slightly left, with clear pavement between me and it. Nothing blocks the route, so I will walk forward to close the long gap toward the awning.", + "The awning is larger now and a pale round object rests on the ground beside the shuttered opening beneath it, likely the plate I am sent to collect. I am still far from it, so I continue walking forward.", + "The round pale disc beside the shop shutter is clearer and holds steady ahead-left as I advance, which supports it being the plate near the awning. The lane in front stays open, so another step forward keeps shrinking the distance.", + "The awning's red and white stripes and the plate leaning at the shutter base are now plainly resolved off to my left front. I am still several strides short of grabbing range, so I keep walking forward.", + "The shopfront wall is filling the left side of my view and the plate sits at its base, closer but not yet within reach. Continuing straight ahead keeps me on the wall line and brings me nearer to it.", + "The plate is now large in the left foreground, propped against the shutter under the awning, but it still sits ahead of my position rather than beside me. One more forward step should bring me level with it before I reach for it.", + "The plate has slid to the far left edge of my view as I come alongside the shopfront, so I am nearly abreast of it. I will step forward once more to settle at a position where the plate is close enough to handle.", + "The large white plate leaning under the striped awning is now close on my left, filling the lower left of my view. I am still slightly short of it, so I will take one more step forward to bring it within arm's reach before turning to grasp it.", + "I have drawn level with the shopfront, and the plate has slipped out of my forward view because it now sits to my left against the awning wall. I will turn left to face it squarely so it is centered for a grasp.", + "The plate is directly in front of me at the base of the awning wall, well within reach. I will attempt to pick it up now so I can carry it toward the tree.", + "The grasp worked, and the plate is now held in my hands rather than resting against the wall. The tree stands back across the open square behind me, so I will turn right to begin swinging my heading around toward it.", + "I am carrying the plate but still facing the narrow alley side with the barred window and the shuttered building ahead. The tree lies further around to my right, so I will keep turning right to continue bringing it into view.", + "The square is opening up ahead of me, but I am still facing the far facade with its green shutters rather than the tree. With the plate in hand, I will turn right again to keep rotating toward the open paved area where the tree stands.", + "Turning has brought the brick gate pillar and the iron railing into view at the right edge, which marks the side of the square where the tree grows. I will turn right once more to bring that area toward the center of my heading.", + "The tree's canopy and trunk are now visible on the right side of my view beyond the railing, but they are not yet centered ahead of me. Still holding the plate, I will turn right again to line my heading up with the tree before walking over.", + "The plate is held, so the remaining job is to carry it to the tree. The large tree now sits ahead but still left of center, with the fenced wall crossing my path, so I will turn a little further right to line up with the open paving beside its trunk.", + "With the plate in hand, my heading now points straight at the big tree standing in the open square ahead. Nothing blocks the paving between me and its trunk, so I will walk forward to close that distance.", + "The trunk has grown noticeably larger and the leaf litter under its canopy is now clearly visible, confirming I am closing in with the plate still carried. I will keep walking forward toward that base.", + "The tree is close enough that its canopy fills the upper view, but I am still several paces short of the trunk while carrying the plate. Another step forward should bring me to the paving right beside it.", + "The trunk now stands just ahead and to my left, with the leaf-covered ground at its base close by. I will step forward once more to reach a position where the plate can be set down near the tree.", + "I am nearly level with the trunk, which now rises immediately to my left, and the ground beside it is within a pace. One more forward step should put me right at the tree base so the plate can be released there.", + "I am standing right at the foot of the tree, its trunk immediately to my left and the leaf-strewn ground beside me. This satisfies the requirement to place the plate near the tree, so I will release it here.", + "The plate now rests on the ground at the foot of the tree and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_c_pd/infos.json b/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3feaaef1a231176aeeba668296fe4203a2ae31 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005663_y-001178_z000118_t5_c_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the ceramic pot near the tree, then place it near the striped awning.", + "Type": 5, + "Start_Pose": [ + 5663.304, + -1178.146, + 118.15, + 0, + -178.56, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5663.304, + -1178.146, + 118.15, + 0, + -178.56, + 0 + ], + [ + 5537.485, + -1181.309, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 5411.666, + -1184.472, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 5285.846, + -1187.635, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 5285.846, + -1187.635, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 5173.152, + -1243.675, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 5060.458, + -1299.715, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4947.764, + -1355.755, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4947.764, + -1355.755, + 118.15, + 0.0, + -153.56, + 0.0 + ], + [ + 4947.764, + -1355.755, + 118.15, + 0.0, + -178.56, + 0.0 + ], + [ + 4947.764, + -1355.755, + 118.15, + 0.0, + 156.44, + -0.0 + ], + [ + 4947.764, + -1355.755, + 118.15, + 0.0, + 131.44, + -0.0 + ], + [ + 4947.764, + -1355.755, + 118.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4912.143, + -1235.042, + 118.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4876.522, + -1114.328, + 118.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4840.902, + -993.615, + 118.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4805.281, + -872.902, + 118.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4769.661, + -752.189, + 118.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4734.53, + -652.224, + 118.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4754.907, + -721.28, + 118.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4754.907, + -721.28, + 118.15, + 0.0, + 106.44, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + [ + 4811.104, + -1425.128, + 58.625, + 0.001, + -109.198, + 169.484 + ], + [ + 4957.818, + -1374.603, + 88.256, + -28.202, + -103.415, + 1.862 + ], + [ + 4948.892, + -1376.134, + 88.529, + -28.189, + -128.403, + 1.872 + ], + [ + 4939.556, + -1374.184, + 87.862, + -28.215, + -153.432, + 1.849 + ], + [ + 4923.953, + -1369.537, + 88.043, + -14.175, + 173.633, + 6.959 + ], + [ + 4927.744, + -1362.073, + 87.932, + -28.208, + 156.583, + 1.851 + ], + [ + 4891.854, + -1241.757, + 88.353, + -28.189, + 156.598, + 1.869 + ], + [ + 4856.321, + -1121.305, + 88.736, + -28.205, + 156.576, + 1.859 + ], + [ + 4820.705, + -1000.638, + 88.889, + -28.191, + 156.59, + 1.872 + ], + [ + 4785.047, + -879.761, + 88.664, + -28.206, + 156.578, + 1.863 + ], + [ + 4749.338, + -758.774, + 88.156, + -28.203, + 156.58, + 1.855 + ], + [ + 4714.141, + -658.581, + 87.763, + -28.201, + 156.585, + 1.861 + ], + [ + 4735.096, + -654.142, + 98.15, + 0.0, + 106.44, + -0.0 + ], + [ + 4735.096, + -654.142, + 98.15, + 0.0, + 106.44, + -0.0 + ] + ], + "PD_Dist_2D": [ + 887.3, + 766.2, + 647.0, + 530.8, + 530.8, + 405.0, + 279.1, + 153.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits at the base of the large tree ahead, well across the open paved square. Nothing blocks the stretch of pavement between me and it, so I will walk forward to close that distance.", + "The tree and the pot at its base now fill more of my view, confirming the previous step brought me closer. The route stays open across the square, so I will keep walking straight toward the pot.", + "The pot is still clearly visible beside the tree trunk but remains too far for any grasp. I will advance again along the same heading to shorten the remaining gap.", + "From here the pot and the tree trunk sit off to the right of my heading, so walking straight would carry me past them toward the far corner. I will turn right to put the pot ahead of me before continuing.", + "The turn has brought the pot and the tree base into the middle of my view. With the pot squarely ahead on open paving, I will walk forward to close in on it.", + "The pot is noticeably larger and still centered just left of the trunk, so my heading remains good. It is not yet within arm's reach, so I will step forward again.", + "The pot now sits low and close beside the tree trunk, but it is still a stride away from where I could handle it. One more forward step should place me directly over it.", + "The ceramic pot is right at my feet by the trunk, filling the bottom of my view at reaching distance. My hands are empty, so I will attempt to pick it up before carrying it toward the striped awning.", + "The grasp worked, since the ceramic pot is now held in my hands instead of resting by the tree trunk. The striped awning I need is back across the square behind me, well to my left of this heading. I will turn left to begin swinging my facing away from the fence toward that side of the plaza.", + "I am holding the pot and now facing the pink palazzo and iron railing, which is not the delivery side. The awning frontage lies further around to my left, past the open corner of the square. I will keep turning left to bring that side into view.", + "The rotation has opened up the left side of the square, where the pale building with the red and white striped canopy is just edging into view at the frame border. My heading still points too far toward the railing and gateway. Another left turn should bring the awning nearer the center of my view.", + "The striped awning over the shuttered shop front is clearly visible now, but it sits on the left half of my view, so a straight walk would drift past it. I am still carrying the pot and need a clean line toward that facade. I will turn left once more to square up with it.", + "The striped awning and its shop window now sit centered ahead of me, so my heading is aimed at the drop area. The pot is still in my hands and the paving between us is clear and open. I will walk forward to close that distance.", + "The awning and window frame have grown larger, confirming the last step carried me and the pot toward the facade. I am still several paces short of a sensible placing spot beneath the canopy. I will step forward again.", + "The striped canopy now fills much of the upper view and the barred windows flank it, so I am closing in correctly with the pot. The ground directly under the awning is still ahead rather than at my feet. I will continue walking forward toward it.", + "The awning and shop front dominate my view and the paving in front of the sill is now only a short walk away. Carrying the pot, I want to be right beside the striped canopy before releasing it. I will advance another step to reach that placing distance.", + "The red and white striped awning now spans the top of my view and the shuttered shopfront is only a short walk ahead, with the pot still in my hands. I will step forward again to bring the carried pot right up to the awning frontage before setting it down.", + "I am now right at the shop's display window with the awning edge just above me, and the pot is still carried. One more short step should place me immediately beside the awning frontage so the release point counts as near it.", + "I am pressed against the shopfront directly beneath the striped awning, as close to it as I can stand, and the pot is still in my hands. This position satisfies the requested placement, so I will release the pot here and expect it to settle on the pavement at the awning.", + "The ceramic pot now stands free on the pavement at the shopfront under the striped awning, no longer in my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_a/infos.json b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fed6abd55e68ed2df91f256cebe79584934a1185 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the burgundy door on the pink stucco building.", + "Type": 0, + "Start_Pose": [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + [ + 5705.637, + -273.595, + 129.223, + 0.0, + -119.04, + 0.0 + ], + [ + 5705.637, + -273.595, + 129.223, + 0.0, + -144.04, + 0.0 + ], + [ + 5603.764, + -347.502, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 5501.89, + -421.409, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 5400.016, + -495.316, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 5400.016, + -495.316, + 118.15, + 0.0, + -169.04, + 0.0 + ], + [ + 5276.453, + -519.245, + 118.15, + 0.0, + -169.04, + 0.0 + ], + [ + 5276.453, + -519.245, + 118.15, + 0.0, + -169.04, + 0.0 + ] + ], + "Rationale": [ + "From the open square I can already see the burgundy door set into the pink stucco building on my left, framed by pale stone trim. It is still some distance off and well to the side, so I will move forward across the open paving to close range before adjusting my heading.", + "After advancing, the burgundy door sits far to the left edge of my view while my heading still points across the square toward the canal and bridge. I will turn left to bring the door and its facade toward the center of my view so I can approach it directly.", + "The pink stucco wall with the burgundy door is now angled in front of me rather than off to the side. I will move forward to keep reducing the gap to that doorway.", + "The burgundy door has grown noticeably larger and its stone surround and nameplate are clearly resolved, so I am closing in correctly. I will continue forward since I am still several steps short of standing at the door.", + "The doorway now fills much of the left side of my view with the corner quoins beside it, confirming I am close to the target facade. I will advance once more to bring myself right up in front of the burgundy door.", + "I am now beside the burgundy door, but it is cut off at the left edge of my view because my heading runs almost parallel to the wall. I will turn left to square up on the door so it sits centered ahead of me.", + "The burgundy door is now centered in my view with its knob and nameplate plainly visible, so my heading is properly squared onto it. I will take one more step forward to stand directly at the doorway.", + "The burgundy door panel and its brass knob fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_b/infos.json b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..637dc0b3b364a6f49a087f86a58f1bc68dacd5f4 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Approach the large tree in the plaza.", + "Type": 0, + "Start_Pose": [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + [ + 5705.637, + -273.595, + 129.223, + 0.0, + -119.04, + 0.0 + ], + [ + 5644.543, + -383.631, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5583.448, + -493.667, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5522.354, + -603.704, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5461.259, + -713.74, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5400.165, + -823.776, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5339.07, + -933.812, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5277.976, + -1043.848, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5216.881, + -1153.884, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5155.787, + -1263.92, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5094.693, + -1373.957, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5094.693, + -1373.957, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 4992.819, + -1447.864, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -144.04, + 0.0 + ] + ], + "Rationale": [ + "The large leafy tree in the plaza stands ahead of me, slightly left of center, rising above the low fence at the far side of the open pavement. The paving in front of me is clear and my heading already points close to the tree, so I will move forward to start closing the gap. The canal wall stays off to my right, well clear of my line of travel.", + "The tree crown now fills more of the upper view and its trunk is clearer against the fence, confirming that straight travel is reducing the distance. The pink building edge on my left is sliding past and nothing stands between me and the tree. I will keep moving forward on this heading.", + "The trunk of the target tree is now clearly separated from the buildings behind it and sits just left of my forward direction, still within a comfortable margin. The plaza pavement ahead remains open and level. Another forward step should bring the tree noticeably closer without any turn yet.", + "The canopy now spreads across the top of my view and the trunk stands out against the railing behind it, so I am well inside the plaza and gaining on the target. My heading still keeps the tree near the middle of the view, which is good enough to continue straight. I will advance again.", + "Branches now reach past the edges of my view and the base of the trunk with its planting bed is visible ahead of me. The remaining stretch of paving toward the tree is clear, so continued straight motion is the most direct way to shrink the distance. I will move forward once more.", + "The tree now dominates the scene and I can see the low brick wall and fence running just behind its trunk, giving me a clear sense of the stopping area. Scattered fallen leaves on the paving mark the ground under the canopy that I am approaching. I will step forward again to keep closing in.", + "The trunk is now thick in my view and its shaded base with leaf litter lies a short way ahead, slightly left of my heading. Nothing obstructs the last stretch of pavement, so straight travel remains the efficient choice. I will continue forward toward the tree.", + "I am close enough now that the canopy covers the upper view and the trunk stands just left of my forward line, with the leaf covered ground under it clearly reachable. The distance still looks larger than an arm's length, so I have room to advance further. I will take another step forward toward the trunk.", + "The large plaza tree now stands just left of my heading with its canopy spreading over the top of my view and its trunk clearly separated from the iron railing behind it. Open paving lies directly ahead, so I will keep moving forward to close the remaining gap.", + "The trunk has grown noticeably wider in my view and the leaf litter around its base is now spread across the stones in front of me, confirming I am still closing distance. Nothing blocks the paving between me and the tree, so another forward step should bring me nearer.", + "The tree is close enough that its canopy fills the upper part of my view and the base of the trunk sits at the edge of the leaf covered patch to my left. There is still a short stretch of open stone before I reach it, so I will advance again.", + "My forward motion has pushed the trunk out toward the left margin of my view, so continuing straight would carry me past it along the wall instead of up to it. I will turn left to bring the tree back into the center of my heading before closing the last of the distance.", + "The turn has put the trunk squarely in the middle of my view with its leaf ringed base clearly visible on the paving. With the heading corrected I will move forward to close the short remaining distance to the tree.", + "The trunk now dominates the center of my view and its bark texture is clearly resolved, so only a small gap remains. One more forward step should place me right beside the tree.", + "The tree's massive trunk fills the near left of my view at arm's reach. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_c/infos.json b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..282fb843a963fbc526033722231383f9db697474 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_c/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Head to the street lamp near the bridge.", + "Type": 0, + "Start_Pose": [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + [ + 5705.637, + -273.595, + 129.223, + 0.0, + -119.04, + 0.0 + ], + [ + 5644.543, + -383.631, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5583.448, + -493.667, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5522.354, + -603.704, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5522.354, + -603.704, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5513.487, + -729.25, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5504.62, + -854.796, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5495.753, + -980.342, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5486.885, + -1105.889, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5478.018, + -1231.435, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5469.151, + -1356.981, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5460.284, + -1482.527, + 118.199, + 0.0, + -94.04, + 0.0 + ], + [ + 5451.417, + -1608.074, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5442.55, + -1733.62, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5433.683, + -1859.166, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5424.815, + -1984.712, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5415.948, + -2110.259, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5415.948, + -2110.259, + 118.15, + 0.0, + -69.04, + 0.0 + ], + [ + 5460.97, + -2227.79, + 122.081, + 0.0, + -69.04, + 0.0 + ], + [ + 5460.97, + -2227.79, + 122.081, + 0.0, + -44.04, + 0.0 + ], + [ + 5551.444, + -2315.282, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 5641.919, + -2402.774, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 5641.919, + -2402.774, + 118.15, + 0.0, + -44.04, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the open paved square I can already see the arched bridge and the canal railing off to my right, with tall dark lamp posts standing along that waterside edge. The target lamp near the bridge is far away across the open stone paving, so I will step forward to begin closing that distance while the route ahead is clear and flat.", + "The building wall on my left has slid further back and the square has opened up, confirming my last step made real progress across the paving. The bridge and its neighboring lamp posts are still well ahead on the right side, so I will keep walking forward on this heading.", + "The tree and the iron fence line are growing larger ahead of me, and the pale stone stairway of the bridge is now clearer to the right of center. Nothing blocks the paving in front of me, so another forward step should bring the bridge and its lamp posts within a shorter approach.", + "I am now close enough that the bridge steps and a slender lamp post beside them stand out on the right, while the fenced garden fills the space straight ahead. Since the target lies past this open stretch, I will take one more forward step before adjusting my heading.", + "Straight ahead of me is the fenced garden and the tree, while the bridge with its stairway and the lamp posts along the canal sit clearly off to my right. Walking straight would carry me past the target, so I will turn right to bring the bridge and its lamp into my forward path.", + "After the turn the bridge stairway and the arched span over the canal are now roughly in front of me, with a lamp post standing beside the walkway at the bridge approach. The paving between me and that stairway is empty, so I will walk forward to close the remaining gap.", + "The stairway, the stone bollards and the canal railing have all grown noticeably