Add files using upload-large-folder tool

dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Walk to the base of the leftmost lamp post.",
+    "Type": 2,
+    "Start_Pose": [
+        -1034.125,
+        -4482.121,
+        98.275,
+        0.0,
+        65.28,
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+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "Two lamp posts stand in this yard, and the leftmost is the near one whose pole rises from a pale tapered concrete pedestal on the left side of the lane, while the other sits farther right with a lit yellow lamp. The lane between the container rows is open, so I walk forward toward that pedestal.",
+        "The pedestal lamp post on my left has grown slightly larger, confirming I am closing on it. Nothing blocks the snowy lane, so I keep walking forward.",
+        "The pedestal I am heading for now sits clearly left of my heading, but it is still well ahead of me. Since the ground between us is flat and clear, another step forward is the simplest way to shorten the gap before I adjust my direction.",
+        "The pale pedestal and its tall pole keep growing on the left as the container walls slide past me. The lane stays clear, so I continue advancing toward it.",
+        "The lamp post pedestal is noticeably closer and drifting toward the left edge of my view as I pass along the lane. I take one more step forward before correcting my heading toward it.",
+        "The pedestal I am walking to now sits well off to my left, so continuing straight would carry me past it. I turn left to bring its base back in front of me and line up a direct approach.",
+        "The turn has put the pale pedestal and its pole near the middle of my view, with the other lamp post and its lit lamp clearly off to my right. With open pavement between me and that base, I walk forward toward it.",
+        "The pedestal is squarely ahead and bigger than before, so my heading is good. I keep stepping forward to bring myself right up to its base.",
+        "The pale plinth sits dead center and taller than before, while the other lamp post's base has slipped away to the far right beside the container row, so there is no mixing them up. The apron in front of me is bare and level, so I walk on.",
+        "Only a short stretch of pavement now separates me from the concrete plinth, and its pole runs straight off the top of my view. Nothing sits between us, so I keep advancing.",
+        "I can now read the joint where the pole meets the tapered cap and the slab that the plinth rests on, yet a couple of paces of snow still lie between us. I step forward again to close that remainder.",
+        "The plinth now towers over most of my view, but its lower ledge still sits a stride ahead on the snow rather than right at my feet. One more step should bring me flush against the foot of it.",
+        "The concrete pedestal fills my view at arm's length with its footing directly below me. I am at the lamp post's base, so the task is complete."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Head toward the doors of the right-side white container.",
+    "Type": 2,
+    "Start_Pose": [
+        -1034.125,
+        -4482.121,
+        98.275,
+        0.0,
+        65.28,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            98.275,
+            0.0,
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+            -0.0
+        ],
+        [
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+            98.275,
+            0.0,
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+            -0.0
+        ],
+        [
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+            98.275,
+            0.0,
+            90.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Two white containers rest at ground level along this lane, one tucked against the wall on my left and one standing out on the right side; the right-hand one is my target. Its end faces down the open lane, so I will first step forward into that clear stretch before angling toward it.",
+        "I am aimed straight down the middle of the alley, while the white container I want sits off to my right beside the stacked rows. Turning right should swing that container toward the center of my view so I can walk a direct line to its door end.",
+        "The turn has placed the freestanding white container near the middle of my view, with its closed end squarely toward me. The lane between us is open snow, so I will walk forward on this heading to close the gap.",
+        "The white container is holding its place near the center of my view and has grown slightly larger, which tells me my heading is still true. I will keep walking forward toward its door end rather than adjusting.",
+        "The container's near end now fills more of the lane ahead and its corrugated face is resolving, so I am closing correctly. Another step forward should carry me nearer without needing any change of direction.",
+        "Tall white stacks now rise along the right wall behind my goal, but the one I am walking to is the single container sitting on the ground with its end squared to me. I will continue forward on the same line toward it.",
+        "The end facing me is now clearly a pair of door leaves with vertical hardware down them, confirming I am approaching the right face of this container. I will step forward again to keep shrinking the remaining distance.",
+        "The doors are directly ahead and their bars and stencilled markings are becoming legible, yet several strides of open snow still separate us. I will keep walking forward to bring myself up to the door end.",
+        "The two door leaves sit dead ahead with the lane between them and me still clear of snow ridges or obstacles. My heading needs no correction, so another stride forward should bring the door end appreciably closer.",
+        "Yellow and black corner striping and the small placard on the left leaf are now readable, so the gap has shrunk noticeably on the last stride. I will keep walking straight at the doors.",
+        "The stencilled unit code and capacity lines across the right leaf are legible now, and the doors occupy much of my view. Still a couple of strides short of standing at them, so I continue forward on the same line.",
+        "The door end now spans nearly the whole width ahead of me, with the locking bars and handles at arm's-reach scale. One more step should put me right up against the doors.",
+        "The corrugated door panel and its vertical rods now fill my view from edge to edge, so I am practically against the container. A short final step forward should settle me squarely at its doors.",
+        "I am pressed right up at the door end of the freestanding white container, its locking rod filling my view. The task is done, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_c/infos.json

@@ -0,0 +1,326 @@
+{
+    "Instruction": "Proceed to the base of the second lamp post ahead.",
+    "Type": 2,
+    "Start_Pose": [
+        -1034.125,
+        -4482.121,
+        98.275,
+        0.0,
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+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        ],
+        [
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+            0.0,
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+        ],
+        [
+            -408.689,
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+            98.275,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -356.056,
+            -1737.314,
+            98.275,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -303.424,
+            -1622.988,
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+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -250.792,
+            -1508.663,
+            98.275,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -198.16,
+            -1394.337,
+            98.275,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -145.527,
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+            98.275,
+            0.0,
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "Two lamp posts line this yard lane: the near one rises close on my left above a boxy concrete base, and well beyond it a second post carries a lit lamp head against the container stacks. That lit post is what I am going to, so I walk straight down the open lane toward it.",
+        "The lit lamp post I am heading for is still a long way down the lane, small against the stacked containers. The packed snow between the container rows is open and level, so another step forward should close distance without any need to change heading.",
+        "The near pole and its concrete base have grown noticeably on my left, which tells me I am gaining ground along this lane. My target lamp post with the lit head is still far ahead, so I continue walking straight.",
+        "The lit lamp post sits just left of center on my current heading and is slowly rising in view as I close in. The lane stays wide and clear of any obstruction, so I keep advancing without adjusting my direction yet.",
+        "The container walls on both sides are sliding past faster now, confirming steady progress along the lane. The lit lamp post is still some distance out, so I take another step forward toward it.",
+        "The near pole's base now looms large at my left, showing I am nearly level with it, while the lit lamp post I want remains well down the lane. Ground stays open ahead, so I keep walking straight.",
+        "My path is still a straight clear run between the container rows, with the lit lamp post standing ahead as the thing I am walking to. No turn is needed at this distance, so I advance again.",
+        "The near pole is drawing abreast at my left shoulder and starting to leave my view, so from here I simply follow the lit lamp post standing further down the lane. The way in front of me is still open, and I step forward again.",
+        "The near pole's base has slipped to the very edge of my left and is nearly out of my view, leaving the tall post with the glowing head down the lane as my only marker. The snow between the container walls stays open, so I walk on toward it.",
+        "Only a sliver of the near base remains at my left margin, while the lit post still stands well down the yard just right of my heading. Nothing blocks the lane, so I press forward to keep shrinking that gap.",
+        "Straight ahead my line now runs into the long container row on my left rather than open ground, and the passable stretch of yard lies off to my right. I swing right to pick up that open run, which should still carry me down toward the lit post.",
+        "The new heading gives me a straight corridor with container walls close on both sides and clean ground running between them. The lit post rises above the left wall further along that corridor, so I advance into it.",
+        "Several thin masts have appeared far off near the middle of the yard, but they are slender and unlit and nothing like the stout post with the burning lamp head above the left-hand wall. I keep to that post and step forward again.",
+        "The post is thickening against the stacks on my left and its lamp head is climbing toward the top of my view, a sign I am closing in. The lane between the walls stays clear, so I continue walking.",
+        "A pale boxy plinth is now readable at the foot of the post, further along on the left side of the lane, and that footing is exactly what I am walking to. Ground ahead remains open, so I take another step.",
+        "The post's base sits clearly ahead and slightly left, still a fair stretch of open yard away. Nothing stands between me and it, so I keep advancing along the lane.",
+        "The pale plinth holds its place slightly left of my heading and is growing steadily, so my line is still good. Snow-packed ground runs unbroken between the stacks toward it, and I step forward again.",
+        "The lamp head has risen out of the top of my view, so the boxy footing under the pole is what I steer by from here. It stands ahead and a touch left with nothing between us, and I keep advancing.",
+        "The corridor walls have fallen away behind me and the yard opens into a broader bay, with the footing still sitting a comfortable distance ahead on my left. Nothing crosses that stretch of ground, so I walk on.",
+        "The plinth is thickening in view and its shoulders are now clearly readable, so the gap is shrinking fast. I take another step across the open apron toward it.",
+        "Closing in, the footing has drifted further off to my left rather than staying on my line, since I am cutting slightly wide of it. There is still ground to cover before any correction matters, so I advance once more.",
+        "The pole's footing now sits well out on my left while my heading points past it into the open yard beyond. Holding this line would carry me by it, so I swing left to put the base back on my walking direction.",
+        "The new heading puts the plinth and its pole squarely in front of me with clean snow between us. That is the alignment I wanted, so I walk straight in toward the footing.",
+        "Pipework and a rail appear off to my left as the bay widens, but the footing stays centered on my path and is noticeably nearer. Nothing intrudes on that approach, so I keep walking toward it.",
+        "The pole and its pale footing stand just left of center with the tall stack rising behind them, and the apron between us is bare and unobstructed. A few more strides should bring me in close, so I keep walking.",
+        "The footing's beveled corners and the seam where the pole meets it are now distinct, which means the remaining gap is short. My heading still points at it, so I step ahead without adjusting.",
+        "The plinth now occupies a good part of the lower view and the pole climbs out of the top of my sight, so only a couple of strides separate us. Clean ground runs right up to it, and I advance again.",
+        "The base is close enough now that its stone face and the shallow channel down its front fill most of what is in front of me. One more step should put me right at its foot.",
+        "The plinth towers directly in front of me, its near corner almost within reach and the yard visible only past its edges. A final short step should set me at the footing itself.",
+        "The lamp post's stone footing fills my view at arm's length, so I am standing at its base. The task is done and nothing further is needed."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t5_a_p/infos.json

@@ -0,0 +1,354 @@
+{
+    "Instruction": "Pick up the green bell pepper at the base of the leftmost lamp post.",
+    "Type": 5,
+    "Start_Pose": [
+        -1034.125,
+        -4482.121,
+        98.275,
+        0,
+        65.28,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -211.411,
+        -3460.845,
+        28.369,
+        0.406,
+        130.206,
+        -73.014
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "TurnLeft",
+        "LookDown",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1034.125,
+            -4482.121,
+            98.275,
+            0,
+            65.28,
+            0
+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+            98.275,
+            0.0,
+            15.28,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -211.411,
+            -3460.845,
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+            0.406,
+            130.206,
+            -73.014
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+            0.406,
+            130.206,
+            -73.014
+        ],
+        [
+            -340.086,
+            -3451.003,
+            68.381,
+            -28.202,
+            65.425,
+            1.862
+        ],
+        [
+            -340.086,
+            -3451.003,
+            68.381,
+            -28.202,
+            65.425,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1311.4,
+        1189.8,
+        1069.1,
+        949.8,
+        832.4,
+        717.8,
+        607.8,
+        607.8,
+        483.0,
+        359.1,
+        237.1,
+        237.1,
+        123.2,
+        123.2,
+        123.2,
+        20.5,
+        20.5
+    ],
+    "Rationale": [
+        "I can already spot a small green pepper resting on the ground at the foot of the tall lamp post on the left side of the container yard. It is far down the lane, so I will walk forward along the open pavement to close that distance.",
+        "The pepper by the lamp post base has grown slightly larger and the lane ahead stays clear of obstacles. I will keep stepping forward to shorten the remaining distance before worrying about alignment.",
+        "The lamp post and the green pepper at its base sit ahead and slightly to my left, still well out of reach. Nothing blocks the pavement, so another forward step should continue closing on the target.",
+        "The pepper is clearly distinguishable now at the concrete base of the leftmost lamp post, but it remains several strides away. I will advance again rather than adjust heading, since the target stays comfortably within my forward view.",
+        "The lamp post base is much closer and the green pepper beside it is drifting toward the left edge of my view as I near it. It is still too distant to reach, so I will take another step forward before correcting my heading.",
+        "The green bell pepper is still sitting at the foot of the leftmost lamp post, now clearly bigger and off to my left in the open lane. Nothing blocks the packed snow between me and it, so I will keep walking forward to close the remaining gap.",
+        "The pepper has drifted well toward the left edge of my view while my heading still points down the container lane, so continuing straight would carry me past it. I will turn left to bring the lamp post base and the pepper back in front of me before advancing further.",
+        "After the turn, the lamp post and the green pepper at its base sit near the center of my view with clear ground in between. I will step forward along this corrected heading to shorten the distance toward the pepper.",
+        "The pepper is noticeably larger and holds steady just left of the lamp post base directly ahead of me. It is still too far to reach, so I will continue walking forward toward it.",
+        "The pepper now fills a good part of the lower left of my view beside the lamp post pedestal, but it still sits farther out than a comfortable grasp. I will take another step forward to bring it right up against my footing before attempting to pick it up.",
+        "The green bell pepper is clearly in front of me at the base of the leftmost lamp post, sitting low and slightly left in my view. It looks close enough that a grasp may already register, so I will attempt to pick it up from here rather than step nearer first.",
+        "My hands are empty, so the attempted grasp did not take the pepper. The reach evidently fell short, so I will step forward to close the remaining gap to the lamp post base before trying again.",
+        "I am now right at the lamp post pedestal, but the pepper has slipped out of my field of view past the left edge, leaving only the concrete base ahead. Turning left should swing my heading back onto the pepper so it sits in front of me for a reach.",
+        "The turn brought a sliver of the green pepper back into view, but it is cut off at the very bottom edge of my sight. I will look down so the pepper on the ground is fully framed in front of me and within comfortable reach.",
+        "The green bell pepper now fills the near foreground directly ahead on the ground beside the lamp post base, much closer than during my earlier unsuccessful reach. With it centered and within arm's length, I will attempt the grasp again.",
+        "The green bell pepper is now held in my hand rather than resting on the ground. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001086_y-002155_z000098_t0_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Walk to the tall metal lamp post near the containers.",
+    "Type": 0,
+    "Start_Pose": [
+        -1085.834,
+        -2155.458,
+        98.275,
+        0.0,
+        -24.0,
+        0.0
+    ],
+    "Action": [
+        "LookUp",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1085.834,
+            -2155.458,
+            98.275,
+            0.0,
+            -24.0,
+            0.0
+        ],
+        [
+            -1085.834,
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+            0.0,
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+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -970.856,
+            -2206.649,
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+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -888.285,
+            -2301.636,
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+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -805.714,
+            -2396.623,
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+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -723.143,
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+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -640.572,
+            -2586.597,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -558.001,
+            -2681.584,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -475.43,
+            -2776.571,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -392.859,
+            -2871.558,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -310.289,
+            -2966.545,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -227.718,
+            -3061.532,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -145.147,
+            -3156.519,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ],
+        [
+            -145.147,
+            -3156.519,
+            98.275,
+            0.0,
+            -49.0,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "A slender metal pole rises in front of the stacked shipping containers to the left of center, but my view is cut off before its top so I cannot confirm it is the lamp post. I will raise my gaze to bring the upper section and any light fittings into view and verify the target before committing to an approach.",
+        "With my gaze raised I can see the illuminated floodlight head on top of the tall pole, which confirms it as the lamp post standing beside the container stacks. The open, cracked yard ahead is clear, so I will step forward to begin closing the distance toward it.",
+        "The lamp post and its pale concrete base sit left of my heading, while the corrugated container wall directly ahead on the right would push me off course. Turning left should place the post near the center of my view and line me up with the open lane leading to it.",
+        "After the turn the lamp post stands close to the center of my view with clear open pavement between me and its base. I will walk forward along this lane to reduce the remaining distance.",
+        "The pole and its base look slightly larger and the container stacks on the left are drawing nearer, so my heading is holding on the target. I will continue straight ahead to keep closing the gap.",
+        "The lamp post remains dead ahead against the wall of stacked containers, and the ground in front of me is flat and unobstructed. Another forward step should bring me meaningfully closer without needing any turn.",
+        "The base of the post now reads clearly as a squat concrete block just ahead of the container stacks, so I am well inside the yard and still on line. I will keep advancing along the same heading.",
+        "The post's base is noticeably taller in my view and the corrugated wall on the right is passing by, showing steady progress toward the target. I will step forward again since I am not yet close enough to stop beside it.",
+        "The lamp post rises from its pale concrete base just left of the center of my view, with the stacked containers behind it and open pavement in between. My heading is still well aligned with that base, so I will step forward again to close the remaining gap.",
+        "The concrete base of the lamp post has grown noticeably larger and sits slightly left of my straight-ahead direction, confirming I am closing on it. The ground ahead is clear, so another forward step should shorten the distance further.",
+        "The lamp post base now stands out clearly in front of me and the container stack behind it fills much more of my view, so I still have some distance left to cover. I will continue forward along the same line toward the post.",
+        "The tall metal post and its blocky base are now close in front of me, though there is still a few steps of open ground before I am beside it. I will advance once more to reach a position right at the post.",
+        "The base of the lamp post now dominates the near part of my view and I am nearly touching distance from it. One more short step forward should place me directly beside the post next to the containers.",
+        "The tall metal lamp post's base is directly beside me at arm's length, with the container stacks adjacent. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Walk to the base of the blue container at bottom center.",
+    "Type": 2,
+    "Start_Pose": [
+        -1352.343,
+        -1727.432,
+        98.275,
+        0.0,
+        113.28,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1352.343,
+            -1727.432,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1402.086,
+            -1611.82,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1402.086,
+            -1611.82,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1496.028,
+            -1528.062,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1589.969,
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+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1683.911,
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+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1777.853,
+            -1276.788,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1871.795,
+            -1193.03,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1965.737,
+            -1109.272,
+            98.275,
+            0.0,
+            138.28,
+            -0.0
+        ],
+        [
+            -1965.737,
+            -1109.272,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -2015.48,
+            -993.66,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -2065.222,
+            -878.047,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -2114.965,
+            -762.435,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -2114.965,
+            -762.435,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Ahead of me the stack rises several tiers, and the container I want is the blue one resting directly on the ground in the middle of that stack, below the yellow and white boxes, not the blue ones stacked above. It is still far across the open concrete, so I will walk straight forward to close that gap.",
+        "From here my heading runs into the corner of the stack rather than along the ground-level blue container's front. Turning right should swing me toward the open apron beside the row, giving me a clear line to walk in on its face.",
+        "The turn has put the container wall on my left and the empty apron ahead, with the ground-level blue units visible along the bottom of the stack. Nothing blocks the pavement in front of me, so I will step forward to cut the remaining distance.",
+        "The blue boxes at the base of the stack are noticeably larger on my left, which tells me this heading is closing on them. I will keep walking forward along the open ground.",
+        "The lower blue row now spreads across most of my left side, with the orange and yellow tiers above it. I am still short of it, so another forward step is the direct way to keep closing.",
+        "Door hardware and stenciled markings on the ground-level blue containers are becoming readable, so I am getting close to their faces. I will continue forward across the remaining pavement.",
+        "The blue ground-level run ends at a pale grey container to my left front, which marks how far the blue stretches. Advancing again should bring me abreast of the blue faces rather than past them.",
+        "The blue wall on my left is close now, but my line of travel still carries me alongside it rather than up to it. One more forward step should bring me level with the ground-level blue container before I need to face it.",
+        "I am now level with the ground-level blue run, but its doors sit off to my left while my heading points down the empty apron. Turning left should square my body to the blue faces so I can walk straight in at their base.",
+        "The turn has set the blue doors squarely in front of me, with the pale grey unit marking the end of the run to the right. There is clear concrete between me and those doors, so I will step forward toward their base.",
+        "The lettering and lock bars on the blue doors have grown much larger, so this heading is taking me straight in. I am not yet close enough to stand at the container's base, so I keep walking.",
+        "The blue panel now fills nearly my whole view and the concrete strip at its foot is only a short stride away. One more step forward should put me right against the base of this ground-level blue container.",
+        "The blue container's stencilled panel fills my view at arm's length. I have reached its base, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Head toward the ground-level yellow container on the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -1352.343,
+        -1727.432,
+        98.275,
+        0.0,
+        113.28,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1352.343,
+            -1727.432,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1402.086,
+            -1611.82,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1451.828,
+            -1496.208,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1501.571,
+            -1380.596,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1551.313,
+            -1264.984,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1601.056,
+            -1149.371,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1601.056,
+            -1149.371,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1597.278,
+            -1023.569,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1593.501,
+            -897.767,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1589.723,
+            -771.965,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1589.723,
+            -771.965,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "In the stack ahead, the bottom row rests directly on the ground, and its left end is a yellow container standing beside the dark row of containers that runs off to my left. The yellow boxes higher in the stack sit above ground level, so that lower left one is my goal. I will walk straight ahead to close the open pavement between us.",
+        "The stack has grown larger in front of me and the yellow container sitting on the ground at the left of its bottom row is clearer now. Nothing blocks the paved lane between me and it. I will keep walking forward.",
+        "The yellow container resting on the ground is still ahead and slightly to my left, with open concrete in between. I am not yet close enough for a useful final heading correction. Another step forward should shorten the gap.",
+        "The doors of the ground-level yellow container now read clearly at the left side of my view, so my heading is still roughly good. The paved lane stays open right up to the stack face. I will advance again.",
+        "The yellow container on the ground has drifted toward the left edge as I close in, meaning my straight heading passes to its right. There is still distance to cover before any turn would be worth making. I will take one more step forward.",
+        "I am now close to the stack face, and the yellow container standing on the ground has slid to the far left of my view while blue units fill the center. Walking straight would carry me past it. Turning left should put its doors in front of me.",
+        "The turn brought the yellow container that rests on the pavement into the middle of my view, its doors squarely facing me. Only a short stretch of concrete remains before it. I will step forward to close that distance.",
+        "The yellow container's markings and door bars are large and centered, so I am nearly at it and still aimed correctly. A little pavement still separates me from its face. I will walk forward again.",
+        "The yellow doors now fill most of my view with their locking bars and placards legible, and only a thin strip of concrete shows at the base. I am close but not yet standing at the container face. One more step should bring me right up against it.",
+        "The ground-level yellow container's doors fill my view at arm's length, its handles and placards right in front of me. I have arrived, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_d/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Proceed to the leftmost ground-level gray container.",
+    "Type": 2,
+    "Start_Pose": [
+        -1352.343,
+        -1727.432,
+        98.275,
+        0.0,
+        113.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1352.343,
+            -1727.432,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1352.343,
+            -1727.432,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1348.565,
+            -1601.63,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1344.788,
+            -1475.827,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1341.01,
+            -1350.025,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1337.232,
+            -1224.223,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1337.232,
+            -1224.223,
+            98.275,
+            0.0,
+            63.28,
+            -0.0
