Add files using upload-large-folder tool

dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_a/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Approach the leftmost elevator's closed metal doors.",
+    "Type": 2,
+    "Start_Pose": [
+        -10.273,
+        -1443.974,
+        100.292,
+        0.0,
+        -96.96,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10.273,
+            -1443.974,
+            100.292,
+            0.0,
+            -96.96,
+            0.0
+        ],
+        [
+            -25.524,
+            -1568.906,
+            101.755,
+            0.0,
+            -96.96,
+            0.0
+        ],
+        [
+            -40.775,
+            -1693.837,
+            101.755,
+            0.0,
+            -96.96,
+            0.0
+        ],
+        [
+            -56.026,
+            -1818.769,
+            101.755,
+            0.0,
+            -96.96,
+            0.0
+        ],
+        [
+            -56.026,
+            -1818.769,
+            101.755,
+            0.0,
+            -121.96,
+            0.0
+        ],
+        [
+            -122.647,
+            -1925.55,
+            101.755,
+            0.0,
+            -121.96,
+            0.0
+        ],
+        [
+            -122.647,
+            -1925.55,
+            101.755,
+            0.0,
+            -121.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two elevators face me across the red carpet, and the one on the left is the one whose brushed metal doors are shut, while the other stands open onto a lit cabin. That closed pair of doors is my target, so I will walk straight ahead to begin closing the distance.",
+        "The elevator with the shut metal doors is now larger and slightly left of center, and open carpet still separates me from its threshold. I will keep walking forward to shorten that gap.",
+        "The closed metal doors now fill much of my view with the call panel on the pillar to their right, but I am still standing back on the carpet edge. Another step forward should bring me onto the tiled area right in front of them.",
+        "Advancing has pushed the shut metal doors over to the left side of my view, with the pillar and its call panel filling the center. I will turn left to bring those doors square in front of me before stepping in closer.",
+        "The shut metal doors are centered ahead of me now, with clear tile floor between us. I will step forward to finish closing that short remaining distance and stand directly at them.",
+        "The closed metal doors and their seam fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_b/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Walk to the red fire alarm on the right wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -10.273,
+        -1443.974,
+        100.292,
+        0.0,
+        -96.96,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "LookUp",
+        "TurnLeft",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10.273,
+            -1443.974,
+            100.292,
+            0.0,
+            -96.96,
+            0.0
+        ],
+        [
+            -10.273,
+            -1443.974,
+            100.291,
+            0.0,
+            -71.96,
+            0.0
+        ],
+        [
+            28.703,
+            -1563.646,
+            101.776,
+            0.0,
+            -71.96,
+            0.0
+        ],
+        [
+            67.679,
+            -1683.318,
+            101.776,
+            0.0,
+            -71.96,
+            0.0
+        ],
+        [
+            67.679,
+            -1683.318,
+            101.776,
+            0.0,
+            -46.96,
+            0.0
+        ],
+        [
+            153.579,
+            -1775.305,
+            101.776,
+            0.0,
+            -46.96,
+            0.0
+        ],
+        [
+            239.479,
+            -1867.293,
+            101.776,
+            0.0,
+            -46.96,
+            0.0
+        ],
+        [
+            325.289,
+            -1928.494,
+            101.812,
+            0.0,
+            -46.96,
+            0.0
+        ],
+        [
+            357.339,
+            -1930.75,
+            101.742,
+            0.0,
+            -46.96,
+            0.0
+        ],
+        [
+            357.339,
+            -1930.75,
+            101.742,
+            0.0,
+            -71.96,
+            0.0
+        ],
+        [
+            357.339,
+            -1930.75,
+            101.742,
+            0.0,
+            -71.96,
+            0.0
+        ],
+        [
+            357.339,
+            -1930.75,
+            101.742,
+            0.0,
+            -96.96,
+            0.0
+        ],
+        [
+            357.339,
+            -1930.75,
+            101.742,
+            0.0,
+            -96.96,
+            0.0
+        ],
+        [
+            357.339,
+            -1930.75,
+            101.742,
+            0.0,
+            -96.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this elevator lobby I need the small red alarm box on the wall to my right, not the extinguisher or the call panels. The right side of my view is cut off by the corner, so I will turn right to bring that wall section into sight.",
+        "Turning right has opened up the far end of the lobby, where a red extinguisher hangs on the wall past the last elevator and a small red pull box sits on the pale panel nearer the elevator frame. That alarm box is my target, so I will walk forward to close the distance along this side.",
+        "The small red alarm box on the right wall is now clearly separated from the larger extinguisher beside it, but both are still well down the lobby. I will keep walking forward to bring that wall within reach.",
+        "Advancing has swung the open elevator doorway into the centre of my view while the alarm box has drifted toward the right edge, near the extinguisher and waste bin. I will turn right to put that wall back in front of me before continuing.",
+        "The turn has centred the recessed wall panel carrying the small red alarm box, with the extinguisher and the seating alcove just beyond it. The box is still several paces off, so I will walk forward toward it.",
+        "The alarm box is noticeably larger now and sits on the fluted panel just left of the extinguisher, with the bin marking the base of that wall. I will step forward again to get within arm's length of it.",
+        "I am close enough that the fluted panel fills much of my view and the red alarm box reads clearly on it, slightly left of centre. A short step forward should bring me right up to that wall.",
+        "The panelled wall now occupies nearly my whole view and the extinguisher hangs close on my right, so the alarm box must be just above and left of my current gaze. I will edge forward slightly to finish closing on that wall.",
+        "I am right up against the wall now, and my view is filled by the wooden trim and the extinguisher hanging to my right, with the fluted panel running off to my left. The alarm box belongs on that panel, so I will turn left to face it squarely.",
+        "The turn has put the ribbed panel across my whole view, but nothing red appears on it because my gaze sits at chest height and the box is mounted higher. I will look up to raise my line of sight along this panel.",
+        "Raising my gaze has brought a sliver of red into the top left corner of my view, so the alarm box is just past the edge of where I am facing. I will turn left to bring it into the middle of my view.",
+        "Facing the panel head on, the red box has slipped above the top of my view again, which means it sits higher than my current gaze rather than off to either side. I will look up once more to bring it fully into sight.",
+        "The red FIRE pull box on this right-hand wall panel is directly in front of me at close range. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Walk to the small wooden side table beneath the table lamp.",
+    "Type": 0,
+    "Start_Pose": [
+        -28.312,
+        -1505.799,
+        101.144,
+        0.0,
+        -121.92,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -28.312,
+            -1505.799,
+            101.144,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -94.858,
+            -1612.626,
+            101.76,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -161.404,
+            -1719.454,
+            101.76,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -161.404,
+            -1719.454,
+            101.76,
+            0.0,
+            -146.92,
+            0.0
+        ],
+        [
+            -266.862,
+            -1788.149,
+            101.76,
+            0.0,
+            -146.92,
+            0.0
+        ],
+        [
+            -372.321,
+            -1856.844,
+            101.76,
+            0.0,
+            -146.92,
+            0.0
+        ],
+        [
+            -477.779,
+            -1925.539,
+            101.76,
+            0.0,
+            -146.92,
+            0.0
+        ],
+        [
+            -477.779,
+            -1925.539,
+            101.76,
+            0.0,
+            -146.92,
+            0.0
+        ],
+        [
+            -477.779,
+            -1925.539,
+            101.76,
+            0.0,
+            -146.92,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this lobby entrance I can see the small wooden side table with the lit table lamp on it far ahead to my left, beside the sofa. It is well across the red carpet, so I will step forward to close the large gap before worrying about fine heading. Advancing straight should also bring that seating alcove into clearer view.",
+        "The lamp and its wooden table are now noticeably larger at the left of my view, so my previous step did shorten the distance. The floor between me and the alcove is still clear carpet, so I will continue straight to keep closing in. Another step should bring me near enough to turn toward the table.",
+        "I have come far enough forward that the side table and lamp now sit at the far left edge of my view while the elevator doors dominate straight ahead. Walking forward on this heading would carry me past the alcove instead of toward it. I will turn left to bring the lamp table into the center of my view.",
+        "The turn has brought the sofa, the lit lamp, and the small wooden table into clear view slightly left of center. The tiled and carpeted floor between me and that alcove looks unobstructed apart from the standing ashtray bin off to the right. I will step forward to keep closing the remaining distance to the table.",
+        "The wooden side table with the lamp is clearly ahead of me now, its marble top and dark legs plainly visible below the lamp. I am still a couple of steps short of standing beside it. I will move forward again to arrive right at the table.",
+        "The lamp and the table's marble top now fill much of the left side of my view, so I am nearly beside the target. One more short step should place me directly at the small wooden table rather than just short of it. The wall panel to my right leaves enough room to advance.",
+        "I am now standing right at the alcove, so close that my level gaze catches mostly the wall panels and only the upper corner of the table and lamp shade. Tilting my head down should let me see the small wooden table and the floor at its base to confirm I am beside it.",
+        "The small wooden side table with its lamp base is directly beside me, within arm's reach at my left. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_d/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Navigate to the elevator call button panel on the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -28.312,
+        -1505.799,
+        101.144,
+        0.0,
+        -121.92,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -28.312,
+            -1505.799,
+            101.144,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -28.312,
+            -1505.799,
+            101.144,
+            0.0,
+            -96.92,
+            0.0
+        ],
+        [
+            -43.476,
+            -1630.741,
+            101.826,
+            0.0,
+            -96.92,
+            0.0
+        ],
+        [
+            -58.64,
+            -1755.683,
+            101.826,
+            0.0,
+            -96.92,
+            0.0
+        ],
+        [
+            -58.64,
+            -1755.683,
+            101.826,
+            0.0,
+            -71.92,
+            0.0
+        ],
+        [
+            -19.58,
+            -1875.328,
+            101.826,
+            0.0,
+            -71.92,
+            0.0
+        ],
+        [
+            -19.58,
+            -1875.328,
+            101.826,
+            0.0,
+            -71.92,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the elevator doors and the small call button panel mounted on the wall beside them sit off to my right, while the lounge sofa fills the left of my view. I will turn right to bring the elevator bank and its wall panel toward the center of my heading before advancing.",
+        "The elevator bank is now centered ahead of me, with a call button panel on the wall pier between the two door openings. The carpeted floor between me and that wall looks clear, so I will move forward to close the distance.",
+        "The panel with the floor indicator and its two buttons is clearly larger now, just right of the nearest set of doors, but still beyond comfortable reach. I will continue forward to keep closing on that wall.",
+        "I am close to the elevator alcove now, and the call button panel sits toward the right edge of my view while the closed doors dominate the center. I will turn right so the panel moves into the middle of my heading for a straight final approach.",
+        "The call button panel is now roughly in front of me on the wall pier, with clear tiled floor between us. I will move forward to bring it within arm's reach for pressing.",
+        "The elevator call panel with its lit indicator and up and down buttons fills my view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_e/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Move to the red fire alarm box on the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -28.312,
+        -1505.799,
+        101.144,
+        0.0,
+        -121.92,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -28.312,
+            -1505.799,
+            101.144,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -94.858,
+            -1612.626,
+            101.76,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -161.404,
+            -1719.454,
+            101.76,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -227.95,
+            -1826.281,
+            101.76,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -293.896,
+            -1927.04,
+            101.827,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -293.896,
+            -1927.04,
+            101.827,
+            0.0,
+            -121.92,
+            0.0
+        ],
+        [
+            -293.896,
+            -1927.04,
+            101.827,
+            0.0,
+            -121.92,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this lobby I can already spot the small red fire alarm box mounted on the pale wall panel left of the elevator doors, roughly straight ahead of me. My heading is close to correct, so I will step forward across the carpet to begin closing the distance to that wall.",
+        "The red alarm box on the wall panel has grown slightly larger and stays near the center of my view, confirming my heading is aligned with it. I will keep advancing since the open floor between me and that wall is still clear.",
+        "The wall with the alarm box now dominates my view, with the metal waste bin off to my left and the elevator door on my right, so my line of travel passes cleanly between them. The alarm is still several steps away, so I will advance again.",
+        "I am close enough now to read the small red alarm unit on the ribbed white wall panel just ahead and slightly above my eye level. One more step forward should bring me right up to the wall at a comfortable standing distance from the box.",
+        "I am standing right at the wall, but at this range only the bottom corner of the red box shows at the top edge of my view because it is mounted above my eye level. Tilting my gaze upward should bring the whole alarm box into clear view.",
+        "The red fire alarm box on the wall is fully visible and directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Walk to the blue sofa on the right side.",
+    "Type": 2,
+    "Start_Pose": [
+        -49.608,
+        2023.252,
+        100.088,
+        0.0,
+        -89.28,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -49.608,
+            2023.252,
+            100.088,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -48.026,
+            1897.403,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -48.026,
+            1897.403,
+            99.838,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            6.593,
+            1784.013,
+            99.838,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            61.213,
+            1670.624,
+            99.957,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            115.832,
+            1557.234,
+            99.957,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            170.451,
+            1443.844,
+            99.325,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            225.071,
+            1330.455,
+            99.325,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            225.071,
+            1330.455,
+            99.325,
+            0.0,
+            -64.28,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Down the corridor I can see a blue sofa set against the right-hand wall beside the tall potted palm, which is the one I want. The doorway frame beside me still narrows my view, so I will walk forward along the red carpet to close distance and open up that side of the lobby.",
+        "The blue sofa under the floor sign sits well off to my right while my heading still points straight down the carpeted corridor. A modest turn to the right should put that sofa near the center of my view so I can walk directly at it.",
+        "The turn has brought the blue sofa beneath the floor sign into the middle-right of my view, with clear tiled floor between us. I will step forward along that open line to shorten the gap.",
+        "The sofa against the paneled wall is noticeably larger now, but I am still several strides short of standing at it. The floor ahead stays clear, so I continue walking straight toward it.",
+        "The sofa and its neighboring palm now fill much of my forward view, with the wooden doors off to my right. Since nothing blocks the tiled approach, I keep advancing toward the seat.",
+        "I am close enough to make out the cushions and the wooden feet of the sofa, yet still a stride or two away from standing right at it. One more step forward should bring me up to the seat.",
+        "The sofa now spans nearly my whole view with the floor sign directly above it, so I am almost standing beside it. A final short step should place me right at the seat.",
+        "The blue sofa's cushions fill my view at arm's length beneath the wall sign. I have arrived at it, so the task is complete and further movement is unnecessary."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_b/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Approach the nearest potted plant on the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -49.608,
+        2023.252,
+        100.088,
+        0.0,
+        -89.28,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -49.608,
+            2023.252,
+            100.088,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -48.026,
+            1897.403,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -46.445,
+            1771.554,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -44.863,
+            1645.705,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -44.863,
+            1645.705,
+            99.838,
+            0.0,
+            -114.28,
+            0.0
+        ],
+        [
+            -96.616,
+            1530.978,
+            99.838,
+            0.0,
+            -114.28,
+            0.0
+        ],
+        [
+            -148.369,
+            1416.252,
+            99.306,
+            0.0,
+            -114.28,
+            0.0
+        ],
+        [
+            -200.192,
+            1316.412,
+            99.229,
+            0.0,
+            -114.28,
+            0.0
+        ],
+        [
+            -200.192,
+            1316.412,
+            99.229,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -200.192,
+            1316.412,
+            99.229,
+            0.0,
+            -89.28,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Down the corridor two potted ferns flank the carpet, and the nearer one on the left stands against the panelled wall under the red fire extinguisher, so that is my target. Nothing blocks the runner between me and it, so I walk straight ahead to close the distance.",
+        "The fern beside the fire extinguisher on the left has grown noticeably larger and its pot is now clearly visible, so my heading is good. I keep walking forward along the open floor to shorten the remaining gap.",
+        "The fern under the fire extinguisher now fills a good part of the left side of my view, but it is still several paces away and off to the side of my straight path. I step forward again to draw level with it before adjusting my heading.",
+        "The potted fern by the fire extinguisher sits well left of my forward heading, so walking straight would carry me past it down the carpet. I turn left to put it closer to the centre of my path.",
+        "The fern beneath the fire extinguisher is now roughly ahead of me with open tile between us. I walk forward to close in on it.",
+        "The fern and its dark pot are much larger now, standing against the wood panel with the extinguisher above it, yet I am still a couple of paces short of it. I step forward again to reach it.",
+        "The fronds of the potted plant now tower at the right of my view and its pot rim is close to my feet level, so only a short step remains. I advance once more to stand right beside it.",
+        "I am now right up against the panelled wall with the extinguisher, and the potted plant has slipped to the very edge of my view on the right. I turn right so the plant sits squarely in front of me at this arm's length distance.",
+        "The potted fern beneath the fire extinguisher fills my view at arm's length. I have arrived at it, so nothing further is needed and I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_c/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Move to the potted plant on the right side.",
+    "Type": 2,
+    "Start_Pose": [
+        -49.608,
+        2023.252,
+        100.088,
+        0.0,
+        -89.28,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -49.608,
+            2023.252,
+            100.088,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -48.026,
+            1897.403,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -46.445,
+            1771.554,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -46.445,
+            1771.554,
+            99.838,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            8.175,
+            1658.164,
+            99.838,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            62.794,
+            1544.775,
+            99.838,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            117.414,
+            1431.385,
+            99.838,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            117.414,
+            1431.385,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            118.842,
+            1316.108,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            118.842,
+            1316.108,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two leafy potted plants stand where the corridor opens out, one against the far wall by the fire extinguisher and one on the right beside the grey sofa under the floor sign. The sofa marks the one I want, since the plants themselves look alike. I step forward along the red runner to close the distance.",
+        "The sofa and the plant beside it are larger now but still well down the hall. Nothing blocks the carpeted run in front of me. I keep walking straight to bring that plant within a short final approach.",
+        "My heading runs straight down the corridor, while the plant beside the sofa sits off to my right of that line. A small turn to the right should put it in front of me so my next steps carry me toward it rather than past it. I turn right.",
+        "The plant next to the sofa now sits ahead of me with open tiled floor between us. The heading looks good enough to simply close in. I walk forward.",
+        "The sofa and its plant keep growing in my view and the fronds are now clearly detailed. I am still several paces short of standing beside the pot. Another step forward continues the approach.",
+        "The potted plant and the sofa arm now dominate the right half of my view, so I am close but not yet alongside the pot. The floor in front of me stays clear. I take another step in.",
+        "From this close range the sofa fills the middle of my view and the plant has slipped to the left of it, so pressing straight ahead would take me into the couch instead of the pot. A short turn to the left should center the plant's base for a final step. I turn left.",
+        "The tall potted plant beside the sofa now stands directly ahead with its pot visible at the edge of the carpet. One more step should bring me right up beside it. I walk forward.",
+        "The plant's fronds fill my view at arm's length, its pot right at my feet beside the sofa. I am standing at it, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t5_a_p/infos.json

@@ -0,0 +1,183 @@
+{
+    "Instruction": "Pick up the metal bucket at the blue sofa on the right side.",
+    "Type": 5,
+    "Start_Pose": [
+        -49.608,
+        2023.252,
+        100.088,
+        0,
+        -89.28,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        189.811,
+        1408.742,
+        19.275,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -49.608,
+            2023.252,
+            100.088,
+            0,
+            -89.28,
+            0
+        ],
+        [
+            -48.026,
+            1897.403,
+            99.838,
+            0.0,
+            -89.28,
+            0.0
+        ],
+        [
+            -48.026,
+            1897.403,
+            99.838,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            6.593,
+            1784.013,
+            99.838,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            61.213,
+            1670.624,
+            99.957,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            115.832,
+            1557.234,
+            99.957,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            115.832,
+            1557.234,
+            99.957,
+            0.0,
+            -64.28,
+            0.0
+        ],
+        [
+            115.832,
+            1557.234,
+            99.957,
+            0.0,
+            -64.28,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            189.811,
+            1408.742,
+            19.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            189.811,
+            1408.742,
+            19.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            189.811,
+            1408.742,
+            19.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            189.811,
+            1408.742,
+            19.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            189.811,
+            1408.742,
+            19.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            189.811,
+            1408.742,
+            19.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            134.805,
+            1567.051,
+            69.381,
+            -28.202,
+            -14.135,
+            1.862
+        ],
+        [
+            134.805,
+            1567.051,
+            69.381,
+            -28.202,
+            -14.135,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        659.5,
+        543.5,
+        543.5,
+        417.6,
+        291.8,
+        165.9,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The corridor ahead opens onto a seating alcove on the right where a blue sofa stands with a metal bucket beside it. That target is still far down the hall, so I will walk straight forward along the red carpet to close the gap before turning toward it.",
+        "The blue sofa and the metal bucket in front of it now sit clearly to my right, while my heading still points down the corridor. I will turn right so the bucket moves toward the center of my view and my forward path leads into that alcove.",
+        "After the turn the blue sofa and the metal bucket beside it are framed ahead of me instead of off to the side. The floor between us is clear tiling, so I will step forward to shorten the distance toward the bucket.",
+        "The bucket in front of the blue sofa is noticeably larger in view but still several paces away, too far to reach. My heading remains aimed at it, so I will keep walking forward.",
+        "The metal bucket now stands prominently just in front of the blue sofa, but it is still short of grasping range. One more step forward should bring me close enough to reach down and take it.",
+        "I am standing right at the metal bucket, which fills the near foreground beside the blue sofa with nothing between us. This is close enough to grasp it, so I will attempt the pick now.",
+        "The metal bucket from the blue sofa is now held in my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Walk to the closed elevator doors, then head toward the table lamp near the sofa.",
+    "Type": 3,
+    "Start_Pose": [
+        -62.635,
+        -1422.179,
+        99.838,
+        0.0,
+        -74.88,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -62.635,
+            -1422.179,
+            99.838,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -62.635,
+            -1422.179,
+            99.838,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -35.445,
+            -1508.482,
+            101.469,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -57.041,
+            -1632.474,