larger, showing that my heading is carrying me straight toward the bridge. The lamp near the bridge foot is still some distance off, so I will continue forward.", + "The bridge steps and the pale stone posts at their base are close now, and a dark lamp post rises beside the walkway on the right where the canal railing runs. I still have open paving in front of me, so I will step forward again to reach the lamp at the bridge.", + "The arched bridge over the canal is ahead and slightly to my right, with a dark street lamp standing beside its stone steps. My heading already points along the open paving toward that lamp, so I will step forward to close the remaining distance.", + "The lamp beside the bridge steps now reads larger and more clearly against the pink building, confirming I am closing on it. Nothing blocks the paving between me and the stair landing, so another step forward should shorten the gap.", + "The green lamp post beside the bridge approach is growing steadily in my view, so my current heading is still good. I will keep walking straight to reduce the remaining distance to it.", + "The stone steps of the bridge and their flanking bollards are close now, and the lamp stands just to the right of that approach. Continuing forward keeps me on the direct line to the lamp without needing a turn yet.", + "Two matching lamp posts are now visible flanking the foot of the bridge stairs, which confirms the target area right in front of me. I will step forward again to reach that landing.", + "Both lamps beside the bridge stand tall in my view and their bases are still a few paces off. Walking straight ahead should bring me level with the bridge foot where the nearer lamp stands.", + "The bridge steps fill much of the space ahead and the flanking lamp posts are close on either side of my path. One more step forward should place me at the base of the bridge beside a lamp.", + "I am nearly at the low platform at the foot of the bridge, with a lamp post rising just to my left and another to my right along the canal railing. I will advance once more to stand right at the bridge approach next to a lamp.", + "The stone steps of the bridge now fill much of my view, and the tall green lamp post stands just off to my right beside the canal railing. I will step forward once more to reach the paved landing at the foot of the steps, which should put me level with that lamp.", + "I am now standing at the base of the bridge steps, with the steps and their bollard rising straight ahead while the canal railing and lamp lie off to my right. Since my target lamp is beside the water rather than up the steps, I will turn right to bring the railing walkway and the lamp toward the center of my heading.", + "After turning, the ornate canal railing and the dark green lamp post standing on the walkway are clearly ahead and slightly right of me. The paving between me and that railing is open, so I will walk forward to close the remaining gap toward the lamp.", + "The pale stone bollard now blocks much of my left side while the lamp post rises at the right, near the canal railing and the water. I will turn right so the lamp and the open railing walkway sit ahead of me instead of at the edge of my sight.", + "The tall green lamp post now stands almost straight ahead against the canal railing, with the arched bridge and its water beyond it. I will step forward along the open paving to shorten the distance to the base of that lamp.", + "The lamp post is directly in front of me and its shaft now looks thick and close, with the canal railing on either side and the bridge arch to the right. One more step forward should bring me right up beside its base, close enough to count as arriving at it.", + "The street lamp's base stands immediately in front of me at the canal railing, with the arched bridge just to the right. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_d/infos.json b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45e06b35e1f3c0e2d41fb41ad9a2721df3d66df7 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t0_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Navigate to the black iron fence mounted on the pink courtyard wall.", + "Type": 0, + "Start_Pose": [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + [ + 5705.637, + -273.595, + 129.223, + 0.0, + -119.04, + 0.0 + ], + [ + 5644.543, + -383.631, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5583.448, + -493.667, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5522.354, + -603.704, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5461.259, + -713.74, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5400.165, + -823.776, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5339.07, + -933.812, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5277.976, + -1043.848, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5216.881, + -1153.884, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5155.787, + -1263.92, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5094.693, + -1373.957, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5033.598, + -1483.993, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4972.504, + -1594.029, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4911.409, + -1704.065, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4853.192, + -1777.899, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4853.192, + -1777.899, + 118.15, + 0.0, + -119.04, + 0.0 + ] + ], + "Rationale": [ + "Across the open paving I can already pick out the black iron railings set on the low pink wall beyond the leafy tree, roughly ahead of my current heading. The square in front of me is clear and flat, so no turn is needed yet. I will walk forward to begin closing that distance.", + "The railed pink wall under the tree now sits a little larger in my view, confirming my heading points at it. The pale house on my left is sliding past the edge of my sight, which tells me I am genuinely gaining ground. I will keep walking straight ahead.", + "The dark spear-topped railings above the pink base are clearer now and remain near the centre of my view, so my alignment still holds. Nothing stands between me and them on the open stone square. Another step forward should keep shrinking the gap.", + "I can now make out individual bars of the fence and the reddish pillars breaking up its run, all still directly in my path. The stairs and lamp post to the right stay off to the side, confirming I am not drifting. I will continue advancing without changing direction.", + "The fence line has widened across my view and the pink wall beneath it is now clearly visible along its whole length. My heading needs no correction because the railing still spans the middle of what I see. I will step forward again to close the remaining distance.", + "The tree canopy now overhangs my path and its trunk stands just left of the fence I am heading for, while the railings sit squarely ahead. The ground between remains open paving scattered with leaves. Walking forward should bring me nearer to the wall.", + "The black railings on the pink wall now fill much of the middle of my view, with the brickwork under them coming into detail. I am still short of the wall itself, so there is room to keep going. I will take another step straight ahead.", + "The fence and its pink parapet now stretch right across the scene ahead and I can see the individual spear tips clearly, yet a stretch of paving still separates me from it. My heading remains squarely on the railing, so no turn is warranted. I will keep walking forward.", + "The black iron railing on top of the pink courtyard wall now fills much of the view ahead, with its posts and spearheads clearly resolved. My heading already points straight into that stretch of fence, so no turn is needed. I will keep walking forward to close the remaining open pavement.", + "The pink wall and its black railing have grown wider across my view, confirming steady closure on the target. The tree trunk sits off to my left and does not block the lane I am walking. I will step forward again to keep shrinking the gap.", + "Individual fence bars and the pillars along the pink wall are now distinct, so I am within a short walk of the target. My line of travel still meets the wall squarely, needing no reorientation. Another forward step should bring me closer to a proper standing distance.", + "The railing and its spear tips now rise above my eye line, showing how near the pink wall has become. The centre of the fence remains directly in front of me, so I hold the same heading. I will advance again to close the last stretch of pavement.", + "The pink wall with its black railing now dominates my view and a masonry pillar stands just ahead of me. I am close but still a couple of paces short of standing at the fence itself. I will keep moving forward on the same line.", + "I am nearly at the barrier, with the pink pillars and the vertical iron bars towering across my whole view. A short step more should place me right up against the wall rather than a stride away. I will move forward again.", + "The black bars and the pink pillar edges are right in front of me, and I can see the canal and far houses through the railing. One last short step should settle me directly at the fence line for a clean stopping position. I will advance a final time.", + "I stand immediately at the black iron railing on the pink courtyard wall, its bars directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t3_a/infos.json b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..362c4452cc467618b98939223bb647b4e7a7a3b5 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t3_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Go to the brown door, then go to the tree.", + "Type": 3, + "Start_Pose": [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + [ + 5705.637, + -273.595, + 129.223, + 0.0, + -119.04, + 0.0 + ], + [ + 5705.637, + -273.595, + 129.223, + 0.0, + -144.04, + 0.0 + ], + [ + 5603.764, + -347.502, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 5501.89, + -421.409, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 5501.89, + -421.409, + 118.15, + 0.0, + -169.04, + 0.0 + ], + [ + 5378.327, + -445.338, + 118.15, + 0.0, + -169.04, + 0.0 + ], + [ + 5254.763, + -469.267, + 118.15, + 0.0, + -169.04, + 0.0 + ], + [ + 5254.763, + -469.267, + 118.15, + 0.0, + -169.04, + 0.0 + ], + [ + 5254.763, + -469.267, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 5254.763, + -469.267, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5254.763, + -469.267, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5253.507, + -591.925, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5244.64, + -717.471, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5235.773, + -843.018, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 5235.773, + -843.018, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5174.678, + -953.054, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5113.584, + -1063.09, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5052.489, + -1173.126, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4991.395, + -1283.162, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4930.3, + -1393.198, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4869.206, + -1503.235, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4869.206, + -1503.235, + 118.15, + 0.0, + -119.04, + 0.0 + ] + ], + "Rationale": [ + "The dark brown door sits in the pink wall on my left, and the leafy tree stands further out in the open square ahead. Since the door is my first destination, I will walk forward across the paving to cut down the distance to that wall before turning toward it.", + "The brown door is now close on my left side, well off the edge of my heading, so walking straight would carry me past it. I will turn left to swing that doorway toward the middle of my view and set up a direct line to it.", + "The brown door with its brass knob now lies ahead of me on the corner of the pink building, with clear paving between us. I will step forward to close on it.", + "The brown door has grown larger in front of me, its frame and knob clearly resolved, but I am still several paces short of standing at it. I will keep walking forward to shorten that remaining gap.", + "At this range the brown door has drifted to the left half of my view while my heading points past its frame toward the open square. I will turn left to bring the door squarely in front of me before advancing the last stretch.", + "The brown door is centered ahead with its stone surround and window beside it, and nothing blocks the paving between us. I will walk forward to bring myself right up to it.", + "The dark red brown door now fills most of my view, its brass knob and nameplate close enough to read, yet I am still a short step off the threshold. I will move forward once more to stand directly at the door.", + "The brown door's panel and its brass knob fill my view at arm's length, with my own shadow cast on the wood. I am standing at the brown door, so I have reached it. I mark reaching it and then head out into the square for the tree.", + "The brown door fills my whole view, knob and panel inches away, so there is nothing left to do at it. My other destination, the leafy tree, stands out in the open square behind my shoulder. I turn right to begin swinging my view off this wall and back toward the plaza.", + "The door face and its knob still occupy almost everything ahead, so one turn was not enough to bring the square into view. I turn right again to keep rotating away from the wall toward the open pavement where the tree stands.", + "The door edge and the stone corner have slid to my left, and past them I can now see open paving and green foliage in the sunlit square. Another turn right should clear the wall from my path and put the tree and the plaza in front of me.", + "The doorway is now only a red strip at my left edge and clear paving opens out ahead across the square, with leafy branches showing above the building corner. I walk forward to step out of this recess into the open where the tree grows.", + "I am out in the open square now, and the broad leafy tree rises from the paving ahead on the left side of my view. Nothing blocks the stones between us, so I keep walking forward to close the distance to it.", + "The tree has grown larger in front of me, its trunk and shadow now clearly filling the left portion of my view, so I am gaining on it. The paving stays open, and I step forward again to keep closing in.", + "The trunk sits well to the left of my heading, so walking straight on would carry me past it along the empty pavement. I turn left to bring the tree squarely in front of me before pressing on.", + "The tree is now centered in my view, its trunk rising straight ahead with yellow leaves scattered on the stones around it. With my heading corrected, I walk forward to close the remaining gap to it.", + "The tree's trunk stands slightly left of center ahead, with its canopy now filling the upper view and fallen leaves scattering across the pavement toward it. My path over the open stone is clear, so I will keep walking forward to close the remaining distance.", + "The trunk has grown noticeably wider in view and its shadow now spreads across the stones just in front of me, so I am still several strides short. Nothing blocks the paving, so I will advance again toward it.", + "The trunk is directly ahead and rising past the top of my view, but I am still standing on lit pavement outside the leaf-strewn ring at its base. Another step forward should bring me right up to the tree.", + "I am now within the tree's shade with its bark texture clearly resolved a short distance ahead of me. A further step should place me at the trunk itself, so I keep walking.", + "The trunk now fills the left portion of my view at close range, meaning I am nearly beside it rather than squarely at it. One more step forward should bring me level with the base.", + "The tree's bark fills my view at arm's length, so I stand at the tree after the brown door. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t3_b/infos.json b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c19bf8d1e8fde39d1ecf5a4aec39055050ae8ab3 --- /dev/null +++ b/dataset/trajectory/Venice/task_x005767_y-000164_z000127_t3_b/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Go to the tree trunk, then go to the lamp post near the bridge.", + "Type": 3, + "Start_Pose": [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5766.732, + -163.559, + 127.001, + 0.0, + -119.04, + 0.0 + ], + [ + 5705.637, + -273.595, + 129.223, + 0.0, + -119.04, + 0.0 + ], + [ + 5644.543, + -383.631, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5583.448, + -493.667, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5522.354, + -603.704, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5461.259, + -713.74, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5400.165, + -823.776, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5339.07, + -933.812, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5277.976, + -1043.848, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5216.881, + -1153.884, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5155.787, + -1263.92, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5094.693, + -1373.957, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 5094.693, + -1373.957, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 4992.819, + -1447.864, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -144.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -119.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -94.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -69.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 4890.945, + -1521.77, + 118.15, + 0.0, + -19.04, + 0.0 + ], + [ + 5009.919, + -1562.829, + 118.15, + 0.0, + -19.04, + 0.0 + ], + [ + 5128.892, + -1603.888, + 118.15, + 0.0, + -19.04, + 0.0 + ], + [ + 5247.865, + -1644.947, + 118.15, + 0.0, + -19.04, + 0.0 + ], + [ + 5247.865, + -1644.947, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 5338.34, + -1732.439, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 5428.814, + -1819.931, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 5428.814, + -1819.931, + 118.15, + 0.0, + -69.04, + 0.0 + ], + [ + 5473.836, + -1937.462, + 118.15, + 0.0, + -69.04, + 0.0 + ], + [ + 5518.858, + -2054.993, + 127.57, + 0.0, + -69.04, + 0.0 + ], + [ + 5552.263, + -2168.606, + 136.348, + 0.0, + -69.04, + 0.0 + ], + [ + 5583.957, + -2285.567, + 118.15, + 0.0, + -69.04, + 0.0 + ], + [ + 5583.957, + -2285.567, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 5674.431, + -2373.059, + 118.15, + 0.0, + -44.04, + 0.0 + ], + [ + 5674.431, + -2373.059, + 118.15, + 0.0, + -44.04, + 0.0 + ] + ], + "Rationale": [ + "The large leafy tree stands ahead across the open square, its trunk hidden behind the corner of the building on my left. I will walk forward over the paving to close the gap and bring that trunk into clear view.", + "The tree's canopy now fills more of my view and the building corner beside me is sliding past, so my line toward it is good. I keep walking straight across the open pavement toward the trunk.", + "The dark trunk is now visible beneath the canopy, rising in front of the iron railing across the square. Nothing blocks the paving between me and it, so I continue forward.", + "The trunk sits a bit left of my heading but remains well within reach of a straight walk. I will keep advancing rather than turning yet, since the distance is still considerable.", + "The railing and the low wall behind the tree are growing clearer, confirming I am steadily closing on the trunk. I step forward again across the open stone.", + "The trunk now rises noticeably taller in front of me, its base clear above the paving. Continuing straight should keep shrinking the remaining distance.", + "Fallen yellow leaves are scattered on the stones around the tree, a sign I am nearing its base. I keep walking toward the trunk.", + "The trunk is now thick in my view with the branches spreading overhead, so only a short stretch of paving remains. I advance again to bring myself right up to it.", + "The broad tree trunk stands just left of my heading, growing larger with each stride across the open paving. Nothing blocks the leaf-strewn stones between us, so I keep walking forward to close the remaining distance to it.", + "The trunk now rises clearly ahead and slightly left, with its shadow spreading over the fallen leaves near my feet. The route is still open, so another step forward should bring me nearer to the tree.", + "The trunk has drifted toward the left of my view as I gain on it, and the low painted wall with its iron railing runs past on the right. I continue walking forward to keep shrinking the gap to the tree.", + "The trunk has slipped to the far left edge of my view, so walking straight ahead would carry me past it along the wall. I turn left to bring the tree back in front of me before advancing again.", + "The turn worked: the thick trunk now sits squarely in front of me with its leaf-littered base in easy reach of a few steps. I walk forward along this heading to reach the tree itself.", + "The bark now fills much of the middle of my view and I can pick out its texture, so I am only a stride or two short. One more step forward should put me right at the trunk.", + "The tree trunk fills the near left of my view, close enough to touch, with its roots and fallen leaves at my feet. I have reached the tree trunk. I mark arriving here and set off for the lamp post beside the arched bridge.", + "Standing this close, the trunk masks most of my forward view and the railing wall runs off to my right, the side where the canal and its bridge lie. I turn right to swing my view clear of the tree and pick up the bridge with its lamp post.", + "Having marked the trunk behind me, I am now swinging my heading toward the canal side, but the railing and the far facades still fill my view with no bridge in sight. Turning further right should bring the arched crossing and its lamp post into view.", + "The sweep has moved the fence posts across my view, yet I still face only the walled edge and the buildings across the water. Another right turn should keep rotating me toward the open side of the square where the bridge stands.", + "At the right edge of my view a pale flight of steps has appeared beyond the end of the wall, the first sign of the crossing I want to reach. I will turn right again to bring those steps toward the middle of my view.", + "The stepped bridge and its arch now sit in the right half of my view, with the fence still cutting across the left. One more turn right should put the bridge and the pavement leading to it squarely in front of me for a straight walk.", + "The bridge steps and its railing are now ahead of me across clear, open paving with nothing blocking the way. I will walk forward to close the remaining distance toward the crossing and the lamp post standing beside it.", + "The staircase and the canal railing have grown noticeably larger, so my heading is carrying me straight at the crossing. I will keep walking forward to reach the foot of the bridge where the lamp post stands.", + "A tall green lamp post is now clearly visible at the left end of the bridge, close to the foot of the steps. I will advance again to bring myself into that area beside the crossing.", + "The lamp post beside the bridge sits well off to my left while my heading points at the steps themselves. Turning left should place that post ahead of me so I can walk straight to it.", + "The arched bridge and its stone stairway are directly ahead, and a tall green lamp post with a glass lantern stands at the near foot of the steps, left of the ramp. I walk forward to close the remaining open pavement toward that post.", + "The lamp post beside the bridge is noticeably larger now, its lantern level with the canalside railing behind it. Another step forward should bring me into the small square at the base of the steps where the post stands.", + "The bridge staircase now rises across the whole right side of my view, while the lamp post I want sits off to my left near the canal rail. Turning left should swing my heading off the climbing steps and put the post ahead of me.", + "The turn has placed the green lamp post near the middle of my view, with flat paving running between the two stair flights toward it. I move forward along that open ground to reach it.", + "The lamp post's dark lantern head now rises above the rooftops in my view, showing I am closing on it. I keep walking straight across the paving between the bollards toward its shaft.", + "The post's fluted green column is close ahead, framed between the pale stone bollards at the canal edge. I step forward again to draw level with its base.", + "I am on the small landing beside the water, with the lamp post standing just ahead and slightly to my right against the ornate railing. One more step should bring me right up beside its base.", + "I am now standing at the lamp post, but its column sits to the right of my heading against the canal railing. I turn right so the post is squarely in front of me.", + "The green lamp post beside the canal railing now stands just ahead of me, slightly left of center, with the arched bridge visible past it. One more step along the quay should bring me right up against its base.", + "The lamp post's base stands immediately in front of me at the railing by the bridge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_a_p/infos.json b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce7f94ecf27481015704710508568165a24c0fea --- /dev/null +++ b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the ceramic vase.", + "Type": 5, + "Start_Pose": [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -23473.492, + 83576.664, + -14163.415, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + [ + -22917.683, + 83581.501, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23035.952, + 83538.454, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23035.952, + 83538.454, + -14083.415, + 0.0, + 175.0, + -0.0 + ], + [ + -23161.332, + 83549.424, + -14083.415, + 0.0, + 175.0, + -0.0 + ], + [ + -23286.712, + 83560.393, + -14083.415, + 0.0, + 175.0, + -0.0 + ], + [ + -23286.712, + 83560.393, + -14083.415, + 0.0, + 174.997, + -0.0 + ], + [ + -23286.712, + 83560.393, + -14083.415, + 0.0, + 174.997, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -23473.492, + 83576.664, + -14163.415, + 0.0, + 0.0, + 0.0 + ], + [ + -23473.492, + 83576.664, + -14163.415, + 0.0, + 0.0, + 0.0 + ], + [ + -23473.492, + 83576.664, + -14163.415, + 0.0, + 0.0, + 0.0 + ], + [ + -23473.492, + 83576.664, + -14163.415, + 0.0, + 0.0, + 0.0 + ], + [ + -23473.492, + 83576.664, + -14163.415, + 0.0, + 0.0, + 0.0 + ], + [ + -23473.492, + 83576.664, + -14163.415, + 0.0, + 0.0, + 0.0 + ], + [ + -23287.966, + 83539.067, + -14113.308, + -28.202, + -134.858, + 1.862 + ], + [ + -23287.966, + 83539.067, + -14113.308, + -28.202, + -134.858, + 1.862 + ] + ], + "PD_Dist_2D": [ + 675.8, + 555.8, + 439.2, + 439.2, + 313.3, + 187.