+        ],
+        [
+            -1280.642,
+            -1111.804,
+            98.275,
+            0.0,
+            63.28,
+            -0.0
+        ],
+        [
+            -1224.052,
+            -999.385,
+            98.275,
+            0.0,
+            63.28,
+            -0.0
+        ],
+        [
+            -1167.462,
+            -886.966,
+            98.275,
+            0.0,
+            63.28,
+            -0.0
+        ],
+        [
+            -1110.872,
+            -774.546,
+            98.275,
+            0.0,
+            63.28,
+            -0.0
+        ],
+        [
+            -1110.872,
+            -774.546,
+            98.275,
+            0.0,
+            63.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Scanning the yard, the ground-level gray boxes run off to my left, and the last one in that run sits deepest on the left side beneath a stack of colored boxes, so that gray one is my target. It lies well outside my current heading, near the left edge of what I can see. I will turn left to bring that side of the yard in front of me.",
+        "The turn opened the left half of the yard, and the gray container with its dark side facing me now stands ahead in the middle of the lane, with clear pavement between us. Nothing blocks the ground between here and it. I will walk forward to close that distance.",
+        "The gray container has grown noticeably larger and its ribbed flank is now readable, confirming I am closing on the right one. The corridor between the yellow-topped stacks on my right and the wall of boxes on my left stays clear. I will keep walking forward.",
+        "The gray container sits slightly left of my heading and is still some distance off, its long dark side stretching away down the lane. The ground in front of me remains open. Another step forward should keep shrinking the gap before I need to correct my heading.",
+        "The gray box is clearly nearer now, its end doors and corner casting visible against the darker flank behind. It still hangs left of my center, but there is useful straight distance to cover first. I will advance again.",
+        "Closing in has pushed the gray container further toward the left edge of my view, so walking straight would carry me past its side rather than up to it. I need my heading swung onto it before the next steps. I will turn left to place it in front of me.",
+        "The turn put the gray container squarely ahead, its doored end and long dark flank filling the middle of my view with open pavement leading to it. My heading is now good enough to travel straight in. I will step forward toward it.",
+        "The gray container's doors and stencilled markings are now legible dead ahead, so I am well aligned but not yet beside it. A little more ground remains before I would count as standing at it. I will keep walking forward.",
+        "The gray container's doored end now fills most of my view, its serial line and weight block sharp under the yellow box stacked above it. A short stretch of pavement still separates me from its corner posts. I will step forward to draw right up to it.",
+        "I am nearly against the gray container now, with its corner casting and door hardware close enough to read plate by plate. Only a last stride of ground lies between my feet and its end wall. One more step forward should put me at it.",
+        "The gray container's door panel fills my view at arm's length, its markings readable up close. I have arrived at it, so the task is done and I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t5_a_p/infos.json

@@ -0,0 +1,240 @@
+{
+    "Instruction": "Lift the plate at the base of the ground-level yellow container on the left.",
+    "Type": 5,
+    "Start_Pose": [
+        -1352.343,
+        -1727.432,
+        98.275,
+        0,
+        113.28,
+        0
+    ],
+    "PD_ID": 16,
+    "PD_Size": 3.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -1517.478,
+        -697.14,
+        48.275,
+        90,
+        -90,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1352.343,
+            -1727.432,
+            98.275,
+            0,
+            113.28,
+            0
+        ],
+        [
+            -1402.086,
+            -1611.82,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1451.828,
+            -1496.208,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1501.571,
+            -1380.596,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1551.313,
+            -1264.984,
+            98.275,
+            0.0,
+            113.28,
+            -0.0
+        ],
+        [
+            -1551.313,
+            -1264.984,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1547.536,
+            -1139.181,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1543.758,
+            -1013.379,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1539.98,
+            -887.577,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1539.98,
+            -887.577,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ],
+        [
+            -1539.98,
+            -887.577,
+            98.275,
+            0.0,
+            88.28,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1517.478,
+            -697.14,
+            48.275,
+            90.0,
+            -90.0,
+            0.0
+        ],
+        [
+            -1561.343,
+            -887.546,
+            68.381,
+            -28.202,
+            138.424,
+            1.862
+        ],
+        [
+            -1561.343,
+            -887.546,
+            68.381,
+            -28.202,
+            138.424,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1043.4,
+        921.9,
+        801.8,
+        683.6,
+        568.9,
+        568.9,
+        443.1,
+        317.3,
+        191.8,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The white plate is resting on edge against the base of the stacked containers ahead, well beyond arm's reach across the open yard. Nothing blocks the paved ground between us, so I will walk straight forward to close that distance.",
+        "The plate at the foot of the container stack has grown slightly larger and the yard ahead is still clear. I am far from grasping range, so I keep walking straight toward it.",
+        "The container wall and the plate leaning at its base now fill more of my view, but the plate is still several strides away. I continue advancing on this clear stretch of pavement rather than adjusting heading yet.",
+        "The plate sits low against the ground-level container and remains too far for a grasp, drifting toward the left side of my view as I close in. One more forward step keeps shrinking the gap before I refine my heading.",
+        "The plate now sits clearly to the left of my heading, so walking straight would carry me past it along the container face. I will turn left to put the plate in front of me before continuing.",
+        "After the turn the plate sits near the center of my view at the base of the yellow ground-level container, with the open lane running straight to it. I will step forward along this corrected heading to close the remaining gap.",
+        "The plate is noticeably larger and still squarely ahead of me against the yellow container doors, yet not close enough to reach. I keep walking forward down the lane without changing heading.",
+        "The plate now dominates the lower center of my view, leaning against the base of the yellow container, but it still looks a stride short of grasping range. One more forward step should bring it within reach for a pick.",
+        "The white plate now fills the lower part of my view, resting on the ground right against the base of the yellow ground-level container on my left side. I am close enough that no further stepping is needed, so I will attempt the Pick to lift it. My hands are still empty, so this grasp should secure the plate.",
+        "The plate is now held in my hands, lifted clear of the ground. The task condition is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Walk to the white container end, then head toward the concrete pillar.",
+    "Type": 3,
+    "Start_Pose": [
+        -1833.508,
+        3141.827,
+        98.275,
+        0,
+        140.16,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1833.508,
+            3141.827,
+            98.275,
+            0,
+            140.16,
+            0
+        ],
+        [
+            -1930.147,
+            3222.458,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2026.786,
+            3303.089,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2123.425,
+            3383.72,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2220.065,
+            3464.351,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2220.065,
+            3464.351,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2341.726,
+            3496.586,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2463.387,
+            3528.821,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2463.387,
+            3528.821,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2560.026,
+            3609.452,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2560.026,
+            3609.452,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2560.026,
+            3609.452,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2560.026,
+            3609.452,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2560.026,
+            3609.452,
+            98.275,
+            0.0,
+            -144.84,
+            0.0
+        ],
+        [
+            -2560.026,
+            3609.452,
+            98.275,
+            0.0,
+            -119.84,
+            0.0
+        ],
+        [
+            -2622.651,
+            3500.28,
+            98.275,
+            0.0,
+            -119.84,
+            0.0
+        ],
+        [
+            -2685.275,
+            3391.108,
+            98.275,
+            0.0,
+            -119.84,
+            0.0
+        ],
+        [
+            -2685.275,
+            3391.108,
+            98.275,
+            0.0,
+            -94.84,
+            0.0
+        ],
+        [
+            -2685.275,
+            3391.108,
+            98.275,
+            0.0,
+            -94.84,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The stacked container row runs away from me on my left, and the white one sits at the far end of that row past the yellow units. I will walk forward along the open lane beside the stacks to close that distance.",
+        "The yellow and white units at the end of the row have grown larger, so my heading down this lane is good. I will keep walking forward toward that white container.",
+        "The white container is now clearly distinguishable beside the yellow pair and still some distance ahead on my left. Continuing straight along the paved lane should bring me alongside it.",
+        "The container wall now fills much of my left side and the white unit sits just beyond the yellow doors. Another step forward should put me nearly level with it.",
+        "I am hugging the container wall so closely that my path is skimming its face rather than running parallel to it. I will turn right to swing my heading back into the open lane and keep the white unit ahead on my left.",
+        "With my heading opened back into the lane, the white container now stands just ahead on my left past the yellow one. I will step forward along the clear pavement toward its end.",
+        "The white unit is close on my left and I am not yet level with its far end. I will keep advancing to reach that end of it.",
+        "I am nearly abreast of the white container but my heading has drifted out into the open apron, angling me away from it. I will turn left to face back along its side so I can walk up to its end.",
+        "The pale corrugated wall on my left is now aligned with my path, and its far corner is only a short stretch ahead where the open apron begins. I will walk forward along it to reach that end of the white container.",
+        "The white container's ribbed wall breaks off right beside me at its corner post, with the open quay and rails spreading out past it. I am standing at the end of the white container. I mark reaching it before setting off toward the squat concrete pillar out on the apron.",
+        "The white steel flank still fills nearly all of my view, and the concrete pillar is nowhere in it. I will turn right to swing my heading off this wall and toward the open apron where that pillar should stand.",
+        "Turning has opened up the quay with the crane legs and the blue hull, but the concrete pillar has still not entered my view. I will keep turning right to continue sweeping across the open ground.",
+        "The container edge has slid to my far left and the whole rail apron lies before me, yet the pillar is still outside my view further right. Another right turn should bring that stretch of yard in front of me.",
+        "The squat concrete pillar has appeared at the right side of my view, planted on the pavement in front of the container stacks. I will turn right once more to bring it square in front of me before walking to it.",
+        "The concrete pillar now stands centered ahead of me on open, cracked pavement with nothing between us. I will walk straight forward to close the distance to it.",
+        "The pillar has grown much larger and sits just right of my heading, still a couple of paces off across clear ground. I will step forward again to draw right up beside it.",
+        "The concrete pillar now fills the right half of my view from very close range, sitting off my current heading rather than in front of me. I will turn right so the pillar is squarely centered before me, confirming I have closed the distance to it.",
+        "The concrete pillar stands directly centered and within arm's reach ahead of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_c/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Head toward the blue stacked container, then reach the concrete pillar.",
+    "Type": 3,
+    "Start_Pose": [
+        -1833.508,
+        3141.827,
+        98.275,
+        0.0,
+        140.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1833.508,
+            3141.827,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -1930.147,
+            3222.458,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2026.786,
+            3303.089,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2026.786,
+            3303.089,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2080.295,
+            3417.007,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2133.804,
+            3530.925,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2187.312,
+            3644.843,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2187.312,
+            3644.843,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2148.029,
+            3561.21,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2148.029,
+            3561.21,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2148.029,
+            3561.21,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2148.029,
+            3561.21,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2148.029,
+            3561.21,
+            98.275,
+            0.0,
+            -144.84,
+            0.0
+        ],
+        [
+            -2250.924,
+            3488.732,
+            98.275,
+            0.0,
+            -144.84,
+            0.0
+        ],
+        [
+            -2353.82,
+            3416.255,
+            98.275,
+            0.0,
+            -144.84,
+            0.0
+        ],
+        [
+            -2456.716,
+            3343.777,
+            98.275,
+            0.0,
+            -144.84,
+            0.0
+        ],
+        [
+            -2559.611,
+            3271.3,
+            98.275,
+            0.0,
+            -144.84,
+            0.0
+        ],
+        [
+            -2559.611,
+            3271.3,
+            98.275,
+            0.0,
+            -144.84,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The tall stack of blue containers rises along the left side of the yard, and the concrete pillar stands out on the open pavement to my right. The lane ahead is clear asphalt, so I will walk forward to close the gap toward the blue stack first.",
+        "The blue container stack has grown larger and its lower doors are now clearly resolved on my left, confirming my heading is closing on it. Nothing blocks the pavement in front of me, so I will step forward again.",
+        "The blue stack now sits off to my left while my body still points down the lane past it, so walking straight would slide by its face. I will turn left to put the blue containers squarely in front of me before advancing.",
+        "The turn has swung the blue container wall across the middle of my view, with the yellow and grey boxes trailing off to the right. With the stack lined up ahead, I will walk forward to close on it.",
+        "The blue doors and their locking bars now dominate the frame and the ground strip at their base is only a short walk away. I will keep stepping forward to bring myself right up to the blue stack.",
+        "The blue panels are close enough that I can pick out weld seams and rust marks, with only a thin sliver of pavement left at the bottom edge. One more step forward should put me right at the face of the blue stack.",
+        "The blue steel panel and its corner post fill my entire view, so near that nothing else remains visible. I have arrived at the blue stacked container. I mark reaching it before setting off for the concrete pillar out on the open apron.",
+        "Pressed this close against the blue steel, I can see nothing of the yard and have no room to swing around toward the concrete pillar. I will back up a step to open clearance and bring the open apron into view again.",
+        "The blue stacked containers fill my view at close range, so nothing ahead helps me any more. The concrete pillar stands out in the open apron away from this wall, so I will turn right to begin sweeping my heading off the container faces toward that open ground.",
+        "Swinging right has already opened a strip of pavement and the teal hull beyond the container row at the edge of my view. The pillar is still outside my field, so I will keep turning right to bring the open yard fully in front of me.",
+        "More of the open lane and the stacked rows across the yard are now in view, with the containers sliding to my left. The pale concrete pillar is still not centered, so another right turn should bring it into my forward field.",
+        "The squat concrete pillar is now visible on the apron ahead, but it sits right of my heading rather than in front of me. One more right turn should place it near the middle of my view so I can walk straight at it.",
+        "The concrete pillar now sits near the middle of my view with clear apron between us. With my heading settled on it, I will walk forward to close the gap.",
+        "The pillar has grown noticeably larger and stays just left of my centerline, so my line is good. I will step forward again to keep closing on it.",
+        "The pillar's base and cracked concrete around it are clearly resolved now, but it is still several strides off. Another forward step should bring me close enough to stand right beside it.",
+        "The concrete pillar now towers close in front of me, its marbled surface filling much of my view. One more step forward should put me right at it.",
+        "The concrete pillar fills the near left of my view, close enough to touch. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_e/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Move to the concrete pillar, then approach the white container end beside the yellow container.",
+    "Type": 3,
+    "Start_Pose": [
+        -1833.508,
+        3141.827,
+        98.275,
+        0.0,
+        140.16,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1833.508,
+            3141.827,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -1833.508,
+            3141.827,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -1955.169,
+            3174.062,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2076.83,
+            3206.297,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2198.491,
+            3238.532,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2320.152,
+            3270.767,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2320.152,
+            3270.767,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2444.037,
+            3248.566,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2567.923,
+            3226.365,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2567.923,
+            3226.365,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2567.923,
+            3226.365,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2567.923,
+            3226.365,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2567.923,
+            3226.365,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2567.923,
+            3226.365,
+            98.275,
+            0.0,
+            90.16,
+            -0.0
+        ],
+        [
+            -2568.274,
+            3352.223,
+            98.275,
+            0.0,
+            90.16,
+            -0.0
+        ],
+        [
+            -2568.626,
+            3478.082,
+            98.275,
+            0.0,
+            90.16,
+            -0.0
+        ],
+        [
+            -2568.626,
+            3478.082,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2622.134,
+            3592.0,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ],
+        [
+            -2622.134,
+            3592.0,
+            98.275,
+            0.0,
+            115.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The squat concrete pillar stands far over on the right edge of my view, close to the yard's open lane, while stacked containers block the way straight ahead. I will turn right so the pillar sits ahead of me and the open pavement opens up for a direct walk.",
+        "The concrete pillar now stands near the middle of my view with clear cracked pavement between it and me. I will walk forward along that open ground to close the distance.",
+        "The pillar has grown noticeably larger and still sits just right of my heading, so my line of travel is good. The ground ahead is empty apron, so I will keep walking toward it.",
+        "The pillar keeps filling more of my view as the blue hull and gantry legs behind it spread wider, confirming I am steadily closing in. I will take another step forward across the open concrete.",
+        "The pillar is now close enough that its ribbed faces and base plate are distinct, but it still sits a few paces off. I will advance again to bring myself right up beside it.",
+        "At this range the pillar has slid toward the right side of my view and my heading points past it into the empty lane. I will turn right to put the pillar squarely in front of me before stepping closer.",
+        "The concrete pillar is centered ahead of me now, with only a short stretch of pavement remaining. I will walk forward to close that last gap.",
+        "The pillar now towers directly ahead and fills much of my view, yet I am still a step short of standing at it. I will move forward once more to reach its base.",
+        "The grey concrete pillar now fills my view from close range, its ribbed faces just ahead of me with the quay and cranes split to either side. I have reached the pillar. I mark reaching it and now set off for the white container end beside the yellow container.",
+        "The pillar blocks almost everything in front of me, so there is nothing useful to read on this heading. The stacked containers I now want lie back over my left shoulder, so I will turn left to start swinging my heading away from the pillar toward them.",
+        "The pillar has slid to my right and I am looking out across the rails at the gantry legs and the blue hull, with no container stack yet in front of me. I will keep turning left to bring the yellow and white containers into view.",
+        "A pale container end has appeared at the far left of my view while the rails and red gantry still dominate the centre. Another left turn should bring that stack closer to the middle of my heading so I can walk straight at it.",
+        "The yellow container and the pale one next to it are now on my left, seen at a sharp angle with the quay rails still filling the right side. One more left turn should square me up with their door ends before I close the distance.",
+        "The yellow container and the white one beside it now sit squarely ahead of me, but they are still a good stretch of open concrete away. I will walk forward to close that gap.",
+        "The paired doors have grown to fill most of my view, yet I am still standing back from them with clear ground underfoot. Another step forward should bring me right up against the white container end beside the yellow one.",
+        "From this close range the yellow container takes up the left of my view and the white one sits off to the right, so my heading is biased onto the wrong box. I will turn right to put the white container end squarely in front of me.",
+        "The white container's door end now fills the view straight ahead, with the yellow container's edge just at my left shoulder. A short gap of open pavement still separates me from its doors, so I will step forward to close on that end.",
+        "The white container's door end fills my view at arm's length, right beside the yellow container. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t5_a_pd/infos.json

@@ -0,0 +1,278 @@
+{
+    "Instruction": "Grab the metal bucket beside the yellow shipping container, then set it down by the concrete pillar.",
+    "Type": 5,
+    "Start_Pose": [
+        -1833.508,
+        3141.827,
+        98.275,
+        0,
+        140.16,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -2200.833,
+        3560.13,
+        18.275,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1833.508,
+            3141.827,
+            98.275,
+            0,
+            140.16,
+            0
+        ],
+        [
+            -1930.147,
+            3222.458,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2026.786,
+            3303.089,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2123.425,
+            3383.72,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2123.425,
+            3383.72,
+            98.275,
+            0.0,
+            140.16,
+            -0.0
+        ],
+        [
+            -2123.425,
+            3383.72,
+            98.275,
+            0.0,
+            165.16,
+            -0.0
+        ],
+        [
+            -2123.425,
+            3383.72,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2247.311,
+            3361.519,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2371.196,
+            3339.319,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2495.082,
+            3317.118,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2618.967,
+            3294.917,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2548.096,
+            3307.618,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2548.096,
+            3307.618,
+            98.275,
+            0.0,
+            -169.84,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -2200.833,
+            3560.13,
+            18.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2200.833,
+            3560.13,
+            18.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2200.833,
+            3560.13,
+            18.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2200.833,
+            3560.13,
+            18.275,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2136.637,
+            3366.933,
+            68.381,
+            -28.202,
+            -169.696,
+            1.862
+        ],
+        [
+            -2128.544,
+            3361.994,
+            68.654,
+            -28.189,
+            -144.683,
+            1.872
+        ],
+        [
+            -2119.603,
+            3361.523,
+            67.987,
+            -28.215,
+            -119.713,
+            1.849
+        ],
+        [
+            -2243.257,
+            3340.55,
+            67.8,
+            -28.202,
+            -119.699,
+            1.858
+        ],
+        [
+            -2366.992,
+            3318.378,
+            68.062,
+            -28.208,
+            -119.699,
+            1.852
+        ],
+        [
+            -2490.622,
+            3296.215,
+            68.484,
+            -28.189,
+            -119.682,
+            1.867
+        ],
+        [
+            -2614.237,
+            3274.075,
+            68.865,
+            -28.207,
+            -119.706,
+            1.857
+        ],
+        [
+            -2616.998,
+            3295.27,
+            58.275,
+            0.0,
+            -169.84,
+            0.0
+        ],
+        [
+            -2616.998,
+            3295.27,
+            58.275,
+            0.0,
+            -169.84,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        556.7,
+        432.8,
+        310.4,
+        192.6,
+        21.4,
+        22.3,
+        22.5,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The metal bucket sits well ahead of me on the ground beside the yellow container in the stacked row to my left. It is far too distant to grasp from here, so I will walk straight forward to close that gap.",
+        "The bucket has grown larger and stays near the center-left of my view, so my heading is already good. I still need several strides before it is within arm's reach, so I keep walking forward.",
+        "The bucket is now close on my left front, but it is still a step or two beyond a comfortable grasp. One more forward stride should bring me right up beside it before I try to lift it.",
+        "The metal bucket now fills the near lower-left of my view, close enough that I am standing right beside it. Nothing blocks access to its rim, so I will attempt to grab it now.",
+        "The grab worked, since the bucket is now in my hands rather than resting on the ground where it stood. The concrete pillar where it must go lies off to my right, so I will turn right to bring it into view.",
+        "The turn has swung the open yard into view and the concrete pillar now shows on the right side of my view. I need a further turn right to put it directly ahead before carrying the bucket over.",
+        "The concrete pillar now stands squarely ahead of me with clear pavement between us. Carrying the bucket, I will walk forward along this heading to close the distance to the drop-off spot.",
+        "The pillar has grown noticeably and remains centered, confirming I am closing on it with the bucket still in hand. It is not yet near enough to set the bucket down beside it, so I continue forward.",
+        "The bucket is in my hands and the concrete pillar stands squarely ahead of me, still a few paces off across the open apron. My heading is already lined up on it, so I will keep walking straight to close that remaining gap before setting the bucket down.",
+        "The pillar now fills much of my view, but its base is still slightly beyond comfortable placing distance. One more step forward should bring me right up against it so the bucket can be set down beside it rather than out in the open lane.",
+        "The pillar's stone face is now immediately beside me, filling the right side of my view at arm's length. This is as close to its base as I can stand while still carrying the bucket, so I will release it here and it should come to rest against the pillar.",
+        "The metal bucket now rests on the pavement right beside the concrete pillar, no longer in my hands. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002316_y-001294_z000098_t0_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Walk to the base of the tall floodlight pole.",
+    "Type": 0,
+    "Start_Pose": [
+        -2315.86,
+        -1293.777,
+        98.275,
+        0.0,
+        21.12,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2315.86,
+            -1293.777,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -2198.455,
+            -1248.427,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -2081.051,
+            -1203.077,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -1963.646,
+            -1157.727,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -1846.241,
+            -1112.378,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -1728.836,
+            -1067.028,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -1611.431,
+            -1021.678,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -1611.431,
+            -1021.678,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -1485.861,
+            -1030.195,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -1360.29,
+            -1038.711,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -1234.72,
+            -1047.228,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -1109.149,
+            -1055.744,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -983.579,
+            -1064.261,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -858.008,
+            -1072.777,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -732.438,
+            -1081.294,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -606.867,
+            -1089.81,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -481.297,
+            -1098.327,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -355.726,
+            -1106.843,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -230.156,
+            -1115.36,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ],
+        [
+            -230.156,
+            -1115.36,
+            98.275,
+            0.0,
