diff --git a/dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_a/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b82442f7a9131d84abfbda268ec11f66aead2d9 --- /dev/null +++ b/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, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1034.125, + -4482.121, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -981.493, + -4367.796, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -928.861, + -4253.47, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -876.228, + -4139.144, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -823.596, + -4024.819, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -770.964, + -3910.493, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -770.964, + -3910.493, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -674.947, + -3829.122, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -578.93, + -3747.752, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -482.912, + -3666.381, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -386.895, + -3585.01, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -290.878, + -3503.639, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -194.861, + -3422.268, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -194.861, + -3422.268, + 98.275, + 0.0, + 40.28, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_b/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1f7ce87e4b280c9fd6f629c3c730878b21a46d --- /dev/null +++ b/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": [ + [ + -1034.125, + -4482.121, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -981.493, + -4367.796, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -981.493, + -4367.796, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -982.108, + -4241.938, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -982.723, + -4116.081, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -983.338, + -3990.223, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -983.953, + -3864.366, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -984.568, + -3738.508, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -985.183, + -3612.651, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -985.798, + -3486.793, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -986.413, + -3360.935, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -987.028, + -3235.078, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -987.643, + -3109.22, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -987.239, + -2988.865, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -987.239, + -2988.865, + 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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_c/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..58f5eaa0c22f478f23cad8766ebbe96cc86c2c57 --- /dev/null +++ b/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, + 65.28, + -0.0 + ], + "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": [ + [ + -1034.125, + -4482.121, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -981.493, + -4367.796, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -928.861, + -4253.47, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -876.228, + -4139.144, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -823.596, + -4024.819, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -770.964, + -3910.493, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -718.332, + -3796.168, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -665.699, + -3681.842, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -613.067, + -3567.517, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -560.435, + -3453.191, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -507.803, + -3338.865, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -507.803, + -3338.865, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -508.418, + -3213.008, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -509.033, + -3087.15, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -509.648, + -2961.293, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -510.263, + -2835.435, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -510.878, + -2709.578, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -511.493, + -2583.72, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -512.108, + -2457.863, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -512.723, + -2332.005, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -513.338, + -2206.148, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -513.953, + -2080.29, + 98.275, + 0.0, + 90.28, + -0.0 + ], + [ + -513.953, + -2080.29, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -461.321, + -1965.965, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -408.689, + -1851.639, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -356.056, + -1737.314, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -303.424, + -1622.988, + 98.275, + 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, + -1280.011, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -145.527, + -1280.011, + 98.275, + 0.0, + 65.28, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t5_a_p/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001034_y-004482_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e5cb4e7c0df912ee083fa925cbdfbefab5724a42 --- /dev/null +++ b/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 + ], + [ + -981.493, + -4367.796, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -928.861, + -4253.47, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -876.228, + -4139.144, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -823.596, + -4024.819, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -770.964, + -3910.493, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -718.332, + -3796.168, + 98.275, + 0.0, + 65.28, + -0.0 + ], + [ + -718.332, + -3796.168, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -622.314, + -3714.797, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -526.297, + -3633.426, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -430.28, + -3552.055, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -430.28, + -3552.055, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -334.263, + -3470.684, + 98.275, + 0.0, + 40.28, + -0.0 + ], + [ + -334.263, + -3470.684, + 98.275, + 0.0, + 15.28, + -0.0 + ], + [ + -334.263, + -3470.684, + 98.275, + 0.0, + 15.28, + -0.0 + ], + [ + -334.263, + -3470.684, + 98.275, + 0.0, + 15.28, + -0.0 + ], + [ + -334.263, + -3470.684, + 98.275, + 0.0, + 15.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 0.406, + 130.206, + -73.014 + ], + [ + -211.411, + -3460.845, + 28.369, + 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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001086_y-002155_z000098_t0_a/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001086_y-002155_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af5d84dc992ab4ca51d6592c7fb038f538a24056 --- /dev/null +++ b/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, + -2155.458, + 98.275, + 0.0, + -24.0, + 0.0 + ], + [ + -970.856, + -2206.649, + 98.275, + 0.0, + -24.0, + 0.0 + ], + [ + -970.856, + -2206.649, + 98.275, + 0.0, + -49.0, + 0.0 + ], + [ + -888.285, + -2301.636, + 98.275, + 0.0, + -49.0, + 0.0 + ], + [ + -805.714, + -2396.623, + 98.275, + 0.0, + -49.0, + 0.0 + ], + [ + -723.143, + -2491.61, + 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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_a/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf68d72b72f9b3034180cd3cd1c552f43b29331 --- /dev/null +++ b/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, + -1444.304, + 98.275, + 0.0, + 138.28, + -0.0 + ], + [ + -1683.911, + -1360.546, + 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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_b/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7dc2cfb97c7b5d6429d6b510703fc9eb46f890bc --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_d/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..47c1515ea97c120d3b3fe53c0ff847a36566a304 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t5_a_p/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001352_y-001727_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4641f0b733a3d18ff9142bf45e2bb3a3f7cba035 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_b/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f3b2c8b3a0f6fe31e043542df39d1f0c84e8a8a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_c/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7d8a04643f3eda28e2ef8bb2998884c345313d --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_e/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ebfe7555d8cf0337f8890513ddd5985da29357c3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t5_a_pd/infos.json b/dataset/trajectory/Containeryard_Night/task_x-001834_y003142_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ea8e4f8cb7beb9e3bd3b6bce599ef9ae61d347a3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002316_y-001294_z000098_t0_a/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002316_y-001294_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91bf6b284e17bb64d4101d9f3a87652d6cb91035 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002316_y-001294_z000098_t0_b/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002316_y-001294_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..98e5cc36c73aedb7cbb558db4c226c8a9ce207f0 