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The ceramic vase stands well ahead of me beside the wooden fence on the snowy verge, far too distant to reach. I will walk forward along the road to close that gap before any grasp is possible.", + "The vase has grown slightly larger and sits lower in my view, so my previous step did shorten the distance. It remains several strides away by the fence line, so I will keep walking forward.", + "The vase now sits clearly left of my heading, off the plowed road and on the snow beside the fence, so walking straight would carry me past it. I will turn left to bring it toward the center of my view before continuing.", + "After the turn the vase sits near the middle of my view, directly along my heading beside the fence. With the alignment good, I will step forward to cut the remaining distance.", + "The vase is now large and centered just below the fence rail, but still a stride or so beyond my arms. I will advance once more to bring it within grasping range.", + "The ceramic vase is right in front of me at the fence post, close enough that its rim and painted pattern fill the lower view. Nothing stands between my hands and it, so I will attempt to pick it up now.", + "The ceramic vase is now held in my hands rather than standing on the snow. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_b_p/infos.json b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8cae1f4a292e099241956b441d14a7c125818ee --- /dev/null +++ b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_b_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + [ + -22917.683, + 83581.501, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23035.952, + 83538.454, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23035.952, + 83538.454, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23124.947, + 83449.458, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23213.943, + 83360.463, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23302.939, + 83271.467, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23391.935, + 83182.471, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23391.935, + 83182.471, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23480.93, + 83093.475, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23480.93, + 83093.475, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23569.926, + 83004.48, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23569.926, + 83004.48, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23569.926, + 83004.48, + -14083.415, + 0.0, + -135.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23644.086, + 82954.695, + -14147.763, + -44.828, + -64.369, + 86.571 + ], + [ + -23554.395, + 82989.812, + -14113.308, + -28.202, + -84.856, + 1.862 + ], + [ + -23554.395, + 82989.812, + -14113.308, + -28.202, + -84.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1078.0, + 959.5, + 843.0, + 843.0, + 717.1, + 591.3, + 465.5, + 339.8, + 339.8, + 214.2, + 214.2, + 89.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The red tomato sits on the snowy road well ahead of me, near the fence line on the left side of the lane. It is far too distant to reach, so I will walk forward along the road to close the gap.", + "The tomato has grown slightly larger in view, confirming my forward walking is closing distance along this clear stretch of road. Nothing blocks the lane between me and it, so I will keep stepping forward.", + "The tomato now sits noticeably right of my straight-ahead heading, so continuing forward would carry me past it on its left. I will turn right to bring it toward the center of my view before advancing further.", + "The tomato is now roughly centered in front of me after the heading adjustment, and the road between us is flat and open. I will walk forward along this line to shrink the remaining distance.", + "The tomato keeps growing in my view and stays centered, so my current heading is carrying me straight toward it. It is still several strides away and out of arm's reach, so I will continue advancing.", + "The tomato sits on the snowy road ahead, just left of my heading, and it is still too far to reach. My path along the road edge is clear of any obstruction, so I will keep walking straight toward it. Each step should bring it noticeably closer.", + "The tomato now appears clearly larger and lower in my view, meaning I am closing in but am not yet within arm's reach. The road surface in front of me stays open and level. Another step forward should put me close enough to consider reaching for it.", + "The tomato is directly ahead and centered low in my view, looking near enough that a grasp may already register. Rather than walk further and risk stepping over it, I will attempt to pick it up now. If my hands come up empty, the gap is still too wide.", + "That reach did not take hold, since my hands are empty. The gap to the tomato must still be larger than my grasp range. I will step forward to shorten that remaining distance before trying again.", + "My previous reach came up empty, but now the tomato fills much more of my view and sits close in front of my feet. Its position is centered, so no turn is needed. I will attempt the grasp again from this shorter distance.", + "My grasp attempt did not take hold, since my hands are still empty. The distance was evidently still too great for the reach. I will walk one more step forward to close the remaining gap before trying again.", + "The tomato now fills the lower part of my view directly in front of my feet, much closer than at my earlier reach attempt. From this contact range it should be within my hands, so I will attempt the grasp now.", + "The tomato is held in my hands and no longer resting on the road. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_c_p/infos.json b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_c_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cda37e59f3dc6ebec1b1ebbb1e08a5b26fd81661 --- /dev/null +++ b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_c_p/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the trash bag.", + "Type": 5, + "Start_Pose": [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + [ + -22917.683, + 83581.501, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23035.952, + 83538.454, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23154.22, + 83495.408, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23154.22, + 83495.408, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23243.216, + 83406.412, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23332.212, + 83317.416, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23421.208, + 83228.421, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23510.203, + 83139.425, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23599.199, + 83050.429, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23688.195, + 82961.433, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23777.191, + 82872.438, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23866.186, + 82783.442, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23866.186, + 82783.442, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23866.186, + 82783.442, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23984.455, + 82740.396, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23984.455, + 82740.396, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -24102.724, + 82697.349, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -24102.724, + 82697.349, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -24102.724, + 82697.349, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -24102.724, + 82697.349, + -14083.415, + 0.0, + -160.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24175.967, + 82650.797, + -14182.908, + -0.21, + -57.398, + -19.391 + ], + [ + -24094.847, + 82677.492, + -14113.308, + -28.202, + -109.855, + 1.862 + ], + [ + -24094.847, + 82677.492, + -14113.308, + -28.202, + -109.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1686.1, + 1565.1, + 1444.8, + 1325.6, + 1325.6, + 1200.4, + 1075.3, + 950.4, + 825.8, + 701.7, + 578.3, + 456.2, + 337.0, + 337.0, + 337.0, + 211.4, + 211.4, + 86.8, + 86.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The trash bag I need shows as a small dark lump far down the snowy shoulder beside the wooden fence. Nothing blocks the open road between us, so I will walk straight ahead to cut down that distance before worrying about fine alignment.", + "The bag by the fence has grown slightly larger, confirming my heading is carrying me toward it. It is still far too distant to reach, so I will keep stepping forward along the road.", + "The dark bag sitting at the snow edge beside the fence is clearer now, but still well out of arm's reach. My path along the road remains open, so I continue walking forward toward it.", + "The bag now sits noticeably right of the center of my view, so walking straight would drift me past it along the road. I will turn right to bring it closer to the middle of my heading before advancing further.", + "After the turn, the trash bag sits near the middle of my view where the snow meets the road. With my heading now pointed at it and the ground clear, I will walk forward to close the remaining gap.", + "The dark trash bag sits ahead on the snowy shoulder, still small and far along the roadside fence line. My path down the plowed edge is clear, so I will keep walking straight toward it to close the remaining distance.", + "The bag now reads slightly larger against the fence, confirming my heading is carrying me toward it. It is still too distant to reach, so I will continue walking forward along the shoulder.", + "The trash bag is clearly closer and holds its position just left of my forward line beside the fence posts. Nothing blocks the shoulder, so another step forward is the simplest way to shorten the gap before any grasp attempt.", + "The bag now shows its rounded shape distinctly, but it remains several strides away and outside reach. I will keep advancing along the shoulder to bring it close enough to handle.", + "The bag has grown noticeably and sits just ahead and slightly left of my path, with the fence running past it. Since the gap is still more than an arm's length, I will step forward again to get within grasping range.", + "The dark trash bag sits on the snowy shoulder just left of my heading, still several paces off and too far to reach. My path along the road edge is clear of obstructions, so I will keep walking forward to close the remaining distance.", + "The bag has grown noticeably larger and now sits low on my left, meaning I am close but not yet within grabbing range. Nothing blocks the strip of snow between us, so another step forward should bring me alongside it.", + "The bag now sits well off to my left edge while my body still points down the road, so a straight step would carry me past it rather than to it. I will turn left to bring the bag into the center of my view before reaching for it.", + "The bag is now centered in front of me on the snow beside the fence, squarely in my line of approach. My hands are empty and the bag looks near enough to test, so I will attempt to grasp it from here.", + "That grasp attempt did not take hold, since my hands remain empty. The bag was evidently still beyond arm's reach. I will step forward to shorten the gap before trying again.", + "The trash bag still sits on the shoulder of the road just ahead of me, so my earlier grasp attempt clearly left it in place. From this closer stance it fills the lower center of my view and looks within arm's reach. I will try the grasp again from here.", + "My hands are still empty, so that grasp attempt did not take hold. The likely problem is that I am still a step short of true contact range. I will step forward once more to close that remaining gap before trying again.", + "After this step the bag has dropped out of my forward view entirely, leaving only the fence and the open road ahead. That means it is now very close and low, right at my feet rather than in front of my eyes. I will look down to bring it back into view and confirm my alignment before reaching for it.", + "With my gaze lowered, the trash bag now sits large and centered directly below me with its knotted top plainly visible. This is far closer than the standoff where my earlier attempts came up empty. I will reach out and try to take hold of it.", + "The trash bag is now in my hands, lifted off the snow. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_d_p/infos.json b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_d_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5dcdc00f8bb3e862c67037748413ab023edc38ad --- /dev/null +++ b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_d_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the jerry can.", + "Type": 5, + "Start_Pose": [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -23596.27, + 83575.57, + -14183.422, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + [ + -22917.683, + 83581.501, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23035.952, + 83538.454, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23154.22, + 83495.408, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23154.22, + 83495.408, + -14083.415, + 0.0, + 175.0, + -0.0 + ], + [ + -23279.6, + 83506.377, + -14083.415, + 0.0, + 175.0, + -0.0 + ], + [ + -23404.981, + 83517.347, + -14083.415, + 0.0, + 175.0, + -0.0 + ], + [ + -23404.981, + 83517.347, + -14083.415, + 0.0, + 174.998, + -0.0 + ], + [ + -23404.981, + 83517.347, + -14083.415, + 0.0, + 174.998, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -23596.27, + 83575.57, + -14183.422, + 0.0, + 0.0, + 0.0 + ], + [ + -23596.27, + 83575.57, + -14183.422, + 0.0, + 0.0, + 0.0 + ], + [ + -23596.27, + 83575.57, + -14183.422, + 0.0, + 0.0, + 0.0 + ], + [ + -23596.27, + 83575.57, + -14183.422, + 0.0, + 0.0, + 0.0 + ], + [ + -23596.27, + 83575.57, + -14183.422, + 0.0, + 0.0, + 0.0 + ], + [ + -23596.27, + 83575.57, + -14183.422, + 0.0, + 0.0, + 0.0 + ], + [ + -23596.27, + 83575.57, + -14183.422, + 0.0, + 0.0, + 0.0 + ], + [ + -23406.235, + 83496.021, + -14113.308, + -28.202, + -134.858, + 1.862 + ], + [ + -23406.235, + 83496.021, + -14113.308, + -28.202, + -134.858, + 1.862 + ] + ], + "PD_Dist_2D": [ + 798.4, + 678.6, + 561.5, + 449.3, + 449.3, + 324.1, + 200.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The red jerry can sits on the snow beside the fence well ahead of me, far too distant to reach. It lies close to my current heading, so a straight step forward is the simplest way to close the gap. I will walk forward to begin the approach.", + "The jerry can has grown slightly larger and remains ahead beside the fence, so my heading is still useful. Nothing blocks the open snow and roadside between me and it. I will keep walking forward to shorten the remaining distance.", + "The can is noticeably closer now, sitting low on the left side of my view against the fence. It is still out of arm's reach, and the path ahead stays clear. Another forward step should bring me into a range where alignment matters.", + "The jerry can now sits well off to the left edge of my view rather than in front of me, so continuing straight would carry me past it. A left turn should swing my heading onto the can and center it. I will turn left to correct the bearing before advancing again.", + "After the turn the jerry can is centered in front of me on the open snow. The remaining gap is still several strides, and nothing stands between us. I will step forward along this corrected heading.", + "The can fills much more of the frame directly ahead of me, but it is still a short walk away rather than at my feet. My heading remains centered on it, so no further turning is needed. One more forward step should place me within grasping range.", + "The red jerry can now stands immediately in front of me, filling the bottom of my view with its handle and spout clearly within reach. My hands are empty and no fence rail or obstacle sits between us. I will attempt to pick it up.", + "The jerry can is now held in my hands and no longer resting on the snow. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_e_p/infos.json b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_e_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..99f7d81452582290d67e794a135d9861fe694129 --- /dev/null +++ b/dataset/trajectory/racing_track/task_x-022799_y083625_z-014083_t5_e_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the green bell pepper.", + "Type": 5, + "Start_Pose": [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -22799.414, + 83624.544, + -14083.415, + 0, + -160, + 0 + ], + [ + -22917.683, + 83581.501, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23035.952, + 83538.454, + -14083.415, + 0.0, + -160.0, + 0.0 + ], + [ + -23035.952, + 83538.454, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23124.947, + 83449.458, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23213.943, + 83360.463, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23302.939, + 83271.467, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23391.935, + 83182.471, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23480.93, + 83093.475, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23569.926, + 83004.48, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23569.926, + 83004.48, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23658.922, + 82915.484, + -14083.415, + 0.0, + -135.0, + 0.0 + ], + [ + -23658.922, + 82915.484, + -14083.415, + 0.0, + -134.998, + 0.0 + ], + [ + -23658.922, + 82915.484, + -14083.415, + 0.0, + -134.998, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23732.672, + 82856.117, + -14150.149, + 3.998, + -55.142, + -81.316 + ], + [ + -23643.39, + 82900.817, + -14113.308, + -28.202, + -84.853, + 1.862 + ], + [ + -23643.39, + 82900.817, + -14113.308, + -28.202, + -84.853, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1208.9, + 1091.0, + 975.2, + 975.2, + 849.3, + 723.5, + 597.7, + 471.8, + 346.0, + 220.2, + 220.2, + 94.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The green bell pepper sits far down the snowy road, resting near the fence line at the left edge of the roadway. It is much too distant to reach, so I will walk straight ahead along the open road to close the gap. The path in front of me looks clear of obstructions.", + "The pepper has grown slightly larger ahead of me, confirming that walking forward is closing the distance. It is still far away and well out of reach, so I will keep advancing along the same clear stretch of road.", + "My forward motion has drifted my heading so that the pepper now sits noticeably right of the center of my view, off my current line of travel. Walking straight would carry me past it on the left side. I will turn right to bring the pepper back onto my forward axis before continuing.", + "After the turn the green pepper now sits near the center of my view, so my heading points straight at it. The distance is still large, so I will step forward along this corrected line to keep closing in.", + "The pepper stays centered ahead and is visibly larger, so my heading remains correct and progress is steady. It is still several strides away and far below any reachable range, so I will continue walking straight toward it.", + "The green bell pepper sits ahead on the snowy shoulder, slightly left of my heading but still comfortably within my forward path. It is far too distant to reach, so I will keep walking straight to close the gap.", + "The pepper has grown noticeably larger and stays just left of my straight path, so my heading remains usable without turning. I will step forward again to keep reducing the remaining distance.", + "The pepper now sits clearly in the lower left of my view with no obstruction between us on the open road edge. It is still several paces away, so I will continue advancing toward it.", + "The pepper fills much more of the lower view now, showing I am close but likely still short of a comfortable grasping distance. I will take one more step forward to stand right over it before attempting to take it.", + "The green bell pepper now looms directly in front of me at close range, which looks like grasping distance. My hands are empty, so I will attempt to pick it up from the roadside.", + "My hands are still empty, so that grasp attempt did not take the green bell pepper. I was evidently still short of grabbing range, so I will step forward to close the remaining gap before trying again.", + "The pepper is no longer out ahead on the road but right at my feet, below my forward line of sight, and my hands remain empty after the earlier attempt from too far back. This closer stance should put it within reach, so I will try the grasp again.", + "The green bell pepper is now held in my hands and off the road. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-000201_y000780_z000116_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-000201_y000780_z000116_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b06ed7bb56b80d206ed4efc4013166f4b82077 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-000201_y000780_z000116_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Grab the jerry can from the garage wall light, then drop it near the fence corner where the two fences join.", + "Type": 5, + "Start_Pose": [ + -201.458, + 779.99, + 115.55, + -0.05, + 105.047, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -101.232, + 1426.001, + 79.579, + 0, + 90, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -201.458, + 779.99, + 115.55, + -0.05, + 105.047, + 0 + ], + [ + -229.545, + 901.556, + 123.757, + -0.05, + 105.047, + -0.0 + ], + [ + -229.545, + 901.556, + 123.757, + -0.05, + 80.047, + 0.0 + ], + [ + -207.792, + 1025.521, + 131.947, + -0.05, + 80.047, + 0.0 + ], + [ + -186.038, + 1149.486, + 140.136, + -0.05, + 80.047, + 0.0 + ], + [ + -164.285, + 1273.451, + 148.143, + -0.05, + 80.047, + 0.0 + ], + [ + -164.285, + 1273.451, + 148.143, + 0.0, + 80.047, + -0.0 + ], + [ + -164.285, + 1273.451, + 148.143, + 0.0, + 105.047, + -0.0 + ], + [ + -164.285, + 1273.451, + 148.143, + 0.0, + 130.047, + -0.0 + ], + [ + -245.265, + 1369.798, + 148.266, + 0.0, + 130.047, + -0.0 + ], + [ + -326.244, + 1466.145, + 148.266, + 0.0, + 130.047, + -0.0 + ], + [ + -407.224, + 1562.492, + 148.266, + 0.0, + 130.047, + -0.0 + ], + [ + -488.204, + 1658.839, + 148.266, + 0.0, + 130.047, + -0.0 + ], + [ + -569.184, + 1755.186, + 148.266, + 0.0, + 130.047, + -0.0 + ], + [ + -630.218, + 1851.174, + 148.15, + 0.0, + 130.047, + -0.0 + ], + [ + -583.892, + 1796.057, + 148.15, + 0.0, + 130.047, + -0.0 + ], + [ + -583.892, + 1796.057, + 148.15, + 0.0, + 130.047, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -101.232, + 1426.001, + 79.579, + 0.0, + 90.0, + -0.0 + ], + [ + -101.232, + 1426.001, + 79.579, + 0.0, + 90.0, + -0.0 + ], + [ + -101.232, + 1426.001, + 79.579, + 0.0, + 90.0, + -0.0 + ], + [ + -101.232, + 1426.001, + 79.579, + 0.0, + 90.0, + -0.0 + ], + [ + -101.232, + 1426.001, + 79.579, + 0.0, + 90.0, + -0.0 + ], + [ + -101.232, + 1426.001, + 79.579, + 0.0, + 90.0, + -0.0 + ], + [ + -185.423, + 1276.54, + 117.786, + -28.202, + 130.192, + 1.862 + ], + [ + -185.672, + 1267.062, + 118.059, + -28.189, + 155.204, + 1.872 + ], + [ + -181.626, + 1259.076, + 117.392, + -28.215, + -179.825, + 1.849 + ], + [ + -261.425, + 1355.835, + 117.792, + -28.202, + -179.812, + 1.858 + ], + [ + -342.305, + 1452.066, + 118.054, + -28.208, + -179.811, + 1.852 + ], + [ + -423.124, + 1548.209, + 118.359, + -28.189, + -179.794, + 1.867 + ], + [ + -503.918, + 1644.353, + 118.74, + -28.207, + -179.818, + 1.857 + ], + [ + -584.878, + 1740.664, + 118.889, + -28.192, + -179.805, + 1.872 + ], + [ + -646.13, + 1836.911, + 118.418, + -28.188, + -179.794, + 1.875 + ], + [ + -628.931, + 1849.643, + 98.15, + 0.0, + 130.047, + -0.0 + ], + [ + -628.931, + 1849.643, + 98.15, + 0.0, + 130.047, + -0.0 + ] + ], + "PD_Dist_2D": [ + 653.7, + 539.9, + 539.9, + 414.4, + 289.2, + 165.1, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red jerry can is sitting on the driveway under the lit garage wall lamp, still far across the yard from me. I will move forward along the open drive to cut down that distance before worrying about fine alignment.", + "From here the jerry can and the garage door it leans against sit noticeably left of my heading, while my view is filled mostly with the fenced lawn on the right. I will turn left so the can comes toward the center of my path and a straight approach becomes possible.", + "The garage door now faces me squarely and the jerry can stands roughly ahead on the driveway apron. With a clear paved run and only the parked car well off to my left, I will advance straight toward the can.", + "The jerry can is larger and sits just right of center against the garage door, so my heading is still usable. Another step forward should bring me within arm's reach rather than requiring a turn now.", + "The can now fills a good part of the lower view with the wall lamp above it, but I am probably still a step short of a reliable grasp. I will close that last bit of ground before attempting to pick it up.", + "The jerry can is right at my feet, its handle and spout filling the bottom of my view against the garage door. This is as close as I can usefully get, so I will attempt to pick it up now.", + "The jerry can is now in my hands, tilted across my view over the driveway edge and the grass beside it. The fenced yard where the two fence lines meet lies off to my right, so I will turn right to begin swinging my heading away from the garage wall.", + "The garage wall and its lamp still occupy my left while the grassy strip and the tall fence panels open up to the right. I will turn right once more to bring the fenced enclosure and the joining corner into the center of my path for a straight carry.", + "The jerry can is secured in my grip, and turning away from the garage door has opened the view across the grass toward the fence line. The corner where the two fence sections meet sits ahead of me, so I will move forward to begin carrying the can that way.", + "The two fence panels and their shared post now sit closer and more centered in front of me, so my heading is carrying me straight at the joint. I will keep advancing across the grass with the can in hand.", + "The corner where the left and right fence runs meet is growing steadily in view, but there is still open lawn between me and it. Another step forward should close that remaining gap while I hold the can.", + "The joint of the two fences now fills much of my view and the grass in front of it is only a short stretch. I will step forward again to get within dropping range of that corner.", + "I am close to the fence junction, with only a thin band of grass visible at its base. One more step should place me right at the corner so the can can be set down there.", + "The two fence panels and the corner post now fill nearly all of my view, so I am almost touching the junction. A final short step should tighten my position into the corner before releasing the can.", + "My view is filled entirely by the two fence panels meeting at the corner post, which means I am standing right at the fence junction with the can in hand. I will release it here so the jerry can comes to rest at the target corner.", + "The jerry can is resting on the ground in the corner where the two fence sections join. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-000596_y000985_z000129_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-000596_y000985_z000129_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8eaac8e015e0dbdda8d09b9091e87cf076b18851 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-000596_y000985_z000129_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Approach the white garage door between the two wall lanterns and open it.", + "Type": 4, + "Start_Pose": [ + -596.02, + 984.827, + 129.261, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -596.02, + 984.827, + 129.261, + 0.0, + 40.0, + -0.0 + ], + [ + -499.606, + 1065.728, + 134.606, + 0.0, + 40.0, + -0.0 + ], + [ + -403.193, + 1146.628, + 139.95, + 0.0, + 40.0, + -0.0 + ], + [ + -306.779, + 1227.529, + 145.295, + 0.0, + 40.0, + -0.0 + ], + [ + -210.366, + 1308.429, + 148.257, + 0.0, + 40.0, + -0.0 + ], + [ + -210.366, + 1308.429, + 148.257, + 0.0, + 65.0, + -0.0 + ], + [ + -157.175, + 1422.496, + 164.3, + 0.0, + 65.0, + -0.0 + ], + [ + -109.199, + 1468.166, + 169.317, + 0.0, + 65.0, + -0.0 + ], + [ + -109.199, + 1468.166, + 169.07, + 0.0, + 65.0, + -0.0 + ], + [ + -109.199, + 1468.166, + 169.07, + 0.0, + 65.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white garage door is clearly visible ahead with a lit lantern on each side of it, so the target is already identified. It is still far off across the lawn and driveway, so I will move forward to close that distance.", + "The garage door and its two flanking lanterns now fill more of my view, confirming I am closing on the correct target. The driveway apron ahead is clear of the parked car, so I will continue forward.", + "I am on the driveway with the garage door growing wider ahead and both lanterns still framing it. There is no obstruction between me and the door panels, so another forward step should bring me nearer to interaction range.", + "The door is close now but I am viewing it obliquely from its left edge rather than head on. Advancing again should put me alongside the door face where I can settle into a usable interaction position.", + "The garage door now stretches away to my right across the view while I am still heading past its face, so my heading is not squared to the panel. I will turn right to bring the door front centered in view for a proper approach.", + "After turning, the door panels sit much more squarely in front of me with the near lantern at the upper right. I will step forward to reach contact distance with the panel.", + "The panels fill nearly the whole view, so I am almost against the door but perhaps not yet in range to operate it. One more short forward step should place me directly at the door for the opening attempt.", + "I am pressed right up against the white garage door panel with nothing else in view, which means I am within interaction range of the target. I will attempt to open it now, and the door should lift to reveal the garage interior.", + "The garage door is open and the interior with its shelving is now clear in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-000881_y000881_z000122_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-000881_y000881_z000122_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..431bd6dc4a1f517e3039b626cf6503bc0e706d6d --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-000881_y000881_z000122_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Go to the porch displaying the American flag and open the black front door.", + "Type": 4, + "Start_Pose": [ + -881.473, + 880.931, + 122.397, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -881.473, + 880.931, + 122.397, + 0.0, + 120.0, + -0.0 + ], + [ + -881.473, + 880.931, + 122.397, + 0.0, + 145.0, + -0.0 + ], + [ + -984.571, + 953.121, + 127.166, + 0.0, + 145.0, + -0.0 + ], + [ + -1087.668, + 1025.311, + 131.935, + 0.0, + 145.0, + -0.0 + ], + [ + -1190.766, + 1097.5, + 136.704, + 0.0, + 145.0, + -0.0 + ], + [ + -1293.864, + 1169.69, + 141.474, + 0.0, + 145.0, + -0.0 + ], + [ + -1293.864, + 1169.69, + 141.474, + 0.0, + 120.0, + -0.0 + ], + [ + -1362.282, + 1270.442, + 165.049, + 0.0, + 120.0, + -0.0 + ], + [ + -1362.282, + 1270.442, + 165.049, + 0.0, + 95.0, + -0.0 + ], + [ + -1373.251, + 1395.822, + 165.049, + 0.0, + 95.0, + -0.0 + ], + [ + -1384.221, + 1521.202, + 165.049, + 0.0, + 95.0, + -0.0 + ], + [ + -1384.221, + 1521.202, + 165.049, + 0.0, + 95.0, + -0.0 + ], + [ + -1393.709, + 1554.373, + 165.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1393.709, + 1554.373, + 165.15, + 0.0, + 95.0, + -0.0 + ], + [ + -1393.709, + 1554.373, + 165.15, + 0.0, + 95.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The American flag hangs from a post on the porch ahead and slightly to my right, so this is the porch named in my task. Directly in front of me the raised bed of shrubs and boulders blocks a straight approach, while the ground opens up toward the right. I will turn right to face the flag side of the porch and the clearer footing there.", + "The flagged porch now sits ahead of me with the lawn and a paved strip running along its right side, clear of the planting bed. I will move forward to close distance toward the porch deck.", + "The porch ceiling and the flag are much larger now, and I can make out a dark door set in the wall on the left under the roof. The route beside the flower beds is still open, so I will continue forward to reach the deck.", + "I am close to the porch edge, with the wooden deck, chairs, and the dark front door on my left side. Moving forward again should bring me level with the deck so I can then face the door squarely.", + "The deck now stretches in front of me with the chairs to the right and the dark door at the far left edge of my view. I will advance once more onto the porch surface to get within reach of that door before turning toward it.", + "I am standing on the flag-bearing porch deck, but the dark front door has slid to the extreme left edge of my view where only its frame and a sliver of panel are visible. Turning left should swing that black door back into the center of my view so I can approach it squarely.", + "The black front door with its nine-pane window and side light is now clearly in view on the left side of the porch, still several strides away. I will move forward across the open deck to close that distance before fine alignment.", + "Being closer, the door now fills the left border of my view while my heading still points down the porch past it. A left turn should place the door and its knob near the center of my view so I can walk straight at it.", + "The black front door now sits squarely in front of me with its side light and brass knob visible, but I am still too far back to reach the handle. I will step forward along this heading to shorten the gap.", + "The door now dominates my view and the brass knob and keyplate are clearly legible slightly right of the panel center, yet I judge myself just outside comfortable reach. One more step forward should bring me close enough to work the knob.", + "The dark front door fills my view with its brass knob and keyhole plate directly ahead at hand height, so I am squared up on the latch side. I will try to open it now, since this heading and distance should put the handle within reach.", + "My previous attempt to open this door left it shut, and the view is unchanged, so I was probably not close enough for the handle to register. I will edge forward slightly to tighten the gap to the knob before trying again.", + "After closing the small gap, the brass knob and its plate now sit large and immediately in front of me against the door frame, much nearer than during my earlier failed attempt. I will attempt to open the door again from this tighter position, which should be within grasping range.", + "The black front door now stands open, revealing the lit living room with a sofa and fireplace inside. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-000892_y001300_z000165_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-000892_y001300_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ad146e8445238d9465648ce39309672bfe2285fc --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-000892_y001300_z000165_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Step onto the porch and open the brown door with the tall glass panel.", + "Type": 4, + "Start_Pose": [ + -892.341, + 1300.102, + 165.15, + 0.0, + 180.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -892.341, + 1300.102, + 165.15, + 0.0, + 180.0, + -0.0 + ], + [ + -892.341, + 1300.102, + 165.15, + 0.0, + 155.0, + -0.0 + ], + [ + -1006.408, + 1353.292, + 165.15, + 0.0, + 155.0, + -0.0 + ], + [ + -1120.475, + 1406.483, + 165.15, + 0.0, + 155.0, + -0.0 + ], + [ + -1234.542, + 1459.673, + 165.15, + 0.0, + 155.0, + -0.0 + ], + [ + -1348.609, + 1512.863, + 165.15, + 0.0, + 155.0, + -0.0 + ], + [ + -1348.609, + 1512.863, + 165.15, + 0.0, + 130.0, + -0.0 + ], + [ + -1348.609, + 1512.863, + 165.15, + 0.0, + 130.0, + -0.0 + ], + [ + -1348.609, + 1512.863, + 165.15, + 0.0, + 105.0, + -0.0 + ], + [ + -1377.39, + 1554.379, + 165.15, + 0.0, + 105.0, + -0.0 + ], + [ + -1377.39, + 1554.379, + 165.15, + 0.0, + 105.0, + -0.0 + ], + [ + -1377.39, + 1554.379, + 165.15, + 0.0, + 105.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am already standing on the porch decking, and the brown door with the tall glass panel sits in the house wall to my left, well off my current heading. I will turn left to bring that door and the stretch of porch in front of it into the center of my view before advancing. This should give me a clean approach line instead of drifting toward the railing on my right.", + "The brown door with the tall glass panel is now visible ahead on the left side of the house wall, but it is still several paces away. I will move forward along the open porch decking to close that distance. The path in front of me looks clear of the chairs and planters near the railing.", + "The paneled brown door and its narrow sidelight have grown larger and shifted further to my left, so I am closing on it but not yet beside it. I will continue forward over the boards to reach a position level with the doorway. Nothing on the deck in front of me blocks this step.", + "I can now see the brass knob on the brown door clearly, which tells me I am nearly within reach but still slightly short of it. I will step forward once more so the door and its handle sit close beside me. The porch ahead remains open, with the chairs set off to the right.", + "The door with the tall glass panel is now very close on my left, filling that edge of my view, and its knob is nearly at arm's length. I will take one more short step forward to bring myself squarely alongside the handle before attempting to open it. Standing slightly short of the knob would likely leave the door out of reach.", + "I have come far enough along the porch that the brown door with the glass panel has slid out of my view to the left, leaving only siding, the lantern, and the chairs ahead. I will turn left to bring that door and its handle back into the center of my view before trying to open it.", + "The brown door with the tall glass panel is back in view on my left, and its brass knob and keyhole plate are visible at close range. I will try to open it from here, since the handle appears within reach.", + "My attempt to open the door did not move it, and the door still sits off at the left edge of my view rather than squarely in front of me. I will turn further left so I am facing the knob more directly, which may put me in a better position to operate it.", + "Now the glass panel and the brass knob are centered in front of me, but my previous attempt did not budge the door, which suggests I am not yet close enough to grip the handle. I will step forward a short distance to close that gap to the knob.", + "The brass knob now fills much of my view, so I am directly in front of the brown door with the tall glass panel and well within reach of the handle. After the earlier attempt failed to move the door, I will try opening it again from this closer, squarer position.", + "The brown door now stands open, showing the interior living room through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001311_y001780_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001311_y001780_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f939a442cb7d07c661647c6c13044931655d9b16 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001311_y001780_z000168_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Pull open the dark wooden door fitted with a large grid window.", + "Type": 4, + "Start_Pose": [ + -1311.334, + 1779.591, + 168.15, + 0.0, + -120.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1311.334, + 1779.591, + 168.15, + 0.0, + -120.0, + 0.0 + ], + [ + -1311.334, + 1779.591, + 168.15, + 0.0, + -95.0, + 0.0 + ], + [ + -1323.199, + 1655.533, + 168.15, + 0.0, + -95.0, + 0.0 + ], + [ + -1323.199, + 1655.533, + 168.15, + 0.0, + -95.0, + 0.0 + ], + [ + -1323.199, + 1655.533, + 168.15, + 0.0, + -95.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark wooden door with the grid window sits at the right edge of my view, cut off by the frame and angled away from me. I will turn right to bring the door and its handle to the center of my heading so I can approach it straight on.", + "The dark door with the nine-pane grid window is now centered ahead of me, with its brass knob on the left stile and the porch visible through the narrow sidelight. I am still standing back in the room, so I will move forward to close the gap and get within reach of the handle.", + "I am now right up against the dark wooden panel, with the white grid mullions and the muntin corner filling my view, so the door is within arm's reach. I will pull it open from here, which should swing the panel inward and reveal the porch beyond.", + "The dark door now stands swung open beside me with the porch and yard in clear view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-001896_y-001704_z000168_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-001896_y-001704_z000168_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f5a644c8876279f1b0ecbdf6180148094a5e8d4 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-001896_y-001704_z000168_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Grab the metal bucket from the bedside lamp, then drop it near the door.", + "Type": 5, + "Start_Pose": [ + -1895.696, + -1704.361, + 168.132, + -0.051, + -147.887, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2283.499, + -1809.604, + 88.132, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1895.696, + -1704.361, + 168.132, + -0.051, + -147.887, + 0 + ], + [ + -2002.064, + -1762.763, + 168.132, + -0.051, + -147.887, + 0.0 + ], + [ + -2002.064, + -1762.763, + 168.132, + -0.051, + -172.887, + 0.0 + ], + [ + -2126.812, + -1772.301, + 168.132, + -0.051, + -172.887, + 0.0 + ], + [ + -2126.812, + -1772.301, + 168.132, + 0.0, + -172.887, + 0.0 + ], + [ + -2126.812, + -1772.301, + 168.132, + 0.0, + -147.887, + 0.0 + ], + [ + -2126.812, + -1772.301, + 168.132, + 0.0, + -122.887, + 0.0 + ], + [ + -2126.812, + -1772.301, + 168.132, + 0.0, + -97.887, + 0.0 + ], + [ + -2126.812, + -1772.301, + 168.132, + 0.0, + -72.887, + 0.0 + ], + [ + -2089.778, + -1892.588, + 168.132, + 0.0, + -72.887, + 0.0 + ], + [ + -2089.778, + -1892.588, + 168.132, + 0.0, + -97.887, + 0.0 + ], + [ + -2107.048, + -2017.256, + 168.132, + 0.0, + -97.887, + 0.0 + ], + [ + -2097.168, + -1945.938, + 168.132, + 0.0, + -97.887, + 0.0 + ], + [ + -2097.168, + -1945.938, + 168.132, + 0.0, + -97.887, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2283.499, + -1809.604, + 88.132, + 0.0, + 0.0, + 0.0 + ], + [ + -2283.499, + -1809.604, + 88.132, + 0.0, + 0.0, + 0.0 + ], + [ + -2283.499, + -1809.604, + 88.132, + 0.0, + 0.0, + 0.0 + ], + [ + -2283.499, + -1809.604, + 88.132, + 0.0, + 0.0, + 0.0 + ], + [ + -2123.563, + -1793.415, + 138.257, + -28.202, + -122.743, + 1.862 + ], + [ + -2114.429, + -1790.872, + 138.529, + -28.189, + -97.73, + 1.872 + ], + [ + -2107.982, + -1784.66, + 137.862, + -28.215, + -72.76, + 1.849 + ], + [ + -2101.271, + -1781.359, + 137.916, + -14.092, + -55.543, + 6.87 + ], + [ + -2106.425, + -1765.567, + 137.932, + -28.208, + -22.745, + 1.851 + ], + [ + -2069.568, + -1885.635, + 138.353, + -28.189, + -22.729, + 1.869 + ], + [ + -2069.314, + -1895.075, + 138.07, + -28.198, + -47.741, + 1.862 + ], + [ + -2085.854, + -2019.88, + 137.683, + -28.202, + -47.745, + 1.86 + ], + [ + -2106.773, + -2015.276, + 128.132, + 0.0, + -97.887, + 0.0 + ], + [ + -2106.773, + -2015.276, + 128.132, + 0.0, + -97.887, + 0.0 + ] + ], + "PD_Dist_2D": [ + 401.8, + 285.3, + 285.3, + 161.1, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 20.6, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the doorway side of the bedroom I can see the metal bucket sitting on the floor beside the lit bedside lamp on the left, well out of reach. I will step forward to close most of that distance before worrying about fine alignment.", + "The bucket is now much closer but sits left of my heading, near the lamp and the small nightstand. I will turn left so it is centred in front of me and a straight step will bring me right up to it.", + "With the bucket and the bedside lamp now framed ahead of me, the floor between us is clear. I will walk forward to get within grabbing range of the bucket.", + "The bucket now fills the lower part of my view right beside the nightstand and lamp, so it is within arm's reach. I will attempt to grab it so I can carry it toward the door.", + "The bucket is secured in my hands and my view is tipped down over its rim beside the bed. I will begin turning right to swing my heading away from the bedside corner and back toward the side of the room where the door stands.", + "My heading has come up to face the wardrobe and drawers, but the exit is still further round to my right. I will keep rotating right to bring the door wall into view.", + "The panelled door with its brass handle has appeared at the right edge past the wardrobe. I will continue turning right to bring that door properly in front of me while carrying the bucket.", + "The door is now roughly ahead of me, but my heading still angles toward the wardrobe corner rather than the open floor leading to it. I will make one more right turn so the clear stretch of floor toward the door lies straight ahead before I start walking.", + "The metal bucket is secured in my grip and the paneled door stands ahead on the left side of the room, past the bed. I will walk forward to close the gap and carry the bucket toward that door.", + "From this closer position the door has slid to the far left edge of my view, with only wallpaper and a picture straight ahead. I will turn left to bring the door back to the center of my heading before stepping in.", + "The door is now squarely centered ahead with its handle in clear view, and I still have the bucket in hand. I will step forward to reach the floor right at the doorway so the drop lands where the task wants it.", + "The door panels and brass handle now fill my view, so I am standing directly at the doorway with the bucket in hand. I will release it here, which should set the metal bucket down on the floor at the door.", + "I see the metal bucket resting on the floor directly in front of the closed door. My task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002124_y001778_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002124_y001778_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87a5a5709a645ebc3742a3e6a8413b070c3400 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002124_y001778_z000168_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Approach the white paneled door beside the wooden bench on the brick wall and open it.", + "Type": 4, + "Start_Pose": [ + -2124.367, + 1777.649, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "OpenDoor", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2124.367, + 1777.649, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + -2124.367, + 1777.649, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + -2124.367, + 1777.649, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + -2064.254, + 1852.934, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + -2064.254, + 1852.934, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + -2064.254, + 1852.934, + 168.15, + 0.0, + 65.