+            -3.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The tall floodlight pole with its lit lamp head stands ahead in the open yard, slightly left of my center, with clear paved ground between me and it. Nothing blocks the lane, so I will step forward along the open surface to begin closing the gap toward its base.",
+        "The pole now appears taller in my view, which tells me my previous step brought me closer to it. The route between the container stacks remains clear, so I will continue advancing straight ahead.",
+        "The pole's lamp head has risen out of the top of my view while its shaft stays a bit left of center, so I am still well short of its base. The pavement in front of me is unobstructed, so I will keep walking forward.",
+        "The concrete footing at the bottom of the pole is now clearly visible across the yard, which is the part of the target I need to reach. The stacked containers stay to my right and leave the lane open, so I will advance again.",
+        "The yellow and grey containers on my right are passing closer, confirming steady forward progress, while the pole base sits ahead and off to my left. There is still a good stretch of pavement to cover, so I will take another step forward.",
+        "The pole is drifting further toward the left edge of my view as I pass the container stack on my right, so I am closing distance but not perfectly aimed. I will move forward once more before correcting my heading.",
+        "The floodlight pole and its footing now sit noticeably to the left of my heading, so continuing straight would carry me past it. I will turn left to swing my facing onto the pole base so the remaining approach can be a straight walk.",
+        "After the turn, the pole rises through the middle of my view with its footing squarely centered on the lane ahead. With my heading now aligned and the pavement clear, I will step forward to close the remaining distance.",
+        "The floodlight pole stands almost dead ahead, its slim shaft rising between the white container stacks with the pale base still some distance down the lane. The paved corridor in front of me looks flat and unobstructed, so I will keep walking straight to close that gap.",
+        "The pole base has grown slightly and remains centered ahead, confirming my heading down this lane is good. Nothing blocks the ground between me and it, so another forward step should reduce the remaining distance.",
+        "The tall shaft now runs from the top of my view down to a widening pale plinth straight ahead, so no heading correction is needed. I will advance again along the open corridor toward that base.",
+        "I can now make out the tapered concrete foot of the pole with its ribbed corners, still roughly mid-lane ahead of me. Since it sits squarely in front, walking forward is the most direct way to keep closing in.",
+        "The plinth is clearly larger and its shadow stretches across the pavement toward me, so I am steadily gaining ground. I remain aligned with it and the yard floor is even, so I will step forward once more.",
+        "The concrete base now reads as a solid block roughly a short walk ahead, still centered between the container walls on either side. There is still open space before it, so I will continue advancing rather than stopping early.",
+        "The pole's foot now fills much of the lower center of my view and its edges are sharply detailed, meaning I am quite close. A couple more steps should bring me right up against the base, so I keep moving straight ahead.",
+        "The tapered concrete plinth is directly in front of me and its ribbed buttresses are clearly separated, so only a short remaining gap keeps me from standing at the base. I will take another step forward to close that last bit of distance.",
+        "The concrete base of the floodlight pole now stands directly ahead in the center of my view, with the shaft rising past the top and clear open ground between us. A short gap remains before I am actually at the base, so I will step forward again to close it.",
+        "The pole base now dominates the center of my view and its footing plate is clearly visible on the ground just ahead, so I am nearly touching distance. One more forward step should place me right at the base rather than a stride short of it.",
+        "The floodlight pole's concrete base fills the near view directly in front of me at arm's length. The task is complete, so I stop here at the base."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002316_y-001294_z000098_t0_b/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Head toward the ground-level yellow container.",
+    "Type": 0,
+    "Start_Pose": [
+        -2315.86,
+        -1293.777,
+        98.275,
+        0.0,
+        21.12,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2315.86,
+            -1293.777,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -2198.455,
+            -1248.427,
+            98.275,
+            0.0,
+            21.12,
+            -0.0
+        ],
+        [
+            -2198.455,
+            -1248.427,
+            98.275,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -2111.216,
+            -1157.709,
+            98.275,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -2023.977,
+            -1066.991,
+            98.275,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -1936.738,
+            -976.272,
+            98.275,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -1849.499,
+            -885.554,
+            98.275,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -1762.259,
+            -794.836,
+            98.275,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -1675.02,
+            -704.117,
+            98.275,
+            0.0,
+            46.12,
+            -0.0
+        ],
+        [
+            -1675.02,
+            -704.117,
+            98.275,
+            0.0,
+            46.12,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Scanning the yard from my starting spot, I can see a yellow container sitting at ground level in the tall stack to my right, with open pavement between me and it. I will step forward along the open lane to close some of that gap before committing to a heading change.",
+        "The ground-level yellow container is off to my right side rather than straight ahead, so walking forward now would carry me past it down the lane. I will turn right to bring that yellow container closer to the center of my view and line up my heading with it.",
+        "After the turn, the stack holding the yellow container now fills the right side of my view and the ground-level yellow unit is ahead of me along the corridor. The pavement in front is clear, so I will advance to shorten the distance.",
+        "The yellow container at ground level has grown larger and its door hardware is becoming readable, which tells me my heading is good. I will keep walking forward along this open corridor to continue closing on it.",
+        "I am still a few strides short of the yellow container, whose lower doors and markings sit ahead and slightly to my right. Nothing blocks the ground in front of me, so I will take another step forward.",
+        "The yellow panels at ground level are now clearly resolved with lettering visible, but I am not yet standing beside them. I will advance again to bring myself right up to that container.",
+        "The ground-level yellow container now dominates the right half of my view with its door bars and capacity stencils plainly readable. I will step forward once more to stand directly alongside it.",
+        "I am nearly at the yellow container's door face, with its bars and lettering filling most of what I see. One more forward step should place me immediately at the container so I can consider the approach complete.",
+        "The ground-level yellow container's doors and locking rods fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_a/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Walk to the ground-level white container door, then approach the yellow container's ground-level door.",
+    "Type": 3,
+    "Start_Pose": [
+        -2371.4,
+        609.374,
+        98.275,
+        0.0,
+        104.64,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2371.4,
+            609.374,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2403.21,
+            731.147,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2435.02,
+            852.919,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2466.831,
+            974.692,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2498.641,
+            1096.465,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2530.451,
+            1218.238,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2562.261,
+            1340.01,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2594.071,
+            1461.783,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2625.882,
+            1583.556,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2625.882,
+            1583.556,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2477.082,
+            1504.337,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2351.635,
+            1514.519,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2226.188,
+            1524.7,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2100.742,
+            1534.881,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2100.742,
+            1534.881,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -1991.352,
+            1597.125,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -1991.352,
+            1597.125,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Ahead on the left side of the yard I can see the stack of containers, and the white one at ground level stands at the near end of that row with its door panels facing me. It is still far off across the open pavement, so I will walk straight forward to close the gap.",
+        "The white container's door face has grown slightly larger and is holding near the middle-left of my view, so my heading is good. Nothing blocks the pavement between me and it, so I will keep walking forward.",
+        "The white container at ground level now fills more of my view and its vertical door seams are clearer, confirming I am closing on the right unit. The crane rail and its yellow carriages stay well off to my right, out of my path, so I will continue straight ahead.",
+        "The white container's ground-level doors are now the largest thing in front of me and the marking panels are starting to be legible. I am still several strides short of standing at the doors, so I will step forward again.",
+        "I can now read the stencilled codes on the white container's lower doors, so I am close and still aimed at the correct panel. A bit more distance remains before I am standing right at that door, so I will keep advancing.",
+        "The white container's ground-level doors, with their locking bars and yellow corner markings, now stand squarely in front of me at close range. The ground at their base is still ahead of my feet, so I will walk forward again to reach the door itself.",
+        "The white door panels now fill nearly my whole view and I can make out individual weld seams and hardware. I want to be right up against this ground-level door before I count it as reached, so I will take another step forward.",
+        "I am nearly touching the white container's lower doors, with the bars and stencilled capacity marks close in front of me. One more short step should put me directly at this ground-level door before I turn my attention to the yellow container.",
+        "The white container's ground-level door fills my view, its locking bars and stencilled markings right in front of me at arm's length. I am standing at that white door, so I mark reaching it here. Now I need to find and approach the yellow container's ground-level door.",
+        "Pressed this close, the white door face blocks nearly everything and I can see no yard around me to pick a route to the yellow container. I will step back to regain viewing distance, which should reopen the surroundings without needing a blind turn against the steel.",
+        "From this short distance the white door and the machinery track on the right are all I can see, and no yellow container is anywhere in front of me. I will turn left to swing my view along the container row where other stacks stand.",
+        "The sweep has brought the neighbouring blue container into view beside the white one, but still only steel faces close ahead. Another left turn should carry my heading further along the row toward the open ground where more stacks stand.",
+        "Now I can see the row running away from me, blue then orange then yellow containers set side by side at ground level, with paving opening on the left. I will keep turning left to bring that line of doors and the walkable lane properly in front of me.",
+        "The open yard and a clear aisle are now on my left while the container row runs down my right side. One more left turn should put that aisle straight ahead so I can walk along the doors and reach the yellow one.",
+        "The lane now runs straight ahead of me with the container row along my right, and yellow units sit further down that row. I will walk forward along the open pavement to close on the yellow container's ground-level door.",
+        "The row on my right has slid past, bringing the orange and yellow ground-level doors nearer along the lane. The pavement ahead stays clear, so I will keep walking forward to shorten the distance to the yellow door.",
+        "The yellow container at ground level along the right-hand row is still ahead of me, partly hidden behind the orange one nearer my shoulder. Walking straight down this open lane should bring its ground-level doors abreast of me.",
+        "The yellow container on my right has grown noticeably and its door hardware is now readable, so I am close but not yet beside it. Another step forward should carry me level with its ground-level doors.",
+        "I am now level with the yellow container, but its doors sit off to my right while my heading points down the empty lane. Turning right should swing that yellow door face into the centre of my view for a straight final approach.",
+        "The yellow container's ground-level door panel now faces me on the right of my view rather than passing by edge on. A short step forward should close the last of the gap and put me directly at that door.",
+        "The yellow container's ground-level door fills my view at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_b/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Head toward the red container door at ground level, then reach the white container door.",
+    "Type": 3,
+    "Start_Pose": [
+        -2371.4,
+        609.374,
+        98.275,
+        0.0,
+        104.64,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2371.4,
+            609.374,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2371.4,
+            609.374,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2348.766,
+            733.181,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2326.133,
+            856.988,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2303.499,
+            980.796,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2280.866,
+            1104.603,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2258.232,
+            1228.41,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2235.599,
+            1352.217,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2212.965,
+            1476.024,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2190.332,
+            1599.831,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2190.332,
+            1599.831,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2206.948,
+            1508.938,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2206.948,
+            1508.938,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2206.948,
+            1508.938,
+            98.275,
+            0.0,
+            129.64,
+            -0.0
+        ],
+        [
+            -2206.948,
+            1508.938,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ],
+        [
+            -2206.948,
+            1508.938,
+            98.275,
+            0.0,
+            179.64,
+            -0.0
+        ],
+        [
+            -2332.805,
+            1509.728,
+            98.275,
+            0.0,
+            179.64,
+            -0.0
+        ],
+        [
+            -2332.805,
+            1509.728,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ],
+        [
+            -2446.535,
+            1563.634,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ],
+        [
+            -2446.535,
+            1563.634,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the container blocks sit ahead and to my left, and the ground-level row with the red door is not squared up with my heading. I will turn left so that the front faces of those stacks come into the middle of my view, giving me a straight walking line across the open concrete.",
+        "The container faces now sit centered ahead of me, with the ground-level row visible beneath the upper tiers. The pavement between me and them is clear, so I will walk forward to start closing that distance.",
+        "The stacks have grown slightly in my view, but the ground-level doors are still small and far off. Nothing blocks the lane, so another step forward should keep bringing the red container's door nearer.",
+        "The bottom row of containers now fills more of my view, and I can pick out the orange-red unit at ground level in the middle of the stack. I will keep walking straight at it since my heading already points there.",
+        "Door seams and lock bars on the lower containers are becoming distinct, so the gap is shrinking but I am still several strides out. Walking forward again should carry me closer to the red door at ground level.",
+        "The bottom-row doors now dominate my view and the red container sits just right of center with its markings legible. The ground ahead stays clear, so I will advance again to line up with that door.",
+        "The red container's double doors, with their vertical lock rods and handles, are now squarely in front of me at ground level. A further step forward should bring me right up to that door face.",
+        "The red container door fills most of my view now, its stenciled weight and capacity plates clearly readable and the blue unit beside it pushed to the edge. I will step forward once more to stand directly at that door.",
+        "The red container's door panel now fills most of my view at ground level, with its handles and lock bars clearly within a step of me. One more walking step should bring me right up against that door face rather than leaving me a pace short.",
+        "The red container's door skin is right in front of me, its stencilled capacity markings and lock bar close enough to touch. I have arrived at the red container door at ground level. I mark reaching it, and now I set off for the white container door.",
+        "Pressed this close, the red steel blocks everything, so I cannot pick out the white container door from here. Stepping straight back should open the lane and the neighbouring stacks into view, giving me room to swing my heading without scraping along this wall.",
+        "With a little clearance regained, I can see the red doors and the blue container beside them on my right, but no white one yet. I will pivot right to sweep my view along the row toward the paler containers on that side.",
+        "The blue container has come into the middle of my view and the red doors are sliding off to my left, so the row continues further round. Another pivot right should carry my heading past the blue doors toward the lighter stacks beyond them.",
+        "A pale grey-white container has just appeared at the right end of the blue row, with open ground and the crane lit beyond it. I will keep turning right to bring that white container and the lane beside it into the front of my view.",
+        "The white container's corner post and the clear lane running past it now sit on the right side of my view, while the blue stack still fills the left. One more pivot right should put that open lane straight ahead so I can walk along the white unit.",
+        "The lane ahead is clear along the yard, with the white container's ribbed flank running down my left side. Walking forward should carry me along that flank toward where its doors face the open ground.",
+        "The white container sits along my left shoulder and its door face is nearly edge on, while my heading points down the open lane toward the crane rails. I will turn left so the white door swings into the center of my view and I can walk straight at it.",
+        "The white container's door panels with their vertical locking bars are now in front of me, slightly left, with clear pavement between us. I will step forward to close the remaining gap and stand at that door.",
+        "The white container's door panels and locking bars fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_c/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Approach the yellow ground-floor container door, then move to the white container door.",
+    "Type": 3,
+    "Start_Pose": [
+        -2371.4,
+        609.374,
+        98.275,
+        0.0,
+        104.64,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2371.4,
+            609.374,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2371.4,
+            609.374,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2348.766,
+            733.181,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2326.133,
+            856.988,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2303.499,
+            980.796,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2280.866,
+            1104.603,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2280.866,
+            1104.603,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -2208.03,
+            1207.245,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -2135.194,
+            1309.887,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -2062.357,
+            1412.529,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -1989.521,
+            1515.171,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -1916.685,
+            1617.813,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -1916.685,
+            1617.813,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -1970.158,
+            1542.458,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -1970.158,
+            1542.458,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -1970.158,
+            1542.458,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -1970.158,
+            1542.458,
+            98.275,
+            0.0,
+            129.64,
+            -0.0
+        ],
+        [
+            -1970.158,
+            1542.458,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ],
+        [
+            -1970.158,
+            1542.458,
+            98.275,
+            0.0,
+            179.64,
+            -0.0
+        ],
+        [
+            -2096.015,
+            1543.249,
+            98.275,
+            0.0,
+            179.64,
+            -0.0
+        ],
+        [
+            -2221.871,
+            1544.039,
+            98.275,
+            0.0,
+            179.64,
+            -0.0
+        ],
+        [
+            -2347.728,
+            1544.83,
+            98.275,
+            0.0,
+            179.64,
+            -0.0
+        ],
+        [
+            -2347.728,
+            1544.83,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ],
+        [
+            -2461.458,
+            1598.736,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ],
+        [
+            -2461.458,
+            1598.736,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the container rows run away from me at a sharp angle, so the ground-level doors are edge-on and I cannot pick out a yellow one to walk to. Turning left should swing the open yard and the front faces of the stacks into my view so I can choose a line of approach.",
+        "The block in front of me now shows its door faces, and a yellow unit sits on the ground row near its middle. It is still far across the open concrete, so I walk forward to close that distance.",
+        "The yellow ground-level container is holding near the center of my view as I advance, which tells me my heading is good. The pavement ahead is clear, so I keep walking to bring its doors within reach.",
+        "The stack now fills much of my view and the yellow unit's door hardware is starting to resolve on the bottom row. Nothing blocks the floor in front of me, so another step forward should keep shrinking the gap.",
+        "I am close enough now to read the seams and locking bars on the lower yellow container, but I am still several paces short of standing at its doors. I continue forward on the same heading.",
+        "The wall of stacked boxes now fills my view straight ahead, so walking on this heading would just bring me flat against the side of the row. Turning left should open the lane running along these door faces and put the yellow ground-level container on my approach side.",
+        "The turn opened the clear apron ahead, with the row of doors now angled along my right and the yellow ground-level container among them. I step forward along this lane to draw level with that yellow door.",
+        "The yellow ground-level container's doors are swelling on my right as I move along the row, and the way in front stays clear. Another step should bring me alongside that door rather than short of it.",
+        "The ground-level yellow container door stands close ahead along the right-hand stack, its latch bars and markings now legible. Open pavement still runs between me and it, so I will keep walking forward to close that remaining gap.",
+        "The yellow doors have grown large in front of me and their placard text is sharp, but I am still a couple of paces short of standing at them. I will step forward again to bring myself right up to that door face.",
+        "The yellow door panel now fills most of my view with its weight placard and vertical locking bars directly ahead. One more step forward should put me right at this ground-floor door.",
+        "The scuffed yellow panel, its locking bars and the NET placard are right against me, with nothing else in view. I have arrived at the yellow ground-floor container door. I mark reaching it and now head for the white container door.",
+        "Pressed this close, the yellow panel blocks everything and I cannot see any heading to choose. I will back up a step to regain a view of the aisle before turning toward the white container door.",
+        "With some distance regained, I can see the yellow doors and the lane beside them again, but no white container in this direction. I will turn right to swing my heading off this stack and begin sweeping toward the open side of the yard.",
+        "The sweep has brought the orange container beside the yellow one into view, still no white doors. I will keep turning right to carry my heading further around toward the open lane.",
+        "Now mostly the orange door face is ahead with only a sliver of yellow at the edge, so I am still short of the direction I want. I will turn right once more to continue bringing the open aisle into view.",
+        "My view is still filled by the orange container doors right in front of me, with only a sliver of open yard showing past the blue stack on the right. I will keep turning right to swing my heading off this wall and toward the lane running along the row.",
+        "The lane has opened along the right side now, with pavement and the gantry legs in sight past the blue and grey stacks. One more turn to the right should line my heading down that lane so I can walk beside the row and look for the white container door.",
+        "I am now facing down the open lane with the container row on my left and clear pavement ahead. I will walk forward along this row to bring the next doors, including a white one, into reach.",
+        "Blue container doors now fill the left of my view as I move along the row, and the lane ahead stays clear. I will continue walking forward to reach the lighter coloured doors further down this line.",
+        "I am still alongside the blue container, so the white doors I want are further down the row. Another step forward should carry me past this unit toward the pale container ahead.",
+        "A white container door has come up on my left, but my heading points straight down the lane past it. I will turn left to face that pale door squarely before closing the last of the distance.",
+        "The white container door is now angled into my view on the left, though I am still a short way off from it. I will step forward to close that remaining gap and stand at the door.",
+        "The white container door fills my view right beside me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_d/infos.json

@@ -0,0 +1,246 @@
+{
+    "Instruction": "Navigate to the blue container's base door, then proceed to the yellow container door.",
+    "Type": 3,
+    "Start_Pose": [
+        -2371.4,
+        609.374,
+        98.275,
+        0.0,
+        104.64,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2371.4,
+            609.374,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2403.21,
+            731.147,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2435.02,
+            852.919,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2466.831,
+            974.692,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2498.641,
+            1096.465,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2498.641,
+            1096.465,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2476.007,
+            1220.272,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2453.374,
+            1344.079,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2430.74,
+            1467.886,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2408.107,
+            1591.694,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2408.107,
+            1591.694,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2424.723,
+            1500.8,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2424.723,
+            1500.8,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -2424.723,
+            1500.8,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -2424.723,
+            1500.8,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2299.277,
+            1510.981,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2173.83,
+            1521.163,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2048.384,
+            1531.344,
+            98.275,
+            0.0,
+            4.64,
+            -0.0
+        ],
+        [
+            -2048.384,
+            1531.344,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -1938.993,
+            1593.587,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -1938.993,
+            1593.587,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -1871.97,
+            1626.162,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -1871.97,
+            1626.162,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The stacked rows ahead show the coloured containers I need, but the blue one's ground level door is still far off along the yard lane. I will walk forward down the open concrete to close that distance before judging which stack holds it.",
+        "The container wall on my left has grown noticeably larger, so my heading down the lane is productive. I keep walking forward to bring the lower blue units within reach of a proper look at their doors.",
+        "I can now pick out the blue units sitting at ground level in the stack to my left, though I am still looking at them from the side rather than at their doors. Another step forward should put me level with that section.",
+        "The corrugated ends and lettering on the nearest units are legible now, so I am close to the corner of the stack. I take one more step forward to reach the point where the row's door faces open up beside me.",
+        "I have drawn level with the stack, but its containers are edge on to me and I cannot address any door from this heading. Turning left should swing the row of door faces, including the blue unit on the bottom tier, squarely in front of me.",
+        "The turn has opened the front of the stack, and the blue container's double doors on the bottom tier now sit ahead of me with their handles visible. I walk forward to close on that door.",
+        "The blue doors and their vertical locking rods dominate more of my view, confirming I am closing on the right unit. I continue forward to stand directly at its base door.",
+        "The blue container's ground level doors fill much of my view, with the cargo placard and handles clearly readable just ahead. One more step forward should bring me right up against that door.",
+        "The blue container's double doors now fill most of my view, with the locking rods and placards clearly legible straight ahead. I am still a step short of standing right at that door face, so I walk forward once more to close the last of the gap.",
+        "The blue steel skin, the locking bars and the cargo capacity plate are directly in front of me at arm's length. I am at the base door of the blue container. I mark reaching it, and now I set off for the yellow container's door.",
+        "Pressed this close, the blue door panel blocks nearly everything and I cannot see the lanes around the stack. I step back to open up my view and give myself room to swing around toward the yellow container.",