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_a/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a55420b9b5a3442efb4b18a79e12991dd9f2aec --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_b/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5861034b023c9a9d8333a083a46a44abdc2e19d2 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_c/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8bf112602c0d055490991806930d8fc6dc3b9c59 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_d/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe2b7da569ade72383c61b1ec56c6db0d75e9e0d --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_e/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f045cf1bdaaef00bbd9b7bd217ad8671fa909ec4 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t5_a_pd/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7c2c9ae820d12b5e0657649930f275d957d70815 --- /dev/null +++ b/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, + 1350.183, + 98.275, + 0.0, + 79.64, + -0.0 + ], + [ + -2267.409, + 1473.99, + 98.275, + 0.0, + 79.64, + -0.0 + ], + [ + -2267.409, + 1473.99, + 98.275, + 0.0, + 79.64, + -0.0 + ], + [ + -2267.409, + 1473.99, + 98.275, + 0.0, + 104.64, + -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, + 154.64, + -0.0 + ], + [ + -2494.87, + 1581.801, + 98.275, + 0.0, + 154.64, + -0.0 + ], + [ + -2606.786, + 1606.201, + 98.275, + 0.0, + 154.64, + -0.0 + ], + [ + -2541.724, + 1575.363, + 98.275, + 0.0, + 154.64, + -0.0 + ], + [ + -2541.724, + 1575.363, + 98.275, + 0.0, + 154.64, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2167.161, + 1613.41, + 13.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2288.524, + 1477.229, + 68.381, + -28.202, + 129.785, + 1.862 + ], + [ + -2288.841, + 1467.753, + 68.654, + -28.189, + 154.797, + 1.872 + ], + [ + -2284.851, + 1459.739, + 67.987, + -28.215, + 179.768, + 1.849 + ], + [ + -2283.718, + 1452.346, + 68.041, + -14.092, + -163.016, + 6.87 + ], + [ + -2389.627, + 1508.286, + 68.607, + -28.198, + -155.215, + 1.865 + ], + [ + -2503.627, + 1562.316, + 68.07, + -28.191, + -155.201, + 1.871 + ], + [ + -2615.649, + 1586.763, + 67.9, + -28.188, + -155.203, + 1.87 + ], + [ + -2604.979, + 1605.344, + 68.275, + 0.0, + 84.64, + -0.0 + ], + [ + -2604.979, + 1605.344, + 68.275, + 0.0, + 84.64, + -0.0 + ] + ], + "PD_Dist_2D": [ + 1024.6, + 913.3, + 913.3, + 787.9, + 662.7, + 537.8, + 413.5, + 290.5, + 171.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t5_b_pd/infos.json b/dataset/trajectory/Containeryard_Night/task_x-002371_y000609_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0caa731ecda9d18f45aa37612178597e316bc5d8 --- /dev/null +++ b/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": [ + -2446.189, + 1612.918, + 68.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "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 + ], + [ + -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 + ], + [ + -2530.451, + 1218.238, + 98.275, + 0.0, + 79.64, + -0.0 + ], + [ + -2507.817, + 1342.045, + 98.275, + 0.0, + 79.64, + -0.0 + ], + [ + -2485.184, + 1465.852, + 98.275, + 0.0, + 79.64, + -0.0 + ], + [ + -2485.184, + 1465.852, + 98.275, + 0.0, + 79.64, + -0.0 + ], + [ + -2485.184, + 1465.852, + 98.275, + 0.0, + 54.64, + -0.0 + ], + [ + -2485.184, + 1465.852, + 98.275, + 0.0, + 29.64, + -0.0 + ], + [ + -2375.794, + 1528.095, + 98.275, + 0.0, + 29.64, + -0.0 + ], + [ + -2266.403, + 1590.339, + 98.275, + 0.0, + 29.64, + -0.0 + ], + [ + -2266.403, + 1590.339, + 98.275, + 0.0, + 4.64, + -0.0 + ], + [ + -2140.957, + 1600.52, + 98.275, + 0.0, + 4.64, + -0.0 + ], + [ + -2015.51, + 1610.702, + 98.275, + 0.0, + 4.64, + -0.0 + ], + [ + -2015.51, + 1610.702, + 98.275, + 0.0, + 29.64, + -0.0 + ], + [ + -1908.499, + 1626.195, + 98.275, + 0.0, + 29.64, + -0.0 + ], + [ + -1971.078, + 1590.587, + 98.275, + 0.0, + 29.64, + -0.0 + ], + [ + -1971.078, + 1590.587, + 98.275, + 0.0, + 29.64, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2446.189, + 1612.918, + 68.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2506.299, + 1469.092, + 68.381, + -28.202, + 129.785, + 1.862 + ], + [ + -2502.178, + 1477.157, + 68.654, + -28.189, + 104.797, + 1.872 + ], + [ + -2495.025, + 1483.464, + 67.987, + -28.215, + 79.767, + 1.849 + ], + [ + -2386.608, + 1546.512, + 67.8, + -28.202, + 79.781, + 1.858 + ], + [ + -2277.35, + 1608.679, + 68.062, + -28.208, + 79.782, + 1.852 + ], + [ + -2268.641, + 1610.58, + 68.718, + -28.2, + 54.785, + 1.865 + ], + [ + -2143.185, + 1621.768, + 68.187, + -28.194, + 54.788, + 1.865 + ], + [ + -2017.545, + 1631.961, + 67.806, + -28.202, + 54.781, + 1.859 + ], + [ + -2027.338, + 1629.852, + 69.01, + -28.194, + 79.787, + 1.873 + ], + [ + -1919.623, + 1644.435, + 68.472, + -28.194, + 