+            101.773,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -78.637,
+            -1756.467,
+            101.773,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -100.232,
+            -1880.459,
+            101.773,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -100.232,
+            -1880.459,
+            101.773,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -100.232,
+            -1880.459,
+            101.773,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -100.232,
+            -1880.459,
+            101.773,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            -100.232,
+            -1880.459,
+            101.773,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            -100.232,
+            -1880.459,
+            101.773,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            25.627,
+            -1880.195,
+            101.773,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            151.485,
+            -1879.932,
+            101.773,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            277.344,
+            -1879.668,
+            101.773,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            403.203,
+            -1879.405,
+            101.773,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            515.613,
+            -1885.589,
+            101.773,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            515.613,
+            -1885.589,
+            101.773,
+            0.0,
+            0.12,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the lobby shows a pair of shut metal elevator doors off to my left and an open car further right, with the seating area far to the right. I want the closed doors squared up ahead before I walk, so I will turn left to bring them toward the middle of my view.",
+        "The closed elevator doors now sit near the center of my view across the patterned red carpet, with clear floor between us. I will walk forward to close that distance.",
+        "The shut doors and their call panel have grown noticeably larger and the carpet edge meets the tiled elevator bay just ahead. Nothing blocks the lane, so I will keep walking straight toward them.",
+        "The closed doors now dominate the middle of my view and I am already onto the tiled floor of the bay. I am still a few paces short of standing right at them, so I will advance again.",
+        "The brushed metal panels of the shut doors and the floor indicator beside them are close enough to read clearly. One more step forward should put me right up against them.",
+        "The seam between the two shut elevator door panels is directly in front of me, their polished surface reflecting the lobby behind. I have reached the closed elevator doors. I mark arriving here before setting off for the table lamp standing beside the sofa.",
+        "Standing this close, the shut doors block everything ahead, and the lounge with the lamp lies off to my right side of the lobby. I will turn right to swing my view away from the doors and toward that side.",
+        "So far I have only rotated onto the pale wall pier and the call panel, with the door still edging my left. The lamp and sofa are not in sight yet, so I will turn right again to keep sweeping toward the open lounge.",
+        "Swinging away from the elevator face has opened a view down the corridor, and I can just make out the lounge area at its far end past the second lift. The sofa and its lamp are still off to my right, so I will turn right again to bring that seating corner into the middle of my view.",
+        "The blue sofa with a lit lamp on the side table beside it is now visible ahead on the right, but the elevator jamb still crowds the left of my view and my heading is angled across the corridor. One more turn to the right should put that lamp and sofa squarely in front of me for a straight walk.",
+        "The sofa sits centered under the framed artwork with a table lamp glowing at each end, and the tiled floor between me and it is clear. With my heading now lined up on that seating corner, I will walk forward to close the distance.",
+        "The sofa and the two lamps have grown noticeably larger, confirming I am tracking straight toward them. Nothing but open floor and the bin against the left wall lies in my path, so I will keep walking forward.",
+        "The seating corner now fills much of my view, with the lamp on the left side table clearly lit beside the sofa arm. I am still a few paces short of it, so I will continue forward.",
+        "The lamp on its side table is close now, just left of the sofa arm, though my view is drifting slightly toward the wall and the extinguisher. Another step forward should bring me right up beside that lamp.",
+        "The lit table lamp and the sofa cushions are within a pace of me, filling the near field of view. One more short step should put me right at the lamp beside the sofa.",
+        "The lit table lamp stands directly before me at arm's reach beside the sofa. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Approach the closed elevator doors, then move to the small trash bin.",
+    "Type": 3,
+    "Start_Pose": [
+        -62.635,
+        -1422.179,
+        99.838,
+        0.0,
+        -74.88,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "LookDown",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -62.635,
+            -1422.179,
+            99.838,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -24.081,
+            -1539.197,
+            101.814,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -24.081,
+            -1539.197,
+            101.814,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -45.676,
+            -1663.189,
+            101.814,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -67.272,
+            -1787.181,
+            101.814,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -88.868,
+            -1911.174,
+            101.814,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -88.868,
+            -1911.174,
+            101.814,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -88.868,
+            -1911.174,
+            101.814,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -88.868,
+            -1911.174,
+            101.814,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            -88.868,
+            -1911.174,
+            101.814,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            -88.868,
+            -1911.174,
+            101.814,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            36.991,
+            -1910.91,
+            101.814,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            162.85,
+            -1910.647,
+            101.814,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            288.709,
+            -1910.383,
+            101.814,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            397.629,
+            -1895.103,
+            101.826,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            397.629,
+            -1895.103,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            397.629,
+            -1895.103,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            397.629,
+            -1895.103,
+            101.826,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            397.629,
+            -1895.103,
+            101.826,
+            0.0,
+            -49.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The elevator bank lies ahead across the red carpet, with a pair of shut metal doors on the left side of the lobby wall. I will walk forward to close the open floor distance before I fine tune my heading. The doors should grow larger and easier to line up.",
+        "From here the shut metal elevator doors sit well to my left, while the open elevator car and a bin fill the right of my view. Turning left should swing that closed pair toward the middle of my view so I can walk straight at it.",
+        "The closed elevator doors now sit near the middle of my view with clear carpet leading to them. I will step forward along this heading to shorten the gap. Nothing stands between me and the door recess.",
+        "The polished shut doors and their call panel are noticeably nearer and still centered in front of me. I will keep walking forward on this line to reach the door threshold. A couple more strides should put me at the recess.",
+        "The closed doors now dominate my view, with the floor indicator and buttons close on my right. One more step forward should bring me right up to the door face rather than leaving me short of it.",
+        "The seam of the shut metal elevator doors is directly in front of me, close enough that the lobby only shows as a reflection in the panel. I have arrived at the closed elevator doors. I mark reaching them, then set off toward the small trash bin standing by the lobby wall.",
+        "Standing this close, the elevator panel blocks nearly everything and the small trash bin is nowhere in my view. It sat back along the wall to my right side of the lobby, so I will turn right to begin swinging my heading off the doors. The open floor should reappear as I rotate.",
+        "The rotation so far only brought a stone jamb and ribbed wall panel into view, so the bin is still hidden. I will turn right again to keep sweeping my heading away from the door recess toward the open lobby.",
+        "Right in front of me is the call panel and jamb of the closed elevator doors I came to reach, so nothing more is needed here. Only wall fills my view, so I will keep rotating right to swing my heading back toward the open lobby where a small trash bin should stand.",
+        "The rotation has opened up the lounge to my right, with a sofa, side tables, and a slim metal bin standing beside the wall near the fire extinguisher. It still sits well off to the side of my heading, so another turn right should bring that bin closer to the center of my view.",
+        "The lounge now lies ahead of me, with the tall metal bin beside the wall past the sofa and side lamps. The tiled strip along the wall is clear of furniture, so I will walk forward to close the distance to that bin.",
+        "The bin near the fire extinguisher has grown noticeably larger and sits just left of my path, with the sofa and side table to its right. Nothing blocks the tiled floor between us, so I will keep walking forward toward it.",
+        "The trash bin is now clearly to my left front, its cylindrical body standing against the paneled wall below the extinguisher. I am still a few paces short of it, so another step forward should bring me alongside it.",
+        "The bin with its stone-colored top fills the lower left of my view, close enough that its lid detail is sharp. One more step should carry me right up beside it rather than leaving me short.",
+        "That step brought me level with the bin, and it has slipped out of my view past the left edge while the lamp table and sofa dominate ahead. I will turn left to swing my heading back onto the wall where the bin stands.",
+        "Facing the wall now, I see the extinguisher and the lamp table but not the low bin, which sits well below my level gaze at this short range. I will look down to bring the floor beside me into view and confirm the bin is right there.",
+        "My lowered view shows only tiled floor, the side table and the sofa edge on my right, with the small bin still outside the frame to my left. A left turn should bring the bin directly in front of me at close range.",
+        "The small bin's stone top stands directly before me at the lower left, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_c/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Head toward the elevator call button, then proceed to the side table with lamp on it.",
+    "Type": 3,
+    "Start_Pose": [
+        -62.635,
+        -1422.179,
+        99.838,
+        0.0,
+        -74.88,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -62.635,
+            -1422.179,
+            99.838,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -24.081,
+            -1539.197,
+            101.814,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            8.748,
+            -1660.699,
+            101.814,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            41.578,
+            -1782.201,
+            101.814,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            41.578,
+            -1782.201,
+            101.814,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            19.982,
+            -1906.193,
+            101.814,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            19.982,
+            -1906.193,
+            101.814,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            19.982,
+            -1906.193,
+            101.814,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            19.982,
+            -1906.193,
+            101.814,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            19.982,
+            -1906.193,
+            101.814,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            19.982,
+            -1906.193,
+            101.814,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            145.841,
+            -1905.929,
+            101.814,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            271.699,
+            -1905.666,
+            101.814,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            391.204,
+            -1896.934,
+            101.826,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            515.858,
+            -1892.428,
+            101.826,
+            0.0,
+            0.12,
+            -0.0
+        ],
+        [
+            515.858,
+            -1892.428,
+            101.826,
+            0.0,
+            0.12,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open stretch of red carpet I can see two elevator doors ahead, with a small call panel mounted on the pillar between them. That panel is my first destination, so I walk straight toward the elevator bank to close the distance.",
+        "The elevator doors and the call panel on the dividing pillar now fill more of my view, so my heading is good. Nothing blocks the carpet in front of me, so I keep walking forward to reach the panel.",
+        "I am close enough now to read the lit floor indicator and the two round call buttons on the pillar to my left of the open elevator. I still have several paces of clear floor, so I keep advancing toward that panel.",
+        "The call panel with its glowing indicator sits off to my left while my heading points into the open elevator doorway instead. I turn left to bring that button panel squarely in front of me before stepping in closer.",
+        "The button panel with the lit floor number is now centered ahead of me on the pillar face. A short step forward should bring me right up to the call button.",
+        "The call panel fills my view, its glowing floor number and two round buttons right in front of me at arm's length. I have reached the elevator call button, and I mark reaching it before setting off for the side table with the lamp on it.",
+        "Standing at the call button I am facing a blank pillar, so I have no view of the lounge seating where the lamp table stands. I turn right to swing my heading away from this wall and back toward the open part of the floor.",
+        "The panel has slid to the left edge and I now face plain wall paneling with a sliver of brighter space at the right. I continue turning right to bring that opening, and the lounge beyond it, into view.",
+        "The call panel is now behind my shoulder and my view is still mostly filled by the ribbed wall beside the elevator opening. I need to keep swinging right to bring the open lounge area with its seating into view. I will turn right again to continue clearing this wall from my heading.",
+        "The lounge is opening up at the right edge, with a lit lamp on a small table beside a sofa and a red patterned carpet. My heading still points along the wall rather than at that seating group. One more turn to the right should place the lamp table near the center of my path.",
+        "The seating alcove is now squarely ahead, with the sofa flanked by two side tables carrying lit lamps. My heading is clear of the elevator wall and nothing blocks the tiled floor between me and the carpet. I will walk forward to close the gap toward the lamp table.",
+        "The sofa and the nearer lamp on its wooden side table have grown noticeably larger, so my heading is carrying me straight into the alcove. I am still several strides short of the table itself. I will keep walking forward along the open floor beside the wall.",
+        "The side table with the lit lamp is now close ahead and slightly left, with the sofa arm just beyond it. Only the waste bin sits near the wall and it is off my line. Another step forward should bring me within arm's reach of that table.",
+        "The lamp table fills much of my view now, with the shade and the sofa cushions close beside it. I am nearly at it, but still a stride short of standing right at its edge. I will take one more forward step to finish closing on it.",
+        "The side table with its lit lamp is directly in front of me, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_d/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Navigate to the table lamp near the sofa, then reach the closed elevator.",
+    "Type": 3,
+    "Start_Pose": [
+        -62.635,
+        -1422.179,
+        99.838,
+        0.0,
+        -74.88,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -62.635,
+            -1422.179,
+            99.838,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -62.635,
+            -1422.179,
+            99.838,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            18.467,
+            -1518.423,
+            101.82,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            86.7,
+            -1617.501,
+            101.826,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            167.802,
+            -1713.745,
+            101.826,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            167.802,
+            -1713.745,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            281.98,
+            -1766.696,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            396.158,
+            -1819.647,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            509.442,
+            -1872.89,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            509.442,
+            -1872.89,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            425.618,
+            -1834.015,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            425.618,
+            -1834.015,
+            101.826,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            425.618,
+            -1834.015,
+            101.826,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            425.618,
+            -1834.015,
+            101.826,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            425.618,
+            -1834.015,
+            101.826,
+            0.0,
+            -124.88,
+            0.0
+        ],
+        [
+            425.618,
+            -1834.015,
+            101.826,
+            0.0,
+            -149.88,
+            0.0
+        ],
+        [
+            425.618,
+            -1834.015,
+            101.826,
+            0.0,
+            -174.88,
+            0.0
+        ],
+        [
+            300.261,
+            -1845.247,
+            101.826,
+            0.0,
+            -174.88,
+            0.0
+        ],
+        [
+            174.904,
+            -1856.479,
+            101.826,
+            0.0,
+            -174.88,
+            0.0
+        ],
+        [
+            49.547,
+            -1867.711,
+            101.826,
+            0.0,
+            -174.88,
+            0.0
+        ],
+        [
+            49.547,
+            -1867.711,
+            101.826,
+            0.0,
+            -149.88,
+            0.0
+        ],
+        [
+            -58.555,
+            -1927.113,
+            101.826,
+            0.0,
+            -149.88,
+            0.0
+        ],
+        [
+            -164.818,
+            -1959.545,
+            99.275,
+            0.0,
+            -149.88,
+            0.0
+        ],
+        [
+            -164.818,
+            -1959.545,
+            99.275,
+            0.0,
+            -149.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this lobby I can see the elevator doors ahead of me, but the seating area with the glowing lamp is only just clipping the right edge of my view. Since the lamp beside the sofa is where I need to go first, I will turn right to bring that corner properly in front of me.",
+        "The grey sofa and the small side table with the lit lamp now sit clearly in the right half of my view, past the tall potted plant. The carpeted floor between me and that seating corner is open, so I will walk forward to close the distance.",
+        "The sofa and the lamp on its side table have grown noticeably larger toward my right, confirming my heading is carrying me into that corner. Nothing blocks the carpet in front of me, so I will keep walking forward.",
+        "The lamp and its wooden side table are now clearly resolved beside the sofa on my right, but still several paces off. I will advance again to bring myself alongside that corner of the seating area.",
+        "I have drawn level with the seating recess, and the lamp with its side table now lies off to my right while my heading still points down the elevator wall. I will turn right so the lamp and sofa sit squarely ahead of me before I close in.",
+        "The turn has centered the seating alcove, with the lit lamp on its table tucked against the sofa's left arm directly ahead. The tiled strip between us is clear, so I will step forward toward the lamp.",
+        "The lamp and its table now fill much of the middle of my view, with the sofa cushions close on the right. I am not yet standing at the table, so I will keep walking forward to reach it.",
+        "The lamp stands just ahead of me on its side table beside the sofa, close enough that the shade and the wall panelling behind it dominate my view. One more step forward should put me right at the lamp.",
+        "The shaded table lamp on the corner side table now fills my view at arm's length, with the sofa cushion just to my right. I have arrived at the lamp beside the sofa. I mark reaching it and now set off for the closed elevator across the lobby.",
+        "The lamp and its table are directly against my face, and the corner wall behind them leaves no room to pivot cleanly here. I will step back from the table to open up space and bring the surrounding alcove back into view before reorienting toward the elevators.",
+        "From this short distance I can see the lamp corner again, with the fire extinguisher on the wall to my left and the sofa to my right. The elevator bank lies well behind that left-hand wall, so I will turn left to begin swinging my heading around toward it.",
+        "The lamp has slid to the right edge and I am now facing blank striped wall with the extinguisher ahead. Nothing of the elevator bank is in sight yet, so I will keep rotating left to carry my heading further around.",
+        "My view has swept onto the wood pillar and the standing waste bin, still solid wall with no opening. I will continue turning left to keep bringing my heading around toward the elevator side of the lobby.",
+        "Ahead is only the pale wall with the small fire alarm box and the bin at its base, so I still have more of the turn to make. A bright edge is opening at the far left of my view, and turning left again should carry it toward the centre.",
+        "The elevator bank has come into view along my left, with metal door frames and the tiled approach beside the red carpet. I will turn left once more to bring that run of elevator doors properly in front of me.",
+        "The elevators now stand along the right of my view and the carpeted lobby opens away to the left, but my heading still cuts across the wall beside me. One more turn left should line me up down the corridor so I can walk along the bank toward a closed elevator.",
+        "Facing back down the lobby, I can see the bank of elevator doors running along the right side of the corridor, with the seating area and its lit lamp now off to my left. The tiled strip ahead of me is clear, so I will walk forward to close on the elevators.",
+        "The elevator bank is closer now, and the nearest set of doors with its call panel sits on my right rather than beside me yet. The lane between the carpet edge and the elevator wall stays open, so I will keep walking forward.",
+        "A closed elevator with a lit floor indicator is now abreast on my right, but I am still short of standing squarely in front of a door. Another step forward should bring me level with the doorway before I turn toward it.",
+        "I am now level with a closed elevator whose polished doors sit directly to my right while my heading still runs along the corridor. Turning right should swing that closed doorway into the center of my view so I can walk straight at it.",
+        "The turn has brought the closed elevator doorway into view ahead of me, with the recessed frame and its call button panel just off my path. There is still a stretch of tile between me and the doors, so I will step forward to close it.",
+        "The brushed metal panels of the shut elevator now fill much of the view directly ahead, though I am not yet standing at the threshold. One more short step forward should place me right at the closed doors.",
+        "I am standing right at the shut elevator doors, their metal surface filling my view at arm's length. The task is done, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_e/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Move to the table lamp, then walk to the open elevator doors.",
+    "Type": 3,
+    "Start_Pose": [
+        -62.635,
+        -1422.179,
+        99.838,
+        0.0,
+        -74.88,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -62.635,
+            -1422.179,
+            99.838,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -62.635,
+            -1422.179,
+            99.838,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            18.467,
+            -1518.423,
+            101.82,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            86.7,
+            -1617.501,
+            101.826,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            86.7,
+            -1617.501,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            200.878,
+            -1670.452,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            315.056,
+            -1723.403,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            429.234,
+            -1776.355,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            506.946,
+            -1826.809,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            506.946,
+            -1826.809,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            423.121,
+            -1787.934,
+            101.826,
+            0.0,
+            -24.88,
+            0.0
+        ],
+        [
+            423.121,
+            -1787.934,
+            101.826,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            423.121,
+            -1787.934,
+            101.826,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            423.121,
+            -1787.934,
+            101.826,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            423.121,
+            -1787.934,
+            101.826,
+            0.0,
+            -124.88,
+            0.0
+        ],
+        [
+            423.121,
+            -1787.934,
+            101.826,
+            0.0,
+            -149.88,
+            0.0
+        ],
+        [
+            314.256,
+            -1851.092,
+            101.826,
+            0.0,
+            -149.88,
+            0.0
+        ],
+        [
+            314.256,
+            -1851.092,
+            101.826,
+            0.0,
+            -124.88,
+            0.0
+        ],
+        [
+            239.843,
+            -1931.797,
+            101.627,
+            0.0,
+            -124.88,
+            0.0
+        ],
+        [
+            239.843,
+            -1931.797,
+            101.627,
+            0.0,
+            -124.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot in the lift lobby I can just make out a lamp glowing on a side table beside a sofa at the far right edge of my view, past the potted palm. My current heading points straight at the elevator doors instead, so I will turn right to bring that seating corner in front of me.",
+        "The seating corner with the sofa and the lit table lamp now sits ahead on my right, across open carpet with nothing blocking the way. I will walk forward to cut down that distance before refining my heading.",
+        "The sofa and the lamp on its small table have grown larger and shifted toward the middle right of my view, so my line of travel is bringing me closer. I will keep walking forward across the carpet to close more of the remaining gap.",
+        "The lamp and its side table sit off to my right beside the sofa, while my heading still runs along the lobby toward the open elevator. A right turn should place that lamp near the center of my view so I can walk straight at it.",
+        "The lamp on the side table now stands roughly ahead of me, beside the sofa under the framed pyramid panels. With clear floor in between, I will step forward to shorten the distance to it.",
+        "The lamp shade and its wooden table are noticeably bigger now, confirming my heading leads right to them. I will continue walking forward rather than adjust, since nothing stands between me and that corner.",
+        "The table lamp is close now, its lit shade filling much of the space between the wall panel and the sofa arm. A further step forward should put me right beside it.",
+        "The lamp and its marble-topped table dominate my view, though I am still a short pace short of standing at them. I will take one more measured step forward to settle right at the lamp.",
+        "The shaded table lamp on its marble side table now fills my view at arm's length, with nothing left between me and it. I have reached the table lamp, so I mark arriving here before turning back across the lobby toward the open elevator doors.",