+        "With a little standoff regained, I can see the blue container's face and the pale container edge to its right, but nothing of the open ground I need. I turn left to sweep my heading along the stack and look for the route toward the yellow container.",
+        "The view has swung along the container row, showing orange and yellow doors receding to the left with pavement appearing at the far edge. I keep turning left to bring that open aisle in front of me rather than the wall of boxes.",
+        "The open yard and the far pipework are now visible on the left, while the stacked containers run down my right side. One more left turn should square my heading with the aisle so I can walk it cleanly.",
+        "I am now facing straight down a clear aisle, with the container row on my right and open pavement stretching ahead. I walk forward along it to work my way toward the yellow container doors further down the line.",
+        "The aisle stays open in front of me and the yellow panels on my right are drawing nearer as I advance. I keep walking forward to reach the point where the yellow container's door is beside me.",
+        "The yellow container stack runs along my right, and its door face is still ahead of me rather than beside me. I will keep walking straight down the open lane so that the yellow doors come level with me and within easy reach.",
+        "I have drawn level with the yellow container, whose tall door panel now stands immediately to my right while my heading still points down the empty lane. I will turn right to bring that yellow door front into the center of my view before closing on it.",
+        "The turn has brought the yellow doors with their vertical locking bars into view, though they are still angled off to my right and several paces away. I will step forward to cut that remaining distance before making any final adjustment to my facing.",
+        "I am now close beside the yellow container, but I am looking along its edge rather than squarely at the door leaves. A further right turn should put the door face and its handles directly in front of me.",
+        "The yellow door panel with its locking bars and cargo markings now fills my view straight ahead. A short step forward should bring me right up against this door, close enough to stand at it.",
+        "The yellow container's door leaf, its locking bars and latch plate stand directly before me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_e/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Move to the white ground-level container door, then walk to the red container door at ground level.",
+    "Type": 3,
+    "Start_Pose": [
+        -2371.4,
+        609.374,
+        98.275,
+        0.0,
+        104.64,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2371.4,
+            609.374,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2403.21,
+            731.147,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2435.02,
+            852.919,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2466.831,
+            974.692,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2498.641,
+            1096.465,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2530.451,
+            1218.238,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2562.261,
+            1340.01,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2594.071,
+            1461.783,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2625.882,
+            1583.556,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2625.882,
+            1583.556,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            54.64,
+            -0.0
+        ],
+        [
+            -2602.528,
+            1494.156,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -2493.138,
+            1556.399,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -2383.747,
+            1618.643,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -2277.763,
+            1626.194,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -2172.73,
+            1626.194,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ],
+        [
+            -2172.73,
+            1626.194,
+            98.275,
+            0.0,
+            29.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The white container standing at ground level ahead of me shows its door end toward the open lane, so it is my first destination. It is still far off across the yard, so I will walk straight forward to close the gap.",
+        "The white container's doors have grown slightly and stay near the middle of my view, confirming my heading is good. I will keep walking forward toward it.",
+        "The white doors ahead are still several strides away, but the corrugated panels and latch bars are becoming easier to read. Nothing blocks the pavement between us, so I will continue advancing.",
+        "The white container's door leaves now fill a good part of my forward view with their yellow corner markings visible. I am still short of it, so another step forward should bring me closer.",
+        "The white doors dominate the left half of my view and the neighboring blue stack is sliding past my shoulder, showing I am nearly alongside the target. I will step forward again to reach the door itself.",
+        "I can now read the container markings and see both door leaves with their locking bars clearly. A few more steps should put me right in front of this white door at ground level.",
+        "The white door panel now spans most of my view, and I am close enough to make out the individual latch rods and handles. I will keep walking forward to stand directly at it.",
+        "The stamped capacity plate and locking bars of the white door fill nearly my whole view, so I am within a stride of it. I will take one more step forward to close the last of the distance.",
+        "The white container door fills my view, its locking bars and stencilled markings right in front of me at ground level. I am standing at that white door now. I mark reaching it, and turn my attention to the red container door at ground level along this row.",
+        "I am pressed so close to this white door that its panel blocks almost everything else, leaving no room to swing my heading toward the red door. I will step back to open space between me and the container wall. That clearance should let me pivot without scraping along the steel.",
+        "With a little standoff regained, I can see the white door frame and the neighbouring blue container edge on the left of my view, with the row continuing that way. The red door I want is further along that line of stacks. I will turn left to swing my heading toward that row.",
+        "The turn has brought the blue container beside the white one into the left half of my view, but I am still facing largely into the container faces. More coloured units lie further left along the row. I will turn left again to bring that stretch of doors ahead of me.",
+        "Now the row of blue, orange and yellow doors stretches away to the left with the open yard beyond them. My heading still cuts across the containers instead of running down the row. One more left turn should line me up along that line of doors toward the red one.",
+        "I am now aimed down the row, with the lane clear on my left and the ground-level doors running ahead in blue, orange and yellow. The red door sits some distance along this line. I will walk forward down the row to close on it.",
+        "The row is sliding past on my right and the blue unit beside me is already at my shoulder, so the reddish doors ahead are noticeably nearer. Nothing blocks the lane in front. I will keep walking forward along the row toward the red door.",
+        "The blue container now fills my right side and the red one begins just past it, its ground-level door only a step or two ahead. I am not yet alongside that red door. I will advance again to draw level with it.",
+        "The red container at ground level now fills the right side of my view, but its door leaf with the vertical locking bars still sits slightly ahead of me. I will take one more step along this row so I come level with that red door.",
+        "The red ground-level container door with its locking bars and handle stands directly beside me. The task is complete, so there is no reason to keep moving."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t5_a_pd/infos.json

@@ -0,0 +1,373 @@
+{
+    "Instruction": "Lift the candelabra at the red container door, then leave it near the white container door.",
+    "Type": 5,
+    "Start_Pose": [
+        -2371.4,
+        609.374,
+        98.275,
+        0,
+        104.64,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -2167.161,
+        1613.41,
+        13.275,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2371.4,
+            609.374,
+            98.275,
+            0,
+            104.64,
+            0
+        ],
+        [
+            -2403.21,
+            731.147,
+            98.275,
+            0.0,
+            104.64,
+            -0.0
+        ],
+        [
+            -2403.21,
+            731.147,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2380.577,
+            854.954,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2357.943,
+            978.761,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2335.31,
+            1102.568,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2312.676,
+            1226.375,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2290.042,
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+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2267.409,
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+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2267.409,
+            1473.99,
+            98.275,
+            0.0,
+            79.64,
+            -0.0
+        ],
+        [
+            -2267.409,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -2267.409,
+            1473.99,
+            98.275,
+            0.0,
+            129.64,
+            -0.0
+        ],
+        [
+            -2267.409,
+            1473.99,
+            98.275,
+            0.0,
+            154.64,
+            -0.0
+        ],
+        [
+            -2381.14,
+            1527.895,
+            98.275,
+            0.0,
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+    ],
+    "PD_Pose_Trajectory": [
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+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        ]
+    ],
+    "PD_Dist_2D": [
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+        913.3,
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+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The task target is a candelabra standing at a red container door, and from here the stacked container faces are far off to my left front while the crane rails run away on my right. Nothing that small is resolvable at this range, so I will walk forward to close distance into the stacking area and get the door faces readable.",
+        "My heading points down the open lane toward the gantry and rail carriages on the right, while the rows of container doors I need to inspect sit off to my left. Turning left should swing those stacked door faces into the center of my view so I can search along them for the red container and the candelabra.",
+        "The turn has put the block of stacked containers squarely ahead, with yellow, orange and blue doors visible across the front row. They are still too far for me to spot a small candelabra at ground level, so I will step forward along this heading to close in on the door line.",
+        "The door faces are noticeably larger now and the orange and red panels sit near the middle of my path. The base of that stack is still distant, so I will keep walking straight ahead rather than turning, since my heading already points at the row I need.",
+        "The lower row of doors now fills much of my view and I can make out a small dark shape resting on the ground at the foot of the red container. That is the likely candelabra, so I will continue straight forward to bring it close enough to confirm and reach.",
+        "The candelabra is now clearly identifiable, a slim branched stand with pale candles sitting against the red container door slightly left of center. It is still several paces away and far below reach, so I will advance again to shrink that gap.",
+        "The candelabra stands plainly at the foot of the red container door, directly on my line of travel. My heading needs no correction, so another step forward should bring me close enough for a grasp attempt.",
+        "The red container door now fills the left side of my view and the candelabra sits low and near, its candles large in front of me but still slightly short of comfortable reach. One more step forward should place it close enough to attempt the lift.",
+        "The candelabra now stands directly in front of me at the base of the red container's doors, close enough that its candle arms fill the lower part of my view. This is the grasp position the task asks for, so I will attempt the pick and expect the candelabra to come into my hands.",
+        "The grasp worked and the candelabra is now carried with me instead of resting at the red doors. The white container stack sits off to my right from where I faced the red doors, so I turn right to begin swinging my heading toward it.",
+        "My heading has come around to a blue container's doors, with the red panel now edging out on the left and a pale grey container just appearing at the right margin. That white stack is my delivery target, so I keep turning right to bring it into the centre of my view.",
+        "The white container is now clearly on my right, with the open lane beside it and the yard cranes beyond. I turn right once more so my heading runs along that lane toward the white container's door face rather than into the blue wall.",
+        "I am aimed down the clear lane with the blue container on my left and the white container just ahead of it, and the candelabra is still in my hands. I step forward to close the gap toward the white container's doors.",
+        "The white container's door panels now dominate the left of my view, but I am still level with its corner rather than beside the doors themselves. I walk forward again to draw alongside the door face where the candelabra should be set down.",
+        "I am running close along the white container's side with its door hardware and markings passing on my left. One more step forward should put me squarely at the white container's doors, the place where the candelabra belongs.",
+        "I am now standing right at the white container's door seam, with its capacity markings and vertical latch bars immediately beside me, and the candelabra is still in my hands. This is the requested delivery spot, so I will release it here and expect it to settle at the white container door.",
+        "The candelabra now stands free on the ground beside the white container's door, out of my hands. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t5_b_pd/infos.json

@@ -0,0 +1,430 @@
+{
+    "Instruction": "Grab the tomato at the blue container's base door, then place it near the yellow container door.",
+    "Type": 5,
+    "Start_Pose": [
+        -2371.4,
+        609.374,
+        98.275,
+        0,
+        104.64,
+        0
+    ],
+    "PD_ID": 0,
+    "PD_Size": 8.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
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+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        ],
+        [
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+        ],
+        [
+            -2277.35,
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+        ],
+        [
+            -2268.641,
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+        ],
+        [
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+        ],
+        [
+            -2017.545,
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+        ],
+        [
+            -2027.338,
+            1629.852,
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+            79.787,
+            1.873
+        ],
+        [
+            -1919.623,
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+        ],
+        [
+            -1910.238,
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+            -0.0
+        ],
+        [
+            -1910.238,
+            1625.205,
+            113.275,
+            0.0,
+            29.64,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        1006.3,
+        882.8,
+        760.1,
+        638.6,
+        519.1,
+        403.6,
+        403.6,
+        277.8,
+        152.1,
+        21.4,
+        20.4,
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+        21.4,
+        20.4,
+        21.4,
+        21.4,
+        22.5,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "I can see a small red tomato far ahead at the base of the container stacks, near the blue container's door line. It is much too distant to reach, so I will walk straight forward along the open yard to close that gap.",
+        "The tomato at the container base is slightly larger now but still well beyond reach. The lane ahead stays clear of the crane rails on my right, so I will keep walking straight toward it.",
+        "The target tomato is growing in my view against the container wall, which confirms my heading is right. I am still several strides away, so I will continue advancing on the same line.",
+        "The tomato now sits clearly at the foot of the container doors slightly left of my path. There is still open ground between us, so another forward step should bring me meaningfully closer.",
+        "The tomato is much bigger and drifting toward the left edge of my view as I close in. I will advance once more to shorten the remaining distance before correcting my heading.",
+        "From here the tomato has slid well off to my left near the blue container's base door, so walking straight would carry me past it. I will turn left to bring the tomato back toward the center of my view before closing the last distance.",
+        "The turn has put the tomato near the middle of my view at the base of the container doors. With a clear stretch of ground in front of it, I will step forward to close in for a grasp.",
+        "The tomato is centered and large in front of me, but still a bit too far out to grab reliably. I will take one more step forward to bring it within arm's reach at the blue container's door base.",
+        "The tomato now fills the lower part of my view right against the blue container's base door, so I am standing close enough to reach it. I will attempt the grasp here rather than step nearer and risk nudging it into the doorframe. If it takes hold, I can then carry it toward the yellow container.",
+        "The grasp worked and the tomato is in my hands, no longer resting at the container's base door. Facing the blue stack leaves me no route, so I will turn left to swing my heading off this wall and open up the aisle. That should start pointing me toward the yellow container side of the yard.",
+        "I still hold the tomato, and my view is filled by the blue and orange container faces of this row with only a sliver of open ground at the far left. One more left turn should bring the clear lane beside the stacks into the center of my view so I can walk it. That heading is what I need for the yellow container.",
+        "The turn has opened the aisle ahead, with the container stacks running along my right and clear pavement stretching forward. Carrying the tomato, I will walk forward along this lane to close distance toward the yellow container area. Nothing blocks the ground in front of me.",
+        "The lane is still open in front of me and the container faces on my right have shifted past, showing I am making ground. The yellow container I need is not yet beside me, so I will keep walking forward with the tomato. Another step should bring the far end of this row closer.",
+        "The orange container wall now crowds my right side and my heading is drifting into the stack rather than along the aisle. I will turn left to bring the open lane back into the center of my view before continuing. That should keep a walkable path toward the yellow container doors.",
+        "The turn has restored a wide open lane ahead with the container doors lined up along my right. Still holding the tomato, I will step forward down this lane toward the stacks further along the row. The path in front is clear pavement.",
+        "A yellow container has come into view along the right side just ahead of the orange one beside me. I will keep walking forward so its door comes level with me before I set the tomato down. The lane remains clear for another step.",
+        "I am still carrying the tomato and walking along the row, with the yellow container's door face now beside me on the right rather than ahead. Turning right should swing my heading onto that yellow door so I can approach its base squarely for the placement.",
+        "The yellow container's door panels now fill the view ahead of me, but I am still a step short of its base. I will walk forward to close that gap so the tomato can be set down right by the door.",
+        "I am now right up against the yellow container's door, with its latch bars and panel directly in front of me and the tomato still in my hands. This is the spot the task calls for, so I will release the tomato here at the door base.",
+        "The tomato now rests on the ground at the yellow container's door, no longer in my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000451_y-053932_z002598_t1_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Search for the ice cream cone graffiti on the wall, then head to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -451.104,
+        -53931.734,
+        2598.15,
+        0.0,
+        79.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -451.104,
+            -53931.734,
+            2598.15,
+            0.0,
+            79.52,
+            -0.0
+        ],
+        [
+            -451.104,
+            -53931.734,
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+            0.0,
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+        ],
+        [
+            -451.104,
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+        ],
+        [
+            -998.699,
+            -53435.094,
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+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -1112.316,
+            -53380.95,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -1195.33,
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+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
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+            2598.15,
+            0.0,
+            154.52,
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+        ],
+        [
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+            -53267.637,
+            2598.15,
+            0.0,
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+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this rooftop I am facing an open expanse of apartment facades with no painted wall in sight, and the sun glare is washing out the middle of my view. Nothing here resembles an ice cream cone, so I will turn right to begin a steady scan of the surrounding walls.",
+        "Turning has brought a tall blank wall into the right edge of my view, and I can make out sprayed lettering with what looks like a pale cone shape beside it. I will continue turning right to bring that painted wall closer to the center of my view before committing to an approach.",
+        "The graffiti wall is now clearly in front of me and slightly right, with the ice cream cone painted between the blue and red lettering. The rooftop between me and that wall looks flat and clear, so I will walk forward to close the distance.",
+        "The cone graffiti is growing larger ahead of me, confirming I am closing on the correct wall. The rooftop ahead is still unobstructed, so I will keep walking forward toward it.",
+        "The painted cone and the surrounding lettering are clearly readable now, but I am still a fair distance from the wall. I will continue walking forward to shorten the remaining gap.",
+        "The cone graffiti now fills a good part of the wall ahead, and the caged tank and bagged rubbish beneath it are becoming distinct. The way is still clear, so I will step forward again to draw nearer.",
+        "The cone graffiti has drifted toward the right side of my view as I approached, so my heading is no longer pointed straight at it. I will turn right to bring the painted cone back toward the center before advancing further.",
+        "The turn has centered the ice cream cone graffiti in my view with the wall squarely ahead. The deck in front of me is open apart from the tank set to the side, so I will walk forward to close on the painting.",
+        "The ice cream cone graffiti sits clearly ahead on the brick wall, roughly centered in my view between the blue lettering and the painted heart. There is open, clear roof deck between me and the wall, with the caged tank set off to the right of my path. I will keep walking straight ahead to close the remaining distance to the cone.",
+        "The cone graffiti now fills a much larger part of my view, so my heading onto it is holding well. I am still several strides short of the wall, with clear deck ahead and the tank passing on my right. I will continue forward to get close to the painted cone.",
+        "The cone and the red lettering beside it now dominate my view, so the wall is close but not yet reached. The tank on my right has moved to the edge of my path and leaves enough room to keep going straight. I will step forward again to shorten the last bit of distance to the graffiti.",
+        "I am nearly at the wall now, with the cone painting spanning my view and individual bricks plainly visible. A short final step should bring me right up against the graffiti rather than stopping short of it.",
+        "The ice cream cone graffiti fills my view at arm's length on the brick wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000451_y-053932_z002598_t1_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Identify the gray door next to the ice cream cone mural on the graffiti-covered wall; after locating it, proceed there.",
+    "Type": 1,
+    "Start_Pose": [
+        -451.104,
+        -53931.734,
+        2598.15,
+        0.0,
+        79.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -451.104,
+            -53931.734,
+            2598.15,
+            0.0,
+            79.52,
+            -0.0
+        ],
+        [
+            -451.104,
+            -53931.734,
+            2598.15,
+            0.0,
+            104.52,
+            -0.0
+        ],
+        [
+            -451.104,
+            -53931.734,
+            2598.15,
+            0.0,
+            129.52,
+            -0.0
+        ],
+        [
+            -531.194,
+            -53834.646,
+            2598.15,
+            0.0,
+            129.52,
+            -0.0
+        ],
+        [
+            -531.194,
+            -53834.646,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -644.811,
+            -53780.502,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -758.429,
+            -53726.358,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -872.046,
+            -53672.214,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -985.664,
+            -53618.07,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -985.664,
+            -53618.07,
+            2598.15,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -1111.518,
+            -53617.016,
+            2598.15,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -1237.373,
+            -53615.961,
+            2598.15,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            -1237.373,
+            -53615.961,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -1306.2,
+            -53564.562,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ],
+        [
+            -1306.2,
+            -53564.562,
+            2598.15,
+            0.0,
+            154.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this rooftop I only see apartment facades, a vent block on my left and a small pipe stack ahead, with no graffiti wall or gray door anywhere in view. I will turn right to begin a steady scan of the rooftop perimeter for the ice cream cone mural named in the task.",
+        "Turning has brought a graffiti-covered wall into the right edge of my view, and I can already make out the blue and pink lettering with an ice cream cone painted beside it. I will continue turning right to bring that mural wall fully in front of me so I can look for the gray door along it.",
+        "The graffiti wall is now clearly in front and to my right, with the ice cream cone mural and a recessed gray door panel visible further along the same wall. I will walk forward across the open rooftop to close distance with that wall.",
+        "The mural and the gray doorway sit to my right while my heading still points across the open roof, so a straight walk would carry me past them. I will turn right to line my heading up with the section of wall holding the cone mural and its adjacent door.",
+        "Now the graffiti wall spans the view ahead, with the ice cream cone and heart to the left and the gray door just right of the cone. I will step forward to close the remaining gap toward that door.",
+        "The gray door beside the ice cream cone mural is directly ahead and growing larger, and the path across the roof stays clear except for the caged tank set to the left of the door. I will keep walking forward toward the door.",
+        "The target door is plainly identifiable now, a plain gray slab in the brick wall immediately right of the ice cream cone and heart graffiti. I will advance again to shorten the remaining distance to it.",
+        "I am close to the wall, with the cone mural and the caged tank on my left and the gray door standing just right of them. I will step forward once more to bring myself up to the door.",
+        "The gray metal door sits just right of the ice cream cone mural, but from here it is off toward the right side of my view and I am angled across the wall face. I will turn right to bring the door closer to the center of my heading so I can walk straight at it.",
+        "The gray door is now near the middle-left of my view, with the mural and the caged tank on its left and the blue garbage bags on its right. I will walk forward to close the remaining distance to that section of the graffiti wall.",
+        "The door now fills a large part of my view with its handle and hinges clearly readable, so I am close but not yet at it. I will step forward again to bring myself right up to the doorway.",
+        "I am very close to the wall now and my view is split between the smooth door panel on the left and bare brick on the right, so my heading has drifted past the door. Turning left should swing the doorway back into the center of my view.",
+        "The gray door is now centered in front of me with its handle and frame fully in view, flanked by brick and the caged tank at the left. A short step forward should place me directly at the door as the task requires.",
+        "The gray door's panel and handle fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Walk to the metal door with graffiti above it.",
+    "Type": 0,
+    "Start_Pose": [
+        -461.514,
+        -53619.835,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.835,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -713.153,
+            -53613.51,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -838.972,
+            -53610.347,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -964.791,
+            -53607.185,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1090.61,
+            -53604.022,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1216.43,
+            -53600.859,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1216.43,
+            -53600.859,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1306.072,
+            -53545.589,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1306.072,
+            -53545.589,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open rooftop I can see the grey metal door set into the graffiti covered brick wall ahead of me, with tags spread across the wall above and beside it. My heading already points close to that door, so I will step forward to begin closing the wide gap across the concrete.",
+        "The door and the surrounding graffiti now appear slightly larger, confirming my previous step carried me toward the wall. The path across the concrete stays clear of the tank cage and the rubbish bags, so I will keep advancing straight.",
+        "The graffiti wall fills more of my view and the metal door sits just left of center, still some distance off. Nothing blocks the ground between us, so another forward step should continue reducing the range.",
+        "The door's handle and hinges are becoming distinct, and the tags above it are clearly the graffiti named in the task. I will advance again to bring myself close enough to stand at the door.",
+        "The wall now occupies most of my view and the metal door stands a short way ahead and to my left, with the blue rubbish bags off to the right of my path. I will step forward once more to close the remaining gap.",
+        "I am close to the brickwork now, with the door panel and its handle plainly visible on the left side of my view. Another forward step should bring me right up against the door area.",
+        "At this close range the metal door only occupies the left portion of my view while bare brick fills the right, so my heading is offset from the door itself. I will turn left to bring the door in front of me before taking any further step.",