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door with its brass lever fills the right side of my view, with the wooden bench and brick wall on my left, matching the target described in the task. Since the handle already appears within reach, I will try to operate it now rather than reposition first.", + "My attempt at the handle left the door shut, and I can see why: I am standing off to the side, viewing the panel obliquely with its frame edge cutting through the middle of my view. Turning right should bring the door face and its lever squarely in front of me for a cleaner approach.", + "The door now sits centered in front of me, brick wall framing it on both sides, with the lever handle and deadbolt clearly in view. I am still standing back from the panel, so I will step forward to close the gap and put the handle properly within reach.", + "The door panel now fills my entire view at close range, so I am directly against the target instead of viewing it from the side as I was during my earlier unsuccessful attempt. From this squared, contact-close position I will operate the door again, which should release the latch and swing it open.", + "The door now stands swung open, revealing the lit room and wooden floor beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002163_y-001920_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002163_y-001920_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5d64bc4c2d655c6b3e05995a1ca94c03157d0f --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002163_y-001920_z000168_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Open the white four-panel door set in the floral-patterned wall.", + "Type": 4, + "Start_Pose": [ + -2163.395, + -1920.396, + 168.15, + 0, + -80, + 0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2163.395, + -1920.396, + 168.15, + 0, + -80, + 0 + ], + [ + -2141.54, + -2044.343, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2141.54, + -2044.343, + 168.15, + 0.0, + -80.0, + 0.0 + ], + [ + -2141.54, + -2044.343, + 168.15, + 0.0, + -80.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white four-panel door is directly ahead of me in the floral-patterned wall, already centered in my view with its brass lever handle clearly visible. I am still a couple of steps back, too far to reach the handle, so I will move forward to close that gap and put the latch within interaction range.", + "I am now right up against the door panel, with the brass keyhole escutcheon and lever handle filling my view at arm's length. This is the closest useful alignment for the latch, so I will attempt to open the door, which should release it and swing the panel inward.", + "The door panel now stands swung open, revealing the hallway and floor beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002224_y001492_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002224_y001492_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6937252f18d546fa311e267bf2930e07041699ad --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002224_y001492_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Go to the paneled door to the left of the garage storage racks and open it.", + "Type": 4, + "Start_Pose": [ + -2223.674, + 1491.624, + 168.15, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2223.674, + 1491.624, + 168.15, + 0.0, + 100.0, + -0.0 + ], + [ + -2223.674, + 1491.624, + 168.15, + 0.0, + 75.0, + -0.0 + ], + [ + -2191.099, + 1613.194, + 168.15, + 0.0, + 75.0, + -0.0 + ], + [ + -2158.525, + 1734.765, + 168.15, + 0.0, + 75.0, + -0.0 + ], + [ + -2126.398, + 1845.455, + 168.15, + 0.0, + 75.0, + -0.0 + ], + [ + -2126.398, + 1845.455, + 168.15, + 0.0, + 75.0, + -0.0 + ], + [ + -2126.398, + 1845.455, + 168.15, + 0.0, + 50.0, + -0.0 + ], + [ + -2126.398, + 1845.455, + 168.15, + 0.0, + 50.0, + -0.0 + ], + [ + -2048.357, + 1852.998, + 168.15, + 0.0, + 50.0, + -0.0 + ], + [ + -2048.357, + 1852.998, + 168.15, + 0.0, + 50.0, + -0.0 + ], + [ + -2048.357, + 1852.998, + 168.15, + 0.0, + 50.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The paneled door sits far to the left of my view while the metal storage racks occupy the center and right of this garage. I will turn left so the door comes into the middle of my view and I can walk straight at it.", + "The paneled door is now ahead of me across open concrete floor, with a rack frame passing on my left and clear space in between. I will move forward to close the distance toward the door.", + "The door now fills much more of my view and its brass handle is clearly visible, but I am still too far back to reach it. I will keep moving forward to bring the handle within interaction range.", + "The door panel and its lever handle are close now, though the door has drifted toward the left side of my view and the block wall fills the right. I will advance one more step to get right up against the door before trying the handle.", + "I am pressed close to the doorway, with the frame edge and the lever handle at the left of my view and the block wall filling the right. Since the handle appears within reach, I will attempt to open the door from here.", + "My attempt to open this paneled door left it shut, and I can see why: the door and its handle sit at the far left edge of my view while the block wall fills most of the frame. I will turn left to bring the latch area squarely in front of me so the interaction is properly aligned.", + "Now the panels, deadbolt, and gold lever handle are centered directly ahead of me, unlike the off-axis framing of my earlier attempt that left the door closed. With the latch clearly in reach, I will try opening the door again from this improved heading.", + "The door is still shut after that attempt, even though the handle was centered, so distance rather than heading may be the problem. I will step forward to close the remaining gap and put the latch firmly within interaction range.", + "I am now right up against the paneled door with its frame and jamb filling my view, much closer than during the attempts that failed to move it. From this contact distance I will try the latch again, which should let the door swing open.", + "The paneled door now stands swung open, revealing the lit hallway beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002308_y-000881_z000122_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002308_y-000881_z000122_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7959ca32f30df897cc4b64a43950b4a9ca1db7e1 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002308_y-000881_z000122_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Cross the yard to the red porch door and open it.", + "Type": 4, + "Start_Pose": [ + -2308.298, + -881.101, + 121.781, + 0.0, + -80.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2308.298, + -881.101, + 121.781, + 0.0, + -80.0, + 0.0 + ], + [ + -2308.298, + -881.101, + 121.781, + 0.0, + -105.0, + 0.0 + ], + [ + -2340.873, + -1002.671, + 128.931, + 0.0, + -105.0, + 0.0 + ], + [ + -2373.448, + -1124.242, + 136.081, + 0.0, + -105.0, + 0.0 + ], + [ + -2373.448, + -1124.242, + 136.081, + 0.0, + -130.0, + 0.0 + ], + [ + -2454.348, + -1220.656, + 144.686, + 0.0, + -130.0, + 0.0 + ], + [ + -2454.348, + -1220.656, + 144.686, + 0.0, + -105.0, + 0.0 + ], + [ + -2495.146, + -1326.861, + 158.201, + 0.0, + -105.0, + 0.0 + ], + [ + -2528.652, + -1448.008, + 164.972, + 0.0, + -105.0, + 0.0 + ], + [ + -2528.652, + -1448.008, + 164.972, + 0.0, + -105.0, + 0.0 + ], + [ + -2528.652, + -1448.008, + 164.972, + 0.0, + -105.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red porch door sits well to my left, near the far edge of my view, while most of my heading points at the siding and windows to the right. I will turn left to bring the door closer to the center of my view before crossing the yard toward it.", + "The red door is now framed near the middle of my view above the porch, but it is still far off across the grass. I will move forward over the yard to close that distance.", + "The porch railing, planter, and shrubs have grown noticeably larger, so the target is nearer but still out of reach. I will keep advancing to bring myself up to the porch edge in front of the red door.", + "I am close to the porch now, but a post and the hanging planter partially cut across the red door on my left of center. Turning left should place the door more squarely ahead and clear of the post before I step onto the decking.", + "The red door is clearly visible ahead with open porch decking in front of it, and only low shrubs sit at the edge of my path. I will move forward to step in toward the door.", + "From this spot on the decking the red door sits to my right and I am viewing it at an angle, with its handle plainly visible on the near side. I will turn right so I face the door more squarely for the approach.", + "The red door now sits near the center of my view across a short stretch of porch floor, though a support post stands off to the right of my path. I will move forward along the clear decking to close in on the door.", + "The door now fills most of my view with its handle clearly on the right, but I am likely still a step short of a reliable reach. I will advance once more to close that last gap before trying the handle.", + "The red door's glass panes and painted panel now fill my whole view, so I am directly in front of it and within arm's reach. This is the interaction distance I wanted, so I will try the latch and attempt to open the door.", + "The red door now stands open with the interior hallway visible beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002424_y-000050_z000098_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002424_y-000050_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91cf17c7aa2fb1985344fe711d9e50e94d7790a1 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002424_y-000050_z000098_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Pick up the metal bucket at the mailbox, then leave it near the red doorway.", + "Type": 5, + "Start_Pose": [ + -2424.055, + -49.54, + 98.15, + -0.301, + -120.316, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2562, + -405.273, + 59.036, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2424.055, + -49.54, + 98.15, + -0.301, + -120.316, + 0 + ], + [ + -2487.584, + -158.187, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2551.113, + -266.834, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2551.113, + -266.834, + 98.15, + -0.301, + -95.316, + -0.0 + ], + [ + -2551.113, + -266.834, + 98.15, + 0.0, + -95.316, + 0.0 + ], + [ + -2562.774, + -392.151, + 107.444, + 0.0, + -95.316, + 0.0 + ], + [ + -2574.436, + -517.469, + 121.752, + 0.0, + -95.316, + 0.0 + ], + [ + -2586.097, + -642.786, + 113.788, + 0.0, + -95.316, + 0.0 + ], + [ + -2597.759, + -768.104, + 114.944, + 0.0, + -95.316, + 0.0 + ], + [ + -2599.968, + -892.189, + 123.141, + 0.0, + -95.316, + 0.0 + ], + [ + -2599.968, + -892.189, + 123.141, + 0.0, + -70.316, + 0.0 + ], + [ + -2557.575, + -1010.694, + 130.97, + 0.0, + -70.316, + 0.0 + ], + [ + -2515.182, + -1129.198, + 138.799, + 0.0, + -70.316, + 0.0 + ], + [ + -2515.182, + -1129.198, + 138.799, + 0.0, + -95.316, + 0.0 + ], + [ + -2526.844, + -1254.516, + 147.078, + 0.0, + -95.316, + 0.0 + ], + [ + -2538.505, + -1379.834, + 165.084, + 0.0, + -95.316, + 0.0 + ], + [ + -2548.932, + -1452.109, + 165.15, + 0.0, + -95.316, + 0.0 + ], + [ + -2542.261, + -1380.419, + 165.15, + 0.0, + -95.316, + 0.0 + ], + [ + -2542.261, + -1380.419, + 165.15, + 0.0, + -95.316, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2562.0, + -405.273, + 59.036, + 0.0, + 0.0, + 0.0 + ], + [ + -2562.0, + -405.273, + 59.036, + 0.0, + 0.0, + 0.0 + ], + [ + -2562.0, + -405.273, + 59.036, + 0.0, + 0.0, + 0.0 + ], + [ + -2562.0, + -405.273, + 59.036, + 0.0, + 0.0, + 0.0 + ], + [ + -2528.98, + -268.46, + 68.256, + -28.202, + -45.172, + 1.862 + ], + [ + -2541.474, + -393.78, + 67.769, + -28.195, + -45.169, + 1.862 + ], + [ + -2553.148, + -519.138, + 90.476, + -28.209, + -45.178, + 1.855 + ], + [ + -2564.793, + -644.257, + 83.831, + -28.211, + -45.183, + 1.854 + ], + [ + -2576.425, + -769.279, + 84.682, + -28.213, + -45.181, + 1.849 + ], + [ + -2578.609, + -893.172, + 93.233, + -28.191, + -45.165, + 1.873 + ], + [ + -2579.389, + -884.653, + 92.083, + -28.216, + -20.189, + 1.852 + ], + [ + -2537.604, + -1003.121, + 99.916, + -28.2, + -20.178, + 1.859 + ], + [ + -2495.295, + -1121.382, + 108.159, + -28.188, + -20.159, + 1.874 + ], + [ + -2494.654, + -1130.72, + 107.982, + -28.208, + -45.179, + 1.851 + ], + [ + -2505.552, + -1256.179, + 116.058, + -28.198, + -45.163, + 1.865 + ], + [ + -2517.211, + -1381.491, + 134.767, + -28.197, + -45.168, + 1.864 + ], + [ + -2527.573, + -1453.086, + 135.82, + -28.193, + -45.166, + 1.871 + ], + [ + -2548.746, + -1450.118, + 125.15, + 0.0, + -95.316, + 0.0 + ], + [ + -2548.746, + -1450.118, + 125.15, + 0.0, + -95.316, + 0.0 + ] + ], + "PD_Dist_2D": [ + 381.5, + 258.0, + 138.9, + 138.9, + 22.2, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.9, + 21.4, + 21.4, + 20.6, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the street I can see the mailbox on its post and the tall metal bucket standing beside it on the walkway, with the red front door of the house further back. Both are still far off, so I will move forward along the pavement to close that gap before any grasp attempt.", + "The mailbox and the metal bucket have grown noticeably larger, so my previous step did bring me closer to them. I am still short of grasping range, so I will keep advancing straight toward the mailbox area.", + "I am now right beside the mailbox, but the metal bucket sits at the right edge of my view rather than in front of me. I will turn right so the bucket is centered ahead of me and within a usable grasp position.", + "The metal bucket now fills the lower center of my view at arm's length, with the mailbox just to its left confirming I am at the right spot. I will attempt to pick it up so I can carry it toward the red door.", + "The bucket rim is now held low in front of me, so the grasp took hold and I am carrying it. The red door lies ahead across the yard, so I will move forward along the walkway to begin transporting it there.", + "The red door and its porch are directly ahead down the concrete walkway, and the hedge stays clear on my left. Still holding the bucket, I will continue straight to shorten the remaining distance to the doorway.", + "The porch columns and the red door are visibly larger, so my forward steps along the walkway are working. The path remains unobstructed, so I will advance again while carrying the bucket toward the doorway.", + "The red door now sits squarely ahead with the porch steps coming into view at the end of the walkway. I am not yet close enough to set the bucket at the doorway, so I will keep moving forward along the path.", + "The metal bucket is still secured in my grip, and the red front door sits straight ahead at the end of the paved walkway with hedges and shrubs on both sides. Nothing blocks the path, so I will step forward again to carry the bucket closer to that doorway.", + "From this position on the walkway, the red door frame sits a little right of the center of my view, so my heading is not squarely on it. I will turn right to bring the doorway toward the middle of my forward path before continuing to carry the bucket in.", + "After adjusting my heading, the red door and its lit porch are clearly ahead of me with the walkway running up to the step. I will move forward to close the remaining distance with the bucket in hand.", + "The porch deck, railing and red door are now filling much of my view, so I am close but not yet at the doorway itself. Another forward step should bring me up to the porch front where I can set the bucket down.", + "At this range the red door has slid well over to the left side of my view while the porch railing and planter occupy the space in front of me. I will turn left to put the doorway back in the center of my heading so I can approach it directly with the bucket.", + "The red door is now framed squarely ahead between the porch posts with the walkway slab leading to the step. I will move forward along that line to reach the doorway where the bucket is meant to be left.", + "I am up on the porch boards now, with the red door and its two wall lights filling the view straight in front of me. One more forward step should place me right at the door face, close enough to release the bucket there.", + "The red door panel, its glass lights and the brass knob now fill nearly my whole view, so I am practically at the threshold. I will edge forward once more to be flush against the doorway before setting the bucket down, and the remaining gap may be small enough that the door stops me.", + "I am pressed right up against the red door, with its glass panes and white muntins filling my view, so I have reached the doorway that the bucket was to be delivered to. Since I am still carrying the metal bucket from the mailbox, this is the place to release it, and I will drop it here so it should come to rest at the red doorway.", + "The metal bucket now stands released on the ground directly at the red door, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002559_y-001664_z000169_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002559_y-001664_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7c760cef631d9afda0c82b2573327e523c57a3b5 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002559_y-001664_z000169_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Open the red door with the grid of glass panes.", + "Type": 4, + "Start_Pose": [ + -2558.523, + -1664.165, + 168.793, + 0.0, + 80.0, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2558.523, + -1664.165, + 168.793, + 0.0, + 80.0, + -0.0 + ], + [ + -2536.968, + -1552.779, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + -2536.968, + -1552.779, + 168.15, + 0.0, + 80.0, + -0.0 + ], + [ + -2536.968, + -1552.779, + 168.15, + 0.0, + 80.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red door with the grid of glass panes is directly ahead of me and centered in view, with its knob on the left side of the panel. I am still a step or two back, too far for the handle to be within reach. I will move forward to close that gap and bring the door within interaction range.", + "I am now right up against the red door, with its glass panes filling my view and the brass knob just below me on the left. This is close enough to grasp the handle, so I will try to open the door as the task requires.", + "The red door now stands open beside me, revealing the porch and yard beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002717_y001857_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002717_y001857_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cfee9e206a3d071cd70b322c029e4f7f1b09a07e --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002717_y001857_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the bedroom to the white door beside the small dresser and open it.", + "Type": 4, + "Start_Pose": [ + -2717.12, + 1856.889, + 168.15, + 0.0, + 60.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2717.12, + 1856.889, + 168.15, + 0.0, + 60.0, + -0.0 + ], + [ + -2673.1, + 1966.108, + 168.15, + 0.0, + 60.0, + -0.0 + ], + [ + -2673.1, + 1966.108, + 168.15, + 0.0, + 35.0, + -0.0 + ], + [ + -2570.002, + 2038.298, + 168.15, + 0.0, + 35.0, + -0.0 + ], + [ + -2465.758, + 2104.645, + 168.15, + 0.0, + 35.0, + -0.0 + ], + [ + -2362.66, + 2176.834, + 168.15, + 0.0, + 35.0, + -0.0 + ], + [ + -2259.562, + 2249.024, + 168.15, + 0.0, + 35.0, + -0.0 + ], + [ + -2259.562, + 2249.024, + 168.15, + 0.0, + 10.0, + -0.0 + ], + [ + -2259.562, + 2249.024, + 168.15, + 0.0, + 10.0, + -0.0 + ], + [ + -2259.562, + 2249.024, + 168.15, + 0.0, + 10.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this doorway I can see the whole bedroom, with the white door and the small dresser standing together against the far left wall. I will move forward to get past the entry threshold and into open floor so I can head toward that door.", + "The target white door and the dresser next to it sit well off to my left, while my heading points across the bed. I will turn left to bring that door nearer the center of my view before continuing forward.", + "The white door now sits close to the middle of my view with the small dresser just to its right, and the carpet between us is clear of furniture. I will move forward to close the distance across the room.", + "The door and its frame have grown noticeably larger and the dresser beside it is fully in view, so I am still short of arm's reach. I will keep moving forward along this open stretch of floor.", + "The white door now dominates the view and I can make out its handle on the left side of the panel, but I am still a step or two away from it. I will advance again to bring the handle within interaction range.", + "The door fills most of my view with the lever handle plainly visible, and the dresser top is only just at my right shoulder. One more short step forward should place me directly at the door for the opening attempt.", + "At this close range my view has drifted onto the right edge of the door frame and the adjoining wall, so the panel and its handle are pushed to the left of center. I will turn left to square up on the door itself before trying to open it.", + "The white door panel now fills my view at contact distance and I am squarely facing it, so I am in position to operate it. I will attempt to open the door, which should let the way through.", + "The white door now stands open, revealing the hallway beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-002814_y-000896_z000123_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-002814_y-000896_z000123_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ceaf140916b423803b4b6b4de2b2b8d5e69bfc2f --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-002814_y-000896_z000123_t4_b/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Go to the left side of the house and open the white garage door.", + "Type": 4, + "Start_Pose": [ + -2813.989, + -895.88, + 123.385, + 0.0, + -100.