79.788, + 1.87 + ], + [ + -1910.238, + 1625.205, + 113.275, + 0.0, + 29.64, + -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, + 20.2, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000451_y-053932_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-000451_y-053932_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd23c4cf5d77fc623341b345f25563c250b498f7 --- /dev/null +++ b/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, + 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 + ], + [ + -611.284, + -53737.558, + 2598.15, + 0.0, + 129.52, + -0.0 + ], + [ + -691.374, + -53640.471, + 2598.15, + 0.0, + 129.52, + -0.0 + ], + [ + -771.464, + -53543.383, + 2598.15, + 0.0, + 129.52, + -0.0 + ], + [ + -771.464, + -53543.383, + 2598.15, + 0.0, + 154.52, + -0.0 + ], + [ + -885.082, + -53489.238, + 2598.15, + 0.0, + 154.52, + -0.0 + ], + [ + -998.699, + -53435.094, + 2603.107, + 0.0, + 154.52, + -0.0 + ], + [ + -1112.316, + -53380.95, + 2598.15, + 0.0, + 154.52, + -0.0 + ], + [ + -1195.33, + -53330.078, + 2598.15, + 0.0, + 154.52, + -0.0 + ], + [ + -1248.562, + -53267.637, + 2598.15, + 0.0, + 154.52, + -0.0 + ], + [ + -1248.562, + -53267.637, + 2598.15, + 0.0, + 154.52, + -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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000451_y-053932_z002598_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-000451_y-053932_z002598_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..95e59b5b5548342b2ef7e15dc5ee53c380cdd0fb --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b468f7070044a01070f5b9b261413607e9ad85f5 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..434d7a870d8a6ed2dbc76ec2748633f2877eff12 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_c/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..971781cdfa858c6e829dcd5171421314e45f3c35 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_d/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96c736a67787a7c731464b167d71979be1dbb2a3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_e/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45fef2640b0156a870927cdd50602d3f9c54abaf --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..023c164b0584b41962ca2de1d9f9829701ff1bf4 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a42beb59d3a5e66cc054c89a572d8c1dcf8c3b9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_c/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..84e2209aa3b76b8bd531026c65e819b7697c0f21 --- /dev/null +++ b/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, + 0.0, + 178.56, + -0.0 + ], + [ + -1275.198, + -53814.969, + 2598.895, + 0.0, + 178.56, + -0.0 + ], + [ + -1275.198, + -53814.969, + 2598.895, + 0.0, + 178.56, + -0.0 + ], + [ + -1182.827, + -53817.291, + 2598.366, + 0.0, + 178.56, + -0.0 + ], + [ + -1090.456, + -53819.613, + 2598.366, + 0.0, + 178.56, + -0.0 + ], + [ + -1090.456, + -53819.613, + 2598.366, + 0.0, + 153.56, + -0.0 + ], + [ + -1090.456, + -53819.613, + 2598.366, + 0.0, + 128.56, + -0.0 + ], + [ + -1090.456, + -53819.613, + 2598.366, + 0.0, + 103.56, + -0.0 + ], + [ + -1119.965, + -53697.263, + 2598.366, + 0.0, + 103.56, + -0.0 + ], + [ + -1149.475, + -53574.912, + 2598.366, + 0.0, + 103.56, + -0.0 + ], + [ + -1178.984, + -53452.561, + 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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_d/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53aa85febe11b4d4a0403ff91d5c151c0277f8ab --- /dev/null +++ b/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, + 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 + ], + [ + -1223.337, + -53586.731, + 2598.15, + 0.0, + 153.56, + -0.0 + ], + [ + -1140.602, + -53627.873, + 2598.15, + 0.0, + 153.56, + -0.0 + ], + [ + -1140.602, + -53627.873, + 2598.15, + 0.0, + 128.56, + -0.0 + ], + [ + -1140.602, + -53627.873, + 2598.15, + 0.0, + 103.56, + -0.0 + ], + [ + -1170.111, + -53505.522, + 2598.15, + 0.0, + 103.56, + -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, + 178.56, + -0.0 + ], + [ + -1317.364, + -53258.866, + 2598.15, + 0.0, + 178.56, + -0.0 + ], + [ + -1317.364, + -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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9036599774587ca0fc06468e069fa42c8677e391 --- /dev/null +++ b/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, + -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 + ], + [ + -1090.61, + -53604.022, + 2598.15, + 0.0, + 178.562, + -0.0 + ], + [ + -1090.61, + -53604.022, + 2598.15, + 0.0, + 