+        "The turn worked, and the metal door with its handle now sits squarely ahead of me with the heart tag on the graffiti wall to its left. A short forward step should place me directly at the door.",
+        "The metal door's surface and handle fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_b/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Approach the ice cream cone graffiti on the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -461.514,
+        -53619.835,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.835,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -700.028,
+            -53560.633,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -812.722,
+            -53504.593,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -925.416,
+            -53448.553,
+            2604.328,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1038.11,
+            -53392.513,
+            2603.62,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1150.805,
+            -53336.473,
+            2598.295,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1243.478,
+            -53269.034,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1243.478,
+            -53269.034,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the open rooftop I can see the long graffiti wall ahead, and the ice cream cone painted beside the \"SLAP KING\" lettering sits on the left half of it. It is still far across the concrete, so I will step forward to begin closing that distance while keeping the wall in sight.",
+        "The wall is noticeably nearer now, but the cone graffiti sits well to the left of my straight-ahead direction while the doorway and \"BOOM!\" tag occupy the center of my view. I will turn left so my heading points at the cone, which should let me walk straight toward it.",
+        "After turning, the ice cream cone graffiti now sits in the left-central part of my view with the wall running away to the right. The heading looks usable, so I will walk forward to reduce the remaining gap across the open rooftop.",
+        "The painted cone and the heart beside it are growing larger, and the metal water tank cage sits just below and right of the cone rather than in my path. Nothing blocks the floor in front of me, so I continue advancing toward the target.",
+        "The wall now fills much of the upper part of my view and the cone stands clearly ahead of me, but I am still several paces short of it. I will keep stepping forward along this heading to close in.",
+        "The brickwork texture is now distinct and the cone is large and centered slightly right in my view, with the tank cage to its lower right and refuse bags to the left. There is still clear floor between me and the wall, so I advance again.",
+        "The cone graffiti now dominates my view and the wall is only a short distance away, with the tank cage passing on my right side. I will take another step forward to bring myself right up to the painting.",
+        "I am nearly at the wall, with the cone and the red \"KING\" lettering filling my view at close range. One more short step forward should place me directly in front of the painted cone.",
+        "The painted ice cream cone fills my view at arm's length, its brick texture clearly visible. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_c/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Head toward the \"BOOM!\" graffiti text.",
+    "Type": 0,
+    "Start_Pose": [
+        -461.514,
+        -53619.835,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.835,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -713.153,
+            -53613.51,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -713.153,
+            -53613.51,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -828.52,
+            -53663.817,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -943.888,
+            -53714.124,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1059.255,
+            -53764.431,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1059.255,
+            -53764.431,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1185.075,
+            -53761.268,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1299.953,
+            -53770.055,
+            2608.611,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1299.953,
+            -53770.055,
+            2608.611,
+            0.0,
+            178.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the \"BOOM!\" graffiti painted on the far concrete wall, to the right of the metal door and under the atom symbol. It is still a long way across this open rooftop, so I will move forward to begin closing that distance.",
+        "The wall and its graffiti now fill more of my view, confirming the previous step reduced the gap. The lettering is still far off with clear open ground ahead, so I will keep moving forward.",
+        "The \"BOOM!\" tag sits well to the right of my straight-ahead direction, while the \"SLAP KING\" mural and the crate occupy the center of my view. I will turn right to bring the target lettering closer to the middle of my heading before continuing.",
+        "After the turn, the \"BOOM!\" text and the atom symbol are now roughly ahead of me with clear paving in between. I will move forward to continue closing on the target.",
+        "The lettering has grown noticeably and the blue bags below it are now clearly distinguishable, so my heading is carrying me toward the tag. I will advance again to keep shrinking the remaining distance.",
+        "The brick wall now dominates my view and the \"BOOM!\" text is only a short distance ahead and slightly left. There is still open floor before the wall, so I will move forward once more.",
+        "At this close range the \"BOOM!\" lettering has drifted to the left portion of my view while the \"Crowe St 4-Life\" tag takes the center. I will turn left to put the target text squarely in front of me before the final approach.",
+        "The \"BOOM!\" text now sits directly ahead of me on the brick wall, with the bags and paint cans off to the lower left of my path. I will step forward to close the last bit of distance to the tag.",
+        "The \"BOOM!\" lettering now fills the center of my view on the brick wall, so my heading is well aligned with the target. I will step forward once more to close the last of the gap and stand directly at the graffiti.",
+        "The \"BOOM!\" graffiti letters fill my view at arm's length on the wall. The task is complete, so stopping here is correct."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_d/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Move to the \"KING\" graffiti in red letters.",
+    "Type": 0,
+    "Start_Pose": [
+        -461.514,
+        -53619.835,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.835,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -461.514,
+            -53619.836,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -574.208,
+            -53563.796,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -686.903,
+            -53507.756,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -799.597,
+            -53451.716,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -912.291,
+            -53395.676,
+            2604.38,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1024.985,
+            -53339.636,
+            2604.38,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1137.68,
+            -53283.596,
+            2604.38,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1250.374,
+            -53227.556,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1250.374,
+            -53227.556,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the red \"KING\" graffiti on the brick wall ahead, but it sits well to the left of my current heading. I will turn left to bring that red lettering closer to the center of my view before advancing.",
+        "The red \"KING\" lettering now lies in the left-center of my view with open, uncluttered rooftop pavement between me and the wall. I will move forward to begin closing the sizable distance to the graffiti.",
+        "The wall with the red \"KING\" letters is noticeably larger than before, confirming my heading is carrying me toward it. I will keep moving forward since the pavement ahead stays clear.",
+        "The red \"KING\" letters remain steady in the left half of my view and are getting more legible as the wall approaches. Another forward step should continue reducing the gap without needing a heading change.",
+        "I am now fairly close, with the bricks and the red lettering filling a large part of my forward view. I will advance again to get within a natural viewing distance of the graffiti.",
+        "The red \"KING\" tag dominates the center-left of my view and the wall is close, while the metal tank sits to my right and off my path. I will step forward once more to tighten in on the lettering.",
+        "The red \"KING\" letters are now large and directly in front of me, with only a short stretch of pavement remaining before the brick wall. I will take one more forward step to stand right at the graffiti.",
+        "The red \"KING\" lettering nearly fills my view and the brick surface is almost within arm's reach. A final short forward step should place me squarely at the graffiti before I settle.",
+        "The red \"KING\" graffiti fills my view at arm's length on the brick wall directly ahead. The task is complete, so I stop here rather than move closer."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_e/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Navigate to the large plastic storage tank enclosed in a metal cage beneath the white heart graffiti.",
+    "Type": 0,
+    "Start_Pose": [
+        -461.514,
+        -53619.835,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.835,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -713.153,
+            -53613.51,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -713.153,
+            -53613.51,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -825.847,
+            -53557.47,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -938.541,
+            -53501.43,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1051.235,
+            -53445.39,
+            2598.161,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1163.93,
+            -53389.35,
+            2598.161,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1163.93,
+            -53389.35,
+            2598.161,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1163.93,
+            -53389.35,
+            2598.161,
+            0.0,
+            178.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the white heart graffiti on the far brick wall, and directly below it sits a light plastic tote enclosed in a metal cage frame, so that is my target. It stands well across the open rooftop, so I will step forward to begin closing the gap.",
+        "The wall and its graffiti have grown larger, confirming I am gaining ground on the caged tote under the heart. The path across the concrete remains clear, so I will keep advancing.",
+        "The caged tank under the heart now sits noticeably to the left of my straight-ahead heading, while my current path aims at the blank wall and door to its right. I will turn left to point my body at the target before continuing forward.",
+        "After the turn the caged storage tank and the white heart above it sit much closer to the middle of my view. With clear floor between us, I will move forward along this corrected heading.",
+        "The metal cage around the white plastic tank is clearly resolved now, standing on its pallet beneath the painted heart. I am still several paces short of it, so I will continue straight ahead.",
+        "The caged tank fills a good part of the lower right of my view and the heart is nearly overhead of it, so I am close but not yet beside it. I will take another step forward to shorten the remaining distance.",
+        "I am now only a short step from the metal cage, whose bars and translucent tank body dominate the near part of my view. One more forward step should bring me right up against the target.",
+        "Standing this close, the caged tank has slid toward the right side of my view and part of it falls outside my field of view, while the heart is cut off above. I will turn right to bring the whole caged tank and the heart above it squarely in front of me.",
+        "The caged plastic tank fills the lower center of my view at arm's reach, directly under the white heart graffiti. The navigation task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Head toward the ice cream graffiti, then move to the wooden door.",
+    "Type": 3,
+    "Start_Pose": [
+        -461.514,
+        -53619.836,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.836,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -700.028,
+            -53560.633,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -812.722,
+            -53504.593,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -925.416,
+            -53448.553,
+            2604.328,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1038.11,
+            -53392.513,
+            2603.62,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1150.805,
+            -53336.473,
+            2598.295,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1243.478,
+            -53269.034,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1243.478,
+            -53269.034,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1160.743,
+            -53310.177,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1160.743,
+            -53310.177,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1068.372,
+            -53312.499,
+            2604.413,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1068.372,
+            -53312.499,
+            2604.413,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1068.372,
+            -53312.499,
+            2604.413,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -1151.67,
+            -53406.849,
+            2598.15,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -1151.67,
+            -53406.849,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1236.802,
+            -53469.526,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1306.192,
+            -53517.184,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1306.192,
+            -53517.184,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The painted ice cream cone stands out on the far wall to my left, with the metal door further along to its right. Both destinations sit across a wide open rooftop, so distance is my first problem. I will walk straight ahead to close on the wall before refining my heading.",
+        "The cone graffiti sits well left of my centerline while my heading points at the blank stretch of wall and the door. Before advancing further I should aim at the cone, since it is where I am going first. I will turn left to bring that painting toward the middle of my view.",
+        "The turn has brought the ice cream cone and its red lettering into a comfortable position ahead of me, with clear open deck in between. Nothing blocks the line except the caged tank set off to one side of the painting. I will walk forward to shorten the gap to the graffiti.",
+        "The cone painting is noticeably larger now, so my heading is carrying me straight at it. The stretch of deck in front of me is still empty. I will keep walking to close more of the remaining distance.",
+        "The wall fills more of my view and the cone with its red KING lettering is clearly ahead and slightly left. I am still several paces short of standing at the painting. Another step forward should continue closing that gap.",
+        "The graffiti now dominates the wall in front of me, though the brickwork is still a fair walk away. The caged tank sits to my right and does not stand in my line. I will step forward again toward the cone.",
+        "The painted cone and lettering now span most of my view, so I am nearly at the wall carrying the ice cream art. The bagged rubbish and boxes sit off to my left and leave my path clear. I will advance again to finish closing on the painting.",
+        "I am close enough that individual bricks behind the cone are sharp and the painting fills my view. A short final step should put me right at the ice cream graffiti rather than a stride short of it. I will move forward once more.",
+        "The painted ice cream cone and its red lettering fill my view at arm's length on the brick wall. I am standing right at the graffiti, so I mark reaching it before turning my attention to the wooden door set into this same wall.",
+        "Pressed this close, the mural blocks everything and I cannot see along the wall to the door. Stepping straight back should open up distance so the stretch of wall holding the door comes back into view.",
+        "With space regained I can see the mural squarely, and the wall continues off to my right past the metal tote toward where the door stands. I will turn right to swing my heading down that stretch of wall.",
+        "The turn left me facing the wall and the tote tank at close range, with the brick still dominating the frame. Backing up should give me the clearance to swing around that tank rather than crowd it.",
+        "From this distance the cone sits to my left and the wall runs on to the right, where an edge of the door frame is just entering view. Turning right should bring the wooden door properly in front of me.",
+        "The wooden door is now in sight further along the wall, but the tote tank sits squarely between me and it. Turning right again should point me at the open deck alongside that tank so I can walk past it.",
+        "The deck ahead is clear now, with the tote tank pushed off to my left edge and the wooden door standing on the wall to my left. Walking forward should carry me level with the door and close the remaining gap.",
+        "I have drawn level with the wooden door, which now sits off to my left with its handle plainly visible. Turning left should square me up to it so I can step in directly.",
+        "The metal door set into the brick wall now sits squarely ahead of me, with the storage tank cleared off to my left side. Walking straight from this heading should carry me across the open concrete and close most of the remaining gap to it.",
+        "The door panel and its handle now fill most of my view, so only a short stretch of floor still separates me from it. One more step forward should bring me right up against the door.",
+        "The door's flat panel fills my entire view at arm's length. I am standing at the door, so the task is done and there is nothing further to approach."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_b/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Approach the cardboard boxes beside the blue trash bags below the graffiti, then navigate to the metal gate.",
+    "Type": 3,
+    "Start_Pose": [
+        -461.514,
+        -53619.836,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.836,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -700.028,
+            -53560.633,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -812.722,
+            -53504.593,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -925.416,
+            -53448.553,
+            2604.328,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -925.416,
+            -53448.553,
+            2604.328,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1003.868,
+            -53350.137,
+            2604.328,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1082.32,
+            -53251.721,
+            2604.328,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1160.773,
+            -53153.304,
+            2598.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1160.773,
+            -53153.304,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1160.773,
+            -53153.304,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1160.773,
+            -53153.304,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1160.773,
+            -53153.304,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1160.773,
+            -53153.304,
+            2598.15,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -1160.773,
+            -53153.304,
+            2598.15,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -1160.773,
+            -53153.304,
+            2598.15,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1142.039,
+            -53277.761,
+            2603.794,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1142.039,
+            -53277.761,
+            2603.794,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -1177.659,
+            -53398.475,
+            2598.15,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -1177.659,
+            -53398.475,
+            2598.15,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -1250.368,
+            -53495.163,
+            2598.15,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -1250.368,
+            -53495.163,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1250.368,
+            -53495.163,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The graffiti wall spans the far side of this rooftop, and beneath the ice cream tag on the left I can pick out blue trash bags with cardboard boxes propped next to them. That cluster is my first destination, so I will walk forward across the open concrete to shorten the gap before refining my heading.",
+        "The boxes and blue bags sit well off to the left edge of my view, near the SLAP KING lettering, while my heading points at the blank middle of the wall. I will turn left to bring that pile toward the center of my view so further walking carries me straight to it.",
+        "The turn has swung the graffiti and the pile of blue bags with the cardboard boxes into a workable part of my view, left of the metal tank on its pallet. The floor between us is clear, so I will step forward to close on them.",
+        "The bags and cardboard boxes under the graffiti are noticeably larger now, but still several paces off along the wall. Nothing blocks the way except the caged tank sitting to their right, so I will keep walking forward.",
+        "The graffiti now fills much of my view and the blue bags with the cardboard boxes are clearly resolved at the base of the wall ahead and slightly left. I will advance again to keep cutting the remaining distance to them.",
+        "Closing in has pushed the bags and cardboard boxes off toward the left side of my view while the caged tank now sits squarely in front of me. I will turn left to face the pile directly and keep the tank out of my path.",
+        "The turn has put the blue bags and the cardboard boxes beside them near the middle of my view, under the KING lettering, with clear floor leading to them. I will step forward to close the last stretch.",
+        "The cardboard box and the bottles standing on it are now clearly detailed beside the slumped blue bags, but I am still a couple of paces short of standing at them. I will walk forward again to arrive right beside the pile.",
+        "The blue trash bags and the cardboard boxes with bottles sit just ahead of me against the brick wall carrying the big painted lettering. I am still a stride short of standing beside them, so I walk forward again to close that last gap.",
+        "I am now right up against the pile, but the bags and the box have drifted into the lower right of my view while the wall fills the frame. I turn right so the cardboard boxes and the bags sit squarely in front of me before I judge my arrival.",
+        "The cardboard boxes with their bottles and the heaped blue trash bags are directly at my feet, under the red and blue lettering sprayed on the brick. I have reached them. I mark arriving here, and now I set off for the metal gate across the roof.",
+        "Standing this close, my view is nothing but brick, paint and the bags at my feet, with no sign of the metal gate. I pivot right to begin sweeping my gaze off the wall and toward the open part of the roof.",
+        "The wall still fills my whole view, with the painted cone and lettering close in front of me. I keep pivoting right to swing my heading further along the wall and find the gate.",
+        "The caged tote and the edge of the steel door have come into the right side of my view, so the wall is beginning to slide past. Another right pivot should carry my heading onto the open rooftop where the gate should stand.",
+        "The tote now sits in front of me and the roof opens out past its right edge, with distant water towers appearing. I turn right again to bring that open ground and the fencing beyond it into my heading.",
+        "Across the open roof to my right I can now make out the mesh gate set in its frame, still off to the side of my heading. One more right pivot should put it near the middle of my view so I can walk straight at it.",
+        "The stacked boxes and bags are behind me now, and my heading opens onto the clear rooftop deck with the metal gate framework standing ahead along the far end of this wall. Nothing blocks the concrete between me and it, so I walk forward to cut the distance.",
+        "After stepping forward, the metal gate sits left of my heading while the open deck and skylights pull my view to the right. I will turn left to bring the gate and the wall line it belongs to nearer the center of my path.",
+        "The turn put the wall and its metal gate squarely in front of me, with only flat concrete and a couple of bags along the base between us. I step forward to keep closing on the gate.",
+        "I am close to the wall now, and the metal gate panel with its handle sits off to my left rather than in front of me. Turning left should swing my heading onto it so I can approach it straight on.",
+        "The metal gate is now in front of me along this wall, its handle clearly visible, with only the bagged rubbish sitting well clear of my line. I walk forward to close the last of the gap to it.",
+        "That step carried me level with the gate, so its panel has slipped past the left edge of my view while I stare down the bare wall. I turn left to face the gate squarely from this close position.",
+        "The metal gate and its handle fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_c/infos.json

@@ -0,0 +1,276 @@
+{
+    "Instruction": "Proceed to the \"BOOM!\" graffiti, then reach the ice cream graffiti.",
+    "Type": 3,
+    "Start_Pose": [
+        -461.514,
+        -53619.836,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.836,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -587.333,
+            -53616.673,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -713.153,
+            -53613.51,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -713.153,
+            -53613.51,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -828.52,
+            -53663.817,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -943.888,
+            -53714.124,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1059.255,
+            -53764.431,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1174.623,
+            -53814.738,
+            2598.15,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1174.623,
+            -53814.738,
+            2598.15,
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+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
+            -1090.456,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -1178.984,
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+            2598.366,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1195.445,
+            -53330.925,
+            2598.15,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1195.445,
+            -53330.925,
+            2598.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1254.889,
+            -53232.889,
+            2598.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1254.889,
+            -53232.889,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1254.889,
+            -53232.889,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1254.889,
+            -53232.889,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1254.889,
+            -53232.889,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open rooftop I can already read both marks on the far brick wall, the dark \"BOOM!\" with its atom to the right of center and the pale ice cream cone off to the left. My first destination is the \"BOOM!\" tag, and it is far too distant to be reached from here. I will walk forward to cut down that gap.",
+        "The wall has grown a little larger, so my stepping is closing the gap as intended, but the \"BOOM!\" lettering is still small and well ahead of me. Nothing blocks the concrete between me and it. I will keep walking forward.",
+        "Walking straight ahead is carrying me toward the blank middle stretch of the wall, while the \"BOOM!\" tag with its atom sits noticeably to my right. To close on it head on I need my heading swung that way. I will turn right so the lettering moves toward the center of my view.",
+        "The turn has put the \"BOOM!\" tag and its atom near the middle of my view, with the chain link fence off to the right. The path across the concrete toward it is clear apart from the blue sacks resting at the base of the wall. I will walk forward along this heading.",
+        "The lettering and the atom are visibly bigger and the sacks below them are resolving, so I am gaining ground on the tag. I am still several strides short of standing at it. I will step forward again.",
+        "The brick wall now fills much of my view and the \"BOOM!\" tag is large and slightly left of center, with spray cans and a flattened carton on the ground beneath it. I am close but not yet standing at the graffiti. I will advance another step.",
+        "I am nearly against the bricks now, with the \"BOOM!\" tag sitting at the left side of my view and the \"Crowe St 4 Life\" scrawl beside it. One more stride should bring me right up to the painted letters. I will keep walking forward.",
+        "Standing this close, the \"BOOM!\" letters have slid to the far left edge and are half out of my view while the neighboring scrawl dominates the center. I need the tag itself squarely in front of me before I settle at it. I will turn left to bring it back to center.",
+        "The bold \"BOOM!\" lettering and the atom sketch now fill my view directly ahead, so only a short gap of deck remains between me and that patch of brick. I will step forward once more to stand right at it.",
+        "The painted letters of \"BOOM!\" and their underline fill my view at arm's length, with the brick texture plainly readable. I have arrived at this graffiti. I mark reaching it, then set off along the wall for the ice cream cone painting.",
+        "Standing this close, the brick blocks almost everything and I cannot see the rest of the wall or the deck beside me. I will step back to open up my view and give myself room to swing toward the ice cream cone painting.",
+        "The whole \"BOOM!\" tag and the bags at the wall base are visible again, but I am still tight against the brick with little space to pivot. Another step back should give me clearance to turn along the wall toward the ice cream cone.",
+        "From here I can see the bags, the metal door and the stretch of brick running off to my left, which is the direction of the ice cream cone painting. I will turn left to bring that end of the wall into view.",
+        "The pale cone with its blue scoop and the heart now show at the far left of my view, past the door and the tote. I will turn left again to bring that painting nearer the center of my heading.",
+        "The cone painting sits on the wall to my left, but straight ahead the caged tote and the door block a clean line to it. Turning left once more should put the open rooftop deck in front of me so I can walk down beside the wall.",
+        "Clear deck now stretches ahead of me, with the wall and its cone painting running along my right side past the tote. I will walk forward to close the distance toward that painting.",
+        "The pale ice cream cone painted on the wall to my right is still several paces ahead, partly hidden behind the caged tank on its pallet. I will keep walking forward across the open roof deck to close that gap.",
+        "The cone on the wall has grown noticeably larger and the caged tank now sits just off my right shoulder, so my line of travel is clear. I will step forward again to draw level with the painting.",
+        "I am passing the caged tank, and the blue lettering with the cone above it now fills much of the wall to my right. Another step forward should put me alongside the painted cone rather than short of it.",
+        "I have come far enough along the deck that the cone painting sits off at the right edge of my view while I am still facing down the wall. Turning right should swing my heading toward the painted wall so I can approach it head on.",
+        "The wall with the cone and the red lettering now faces me from the right side of my view and there is still open floor between us. I will walk forward to bring myself right up to the painting.",
+        "I am close against the brickwork now, but the cone itself is cut off at the right edge while the red lettering dominates my view. Turning right should bring the painted cone toward the middle of what I see.",
+        "The turn brought the lettering across my view and the edge of the cone is only just appearing at the right. One more turn to the right should centre the painted cone in front of me.",
+        "The cone is now centred in front of me, but my gaze catches only its narrow lower tip and the brick below it. Looking up should raise my view to the scoop and show the whole ice cream painting.",