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2813.989, + -895.88, + 123.385, + 0.0, + -100.0, + 0.0 + ], + [ + -2835.844, + -1019.827, + 131.573, + 0.0, + -100.0, + 0.0 + ], + [ + -2835.844, + -1019.827, + 131.573, + 0.0, + -125.0, + 0.0 + ], + [ + -2908.034, + -1122.925, + 138.384, + 0.0, + -125.0, + 0.0 + ], + [ + -2980.224, + -1226.022, + 145.196, + 0.0, + -125.0, + 0.0 + ], + [ + -3052.413, + -1329.12, + 148.211, + 0.0, + -125.0, + 0.0 + ], + [ + -3124.603, + -1432.218, + 152.316, + 0.0, + -125.0, + 0.0 + ], + [ + -3124.603, + -1432.218, + 152.316, + 0.0, + -100.0, + 0.0 + ], + [ + -3146.458, + -1556.165, + 168.637, + 0.0, + -100.0, + 0.0 + ], + [ + -3146.458, + -1556.165, + 168.828, + 0.0, + -100.0, + 0.0 + ], + [ + -3146.458, + -1556.165, + 168.828, + 0.0, + -100.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the front lawn I can see the white paneled garage door set into the left wing of the house, past the porch and the shrubs. I will move forward to cut the distance to the house and get a clearer line toward that garage bay.", + "The garage door now sits well off to my left while my heading still points at the porch and its railing. I will turn left so the door and the driveway leading to it come into the center of my view.", + "With the garage bay and the concrete driveway now ahead of me, the route toward it looks clear of the hedge and planting bed. I will move forward along the driveway to close in on the white door.", + "The white garage door is larger in front of me and the driveway surface continues unobstructed up to its threshold. I will keep moving forward, since I am still too far back to reach the door.", + "The door panels and the brick surround are close enough now to read individual panel rows, but the door face is still several steps away. I will advance again to bring myself within reach of it.", + "I am close to the left edge of the garage bay, with the door stretching away to my right at a slant. Another step forward should put me right up against the door surface for the interaction.", + "The garage door fills my view but only edge-on, since my heading runs almost parallel to its face along the driveway. I will turn right to square up with the door panels so I am facing the surface I need to open.", + "I am now facing the white garage door head on, with its panels flat across my view and the threshold just below. One more step forward should bring me close enough to trigger the door interaction.", + "The white paneled garage door now fills my entire view at arm's length, squarely centered on its panels, so I am close enough and aligned for contact. This is the target door named in my task, and it still appears closed, so I will trigger the open interaction now and it should lift the panel.", + "The white garage door is open, revealing the garage interior with shelving and the inner door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x-004474_y000686_z000115_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x-004474_y000686_z000115_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c941188dc0c9124dc4c8c12b62caac528bd3b46 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x-004474_y000686_z000115_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the tomato near the large tree on the right side of the path.", + "Type": 5, + "Start_Pose": [ + -4473.609, + 685.769, + 115.46, + -0.051, + 91.375, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4593.979, + 1287.944, + 80.46, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4473.609, + 685.769, + 115.46, + -0.051, + 91.375, + 0 + ], + [ + -4476.629, + 811.592, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4479.649, + 937.414, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4482.669, + 1063.237, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4482.669, + 1063.237, + 115.46, + -0.051, + 116.375, + -0.0 + ], + [ + -4538.581, + 1175.995, + 115.46, + -0.051, + 116.375, + -0.0 + ], + [ + -4538.581, + 1175.995, + 115.46, + 0.0, + 116.375, + -0.0 + ], + [ + -4538.581, + 1175.995, + 115.46, + 0.0, + 116.375, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4593.979, + 1287.944, + 80.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4593.979, + 1287.944, + 80.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4593.979, + 1287.944, + 80.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4593.979, + 1287.944, + 80.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4593.979, + 1287.944, + 80.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4593.979, + 1287.944, + 80.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4557.441, + 1165.962, + 85.567, + -28.202, + 166.519, + 1.862 + ], + [ + -4557.441, + 1165.962, + 85.567, + -28.202, + 166.519, + 1.862 + ] + ], + "PD_Dist_2D": [ + 614.1, + 490.6, + 368.7, + 250.8, + 250.8, + 124.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From the start of the walkway I can see the large tree standing on the right edge of the path, with the red tomato resting on the grass right beside its trunk. Both the tree and the tomato are still far ahead, so I will move forward along the paved path to close that distance.", + "The tree trunk and the tomato beside it now appear larger and lower in my view, confirming my heading along the path is taking me toward them. They are still several steps away, so I will continue forward.", + "The large tree on the right is close enough that its trunk fills the right side of my view, and the tomato sits on the grass just at its base. I will step forward again to reach the area beside the tree rather than stopping short of it.", + "I have arrived level with the large tree, but the tomato has slipped to the lower right of my view while I am still facing straight down the walkway. I will turn right to bring the tomato and the tree base into the center of my view before closing in.", + "After turning, the tomato and the tree base are now centered ahead of me, but the fruit is still a step or two beyond arm's reach. I will move forward to stand directly over the tomato so a grasp becomes possible.", + "I am now standing right beside the large tree on the right of the path, and the tomato is at the very bottom of my view, close to my feet. This is within reach, so I will attempt to pick it up.", + "The tomato is held in my hand at the base of the large tree beside the path. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000154_y-002153_z000168_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000154_y-002153_z000168_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00e5985cbb9843188dbf7d082737929cb4982d73 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000154_y-002153_z000168_t4_b/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Walk to the dark wooden door with the large grid window at the end of the hallway and open it.", + "Type": 4, + "Start_Pose": [ + 154.099, + -2153.108, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 154.099, + -2153.108, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 154.099, + -2153.108, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + 211.278, + -2042.853, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + 267.911, + -1931.976, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + 267.911, + -1931.976, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 267.911, + -1806.117, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 267.911, + -1680.258, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 267.911, + -1680.258, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 261.551, + -1645.676, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 261.551, + -1645.676, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 261.551, + -1645.676, + 168.15, + 0.0, + 90.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark wooden door with the large grid window is only partly visible at the far right edge of my view, mostly cut off by the wall. I will turn right to bring that door properly into the center of my view before moving toward it.", + "The dark door with its white grid window now sits ahead of me across the room, past the white dresser and cabinet. The floor between us looks clear, so I will move forward to close the distance toward it.", + "The grid-window door has grown noticeably larger ahead and slightly right, with the dresser and cabinet passing along my left side. I am still too far to reach the handle, so I will continue forward along this clear stretch of floor.", + "Coming this close, the door has drifted to the right side of my view while the cabinet and dresser now fill the left, so my heading is no longer pointed at it. I will turn right to square myself with the door face before approaching further.", + "The dark wooden door with the grid window is now centered ahead of me with its brass knob visible, and the path to it is clear. I will move forward to get within reach of the handle.", + "The dark wooden door with the grid window now fills my view straight ahead, but I am still a step short of its handle. I will move forward again to close that last gap and bring the knob within reach.", + "I am directly in front of the door panel with the brass knob and keyhole visible just left of the glazed grid. Since the door is squarely ahead and the handle appears within reach, I will try to open it now.", + "My attempt to open the door left it unchanged, with the same closed panel and knob still in front of me. I may simply be a little too far back for the interaction to register, so I will edge forward to tighten my position at the handle.", + "I am now pressed right up against the door, with its glazing bar and lower rail filling my view after my earlier attempt failed to move it. From this tighter contact position I will attempt to open the door again.", + "The dark wooden door with the grid window now stands open, revealing the porch, walkway, and street beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000321_y-002153_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000321_y-002153_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9325fab4bace4ec2617f0c44ff19d5e373edb82f --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000321_y-002153_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Follow the striped runner to the white door at the end of the hallway and open it.", + "Type": 4, + "Start_Pose": [ + 320.989, + -2153.153, + 168.15, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 320.989, + -2153.153, + 168.15, + 0.0, + 0.0, + -0.0 + ], + [ + 446.848, + -2153.153, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + 572.707, + -2153.153, + 168.414, + 0.0, + 0.0, + 0.0 + ], + [ + 698.566, + -2153.153, + 168.818, + 0.0, + 0.0, + 0.0 + ], + [ + 824.425, + -2153.153, + 168.818, + 0.0, + 0.0, + 0.0 + ], + [ + 950.284, + -2153.153, + 168.818, + 0.0, + 0.0, + 0.0 + ], + [ + 1076.143, + -2153.153, + 168.818, + 0.0, + 0.0, + 0.0 + ], + [ + 1202.002, + -2153.153, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1253.002, + -2153.153, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1253.002, + -2153.153, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1253.002, + -2153.153, + 168.15, + 0.0, + 0.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The striped runner starts just ahead of me and leads straight down the hallway to a white door at the far end. Since the path along the rug is clear and the door is centered in my view, I will move forward along it to begin closing the distance.", + "The runner still stretches ahead of me and the white door remains squarely at the end of the corridor. My heading is already aligned with the rug, so another forward step should keep me tracking it toward the door.", + "The white door is growing larger and stays centered, confirming I am still following the runner correctly. Nothing blocks the corridor, so I continue straight ahead.", + "I am about halfway along the corridor, with the runner still under me and the white door directly ahead past a darker door on the right. The straight route needs no reorientation, so I keep advancing.", + "The white door now fills a large part of my view and its handle is becoming visible, so I am close to the end of the hallway. I will step forward again to reach it.", + "The runner has ended and the white door with its lever handle is close in front of me, framed by its casing. I move forward once more to get within reach of the handle.", + "The door now fills nearly my whole view with the knob and lever plainly on the right side at my level, so I am almost in contact range. One more forward step should bring the handle within reach for an interaction.", + "I am right at the door panel, close enough that only the paneling and handle side fill my view. I will make one short forward adjustment to settle squarely against the door before trying the handle.", + "The white door panels now fill my entire view at arm's length, so I am squarely at the end of the hallway and centered on the door I was sent to. Nothing else is in reach, and the latch was just to my right as I closed in, so I will trigger the open interaction now and it should swing the door inward.", + "The door stands open and the room beyond it is visible through the frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000522_y001987_z000168_t5_a_pd/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000522_y001987_z000168_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..79d47bbf92a9b72db9ddcfe796e1a303196185a7 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000522_y001987_z000168_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the trash bag at the bookcase, then set it down near the small round table.", + "Type": 5, + "Start_Pose": [ + 522.077, + 1986.627, + 168.15, + -0.05, + -49.127, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1022.983, + 1806.955, + 88.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "LookDown", + "TurnRight", + "LookDown", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 522.077, + 1986.627, + 168.15, + -0.05, + -49.127, + 0 + ], + [ + 522.077, + 1986.627, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 636.941, + 1935.181, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 751.805, + 1883.735, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 751.805, + 1883.735, + 168.15, + -0.05, + 0.873, + -0.0 + ], + [ + 877.65, + 1885.652, + 168.15, + -0.05, + 0.873, + -0.0 + ], + [ + 877.65, + 1885.652, + 168.15, + 0.0, + 0.873, + -0.0 + ], + [ + 785.26, + 1884.245, + 168.15, + 0.0, + 0.873, + -0.0 + ], + [ + 692.871, + 1882.837, + 168.15, + 0.0, + 0.873, + -0.0 + ], + [ + 692.871, + 1882.837, + 168.15, + 0.0, + -24.127, + 0.0 + ], + [ + 692.871, + 1882.837, + 168.15, + 0.0, + -49.127, + 0.0 + ], + [ + 692.871, + 1882.837, + 168.15, + 0.0, + -74.127, + 0.0 + ], + [ + 692.871, + 1882.837, + 168.15, + 0.0, + -99.127, + 0.0 + ], + [ + 692.871, + 1882.837, + 168.15, + 0.0, + -124.127, + 0.0 + ], + [ + 622.26, + 1778.652, + 169.1, + 0.0, + -124.127, + 0.0 + ], + [ + 622.26, + 1778.652, + 169.1, + 0.0, + -124.127, + 0.0 + ], + [ + 622.26, + 1778.652, + 169.1, + 0.0, + -99.127, + 0.0 + ], + [ + 622.26, + 1778.652, + 169.1, + 0.0, + -99.127, + 0.0 + ], + [ + 633.681, + 1849.74, + 168.227, + 0.0, + -99.127, + 0.0 + ], + [ + 633.681, + 1849.74, + 168.227, + 0.0, + -99.127, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1022.983, + 1806.955, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1022.983, + 1806.955, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1022.983, + 1806.955, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1022.983, + 1806.955, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1022.983, + 1806.955, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1022.983, + 1806.955, + 88.15, + 0.0, + 0.0, + 0.0 + ], + [ + 876.714, + 1906.994, + 138.256, + -28.202, + 51.017, + 1.862 + ], + [ + 783.952, + 1905.583, + 138.856, + -28.191, + 51.021, + 1.872 + ], + [ + 691.619, + 1904.173, + 138.68, + -28.199, + 51.018, + 1.867 + ], + [ + 701.188, + 1901.861, + 137.72, + -28.202, + 26.017, + 1.861 + ], + [ + 707.32, + 1895.592, + 138.865, + -28.205, + 1.014, + 1.862 + ], + [ + 720.298, + 1884.994, + 138.043, + -14.175, + -31.935, + 6.959 + ], + [ + 713.657, + 1879.897, + 137.932, + -28.208, + -48.985, + 1.851 + ], + [ + 709.508, + 1871.956, + 138.6, + -28.198, + -73.981, + 1.867 + ], + [ + 640.226, + 1767.094, + 138.07, + -28.198, + -73.981, + 1.862 + ], + [ + 640.446, + 1767.422, + 138.657, + -28.195, + -73.978, + 1.87 + ], + [ + 643.97, + 1775.358, + 137.739, + -28.197, + -48.981, + 1.862 + ], + [ + 644.578, + 1775.889, + 138.856, + -28.201, + -48.983, + 1.867 + ], + [ + 622.577, + 1780.626, + 128.227, + 0.0, + -99.127, + 0.0 + ], + [ + 622.577, + 1780.626, + 128.227, + 0.0, + -99.127, + 0.0 + ] + ], + "PD_Dist_2D": [ + 532.2, + 532.2, + 406.8, + 281.8, + 281.8, + 165.3, + 21.4, + 21.4, + 21.4, + 20.8, + 19.3, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 22.0, + 22.5, + 70.0, + 70.0 + ], + "Rationale": [ + "From here the bookcase stands along the far wall and the dark trash bag sits on the floor to its right, well off to my right side. I will turn right so that the bag and the open floor leading to it come into the middle of my view before I start walking. This should give me a straight approach line across the room.", + "The trash bag is now roughly ahead of me beside the lit floor lamp and the bookcase, but still far across the open room. The floor between us is clear hardwood with no furniture in the way, so I will move forward to close that distance.", + "The bag has grown noticeably larger ahead of me, so my heading is carrying me toward it, yet it is still several steps away. I will keep moving forward to get within reach of the bookcase area where the bag rests.", + "I am close to the bookcase corner now, with the bag tucked against the wall beside the pillar just ahead. Turning slightly right should point me into the open lane past that pillar so my next step should bring me alongside the bag instead of into the bookcase and lamp.", + "The bag is now low in my view on the left, right at the base of the pillar, but still slightly too far to reach comfortably. I will step forward once more so it comes within grasping distance beside me.", + "The trash bag now fills the lower left corner of my view, close enough that I am standing right beside it. I will attempt to pick it up so I can carry it toward the small round table.", + "The bag is in my grasp now, filling the near part of my view, so the grab worked. I am wedged into the narrow corner between the pillar, the bookcase and the stairs, so I will back straight out to gain clearance before swinging around toward the living area with the round table.", + "I still stand in the constricted gap between the bookcase on my left and the staircase on my right, which leaves little room to rotate while carrying the bag. I will back up one more step into the wider floor so I can turn around toward the seating area and the small round table.", + "The trash bag is in my grasp and I now have clearance in front of the bookcase, but my heading still points along the bookcase wall toward the kitchen and stairs. The small round table sits back in the living room seating area behind my left shoulder, so I will turn left to start swinging my heading around toward it.", + "Rotating has brought the bookcase and the near end of the sofa into view, but the round table is still outside my field of view further left. I will continue turning left to keep sweeping toward the rug and seating area where the table stands.", + "Now the window wall and the full length of the sofa fill my view with the bookcase off to the right, so I am facing across the living room rather than into it. The round table should lie beyond the left edge of this view, so another left turn should bring it in.", + "A pale round tabletop is just appearing at the far left edge of my view beside the patterned rug, while the sofa and window still occupy the center. I will turn left again to bring that table properly into the middle of my view before approaching it with the bag.", + "The small round table with the newspaper on it is now clearly visible on the rug, but it sits low and left of my center while the sofa and window still crowd the right side. One more left turn should place the table more centrally so I can walk straight at it while carrying the bag.", + "The round table is now in view ahead of me on the rug, with the dresser and wardrobe along the far wall, and it is still several steps away, too far to place the bag on. I will step forward to close that distance and get within reach of the tabletop.", + "After stepping closer, my level gaze shows mostly the upper wall, wardrobe and the top of the dresser, and the low round table has dropped out of the bottom of my view. I will look down so the nearby tabletop and floor come back into sight for placing the bag.", + "With my gaze lowered, the round table with the newspaper is visible close by but off to the right side of my view rather than in front of me. I will turn right to center the tabletop so the bag can be set down onto it.", + "After the slight turn my view is mostly the wall, wardrobe and curtain, with only the faint top edge of the round table at the very bottom. I will tilt my gaze further down so the tabletop I am carrying the bag to sits clearly in front of me. That should give me the close, centered view of the surface I need before releasing the bag.", + "The small round table with the newspaper on it is now fully framed and close in front of me, well within reach. Since I am still carrying the trash bag from the bookcase, I will release it here so it comes to rest at this table. The placement should satisfy the task's set-down requirement.", + "The trash bag is now resting at the small round table and no longer carried. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000635_y-002140_z000169_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000635_y-002140_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..805e036a936b6ec0355b6721d5e2c196a3a77194 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000635_y-002140_z000169_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Open the paneled door with the bronze lever handle.", + "Type": 4, + "Start_Pose": [ + 634.648, + -2140.338, + 168.898, + 0, + 60, + 0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 634.648, + -2140.338, + 168.898, + 0, + 60, + 0 + ], + [ + 701.665, + -2054.342, + 168.15, + 0.0, + 60.0, + -0.0 + ], + [ + 701.665, + -2054.342, + 168.329, + 0.0, + 60.0, + -0.0 + ], + [ + 764.529, + -2046.988, + 168.15, + 0.0, + 60.0, + -0.0 + ], + [ + 764.529, + -2046.988, + 168.15, + 0.0, + 60.0, + -0.0 + ], + [ + 764.529, + -2046.988, + 168.15, + 0.0, + 60.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The paneled door with the bronze lever handle stands ahead of me at the end of this hallway, still several steps away. I will move forward to close that gap so the lever comes within reach for an interaction.", + "I am now right up against the paneled door, with the bronze lever and deadbolt filling the right side of my view. Since the handle appears to be within arm's reach, I will try to operate it and open the door.", + "My attempt to work the lever did not move the door at all, and the panels still sit closed in front of me. The handle looks slightly off to my right edge, so I may still be a bit short of a usable interaction pose, and I will step forward to tighten that distance.", + "I am pressed close against the door frame now, with the jamb edge on my left and the door leaf directly before me, so my grip on the lever should be much better than before, when the door did not budge. I will attempt to open the door again from this tighter position.", + "The paneled door now stands swung open, revealing the carpeted room and window beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000653_y002131_z000447_t4_b/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000653_y002131_z000447_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..958f354b1216e78b8e2b78a722046f7812ede3ac --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000653_y002131_z000447_t4_b/infos.json @@ -0,0 +1,227 @@ +{ + "Instruction": "Follow the upstairs railing to the white door at the end of the hall and open it.", + "Type": 4, + "Start_Pose": [ + 652.714, + 2131.094, + 447.033, + 0.0, + -60.