+        "I am pressed right up against the lamp table with the sofa arm crowding my right, so there is no room here to swing around toward the elevators. Stepping straight back should open enough space to rotate cleanly and bring the wider lobby back into view.",
+        "Backing off has given me the whole seating alcove again, but I am still facing the corner wall with the lamp and the extinguisher. The open elevator bank lies back around to my left, so I begin swinging that way.",
+        "The lamp table has slid over to my right edge and I am still looking at blank panelled wall and the fire extinguisher. Continuing to rotate left should keep carrying my heading toward the elevator side of the lobby.",
+        "Now the ash bin and a fire alarm pull box are in front of me, still solid wall with no way through. I keep turning left to sweep past this corner toward the corridor where the elevators stand.",
+        "The edge of an elevator doorway with its lit wooden interior has just appeared at my far left, which confirms the bank is that way. Another left turn should bring those doors properly in front of me instead of at the rim of my view.",
+        "I can now see the elevator bank ahead with one car standing open, and the red lobby carpet running along the left. The doorway still sits left of my heading, so a further left turn should line the corridor up with my path.",
+        "The corridor along the elevator bank is clear in front of me and the open car with its lit wooden interior is a few paces ahead on my right. Walking forward should close most of the remaining distance to those open doors.",
+        "The open elevator car with its wood-panelled walls and handrails sits to my right, its threshold offset from my current heading. I will turn right so the doorway is centred ahead of me, which should let me walk straight in without clipping the stainless frame.",
+        "The open elevator doorway is now squarely ahead, with the metal threshold strip and grey mat just a step or two away. I will walk forward to close that remaining gap and reach the open doors.",
+        "I stand inside the open elevator doors, with the cab's panelled walls and handrails around me. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_a/infos.json

@@ -0,0 +1,76 @@
+{
+    "Instruction": "Walk to the framed bridge picture on the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -122.048,
+        1559.223,
+        99.277,
+        0.0,
+        71.04,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -122.048,
+            1559.223,
+            99.277,
+            0.0,
+            71.04,
+            -0.0
+        ],
+        [
+            -122.048,
+            1559.223,
+            99.275,
+            0.0,
+            46.04,
+            -0.0
+        ],
+        [
+            -34.682,
+            1649.819,
+            99.617,
+            0.0,
+            46.04,
+            -0.0
+        ],
+        [
+            52.684,
+            1740.416,
+            99.838,
+            0.0,
+            46.04,
+            -0.0
+        ],
+        [
+            52.684,
+            1740.416,
+            99.838,
+            0.0,
+            46.04,
+            -0.0
+        ],
+        [
+            52.684,
+            1740.416,
+            99.838,
+            0.0,
+            46.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the framed bridge picture hanging on the corridor wall to my left, while my body is aimed straight down the hallway past it. Turning left should swing my heading toward that wall section so the picture sits nearer the middle of my view before I advance.",
+        "The bridge picture is now roughly ahead of me on the wall, but still several paces away beyond the wooden pillar and the tall ashtray bin. I will step forward along the open floor to close that distance.",
+        "The framed bridge picture has grown noticeably and now sits to my left front, so I am closer but not yet standing at the wall. Another step forward should bring me right up beside the picture, with the walkway ahead still clear.",
+        "I am now standing right beside the picture, and at this short range its top edge is cut off above my line of sight. Tilting my gaze upward should bring the whole bridge picture into clear view to confirm I have reached it.",
+        "The entire framed bridge picture is clearly visible directly beside me at arm's reach on the wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_b/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Head toward the cylindrical trash bin beside the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -122.048,
+        1559.223,
+        99.277,
+        0.0,
+        71.04,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -122.048,
+            1559.223,
+            99.277,
+            0.0,
+            71.04,
+            -0.0
+        ],
+        [
+            -122.048,
+            1559.223,
+            99.275,
+            0.0,
+            46.04,
+            -0.0
+        ],
+        [
+            -34.682,
+            1649.819,
+            99.617,
+            0.0,
+            46.04,
+            -0.0
+        ],
+        [
+            52.684,
+            1740.416,
+            99.838,
+            0.0,
+            46.04,
+            -0.0
+        ],
+        [
+            107.794,
+            1829.352,
+            99.838,
+            0.0,
+            46.04,
+            -0.0
+        ],
+        [
+            107.794,
+            1829.352,
+            99.838,
+            0.0,
+            71.04,
+            -0.0
+        ],
+        [
+            107.794,
+            1829.352,
+            99.838,
+            0.0,
+            71.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the corridor start I can see the dark cylindrical trash bin standing against the left-hand wall ahead, offset to the left of my current heading. I will turn left to bring it closer to the center of my view so a straight approach down the corridor should line up with it.",
+        "The trash bin is now roughly ahead beside the wall with the framed bridge picture, and the tiled strip in front of me is clear of obstacles. I will move forward along the corridor to close the remaining distance toward it.",
+        "The bin has grown noticeably larger and sits just ahead on my left beside the wall, so I am still some steps short of it. I will continue forward to keep shrinking that gap.",
+        "The cylindrical bin is now large in the lower right of my view, close to the wall but still slightly ahead of my position. One more forward step should bring me right alongside it.",
+        "I am now right next to the wall and my view is filled mostly by the wall panel, with only the rim of the bin at the lower right edge. I will turn right to bring the bin properly into view and face back along the corridor.",
+        "The cylindrical trash bin stands directly in front of me beside the wall, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_d/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Move to the housekeeping cart down the corridor.",
+    "Type": 0,
+    "Start_Pose": [
+        -122.048,
+        1559.223,
+        99.277,
+        0.0,
+        71.04,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -122.048,
+            1559.223,
+            99.277,
+            0.0,
+            71.04,
+            -0.0
+        ],
+        [
+            -81.155,
+            1678.254,
+            100.197,
+            0.0,
+            71.04,
+            -0.0
+        ],
+        [
+            -40.263,
+            1797.284,
+            99.838,
+            0.0,
+            71.04,
+            -0.0
+        ],
+        [
+            -40.263,
+            1797.284,
+            99.838,
+            0.0,
+            96.04,
+            -0.0
+        ],
+        [
+            -53.506,
+            1922.445,
+            99.838,
+            0.0,
+            96.04,
+            -0.0
+        ],
+        [
+            -66.749,
+            2047.605,
+            99.838,
+            0.0,
+            96.04,
+            -0.0
+        ],
+        [
+            -79.993,
+            2172.765,
+            100.307,
+            0.0,
+            96.04,
+            -0.0
+        ],
+        [
+            -79.993,
+            2172.765,
+            100.307,
+            0.0,
+            96.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the start of this carpeted corridor I can see a wheeled housekeeping cart far ahead near the curtained end, slightly right of center in my view. The runner ahead of me is clear of obstructions, so I will step forward along the corridor to begin closing that distance.",
+        "The cart with its metal rails is now noticeably larger ahead of me, confirming I am on the right heading down this corridor. Nothing blocks the runner between me and the open area near the elevators, so I will continue advancing.",
+        "The cart sits to the right of my heading, with the upright suitcase and the elevator alcove taking up the center of my view. A modest turn to the right should bring the cart onto my direct line of travel before I continue forward.",
+        "After turning, the cart is now near the center of my view with its shelves and wheels clearly visible past the suitcase. The floor between us is open, so I will move forward to keep closing on it.",
+        "I can now make out individual items on the cart's shelves, so I am within a few steps of it. Since it stays aligned ahead of me, I will advance again to reduce the remaining gap.",
+        "The cart now dominates the near part of my view, with mugs, plates and its handrail close at hand, and the suitcase has slipped to my left. One more forward step should place me directly at the cart.",
+        "The housekeeping cart is directly in front of me at arm's reach, its shelves and dishes clearly in view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_a/infos.json

@@ -0,0 +1,356 @@
+{
+    "Instruction": "Search for an elevator with its doors closed; once found, proceed to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -152.924,
+        -525.82,
+        99.299,
+        0.0,
+        -14.88,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -152.924,
+            -525.82,
+            99.299,
+            0.0,
+            -14.88,
+            0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            10.12,
+            -0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            35.12,
+            -0.0
+        ],
+        [
+            -152.924,
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+            99.275,
+            0.0,
+            60.12,
+            -0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            85.12,
+            -0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            110.12,
+            -0.0
+        ],
+        [
+            -152.924,
+            -525.82,
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+            0.0,
+            135.12,
+            -0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            160.12,
+            -0.0
+        ],
+        [
+            -152.924,
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+            0.0,
+            -174.88,
+            0.0
+        ],
+        [
+            -152.924,
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+            99.275,
+            0.0,
+            -149.88,
+            0.0
+        ],
+        [
+            -152.924,
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+            0.0,
+            -124.88,
+            0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            -69.272,
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+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            13.982,
+            -651.185,
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+            0.0,
+            -49.88,
+            0.0
+        ],
+        [
+            13.982,
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+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            57.766,
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+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            57.766,
+            -763.437,
+            99.758,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            36.17,
+            -887.43,
+            99.758,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            14.575,
+            -1011.422,
+            99.838,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -7.021,
+            -1135.415,
+            99.838,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -7.021,
+            -1135.415,
+            99.838,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            25.808,
+            -1256.917,
+            99.838,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            58.637,
+            -1378.419,
+            99.838,
+            0.0,
+            -74.88,
+            0.0
+        ],
+        [
+            58.637,
+            -1378.419,
+            99.838,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            25.284,
+            -1492.183,
+            99.275,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            3.689,
+            -1616.175,
+            101.793,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -17.907,
+            -1740.168,
+            101.793,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -17.907,
+            -1740.168,
+            101.793,
+            0.0,
+            -124.88,
+            0.0
+        ],
+        [
+            -89.881,
+            -1843.416,
+            101.793,
+            0.0,
+            -124.88,
+            0.0
+        ],
+        [
+            -89.881,
+            -1843.416,
+            101.793,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -116.561,
+            -1932.079,
+            101.772,
+            0.0,
+            -99.88,
+            0.0
+        ],
+        [
+            -116.561,
+            -1932.079,
+            101.772,
+            0.0,
+            -99.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing in a guest room lobby facing two wooden room doors, and neither of them is an elevator. Since no elevator is visible from this heading, I will turn right to begin a steady scan of the surrounding space for a lift landing.",
+        "The rotation has brought a single guest door and a framed picture into view, still with no elevator car or call button anywhere. I will keep turning right in the same direction to widen the scan toward the corridor opening on that side.",
+        "Now a long red carpeted corridor stretches to my right with luggage trolley and distant doorways, which is a promising route toward a lift landing but no elevator is confirmed yet. I will continue the right turn to bring that corridor and whatever lies beyond it fully into view.",
+        "The corridor now runs off to my left while a large wooden panel edge crowds the right side of my view, so this heading gives no new information about elevators. I will keep the same rightward scanning direction to check the remaining unseen sector.",
+        "My view is almost entirely blocked by a close wood-panelled wall corner, so nothing useful can be judged from this heading. I will continue turning right at the same pace to clear the panel and keep the scan consistent.",
+        "Past the panel edge I can now see into a guest bedroom with a bed and curtains, which is clearly not where an elevator would be. I will keep rotating right to move beyond this room opening and continue searching for a lift landing.",
+        "The bedroom interior with its wardrobe and suitcase now fills much of my view, confirming this side of the space is private room area rather than an elevator lobby. I will maintain the rightward scan to pass this room and look for the corridor side again.",
+        "I am still looking into the same guest room, with the bed and suitcase ahead and no sign of a lift door or call panel. I will continue the consistent right rotation so the scan comes back around toward the hotel corridor where an elevator is more likely.",
+        "My view now opens into a guest room with a bed, a chair and a suitcase, which is clearly not the elevator area I need. Nothing here resembles a closed elevator, so I will keep rotating right in the same consistent direction to sweep the remaining part of this landing.",
+        "Most of my view is filled by a tall wooden wardrobe front, with only a slice of the room still visible at the left. This near surface tells me nothing about elevators, so I will continue the same rightward sweep to clear it and reveal the next portion of the surroundings.",
+        "Past the wood paneling I can now see a numbered guest door marked 301 and, at the right edge, a strip of red carpeted corridor. That corridor is the more promising direction for a lift lobby, so I will turn right again to bring it fully into view.",
+        "The corridor beside door 301 now stretches ahead with red carpet and a lit passage in the distance, but no elevator with closed doors is visible from this angle. I will keep turning right to finish covering the landing before committing to a direction.",
+        "I can now see both numbered guest doors, 301 on the left and 303 on the right, which matches the paneled landing I started from, so my sweep has come back around without revealing any elevator. The only unexplored option is the carpeted corridor running away toward the brighter space ahead, so I will turn right once more to line myself up with it.",
+        "I am now facing along the open tiled strip beside guest door 303, with the red carpeted corridor running off to the left toward a distant lit hall. Since no elevator is visible on this landing, I will step forward to reach that corridor junction and open up the unexplored area ahead.",
+        "Door 303 is closer now on my right and the corridor to the left has widened into a clearer view of the passage beyond. Still no elevator in sight, so I will continue walking forward to reach the junction where I can look down that corridor.",
+        "I have arrived beside guest door 303, and the only route worth exploring is the red carpeted corridor running away on my left. I will turn left to face down that corridor so I can walk toward the distant hall and check it for an elevator.",
+        "The corridor ahead of me runs clear past the guest room doors toward a brighter lobby area where I can make out a recessed bay with metallic panels that look like lift doors. Nothing here beside room 303 matches the target, so I will walk forward along the open red runner to bring that far bay into better view.",
+        "The bright lobby opening with what appear to be elevator recesses sits slightly to the left of my heading, while the paneled room 303 wall crowds the right side of my view. Turning left should center the corridor and that promising bay so I can walk straight toward it.",
+        "Now the hallway is squarely centered and I can see two dark recessed door bays flanked by potted plants at its end, which look like an elevator landing. I will step forward along the corridor to close that distance and confirm the doors.",
+        "The recessed bays at the end of the hall are growing larger and still read as a lift landing rather than guest doors. The path stays clear apart from the rolled runner off to the right, so I will keep walking straight toward it.",
+        "I can now make out indicator panels above the two recessed doors ahead, which confirms this is the elevator landing I am looking for. I will continue forward to reach the open landing area.",
+        "I have reached the mouth of the lift lobby, and the elevator doors with their indicator panels sit ahead and slightly across the open area. The corridor wall on my left is beginning to cut off that side, so I will turn right to face into the landing and keep the closed doors in front of me.",
+        "From this heading the two elevator entrances and the open carpeted landing are clearly laid out ahead of me, with the nearer one showing closed metallic doors. I will walk forward into the lobby to get within reach of them.",
+        "I am inside the lift lobby now, and the left-hand elevator plainly shows a pair of closed metal doors under its indicator, matching the target. Only a potted plant stands off to the right of my line, so I will step forward again to close in on that elevator.",
+        "In this lift lobby I can see a metal elevator with its doors fully closed on the left, while the neighbouring car on the right stands open and a tall potted palm crowds the right side of my view. Since the closed doors are the target and they sit to my left, I will turn left to bring them toward the centre of my heading and keep the plant out of my line of travel.",
+        "The closed elevator doors now sit near the middle of my view with a wide stretch of empty carpet between us. With the target identified and the route clear, I will walk forward to close that distance.",
+        "The closed doors and their call panel are noticeably larger and still slightly left of my centre, so I remain on a workable line toward them. I will keep stepping forward across the open carpet to shorten the remaining gap.",
+        "I am close enough now to read the indicator above the shut doors, and the recess holding them is directly ahead of me. Another step forward should bring me right up to the alcove of this closed car.",
+        "The closed doors fill much of my view but the flanking column and wall panel now sit straight in front of my heading, so pushing forward as I am aimed would take me into the panelling rather than to the doorway. I will turn left to face the open lobby floor beside the alcove, which should let me draw level with the closed car.",
+        "From this heading the shut elevator doors are just off to my right and the carpeted floor ahead of me is clear. Walking forward should bring me level with the doorway of that closed car.",
+        "I am now standing right beside the closed elevator, whose smooth doors occupy the right half of my view while I face along the corridor. Turning right should square me up with those shut doors instead of leaving them at my shoulder.",
+        "The closed elevator doors are now squarely in front of me, filling the centre of my view within the recess. One more step forward should place me directly at this closed elevator as the task requires.",
+        "The closed elevator's seam and metal panels fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Identify an elevator that has its doors open, then head over to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -152.924,
+        -525.82,
+        99.299,
+        0.0,
+        -14.88,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -152.924,
+            -525.82,
+            99.299,
+            0.0,
+            -14.88,
+            0.0
+        ],
+        [
+            -152.924,
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+            0.0,
+            -39.88,
+            0.0
+        ],
+        [
+            -152.924,
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+            0.0,
+            -64.88,
+            0.0
+        ],
+        [
+            -86.854,
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            40.729,
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+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            40.992,
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+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            41.256,
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+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            35.63,
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+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            35.894,
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+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            36.158,
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+            -89.88,
+            0.0
+        ],
+        [
+            25.745,
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+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            25.745,
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+            0.0,
+            -64.88,
+            0.0
+        ],
+        [
+            79.174,
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+            0.0,
+            -64.88,
+            0.0
+        ],
+        [
+            132.603,
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+            0.0,
+            -64.88,
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+        ],
+        [
+            186.032,
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+            0.0,
+            -64.88,
+            0.0
+        ],
+        [
+            186.032,
+            -1898.121,
+            101.732,
+            0.0,
+            -64.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing a closed corner of a guest room corridor, with two numbered wooden room doors and no elevator anywhere in view. Since nothing here can satisfy the task, I will turn left to begin a steady scan for a route out of this dead end toward an elevator area.",
+        "Turning has brought a red carpeted corridor into view on the left, running away toward a brighter open space in the distance, which is a much better lead than the room doors beside me. I will keep turning left in the same direction to bring that corridor and its far opening properly in front of me.",
+        "The long carpeted corridor is now largely ahead of me, and at its far end I can make out a wider, brightly lit space that likely serves as a lobby or landing area. I will walk forward along this corridor since it is the only promising direction for finding elevators, even though I cannot confirm any yet.",
+        "I have closed some distance and the far end of the corridor now shows an exit sign and what looks like a wider landing with columns. I will continue walking forward to reach that area, where elevators are most plausibly located.",
+        "The open landing at the end of the hallway is becoming clearer, with planters and lit panels flanking it, though I still cannot make out any elevator doors from here. I will keep advancing along the corridor to get close enough to judge that space.",
+        "My heading has drifted so that the corridor runs off to my left while a room door and wall panel fill the right side of my view. I will turn left to square myself with the hallway axis so I can walk straight toward the open landing ahead.",
+        "I am now centered in the hallway with the carpet running straight ahead toward the lit landing and its exit sign. I will walk forward along this aligned heading to reach that open area and check it for elevator doors.",
+        "From here I can see the landing ahead more clearly, with columns, planters and what appear to be recessed metal doors that could be the elevators. I will continue walking forward to get near enough to tell which of them is standing open.",
+        "Down this corridor I can now make out an elevator lobby ahead, with two call panels and what looks like a dark, open doorway on the right side of that bay. The corridor floor stays clear apart from the decorative drum off to the right, so I will keep walking straight to close the distance and confirm which car is open.",
+        "The lobby entrance with its two potted plants is closer now, and the right-hand elevator still reads as an open recess while the left one shows a flat closed door. Nothing blocks the middle of the corridor, so I will continue straight toward that bay.",
+        "I am nearly at the threshold of the elevator lobby, with the exit sign overhead and the two cars directly ahead between the pillars. The right car clearly shows an open doorway with interior surfaces visible, so I will step forward into the lobby to reach it.",
+        "I have entered the elevator lobby and the open car on the right is unmistakable, its lit interior showing past the door line while the left car remains shut. I will walk further across the open carpet to get near that open elevator.",
+        "Both cars are now squarely in front of me, and the right one is definitely open with its cab walls and handrail visible. I will keep advancing across the lobby to bring myself in front of that open door.",
+        "Standing close to the bank, the open car sits to the right of my current heading while the closed one is straight ahead of me. I will turn right so the open elevator entrance is centered before I close the last stretch.",
+        "The open elevator is now roughly centered ahead, its cab interior and threshold plainly visible under the lit call indicator. I will step forward to bring myself right up to that open doorway.",
+        "I am only a couple of paces from the open car, with its handrail, mirror and floor mat clearly in view through the doorway. I will move forward again to stand directly at the open elevator.",
+        "The open elevator is directly ahead of me now, with its lit cab, wooden panels, and handrail fully visible through the parted doors. I am still just outside the threshold, so I will step forward once more to close the last bit of distance to this open car.",
+        "I am standing right at the open elevator, its parted doors and lit interior filling my view. The task is complete, so there is nothing further to do here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_c/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Locate the elevator call button on the hallway wall, the panel used to summon the elevator to this floor; after locating it, go to that spot.",
+    "Type": 1,
+    "Start_Pose": [
+        -152.924,
+        -525.82,
+        99.299,
+        0.0,
+        -14.88,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -152.924,
+            -525.82,
+            99.299,
+            0.0,
+            -14.88,
+            0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            -39.88,
+            0.0
+        ],
+        [
+            -152.924,
+            -525.82,
+            99.275,
+            0.0,
+            -64.88,
+            0.0
+        ],
+        [
+            -86.854,
+            -600.206,
+            99.643,
+            0.0,
+            -64.88,
+            0.0
+        ],
+        [
+            -35.944,
+            -623.27,
+            99.643,
+            0.0,
+            -64.88,
+            0.0
+        ],
+        [
+            36.414,