+        "The painted ice cream cone fills my view at arm's length on the brick wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_d/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Move to the wooden door, then walk to the stacked crates under the ice cream graffiti.",
+    "Type": 3,
+    "Start_Pose": [
+        -461.514,
+        -53619.836,
+        2598.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.836,
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+            -0.0
+        ],
+        [
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+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -1306.072,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1223.337,
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+            2598.15,
+            0.0,
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+            -0.0
+        ],
+        [
+            -1140.602,
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+            -0.0
+        ],
+        [
+            -1140.602,
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+        ],
+        [
+            -1140.602,
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+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1196.848,
+            -53383.301,
+            2598.15,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1209.535,
+            -53261.985,
+            2598.15,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1209.535,
+            -53261.985,
+            2598.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1209.535,
+            -53261.985,
+            2598.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1209.535,
+            -53261.985,
+            2598.15,
+            0.0,
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+            -0.0
+        ],
+        [
+            -1317.364,
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+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
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+            -53258.866,
+            2598.15,
+            0.0,
+            178.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the open rooftop I can see the graffiti covered wall ahead, with a plain closed door set into it near the middle and the ice cream mural and crates off to the left. The door is my first stop, so I will walk straight forward to cut down that distance.",
+        "The wall and its door have grown noticeably larger, which confirms my heading is carrying me toward them. Nothing blocks the concrete between me and the door, so I will keep walking forward.",
+        "The door frame is now clearly readable and sits close to the center of my view, with the caged tank and pallet safely to its left. My straight line is still good, so another forward step should bring me closer.",
+        "I can now make out the door's handle and hinges, and the blue sacks along the wall stay well clear of my line. I will continue walking forward to keep closing on it.",
+        "The door now fills a large part of my view and the wall texture is close enough to see brick by brick. There is still a stretch of concrete before I stand at it, so I keep stepping forward.",
+        "I am close to the wall now, with the door panel and its handle just ahead and slightly left of center. One more forward step should put me right up against it.",
+        "I am right at the wall, but my view is split, with the door's panel and handle to my left and bare brick filling the right. Turning left should swing the door back to the middle of my view so I finish square on it.",
+        "The door now sits centered ahead of me with its handle and hinges plainly in view and the caged tank tucked against the wall to my left. A short step forward should place me directly at the door.",
+        "The metal-clad wooden door fills my whole view, its handle within arm's reach at my left. I am standing at the door, so I mark reaching it, and now I set off along this wall toward the stacked crates under the ice cream graffiti.",
+        "Pressed this close to the door, the panel blocks nearly everything and I cannot see the crate stack beside it. Stepping straight back should open enough distance for the wall and its graffiti to come back into view before I reorient.",
+        "The door frame and the caged tank on its pallet are showing again at my left, but I am still tight against the wall. Another step back should give me the clearance I need to swing toward that stack without scraping the wall.",
+        "From this standoff the door sits ahead of me while the crated tank under the ice cream graffiti stands off to my left. Turning left should bring that stack and the painted cone into the middle of my view so I can head for them.",
+        "The crated tank now sits squarely in front of me against the wall corner, too close and too boxed in to walk straight at. Turning further left should point me down the open rooftop lane beside it, giving me room to come at the stack cleanly.",
+        "Open rooftop deck stretches ahead of me with the graffiti wall and the crated tank now off to my right. I will walk forward along this clear lane to get past the tank's near corner and out of the cramped pocket by the wall.",
+        "The painted cone and its lettering are sliding along my right as I move down the open deck, with the crate stack now at the right edge. Another step forward should carry me clear of it and level with the wall section beneath the graffiti.",
+        "The blue sacks and cardboard boxes at the foot of the lettered wall are coming abreast of me, and the crated stack has dropped behind my right shoulder. Walking on a little further should put me where I can face the wall under the cone squarely.",
+        "The painted wall now runs along my right side, with the sacks and a crate stacked at its base just ahead on that side. My heading still points down the open roof instead of at them, so I will turn right to bring that stack toward the center of my view.",
+        "One turn has swung the lettering and the boxes inward, but the ice cream cone painting continues further right along the wall and is still off my centerline. I will turn right again to keep rotating toward the stack sitting under that cone.",
+        "The cone painting is now in view, yet I am looking at the wall at a slant and the crates beneath it sit low at my left with more of the stack further along to the right. Another right turn should square me to the wall so a straight walk carries me into the stack.",
+        "I am squared to the brickwork with the ice cream cone directly ahead and the stacked crates against the wall at my right. Only a short gap remains, so I will step forward to close on the stack beneath the painting.",
+        "The crate stack and the wall under the ice cream cone fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t5_a_p/infos.json

@@ -0,0 +1,183 @@
+{
+    "Instruction": "Pick up the ceramic vase at the metal door with graffiti above it.",
+    "Type": 5,
+    "Start_Pose": [
+        -461.514,
+        -53619.835,
+        2598.15,
+        0,
+        178.56,
+        0
+    ],
+    "PD_ID": 14,
+    "PD_Size": 3.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -1258.383,
+        -53575.855,
+        2528.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
+            -53619.835,
+            2598.15,
+            0,
+            178.56,
+            0
+        ],
+        [
+            -587.333,
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+            0.0,
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+            -53575.855,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+        ],
+        [
+            -1090.536,
+            -53625.384,
+            2568.257,
+            -28.202,
+            -131.294,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        798.1,
+        672.3,
+        546.5,
+        420.8,
+        295.3,
+        170.1,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "From this open rooftop I can see the graffiti covered wall ahead, with a metal door set in the middle and a tall pale ceramic vase standing just beside it. The vase is far off across the empty concrete, so I will walk straight forward to close that gap. My heading already lines up with the door, so no turn should be needed yet.",
+        "The wall and its metal door now fill more of my view, so my previous step clearly reduced the distance. The ceramic vase next to the door is still well out of arm's reach, and nothing blocks the flat concrete between us. I will keep walking straight forward along the same heading.",
+        "The door frame and the vase beside it are noticeably closer and the graffiti lettering is now large in my view. The vase remains roughly centered ahead of me, so my current heading is still good for a direct approach. I will continue stepping forward rather than adjusting my facing.",
+        "I can now make out the vase's floral pattern and the door's handle, so I am within a few paces of the wall. The vase still sits slightly beyond comfortable grasping range at the base of the wall. I will take another step forward to bring it close enough to reach.",
+        "The metal door and the trash bags beside it now dominate my view, and the vase stands just left of the door directly in front of me. It is close but likely still a step outside reliable pick range. I will advance once more to stand right over it before attempting a grasp.",
+        "The ceramic vase now stands immediately in front of me at the base of the metal door, filling the lower center of my view within arm's reach. Nothing separates me from it, so this is the moment to grasp it. I will attempt the pick and expect the vase to come up into my hands.",
+        "The ceramic vase is now held in front of me, tilted into my view above my feet. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t5_a_pd/infos.json

@@ -0,0 +1,392 @@
+{
+    "Instruction": "Pick up the green bell pepper at the ice cream graffiti, then set it down near the metal door.",
+    "Type": 5,
+    "Start_Pose": [
+        -461.514,
+        -53619.836,
+        2598.15,
+        0,
+        178.56,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -1173.258,
+        -53288.195,
+        2553.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -461.514,
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+            0,
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
+            -1223.648,
+            -53484.297,
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+            0.0,
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+            0.0
+        ],
+        [
+            -1223.648,
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+            0.0,
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+            0.0
+        ],
+        [
+            -1223.648,
+            -53484.297,
+            2598.15,
+            0.0,
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+            -0.0
+        ],
+        [
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+            2598.15,
+            0.0,
+            178.561,
+            -0.0
+        ],
+        [
+            -1308.073,
+            -53475.315,
+            2598.15,
+            0.0,
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+            0.0
+        ],
+        [
+            -1240.676,
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+            2598.15,
+            0.0,
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+            0.0
+        ],
+        [
+            -1240.676,
+            -53468.213,
+            2598.15,
+            0.0,
+            -156.439,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -1173.258,
+            -53288.195,
+            2553.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+            2553.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+            2553.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1173.258,
+            -53288.195,
+            2553.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1173.258,
+            -53288.195,
+            2553.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1033.947,
+            -53359.028,
+            2574.57,
+            -28.202,
+            -156.294,
+            1.862
+        ],
+        [
+            -1024.929,
+            -53361.957,
+            2574.843,
+            -28.189,
+            -131.282,
+            1.872
+        ],
+        [
+            -1016.123,
+            -53360.343,
+            2574.176,
+            -28.215,
+            -106.311,
+            1.849
+        ],
+        [
+            -1131.549,
+            -53409.404,
+            2567.676,
+            -28.202,
+            -106.297,
+            1.858
+        ],
+        [
+            -1122.969,
+            -53404.24,
+            2568.876,
+            -28.198,
+            -81.294,
+            1.865
+        ],
+        [
+            -1207.11,
+            -53497.831,
+            2568.593,
+            -28.2,
+            -81.294,
+            1.865
+        ],
+        [
+            -1215.023,
+            -53502.944,
+            2568.253,
+            -28.193,
+            -106.291,
+            1.867
+        ],
+        [
+            -1224.259,
+            -53504.182,
+            2568.195,
+            -28.187,
+            -131.286,
+            1.875
+        ],
+        [
+            -1308.19,
+            -53496.674,
+            2567.91,
+            -28.202,
+            -131.299,
+            1.857
+        ],
+        [
+            -1298.569,
+            -53495.571,
+            2568.624,
+            -28.203,
+            -106.297,
+            1.866
+        ],
+        [
+            -1304.84,
+            -53496.195,
+            2588.15,
+            0.0,
+            -156.439,
+            0.0
+        ],
+        [
+            -1304.84,
+            -53496.195,
+            2588.15,
+            0.0,
+            -156.439,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        785.2,
+        785.2,
+        659.4,
+        533.6,
+        407.9,
+        282.2,
+        156.9,
+        21.4,
+        22.3,
+        22.5,
+        21.4,
+        22.5,
+        21.4,
+        20.5,
+        19.9,
+        21.4,
+        22.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "From here I can see the green bell pepper sitting on the rooftop right under the ice cream cone graffiti, but it sits off to the left of my heading rather than straight ahead. I will turn left so the pepper and its graffiti landmark come closer to the center of my view before I start walking. That should give me a clean straight approach across the open roof deck.",
+        "The green pepper now sits near the middle of my view beside the ice cream cone painted on the wall, with clear open pavement between us. Nothing blocks the lane ahead, so I will walk forward to close the large gap. Each step should bring the pepper closer to grasping range.",
+        "The pepper and the ice cream graffiti have grown noticeably larger, confirming my last step carried me toward them. I am still far from the wall, well outside reach of the pepper. I will keep walking straight ahead along this clear line.",
+        "The pepper is clearly ahead and slightly left, sitting between the cardboard boxes and the metal water tote under the ice cream cone. It is still several strides away, too distant to grab. I will continue forward to shorten that distance.",
+        "The pepper now fills a good part of the lower center of my view, so I am getting close to the wall with the ice cream graffiti. It is not yet within comfortable reach directly in front of me. I will take another step forward to close in.",
+        "The pepper is large and just ahead of me at floor level, with the ice cream cone painted directly above it. A final step should place it right at my feet where a grasp is plausible. I will move forward once more before attempting to pick it up.",
+        "The green bell pepper is now directly in front of me at the base of the wall carrying the ice cream cone graffiti, close enough that it fills the bottom of my view. This is the target the task named, and I am standing right over it. I will attempt to pick it up now.",
+        "The pick worked, since I am now looking down at the green pepper held in my hands rather than resting on the pavement. With the pepper carried, I need to head toward the metal door that stands along this same wall to my right. I will turn right to bring that door back into view and begin the transport.",
+        "I am holding the green bell pepper and now face the graffiti wall, with the ice cream painting off to my left and the metal door sitting at the right edge of my view. I will turn right again so that the door swings toward the center of my heading and I can plan a straight walk toward it. This should give me a usable line of approach for placing the pepper near that door.",
+        "The metal door is now clearly ahead of me, left of the trash bags and the BOOM tag, with the white tote sitting closer on my left. Carrying the pepper, I will walk forward to cut down the open deck distance between me and that door. A single step should bring the door and its surrounding floor within easy placing range.",
+        "I am close enough now that the wall and the bulky tote fill much of my forward view, so walking straight ahead would just press me into the brickwork beside the door. I will turn right to pick up the open lane of deck running along the wall past the tote. That heading should let me keep moving without being blocked before I reposition at the door.",
+        "The metal door is now on my left with clear paving ahead toward the fence, so my forward path is unobstructed. I will step forward along the wall to clear the tote and settle onto the open floor beside the door. From there I should have room to turn back and face the door squarely with the pepper.",
+        "I am standing on the open deck with the wall running along my left and the door now behind that shoulder, while nothing useful lies straight ahead but the fence line. I will turn left to bring the metal door back into my forward view. That rotation should point me at the wall section where the pepper needs to be set down.",
+        "The metal door now fills most of my view, but I am still angled across its face rather than squared with the wall. I will turn left once more to line my heading up with the wall so a short step in leaves me right beside the door panel. That should put me in a clean position to release the pepper close to it.",
+        "From here the metal door and its handle sit just to my right, with the brick wall and the tote edge on my left, so I am nearly at the drop area. I will step forward to close the last bit of gap to the wall beside the door. Standing that close should make the pepper land clearly near the door rather than out on open deck.",
+        "I am pressed in very close now, and my view is mostly brick with only the vertical edge of the door showing on the right. I will turn right to bring the door face and its handle squarely in front of me before letting go of the pepper. Confirming the door is directly ahead should ensure the pepper is set down right next to it.",
+        "I am standing right at the metal door, with its handle and edge filling my view and the pepper still carried with me. This is the intended release spot beside the door, so I will set the pepper down here and expect it to come to rest against the door face.",
+        "The green bell pepper is now resting on the ground directly at the metal door. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Walk to the metal HVAC unit, then approach the red circle graffiti under \"BOOM\".",
+    "Type": 3,
+    "Start_Pose": [
+        -479.452,
+        -55997.202,
+        2598.15,
+        0.0,
+        -106.56,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -479.452,
+            -55997.202,
+            2598.15,
+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
+            -479.452,
+            -55997.203,
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+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -562.947,
+            -56091.379,
+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -646.443,
+            -56185.554,
+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -729.938,
+            -56279.729,
+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -813.433,
+            -56373.905,
+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -813.433,
+            -56373.905,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -928.906,
+            -56423.97,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -928.906,
+            -56423.97,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -928.906,
+            -56423.97,
+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -928.906,
+            -56423.97,
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+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
+            -928.906,
+            -56423.97,
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+            0.0,
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+            0.0
+        ],
+        [
+            -928.906,
+            -56423.97,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -859.55,
+            -56528.995,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -790.194,
+            -56634.02,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -720.837,
+            -56739.044,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -720.837,
+            -56739.044,
+            2598.15,
+            0.0,
+            -81.56,
+            0.0
+        ],
+        [
+            -702.365,
+            -56863.54,
+            2598.15,
+            0.0,
+            -81.56,
+            0.0
+        ],
+        [
+            -702.365,
+            -56863.54,
+            2598.15,
+            0.0,
+            -81.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the boxy louvered metal HVAC unit sits low against the wall well off to my left, while the red circle graffiti under the BOOM lettering is over to my right. Since the machine is my first destination, I will turn left to bring it into the center of my view before walking.",
+        "The metal HVAC unit now sits ahead of me in the left half of my view, with clear open rooftop between us. I will walk forward to cut down that distance.",
+        "The louvered metal unit has grown noticeably larger and its hose and base are becoming distinct, so my heading is carrying me straight at it. Nothing blocks the deck ahead, so I will keep walking forward.",
+        "The HVAC cabinet now dominates the middle left of my view and I can pick out its ribbed panels and the cable at its foot. There is still a stretch of bare rooftop before I stand beside it, so I will advance again.",
+        "The metal unit is close now, filling the left portion of my view with its concrete pad in front of it. One more step forward should put me level with it rather than still short of it.",
+        "My forward motion has carried the metal unit to the very edge of my view, where only part of its louvered side is still visible. I will turn left so the cabinet sits squarely in front of me and I can close the last bit of distance cleanly.",
+        "The louvered metal cabinet is now centered ahead of me on its pad, with the spray can and cable at its base clearly visible. A short step forward should bring me right up against it.",
+        "The ribbed metal HVAC cabinet fills the near half of my view, close enough to touch its louvered panel. I am standing at it, so I mark reaching it and now turn my attention to the red circle graffiti painted under the BOOM lettering further along the wall.",
+        "I am standing right beside the louvered metal HVAC box, whose flank fills the left half of my view, so that stop is behind me now. The bomb-shaped red circle under the big lettering lies somewhere further along this wall to my right, out of sight past the unit. I will turn right to swing my view down the wall toward it.",
+        "The turn cleared the metal unit from most of my view and brought the long wall with the crown, heart and pink anatomical heart into frame, but the large painted lettering with the red circle is still beyond the right edge. Another right turn should carry my view further along the wall toward that section.",
+        "The dark block letters and the top of the red round graffiti are just creeping in at the right edge of my view, past the projecting brick pillar. Continuing to turn right should bring that painted circle properly into the middle of my view before I start walking.",
+        "The red circle under the bold lettering is now clearly in view, but the wall runs away obliquely from me and my heading points into its face rather than down the open roof toward the painting. One more right turn should set me on a line I can actually walk along.",
+        "The lettering and the red circle beneath it now sit ahead on my left along the receding wall, with clear open roof between me and them. I will walk forward to close that distance.",
+        "The painted red circle and the lettering above it have grown noticeably larger and the cardboard and bags along the wall base are still well to my right. Stepping forward again should bring me closer to the graffiti without crowding the wall.",
+        "The red bomb-shaped circle now dominates the left of my view and the letters above it are close overhead, so I am nearly there but still a couple of paces short. I will walk forward once more to draw up in front of it.",
+        "I am right up beside the wall now, and the red painted circle has slid to the far left edge of my view while my gaze runs down the bricks. Turning left should square me up on the circle itself.",
+        "The round red bomb painted under the faded BOOM! lettering now sits centered in front of me on the brick wall, only a short stretch of pavement away. One more step forward should bring me right up against that red circle.",
+        "The red circle graffiti fills my view at arm's length on the brick. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_b/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Move to the blue bag against the wall, then navigate to the red circle graffiti.",
+    "Type": 3,
+    "Start_Pose": [
+        -479.452,
+        -55997.202,
+        2598.15,
+        0.0,
+        -106.56,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -479.452,
+            -55997.202,
+            2598.15,
+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
+            -479.452,
+            -55997.203,
+            2598.15,
+            0.0,
+            -81.56,
+            0.0
+        ],
+        [
+            -460.979,
+            -56121.699,
+            2598.15,
+            0.0,
+            -81.56,
+            0.0
+        ],
+        [
+            -442.506,
+            -56246.195,
+            2598.15,
+            0.0,
+            -81.56,
+            0.0
+        ],
+        [
+            -424.034,
+            -56370.691,
+            2598.15,
+            0.0,
+            -81.56,
+            0.0
+        ],
+        [
+            -424.034,
+            -56370.691,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -354.677,
+            -56475.716,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -285.321,
+            -56580.74,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -215.965,
+            -56685.765,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -215.965,
+            -56685.765,
+            2598.15,
+            0.0,
+            -56.56,
+            0.0
+        ],
+        [
+            -215.965,
+            -56685.765,
+            2598.15,
+            0.0,
+            -81.56,
+            0.0
+        ],
+        [
+            -215.965,
+            -56685.765,
+            2598.15,
+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
+            -215.965,
+            -56685.765,
+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -215.965,
+            -56685.765,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -331.437,
+            -56735.83,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -446.91,
+            -56785.896,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -562.383,
+            -56835.961,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -677.856,
+            -56886.026,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -677.856,
+            -56886.026,
+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -677.856,
+            -56886.026,
+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the long graffitied wall runs across my front, and the only blue bag slumped at its base sits far off to my right edge. I will turn right to bring that bag into the middle of my view before walking toward it.",
+        "The blue bag now lies ahead and slightly right, resting against the brick wall past the fish mural. The rooftop deck between us is flat and clear, so I will walk forward to cut down that distance.",
+        "The wall and its painted fish have grown larger, and the blue bag at its foot is still well ahead of me. Nothing blocks the open concrete between us, so I keep walking forward toward it.",
+        "The bag against the wall is clearer now, sitting among the flattened cardboard to the right of the fish mural, but it is still several strides off. I will step forward again to close in on it.",
+        "I am close to the wall now, and the blue bag sits off to my right rather than straight ahead, with the KING tag beyond it. Turning right should swing my heading onto the bag so I can walk directly at it.",
+        "The blue bag is now centered in front of me at the foot of the wall, with the boxes and vent to either side leaving the way open. I will walk forward to draw up to it.",
+        "The bag is noticeably bigger and still dead ahead where the wall meets the deck, flanked by loose cardboard. A couple more strides should bring me right up beside it, so I move forward.",
+        "The blue bag now fills a good part of the lower view, tucked against the brick just short of my reach. One more step forward should put me right at it.",
+        "The blue bag is slumped against the brick wall right at my feet, filling the lower centre of my view with nothing left between us. I have reached the blue bag against the wall, so I mark arriving here before setting off for the red circle graffiti further along these walls.",
+        "Standing over the blue bag, my view is filled by the fish mural and the KING tag, with no red circle graffiti anywhere in this narrow slice. I will turn left to sweep my heading back along the wall and look for that red circle.",
+        "The turn has brought the painted fish and crown squarely in front of me, but the red circle graffiti is still not in view along this stretch of brick. I will keep turning left to swing my heading further down the wall toward the unseen section.",
+        "I am still facing the mural almost head on, with cardboard boxes and cans lining the base and no red circle showing yet. Another left turn should carry my gaze past this painted section toward the far end of the wall.",
+        "The red circle graffiti under the BOOM! lettering has come into view down the wall to my left, with open pavement running alongside it. One more left turn should line my heading up with that open lane so I can walk straight toward the red circle.",
+        "My heading now runs down the open corridor with the wall on my right, and the red circle graffiti beneath the BOOM! lettering sits ahead on that wall. The path is clear of boxes, so I will walk forward to close the distance to it.",
+        "The red circular graffiti on the right-hand wall is noticeably larger and nearer than before, and the lane ahead stays unobstructed. I will step forward again to draw closer to that marking.",
+        "The red circle with its BOOM! lettering now dominates the wall just to my right, but I am still slightly short of being beside it. I will advance one more step to bring myself level with the graffiti.",
+        "The big red circular graffiti now fills much of the wall close on my right, but I am still slightly short of standing beside it. I will step forward once more to draw level with that painted circle.",
+        "I am now level with the wall and the red circle sits at the right edge of my view, curving away past the corner. Turning right should swing my heading squarely onto that painted circle.",
+        "The red circle graffiti fills my view directly ahead at arm's length. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_c/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Approach the \"BOOM\" graffiti text, then proceed to the metal HVAC unit.",
+    "Type": 3,
+    "Start_Pose": [
+        -479.452,
+        -55997.202,
+        2598.15,
+        0.0,
+        -106.56,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -479.452,
+            -55997.202,
+            2598.15,
+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
+            -550.123,
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+            0.0,
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+            0.0
+        ],
+        [
+            -585.995,
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+            2598.15,
+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
+            -621.868,
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+            2598.15,
+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
+            -621.868,
+            -56849.388,
+            2598.15,
+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
+            -621.868,
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+            2598.15,
+            0.0,
+            -131.56,
+            0.0
+        ],
+        [