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 652.714, + 2131.094, + 447.033, + 0.0, + -60.0, + 0.0 + ], + [ + 652.714, + 2131.094, + 447.033, + 0.0, + -85.0, + 0.0 + ], + [ + 652.714, + 2131.094, + 447.033, + 0.0, + -110.0, + 0.0 + ], + [ + 652.714, + 2131.094, + 447.033, + 0.0, + -135.0, + 0.0 + ], + [ + 564.429, + 2066.229, + 468.15, + 0.0, + -135.0, + 0.0 + ], + [ + 564.429, + 2066.229, + 468.15, + 0.0, + -110.0, + 0.0 + ], + [ + 564.429, + 2066.229, + 468.15, + 0.0, + -85.0, + 0.0 + ], + [ + 560.258, + 1947.586, + 468.15, + 0.0, + -85.0, + 0.0 + ], + [ + 560.258, + 1947.586, + 468.15, + 0.0, + -60.0, + 0.0 + ], + [ + 560.258, + 1947.586, + 468.15, + 0.0, + -35.0, + 0.0 + ], + [ + 560.258, + 1947.586, + 468.15, + 0.0, + -10.0, + 0.0 + ], + [ + 683.096, + 1922.87, + 468.15, + 0.0, + -10.0, + 0.0 + ], + [ + 807.043, + 1901.015, + 468.15, + 0.0, + -10.0, + 0.0 + ], + [ + 930.989, + 1879.16, + 468.15, + 0.0, + -10.0, + 0.0 + ], + [ + 1054.936, + 1857.304, + 468.15, + 0.0, + -10.0, + 0.0 + ], + [ + 1054.936, + 1857.304, + 468.15, + 0.0, + 15.0, + -0.0 + ], + [ + 1103.042, + 1876.2, + 468.15, + 0.0, + 15.0, + -0.0 + ], + [ + 1103.042, + 1876.2, + 468.15, + 0.0, + 15.0, + -0.0 + ], + [ + 1103.042, + 1876.2, + 468.15, + 0.0, + 15.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the top of the stairs the railing runs straight across in front of me, so I cannot head directly toward the doors I can see on the far side of the landing. I will turn left to swing my heading off the railing and look for the open stretch of floor that follows it. That should reveal a walkable route along the upstairs hall.", + "My view is still dominated by balusters and the sloping stair rail, so the way ahead of me remains fenced off. I will keep turning left to bring the open landing floor beyond the newel post into view. A heading clear of the railing is what I need before I can move.", + "Open floorboards and a corner with a potted plant now sit on my left while the railing and post have shifted to my right side. One more left turn should line me up with that clear floor so I can travel with the railing beside me. That is the direction the hall appears to continue.", + "My heading is now onto unobstructed floorboards with the railing structure off to my right instead of across my path. I will move forward to advance along the landing and close distance on the far side of the upstairs hall. The corner ahead will tell me where the route bends.", + "I have come up close to the corner wall, with the plant and the wall junction now filling the space ahead, so continuing straight would just press me into plaster. I will turn right to bring my heading back along the hall and toward the side where the doors were. This should reopen a passable line of travel.", + "The turn has swung part of the room into view, with a side table and framed pictures appearing on the right, but my heading still points mostly at blank wall. I will turn right again to carry my facing further around toward the open hall and the doorways along it. That should give me a clear forward path.", + "I can now see the hall wall with its pictures and console table, and a pale door frame at the right edge of my view. I will move forward to advance along this stretch of the landing and get nearer to that side of the hall. Closing the distance should let me judge which door lies at the end.", + "The forward move has brought me right up against this wall, so the picture and tabletop now fill my view and I have no usable path straight ahead. I will turn right to swing my facing down the length of the hall where the doorway was appearing. That should put the corridor and its far door back in front of me.", + "From here I mostly face a blank wall with the console table and framed pictures, while the hallway opening and a pale door edge sit at the right side of my view. I will turn right again to bring the hall itself into the center of my view so I can see where the railing leads.", + "The hallway is now opening up ahead of me, with a closed door on the left wall, the upstairs railing visible on the right, and a white door standing at the far end. My heading is still angled across the corridor, so another right turn should line me up straight down the hall toward that end door.", + "I am now aimed down the corridor with the wooden railing running along my right side and the white door clearly visible at the end. Moving forward follows the railing and should close distance toward that target door.", + "The white door at the end of the hall is noticeably larger now, and the near door on my left is passing close by while the railing continues on my right. The path ahead is still clear, so I will keep moving forward along the railing.", + "The end-of-hall white door with its brass handle is now framed almost dead ahead and the floor between us is unobstructed. Another step forward should bring me within a short reach of that door.", + "The white door now fills most of my view and its knob and lever are clearly visible, but I am still a step short of comfortable reach. I will move forward once more to close the last of that gap.", + "I am right up against the white door, but my view is skewed toward its hinge side with the doorframe on the left and the handle pushed to the far right edge. Turning right should bring the handle side into the center of my view for a cleaner interaction.", + "The lever handle and lock of the white door are now framed in the middle of my view, with the doorframe and light switch on the right. A short step forward should place the handle within reach so I can try to open the door.", + "The white door's brass knob and lever fill my view at arm's length, so I am squarely within reach of the handle at the end of the hall. I will trigger the door interaction now, which should release the latch and swing this door open.", + "The doorway now stands open onto the bedroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x000895_y001854_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x000895_y001854_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..edd9e480075f6053d16788d405b28446a118c57b --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x000895_y001854_z000468_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Pull open the white paneled door.", + "Type": 4, + "Start_Pose": [ + 895.286, + 1854.252, + 468.15, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "TurnRight", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 895.286, + 1854.252, + 468.15, + 0.0, + -140.0, + 0.0 + ], + [ + 895.286, + 1854.252, + 468.15, + 0.0, + -140.0, + 0.0 + ], + [ + 804.507, + 1854.231, + 468.15, + 0.0, + -140.0, + 0.0 + ], + [ + 804.507, + 1854.231, + 468.15, + 0.0, + -115.0, + 0.0 + ], + [ + 804.507, + 1854.231, + 468.15, + 0.0, + -90.0, + 0.0 + ], + [ + 804.507, + 1854.231, + 468.15, + 0.0, + -90.0, + 0.0 + ], + [ + 804.507, + 1854.231, + 468.15, + 0.0, + -90.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door named in my task stands directly before me, with its brass lever and deadbolt slightly left of the center of my view, past the edge of the frame. I am standing close enough that the latch hardware appears within arm's reach, so I will reach for it and try to pull the door open. If my stance is too far to the side of the latch, the pull may not catch.", + "My attempt to pull the door open did not work, since the panel and latch sit exactly as before with no gap opening along the frame. From this standoff the lever is off to the side of my line of approach rather than squarely in front of me. I will step forward to close the distance and put myself alongside the latch before trying again.", + "My step forward carried me past the doorway, and now I face a blank hallway wall with a light switch to the right of center, framed pictures and the plant table off to my left. The paneled door is no longer anywhere in front of me, so I cannot reach its handle from this heading. I will turn right to swing my view back toward the side where the doorway should lie.", + "The turn pushed the light switch well over to my left side and brought a pale vertical frame edge into the right half of my view, so the doorway is still further around to my right. I am not yet squared with the door leaf or its handle. I will turn right again to bring the door and its latch into the center of my view.", + "Now the white paneled door fills my view with the deadbolt and brass lever large and centered, and the jamb edge sits just to my left, so I am squared up and close to the hardware. My earlier pull from farther back and off to the side left the door shut, which is why I repositioned before trying again. From this alignment I will grip the lever and pull, which should swing the door open.", + "The white paneled door now stands open, revealing the bathroom vanity beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001166_y-001388_z000160_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001166_y-001388_z000160_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..40740f3506b0d6e624983bfc8e0a927f7c9b4042 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001166_y-001388_z000160_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the wicker basket near the sun umbrella.", + "Type": 5, + "Start_Pose": [ + 1165.759, + -1388.033, + 159.763, + -0.301, + 34.557, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1900.996, + -1197.107, + 92.883, + 90, + 14.557, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1165.759, + -1388.033, + 159.763, + -0.301, + 34.557, + 0 + ], + [ + 1165.759, + -1388.033, + 159.763, + -0.301, + 9.557, + 0.0 + ], + [ + 1289.869, + -1367.137, + 157.011, + -0.301, + 9.557, + 0.0 + ], + [ + 1413.98, + -1346.241, + 149.788, + -0.301, + 9.557, + 0.0 + ], + [ + 1538.09, + -1325.345, + 149.788, + -0.301, + 9.557, + 0.0 + ], + [ + 1662.201, + -1304.449, + 149.788, + -0.301, + 9.557, + 0.0 + ], + [ + 1662.201, + -1304.449, + 149.788, + -0.301, + 34.557, + 0.0 + ], + [ + 1765.852, + -1233.06, + 149.788, + -0.301, + 34.557, + 0.0 + ], + [ + 1765.852, + -1233.06, + 149.788, + 0.0, + 34.557, + -0.0 + ], + [ + 1765.852, + -1233.06, + 149.788, + 0.0, + 34.557, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1900.996, + -1197.107, + 92.883, + 90.0, + 14.557, + 0.0 + ], + [ + 1900.996, + -1197.107, + 92.883, + 90.0, + 14.557, + 0.0 + ], + [ + 1900.996, + -1197.107, + 92.883, + 90.0, + 14.557, + 0.0 + ], + [ + 1900.996, + -1197.107, + 92.883, + 90.0, + 14.557, + 0.0 + ], + [ + 1900.996, + -1197.107, + 92.883, + 90.0, + 14.557, + 0.0 + ], + [ + 1900.996, + -1197.107, + 92.883, + 90.0, + 14.557, + 0.0 + ], + [ + 1900.996, + -1197.107, + 92.883, + 90.0, + 14.557, + 0.0 + ], + [ + 1900.996, + -1197.107, + 92.883, + 90.0, + 14.557, + 0.0 + ], + [ + 1753.237, + -1215.82, + 119.989, + -28.202, + 84.701, + 1.862 + ], + [ + 1753.237, + -1215.82, + 119.989, + -28.202, + 84.701, + 1.862 + ] + ], + "PD_Dist_2D": [ + 759.6, + 759.6, + 634.3, + 509.3, + 384.9, + 261.8, + 261.8, + 139.8, + 21.4, + 21.4 + ], + "Rationale": [ + "From here I can see the tall patio umbrella with a table and a round wicker basket beside it, off to the left of my current heading. I will turn left to put that umbrella area and the paved walkway leading to it in front of me before advancing.", + "The walkway now runs straight ahead toward the umbrella and the table with the wicker basket beside it, and nothing blocks the pavement. I will move forward along this open path to reduce the remaining distance to the target.", + "The umbrella, chair and round wicker basket are clearly larger than a moment ago, so my heading down this walkway is good. I will keep moving forward since the basket is still well beyond reach.", + "The patio set under the umbrella is now plainly visible with the wicker basket leaning near the table, slightly right of straight ahead. Another forward step on this pavement should bring me close enough to consider interaction.", + "I am close to the umbrella now, with the table, chair and the large round wicker basket just ahead on the patio. I will advance once more to close the remaining gap before fine alignment.", + "I have reached the umbrella, but the wicker basket sits to the right of the umbrella pole rather than straight in front of me, and the table and chair sit in my direct line. Turning right should center the basket and give me a clean approach lane along the pavement.", + "With the heading adjusted, the wicker basket now stands just ahead at the near edge of the patio table, still a step too far to grasp. I will move forward to bring it within arm's reach.", + "I am standing right at the umbrella with the woven wicker basket immediately in front of me at the lower edge of my view. I will attempt to pick it up now, since it should be within reach from this position.", + "The wicker basket is now held in my hand right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001274_y-001339_z000153_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001274_y-001339_z000153_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d72aab9ed0ba13d3a0086f629d39bbc93b657623 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001274_y-001339_z000153_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Go to the dark paneled garage door with small windows across the top and open it.", + "Type": 4, + "Start_Pose": [ + 1274.427, + -1339.333, + 153.219, + 0.0, + -120.0, + 0.0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1274.427, + -1339.333, + 153.219, + 0.0, + -120.0, + 0.0 + ], + [ + 1274.427, + -1339.333, + 153.173, + 0.0, + -120.0, + 0.0 + ], + [ + 1211.497, + -1448.33, + 167.526, + 0.0, + -120.0, + 0.0 + ], + [ + 1211.497, + -1448.33, + 167.526, + 0.0, + -120.0, + 0.0 + ], + [ + 1156.213, + -1468.17, + 169.317, + 0.0, + -120.0, + 0.0 + ], + [ + 1156.213, + -1468.17, + 169.126, + 0.0, + -120.0, + 0.0 + ], + [ + 1156.213, + -1468.17, + 169.126, + 0.0, + -120.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark paneled garage door with the row of small windows along its top fills most of my view, so the target named in the task is already identified. It looks close enough that I will try to open it from here rather than approach further.", + "My attempt to open this garage door left it closed, so I was probably still too far from it to trigger the interaction. The driveway ahead is clear right up to the panels, so I will move forward to close that gap before trying again.", + "The panels and the top window row now fill my view at a steep angle, which means I am much nearer the garage door than during my earlier failed attempt. From this closer position I will try the opening interaction again.", + "Even from this close spot the door has not moved, so my reach or contact point is still not registering on it. A short additional step forward should press me right against the panels for another attempt.", + "I am now right up against the paneled surface, with a single panel and its frame filling the whole view, which is as close to the garage door as I can get. Since my earlier attempts from farther back left it closed, I will try the opening interaction from this contact distance.", + "The paneled garage door is now raised, leaving the garage interior fully open ahead of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001409_y002060_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001409_y002060_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..199af4395478609de27db6afa9a5d874f12b9fec --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001409_y002060_z000168_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Cross the living area to the white door at the far end on the left and open it.", + "Type": 4, + "Start_Pose": [ + 1409.403, + 2059.694, + 168.15, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1409.403, + 2059.694, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 1312.989, + 1978.793, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 1312.989, + 1978.793, + 168.15, + 0.0, + -165.0, + 0.0 + ], + [ + 1191.419, + 1946.219, + 168.15, + 0.0, + -165.0, + 0.0 + ], + [ + 1087.729, + 1942.024, + 168.15, + 0.0, + -165.0, + 0.0 + ], + [ + 966.064, + 1910.286, + 168.15, + 0.0, + -165.0, + 0.0 + ], + [ + 844.494, + 1877.711, + 168.15, + 0.0, + -165.0, + 0.0 + ], + [ + 722.923, + 1845.136, + 168.15, + 0.0, + -165.0, + 0.0 + ], + [ + 722.923, + 1845.136, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 598.976, + 1866.992, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 475.029, + 1888.847, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 475.029, + 1888.847, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 453.249, + 1909.515, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 453.249, + 1909.515, + 168.15, + 0.0, + 170.0, + -0.0 + ], + [ + 453.249, + 1909.515, + 168.15, + 0.0, + 170.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the entry area I can see the open living space beyond the tall white cabinetry, with a pale door set in the far wall past the partition on my left. Nothing blocks the wood floor directly ahead, so I will move forward to get past the cabinet run and gain a clearer line into that area.", + "Now that I am past the entry, the cabinetry fills the center and right of my view while the corridor toward the light-colored door opens off to my left. I will turn left to put that passage and the target door ahead of me before continuing.", + "After the turn the staircase is on my left and the hallway runs straight toward the pale door in the far wall, with the lit living room opening to the right. The route ahead is clear, so I will advance to close distance on that door.", + "The door ahead is larger in view but still several steps away across the living area. The floor between me and it remains unobstructed, so I will keep moving forward on this heading.", + "I am now inside the living area with the sofa and rug to my right and the light-colored door still centered slightly left ahead of me. Since my path stays clear of the furniture, I will continue forward to reach interaction range at the door.", + "The open living area stretches ahead of me and the target white door sits on the left wall at the far end, still several body lengths away. The floor between the sofa on my right and the wall on my left is clear, so I will keep moving forward to close that distance.", + "The door on the left has grown noticeably larger and its frame and handle are now distinct, confirming I am on the right line toward it. Nothing blocks the path in front of me, so another forward step should bring me into range where I can square up to the door.", + "I am now close to the wall that holds the target door, but the door has slid to the far left edge of my view while my heading still points across the room past it. I will turn left to bring the door face and its handle back toward the center of my view before approaching further.", + "The white door is now framed ahead of me with its handle visible on the right side of the leaf, so my heading is usable. I still stand a couple of steps back from it, so I will move forward to close in for an interaction.", + "The door now fills most of my view and its lever handle and deadbolt are clearly in front of me, but I am likely just outside comfortable reach. I will take one more short step forward so the handle is close enough to attempt opening.", + "The white door fills my view and its brass lever and deadbolt are directly ahead, so this is the moment to act on it. I will try to open the door from here, expecting the latch to release and the panel to swing inward.", + "My attempt on the latch left the door shut, with the panel and handle looking exactly as before, so I was likely not close or squarely enough positioned for the handle. I will edge forward a short step to bring the lever more centrally within reach before trying again.", + "After closing the small remaining gap, the lever and deadbolt now sit large and centered right in front of me, unlike the offset view during my earlier unsuccessful attempt. I will reach for the handle again, which should now be within proper interaction range to release the latch.", + "The white door now stands open, revealing the storage room with shelving beyond the threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001417_y001623_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001417_y001623_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..930f10c8938c53f58bdb39ff5fba79ed41b4564a --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001417_y001623_z000168_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the white paneled door immediately to the right of the narrow window.", + "Type": 4, + "Start_Pose": [ + 1416.841, + 1622.63, + 168.15, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1416.841, + 1622.63, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 1416.841, + 1622.63, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 1356.335, + 1551.693, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 1356.335, + 1551.693, + 168.15, + 0.0, + -115.0, + 0.0 + ], + [ + 1356.335, + 1551.693, + 168.15, + 0.0, + -115.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The narrow window is ahead of me and the white paneled door sits just to its right, but the door is currently pushed toward the right edge of my view. I will turn right to bring that door and its handle into the center of my heading before approaching.", + "The white paneled door now fills the middle of my view with the narrow window to its left, so my heading is on target. I am still a step away from the brass lever, so I will move forward to close that gap for a reachable interaction.", + "I am now right at the white paneled door, with its brass lever and deadbolt clearly within arm's reach. I will operate the handle to try to open this door as the task requires.", + "The doorway now stands open onto the porch and front yard beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001444_y-002174_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001444_y-002174_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7d4642301d570a88f575c0130b89fd3540b4bd5c --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001444_y-002174_z000168_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the paneled door immediately to the right of the bathroom vanity.", + "Type": 4, + "Start_Pose": [ + 1444.123, + -2174.347, + 168.15, + 0.0, + 140.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1444.123, + -2174.347, + 168.15, + 0.0, + 140.0, + -0.0 + ], + [ + 1444.123, + -2174.347, + 168.15, + 0.0, + 165.0, + -0.0 + ], + [ + 1351.765, + -2142.22, + 168.15, + 0.0, + 165.0, + -0.0 + ], + [ + 1351.765, + -2142.22, + 168.15, + 0.0, + 165.0, + -0.0 + ], + [ + 1351.765, + -2142.22, + 168.15, + 0.0, + 165.