+            -685.245,
+            99.643,
+            0.0,
+            -64.88,
+            0.0
+        ],
+        [
+            36.414,
+            -685.245,
+            99.643,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            40.729,
+            -809.837,
+            99.643,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            40.992,
+            -935.695,
+            99.643,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            41.256,
+            -1061.554,
+            99.921,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            35.63,
+            -1181.669,
+            99.838,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            35.894,
+            -1307.528,
+            99.838,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            36.158,
+            -1433.386,
+            100.198,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            25.745,
+            -1556.255,
+            101.732,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            26.009,
+            -1682.114,
+            101.732,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            26.272,
+            -1807.973,
+            101.732,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            26.304,
+            -1932.375,
+            101.732,
+            0.0,
+            -89.88,
+            0.0
+        ],
+        [
+            26.304,
+            -1932.375,
+            101.732,
+            0.0,
+            -114.88,
+            0.0
+        ],
+        [
+            26.304,
+            -1932.375,
+            101.732,
+            0.0,
+            -114.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see two guest room doors set into a wood paneled dead end, with a room number plate but no elevator call panel anywhere on these walls. Since the lift lobby cannot be in this closed corner, I will turn left to open up the rest of the floor and look for a corridor leading away.",
+        "Turning has revealed carpeted floor continuing off to the left with a lit passage and what looks like a wider space far beyond, while the near walls still only carry guest room doors. I will keep rotating in the same direction so that corridor comes properly into view and I can judge whether it leads toward a lift lobby.",
+        "The hallway now runs ahead of me past the numbered guest doors toward a brighter open area in the distance, which is the most likely place for an elevator landing on this floor. No call panel is readable from this distance, so I will walk forward along the corridor to close the gap and get a clearer look.",
+        "The corridor ahead has grown wider in my view and the lit area at its end is becoming clearer, though the walls beside me still show only guest room doors. Continuing forward should bring that far space close enough to confirm whether it holds the elevators and their call panel.",
+        "I am now beside the 303 door with the corridor still running toward the illuminated area in the distance. Another step forward keeps me on the most promising route toward that open space rather than lingering in the guest room section.",
+        "My heading is angled toward the paneled wall and the 303 door on my right, while the open hallway with its exit sign and the distant lobby lies off to my left. Turning left should square me with the corridor axis so I can walk straight down it toward that far space.",
+        "The turn has centered the corridor, and I can now see straight down it to a bright end space with columns and a green exit sign above. I will walk forward along this straight run since that far area is the most plausible location for the elevators and their call panel.",
+        "The far end is resolving into an open landing with pale columns and recessed doorways that look like lift openings rather than guest rooms. I will keep walking straight ahead to reach that landing, where the wall mounted call panel should become visible.",
+        "Straight down the corridor ahead I can see the elevator lobby opening up, with two metal lift doors and their indicator panels framed between the potted plants. That lobby is where a hall call panel would be mounted, so I keep walking toward it along the runner carpet, which is clear of obstructions.",
+        "The elevator alcove is noticeably closer now, and I can make out the pale wall pier that separates the two lift doors, which is the usual place for a call panel. I continue straight ahead to close the remaining corridor distance before I try to pick out the buttons.",
+        "I am about to pass through the corridor opening into the elevator lobby, with the planters flanking the doorway on either side of my path. Walking forward again should bring me fully into the bay where the call panel between the two lifts becomes readable.",
+        "I am now inside the elevator lobby, and the wall pier between the two lift doors shows a small vertical fixture that looks like the hall call panel. I step forward to keep closing on that pier, since I am still too far back to be at the panel's spot.",
+        "The panel between the two elevator doors is clearer now, showing a floor digit above a pair of round buttons. That confirms it as the hall call station, so I keep advancing straight toward it across the lobby carpet.",
+        "The call panel on the pier between the lifts is centered in my view with its illuminated floor number and two buttons plainly visible. I move forward again to shorten the last stretch and stand right at that spot on the wall.",
+        "I am close to the pier now, with the call panel's display and its up and down buttons filling a good part of my view. One more step forward should place me directly at the panel rather than a short distance away from it.",
+        "The call panel is right in front of me on the pier, though it sits slightly to my left of center as the wall fills my view. I take one more short step in to finish closing the gap to the panel's position on the wall.",
+        "I am now right against the pier between the two lifts, and the call panel with its floor indicator and round buttons is cut off at the left edge of my view. A small left turn should bring that panel fully into the center of my view so I am squarely facing the call point.",
+        "The elevator call panel with its floor indicator and up and down buttons fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000170_y001500_z000099_t1_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Locate the gold-framed luggage cart with a red base platform standing near the elevator doors on the 3F hotel lobby, then navigate to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -170.054,
+        1499.954,
+        99.275,
+        0.0,
+        -154.88,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -170.054,
+            1499.954,
+            99.275,
+            0.0,
+            -154.88,
+            0.0
+        ],
+        [
+            -170.044,
+            1499.812,
+            99.275,
+            0.0,
+            -129.88,
+            0.0
+        ],
+        [
+            -170.044,
+            1499.812,
+            99.275,
+            0.0,
+            -104.88,
+            0.0
+        ],
+        [
+            -170.044,
+            1499.812,
+            99.275,
+            0.0,
+            -79.88,
+            0.0
+        ],
+        [
+            -170.044,
+            1499.812,
+            99.275,
+            0.0,
+            -54.88,
+            0.0
+        ],
+        [
+            -170.044,
+            1499.812,
+            99.275,
+            0.0,
+            -29.88,
+            0.0
+        ],
+        [
+            -170.044,
+            1499.812,
+            99.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -170.044,
+            1499.812,
+            99.275,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            -51.395,
+            1540.267,
+            99.658,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            66.783,
+            1583.561,
+            99.658,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            156.472,
+            1600.533,
+            99.19,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            156.472,
+            1600.533,
+            99.19,
+            0.0,
+            20.12,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand I only see a closed wooden double door, a standing ashtray bin and a sofa edge at my left, with no sign of a gold luggage cart. Since the elevator area is not in front of me, I will turn right to begin a steady scan of this floor for the cart.",
+        "The rotation has brought a paneled wall, a fire extinguisher and a tall plant into view, but still no gold-framed cart with a red base. I will keep turning right in the same direction to extend the scan toward the part of the lobby I have not yet inspected.",
+        "A red patterned carpet and a lit exit sign have opened up on my right, which tells me the main circulation area of this floor lies that way. No luggage cart is visible yet, so I will continue turning right toward that open corridor space.",
+        "The corridor with its red runner stretches ahead between potted palms, but the far end is partly screened by foliage and I still cannot see any gold cart. Keeping the same rotation direction, I will turn right again to reveal the lobby side beyond the plants.",
+        "Now I see the open lobby area with a grey sofa, a wall panel and another set of doors, yet the gold-framed cart is not among them. I will turn right once more to bring the remaining stretch of wall beside the doors into view.",
+        "At the very right edge of my view I can just make out a curved gold frame on wheels, which matches the luggage cart I am looking for. I will turn right to bring that object fully into my field of view and confirm it.",
+        "The gold-framed luggage cart with its red base platform is now clearly visible to the right of the double doors, near the 3F lobby wall. It still sits off to my right rather than straight ahead, so I will turn right once more to line my heading up with it before walking over.",
+        "The gold luggage cart with its red platform now sits close to the center of my view with clear tiled floor between us and no obstacle in the way. I will walk forward along this heading to close the distance to it.",
+        "The gold-framed luggage cart with the red base platform is clearly ahead of me, standing against the wood-panelled column beside the closed elevator doors. It still sits several steps away and only fills a modest part of my view, so I will keep walking straight toward it to close the remaining gap.",
+        "The luggage cart now dominates the center of my view, its brass frame and red base close on my left front, confirming my heading is right. I am still slightly short of standing beside it, so one more step forward should bring me within arm's reach.",
+        "The gold-framed cart with its red base fills my view directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_a/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Approach the left wooden door.",
+    "Type": 2,
+    "Start_Pose": [
+        -191.172,
+        2650.74,
+        99.275,
+        0.0,
+        -35.52,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -191.172,
+            2650.74,
+            99.275,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            -88.734,
+            2577.618,
+            99.838,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            13.705,
+            2504.495,
+            99.838,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            116.143,
+            2431.373,
+            99.838,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            209.069,
+            2360.232,
+            99.275,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            206.127,
+            2309.533,
+            99.275,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            206.127,
+            2309.533,
+            99.275,
+            0.0,
+            -35.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two wooden doors face me across the corridor, and the left one is the one I want; it carries the 311 plaque beside its frame, a green tag on its handle, and a green suitcase parked in front of it. Those markings let me track it without recounting the pair. I walk forward to close the open floor between us.",
+        "The 311 plaque and the green tag on the handle are now clearly readable, confirming I am tracking the right door. It still sits well ahead across tiled floor. I continue walking straight toward it.",
+        "The door with the 311 plaque now dominates my view, while the other door has slipped out of sight behind the wall panels. I am still a few paces short of standing at it. I keep moving straight ahead.",
+        "The angled wooden panelling of the 311 door and its lever handle with the green tag are close and centred slightly left. A short stretch of tile still separates me from it. I step forward again to close that remaining gap.",
+        "I am nearly at the 311 door, with its planks and the tagged handle filling my view at close range. One short step should bring me right up against it, within reach of the handle. I advance that last bit.",
+        "The 311 door's handle, card reader and green tag are directly in front of me at arm's length. The approach is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_b/infos.json

@@ -0,0 +1,76 @@
+{
+    "Instruction": "Head toward the second wooden door from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -191.172,
+        2650.74,
+        99.275,
+        0.0,
+        -35.52,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -191.172,
+            2650.74,
+            99.275,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            -88.734,
+            2577.618,
+            99.838,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            13.705,
+            2504.495,
+            99.838,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            116.143,
+            2431.373,
+            99.838,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            209.069,
+            2360.232,
+            99.275,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            209.069,
+            2360.232,
+            99.275,
+            0.0,
+            -35.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two wooden doors face me along this corridor wall, so counting from the right end the second one is the door marked 311 with the green tag on its handle. That number plate and hanger let me follow it directly from here. I will walk forward to close the gap.",
+        "The door with the 311 plaque and green handle tag is now larger and set slightly ahead on my right, so my heading is still good. Nothing blocks the tiled strip in front of me. I will keep walking toward it.",
+        "The other door has slid out of my view as I close in, but the 311 plaque and the green hanger keep my target unmistakable ahead of me. The approach lane is still clear. I will continue forward.",
+        "The 311 door now fills most of my view with its handle and green tag just to my left, so only a short gap remains. One more step should bring me within arm's reach of it.",
+        "The 311 door with its green handle tag stands directly before me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_c/infos.json

@@ -0,0 +1,76 @@
+{
+    "Instruction": "Move to the second wooden door from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -191.172,
+        2650.74,
+        99.275,
+        0.0,
+        -35.52,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -191.172,
+            2650.74,
+            99.275,
+            0.0,
+            -35.52,
+            0.0
+        ],
+        [
+            -191.172,
+            2650.74,
+            99.275,
+            0.0,
+            -10.52,
+            0.0
+        ],
+        [
+            -67.429,
+            2627.761,
+            99.737,
+            0.0,
+            -10.52,
+            0.0
+        ],
+        [
+            56.315,
+            2604.782,
+            99.737,
+            0.0,
+            -10.52,
+            0.0
+        ],
+        [
+            180.058,
+            2581.802,
+            99.47,
+            0.0,
+            -10.52,
+            0.0
+        ],
+        [
+            180.058,
+            2581.802,
+            99.47,
+            0.0,
+            -10.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two wooden doors sit along the panelled wall to my right, and counting from the left, my target is the farther one, the door that stands next to the corner column. It currently sits well off to the right of my heading, so I will turn right to bring that door in front of me before walking.",
+        "The door beside the corner column now lies just right of my heading with clear tiled floor between us. Nothing blocks the way, so I will step forward to close that distance.",
+        "The door next to the corner column has grown noticeably larger and its lever handle is already distinct, so I am still on line for it. I will keep walking forward to shorten the remaining gap.",
+        "The wall is close enough now that the neighbouring door has slid to the edge of my view and the panelling no longer reads as a countable row, but the door beside the corner column fills the centre ahead of me. One more step forward should place me right at its face.",
+        "The lock plate and lever of the target door fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Walk to the gold luggage cart, then head toward the blue sofa.",
+    "Type": 3,
+    "Start_Pose": [
+        -229.083,
+        1375.802,
+        99.275,
+        0.0,
+        21.12,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -229.083,
+            1375.802,
+            99.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -111.678,
+            1421.152,
+            99.841,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            5.727,
+            1466.502,
+            99.841,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            123.131,
+            1511.851,
+            99.841,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            234.027,
+            1553.938,
+            99.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            234.027,
+            1553.938,
+            99.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            234.027,
+            1553.938,
+            99.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            234.027,
+            1553.938,
+            99.275,
+            0.0,
+            -28.88,
+            0.0
+        ],
+        [
+            234.027,
+            1553.938,
+            99.275,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            308.028,
+            1452.156,
+            99.275,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            308.028,
+            1452.156,
+            99.275,
+            0.0,
+            -78.88,
+            0.0
+        ],
+        [
+            332.302,
+            1328.66,
+            99.275,
+            0.0,
+            -78.88,
+            0.0
+        ],
+        [
+            332.302,
+            1328.66,
+            99.275,
+            0.0,
+            -78.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The gold luggage cart stands ahead of me down the tiled corridor, beside the wooden column under the fire extinguisher. The floor between us is clear, so I will walk forward to close that distance.",
+        "The gold cart with its red deck is noticeably larger and still centered slightly right of my heading, confirming my line is good. I will keep walking forward toward it.",
+        "The luggage cart now dominates the right half of my view, its gold frame and red platform clearly detailed against the panelled wall. A few more paces should bring me right up beside it, so I keep moving forward.",
+        "The cart's tall gold uprights and red deck fill much of my view, meaning only a short gap is left. I will step forward once more to stand right at it.",
+        "The gold luggage cart is right in front of me, its polished posts and red deck filling my view at arm's length. I have arrived at the luggage cart. I mark reaching it, then set off for the pale blue sofa across the corridor.",
+        "Standing at the cart, its gold frame blocks nearly everything straight ahead, and the blue sofa lies back around to my left along the corridor. I will turn left to swing my heading off the cart and toward that side of the space.",
+        "The turn has pushed the cart to my right edge and opened up the wooden double doors ahead, but the blue sofa is still not in view. I will turn left again to keep sweeping toward where it should be.",
+        "The pale blue sofa has just come into the left edge of my view beside the double doors. Another left turn should bring it closer to the center of my heading before I walk toward it.",
+        "The pale blue sofa now sits clearly ahead on my left, beneath the floor sign, with open tile between me and it. I will walk forward to close that gap and bring the sofa within reach of my final approach.",
+        "From here the sofa has slid to the left edge of my view while the door panel dominates the right side of my heading. Turning left should swing the couch back toward the center so I can advance straight at it.",
+        "The blue sofa is now squarely centered in front of me with its cushions and the floor sign directly ahead. A short walk forward should bring me right up to it.",
+        "The blue sofa's cushions fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Approach the red fire extinguisher on the column, then move to the blue sofa.",
+    "Type": 3,
+    "Start_Pose": [
+        -229.083,
+        1375.802,
+        99.275,
+        0.0,
+        21.12,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -229.083,
+            1375.802,
+            99.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -111.678,
+            1421.152,
+            99.841,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
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+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            5.727,
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+            0.0,
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+            -0.0
+        ],
+        [
+            92.966,
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
+            92.966,
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+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            92.966,
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+            99.841,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            92.966,
+            1557.22,
+            99.841,
+            0.0,
+            -28.88,
+            0.0
+        ],
+        [
+            92.966,
+            1557.22,
+            99.841,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            167.157,
+            1455.553,
+            99.457,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            241.348,
+            1353.886,
+            99.457,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            241.348,
+            1353.886,
+            99.457,
+            0.0,
+            -53.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The red fire extinguisher is clearly mounted on the wood-panelled column ahead on my right, and the pale blue sofa sits further back along the left wall. The extinguisher is my nearer goal, so I will walk forward across the tiled floor to close the gap toward that column.",
+        "The extinguisher on the column has grown noticeably larger and the luggage cart beside it is now clearly separated from the wall, confirming I am gaining ground. Nothing blocks the tiled floor between me and that column, so I will keep walking straight ahead.",
+        "I am close to the column now, but the red extinguisher has drifted high and off to my right while my heading points down the tiled corridor toward the double doors. A turn to the right should swing the extinguisher toward the center of my view so I can walk straight at it.",
+        "The turn has brought the red extinguisher and its column near the middle of my view, with clear floor between the luggage cart and the corner. One more step forward should put me right beside the extinguisher.",
+        "The red extinguisher now looms directly overhead at the edge of the wood-panelled column, close enough that only its lower body fills my view. I have arrived at the extinguisher on the column. I mark reaching it and now set off for the pale blue sofa by the double doors.",
+        "Standing at the column, my view is filled by panelling and the extinguisher, with the open lobby and its seating lying back around to my left. I will turn left to swing away from this wall and begin bringing the blue sofa side of the room into view.",
+        "The turn has opened up the luggage cart and the wooden double doors on the left, but the pale blue sofa is still outside my view. I will keep turning left to bring that side of the lobby in front of me.",
+        "The edge of the pale blue sofa has just appeared at the far left of my view beside the double doors, so my heading is still short of it. Another turn to the left should place the sofa squarely ahead for a straight walk over.",
+        "The blue sofa sits against the wall at the far left of my view, while the wooden double doors still occupy the center of my heading. One more turn to the left should bring the sofa near the middle of my view so I can walk straight at it.",
+        "The blue sofa is now roughly centered ahead of me, with the potted plant beside it and clear tiled floor in between. Nothing blocks that lane, so I will step forward to close the remaining distance.",
+        "The sofa now fills much of my view and its cushions and wooden feet are clearly resolved, but I am still a stride short of standing right at it. I will advance once more to finish closing on it.",
+        "The blue sofa is directly in front of me, close enough to touch its cushions. The task is complete, so there is no reason to move further."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_c/infos.json

@@ -0,0 +1,306 @@
+{
+    "Instruction": "Head toward the double wooden doors, then proceed to the bridge painting on the wall.",
+    "Type": 3,
+    "Start_Pose": [
+        -229.083,
+        1375.802,
+        99.275,
+        0.0,
+        21.12,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "LookUp",
+        "MoveBackward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -229.083,
+            1375.802,
+            99.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -111.678,
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+        ],
+        [
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+        ],
+        [
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+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            131.297,
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+            0.0,
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+            0.0
+        ],
+        [
+            256.868,
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+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            382.438,
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+            0.0,
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+            0.0
+        ],
+        [
+            382.438,
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+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            290.25,
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+            0.0,
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+            0.0
+        ],
+        [
+            290.25,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            290.25,
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+            0.0,
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+            -0.0
+        ],
+        [
+            185.761,
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+            0.0,
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+            -0.0
+        ],
+        [
+            81.272,
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+            0.0,
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+            -0.0
+        ],
+        [
+            81.272,
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+            -0.0
+        ],
+        [
+            81.272,
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+        ],
+        [
+            81.272,
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+        ],
+        [
+            105.79,
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+            0.0,
+            71.12,
+            -0.0
+        ],
+        [
+            107.704,
+            1820.156,
+            99.838,
+            0.0,
+            71.12,
+            -0.0
+        ],
+        [
+            107.704,
+            1820.156,
+            99.838,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            107.704,
+            1820.156,
+            99.838,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            107.704,
+            1820.156,
+            99.838,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            107.704,
+            1820.156,
+            99.838,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            15.516,
+            1826.408,
+            99.838,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            107.585,
+            1818.829,
+            99.838,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            107.585,
+            1818.829,
+            99.838,
+            0.0,
+            -3.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The pair of wooden doors stands across the tiled floor ahead and slightly to my left, past the luggage cart. Nothing blocks the open tile between me and them, so I will walk forward to cut the distance before worrying about heading.",
+        "The doors have grown noticeably larger and the tiled floor ahead of me is still clear. Another step forward should bring me well inside this alcove before I adjust my facing toward them.",
+        "My heading has drifted so that the doors now sit off to the left edge of my view while the luggage cart and paneled column fill the center. Turning left should swing the doorway back in front of me so I can walk straight at it.",