+            -621.868,
+            -56849.388,
+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -621.868,
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+            2598.15,
+            0.0,
+            178.44,
+            -0.0
+        ],
+        [
+            -621.868,
+            -56849.388,
+            2598.15,
+            0.0,
+            153.44,
+            -0.0
+        ],
+        [
+            -621.868,
+            -56849.388,
+            2598.15,
+            0.0,
+            128.44,
+            -0.0
+        ],
+        [
+            -700.113,
+            -56750.808,
+            2598.15,
+            0.0,
+            128.44,
+            -0.0
+        ],
+        [
+            -778.359,
+            -56652.228,
+            2598.15,
+            0.0,
+            128.44,
+            -0.0
+        ],
+        [
+            -778.359,
+            -56652.228,
+            2598.15,
+            0.0,
+            153.44,
+            -0.0
+        ],
+        [
+            -890.936,
+            -56595.952,
+            2598.15,
+            0.0,
+            153.44,
+            -0.0
+        ],
+        [
+            -1003.513,
+            -56539.676,
+            2598.15,
+            0.0,
+            153.44,
+            -0.0
+        ],
+        [
+            -1003.513,
+            -56539.676,
+            2598.15,
+            0.0,
+            153.44,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The dark \"BOOM!\" lettering with its painted bomb is visible on the brick wall ahead and slightly right, across a wide open rooftop. Nothing blocks the flat deck between me and that wall, so I will walk straight forward to close the gap.",
+        "The bomb graffiti and its lettering have grown larger, confirming my heading is bringing me toward that stretch of wall. The deck ahead is still clear of clutter, so I will keep walking forward.",
+        "The painted wall now fills much of my view, but the lettering still sits well off to my right of center and remains at some distance. Another step forward should keep shrinking that distance before I correct my heading.",
+        "The \"BOOM!\" lettering and its bomb sit to the right of where I am facing, while the heart mural drifts toward my left edge. I will pivot right so the graffiti moves toward the center of my view before I advance again.",
+        "The turn has brought the \"BOOM!\" text and the red bomb into the left-center of my view with clear rooftop between us. I will walk forward to close on that section of wall.",
+        "The lettering and bomb are noticeably nearer and the scattered boxes and cone stay off to my right, out of my path. Stepping forward again should bring me close to the painted wall.",
+        "I am close enough that the \"BOOM!\" text has slid to my upper left while the fish mural dominates the right of my view. Turning left should bring the lettering and its bomb back to the center of my heading.",
+        "The pivot has centered the \"BOOM!\" lettering and the red bomb directly ahead on the brick wall. A step forward should put me right up at that graffiti.",
+        "The large BOOM lettering and the painted bomb now fill most of the brickwork in front of me, but a little open ground still separates me from the wall face. I will take one more step forward to close that last gap and stand directly at the lettering.",
+        "The painted bomb and its sparking fuse fill my view at arm's length, with the BOOM lettering just above my sightline, so I am right at the spray-painted wall. I have reached the BOOM graffiti. I mark arriving here before setting off across the roof toward the metal HVAC unit.",
+        "Standing this close, the painted brick blocks nearly everything, so I cannot see any machinery on the roof from this heading. I will pivot left to swing my view off the wall and begin searching the open roof deck for the metal HVAC unit.",
+        "The pivot has pulled the wall slightly aside and a sliver of open sky and pavement is opening at the left edge, but no equipment is in view yet. I will keep turning left to bring the open roof deck fully in front of me.",
+        "The roof is opening up on my left with distant buildings and scattered crates, while the bomb-painted wall still fills the right half of my view. Another left pivot should clear that wall away and expose more of the deck where a metal HVAC unit could stand.",
+        "Most of the deck is now ahead, and a boxy grey machine with hoses sits at the far left edge of my view. I will turn left again to bring that equipment toward the center of my heading.",
+        "A ribbed metal HVAC unit now stands out on the roof deck left of my current heading, with a second one further off. One more left pivot should line my facing up with it so I can walk straight over.",
+        "The metal HVAC unit with its ducted panel and hose now sits roughly ahead of me across clear pavement. I will walk forward to cut down that distance and close on it.",
+        "The boxy metal HVAC unit with its louvered panel and hose stands clearly ahead of me on the open rooftop, still several paces off. I will keep walking straight to cut that distance before making any heading adjustment.",
+        "The HVAC unit has grown much larger but sits right of my centre line, so walking straight would carry me past its left side. I will turn right to bring the metal cabinet squarely in front of me.",
+        "The metal HVAC cabinet now sits centred ahead with its ribbed grille and coiled hose plainly in view. With the heading set, I will step forward to close on it.",
+        "The HVAC unit fills much of the lower view now, its bolted base and conduit clearly visible just a short walk away. I will advance once more to stand right at the machine.",
+        "The metal HVAC unit's flank now fills the space directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t5_a_pd/infos.json

@@ -0,0 +1,430 @@
+{
+    "Instruction": "Grab the ceramic pot by the metal HVAC unit, then leave it near the red circle graffiti under \"BOOM\".",
+    "Type": 5,
+    "Start_Pose": [
+        -479.452,
+        -55997.202,
+        2598.15,
+        0,
+        -106.56,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -1043.749,
+        -56548.621,
+        2513.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "LookDown",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -479.452,
+            -55997.202,
+            2598.15,
+            0,
+            -106.56,
+            0
+        ],
+        [
+            -515.324,
+            -56117.842,
+            2598.15,
+            0.0,
+            -106.56,
+            0.0
+        ],
+        [
+            -551.196,
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+            0.0,
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+            0.0
+        ],
+        [
+            -551.196,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -833.66,
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+            2598.15,
+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
+            -833.66,
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+            0.0,
+            -156.56,
+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+            -56526.962,
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+            0.0
+        ],
+        [
+            -949.133,
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+        ],
+        [
+            -879.778,
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+            -56.561,
+            0.0
+        ],
+        [
+            -810.424,
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+            0.0,
+            -56.561,
+            0.0
+        ],
+        [
+            -741.069,
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+            0.0,
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+        ],
+        [
+            -780.745,
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+            0.0,
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+        ],
+        [
+            -780.745,
+            -56781.957,
+            2598.15,
+            0.0,
+            -56.561,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+            0.0,
+            0.0
+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            1.862
+        ],
+        [
+            -932.028,
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+            2568.529,
+            -28.189,
+            -81.404,
+            1.872
+        ],
+        [
+            -927.587,
+            -56533.529,
+            2567.862,
+            -28.215,
+            -56.433,
+            1.849
+        ],
+        [
+            -922.075,
+            -56528.474,
+            2567.916,
+            -14.092,
+            -39.217,
+            6.87
+        ],
+        [
+            -931.46,
+            -56514.768,
+            2567.932,
+            -28.208,
+            -6.419,
+            1.851
+        ],
+        [
+            -862.338,
+            -56619.634,
+            2568.353,
+            -28.189,
+            -6.403,
+            1.869
+        ],
+        [
+            -793.144,
+            -56724.436,
+            2568.736,
+            -28.205,
+            -6.426,
+            1.859
+        ],
+        [
+            -723.808,
+            -56829.419,
+            2568.889,
+            -28.191,
+            -6.411,
+            1.872
+        ],
+        [
+            -742.172,
+            -56840.371,
+            2578.15,
+            0.0,
+            -56.561,
+            0.0
+        ],
+        [
+            -742.172,
+            -56840.371,
+            2578.15,
+            0.0,
+            -56.561,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        789.0,
+        681.8,
+        582.1,
+        582.1,
+        462.6,
+        347.6,
+        347.6,
+        222.0,
+        222.0,
+        97.1,
+        97.1,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.5,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "From this rooftop corner I can see the ceramic pot sitting on the ground to the far left, next to the boxy metal HVAC unit against the wall. It is well out of reach, so I will walk forward across the open deck to close that distance before worrying about heading.",
+        "The pot beside the HVAC unit is noticeably larger now, but it still sits far to my left and remains too distant to reach. I will take another step forward to keep closing on that side of the roof before turning toward it.",
+        "Walking straight ahead is carrying me toward the BOOM section of the wall rather than the pot, which has drifted to the left edge of my view and is nearly out of sight. I will turn left so the HVAC unit and its ceramic pot come back into the center of my view for a direct approach.",
+        "The turn has brought the HVAC unit and the terracotta pot beside it back into clear view on the left side of the roof. With a clear stretch of pavement between us, I will walk forward to shorten the gap toward the pot.",
+        "The pot next to the HVAC unit is now clearly ahead and to my left, and it keeps growing as I advance. I will step forward again to get within a practical grabbing range before making any final alignment.",
+        "The terracotta pot sits low on the left side of my view beside the boxy metal HVAC unit, while my heading still points down the graffiti wall. I will turn left so the pot and the unit come into the center of my path before I close the remaining distance. That should let me walk straight at it instead of drifting past along the wall.",
+        "The pot now sits close to the middle of my view, just right of the large metal HVAC unit, but it is still several paces away across the open roof deck. The floor between me and it is clear, so I will walk forward to shorten that gap. Getting nearer should bring the pot within reach for a grasp.",
+        "The pot is now large in the lower part of my view, directly ahead of me next to the HVAC unit and its coiled hose. It looks close enough that I will reach down and try to take hold of it. If my hands find the rim, the pot should come up with me.",
+        "My reach came up empty and nothing is in my hands, so that grab failed. It seems I was still a step too far from the pot for the reach to connect. I will walk forward to stand right over it.",
+        "After stepping in, my view is filled with the far wall and rooftop, and the pot has dropped out of sight below the bottom of my sight line. I will lower my gaze to bring the pot back into view at my feet. Seeing it clearly should let me line up a proper grasp this time.",
+        "Looking down, the ceramic pot beside the HVAC unit and its hose now sits directly in front of my feet, close enough to reach. An earlier grab attempt from farther back produced no change and the pot stayed on the roof deck, so distance was the problem. I will attempt the pick again from this much closer stance to lift the pot.",
+        "The grab worked, since the pot is now lifted against my body with my hands on its rim instead of sitting on the deck. The drop target, the red circle under the BOOM lettering, is not ahead of me from this heading and lies around to my right along the wall. I will turn right to begin swinging my heading toward that stretch of wall.",
+        "Carrying the pot, I am now facing the wall with the heart and 'Crowe St Shad-Life' tags, and only a small distant BOOM marking sits far to my left. The red circle graffiti I need belongs to the BOOM section further around to my right. I will keep rotating right to bring that section toward my heading.",
+        "The heart mural is now centered ahead and the corner pillar with the start of the large BOOM lettering has just appeared at my right edge. That means the red circle graffiti is still further clockwise from my current heading. I will turn right again to bring the BOOM section fully in front of me.",
+        "The BOOM lettering and the red circular bomb graffiti are now visible on the brick section to my right, but they sit off to the side of my heading rather than straight ahead. Another right rotation should line my body up with that wall stretch so I can walk toward the drop spot while carrying the pot. I will turn right once more.",
+        "I am carrying the ceramic pot and now face the wall section bearing the \"BOOM!\" tag with the red circular graffiti just below it, but I am still several paces away and off to the side. Walking forward should carry the pot toward that marked stretch of wall so I can set it down close to the red circle.",
+        "The \"BOOM!\" text and the red circle beneath it now fill more of my view, so the previous step closed distance as intended while the pot stayed with me. I am still not beside the graffiti, so another step forward should bring me nearer to the intended drop spot.",
+        "The red circular graffiti under the \"BOOM!\" lettering is now large and directly ahead of me on the brick wall, confirming my heading is good. One more step should place me right at the base of that marking, close enough to release the pot there.",
+        "I am now standing right against the brick wall with the red circular graffiti filling my view under the \"BOOM!\" tag, and the pot is still in my hands. This is the spot the task named, so I will release the pot here and expect it to settle on the pavement beside the red circle.",
+        "The ceramic pot now rests on the ground beside the red circle graffiti under \"BOOM!\". The task condition is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000499_y-056139_z002598_t1_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Discover the red balloon painted on the pale beige brick wall adorned with graffiti, then approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -498.86,
+        -56139.188,
+        2598.184,
+        0.0,
+        -20.48,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -498.86,
+            -56139.188,
+            2598.184,
+            0.0,
+            -20.48,
+            0.0
+        ],
+        [
+            -498.86,
+            -56139.188,
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+            0.0,
+            -45.48,
+            0.0
+        ],
+        [
+            -498.86,
+            -56139.188,
+            2598.184,
+            0.0,
+            -70.48,
+            0.0
+        ],
+        [
+            -498.86,
+            -56139.188,
+            2598.184,
+            0.0,
+            -95.48,
+            0.0
+        ],
+        [
+            -510.879,
+            -56264.471,
+            2598.184,
+            0.0,
+            -95.48,
+            0.0
+        ],
+        [
+            -522.899,
+            -56389.755,
+            2598.184,
+            0.0,
+            -95.48,
+            0.0
+        ],
+        [
+            -534.918,
+            -56515.039,
+            2598.184,
+            0.0,
+            -95.48,
+            0.0
+        ],
+        [
+            -546.937,
+            -56640.323,
+            2598.184,
+            0.0,
+            -95.48,
+            0.0
+        ],
+        [
+            -558.957,
+            -56765.606,
+            2598.184,
+            0.0,
+            -95.48,
+            0.0
+        ],
+        [
+            -558.957,
+            -56765.606,
+            2598.184,
+            0.0,
+            -120.48,
+            0.0
+        ],
+        [
+            -622.797,
+            -56874.072,
+            2598.184,
+            0.0,
+            -120.48,
+            0.0
+        ],
+        [
+            -622.797,
+            -56874.072,
+            2598.184,
+            0.0,
+            -120.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I see a pale beige brick wall on my left carrying red graffiti lettering, but no red balloon painting is in view. Since that graffitied wall is the strongest cue for where the target should be, I will turn left to bring more of its surface into my field of view.",
+        "More of the graffitied beige brick wall is now facing me, showing painted fish and the red lettering, yet the red balloon is still not in sight. I will continue turning left in the same direction to sweep along the remaining unseen stretch of this wall.",
+        "The continued sweep has revealed a round red balloon shape painted under the word BOOM near the left part of the wall, which matches the target. I will turn left once more so the balloon sits closer to the center of my view before I start walking toward it.",
+        "The red balloon painting is now within the central band of my view on the beige brick wall, with open, clear ground between me and it. I will walk forward to begin closing that distance.",
+        "The balloon and the BOOM lettering have grown larger, confirming I am heading straight at the right part of the wall. I will keep walking forward since nothing blocks the path along this stretch of pavement.",
+        "The wall now fills much of my view and the red balloon is clearly resolved with its painted fuse. I am still several paces short of it, so I will step forward again to shorten the gap.",
+        "Only the brickwork and the graffiti remain in view, with the red balloon large and slightly left of center. A little more distance remains before I am right up against it, so I will continue walking forward.",
+        "I am now close to the wall, with the red balloon painting filling the left portion of my view. I will take one more step forward to bring myself directly in front of the target surface.",
+        "I am now very close to the pale beige brick wall, and the red balloon graffiti has drifted to the far left edge of my view where it is partly cut off. Turning left should swing my heading back onto the balloon so it sits centered in front of me for a clean final approach.",
+        "The red balloon graffiti is now fully visible on the pale beige brick wall and sits comfortably within my forward view alongside the BOOM lettering. I will step forward to close the last bit of distance so I end up right in front of the painted balloon.",
+        "The red balloon painted on the beige brick wall fills my view directly ahead at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000511_y-056025_z002598_t0_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Approach the blue object against the brick wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -511.092,
+        -56024.973,
+        2598.15,
+        0.0,
+        -85.44,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -511.092,
+            -56024.973,
+            2598.15,
+            0.0,
+            -85.44,
+            0.0
+        ],
+        [
+            -501.086,
+            -56150.433,
+            2598.15,
+            0.0,
+            -85.44,
+            0.0
+        ],
+        [
+            -491.08,
+            -56275.894,
+            2598.15,
+            0.0,
+            -85.44,
+            0.0
+        ],
+        [
+            -481.074,
+            -56401.355,
+            2598.15,
+            0.0,
+            -85.44,
+            0.0
+        ],
+        [
+            -481.074,
+            -56401.355,
+            2598.15,
+            0.0,
+            -60.44,
+            0.0
+        ],
+        [
+            -418.983,
+            -56510.832,
+            2598.15,
+            0.0,
+            -60.44,
+            0.0
+        ],
+        [
+            -356.892,
+            -56620.309,
+            2598.15,
+            0.0,
+            -60.44,
+            0.0
+        ],
+        [
+            -294.802,
+            -56729.786,
+            2598.15,
+            0.0,
+            -60.44,
+            0.0
+        ],
+        [
+            -294.802,
+            -56729.786,
+            2598.15,
+            0.0,
+            -35.44,
+            0.0
+        ],
+        [
+            -192.261,
+            -56802.765,
+            2598.15,
+            0.0,
+            -35.44,
+            0.0
+        ],
+        [
+            -192.261,
+            -56802.765,
+            2598.15,
+            0.0,
+            -35.44,
+            0.0
+        ],
+        [
+            -192.261,
+            -56802.765,
+            2598.15,
+            0.0,
+            -35.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The long brick wall with graffiti stands ahead of me across an open concrete lot, and the only blue object along its base is a bulging blue bag sitting to the right of center near the boxes. Nothing blocks the flat ground between us, so I will move forward to start closing the large gap.",
+        "The wall and its fish mural now fill more of my view, and the blue bag by the debris and cardboard is slightly larger than before, confirming my heading is carrying me toward it. I will continue forward since the lot ahead is still open.",
+        "I am still several strides short of the wall, with the vent stack ahead of me on the ground but off to the left of my path, and the blue bag sits farther right beside the flattened boxes. Another forward step should bring me close enough to judge my alignment with the bag.",
+        "The blue bag now sits well to the right of my heading, near the KING lettering, while my current course points at the empty mural section of the wall. I will turn right to bring the bag closer to the center of my view before advancing further.",
+        "After the turn, the blue bag sits ahead of me along the wall base among the cardboard boxes, roughly in front of my heading. The path along the concrete is clear, so I will move forward to shorten the remaining distance.",
+        "The wall is much nearer now and the blue bag stands out clearly against the bricks just right of my heading, still a few paces off. I will keep moving forward to close in on it.",
+        "The blue bag is now large in my view, resting between open cardboard boxes at the foot of the wall, but I am still not within close range of it. One more forward step should bring me right up beside it.",
+        "I am very close to the wall and my view is dominated by the mural, with the blue bag pushed down toward the lower right edge of my sight. Turning right should swing the bag back into the center of my view so I can settle directly in front of it.",
+        "The blue bagged object sits at the base of the brick wall just left of my heading, with open pavement between us and no obstruction in the path. I will move forward to close that last bit of distance so the target ends up directly beside me.",
+        "I am now right up against the wall and the blue bag has slipped to the very bottom edge of my view, mostly below my forward gaze. Tilting my view downward should bring the object fully into sight so I can confirm I am standing next to it.",
+        "The blue bagged object lies directly at my feet against the brick wall, filling the near foreground. The task is complete, so I stop here rather than move any closer."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000511_y-056025_z002598_t0_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Move to the cardboard box beside the red \"KING\" graffiti.",
+    "Type": 0,
+    "Start_Pose": [
+        -511.092,
+        -56024.973,
+        2598.15,
+        0,
+        -85.44,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -511.092,
+            -56024.973,
+            2598.15,
+            0,
+            -85.44,
+            0
+        ],
+        [
+            -501.086,
+            -56150.433,
+            2598.15,
+            0.0,
+            -85.44,
+            0.0
+        ],
+        [
+            -491.08,
+            -56275.894,
+            2598.15,
+            0.0,
+            -85.44,
+            0.0
+        ],
+        [
+            -481.074,
+            -56401.355,
+            2598.15,
+            0.0,
+            -85.44,
+            0.0
+        ],
+        [
+            -481.074,
+            -56401.355,
+            2598.15,
+            0.0,
+            -60.44,
+            0.0
+        ],
+        [
+            -418.983,
+            -56510.832,
+            2598.15,
+            0.0,
+            -60.44,
+            0.0
+        ],
+        [
+            -356.892,
+            -56620.309,
+            2598.15,
+            0.0,
+            -60.44,
+            0.0
+        ],
+        [
+            -356.892,
+            -56620.309,
+            2598.15,
+            0.0,
+            -35.44,
+            0.0
+        ],
+        [
+            -254.352,
+            -56693.288,
+            2598.15,
+            0.0,
+            -35.44,
+            0.0
+        ],
+        [
+            -151.812,
+            -56766.268,
+            2598.15,
+            0.0,
+            -35.44,
+            0.0
+        ],
+        [
+            -151.812,
+            -56766.268,
+            2598.15,
+            0.0,
+            -35.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The red \"KING\" tag is far off on the right end of the long brick wall, with pale cardboard boxes stacked on the ground near it. I am well back across the open lot, so I will walk forward to close that gap before worrying about heading.",
+        "The wall now fills more of my view and the KING lettering sits clearly at the right edge, so my line of travel is still useful. Nothing blocks the pavement ahead, so I will keep walking to shorten the distance.",
+        "I am closer now, with the fish mural and the boxes along the base of the wall growing larger, though the KING lettering is drifting toward the right margin. I will take another step forward to keep closing before correcting my heading.",
+        "The KING tag has slipped to the far right border of my view and is almost cut off, while my heading points at the blank middle of the wall. I will turn right to bring the red lettering and the boxes beneath it back into the center of my path.",
+        "The turn worked: the red KING lettering and the row of cardboard boxes beside it now sit in the right half of my view with clear pavement between us. I will walk forward to close on that cluster of boxes.",
+        "The boxes along the wall are noticeably larger and the KING tag stands right above them, so I am on a good line. I will step forward again to bring myself alongside that cluster.",
+        "I am close to the wall now, and the boxes under the KING tag have swung toward the right side of my view while my heading runs along the mural. Turning right should square me up with the box beside the red lettering.",
+        "The turn puts the red KING lettering ahead with the cardboard box and blue bag at the wall base on my line of travel. A couple more steps should bring me right up beside that box.",
+        "The open cardboard box under the red lettering sits just ahead at the wall base, still a stride or two beyond arm's reach, with clear pavement between us. One more step should place me right beside it.",
+        "The cardboard box is right at my feet against the wall under the red KING tag. I have reached it, so there is no reason to keep walking."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000633_y-055370_z002598_t0_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Walk to the narrow ladder leaning beneath the green spray-can graffiti.",
+    "Type": 0,
+    "Start_Pose": [
+        -632.643,
+        -55369.779,
+        2598.15,
+        0,
+        -178.56,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -632.643,
+            -55369.779,
+            2598.15,
+            0,
+            -178.56,
+            0
+        ],
+        [
+            -758.462,
+            -55372.94,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -884.282,
+            -55376.103,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -1010.101,
+            -55379.266,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -1135.92,
+            -55382.429,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -1135.92,
+            -55382.429,
+            2598.15,
+            0.0,
+            156.44,
+            -0.0
+        ],
+        [
+            -1251.288,
+            -55332.122,
+            2598.15,
+            0.0,
+            156.44,
+            -0.0
+        ],
+        [
+            -1366.655,
+            -55281.815,
+            2598.15,
+            0.0,
+            156.44,
+            -0.0
+        ],
+        [
+            -1482.023,
+            -55231.508,
+            2598.15,
+            0.0,
+            156.44,
+            -0.0
+        ],
+        [
+            -1597.391,
+            -55181.201,
+            2598.15,
+            0.0,
+            156.44,
+            -0.0
+        ],
+        [
+            -1712.758,
+            -55130.894,
+            2598.15,
+            0.0,
+            156.44,
+            -0.0
+        ],
+        [
+            -1824.744,
+            -55080.279,
+            2598.15,
+            0.0,
+            156.44,
+            -0.0
+        ],
+        [
+            -1824.744,
+            -55080.279,
+            2598.15,
+            0.0,
+            156.44,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this end of the rooftop I can pick out a slim step ladder standing against the graffiti-covered left wall, near the painted diver figure and the clutter of cans at its base. It is still far across the open deck, so I will move forward over the clear paving to begin closing that distance.",
+        "The ladder against the mural wall has grown slightly larger and the spray cans and buckets beside it are now easier to distinguish, confirming I am on a useful line toward it. The deck ahead is still empty, so another forward step should keep shrinking the gap.",
+        "The graffiti wall on my left keeps expanding in view and the narrow ladder leaning near the painted figure stays clearly identifiable, so my heading is still serviceable. I will advance again since the paving directly in front of me remains clear of the concrete blocks and vents off to the right.",
+        "I am now well out onto the roof with the ladder distinctly ahead on my left, propped against the wall with the spray cans below it. One more forward step should bring me close enough that a small heading correction is all that remains.",
+        "My current heading points past the ladder toward the brick facade and the stair-covered wall on the right, leaving the target off to my left edge. I will turn left to bring the narrow ladder and the graffiti wall it leans on into the center of my view before continuing.",
+        "After the turn the ladder now sits near the middle of my view, standing against the mural wall with paint cans and a bucket at its feet. With the heading corrected I will move forward along the open deck to close the remaining distance.",
+        "The ladder is noticeably nearer and I can now make out its individual steps and the scattered cans beside the wall. Since it remains roughly ahead of me, another forward step should keep bringing me in without needing to reorient.",
+        "The narrow ladder now stands prominently just ahead beside the diver mural, but I am still a few paces short of standing at its base. I will continue forward across the clear paving to draw up beside it.",
+        "The narrow stepladder stands upright against the graffiti wall just ahead of me, with the scattered spray cans and paint tarp at its base confirming it as my target. My heading already runs straight along the mural toward it, so I will keep moving forward to close the remaining few paces.",
+        "The ladder now dominates the near part of my view, its legs and lower rungs clearly resolved a short step away against the sprayed brick. Since I am still not close enough to be standing right at it, another forward step should bring me to its base without needing any turn.",
+        "The stepladder is now directly in front of me, tall enough to fill most of my view with the mural wall close on my left. One short final step forward should place me right at its base, which is the stopping position this task asks for.",