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The paneled door sits at the right edge of my view, just past the bathroom vanity, so it is only partially framed from here. I will turn right to bring that door and its lever handle to the center of my view for a straight approach.", + "The paneled door is now centered ahead of me with its lever handle clearly visible, but I am still standing back near the vanity counter. I will move forward to close the gap so the handle comes within reach for opening.", + "I am now right up against the paneled door, with its lever handle filling the lower left of my view at arm's length. This is the door immediately right of the bathroom vanity, so I will try the handle and push it open.", + "The doorway now stands open onto the hallway beyond, with the swung panel edge beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x001637_y000244_z000098_t5_a_p/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x001637_y000244_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5b5f115b9e188d76c691848b0249760a7b0f5ca1 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x001637_y000244_z000098_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Grab the plate near the mailbox.", + "Type": 5, + "Start_Pose": [ + 1637.431, + 243.935, + 98.226, + 0, + -27.141, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2154.554, + 126.213, + 68.745, + 90, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1637.431, + 243.935, + 98.226, + 0, + -27.141, + 0 + ], + [ + 1637.431, + 243.935, + 98.226, + 0.0, + -52.141, + 0.0 + ], + [ + 1714.673, + 144.566, + 98.226, + 0.0, + -52.141, + 0.0 + ], + [ + 1791.916, + 45.198, + 98.226, + 0.0, + -52.141, + 0.0 + ], + [ + 1791.916, + 45.198, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1791.916, + 45.198, + 98.226, + 0.0, + -2.141, + 0.0 + ], + [ + 1917.687, + 40.496, + 98.226, + 0.0, + -2.141, + 0.0 + ], + [ + 1917.687, + 40.496, + 98.226, + 0.0, + 22.859, + -0.0 + ], + [ + 2033.661, + 89.388, + 115.962, + 0.0, + 22.859, + -0.0 + ], + [ + 2033.661, + 89.388, + 115.962, + 0.0, + 22.859, + -0.0 + ], + [ + 2033.661, + 89.388, + 115.962, + 0.0, + 22.859, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2154.554, + 126.213, + 68.745, + 90.0, + 0.0, + 0.0 + ], + [ + 2024.803, + 108.827, + 84.269, + -28.202, + 73.004, + 1.862 + ], + [ + 2024.803, + 108.827, + 84.269, + -28.202, + 73.004, + 1.862 + ] + ], + "PD_Dist_2D": [ + 530.4, + 530.4, + 440.3, + 371.6, + 371.6, + 371.6, + 251.9, + 251.9, + 126.4, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the plate hovering beside the mailbox post in front of the lit porch, but a concrete road barrier sits directly in my forward path along the curb. I will turn left to line myself up with the open stretch of road so I can advance without being stopped by that barrier.", + "The roadway ahead of me is clear now, with the barriers offset to my right along the curb. I will move forward down this open lane to close distance toward the house frontage where the plate and mailbox are.", + "I am still on the open pavement with nothing blocking my path, and the fenced front yard and porch keep growing on my right. Another step forward should bring me level with the walkway leading up to the house.", + "I have drawn even with the front yard, and the porch, walkway, and mailbox side of the property lie off to my right rather than ahead. I will turn right to swing my heading back toward the house frontage where the plate is.", + "The turn brought the porch and paved walkway into view, but the plate is still hanging at the far right edge of what I can see. I will turn right again to center the plate and the approach path before advancing.", + "I am now squarely facing the walkway with the plate centered ahead and the mailbox standing to its right at the yard edge. I will move forward along the paved approach to shorten the gap to the plate.", + "I am much closer now, but the plate and the mailbox post both sit to the right of my heading while the walkway pulls me toward the door. I will turn right to face the mailbox area directly so the plate lines up in front of me.", + "The mailbox now stands directly ahead on my right with the plate floating just in front of it at close range. I will step forward once more to bring the plate within reach for a grab.", + "I am standing beside the mailbox at the walkway edge, and the plate now fills the lower part of my view at close range. Since it is directly in front of me and within arm's reach, I will attempt to grasp it now rather than adjust my position further.", + "The plate is now held in my hand at the mailbox. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x002452_y-000241_z000121_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x002452_y-000241_z000121_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..81d911a546620463ce0a3ec9eb22fb08dc1baf2f --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x002452_y-000241_z000121_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Cross the garden path to the covered porch of the house on the left, then open its front door.", + "Type": 4, + "Start_Pose": [ + 2452.13, + -241.248, + 121.105, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2452.13, + -241.248, + 121.105, + 0.0, + 40.0, + -0.0 + ], + [ + 2548.543, + -160.347, + 127.351, + 0.0, + 40.0, + -0.0 + ], + [ + 2644.957, + -79.447, + 147.861, + 0.0, + 40.0, + -0.0 + ], + [ + 2741.371, + 1.454, + 142.607, + 0.0, + 40.0, + -0.0 + ], + [ + 2741.371, + 1.454, + 142.607, + 0.0, + 15.0, + -0.0 + ], + [ + 2862.941, + 34.029, + 165.003, + 0.0, + 15.0, + -0.0 + ], + [ + 2984.512, + 66.603, + 165.003, + 0.0, + 15.0, + -0.0 + ], + [ + 3106.082, + 99.178, + 165.003, + 0.0, + 15.0, + -0.0 + ], + [ + 3106.082, + 99.178, + 165.003, + 0.0, + 15.0, + -0.0 + ], + [ + 3106.082, + 99.178, + 165.003, + 0.0, + -10.0, + 0.0 + ], + [ + 3152.973, + 80.072, + 165.15, + 0.0, + -10.0, + 0.0 + ], + [ + 3152.973, + 80.072, + 165.15, + 0.0, + -10.0, + 0.0 + ], + [ + 3152.973, + 80.072, + 165.15, + 0.0, + -10.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The lit garden path runs ahead of me toward the covered porch of the house on my left, and I can already see a screen door and entry area under that roof. I will move forward along the walkway to close the open distance before worrying about alignment with the door.", + "The porch deck and railing are noticeably nearer now, with the front entry set back on the left under the roof. Nothing blocks the walkway in front of me, so I will keep advancing along it toward the covered porch.", + "From here the dark front door on the left is clearly resolved, with the porch decking spread out directly ahead of me and no railing in my way. I will continue forward to get onto the covered porch itself before turning toward the door.", + "I am standing on the porch decking, but my heading points along the porch rather than at the entry, so the front door sits far out at the left edge of my view. I will turn left to bring that door into the center of my view and square up my approach line.", + "The front door with its narrow sidelight now sits roughly centered ahead of me, so my heading is usable for a straight approach. Several paces of bare decking still separate me from the handle, so I will move forward to close that gap.", + "The dark front door of the covered porch now fills the left half of my view, but its handle is still too far away for me to work. I will step forward again along the porch deck to close the remaining distance to the doorway.", + "I am nearly at the entry, with the door's brass handle set visible on the left and the lamp and siding directly ahead of me. One more forward step should bring me right up against the door so its latch is within reach.", + "I am standing at the entry with the brass handle and deadbolt clearly visible just to my left, so the latch should be within arm's reach. I will try to open the front door from here.", + "My attempt to open the door left it exactly as before, still shut, and I can see why: most of my view is the siding to the right of the frame, with only a sliver of the door leaf at the edge. I will turn left to bring the door and its handle squarely in front of me for a better interaction pose.", + "Now the door panels and the handle sit centered in my view, so my heading is on the entry rather than the siding beside it. Since my earlier attempt from a poorer pose left the door closed, I will step forward a short way to settle directly in front of the latch.", + "My view is now filled entirely by the door's panel, so I am squarely centered on the leaf rather than off to its edge beside the siding, where my previous attempt left the door shut. From this closer, better centered stance I will try the handle again, and the latch should release this time.", + "The front door now stands open with the entry hall and its furnishings visible inside. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003393_y-000698_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003393_y-000698_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..42bd11160fc6b3a6c3785ab3eec3f61c670dc605 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003393_y-000698_z000168_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Go to the paneled door opposite the bathroom vanity and open it.", + "Type": 4, + "Start_Pose": [ + 3393.06, + -697.935, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "OpenDoor", + "MoveForward", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3393.06, + -697.935, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3390.757, + -668.238, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3446.001, + -605.541, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3446.001, + -605.541, + 168.15, + 0.0, + 15.0, + -0.0 + ], + [ + 3446.001, + -605.541, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + 3446.001, + -605.541, + 168.15, + 0.0, + -10.0, + 0.0 + ], + [ + 3446.001, + -605.541, + 168.15, + 0.0, + -10.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The bathroom vanity with its mirror and towel ring is on my right, and directly opposite it stands the tall paneled door with a brass lever and deadbolt. Since that door matches the target described in the task, I will try to open it from where I stand. If I am still too far from the latch, the door may not move.", + "My attempt on the paneled door left it still shut, so distance to the latch is the likely problem. The doorway and its frame are still ahead of me, so I will step forward to close the gap and get within reach of the handle.", + "After closing in, my view is filled by the blank wall with the light switch and the corner of the frame, and the paneled door itself has slipped out of the center to my left. I will turn left to bring the door and its lever back into the middle of my view for a proper reach at the handle.", + "The turn brought the brass lever and keyed knob into the left edge of my view, but the door face is still partly cut off by the jamb. I will turn left again so the handle sits squarely in front of me before I reach for it.", + "The paneled door face now fills my view with the brass lever and keyed knob centered and clearly within arm's reach. My earlier attempt from farther back left the door unchanged, so from this closer, squared-up position I will try the handle again and the door should swing open.", + "The paneled door now stands open, revealing the bookshelves and room beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003497_y-001252_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003497_y-001252_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..76e612a369ad46836f5b4f3545598ef02e324039 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003497_y-001252_z000168_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Open the white door immediately to the right of the tall potted plant.", + "Type": 4, + "Start_Pose": [ + 3497.086, + -1251.882, + 168.15, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3497.086, + -1251.882, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3400.336, + -1298.382, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3400.336, + -1298.382, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3400.336, + -1298.382, + 168.15, + 0.0, + -140.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The tall potted plant on its small table sits to my left, and the white panelled door with its brass knob and lever handle stands immediately to its right, directly ahead of me. I am still too far back to reach that handle, so I will step forward to close the gap and bring the latch within arm's reach.", + "I am now right up against the target door, with the brass deadbolt and lever handle filling the centre of my view and the plant's leaves still visible just to the left, confirming this is the door beside it. From this contact distance I will operate the handle, which should swing the door open.", + "The doorway beside the potted plant now stands open, revealing the porch and yard beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003540_y-000257_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003540_y-000257_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6607e278441ea1d164de2b7c6da7b0a8e9107475 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003540_y-000257_z000168_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Follow the striped runner to the white door beyond the staircase and open it.", + "Type": 4, + "Start_Pose": [ + 3539.934, + -257.359, + 168.15, + 0.0, + 40.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3539.934, + -257.359, + 168.15, + 0.0, + 40.0, + -0.0 + ], + [ + 3539.934, + -257.359, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + 3593.124, + -143.292, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + 3646.315, + -29.225, + 168.8, + 0.0, + 65.0, + -0.0 + ], + [ + 3699.505, + 84.842, + 168.8, + 0.0, + 65.0, + -0.0 + ], + [ + 3752.695, + 198.909, + 168.8, + 0.0, + 65.0, + -0.0 + ], + [ + 3805.886, + 312.976, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + 3859.076, + 427.043, + 168.15, + 0.0, + 65.0, + -0.0 + ], + [ + 3859.076, + 427.043, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 3859.076, + 552.902, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 3859.076, + 552.902, + 168.15, + 0.0, + 90.0, + -0.0 + ], + [ + 3859.076, + 552.902, + 168.15, + 0.0, + 90.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the staircase fills the middle of my view, while the striped runner and a white door sit off to my right along the hallway. I will turn right so the runner leads away straight ahead of me and the door stays in view as I advance.", + "The striped runner now stretches ahead of me down the hall with the white door at its far end past the staircase. I will move forward along the runner to close the distance to that door.", + "The banister is passing on my left and the white door ahead has grown larger, so the runner is guiding me correctly. I will keep moving forward along it.", + "I am now alongside the foot of the staircase with the white door clearly ahead in the far wall of this hall. There is still open floor between us, so I will continue forward.", + "The door beyond the staircase is close to filling the wall ahead and its handle is becoming visible. I will step forward again to reach interaction range.", + "The white door dominates my view now and its knob is clearly resolved, though I am still a step or two short of it. I will move forward to get within reach.", + "The door is very close, but it has drifted toward the right of my view with the corner wall taking the left side. I will advance once more to close the last of the gap before squaring up on it.", + "At this range the door panel sits to the right of my heading while blank wall occupies the left half of my view, so I am not squarely facing it. I will turn right to center the door and its handle before attempting to open it.", + "The white door now fills my view squarely with its knob at center right, so my heading is properly aligned with the panel. I am still a short step away from contact range, so I will move forward once more to close that gap before reaching for the handle.", + "I am pressed right up against the white door, with only its panel molding filling my view, which means I am within arm's reach of the handle. Since this is the door the task points me to, I will try to open it now.", + "I see the door swung inward with the stairwell space beyond it now exposed. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003617_y-001139_z000468_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003617_y-001139_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..752ed561e640ec4114fb2d1c5869bf8cb15190f1 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003617_y-001139_z000468_t4_a/infos.json @@ -0,0 +1,62 @@ +{ + "Instruction": "Pull open the white paneled door set in the red patterned wallpaper.", + "Type": 4, + "Start_Pose": [ + 3617.387, + -1138.71, + 468.15, + 0.0, + 20.0, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3617.387, + -1138.71, + 468.15, + 0.0, + 20.0, + -0.0 + ], + [ + 3703.004, + -1098.092, + 468.15, + 0.0, + 20.0, + -0.0 + ], + [ + 3703.004, + -1098.092, + 468.15, + 0.0, + 20.0, + -0.0 + ], + [ + 3703.004, + -1098.092, + 468.15, + 0.0, + 20.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door framed by the red patterned wallpaper is directly ahead of me and already centered in my view, with its brass knob and lever handle plainly visible. I am still a step too far back to reach the handle, so I will move forward to close that gap while keeping my heading fixed on the door.", + "I am now right up against the white door panel, with the brass knob and lever handle filling the near right of my view within easy reach. The door still appears shut, so I will pull on the handle now, which should swing it open.", + "The doorway now stands open onto the tiled bathroom with its vanity and mirror in clear view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x003938_y-000410_z000168_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x003938_y-000410_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c56aa9cced96f2f3e7fbdbe5ebef964cb0465cc --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x003938_y-000410_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "At the near end of the striped runner, open the white door.", + "Type": 4, + "Start_Pose": [ + 3937.888, + -409.989, + 168.15, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3937.888, + -409.989, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3841.474, + -490.89, + 168.15, + 0.0, + -140.0, + 0.0 + ], + [ + 3745.061, + -571.79, + 168.779, + 0.0, + -140.0, + 0.0 + ], + [ + 3745.061, + -571.79, + 168.779, + 0.0, + -165.0, + 0.0 + ], + [ + 3623.49, + -604.365, + 168.779, + 0.0, + -165.0, + 0.0 + ], + [ + 3551.617, + -634.927, + 168.15, + 0.0, + -165.0, + 0.0 + ], + [ + 3551.617, + -634.927, + 168.15, + 0.0, + -165.0, + 0.0 + ], + [ + 3551.617, + -634.927, + 168.15, + 0.0, + -165.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The striped runner stretches away in front of me, and the white door sits in the wall on my left near the runner's closer end. I will move forward along the hallway to bring that door within reach before turning toward it.", + "The white door on my left has grown larger but is still slightly ahead of my shoulder, so I am not yet beside it. Another step forward should place me level with the doorway at the near end of the runner.", + "I am now beside the white door, which fills the left portion of my view while my heading still points down the hall. Turning left should rotate the door and its handle toward the center of my view for a straight approach.", + "The white door and its frame are now centered ahead of me with open floor between us. I will step forward to close that remaining gap and get within arm's reach of the handle.", + "The door panel now fills my view with the brass lever just to the left of center, so I am nearly in contact with it. A short final step should put me squarely at the door for the handle interaction.", + "I am pressed directly against the white door panel, squarely aligned with its latch side and the door is still shut. I will attempt to operate the handle now, which should swing this door open.", + "The white door now stands swung open, revealing the tiled bathroom beyond the threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/suburbNeighborhood_Night/task_x004057_y-002156_z000150_t4_a/infos.json b/dataset/trajectory/suburbNeighborhood_Night/task_x004057_y-002156_z000150_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..464a67f762d61320ab3952394b8183172b683fa4 --- /dev/null +++ b/dataset/trajectory/suburbNeighborhood_Night/task_x004057_y-002156_z000150_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Cross the patio to the white door beneath the small awning and open it.", + "Type": 4, + "Start_Pose": [ + 4057.313, + -2156.011, + 149.883, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4057.313, + -2156.011, + 149.883, + 0.0, + 100.0, + -0.0 + ], + [ + 4035.458, + -2032.064, + 149.883, + 0.0, + 100.0, + -0.0 + ], + [ + 4035.458, + -2032.064, + 149.883, + 0.0, + 125.0, + -0.0 + ], + [ + 3963.268, + -1928.966, + 149.883, + 0.0, + 125.0, + -0.0 + ], + [ + 3917.396, + -1817.732, + 149.883, + 0.0, + 125.0, + -0.0 + ], + [ + 3840.994, + -1729.348, + 149.883, + 0.0, + 125.0, + -0.0 + ], + [ + 3768.804, + -1626.251, + 149.883, + 0.0, + 125.0, + -0.0 + ], + [ + 3768.804, + -1626.251, + 149.883, + 0.0, + 150.0, + -0.0 + ], + [ + 3659.807, + -1563.321, + 149.883, + 0.0, + 150.0, + -0.0 + ], + [ + 3550.81, + -1500.392, + 149.883, + 0.0, + 150.0, + -0.0 + ], + [ + 3441.813, + -1437.462, + 149.883, + 0.0, + 150.0, + -0.0 + ], + [ + 3441.813, + -1437.462, + 149.883, + 0.0, + 125.0, + -0.0 + ], + [ + 3375.428, + -1396.984, + 149.883, + 0.0, + 125.0, + -0.0 + ], + [ + 3375.428, + -1396.984, + 149.883, + 0.0, + 125.0, + -0.0 + ], + [ + 3375.428, + -1396.984, + 149.883, + 0.0, + 125.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the edge of the patio I can see the house ahead, with a white door set back under a small awning on the right side of the covered porch. The paved area in front of me is open apart from the flower planter to my left, so I will move forward to close distance across the patio.", + "Now that I am nearer the house, the flowering shrub fills the left of my view and the awning-covered door sits well off to my right rather than in front of me. I will turn right so my heading points across the patio toward that door instead of at the blank siding and shrub.", + "The white door under the porch roof is now roughly ahead of me, framed by the posts and the awning. The concrete between me and it is clear of furniture, so I will move forward to continue the crossing.", + "I am now under the awning with the door and its wall lamp clearly visible slightly right of my heading, and the lit window to its left. Nothing blocks the paving ahead, so I will keep moving forward to shorten the remaining gap.", + "The door is close enough now that I can make out its panels and the narrow sidelight window beside it, but I am still too far back to reach the handle. I will advance again along the covered walkway toward it.", + "The large lit window fills the left of my view and the target door stands just right of center with its lamp beside it. The porch floor ahead is clear, so I will move forward once more to get within reach of the door.", + "As I have come along the wall, the white door has drifted toward the right side of my view while my heading points down the open porch toward the yard and fence. I will turn right to bring the door back toward the center of my heading before closing in on it.", + "The door now sits ahead of me on the porch wall with its knob visible, and the floor between us is empty. I will move forward to bring myself within arm's reach of the handle.", + "The white door under the awning stands just ahead on my left, with its trim, sidelight window, and wall lamp now clearly resolved. I will move forward along the covered walkway to close the remaining distance before I turn in toward the slab.", + "The door panel now occupies the left side of my view and its knob is visible, but I am still slightly short of the position where I could reach the handle. Another step forward should bring me level with the doorway so a small turn is enough to face it.", + "I am now abreast of the doorway, and the door slab with its brass knob and lever sits at the left edge of my view while my heading points out along the patio. I will turn left to bring the door and its handle squarely in front of me for the interaction.", + "The door is now centered ahead with the knob and lever plainly in view, but I am still a short step outside comfortable reach. I will move forward to close that last gap so the handle falls within grasping range.", + "The brass lever handle now fills the near left of my view, so I am directly at the closed white door under the awning and squarely aligned with it. I will operate the handle now, which should release the latch and swing the door open.", + "The doorway is now open, revealing the interior floor, wall, and side table beyond the jamb. The task is complete, so I stop here." + ] +}