+        "The two wooden doors now sit squarely ahead of me in their recessed frame, with the sofa well to my left and the cart to my right. With the path lined up, I will walk straight forward to close on them.",
+        "The doors fill much more of my view now and their handles are becoming distinct, so I am still short of standing at them. I will keep walking straight ahead to reach the doorway itself.",
+        "The pair of wooden doors now fills my view straight ahead, so I am nearly on top of them. One more step should bring me right up to the leaves and their handles, close enough to count as standing at them.",
+        "The two wooden door leaves and their lever handles fill my view at arm's length, with nothing but the doors ahead. I have reached the double wooden doors. I mark reaching them and now set off for the bridge painting hanging on the wall.",
+        "Standing this close, the door panels block everything and I cannot see any of the surrounding walls where a framed picture might hang. Backing up a step should open my view and give me room to turn without scraping the doorframe.",
+        "With a little distance regained, the doors still occupy the whole frame and no artwork is visible from this heading. Turning right should swing my view off the doors and back toward the open, carpeted side of the floor where framed pictures hang.",
+        "The doors have slid to my left edge and I now see only a corner with a bin and the luggage cart, no framed picture yet. I will keep rotating right to bring the open carpeted area into view.",
+        "The wooden doors sit behind my left shoulder now, and my view is filled by the brass luggage cart, a bin and blank paneling, with no artwork anywhere in it. I will keep rotating right to swing my heading off that doorway alcove toward the open floor where wall pictures are likely hung.",
+        "The luggage cart now stands squarely in front of me against plain striped paneling, so this heading offers nothing to walk toward or inspect. Turning right again should carry my gaze past the cart to whatever lies beyond the alcove.",
+        "Past the wooden column with the fire extinguisher, a red carpeted corridor is opening on my right, and I can just catch a framed picture on its far wall. I will turn right once more to bring that corridor and its artwork properly in front of me.",
+        "The carpeted corridor with its wall lamps and framed picture is coming into view, but the paneled column and extinguisher still block my left side and the open route lies off to my right. Another turn right should square me with that passage so I can walk it and check the pictures for a bridge scene.",
+        "Now the corridor is open ahead of me, with framed pictures spaced along the left wall, a sofa and further doors beyond, and no obstruction on the floor. I will walk forward to close on those hanging pictures and look for the bridge scene among them.",
+        "The framed picture on the wall to my left shows a mountain landscape, not a bridge, so this is not what I am looking for. The tiled floor beside the red runner is clear ahead, so I walk on to bring more of this corridor's wall art into view.",
+        "A paneled wall and the sofa recess now fill the space directly in front of me, so continuing straight leads into that wall. The red carpet runs away to my left, marking the passage that continues. I turn left to swing my heading toward that open route.",
+        "The long carpeted corridor is now opening on my left, running toward the far chandelier and the luggage trolley, but it still sits off to the side of my heading. I turn left again to bring that passage and its picture-hung walls squarely in front of me.",
+        "Two framed pictures hang along this corridor, and the one on my left edge shows pale towers over water rather than the hillside scene on the right. I turn left once more to place that left-hand picture in front of me so I can judge whether it is the bridge.",
+        "The gold-framed picture with the pale bridge and water is now ahead of me on the left wall, but it is still too far off to read clearly. The carpeted floor between us is unobstructed, so I walk forward to close that distance.",
+        "The gold-edged painting hangs close on my left, but the corridor still runs on past the urn toward the luggage and cart. I will walk forward once more to draw level with that artwork before turning to face it.",
+        "Advancing has carried the painting behind my left shoulder, leaving only blank panelling and the urn in front of me. I will turn left to swing my heading back onto the wall where that artwork hangs.",
+        "Only the gilded corner of the painting has come back into the far left of my heading, so I am still angled too far down the corridor. Another left turn should bring the artwork nearer the middle of where I am facing.",
+        "The gilded corner and a sliver of the dark scene now sit in the upper left, so I am close to square with the wall but not yet facing the painting head on. I will turn left once more to place it directly in front of me.",
+        "Squared to the wall, I am aimed at the gold molding along the painting's lower edge and the striped wallpaper below it, so my gaze is riding too low. I will look up to raise it onto the scene inside the painting.",
+        "I am pressed so close to the framed picture that only a smear of canvas and its gilt edge fill my view, too near to confirm the bridge scene. I have clearly closed in past a useful standing distance. I will step back to regain some separation from the wall.",
+        "With distance regained, the wall ahead now shows the framed painting of the suspension bridge over water, centered in front of me. I am a little farther from it than I want for arrival. I will walk forward to settle right at the picture.",
+        "The framed bridge painting fills my view directly ahead at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_d/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Navigate to the bridge painting on the wall, then walk to the blue sofa.",
+    "Type": 3,
+    "Start_Pose": [
+        -229.083,
+        1375.802,
+        99.275,
+        0.0,
+        21.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -229.083,
+            1375.802,
+            99.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -229.083,
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+        ],
+        [
+            -141.844,
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+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -54.605,
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+            99.64,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            32.635,
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+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            106.228,
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+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            106.228,
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+            99.838,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            42.181,
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+            0.0,
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+            0.0,
+            -3.88,
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+        ],
+        [
+            42.181,
+            1671.886,
+            99.894,
+            0.0,
+            -28.88,
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+        ],
+        [
+            42.181,
+            1671.886,
+            99.894,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            116.372,
+            1570.219,
+            99.894,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            190.563,
+            1468.552,
+            99.33,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            264.755,
+            1366.885,
+            99.33,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            336.493,
+            1297.307,
+            99.33,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            336.493,
+            1297.307,
+            99.33,
+            0.0,
+            -53.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the framed bridge picture hangs on the far wall to my right, down the red carpeted corridor, while the blue sofa sits close behind me on the left. I will turn right so that corridor and the picture line up ahead of me before I start walking.",
+        "The corridor now opens straight ahead with the small framed bridge picture on the wall beyond the fire extinguisher column. The floor between me and it is clear, so I will walk forward to close that distance.",
+        "The bridge picture has grown noticeably larger on the right-hand wall, so my heading down this corridor is good. Nothing blocks the walkway ahead, and I will keep walking to bring myself alongside it.",
+        "The framed bridge is now clearly in front of me on the wall past the wooden column, though still a few paces off. I will continue walking to get right up to it.",
+        "The bridge painting fills much of the wall just ahead and to my left, with only a short stretch of floor left before it. One more step forward should put me directly at it.",
+        "The gold frame and the blue bridge canvas fill my view from arm's length, so I am standing right at the bridge painting on the wall. I have reached it. I mark reaching it and now set off for the blue sofa back in the open lobby area.",
+        "Pressed this close to the wall, the frame blocks nearly everything and I have no room to swing around toward the lobby. I will step back to open up space and bring the corridor back into view before changing heading.",
+        "I now have clearance from the wall, and the painting sits ahead of me while the open lobby with the blue sofa lies back the way I came, off to my left. I will turn left to begin swinging my heading around toward that lounge area.",
+        "The bridge painting has slipped to the right edge of my view and a wide wooden pillar now fills most of it, with pale open floor and a luggage cart just visible past its left side. That open area is where I expect to find the blue sofa, so I will turn left again to swing my heading toward it.",
+        "Turning has opened up the tiled lobby with its double doors and the bell cart, and a sliver of pale blue upholstery is just appearing at the far left. I will turn left once more to bring that seating fully into the center of my view.",
+        "The blue sofa under the 3F sign is now clearly in view but sits well over on my left, with the bell cart and pillar crowding my right. One more left turn should put the sofa near the middle of my path so I can walk straight at it.",
+        "The blue sofa now sits ahead of me beside the potted plant, with clear tiled floor between us and nothing blocking the way. I will walk forward to close the distance to it.",
+        "The sofa has grown noticeably larger and its cushions are clearly resolved, but I am still several paces short of it. I will keep walking forward toward it.",
+        "The blue sofa now fills much of the left and center of my view and the 3F sign above it is sharp and close. A further step forward should bring me right up beside the seat.",
+        "I am nearly at the sofa, its armrest and cushions taking up the lower half of my view with only a short stretch of tile remaining. I will take one more short step forward to stand directly at it.",
+        "The blue sofa's cushions are directly in front of me, filling my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_e/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Move to the bridge painting on the wall, then approach the double wooden doors.",
+    "Type": 3,
+    "Start_Pose": [
+        -229.083,
+        1375.802,
+        99.275,
+        0.0,
+        21.12,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -229.083,
+            1375.802,
+            99.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -111.678,
+            1421.152,
+            99.841,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -111.678,
+            1421.152,
+            99.841,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -111.678,
+            1421.152,
+            99.841,
+            0.0,
+            71.12,
+            -0.0
+        ],
+        [
+            -70.952,
+            1540.239,
+            99.841,
+            0.0,
+            71.12,
+            -0.0
+        ],
+        [
+            -30.225,
+            1659.327,
+            99.841,
+            0.0,
+            71.12,
+            -0.0
+        ],
+        [
+            -30.225,
+            1659.327,
+            99.841,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            57.014,
+            1750.045,
+            99.838,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            57.014,
+            1750.045,
+            99.838,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            107.177,
+            1791.608,
+            99.838,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            107.177,
+            1791.608,
+            99.838,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            20.983,
+            1758.314,
+            99.838,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            20.983,
+            1758.314,
+            99.838,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            20.983,
+            1758.314,
+            99.838,
+            0.0,
+            -28.88,
+            0.0
+        ],
+        [
+            20.983,
+            1758.314,
+            99.838,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            95.175,
+            1656.647,
+            99.963,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            169.366,
+            1554.98,
+            99.346,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            169.366,
+            1554.98,
+            99.346,
+            0.0,
+            -28.88,
+            0.0
+        ],
+        [
+            279.572,
+            1494.193,
+            99.346,
+            0.0,
+            -28.88,
+            0.0
+        ],
+        [
+            279.572,
+            1494.193,
+            99.346,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            405.143,
+            1485.677,
+            99.346,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            405.143,
+            1485.677,
+            99.346,
+            0.0,
+            -3.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this lobby corner I can see a framed bridge picture on the far wall to my right, and the pair of wooden doors set into the wall ahead on my left. The bridge picture is the destination I want first, so I step forward onto the open floor to gain a clearer line toward that side of the room.",
+        "The bridge picture sits well off to my right, past the luggage cart and the fire extinguisher column, while my body still faces the doors. Turning right should swing that side of the room into the middle of my view so I can judge the route toward the picture.",
+        "The turn has brought the framed bridge picture and the carpeted corridor beyond it into view, but they still sit right of centre behind the column. I turn right once more to put that corridor squarely ahead before I start walking.",
+        "The corridor now runs straight ahead of me with the bridge picture hanging on its left wall, near the extinguisher and the standing ashtray. Nothing blocks the carpet, so I walk forward to close the distance to that picture.",
+        "The framed bridge is noticeably larger on my left now, though I am still short of standing before it. The corridor stays clear past the bin, so I take another step forward to draw level with the picture.",
+        "I am now roughly abreast of the bridge painting, which hangs on the wall to my left while I face down the corridor toward the far lounge. Turning left should bring the painting itself in front of me instead of at the edge of my view.",
+        "The bridge painting is now squarely in view on the wall I am facing, with only a short stretch of tile between me and it. I walk forward to stand close in front of the picture.",
+        "I am right up against the wall, but the bridge painting has slid to the left edge of my view while the corridor and bin fill the rest. A left turn should place the framed picture directly in front of me to confirm I am standing at it.",
+        "The framed bridge picture now dominates my view, its gilt frame and painted span filling most of the wall in front of me. Only a short gap of patterned wallpaper separates me from it, so I take one more step ahead to stand directly at the painting.",
+        "The bridge painting is right against me, its gold frame edge and dark span filling my whole view with nothing but wallpaper below. I have arrived at the bridge painting on the wall. I mark reaching it and turn my attention to the double wooden doors.",
+        "Standing this close, the picture and its frame block everything, leaving me no sight of the room and no space to swing around. Backing up a step should restore some distance from the wall and give me room to reorient toward the double wooden doors.",
+        "With a little distance regained, the painting sits ahead on the wall and the corridor lies off to my left beyond it. I turn left to swing my heading off the wall and toward the open floor where I can look for the double wooden doors.",
+        "The rotation has pushed the painting to my right edge and brought a wooden panelled column and a sliver of brighter open space into the left of my view. I keep turning left to bring that open area fully in front of me.",
+        "The panelled column still cuts across the middle of my view, with the seating area and floor sign only partly visible past its left side. Another left turn should clear the column and put the open lobby squarely ahead of me.",
+        "The open lobby now lies ahead of me with a sofa against the far wall and a clear tiled floor between us. Nothing blocks the way, so I walk forward into that space to search its walls for the double wooden doors.",
+        "Two tall wooden doors are now visible in the wall ahead and slightly to my right, past the sofa and the luggage trolley. The tiled floor between us is clear, so I keep walking forward to close the distance to them.",
+        "The pair of wooden doors stands on the right side of my view, while the sofa and floor sign fill the center ahead. I will turn right to bring those doors closer to the middle of my heading before walking in.",
+        "The double wooden doors now sit near the center of my view with clear tile floor in front of them. I will walk forward to close the remaining gap toward the doorway.",
+        "From this closer position the door frame is slightly left of center and angled, so I am not squarely facing the leaves. A small right turn should square my heading with the doors before the final step in.",
+        "The two wooden leaves and their handles are now squarely framed straight ahead with only a short stretch of tile between us. I will step forward to stand directly at the doors.",
+        "The wooden door leaf and its handle fill my view at arm's length. Both named destinations are reached, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t5_a_pd/infos.json

@@ -0,0 +1,240 @@
+{
+    "Instruction": "Lift the tomato at the gold luggage cart, then place it near the blue sofa.",
+    "Type": 5,
+    "Start_Pose": [
+        -229.083,
+        1375.802,
+        99.275,
+        0,
+        21.12,
+        0
+    ],
+    "PD_ID": 0,
+    "PD_Size": 8.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        169.45,
+        1584.641,
+        63.838,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -229.083,
+            1375.802,
+            99.275,
+            0,
+            21.12,
+            0
+        ],
+        [
+            -111.678,
+            1421.152,
+            99.841,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            5.727,
+            1466.502,
+            99.841,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            5.727,
+            1466.502,
+            99.841,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            5.727,
+            1466.502,
+            99.841,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            5.727,
+            1466.502,
+            99.841,
+            0.0,
+            -28.88,
+            0.0
+        ],
+        [
+            5.727,
+            1466.502,
+            99.841,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            79.918,
+            1364.835,
+            99.841,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            146.565,
+            1312.511,
+            98.708,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            104.122,
+            1370.671,
+            99.835,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            104.122,
+            1370.671,
+            99.835,
+            0.0,
+            -53.88,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            169.45,
+            1584.641,
+            63.838,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            169.45,
+            1584.641,
+            63.838,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            169.45,
+            1584.641,
+            63.838,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2.537,
+            1486.201,
+            69.945,
+            -28.202,
+            71.265,
+            1.862
+        ],
+        [
+            6.493,
+            1486.898,
+            70.217,
+            -28.189,
+            46.277,
+            1.872
+        ],
+        [
+            15.607,
+            1484.091,
+            69.55,
+            -28.215,
+            21.248,
+            1.849
+        ],
+        [
+            30.712,
+            1478.017,
+            69.731,
+            -14.175,
+            -11.688,
+            6.959
+        ],
+        [
+            96.739,
+            1378.012,
+            70.171,
+            -28.198,
+            -3.735,
+            1.865
+        ],
+        [
+            163.626,
+            1325.361,
+            68.893,
+            -28.196,
+            -3.73,
+            1.865
+        ],
+        [
+            145.385,
+            1314.126,
+            114.835,
+            0.0,
+            -53.88,
+            0.0
+        ],
+        [
+            145.385,
+            1314.126,
+            114.835,
+            0.0,
+            -53.88,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        449.9,
+        325.2,
+        201.9,
+        21.4,
+        20.4,
+        20.2,
+        27.5,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The gold luggage cart stands ahead against the wooden wall, and the red tomato rests on the floor beside it. It is still far across the tiled area, well out of grasping range. I will walk forward to close that gap.",
+        "The tomato beside the luggage cart is noticeably larger and lower in my view now, so my previous step brought me closer. It still sits beyond arm's reach ahead of me. Another forward step should place me right next to it for a grasp.",
+        "The tomato now fills the lower right of my view directly at the foot of the gold luggage cart, close enough that no further stepping is needed. This is the object the task names. I will attempt to pick it up.",
+        "The grasp worked, since the tomato is now held in my hands rather than resting on the floor. The blue sofa is not in front of me, and it lay off to my left side of this lobby area when I first surveyed it. I will turn left to bring it into view.",
+        "The blue sofa has come into the left edge of my view against the wall, so turning that way was correct. It is still too far off center for a straight walk toward it. I will turn left again to bring it nearer the middle of my heading.",
+        "The sofa now sits clearly in view with the tall potted plant crowding its left side. Walking straight from this heading would run me into the plant instead of the open floor beside the seat. One more left turn should line me up with the clear lane leading to the sofa.",
+        "My heading now runs along the open floor with the sofa on my right and the carpeted corridor on my left, so the plant no longer blocks the path. The tomato is still in my hands and the sofa is several paces away. I will walk forward to reach it.",
+        "The blue sofa now dominates the right of my view and the plant has slipped past on my left, confirming the step brought me alongside it. I am not yet close enough for the tomato to count as placed near the seat. One more short step forward should put me right beside it.",
+        "The tomato is still in my hands from the pickup at the luggage cart, and the blue sofa now fills the view directly ahead at arm's length. This is close enough to count as near the sofa, so I will release the tomato here.",
+        "The tomato now rests on the floor right beside the blue sofa and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_b/infos.json

@@ -0,0 +1,76 @@
+{
+    "Instruction": "Head toward the teal sofa in the lobby.",
+    "Type": 0,
+    "Start_Pose": [
+        -287.917,
+        1492.594,
+        99.275,
+        0.0,
+        -18.24,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -287.917,
+            1492.594,
+            99.275,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -168.382,
+            1453.2,
+            99.275,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -48.847,
+            1413.807,
+            99.787,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            70.688,
+            1374.413,
+            99.787,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            190.223,
+            1335.02,
+            99.275,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            190.223,
+            1335.02,
+            99.275,
+            0.0,
+            -18.24,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the edge of the red carpet I can see the teal sofa set against the far wall to the left of the wooden double doors, small in view and well across the lobby. My heading already points into the open tiled area with nothing blocking the path, so I will move forward to start closing that distance.",
+        "The teal sofa and its potted plant now appear noticeably larger and slightly left of center, confirming my heading is carrying me toward it. The floor ahead stays clear, so I will keep moving forward to reduce the remaining gap.",
+        "The sofa now fills much of the left side of my view and the wall signage above it is legible, so I am within a few steps of the lobby seating. There is still open tile between me and the sofa, so another forward step should bring me properly alongside the target.",
+        "The teal sofa is close on my left with its cushions and armrest clearly detailed, though I am still slightly short of standing right at it. I will take one more forward step to settle at a natural stopping position beside the sofa.",
+        "The teal lobby sofa is directly beside me, filling the near left of my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_c/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Approach the gold luggage cart near the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -287.917,
+        1492.594,
+        99.275,
+        0.0,
+        -18.24,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -287.917,
+            1492.594,
+            99.275,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -287.917,
+            1492.594,
+            99.275,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            -163.087,
+            1500.515,
+            99.275,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            -38.103,
+            1515.33,
+            99.598,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            86.881,
+            1530.145,
+            99.598,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            86.881,
+            1530.145,
+            99.598,
+            0.0,
+            31.76,
+            -0.0
+        ],
+        [
+            194.256,
+            1593.953,
+            99.194,
+            0.0,
+            31.76,
+            -0.0
+        ],
+        [
+            194.256,
+            1593.953,
+            99.194,
+            0.0,
+            31.76,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the gold luggage cart with its red platform standing against the far wall on the right side of my view, beyond the sofa and the elevator doors. Since it sits off to my right rather than straight ahead, I will turn right to bring it closer to the center of my heading before advancing.",
+        "The gold cart is now roughly ahead of me, parked beside the wall panel under the fire extinguisher, with open tiled floor between us. I will move forward to start closing the considerable distance to it.",
+        "The luggage cart has grown noticeably larger and its red platform and wheels are clearly visible ahead beside the wooden wall, so my heading is still good. I will continue forward to keep reducing the gap across the open floor.",
+        "The cart now fills a good part of the right-center of my view, but there is still several steps of tile between me and it. I will advance again to bring myself within close range of the cart at the wall.",
+        "At this short range the cart has drifted toward the right half of my view while the elevator doors dominate the left, so my heading points slightly past it. I will turn right to place the cart squarely in front of me for the final step in.",
+        "The cart's brass frame and red platform are now directly ahead against the wall, only a step or so away. I will move forward once more to settle right beside it.",
+        "The gold cart's brass frame and red deck fill my view at arm's length beside the wall. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t5_a_p/infos.json

@@ -0,0 +1,164 @@
+{
+    "Instruction": "Lift the ceramic pot at the gold luggage cart near the wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -287.917,
+        1492.594,
+        99.275,
+        0,
+        -18.24,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        267.201,
+        1491.467,
+        14.275,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -287.917,