+        "The ladder's rails and rungs are directly within arm's reach against the sprayed brick wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000633_y-055370_z002598_t0_b/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Approach the base of the staircase below the \"Bronx King\" sign.",
+    "Type": 0,
+    "Start_Pose": [
+        -632.643,
+        -55369.779,
+        2598.15,
+        0.0,
+        -178.56,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -632.643,
+            -55369.779,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -758.462,
+            -55372.94,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -884.282,
+            -55376.103,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -1010.101,
+            -55379.266,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -1010.101,
+            -55379.266,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ],
+        [
+            -1122.795,
+            -55435.306,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ],
+        [
+            -1235.489,
+            -55491.346,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ],
+        [
+            -1348.184,
+            -55547.386,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ],
+        [
+            -1461.314,
+            -55595.349,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ],
+        [
+            -1574.008,
+            -55651.389,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ],
+        [
+            -1686.703,
+            -55707.429,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ],
+        [
+            -1686.703,
+            -55707.429,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -1812.522,
+            -55710.592,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -1938.341,
+            -55713.754,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -2064.16,
+            -55716.917,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -2189.98,
+            -55720.08,
+            2598.15,
+            0.0,
+            -178.56,
+            0.0
+        ],
+        [
+            -2189.98,
+            -55720.08,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ],
+        [
+            -2189.98,
+            -55720.08,
+            2598.15,
+            0.0,
+            -153.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this end of the open rooftop I can already read the \"Bronx King\" lettering on the tall brick wall ahead to my right, with a metal staircase running up beside it. The flat roof deck in front of me is clear of clutter, so I will step forward to begin closing the long gap toward that wall.",
+        "The lettered wall and its staircase have grown slightly larger, confirming my heading is carrying me toward the target rather than past it. The nearest rooftop fixtures stay well off to my sides, so another forward step should keep shrinking the distance.",
+        "The staircase treads and railing beside the \"Bronx King\" letters are now clearly resolved, but the base of the stairs is still a long way across the deck. I will continue advancing over the open paving while the route stays unobstructed.",
+        "My straight-ahead heading is drifting to the left of the target, since the lettered wall and its stairs sit noticeably right of the center of my view. A small turn to the right should bring that wall closer to dead ahead so the remaining approach is a straight walk.",
+        "After the small rotation the brick wall with \"Bronx King\" and its staircase now sits near the middle of my view, which is a good heading for a direct approach. I will step forward across the clear deck, keeping the low condenser unit and stone pedestal to my right.",
+        "The lettering and the diagonal stair stringer are getting larger and lower in my view, so I am closing distance on the correct structure. The paving between me and the wall is open, so I continue straight forward.",
+        "I can now make out the individual steps and the landing at the top of the stairs, but the bottom step is still several strides away. Another forward step should bring me nearer to the foot of that staircase.",
+        "The \"Bronx King\" wall now fills much of my view and the lowest steps with their handrail are plainly ahead and slightly left of me. I will keep walking forward to close the remaining gap to the base of the stairs.",
+        "The wall carrying the \"BRONX KING\" lettering stands ahead of me with its metal staircase descending toward the roof deck, so my heading is still usable for a direct approach. The stair base is well short of me across open, clear paving, so I will step forward to keep closing the gap.",
+        "The staircase now reads larger ahead of me, with its lowest steps and handrail resting on the roof surface a few strides away. Nothing blocks the ground between us, so another forward step should bring me nearer to the base.",
+        "The brick wall with the sign now fills much of my view, but the bottom of the staircase sits to the left of my heading rather than straight ahead. I will turn left so the stair base moves toward the center of my view and I can walk straight at it instead of drifting into the wall.",
+        "After the turn the staircase and the \"BRONX KING\" lettering sit more squarely in front of me, with clear paving leading to the stair base. I will step forward along this corrected heading to close the remaining distance.",
+        "The stair stringer and handrail are noticeably nearer, and the loose bricks and debris beside the base are already distinguishable on the deck. I will continue forward since the last stretch to the base is still open.",
+        "The brick wall and the lower flight of steps now occupy most of my view, so I am only a short distance from the foot of the staircase. One more forward step should place me right at the base area.",
+        "I am close against the corner of the brick wall with the stair railing rising at the right side of my view, but the very bottom of the flight is still slightly ahead of me. I will take one more step forward to stand at the foot of the stairs.",
+        "I am now standing right at the wall, and the staircase has slid off to the right edge of my view while bare brick dominates ahead. I will turn right so the bottom steps and railing come into the center of my view and I face the base of the staircase directly.",
+        "The staircase's lowest steps and handrail are directly in front of me against the signed brick wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000666_y-055204_z002598_t1_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Locate the stacked crates sitting inside the chain-link fenced enclosure, then navigate your way to them.",
+    "Type": 1,
+    "Start_Pose": [
+        -665.665,
+        -55204.415,
+        2598.15,
+        0.0,
+        -120.48,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -665.665,
+            -55204.415,
+            2598.15,
+            0.0,
+            -120.48,
+            0.0
+        ],
+        [
+            -665.665,
+            -55204.414,
+            2598.15,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -665.665,
+            -55204.414,
+            2598.15,
+            0.0,
+            -170.48,
+            0.0
+        ],
+        [
+            -665.665,
+            -55204.414,
+            2598.15,
+            0.0,
+            164.52,
+            -0.0
+        ],
+        [
+            -665.665,
+            -55204.414,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -761.397,
+            -55122.709,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -857.13,
+            -55041.003,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -952.862,
+            -54959.298,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1033.944,
+            -54873.206,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1100.57,
+            -54798.19,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1116.763,
+            -54723.828,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1116.763,
+            -54723.828,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this rooftop position I can see open concrete, a couple of vent housings and graffiti walls, but no chain-link fenced enclosure and no stacked crates anywhere ahead. I will turn left to begin a consistent scan of the parts of the roof that are currently outside my field of view.",
+        "Swinging left has brought a taller apartment block, a ladder and more rooftop clutter into view, yet still no fenced-off area with crates inside it. I will continue turning left in the same direction to keep sweeping new ground rather than backtracking.",
+        "Now the left edge of my view catches a chain-link fence panel running beside a water tower, which is exactly the kind of enclosure the task describes. I will turn left once more to bring that fenced area toward the center of my view and see what it contains.",
+        "The chain-link fence line is now clearly in front of me, with posts and gate framing a walled-off section of the roof and some low clutter behind it. I will turn left a little more to square up with that enclosure before heading toward it.",
+        "I am now facing the fenced enclosure squarely, with the fence panels and the wall behind them centered ahead and what look like pallets and boxes stacked along that wall. I will walk forward across the open concrete to close the distance and confirm the crates inside.",
+        "The fence and the wall behind it have grown noticeably larger, and I can now make out boxes and a pallet stacked on the ground inside the enclosure. I will keep walking forward toward that stack.",
+        "The stacked crates and pallet beside the graffiti wall are clearly identifiable now, just past the near fence panel and slightly left of my heading. I will continue advancing along the open floor to reach them.",
+        "I have passed inside the fence line and the stacked cardboard boxes on their pallet are directly ahead against the painted brick wall. I will step forward again to close the last of the gap to them.",
+        "The stacked crates on their pallet are clearly in front of me against the graffiti wall, just inside the chain-link enclosure, but they still sit a few paces off and slightly left of my heading. I will step forward again to close that remaining gap along the open strip of roof beside the covered mound on my right.",
+        "The crate stack now fills a large part of my view, with the pallet base and leaning boards clearly visible only a short distance ahead. One more step forward should bring me right up to the stack inside the fenced area before I stop.",
+        "The stacked crates on their pallet stand directly before me inside the chain-link enclosure, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-000666_y-055204_z002598_t1_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Determine where the red gas canister rests on the ground within the chain-link cage area; once found, make your way over to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -665.665,
+        -55204.415,
+        2598.15,
+        0.0,
+        -120.48,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -665.665,
+            -55204.415,
+            2598.15,
+            0.0,
+            -120.48,
+            0.0
+        ],
+        [
+            -665.665,
+            -55204.414,
+            2598.15,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -665.665,
+            -55204.414,
+            2598.15,
+            0.0,
+            -170.48,
+            0.0
+        ],
+        [
+            -665.665,
+            -55204.414,
+            2598.15,
+            0.0,
+            164.52,
+            -0.0
+        ],
+        [
+            -665.665,
+            -55204.414,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -761.397,
+            -55122.709,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -857.13,
+            -55041.003,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -952.862,
+            -54959.298,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1033.944,
+            -54873.206,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1100.57,
+            -54798.19,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1100.57,
+            -54798.19,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this rooftop I only see open concrete, rooftop vents and a large HVAC unit ahead, with graffiti walls beyond, and no chain-link cage anywhere in view. Since the target canister must sit inside a fenced area, I will turn left to begin a consistent scan for that cage.",
+        "The new heading shows more of the rooftop with a ladder, small vents and apartment blocks behind, but still no fenced enclosure and no red canister. I will keep rotating left in the same direction to extend the sweep into the unseen part of the roof.",
+        "Chain-link fencing has now appeared along the left edge of my view, which is exactly the kind of cage area the task describes. I will continue turning left to bring that fenced enclosure fully in front of me before committing to an approach.",
+        "The caged section is now clearly on my left, with fence posts and mesh enclosing stacked crates and boxes against the graffiti wall, and I can make out a small reddish object low on the ground inside it. One more left turn should center that enclosure so I can walk straight in toward the canister.",
+        "The chain-link cage is now centered ahead of me, running along the wall with pallets, boxes and a red container resting on the ground inside. With the heading set, I will walk forward to close the distance to that enclosure.",
+        "The fence frame and the wall have grown noticeably larger, so my forward motion is carrying me toward the cage as intended. The red canister on the ground beside the pallets is still ahead and slightly left, so I will keep walking forward.",
+        "I am close enough now that the fence mesh fills much of my view and the red canister sitting on the concrete near the pallets is clearly distinguishable. I will continue forward to reach a position right beside it.",
+        "The red gas canister is plainly visible on the ground just left of the stacked boxes and pallet inside the fenced area. A couple more steps forward should bring me right up to it, so I will keep advancing.",
+        "The red canister is clearly resting on the ground just ahead and to my left, beside the pallet of boxes inside the chain-link enclosure. I still have a little gap to close, so I will step forward once more to bring it into comfortable reach at my feet.",
+        "The red gas canister lies on the ground right at my feet inside the fenced area. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-001135_y-055527_z002598_t1_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Locate the freestanding A-frame ladder on the rooftop and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1134.616,
+        -55526.745,
+        2598.15,
+        0.0,
+        -120.48,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1134.616,
+            -55526.745,
+            2598.15,
+            0.0,
+            -120.48,
+            0.0
+        ],
+        [
+            -1134.616,
+            -55526.746,
+            2598.15,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -1134.616,
+            -55526.746,
+            2598.15,
+            0.0,
+            -170.48,
+            0.0
+        ],
+        [
+            -1134.616,
+            -55526.746,
+            2598.15,
+            0.0,
+            164.52,
+            -0.0
+        ],
+        [
+            -1255.909,
+            -55493.154,
+            2598.15,
+            0.0,
+            164.52,
+            -0.0
+        ],
+        [
+            -1377.203,
+            -55459.562,
+            2598.15,
+            0.0,
+            164.52,
+            -0.0
+        ],
+        [
+            -1498.496,
+            -55425.97,
+            2598.15,
+            0.0,
+            164.52,
+            -0.0
+        ],
+        [
+            -1498.496,
+            -55425.97,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1594.228,
+            -55344.265,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1689.961,
+            -55262.559,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1785.693,
+            -55180.854,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1785.693,
+            -55180.854,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this rooftop position I see graffiti walls, a rooftop unit and a coiled hose ahead, but no freestanding A-frame ladder anywhere in view. The left side of my view is cut off by the brick building with the fire escape stairs, so unseen rooftop area lies that way. I will turn left to begin a steady scan of that unexplored side.",
+        "Turning has brought the BRONX KING wall and its metal staircase into the center, along with more open rooftop deck, but still no A-frame ladder. The scan is not finished, so I keep rotating in the same direction rather than switching sides. I will turn left again to reveal the rooftop area still hidden behind the left edge.",
+        "At the far left of my view I can now make out a freestanding A-frame ladder standing against the graffitied wall near the water tower. It sits at the very edge of my view, too far off-center to walk toward directly. I will turn left once more to bring that ladder into the middle of my heading.",
+        "The A-frame ladder now stands clearly ahead on the left, propped against the wall below the water tower, and the deck between us is flat and clear. Nothing blocks a straight walk in this direction. I will step forward to close distance on the ladder.",
+        "The ladder has grown larger and the diver mural beside it is more detailed, confirming I am closing in on it. There is still a clear stretch of rooftop before I reach it, with no obstacles in the path. I will continue walking forward.",
+        "The ladder is closer and shifted further to my left as I advance along the deck, but it remains well within reach of a straight approach. I am not yet near enough to count this as arriving at it. I will keep moving forward to shorten the remaining gap.",
+        "The ladder now sits well to the left of my heading against the tagged wall, so walking straight ahead would carry me past it. I need my facing pointed at the ladder before covering the last stretch. I will turn left to place it near the center of my view.",
+        "The turn has brought the freestanding A-frame ladder much closer to the middle of my view, standing open on the deck beside the diver mural. The floor between us is clear of clutter apart from paint cans along the wall. I will walk forward to reach it.",
+        "The freestanding A-frame ladder standing open against the graffiti wall is clearly centered in my view, and its legs are now well defined against the rooftop deck. Since the path of open concrete in front of me is clear of the vents and scattered cans, I will keep walking straight toward it. This step should close a good portion of the remaining gap.",
+        "The ladder now dominates the center of my view with its spreader braces and top cap plainly visible, so only a short stretch of deck still separates us. I will take one more step forward to bring myself right up beside it. That should place me close enough to count as having reached the ladder.",
+        "The freestanding A-frame ladder stands directly in front of me, close enough that its legs and rungs fill my view. The approach objective is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-001145_y-055386_z002598_t3_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Walk to the wooden step ladder, then approach the diver graffiti mural.",
+    "Type": 3,
+    "Start_Pose": [
+        -1145.299,
+        -55385.828,
+        2598.15,
+        0.0,
+        164.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1145.299,
+            -55385.828,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1266.379,
+            -55351.475,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1387.459,
+            -55317.121,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1508.538,
+            -55282.768,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1629.618,
+            -55248.414,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1750.698,
+            -55214.061,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1750.698,
+            -55214.061,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1750.698,
+            -55214.061,
+            2598.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1750.698,
+            -55214.061,
+            2598.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1750.698,
+            -55214.061,
+            2598.15,
+            0.0,
+            89.16,
+            -0.0
+        ],
+        [
+            -1748.853,
+            -55088.215,
+            2598.15,
+            0.0,
+            89.16,
+            -0.0
+        ],
+        [
+            -1748.853,
+            -55088.215,
+            2598.15,
+            0.0,
+            89.16,
+            -0.0
+        ],
+        [
+            -1748.853,
+            -55088.215,
+            2598.15,
+            0.0,
+            89.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The wooden step ladder stands well ahead of me, leaning against the grey wall that carries the diver painting. Nothing blocks the open rooftop between us, so I will walk straight forward to close that distance.",
+        "The step ladder has grown larger and sits slightly left of my heading, still several strides away. The rooftop surface stays clear, so another forward step should keep shrinking the gap.",
+        "The ladder now shows its rungs and side rails clearly, but I am not yet beside it. I keep walking forward along the wall to bring myself alongside its base.",
+        "The ladder fills a good part of the left side of my view and its paint-spattered top tray is visible, yet a couple of strides still separate us. I will advance again to reach it.",
+        "The ladder legs are nearly at my feet on the left, so one more step should put me right at its base. I move forward to finish closing on it.",
+        "The wooden step ladder now towers directly beside me, its legs and splattered top tray within arm's reach. I have reached the step ladder. I mark reaching it, then set off for the diver painted on this grey wall.",
+        "Standing at the ladder, my view points down the rooftop toward the far buildings, while the painted wall with the helmeted diver runs away to my left. I will turn left to swing my heading onto that wall.",
+        "The wall's fish and crown markings have swung into view, and the edge of the big diver figure is only just appearing at the far left. Another left turn should bring the diver squarely in front of me.",
+        "The painted diver's helmet and shoulders now fill the left half of my view while the wooden ladder has swung off to my right edge. One more left turn should bring the diver figure square in front of me before I close the remaining distance.",
+        "The diver in the helmet and suit is centered ahead of me on the grey brick wall, with only open rooftop and a few paint cans between us. I will walk straight in to stand close under the painting.",
+        "I am close enough that only the diver's chest plate and harness fill my view, with the helmet cut off above the frame. Tilting my gaze upward should bring the whole painted figure back into sight from this position.",
+        "The diver mural fills my view directly ahead at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-001145_y-055386_z002598_t3_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Head toward the cardboard boxes, then reach the wooden step ladder.",
+    "Type": 3,
+    "Start_Pose": [
+        -1145.299,
+        -55385.828,
+        2598.15,
+        0.0,
+        164.16,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1145.299,
+            -55385.828,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1145.299,
+            -55385.828,
+            2598.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1240.516,
+            -55303.523,
+            2598.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1335.733,
+            -55221.217,
+            2598.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1335.733,
+            -55221.217,
+            2598.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1387.246,
+            -55106.383,
+            2598.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1387.246,
+            -55106.383,
+            2598.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1387.246,
+            -55106.383,
+            2598.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1387.246,
+            -55106.383,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1508.326,
+            -55072.029,
+            2598.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1508.326,
+            -55072.029,
+            2598.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1632.58,
+            -55092.065,
+            2598.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1756.834,
+            -55112.101,
+            2598.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1823.016,
+            -55141.145,
+            2598.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1823.016,
+            -55141.145,
+            2598.15,
+            0.0,
+            -170.84,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The cardboard boxes sit low against the graffiti wall on the far left of my view, well off my current heading. I will turn left to bring that cluster of boxes toward the centre of my view so I can walk straight at them.",
+        "The boxes beside the painted diver are now within my forward arc and the rooftop between us is clear concrete. I will walk forward to close the distance toward them.",
+        "The boxes and paint cans along the wall have grown larger, so my heading is carrying me toward them. I will keep walking forward to shorten the remaining gap.",
+        "The stack of cardboard boxes has drifted to the lower left as I advanced along the wall. I will turn left so they sit squarely ahead of me before stepping in.",
+        "The open cardboard box and its neighbours are directly ahead at the foot of the mural, only a short walk away. I will step forward to arrive right beside them.",
+        "The cardboard boxes fill the bottom of my view right at my feet against the painted brick. I have reached them. I mark arriving here before turning away to find the wooden step ladder standing further along this wall.",
+        "Standing this close, the brick wall and the boxes block most of my view, so I cannot see the wooden step ladder. I will turn right to swing my view back along the wall where the ladder should stand.",
+        "The wooden step ladder has come into the right edge of my view, still off my heading. I will turn right again to bring it toward the centre so I can walk straight at it.",
+        "The wooden step ladder now stands clearly ahead of me along the graffitied wall, with open rooftop between us. Since my heading already points down that lane, I will walk forward to cut the remaining distance to it.",
+        "The ladder is closer now, but my line of travel hugs the mural wall on my left and would take me past its near side rather than up to it. A small turn to the right should swing my heading onto the open deck and set a straighter approach to the ladder.",
+        "With the turn done, the step ladder sits squarely in front of me on clear pavement and the wide rooftop is open beyond it. I will step forward to close the gap toward it.",
+        "The ladder has grown large in front of me and its legs and rungs are plainly visible only a short way off. Another step forward should bring me right up beside it.",
+        "The ladder now towers immediately at my left shoulder, its top platform level with my view. One more short step forward should place me level with its frame, close enough to count as reaching it.",
+        "The wooden step ladder stands right beside me, its rails and rungs within arm's reach at my left. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Demo_Roof/task_x-001350_y-056077_z002598_t1_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Search for the hollow heart graffiti painted on the red brick wall; after locating it, navigate to that spot.",
+    "Type": 1,
+    "Start_Pose": [
+        -1349.638,
+        -56077.31,
+        2598.15,
+        0.0,
+        139.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1349.638,
+            -56077.31,
+            2598.15,
+            0.0,
+            139.52,
+            -0.0
+        ],
+        [
+            -1349.638,
+            -56077.309,
+            2598.15,
+            0.0,
+            164.52,
+            -0.0
+        ],
+        [
+            -1349.638,
+            -56077.309,
+            2598.15,
+            0.0,
+            -170.48,
+            0.0
+        ],
+        [
+            -1349.638,
+            -56077.309,
+            2598.15,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -1453.337,
+            -56148.632,
+            2598.15,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -1557.036,
+            -56219.956,
+            2598.15,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -1660.734,
+            -56291.279,
+            2598.15,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -1764.433,
+            -56362.603,
+            2598.15,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -1868.132,
+            -56433.926,
+            2598.332,
+            0.0,
+            -145.48,
+            0.0
+        ],
+        [
+            -1868.132,
+            -56433.926,
+            2598.332,
+            0.0,
+            -170.48,
+            0.0
+        ],
+        [
+            -1992.258,
+            -56454.742,
+            2598.332,
+            0.0,
+            -170.48,
+            0.0
+        ],
+        [
+            -2116.383,
+            -56475.558,
+            2598.332,
+            0.0,
+            -170.48,
+            0.0
+        ],
+        [
+            -2240.509,
+            -56496.374,
+            2598.332,
+            0.0,
+            -170.48,
+            0.0
+        ],
+        [
+            -2240.509,
+            -56496.374,
+            2598.332,
+            0.0,
+            -170.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this rooftop I can see a brick wall ahead on the right carrying large red and black lettering, but no hollow heart figure anywhere in my current view, and a bulky vent unit blocks much of the left side. I will turn right to sweep the open part of the roof and check the wall faces that are still outside my field of view.",
+        "The scan now reveals a second brick face to the right of the stair block with spray-painted script and what looks like a small red heart outline beside it. I will continue turning right in the same direction to bring that promising wall and the ground in front of it fully into view before committing to an approach.",
+        "The red heart outline on the brick wall with the Crowe lettering is now clearly in view, sitting ahead and slightly right of my heading. One more turn to the right should line me up with the open rooftop lane that runs toward that wall, keeping the heart graffiti on my forward left as I advance.",
+        "I am now facing down the open stretch of roof, with the brick wall bearing the heart graffiti on my left and a clear paved path ahead. I will walk forward to close the still considerable distance to that wall.",
+        "The heart and the Crowe lettering on the left brick wall have grown noticeably larger, confirming I am closing on the right surface. The floor ahead stays clear apart from the small vent pipe off to my right, so I will keep walking forward.",
+        "The red heart on the brick wall to my left is clearly readable now, and the passage between that wall and the tall block on my right is still open. Another step forward should bring me alongside the graffiti rather than stopping short of it.",
+        "The lettering and the red heart fill much more of the left wall, so I am getting close but I am not yet beside the painted section. I will step forward again along the clear paving to reduce the remaining gap.",
+        "The heart is now large on the brick wall at my left, but my heading still carries me past the wall face rather than up to it. I will take another step forward to reach the level of the painted section before adjusting my orientation toward it.",
+        "The red brick wall carrying the CroWe SLAD 4-Life tag with the hollow red heart sits at the far left edge of what I can see, already clipped by my heading. Turning left should swing that heart back toward the center so I can walk straight at it instead of drifting past the corner.",
+        "The brick wall with the hollow red heart beside the CroWe SLAD 4-Life lettering is now clearly ahead of me and the deck between us is flat and clear. I will step forward to close that distance and confirm the marking at closer range.",
+        "The heart outline and the surrounding lettering have grown noticeably larger, so my heading onto the brick wall is holding well. Another step forward should bring me close enough for the graffiti to be unmistakable.",
+        "I am nearly at the wall now, with the red heart outline filling much of the space to my left and the corner of the brickwork just past it. One more step forward should place me right at the graffiti spot the task asks me to reach.",
+        "The hollow red heart on the red brick wall is directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}