+            1492.594,
+            99.275,
+            0,
+            -18.24,
+            0
+        ],
+        [
+            -168.382,
+            1453.2,
+            99.275,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -168.382,
+            1453.2,
+            99.275,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            -43.398,
+            1468.015,
+            99.838,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            81.586,
+            1482.83,
+            99.838,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            81.586,
+            1482.83,
+            99.838,
+            0.0,
+            6.76,
+            -0.0
+        ],
+        [
+            81.586,
+            1482.83,
+            99.838,
+            0.0,
+            6.76,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            267.201,
+            1491.467,
+            14.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            267.201,
+            1491.467,
+            14.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            267.201,
+            1491.467,
+            14.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            267.201,
+            1491.467,
+            14.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            267.201,
+            1491.467,
+            14.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            78.467,
+            1503.964,
+            69.945,
+            -28.202,
+            56.904,
+            1.862
+        ],
+        [
+            78.467,
+            1503.964,
+            69.945,
+            -28.202,
+            56.904,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        555.1,
+        437.3,
+        437.3,
+        311.5,
+        185.8,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "From the edge of the patterned carpet I can see the gold luggage cart against the far wall, with the dark ceramic pot sitting on the tile just beside it. Both are far across the lobby, so I will walk straight ahead to close that distance before any grasp is possible.",
+        "The pot and the gold cart now sit noticeably right of my heading, while the elevator doors and sofa occupy the center of my view. I will turn right so the pot moves toward the middle of my view and a straight walk can carry me to it.",
+        "After the turn the ceramic pot and the gold cart sit near the center of my view, so my heading is usable. The pot is still several strides away across the tile, so I will walk forward to shorten the gap.",
+        "The pot is clearly larger and lower in my view now, but it remains beyond arm's reach on the open tile. I will take another step forward to bring it close enough in front of me for a pick attempt.",
+        "The ceramic pot is directly in front of me at the base of my view, with the gold luggage cart right beside it against the wall. My hands are empty and nothing blocks the pot, so I will attempt to pick it up now.",
+        "The ceramic pot is now held in my hands, lifted off the floor by the gold cart. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_a/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Walk to the wooden desk chair.",
+    "Type": 0,
+    "Start_Pose": [
+        -383.753,
+        -476.434,
+        100.275,
+        0.0,
+        -175.68,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -383.753,
+            -476.434,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -509.254,
+            -485.915,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -634.756,
+            -495.395,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -760.257,
+            -504.876,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -885.759,
+            -514.356,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -960.461,
+            -513.962,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -960.461,
+            -513.962,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the doorway area of this hotel room I can already spot the wooden desk chair straight ahead, tucked against the curtained window beside the writing desk. It sits close to the center of my view, so my current heading is roughly aligned with it and no turn is needed. I will move forward to begin closing the sizeable gap across the carpet.",
+        "The chair now appears slightly larger and still sits near the middle of my view, confirming the previous step brought me closer without drifting off heading. The bed edge stays to my left and the media console to my right, leaving an open lane straight ahead. I will keep moving forward along the same heading.",
+        "The wooden chair and the desk beside it now fill much more of my view, so distance is dropping steadily as I advance. The path in front of me is still clear carpet, with the bed corner passing on my left. Another forward step should bring me appreciably nearer the chair.",
+        "I am now close enough to see the chair's slats, seat, and legs clearly against the window curtains, with the desk and tea set just to its right. The chair remains near the center of my heading, so I still do not need to reorient. I will advance again to reach a position right beside it.",
+        "The chair now dominates the lower center of my view and the curtain behind it is only a short step away, so I am nearly at the target. One more short forward movement should place me directly at the chair rather than a stride short of it. I will step forward carefully since the wall of curtain limits any further travel.",
+        "The wooden desk chair is directly in front of me, filling my view at arm's reach. The task is complete, so I stop here rather than pressing further into it."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_b/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Move to the lit bedside lamp.",
+    "Type": 0,
+    "Start_Pose": [
+        -383.753,
+        -476.434,
+        100.275,
+        0.0,
+        -175.68,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -383.753,
+            -476.434,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -509.254,
+            -485.915,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -634.756,
+            -495.395,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -760.257,
+            -504.876,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -760.257,
+            -504.876,
+            100.275,
+            0.0,
+            159.32,
+            -0.0
+        ],
+        [
+            -875.51,
+            -497.06,
+            100.275,
+            0.0,
+            159.32,
+            -0.0
+        ],
+        [
+            -990.232,
+            -481.537,
+            100.275,
+            0.0,
+            159.32,
+            -0.0
+        ],
+        [
+            -990.232,
+            -481.537,
+            100.275,
+            0.0,
+            134.32,
+            -0.0
+        ],
+        [
+            -990.232,
+            -481.537,
+            100.275,
+            0.0,
+            109.32,
+            -0.0
+        ],
+        [
+            -1031.872,
+            -362.766,
+            100.275,
+            0.0,
+            109.32,
+            -0.0
+        ],
+        [
+            -1052.138,
+            -283.395,
+            100.275,
+            0.0,
+            109.32,
+            -0.0
+        ],
+        [
+            -1052.138,
+            -283.395,
+            100.275,
+            0.0,
+            109.32,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From just inside the room I can see the bed on my left and a warm glow from a small lit lamp on the far bedside table near the window. The wardrobe on my right narrows the space here, so I will step forward along the open carpet to close distance with that lamp.",
+        "The bed, desk and window wall are noticeably larger now, confirming my forward heading is taking me deeper into the room. The lit lamp still sits ahead on the left near the curtains, so another step forward should keep shrinking that gap.",
+        "The curtained window and the chair in front of it are close now, and the lit lamp is at the left edge of my view past the bed's head. I will advance once more to reach the far end of the room where the bedside table stands.",
+        "My heading now points at the window curtains, the desk and the framed picture on the right, while the lamp has slipped out of view past my left side. Turning left should swing my heading back toward the bedside table so the lit lamp is in front of me again.",
+        "The turn brought the glowing lamp and its nightstand back into the left part of my view, with clear carpet between me and the window wall. I will walk forward along this heading to close the remaining distance to that lamp.",
+        "The lamp is now clearly resolved on the low chest just to my left, and the curtains ahead show I am nearly at the window wall. Another step forward should bring me alongside the bedside table rather than leaving me a stride short.",
+        "I am right up against the window curtains and they now fill almost all of my view, with only the chair edge showing at the right. Turning left should point me back at the bedside table and its lit lamp along the adjacent wall.",
+        "The lit lamp and its nightstand are back in view but sitting off to my left, with curtain still covering the right of my view. One more left turn should center the lamp so I can step straight up to it.",
+        "The lit bedside lamp on its nightstand now sits near the center of my view, with the bed headboard to its left and the curtain to its right, so my heading is aligned with the target. I will step forward to close the remaining gap across the carpet toward the nightstand.",
+        "The glowing lamp and its shade now dominate the middle of my view and the nightstand top is clearly resolved, so I am close but still a short step away. I will advance once more to bring myself right up beside the lit lamp.",
+        "The lit bedside lamp is directly in front of me at arm's length, its glowing shade filling most of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t5_a_p/infos.json

@@ -0,0 +1,164 @@
+{
+    "Instruction": "Pick up the green bell pepper near the wooden desk chair.",
+    "Type": 5,
+    "Start_Pose": [
+        -383.753,
+        -476.434,
+        100.275,
+        0,
+        -175.68,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -965.804,
+        -519.855,
+        45.275,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -383.753,
+            -476.434,
+            100.275,
+            0,
+            -175.68,
+            0
+        ],
+        [
+            -509.254,
+            -485.915,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -634.756,
+            -495.395,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -760.257,
+            -504.876,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -885.759,
+            -514.356,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -885.759,
+            -514.356,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ],
+        [
+            -885.759,
+            -514.356,
+            100.275,
+            0.0,
+            -175.68,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -965.804,
+            -519.855,
+            45.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -965.804,
+            -519.855,
+            45.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -965.804,
+            -519.855,
+            45.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -965.804,
+            -519.855,
+            45.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -965.804,
+            -519.855,
+            45.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -883.542,
+            -535.604,
+            70.381,
+            -28.202,
+            -125.536,
+            1.862
+        ],
+        [
+            -883.542,
+            -535.604,
+            70.381,
+            -28.202,
+            -125.536,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        583.7,
+        457.8,
+        332.0,
+        206.1,
+        80.2,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "From the doorway I can see the green bell pepper sitting on the carpet beside the wooden desk chair, far across the room near the window. It is roughly straight ahead along my current heading, so no turn is needed yet. I will walk forward to close that distance.",
+        "The pepper and the wooden chair are now larger and still centered near my heading, so my path is good. I am still several strides away, too far to reach the pepper. I will keep walking forward.",
+        "The green pepper now sits clearly in front of me beside the chair legs, with open carpet between us and nothing blocking the way. My heading needs no correction since the target stays near the middle of my view. I will step forward again to get within reach.",
+        "The pepper is close now, filling much of the lower view right in front of the chair. I am still a step short of a comfortable grasping distance. One more forward step should bring me right over it.",
+        "I am standing right at the wooden chair with the desk beside me, and the green bell pepper is directly at my feet within arm's reach. Nothing separates my hands from it. I will attempt the pick now.",
+        "The green bell pepper is now held in my hands rather than resting on the carpet. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000676_y-000390_z000100_t1_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Search for the wall-mounted flat-screen television above the wooden media cabinet; after locating it, proceed toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -676.137,
+        -390.392,
+        100.275,
+        0.0,
+        125.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            125.12,
+            -0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            150.12,
+            -0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            175.12,
+            -0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            -159.88,
+            0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            -134.88,
+            0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            -109.88,
+            0.0
+        ],
+        [
+            -691.346,
+            -498.082,
+            100.275,
+            0.0,
+            -109.88,
+            0.0
+        ],
+        [
+            -730.141,
+            -560.787,
+            100.275,
+            0.0,
+            -109.88,
+            0.0
+        ],
+        [
+            -730.141,
+            -560.787,
+            100.275,
+            0.0,
+            -109.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing the bed and its illuminated headboard wall, and no television or media cabinet is anywhere in this view. The room clearly continues to my right past the nightstand and window, so I will turn right to begin a consistent scan of the unseen side of the room.",
+        "The view now shows the curtained window wall and the nightstand lamp, but still no flat-screen or media cabinet. I will keep turning right in the same direction to bring more of the unscanned room wall into sight.",
+        "I can now see the desk, chair and a framed picture, and the edge of what looks like a dark panel appearing at the far right of my view. That is a promising cue for the television wall, so I will continue turning right to bring it fully into view.",
+        "The wall-mounted flat-screen television and the long wooden media cabinet beneath it are now visible on the right side of my view. I will turn right again to place the television nearer the center of my heading before approaching.",
+        "The television and the wooden cabinet under it are clearly in view, but they still sit left of my forward direction while the open floor lies slightly right. One more small right turn should line my heading up with the cabinet wall so I can walk straight toward the screen.",
+        "The flat-screen television is centered ahead of me above the wooden media cabinet, with clear floor between us. Having located the target, I will walk forward to close the distance toward it.",
+        "The television now fills much of the upper view and the cabinet below is close, so I am nearly at the wall. I will step forward once more to finish closing in on the screen.",
+        "The wall-mounted television fills my view at arm's length against the wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000676_y-000390_z000100_t1_b/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Identify the wooden chair with a light cushion seated near the desk by the curtained window, then head over to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -676.137,
+        -390.392,
+        100.275,
+        0.0,
+        125.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            125.12,
+            -0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            150.12,
+            -0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            175.12,
+            -0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            -159.88,
+            0.0
+        ],
+        [
+            -676.137,
+            -390.392,
+            100.275,
+            0.0,
+            -134.88,
+            0.0
+        ],
+        [
+            -676.163,
+            -452.003,
+            100.275,
+            0.0,
+            -134.88,
+            0.0
+        ],
+        [
+            -757.554,
+            -545.353,
+            100.275,
+            0.0,
+            -134.88,
+            0.0
+        ],
+        [
+            -757.554,
+            -545.353,
+            100.275,
+            0.0,
+            -159.88,
+            0.0
+        ],
+        [
+            -874.545,
+            -560.858,
+            100.275,
+            0.0,
+            -159.88,
+            0.0
+        ],
+        [
+            -874.545,
+            -560.858,
+            100.275,
+            0.0,
+            175.12,
+            -0.0
+        ],
+        [
+            -959.61,
+            -542.499,
+            100.275,
+            0.0,
+            175.12,
+            -0.0
+        ],
+        [
+            -959.61,
+            -542.499,
+            100.275,
+            0.0,
+            175.12,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see the bed, its lit headboard, and a sliver of heavy curtain at the far right, so the wooden chair and desk are not yet in view. The curtain edge suggests the window wall lies to my right, so I will turn right to scan that side of the room.",
+        "The turn brought the curtained window and the nightstand lamp into view, but the desk and its wooden chair are still outside my field of view. I will keep rotating in the same direction to sweep further along the window wall where such a desk is likely to stand.",
+        "I can now see a wooden chair with a pale cushion tucked beside a small desk against the curtained window, to the right of my heading. I will continue turning right to bring that chair and desk area closer to the center of my view before moving.",
+        "The chair and desk are confirmed ahead by the curtains, but the bed corner still juts into my path on the left of this heading. I will turn right once more to face the open carpet lane beside the television cabinet, which should give me a clear walking line toward that corner of the room.",
+        "I am now facing down the clear carpet strip between the bed and the wall-mounted television, with the wooden chair and desk standing by the curtain on my left. I will step forward along this open lane to close distance with that corner of the room.",
+        "The desk with its teapot and the cushioned wooden chair have grown noticeably larger on my left, so my advance is closing the gap. I will walk forward again to reach the far end of the cabinet, level with the desk area.",
+        "I have come close enough that the cabinet and television now fill most of my view, and the desk with its teapot sits at the very left edge with the chair beyond it. I will turn left to bring the wooden chair back into the center of my view before continuing.",
+        "The wooden chair with the pale cushion is now clearly in front of me against the curtained window, next to the small desk. I will step forward to close the remaining distance toward it.",
+        "The wooden chair with the light cushion is now only partly in view at the far left edge, while the desk with the teapot and cups fills the center of my view. Turning left should swing the chair into the middle of my view so I can walk straight at it instead of into the desk.",
+        "The wooden chair with the pale cushion now sits squarely ahead of me against the curtained window, with the desk clear to my right. With the path over the open carpet unobstructed, I will step forward to close the remaining distance to it.",
+        "The wooden chair with the light cushion by the curtained window desk now fills my view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000931_y-000561_z000100_t1_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Search the hallway outside the room for the door labeled 303, then navigate to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -930.947,
+        -560.815,
+        100.275,
+        0.0,
+        45.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -930.947,
+            -560.815,
+            100.275,
+            0.0,
+            45.12,
+            -0.0
+        ],
+        [
+            -930.947,
+            -560.815,
+            100.275,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            -812.769,
+            -517.521,
+            100.275,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            -695.775,
+            -487.45,
+            100.275,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            -695.775,
+            -487.45,
+            100.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -570.372,
+            -498.157,
+            100.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -444.969,
+            -508.863,
+            100.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -319.566,
+            -519.57,
+            100.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -194.194,
+            -529.689,
+            99.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -194.194,
+            -529.689,
+            99.275,
+            0.0,
+            -29.88,
+            0.0
+        ],
+        [
+            -84.353,
+            -582.355,
+            99.786,
+            0.0,
+            -29.88,
+            0.0
+        ],
+        [
+            24.776,
+            -645.056,
+            99.786,
+            0.0,
+            -29.88,
+            0.0
+        ],
+        [
+            133.905,
+            -707.757,
+            99.385,
+            0.0,
+            -29.88,
+            0.0
+        ],
+        [
+            207.652,
+            -764.721,
+            99.275,
+            0.0,
+            -29.88,
+            0.0
+        ],
+        [
+            207.652,
+            -764.721,
+            99.275,
+            0.0,
+            -29.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing inside the guest room facing the bed, and the task requires me to reach the hallway outside where door 303 should be. The room's exit corridor with the open doorway sits toward my left, so I will turn left to bring that way out into view. This should line me up with the passage leading out of the room.",
+        "The turn has opened up the room's entry corridor ahead, with the wardrobe on my left and the luggage against the wall on my right. Straight ahead I can see the lit vestibule and what looks like the room's exit door beyond it. I will walk forward along this corridor to get closer to that way out.",
+        "The corridor has widened in front of me and the doorway to the entry vestibule is noticeably nearer, with the bathroom opening on my right. Nothing blocks the carpet between me and that opening. I will keep walking forward to close the remaining distance to the room's exit.",
+        "I am close to the entry vestibule, but the opening with the paneled exit door sits slightly off to my left while my heading points more toward the wall and the bathroom door on the right. A small left turn should center that passage in front of me. This should let me walk straight through instead of clipping the door frame.",
+        "The passage is now centered ahead of me, with the wardrobe on my left and the bathroom opening on my right forming a straight aisle. Through the opening I can see the lit entry area and the paneled exit door. I will walk forward to enter that vestibule.",
+        "I am at the threshold of the entry vestibule, with the open door leaf and a suitcase to my left and the bathroom counter to my right, leaving enough clearance to pass. Ahead the tiled entry and a red runner lead to the corridor door. I will step forward to move through this threshold toward the hallway.",
+        "I am now in the doorway itself, with the swung door panel filling my left side and the frame on my right, and the tiled hallway floor with the runner opening out ahead. The paneled door and shoes beyond confirm this leads into the shared corridor where the numbered rooms should be. I will step forward to move out of the room and into that hallway.",
+        "I have stepped out into the hallway and can see two paneled doors side by side ahead with small plaques beside them, but the numbers are too small to read from here. Advancing along the red runner should bring those plaques close enough to identify whether one of them is 303. I will walk forward to close that distance.",
+        "I am now standing in the corridor and I can see a plaque reading 303 at the far left edge of my view, just beside one of the wooden doors. Since that label sits off to my left rather than ahead of me, I will turn left to bring the numbered door into the center of my heading before advancing.",
+        "The turn brought the left portion of the corridor into view, with the door and its wall plaque now within my forward field rather than at the edge. The target door is still several paces away across the tiled strip, so I will walk forward to close that distance.",
+        "The plaque reading 303 is clearly legible now, mounted on the panel immediately left of the nearer wooden door. I am still out on the carpet at a distance, so I will keep walking forward to reach that labeled door.",
+        "The 303 plaque and the door beneath it now fill much of my view, and I am standing on the tiled area directly in front of them. I will step forward again to close the remaining gap and stand right at the door.",
+        "The door labeled 303 is now an arm's reach ahead, with its handle and hanging tag plainly visible at my left. One short step forward should place me squarely at the doorway, close enough to count as arriving.",
+        "I am standing directly at the wooden door marked 303, its panel filling my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-000931_y-000561_z000100_t1_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Locate the overturned service cart lying on the corridor floor; once you spot it, go toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -930.947,
+        -560.815,
+        100.275,
+        0.0,
+        45.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -930.947,
+            -560.815,
+            100.275,
+            0.0,
+            45.12,
+            -0.0
+        ],
+        [
+            -930.947,
+            -560.815,
+            100.275,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            -812.769,
+            -517.521,
+            100.275,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            -695.775,
+            -487.45,
+            100.275,
+            0.0,
+            20.12,
+            -0.0
+        ],
+        [
+            -695.775,
+            -487.45,
+            100.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -570.372,
+            -498.157,
+            100.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -444.969,
+            -508.863,
+            100.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -319.566,
+            -519.57,
+            100.275,
+            0.0,
+            -4.88,
+            0.0
+        ],
+        [
+            -319.566,
+            -519.57,
+            100.275,
+            0.0,
+            -29.88,
+            0.0
+        ],
+        [
+            -226.932,
+            -532.339,
+            99.275,
+            0.0,
+            -29.88,
+            0.0
+        ],
+        [
+            -226.932,
+            -532.339,
+            99.275,
+            0.0,
+            -54.88,
+            0.0
+        ],
+        [
+            -184.082,
+            -579.808,
+            99.258,
+            0.0,
+            -54.88,
+            0.0
+        ],
+        [
+            -184.082,
+            -579.808,
+            99.258,
+            0.0,
+            -54.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing inside a guest room with the bed filling most of my view, and no service cart is anywhere in here. The open doorway and entry passage on my left side lead out of the room toward the corridor, which is where a cart would plausibly be. I will turn left to bring that exit route into the center of my view.",
+        "The entry passage is now centered ahead, with the wardrobe on my left and the luggage lined up along the right wall. The lit doorway at the end of that passage opens onto space beyond the room, so advancing along it should carry me toward the corridor where the overturned cart may lie. I will step forward down this passage.",
+        "I have closed some distance and the far doorway with its patterned wooden panel is clearly larger ahead of me. The floor between the wardrobe and the bathroom opening is clear, so continuing straight should bring me nearer to that exit. I will keep walking forward.",
+        "From here the exit doorway sits off to my left while my heading points more toward the bathroom opening and the picture on the right wall. Turning left should square my body with the exit passage so I can walk straight through it. I will turn left to line up with that opening.",
+        "The exit passage is now straight ahead, with the wardrobe wall on my left and the bathroom opening on my right, and the outer door stands open onto a lit area beyond. Nothing blocks the carpet between me and that opening, so stepping forward should take me closer to the space outside the room. I will walk forward along the passage.",
+        "I am close to the threshold now, with the green suitcase to my left and the open door leaf just ahead, and I can see tiled floor and a red rug in the lit area beyond. That outer space is the most likely place for a service cart, and the doorway is wide enough to pass. I will continue forward through the opening.",
+        "I am right at the doorway with the door leaf beside me, and through the gap I can see a lift lobby with a red patterned rug and a pair of shoes on the floor. Stepping through should put me fully into that open area where I can scan for the overturned cart. I will move forward across the threshold.",
+        "I am now out in the lift lobby, and at the lower left edge of my view I can make out the metal frame and castor wheels of a toppled service cart resting on the floor. That is the target, and it sits to my left rather than in front of me. I will turn left to face it directly before closing in.",
+        "From the doorway I can now see the elevator lobby opening to my left, and a metal cart frame with exposed casters is lying tipped over on the red carpet at the lower left of my view. That overturned cart matches the service cart I am looking for, so I will step forward out of the doorframe to clear the wall edge and close distance on it.",
+        "The overturned cart is now clearly in the lower left of my view, lying on its side with its wheels off the ground, but it sits well off my current heading toward the elevator doors. I will turn left to bring the fallen cart into the center of my view before continuing toward it.",
+        "The turn has brought the toppled service cart squarely into the center foreground, its shelves and casters resting on the carpet with scattered cups beside it. I am nearly on top of it, so a short step forward should place me directly at the cart.",
+        "The overturned service cart lies directly in front of me, filling the near foreground with its tipped shelves and casters. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Search for a green suitcase somewhere inside the room; once you find it, head over to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1007.583,
+        -334.958,
+        100.275,
+        0.0,
+        -94.88,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -94.88,
+            0.0
+        ],
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -69.88,
+            0.0
+        ],
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -44.88,
+            0.0
+        ],
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -979.837,
+            -376.075,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -978.126,
+            -411.24,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -977.776,
+            -410.698,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -977.776,
+            -410.698,
+            100.275,
+            0.0,
+            -44.88,
+            0.0
+        ],
+        [
+            -978.482,
+            -471.092,
+            100.275,
+            0.0,
+            -44.88,
+            0.0
+        ],
+        [
+            -978.482,
+            -471.092,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -880.909,
+            -523.976,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -880.909,
+            -523.976,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -755.552,
+            -512.744,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -630.195,
+            -501.512,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -504.838,
+            -490.281,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -504.838,
+            -490.281,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -504.838,
+            -490.281,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see the desk, chair, wall picture and the mounted television, with no suitcase of any color in view. I will turn right to begin a consistent scan of the room and reveal the space beyond the media wall.",
+        "The new heading shows the wardrobe and the edge of a bed, but still no green suitcase anywhere on the floor. I will keep turning right in the same direction to extend the sweep toward the unseen part of the room.",
+        "Past the wardrobe I can now make out an open doorway area with what looks like a green case standing beside it, along with a red one further right. I will continue turning right to bring that luggage corner nearer the center of my view before committing to it.",
+        "The green suitcase is clearly standing by the far doorway, with the red and blue cases along the wall to its right, so the target is confirmed. I will walk forward along the open carpet beside the bed to close the distance toward it.",
+        "The green suitcase by the doorway is a little larger in view, so my heading down this side of the room is taking me toward it. I will step forward again to keep closing the remaining distance.",
+        "The green suitcase is still visible far ahead in the entry alcove beside the wardrobe, so I keep closing the distance along this heading. The bed edge crowds the right side of my path, but the carpet between the wardrobe and the bed still looks open, so I will step forward again toward the target.",
+        "My last step forward barely changed the scene, so something along the bed corner is blocking this heading. Turning left should swing me away from that obstruction and toward the open floor beside the media cabinet, which may give me a passable line toward the green suitcase in the alcove.",
+        "With the bed corner no longer directly in front of me, the strip of carpet along the media cabinet and wardrobe is clear. The green suitcase remains visible ahead to the right near the alcove, so I will walk forward on this freed heading to make progress toward it.",
+        "After advancing along the cabinet wall, my heading now points mostly at the blank TV wall while the green suitcase sits off to the right beside the wardrobe. I will turn right to bring the suitcase and the alcove opening back toward the center of my view before continuing.",
+        "The turn has lined my view up with the corridor past the wardrobe, and the green suitcase is clearly visible ahead near the alcove floor. The carpet between me and it looks unobstructed, so I will walk forward to close the remaining distance.",
+        "The green suitcase is visible far ahead beside the entry alcove, but the tall wardrobe runs directly along my current heading and would block a straight walk toward it. I will turn right to swing my heading off the wardrobe face and onto the open carpet lane that leads down the entry passage. That should give me a clear line to continue closing on the suitcase.",
+        "From this heading the passage past the wardrobe is clear, with the green suitcase still ahead on the left near the entry alcove. I will walk forward along this open lane to cut down the remaining distance to it.",
+        "The last step brought me noticeably closer, and the green suitcase now sits clearly ahead on the left against the wardrobe end. The floor between us is still open, so I will keep walking forward toward it.",
+        "The green suitcase is now close on my left, just short of the open entry door, and nothing blocks the last stretch of carpet. I will step forward once more to draw level with it rather than stopping short.",
+        "Advancing has carried the green suitcase out of my forward view, leaving only the entry door and wall in front of me, which means it now lies just off my left side. I will turn left to bring it back into view and face it directly.",
+        "The green suitcase stands directly at my feet on the left, close enough to touch. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_c/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Locate the toilet inside the bathroom of this room; after locating it, navigate to that spot.",
+    "Type": 1,
+    "Start_Pose": [
+        -1007.583,
+        -334.958,
+        100.275,
+        0.0,
+        -94.88,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -94.88,
+            0.0
+        ],
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -69.88,
+            0.0
+        ],
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -44.88,
+            0.0
+        ],
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -1007.583,
+            -334.958,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -979.837,
+            -376.075,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -978.126,
+            -411.24,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -977.776,
+            -410.698,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -977.776,
+            -410.698,
+            100.275,
+            0.0,
+            -44.88,
+            0.0
+        ],
+        [
+            -978.482,
+            -471.092,
+            100.275,
+            0.0,
+            -44.88,
+            0.0
+        ],
+        [
+            -978.482,
+            -471.092,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -880.909,
+            -523.976,
+            100.275,
+            0.0,
+            -19.88,
+            0.0
+        ],
+        [
+            -880.909,
+            -523.976,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -755.552,
+            -512.744,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -630.195,
+            -501.512,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -504.838,
+            -490.281,
+            100.275,
+            0.0,
+            5.12,
+            -0.0
+        ],
+        [
+            -504.838,
+            -490.281,
+            100.275,
+            0.0,
+            30.12,
+            -0.0
+        ],
+        [
+            -504.838,
+            -490.281,
+            100.275,
+            0.0,
+            55.12,
+            -0.0
+        ],
+        [
+            -436.966,
+            -387.299,
+            101.375,
+            0.0,
+            55.12,
+            -0.0
+        ],
+        [
+            -436.966,
+            -387.299,
+            101.375,
+            0.0,
+            80.12,
+            -0.0
+        ],
+        [
+            -436.966,
+            -387.299,
+            101.375,
+            0.0,
+            105.12,
+            -0.0
+        ],
+        [
+            -447.865,
+            -311.03,
+            100.441,
+            0.0,
+            105.12,
+            -0.0
+        ],
+        [
+            -447.865,
+            -311.03,
+            100.441,
+            0.0,
+            105.12,
+            -0.0
+        ],
+        [
+            -447.865,
+            -311.03,
+            100.441,
+            0.0,
+            105.12,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand I only see the desk, the curtained window and the wall-mounted television, with no bathroom entrance anywhere in this arc. I need to sweep the room for a doorway that could lead to the toilet, so I will turn to my right to open up the unseen side of the room.",
+        "The turn brought a wardrobe and the edge of a bed into view, but still no bathroom entrance. Continuing the sweep to the right should carry my gaze past the wardrobe toward whatever lies along that far wall.",
+        "Beyond the wardrobe an open doorway shows a lit space and a closed panel door at the far right edge of my view, which is the most promising lead toward a bathroom. Another step of rotation to the right should bring that opening nearer the centre of my view and reveal what surrounds it.",
+        "The doorway and the luggage beside it are now clear, and I want to check the remaining right-hand portion of the room before committing to it. Turning right once more should show me the bed side and confirm there is no second opening there.",
+        "This heading shows only the bed, headboard and lamp, so nothing on this side leads to a bathroom. The open doorway I found sits back to my left, and turning left should put it back in front of me so I can head for it.",
+        "The open doorway with the lit space beyond now sits ahead of me, past the wardrobe, and it is the only route out of this bedroom. I will walk forward along the free carpet between the wardrobe and the bed to close the distance to it.",
+        "The doorway has grown larger and the lit space behind it is clearer, so my heading is still good. Another step forward should bring me closer to that opening where a bathroom is most likely to be found.",
+        "The doorway is still ahead of me, but the corner of the bed now crowds in from my right and the wardrobe hems the left, leaving a narrow gap on this heading. I will try another step forward to keep closing on the opening.",
+        "That last stride gained me almost nothing, since the scene in front of me is unchanged, so the bed corner and the wardrobe have pinched my line too tightly to pass. Turning left should point me down the open carpet beside the wardrobe, where there is room to keep walking toward the lit opening.",
+        "With the media wall and wardrobe squared ahead, the carpet lane in front of me is clear of the bed. Walking forward should carry me along that free strip and closer to the lit opening standing at the far end on my right.",
+        "Moving up this lane has pushed the lit opening out toward my right edge, leaving me facing mostly blank wall and the media unit. A turn to the right should set that doorway back in front of me before I commit further.",
+        "The opening with the panelled door behind it is centred again and the carpet between me and the wardrobe corner is unobstructed. I will walk forward to close most of the remaining distance to that threshold.",
+        "From this close position a second opening shows at my right, with pale tile and the edge of a vanity counter behind it, which reads as a bathroom rather than the entry space straight ahead. Turning right should bring that tiled opening properly into my view.",
+        "The tiled opening now sits ahead on the right side of this short passage, with the wardrobe run flanking me on the left and suitcases against the far wall. Walking forward should carry me down the passage toward that entrance.",
+        "The right-hand opening now clearly shows a sink and vanity, confirming the bathroom lies just off this passage. Another stride forward should bring me nearer to being level with its threshold.",
+        "The tiled floor and vanity are close on my right, but I am still short of being square with that threshold. One more step forward should place me beside the opening so I can face into the bathroom.",
+        "I am now level with the tiled entrance, but my heading still points down the passage at the far door and the entry rug. Turning right should swing my view into the tiled room where the vanity and shower sit.",
+        "Part of the tiled room has opened up on my right, showing the shower rail and the counter with a bin below it, yet the doorframe still blocks half of it. Another turn to the right should square me with the opening and reveal the rest of the fittings.",
+        "The toilet is now in plain sight against the right wall of the tiled room, beyond the shower and the bin. With the entrance squarely ahead I will walk in, committing to that fixture rather than searching further.",
+        "Stepping inside has carried the toilet out of my view, leaving the mirror, sink counter and shower fitting filling my heading. A turn to the right should bring the bowl back in front of me.",
+        "The bowl has reappeared, but only its near rim intrudes at my right edge while the tiled shower wall dominates the middle. One more turn to the right should place it centrally so I can walk straight up to it.",
+        "The toilet with its raised lid and cistern now sits centred ahead of me with clear tile in between. I will step forward to stand right at it.",
+        "I am close enough that only the upper rim and lid edge remain in my field, with the wall above filling most of it. Looking down should bring the bowl and the floor at its base into view so I can confirm I am standing at it.",
+        "The toilet bowl fills my view directly below me, within arm's reach. I have reached it, so the task is done and there is nothing further to do."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Walk to the wooden wardrobe with double doors.",
+    "Type": 0,
+    "Start_Pose": [
+        -1024.314,
+        -283.551,
+        100.275,
+        0.0,
+        -24.0,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -979.564,
+            -380.651,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -900.82,
+            -519.685,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -785.976,
+            -560.781,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -673.915,
+            -565.392,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -673.915,
+            -565.392,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the doorway side of the room I can see the tall wooden wardrobe with its double doors standing against the far wall, but the wide bed lies directly across my straight line to it. I will turn left to face the open carpet lane running along the television wall, which should give me a clear walking route toward the wardrobe.",
+        "Now the floor ahead of me is clear along the media console and the wardrobe stands further down on the right side of my view. I will move forward down this open lane to begin closing the distance to it.",
+        "The wardrobe has grown noticeably larger and its vertical door seam and handle are now clearer ahead on my right. The path along the console is still unobstructed, so I will keep moving forward to shorten the remaining gap.",
+        "Walking along the console wall has pushed the wardrobe toward the right edge of my view, so my heading is now drifting past it. I will turn right to bring the double doors back near the center of my view before continuing.",
+        "The turn has placed the wardrobe front squarely ahead of me with clear carpet leading up to it. I will move forward along this line to continue closing the distance.",
+        "The wardrobe now fills a large part of the left half of my view and its handle is clearly visible, so I am getting close. I will step forward again to bring myself right up beside the double doors.",
+        "The wooden panel and handle are close on my left, but I am still a short step short of standing directly at the wardrobe front. One more forward step should place me right at the double doors within reach.",
+        "The wooden wardrobe's double doors and handle now fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_b/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Head toward the red suitcase on the floor.",
+    "Type": 0,
+    "Start_Pose": [
+        -1024.314,
+        -283.551,
+        100.275,
+        0.0,
+        -24.0,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -979.564,
+            -380.651,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -900.82,
+            -519.685,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -900.82,
+            -519.685,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ],
+        [
+            -774.98,
+            -517.489,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ],
+        [
+            -774.98,
+            -517.489,
+            100.275,
+            0.0,
+            26.0,
+            -0.0
+        ],
+        [
+            -661.197,
+            -467.586,
+            100.275,
+            0.0,
+            26.0,
+            -0.0
+        ],
+        [
+            -661.197,
+            -467.586,
+            100.275,
+            0.0,
+            51.0,
+            -0.0
+        ],
+        [
+            -623.508,
+            -419.363,
+            100.275,
+            0.0,
+            51.0,
+            -0.0
+        ],
+        [
+            -623.508,
+            -419.363,
+            100.275,
+            0.0,
+            51.0,
+            -0.0
+        ],
+        [
+            -623.508,
+            -419.363,
+            100.275,
+            0.0,
+            51.0,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the red suitcase standing on the carpet ahead near the far wall, next to a blue one, but the wide bed directly in front of me blocks any straight line to it. Turning left should swing my heading onto the open aisle of blue carpet running along the media cabinet, which is the walkable route past the bed.",
+        "My heading now runs down the clear carpet lane between the bed on my right and the wall-mounted screen and cabinet on my left. I will step forward along this open lane to close distance toward the wardrobe and doorway area where the red suitcase sits.",
+        "The lane ahead is still unobstructed, with the cabinet on my left and the wardrobe further along on my right side of the passage. Another step forward should bring me nearer the end of the room where the suitcases were standing on the floor.",
+        "I have advanced far enough that the blank wall and cabinet now dominate my view while the passage toward the wardrobe and doorway opens to my right. Turning right should bring that passage, and the suitcase corner beyond it, back in front of me.",
+        "Ahead I now see the corridor between the wardrobe and the bed, with the red suitcase showing at the right edge of my view near the wall. I will step forward along this open carpet to keep closing on it.",
+        "From this position the wardrobe fills the left of my view and the entry area lies ahead, while the suitcase corner sits off to my right. A right turn should place the red suitcase's alcove more centrally in front of me before I advance again.",
+        "The red suitcase and the blue one beside it are clearly visible on the carpet to my right front, against the wall below the framed landscape picture. The floor between us is clear, so I will step forward to close the remaining distance.",
+        "I am now level with the alcove, and the red suitcase has shifted to the right edge of my view while the bathroom doorway and corridor sit ahead. Turning right should square me up on the suitcase so my next step goes straight to it.",
+        "The red suitcase is standing on the carpet ahead and slightly right of me, beside the blue one near the chest of drawers, with clear floor between us. I will step forward along this open stretch of carpet to close the remaining distance toward it.",
+        "I am now close to the luggage, but the red suitcase has slipped to the lower right edge of my view while the bathroom doorway and hallway dominate the center. Turning right should swing my heading onto the suitcase so my remaining steps carry me straight to it.",
+        "The red suitcase now sits low and near the middle of my view against the wall beside the blue case and the lamp table, so my heading is on it. A short step forward should bring me right up to it on the floor.",
+        "I am standing right beside the luggage now, so close that the wall and light switches fill most of my view and the red case is cut off at the bottom. Looking down should tilt my gaze to the floor and show the red suitcase fully at my feet for confirmation.",
+        "The red suitcase rests on the carpet directly at my feet, filling the lower part of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_c/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Approach the nightstand holding the gold lamp.",
+    "Type": 0,
+    "Start_Pose": [
+        -1024.314,
+        -283.551,
+        100.275,
+        0.0,
+        -24.0,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -979.564,
+            -380.651,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -900.82,
+            -519.685,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -900.82,
+            -519.685,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ],
+        [
+            -774.98,
+            -517.489,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ],
+        [
+            -774.98,
+            -517.489,
+            100.275,
+            0.0,
+            26.0,
+            -0.0
+        ],
+        [
+            -774.98,
+            -517.489,
+            100.275,
+            0.0,
+            51.0,
+            -0.0
+        ],
+        [
+            -698.928,
+            -484.054,
+            100.275,
+            0.0,
+            51.0,
+            -0.0
+        ],
+        [
+            -638.229,
+            -395.478,
+            100.275,
+            0.0,
+            51.0,
+            -0.0
+        ],
+        [
+            -638.229,
+            -395.478,
+            100.275,
+            0.0,
+            76.0,
+            -0.0
+        ],
+        [
+            -646.662,
+            -286.645,
+            100.275,
+            0.0,
+            76.0,
+            -0.0
+        ],
+        [
+            -646.662,
+            -286.645,
+            100.275,
+            0.0,
+            76.0,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the gold lamp glowing on a nightstand against the far right wall, but the wide bed lies directly between me and it. Turning left should point me down the open carpet lane beside the media console, which is the passable route around the bed rather than over it.",
+        "The open carpet lane now runs straight ahead past the wall screen and console toward the wardrobe and the room entry. Stepping forward should carry me along the side of the bed and closer to the far end of the room where the lamp corner is.",
+        "The lane ahead is still clear, with the console on my left and the wardrobe standing further along on my right. I will advance again to keep closing the distance toward the far side of the room.",
+        "I have come level with the wardrobe, and the lamp corner lies off to my right rather than straight ahead along this wall. Turning right should swing my heading back toward the right side of the room and open the passage beside the wardrobe.",
+        "The passage beside the wardrobe is now open ahead, with the red suitcase and the framed landscape picture on the right where the nightstand side of the room lies. Moving forward should bring me deeper into that passage and nearer the lamp corner.",
+        "Straight ahead the passage only continues toward the entry doors, while the alcove on my right holds the luggage and the wall picture next to the bed area. Turning right should bring that alcove more centered so I can head into it.",
+        "The carpet ahead of me is clear along the wardrobe, with the red and blue suitcases and the picture wall marking the alcove on my right. I will step forward to draw level with that alcove where the nightstand stands.",
+        "I am now beside the alcove, with the red suitcase close on my right and only the entry vestibule straight ahead. Turning right should face me into that corner where the nightstand and its lamp should come into view.",
+        "The nightstand with the gold lamp now sits at the right side of my view, beyond the red and blue suitcases, while the bathroom doorway still occupies the left. I will turn right again to bring that nightstand and its gold lamp nearer the center of my heading before advancing.",
+        "The nightstand carrying the gold lamp is now roughly ahead of me, past the two upright suitcases, but still several steps away. I will move forward along this heading to close the remaining distance.",
+        "The lamp and its nightstand appear larger and closer now, sitting just beyond the blue suitcase to my right of center. Another forward step should bring me within immediate reach of that nightstand.",
+        "I am close to the corner now, but the wall and the picture above it fill most of my view while the gold lamp has drifted to the right edge. I will turn right to place the nightstand and its lamp squarely in front of me.",
+        "The nightstand with the glowing gold lamp is now centered directly ahead, with the bed visible just past it. One more forward step should place me right at the nightstand.",
+        "The gold lamp stands directly before me on the nightstand top, close enough to touch. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_d/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Move to the green suitcase by the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -1024.314,
+        -283.551,
+        100.275,
+        0.0,
+        -24.0,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "TurnLeft",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -979.564,
+            -380.651,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -900.82,
+            -519.685,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -785.976,
+            -560.781,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -673.915,
+            -565.392,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -617.1,
+            -547.567,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -505.147,
+            -547.567,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -406.963,
+            -544.578,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -406.963,
+            -544.578,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -406.963,
+            -544.578,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -406.963,
+            -544.578,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -406.963,
+            -544.578,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the doorway side of this room I can see a green suitcase standing on the carpet near the wall by the open entry, but the large bed lies directly across my straight line to it. I will turn left to face the clear strip of floor along the television wall, which should give me a walkable lane toward that corner.",
+        "Now the open blue carpet along the console and wardrobe runs ahead of me with no furniture in the way, and the green suitcase is still visible farther on near the entry doorway. I will step forward along this lane to begin closing the distance to it.",
+        "The wardrobe and the lit entry alcove have grown noticeably larger, and the green suitcase is still standing at the base of the wall beside that opening. The path in front of me remains unobstructed, so I will keep advancing to shorten the remaining gap.",
+        "My heading has drifted so that the wall and console dominate the left of my view while the entry alcove and the green suitcase sit off to my right. I will turn right to bring that opening back to the center of my view so the remaining approach is a straight walk.",
+        "The doorway is now centered ahead with the green suitcase visible just inside it against the wall, and the carpet between us is clear. I will move forward along this heading to keep closing on the suitcase.",
+        "The wardrobe now passes close on my left while the lit entry and the green suitcase beside the doorframe stand plainly ahead. There is still open floor between me and it, so I will advance again.",
+        "The wardrobe face is now brushing past the left of my view and the green suitcase sits just ahead against the wall next to the open door. The gap looks small but not yet close enough to count as reaching it, so I will step forward once more.",
+        "The green suitcase is clearly resting on the carpet just beyond the wardrobe, tight against the wall by the open door, and its handles are now distinct. I will take another step forward to bring myself right up beside it.",
+        "The green suitcase is now clearly visible standing against the wall just beyond the wardrobe edge, near the open doorway on my right. I still have a short gap of open carpet between me and it, so I will step forward to keep closing that distance.",
+        "The suitcase now sits low and large in the lower part of my view, meaning I am nearly beside it but not yet standing at its position by the wall. One more step forward should bring me right up next to it at the door threshold.",
+        "I have stepped up beside the doorway and the suitcase has dropped out of my forward view, so only the door leaf, handle and corridor remain visible at eye level. Looking down should tilt my view onto the floor at my feet to confirm the green suitcase is right beside me.",
+        "With my view tilted down I can see only the top edge of the green suitcase intruding at the lower left corner, so it lies off to my left side. Turning left should bring the suitcase toward the center of my view for a clean confirmation of my position beside it.",
+        "After turning toward the suitcase side I am facing the wall with the alarm panel and the open door edge, but the suitcase itself sits below my current line of sight. Looking down again should place the floor beside the wall in view so I can verify I am standing right at the green suitcase.",
+        "The green suitcase stands directly at my feet against the wall beside the doorway. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t5_a_p/infos.json

@@ -0,0 +1,240 @@
+{
+    "Instruction": "Grab the jerry can near the wooden wardrobe with double doors.",
+    "Type": 5,
+    "Start_Pose": [
+        -1024.314,
+        -283.551,
+        100.275,
+        0,
+        -24,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -581.478,
+        -541.564,
+        10.275,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0,
+            -24,
+            0
+        ],
+        [
+            -1024.314,
+            -283.551,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -979.564,
+            -380.651,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -981.025,
+            -460.782,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -900.82,
+            -519.685,
+            100.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -900.82,
+            -519.685,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ],
+        [
+            -774.98,
+            -517.489,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ],
+        [
+            -649.14,
+            -515.292,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ],
+        [
+            -649.14,
+            -515.292,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ],
+        [
+            -649.14,
+            -515.292,
+            100.275,
+            0.0,
+            1.0,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -581.478,
+            -541.564,
+            10.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -650.123,
+            -493.952,
+            70.381,
+            -28.202,
+            51.145,
+            1.862
+        ],
+        [
+            -650.123,
+            -493.952,
+            70.381,
+            -28.202,
+            51.145,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        512.5,
+        512.5,
+        429.4,
+        407.6,
+        407.6,
+        320.1,
+        320.1,
+        195.0,
+        72.6,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The wooden double door wardrobe stands across the room, but the wide bed fills the space directly ahead of me and blocks a straight walk. I will turn left to face the open carpet lane running along the media unit, which should give me a clear route toward that wardrobe.",
+        "The lane beside the long media cabinet is now open in front of me, with the tall wooden wardrobe further down on the right. I will walk forward along this clear carpet to close distance on the wardrobe, where the jerry can should be sitting.",
+        "The red jerry can is now clearly visible on the floor at the near corner of the wooden wardrobe, next to a green case. It is still several strides away, so I will keep walking forward down this open lane to shorten the gap.",
+        "Walking along the wall has pushed the wardrobe and the red jerry can out to the right edge of my view, with the blank TV wall dominating ahead. I will turn right to bring the can back toward the center of my heading before advancing again.",
+        "The jerry can now sits ahead of me on the open carpet beside the wardrobe corner, well within my forward path. I will step forward to cut the remaining distance toward it.",
+        "The wardrobe face is filling the left of my view while the jerry can sits off to my right side of center. I will turn right so my heading points straight at the can, keeping the approach lane clear of the wardrobe edge.",
+        "The red jerry can is now squarely ahead on the carpet beside the wardrobe, with nothing between us. I will walk forward to close in on it for a grasp.",
+        "The jerry can is large in the lower part of my view now, right at the foot of the wardrobe, yet still a step beyond comfortable reach. I will take one more step forward so it should come close enough to grab.",
+        "I am now standing right at the wooden wardrobe with its double doors and handles filling my left side, and the jerry can has come so close that it sits just below my forward view. No further stepping is needed at this range, so I will attempt the grasp now and expect the can to come into my hands.",
+        "The jerry can is no longer resting on the carpet and is held in my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_a/infos.json

@@ -0,0 +1,276 @@
+{
+    "Instruction": "Walk to the green suitcase, then head toward the bedside lamp.",
+    "Type": 3,
+    "Start_Pose": [
+        -1060.34,
+        -332.448,
+        100.275,
+        0.0,
+        -13.44,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveBackward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1060.34,
+            -332.448,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -980.67,
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+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -978.957,
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+            100.275,
+            0.0,
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+            0.0
+        ],
+        [
+            -1060.509,
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+            100.275,
+            0.0,
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
+            -983.045,
+            -448.288,
+            100.275,
+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -915.961,
+            -529.696,
+            100.275,
+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -915.961,
+            -529.696,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -793.549,
+            -558.949,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -793.549,
+            -558.949,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -670.243,
+            -533.727,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -546.937,
+            -508.506,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -546.937,
+            -508.506,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -424.524,
+            -537.759,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -424.524,
+            -537.759,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -424.524,
+            -537.759,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -514.394,
+            -516.283,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -604.264,
+            -494.806,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -690.679,
+            -475.697,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -690.679,
+            -475.697,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -690.679,
+            -475.697,
+            100.275,
+            0.0,
+            36.56,
+            -0.0
+        ],
+        [
+            -690.679,
+            -475.697,
+            100.275,
+            0.0,
+            61.56,
+            -0.0
+        ],
+        [
+            -690.679,
+            -475.697,
+            100.275,
+            0.0,
+            86.56,
+            -0.0
+        ],
+        [
+            -663.597,
+            -364.255,
+            100.275,
+            0.0,
+            86.56,
+            -0.0
+        ],
+        [
+            -657.613,
+            -283.349,
+            100.275,
+            0.0,
+            86.56,
+            -0.0
+        ],
+        [
+            -657.613,
+            -283.349,
+            100.275,
+            0.0,
+            86.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the doorway side of the room I can see the small green case standing on the carpet near the wardrobe, far ahead by the entry alcove. Nothing blocks the open floor between the bed and the wardrobe, so I walk straight ahead to cut down that distance.",
+        "The green case by the wardrobe has grown a little larger but is still well down the room near the entry. The route in front of me remains clear carpet, so I keep walking to close more of the gap.",
+        "My last step barely gained ground and the bed's corner now crowds my right while the wardrobe narrows the gap ahead, so this heading is pinching me against furniture. I step back to open space around me before I change direction toward the clearer floor along the television wall.",
+        "With room around me again, the wide strip of carpet running past the television and low counter looks like the passable lane toward the green case near the wardrobe. I turn left to swing my heading off the bed and onto that open lane.",
+        "Now the television wall and its counter run away to my left with unobstructed carpet ahead, and the green case sits at the far end beside the wardrobe by the entry. I walk forward along this open lane to reach it.",
+        "The green suitcase sits at the far end of this passage beside the open doorway, still well away from me. The carpet between the wardrobe and the media unit is clear, so I will keep walking straight ahead to cut that distance down.",
+        "My heading has crept too far toward the wall with the television and the long cabinet, which now fills most of what I see. The green suitcase has slid to the right edge, barely clearing the wardrobe corner. I will turn right to bring it and the open passage back in front of me.",
+        "The turn opened the passage in front of me, with the green suitcase standing by the lit doorway straight ahead. Nothing blocks the carpet between here and it, so I will walk forward to close in.",
+        "The wardrobe's tall side now looms across the left half of my view and my line of travel is grazing it, leaving the green suitcase squeezed into a narrow slot near the doorway. I will turn right to swing clear of that cabinet face and put the open floor toward the suitcase in front of me.",
+        "With the wardrobe now safely off to my left, the entry area lies open ahead and the green suitcase stands just inside the doorway. I will step forward along this clear stretch of carpet to reach it.",
+        "The green suitcase now stands close on my left, tucked against the wardrobe beside the open room door. I still have a short gap to cover before I am properly beside it, so I will step forward along this narrow entry passage. The bathroom opening on my right leaves the lane ahead clear.",
+        "That last step carried me almost past the green suitcase, which has slipped to the very bottom left edge of my view while the bathroom wall fills the right. Turning left should swing my heading back onto the suitcase so I can judge the remaining distance instead of drifting into the doorway.",
+        "The turn brought the green suitcase back into clear view, standing beside the open door just ahead and slightly left of me. A short walk forward should bring me right alongside it rather than leaving me a pace short.",
+        "I am now right at the door frame and the green suitcase has dropped below my line of sight, hidden under the near edge of my view. I will look down to confirm it is at my feet before I treat this spot as reached.",
+        "The green suitcase sits right at my feet against the open door, its handle within arm's reach. I have arrived at it. I mark reaching the green suitcase, then turn my attention back into the room toward the lamp on the bedside table.",
+        "The green case sits right beside me at the threshold, so I am already where I meant to be and now need the lamp on the nightstand instead. Pressed this close to the open door leaf, I have no room to swing around. Stepping back should open up space to reorient.",
+        "I have pulled off the threshold, yet the open door leaf and the green case still crowd the narrow entry passage in front of me. Backing up once more should put the doorway behind me and give me a wider slot to turn in toward the room's sleeping side.",
+        "The wardrobe face now runs along my left and the entry door has receded ahead, but I am still inside the tight corridor between wardrobe and bathroom wall. A further step back should bring me to the wider part of the room where I can turn cleanly toward the lamp.",
+        "I now have clear floor around me, with the entry door still straight ahead and the bathroom opening to my right. The lamp I want stands on the nightstand back in the sleeping area, which lies behind that right-hand side. Turning right should begin swinging my heading off the entry and into the room.",
+        "The swing has brought the red case and the framed picture into the right of my view, so I am part way around but still facing the corridor toward the entry. The nightstand and its lamp lie further to that side. Another turn right should carry my heading deeper into the bedroom.",
+        "Swinging right has brought the far corner of the room into view, and I can now see the shaded lamp glowing on the nightstand at the right edge beside the paired red and blue suitcases. It is still too far off-center for a straight walk toward it. I will turn right again to bring that lamp nearer the middle of my view.",
+        "The lamp on the nightstand now sits in the right half of my view, with the bed's edge just showing beyond it. A little more rotation should place it straight ahead so I can walk directly at it. I will turn right once more to finish squaring up.",
+        "The nightstand and its lit lamp are now squarely ahead of me with the headboard and bed to the right, and the carpet between us is clear. Nothing blocks a direct walk, so I will step forward to close the distance to the lamp.",
+        "The lamp now fills much of my view, its shade and ribbed base clearly close, with the nightstand top just below it. A short step more should put me right at the bedside. I will walk forward again to finish closing in.",
+        "The bedside lamp stands directly before me at arm's length, filling my view beside the headboard. Both destinations are reached, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_b/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Approach the red suitcase, then move to the wooden wardrobe.",
+    "Type": 3,
+    "Start_Pose": [
+        -1060.34,
+        -332.448,
+        100.275,
+        0.0,
+        -13.44,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1060.34,
+            -332.448,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -1060.34,
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+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -1060.34,
+            -332.448,
+            100.275,
+            0.0,
+            -63.44,
+            0.0
+        ],
+        [
+            -1004.064,
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+            0.0,
+            -63.44,
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+        ],
+        [
+            -1004.064,
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+        ],
+        [
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+        ],
+        [
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+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -918.007,
+            -526.582,
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+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -794.701,
+            -501.361,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -794.701,
+            -501.361,
+            100.275,
+            0.0,
+            36.56,
+            -0.0
+        ],
+        [
+            -699.964,
+            -485.769,
+            100.275,
+            0.0,
+            36.56,
+            -0.0
+        ],
+        [
+            -699.964,
+            -485.769,
+            100.275,
+            0.0,
+            61.56,
+            -0.0
+        ],
+        [
+            -639.801,
+            -380.079,
+            100.275,
+            0.0,
+            61.56,
+            -0.0
+        ],
+        [
+            -639.801,
+            -380.079,
+            100.275,
+            0.0,
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+        ],
+        [
+            -639.801,
+            -380.079,
+            100.275,
+            0.0,
+            61.56,
+            -0.0
+        ],
+        [
+            -639.801,
+            -380.079,
+            100.275,
+            0.0,
+            36.56,
+            -0.0
+        ],
+        [
+            -639.801,
+            -380.079,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -639.801,
+            -380.079,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -639.801,
+            -380.079,
+            100.275,
+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -639.801,
+            -380.079,
+            100.275,
+            0.0,
+            -63.44,
+            0.0
+        ],
+        [
+            -592.993,
+            -492.714,
+            100.275,
+            0.0,
+            -63.44,
+            0.0
+        ],
+        [
+            -592.993,
+            -492.714,
+            100.275,
+            0.0,
+            -63.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The red suitcase stands far across the room against the wall past the bed, and the bed fills the whole direct line in front of me. I turn left toward the open carpet by the television wall, where a clear walking lane should let me work around toward it.",
+        "Now I face the television and the desk, with the bed's corner still crowding my left shoulder. A second left turn should square me with the free stretch of blue carpet running past the cabinet before I start walking.",
+        "The carpet ahead between the desk and the cabinet is unobstructed, with the wardrobe standing further along on the right. I will walk forward to cover this open stretch and shorten the distance to the far end of the room.",
+        "I have come up close to the desk and the television wall, so there is little room to keep walking straight. Turning right should swing my heading back along the length of the room, toward the far end where the suitcase sits.",
+        "The lane beside the television cabinet now runs straight ahead, past the wardrobe to the lit doorway at the far end. I will walk forward along it to close the remaining distance toward the wall where the luggage stands.",
+        "I am close in against the cabinet and the television, so my heading is skewed toward the blank wall. Turning right should bring the open floor past the wardrobe, and the far corner where the red suitcase sits, back in front of me.",
+        "The red suitcase has just appeared at the right edge of my view, standing against the wall beyond the doorway. Another right turn should place it squarely ahead so I can walk straight at it.",
+        "The red suitcase now stands ahead of me beside a blue one, against the wall under the framed picture. The carpet between us is clear, so I will walk forward to close on it.",
+        "The red hard-shell suitcase and its blue neighbour stand off to my right against the far wall, while my heading still points down the corridor toward the bathroom doorway. I will turn right to bring the red case onto my forward line before walking to it.",
+        "The red suitcase now sits ahead of me beside the blue one, next to the low chest with the lamp, with clear carpet between us. I will step forward to cut down that remaining gap.",
+        "Coming closer has pushed the red case toward the lower right of my view, slightly off my walking line. A short turn to the right should square me onto it so the next steps land me right beside it.",
+        "The red suitcase is close now, just ahead on my left with the blue one and the lamp chest beside it. I will walk forward once more to stand right at it.",
+        "I am so near the corner that my view is filled by the wall, the lamp and only the top edge of a case, so I cannot judge how the red suitcase sits relative to my feet. I will look down to bring it properly into view and confirm I am standing at it.",
+        "With my gaze lowered, the red suitcase fills the near corner of my view right beside my position, the blue case and lamp chest alongside it. I have reached the red suitcase, so I mark arriving here before setting off for the tall wooden wardrobe across the room.",
+        "Standing at the red case, I face into a tight corner of wall, chest and lamp, while the tall wooden wardrobe stands back along the wall behind my left shoulder. I will turn left to begin swinging my heading off this corner toward it.",
+        "One turn has only brought blank wall, light switches and a picture frame into view, so the wardrobe is still outside my heading. I will keep turning left to carry my facing further around toward it.",
+        "Facing this bare stretch of wall with light switches gives me nothing to steer by, though the open doorway and carpet edging at the left tell me the room continues that way. I will turn left again to swing my view toward the tall wooden wardrobe I am heading for.",
+        "The turn has opened up the entry area, with the green case beside the inner door and a pale wooden panel just entering the left edge of my view. That panel looks like the side of the wardrobe I want, so I will turn left once more to bring it into the middle of my view.",
+        "The wardrobe now fills the left half of my view, its tall wooden doors and pair of vertical handles clearly showing, but it still sits off to my side rather than ahead. I will turn left once more so that I face it squarely before closing in.",
+        "The wooden wardrobe is now centered in front of me, both doors and handles fully in view, with clear carpet between us. I will walk straight ahead to close the remaining gap and stand at it.",
+        "The wooden wardrobe's doors and handles fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_c/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Head toward the wall-mounted TV, then proceed to the brown door.",
+    "Type": 3,
+    "Start_Pose": [
+        -1060.34,
+        -332.448,
+        100.275,
+        0.0,
+        -13.44,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookUp",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1060.34,
+            -332.448,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -1060.34,
+            -332.448,
+            100.275,
+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -977.995,
+            -411.059,
+            100.275,
+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -982.968,
+            -447.959,
+            100.275,
+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -916.281,
+            -529.311,
+            100.275,
+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -916.281,
+            -529.311,
+            100.275,
+            0.0,
+            -63.44,
+            0.0
+        ],
+        [
+            -865.371,
+            -560.802,
+            100.275,
+            0.0,
+            -63.44,
+            0.0
+        ],
+        [
+            -865.371,
+            -560.802,
+            100.275,
+            0.0,
+            -63.44,
+            0.0
+        ],
+        [
+            -865.371,
+            -560.802,
+            100.275,
+            0.0,
+            -63.44,
+            0.0
+        ],
+        [
+            -865.371,
+            -560.802,
+            100.275,
+            0.0,
+            -38.44,
+            0.0
+        ],
+        [
+            -865.371,
+            -560.802,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -865.371,
+            -560.802,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -742.065,
+            -535.58,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -618.759,
+            -510.359,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -495.453,
+            -485.137,
+            100.275,
+            0.0,
+            11.56,
+            -0.0
+        ],
+        [
+            -495.453,
+            -485.137,
+            100.275,
+            0.0,
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+            0.0
+        ],
+        [
+            -373.041,
+            -514.39,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ],
+        [
+            -373.041,
+            -514.39,
+            100.275,
+            0.0,
+            -13.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The wall-mounted TV sits far to my left edge, almost clipped by the border of my view, while the bed fills the space ahead of me. I will turn left so the screen and the low wooden console beneath it come into the middle of my view. That should give me a clean line to walk along toward it.",
+        "The TV now hangs clearly in the left half of my view with open blue carpet running between me and the console wall. Nothing blocks that stretch, so I will walk forward to cut down the distance to the screen.",
+        "The screen has grown noticeably larger and the console below it now stretches along my left side, so I am closing in but still short of it. The floor ahead past the wardrobe remains clear. I will keep walking forward to draw nearer to the TV.",
+        "The TV dominates the left wall and the wardrobe edge is coming up on my right, yet I am still a few paces off from standing beneath the screen. The lane between the console and the wardrobe stays open. I will step forward again to close that remaining gap.",
+        "The TV is now very close but skewed hard to my left, with only its lower corner and the console filling that side of my view. Turning left should square me up with the screen so I can judge how much further I need to walk. That alignment matters before I commit to the last steps.",
+        "The screen now sits squarely in front of me above the wooden console, but there is still a short gap of floor before I am directly under it. I will walk forward to stand right at the TV.",
+        "I am close enough that only the bottom edge of the screen and the console top fill my view, so the TV itself is cut off above me. I will look up to bring the whole mounted screen into view and confirm I am standing right at it.",
+        "The whole wall-mounted screen now fills my view from just below it, its frame and lower bracket right above me. I have reached the TV. I mark reaching it and now set off for the brown door across the room.",
+        "The screen fills my view because I am standing right at the wall-mounted panel, so there is nothing more to gain facing it. My other destination, the brown door, lies back across the room to my right, past the wardrobe. I will turn right to swing my heading off this wall.",
+        "Turning has already brought the wardrobe and the lit opening beyond it into the right edge of my view, with the brown door faintly visible through it. My heading is still angled too far toward the blank wall and the shelf. Another right turn should bring that opening closer to center.",
+        "The corridor past the wardrobe is now open in front of me with the brown door showing at its end, but it still sits left of my centerline while the shelf edge crowds my left. One more right turn should square my body with the carpeted passage so I can walk it straight.",
+        "I now face down the open stretch of carpet, with the wardrobe on my left and the luggage and bathroom doorway on my right. The brown door stands at the far end of this route with nothing blocking the floor between us. I will walk forward to close that distance.",
+        "The last step brought the wardrobe doors alongside me and enlarged the brown door in the opening ahead. The floor between me and that opening is still clear apart from the green case tucked against the wardrobe. I will keep walking forward toward the door.",
+        "I am at the mouth of the entry alcove now, with the bathroom opening on my right and the room door swung back on my left. The brown door is clearly visible straight through the threshold, still a few paces off. Another step forward should bring me to that threshold.",
+        "I have reached the threshold, but my heading is skewed so the opening and the brown door beyond it sit toward my left while the wall and bathroom edge fill the right. Turning left should center that doorway and put the brown door directly ahead for a straight walk through.",
+        "The doorway is squarely in front of me now and the brown door stands plainly across the tiled landing beyond it. Nothing blocks the opening except the swung-back door panel at my left. I will step forward through it to close on the brown door.",
+        "The brown paneled door stands directly ahead of me, close across the red rug. The task is complete, so I stop here."
+    ]
+}