178.562, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1258.383, + -53575.855, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1258.383, + -53575.855, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1258.383, + -53575.855, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1258.383, + -53575.855, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1258.383, + -53575.855, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1258.383, + -53575.855, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1090.536, + -53625.384, + 2568.257, + -28.202, + -131.294, + 1.862 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t5_a_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x-000462_y-053620_z002598_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f9d3f513f0a491b6c1fb6b122182533a6b6f7018 --- /dev/null +++ b/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, + -53619.836, + 2598.15, + 0, + 178.56, + 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 + ], + [ + -1024.985, + -53339.636, + 2604.38, + 0.0, + 153.561, + -0.0 + ], + [ + -1024.985, + -53339.636, + 2604.38, + 0.0, + 178.561, + -0.0 + ], + [ + -1024.985, + -53339.636, + 2604.38, + 0.0, + -156.439, + 0.0 + ], + [ + -1140.352, + -53389.945, + 2598.15, + 0.0, + -156.439, + 0.0 + ], + [ + -1140.352, + -53389.945, + 2598.15, + 0.0, + -131.439, + 0.0 + ], + [ + -1223.648, + -53484.297, + 2598.15, + 0.0, + -131.439, + 0.0 + ], + [ + -1223.648, + -53484.297, + 2598.15, + 0.0, + -156.439, + 0.0 + ], + [ + -1223.648, + -53484.297, + 2598.15, + 0.0, + 178.561, + -0.0 + ], + [ + -1308.073, + -53475.315, + 2598.15, + 0.0, + 178.561, + -0.0 + ], + [ + -1308.073, + -53475.315, + 2598.15, + 0.0, + -156.439, + 0.0 + ], + [ + -1240.676, + -53468.213, + 2598.15, + 0.0, + -156.439, + 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 + ], + [ + -1173.258, + -53288.195, + 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 + ], + [ + -1173.258, + -53288.195, + 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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d9e37a6edaacdda75f7e9cc973e77090cb2bf91 --- /dev/null +++ b/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, + 2598.15, + 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, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -928.906, + -56423.97, + 2598.15, + 0.0, + -81.56, + 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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a903ea1553600781351ef8a987058a5d2cc623c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_c/infos.json b/dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..402ad94df4f70660d0c00dfa33a4a98630f0b46d --- /dev/null +++ b/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 + ], + [ + -515.324, + -56117.842, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -551.196, + -56238.48, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -587.069, + -56359.119, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -587.069, + -56359.119, + 2598.15, + 0.0, + -81.56, + 0.0 + ], + [ + -568.596, + -56483.615, + 2598.15, + 0.0, + -81.56, + 0.0 + ], + [ + -550.123, + -56608.111, + 2598.15, + 0.0, + -81.56, + 0.0 + ], + [ + -550.123, + -56608.111, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -585.995, + -56728.749, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -621.868, + -56849.388, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -621.868, + -56849.388, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -621.868, + -56849.388, + 2598.15, + 0.0, + -131.56, + 0.0 + ], + [ + -621.868, + -56849.388, + 2598.15, + 0.0, + -156.56, + 0.0 + ], + [ + -621.868, + -56849.388, + 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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t5_a_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x-000479_y-055997_z002598_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24a6a7ffd44010e694ea7f0da6681312577b7645 --- /dev/null +++ b/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, + -56238.48, + 2598.15, + 0.0, + -106.56, + 0.0 + ], + [ + -551.196, + -56238.48, + 2598.15, + 0.0, + -131.56, + 0.0 + ], + [ + -634.692, + -56332.656, + 2598.15, + 0.0, + -131.56, + 0.0 + ], + [ + -718.187, + -56426.831, + 2598.15, + 0.0, + -131.56, + 0.0 + ], + [ + -718.187, + -56426.831, + 2598.15, + 0.0, + -156.56, + 0.0 + ], + [ + -833.66, + -56476.896, + 2598.15, + 0.0, + -156.56, + 0.0 + ], + [ + -833.66, + -56476.896, + 2598.15, + 0.0, + -156.56, + 0.0 + ], + [ + -949.133, + -56526.962, + 2598.15, + 0.0, + -156.56, + 0.0 + ], + [ + -949.133, + -56526.962, + 2598.15, + 0.0, + -156.56, + 0.0 + ], + [ + -949.133, + -56526.962, + 2598.15, + 0.0, + -156.561, + 0.0 + ], + [ + -949.133, + -56526.962, + 2598.15, + 0.0, + -131.561, + 0.0 + ], + [ + -949.133, + -56526.962, + 2598.15, + 0.0, + -106.561, + 0.0 + ], + [ + -949.133, + -56526.962, + 2598.15, + 0.0, + -81.561, + 0.0 + ], + [ + -949.133, + -56526.962, + 2598.15, + 0.0, + -56.561, + 0.0 + ], + [ + -879.778, + -56631.988, + 2598.15, + 0.0, + -56.561, + 0.0 + ], + [ + -810.424, + -56737.013, + 2598.15, + 0.0, + -56.561, + 0.0 + ], + [ + -741.069, + -56842.039, + 2598.15, + 0.0, + -56.561, + 0.0 + ], + [ + -780.745, + -56781.957, + 2598.15, + 0.0, + -56.561, + 0.0 + ], + [ + -780.745, + -56781.957, + 2598.15, + 0.0, + -56.561, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1043.749, + -56548.621, + 2513.15, + 0.0, + 0.0, + 0.0 + ], + [ + -940.079, + -56546.311, + 2568.257, + -28.202, + -106.416, + 1.862 + ], + [ + -932.028, + -56541.302, + 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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000499_y-056139_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-000499_y-056139_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8ecb96a6d137db1cd846fade13efa350419f5a25 --- /dev/null +++ b/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, + 2598.184, + 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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000511_y-056025_z002598_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-000511_y-056025_z002598_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6ffe021fb1bbc1e1015567be82491dcd8eef045a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000511_y-056025_z002598_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-000511_y-056025_z002598_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e6ec8064e6c791a937d469e1628b24554377719 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000633_y-055370_z002598_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-000633_y-055370_z002598_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a9313b0452926b8298632d517cefc154dd85881c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000633_y-055370_z002598_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-000633_y-055370_z002598_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..730791c34ce74b114d2893acc1a6a4d74e232483 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000666_y-055204_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-000666_y-055204_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8cabbe2a3a4729836729834c95798db9c2f9fe87 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-000666_y-055204_z002598_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-000666_y-055204_z002598_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e91afc61a6f11703781cc5b8010a0e4f91cbb236 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001135_y-055527_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-001135_y-055527_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2930cf6c3eb2376a097afa21568fbc1a0a0591d4 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001145_y-055386_z002598_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-001145_y-055386_z002598_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..373380518ec3b226c23bee2d52ceff0717f5f004 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001145_y-055386_z002598_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-001145_y-055386_z002598_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..12cb35f646f6edd529717b83ed668d79c17d02f2 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001350_y-056077_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-001350_y-056077_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e21eeee6a93973c3414f3cb6af46b81d1e025479 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001350_y-056077_z002598_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-001350_y-056077_z002598_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..792bd639c0e1f7341f2c884bce983a2fc8788f15 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001350_y-056077_z002598_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Locate the green door set into a white wall near the crown graffiti, then make your way over to it.", + "Type": 1, + "Start_Pose": [ + -1349.638, + -56077.31, + 2598.15, + 0.0, + 139.52, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "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 + ], + [ + -1349.638, + -56077.309, + 2598.15, + 0.0, + -120.48, + 0.0 + ], + [ + -1413.478, + -56185.775, + 2598.15, + 0.0, + -120.48, + 0.0 + ], + [ + -1477.319, + -56294.241, + 2598.346, + 0.0, + -120.48, + 0.0 + ], + [ + -1541.159, + -56402.707, + 2598.346, + 0.0, + -120.48, + 0.0 + ], + [ + -1605.0, + -56511.173, + 2607.13, + 0.0, + -120.48, + 0.0 + ], + [ + -1668.84, + -56619.639, + 2607.13, + 0.0, + -120.48, + 0.0 + ], + [ + -1732.68, + -56728.105, + 2598.15, + 0.0, + -120.48, + 0.0 + ], + [ + -1796.521, + -56836.571, + 2598.15, + 0.0, + -120.48, + 0.0 + ], + [ + -1796.521, + -56836.571, + 2598.15, + 0.0, + -95.48, + 0.0 + ], + [ + -1806.97, + -56876.308, + 2598.15, + 0.0, + -95.48, + 0.0 + ], + [ + -1806.97, + -56876.308, + 2598.15, + 0.0, + -95.48, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop position I can see a large air handler filling my left foreground and graffiti on the far parapet, but no green door on a white wall anywhere ahead. The open paved area continues to my right past the brick stair block, so that side is the most promising unseen space. I will turn right to begin a steady scan for the door and the crown marking.", + "The brick block with the BRONX KING lettering and its metal staircase now sits in the middle of my view, and the walls I can read carry only text tags, not a green door. The deck still runs on toward my right where more parapet wall is coming into sight. I will keep rotating right in the same direction to extend the scan.", + "The stair block has swung to my left and a lighter wall with a rounded duct and further tags is opening up on the right edge of my view. Nothing green has appeared yet, so the scan is not finished. I will continue turning right at the same rate to reveal that pale wall.", + "A pale wall on the right now shows a green door panel with BOOM lettering beside it and a crown tag further along, which matches the described target and its landmark. The door sits toward the right portion of my view rather than straight ahead. I will turn right once more to bring it near the center before moving.", + "The green door on the pale wall is now roughly centered ahead of me, with the crown tag and BOOM lettering flanking it, confirming this is the target described. The open deck between me and the wall looks clear apart from a low vent pipe and a loose hose off to the side. I will walk forward along this heading to close the distance.", + "The green door and the surrounding graffiti have grown larger, so my heading is carrying me toward the wall as intended. The vent pipe and coiled hose remain to my left and do not block the lane in front of me. I will keep walking forward to reduce the remaining distance.", + "The wall now fills much of my view and the green door stands clearly ahead with the crown tag to its right, so I am well aligned. There is still a stretch of open pavement before I reach the wall face. I will continue advancing on the same line.", + "I can now make out the door's panel edges and the small cluster of cans and cardboard near its left side, so I am getting close to the wall. The door remains slightly right of my center, but the gap in front of me is still too large to stop here. I will step forward again to bring myself up to the door.", + "The pale green door in the light wall is clearly ahead of me, with the BOOM! robots to its left and the crown outline just to its right, matching the target described in my task. It still sits several paces away, so I will keep walking straight toward it to close that gap.", + "The green door now fills a larger part of my view and its round knob is becoming distinct, confirming I am heading straight at the right wall panel. There is still open roof deck between me and the wall, so I will step forward again to shorten the remaining distance.", + "I am close enough now that the door's full height and both handle fittings are visible, with the crown and BOOM! markings spread across the wall beside it. A little more distance remains before I am standing at the door, so I will advance once more.", + "I am now right up against the wall, and the green door has drifted to the right side of my view while the BOOM! lettering dominates the left. Turning right should square my heading onto the door leaf and its knob so my final step closes on the door itself rather than the blank brick.", + "The green door surface with its knob and lock now sits directly in front of me, and the wall edge has shifted to the left margin, so my heading is on the door. I will take one short step forward to bring myself right up to it.", + "The green door fills my view at arm's length, with its knob immediately in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd8e6bc2752202b2bd000c6617d512aebb2f083e --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the green door, then approach the brick wall graffiti heart.", + "Type": 3, + "Start_Pose": [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -1714.422, + -56292.476, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -1760.182, + -56409.722, + 2607.048, + 0.0, + -111.32, + 0.0 + ], + [ + -1760.182, + -56409.722, + 2607.048, + 0.0, + -86.32, + 0.0 + ], + [ + -1752.104, + -56535.321, + 2607.048, + 0.0, + -86.32, + 0.0 + ], + [ + -1744.026, + -56660.921, + 2603.891, + 0.0, + -86.32, + 0.0 + ], + [ + -1735.947, + -56786.52, + 2598.15, + 0.0, + -86.32, + 0.0 + ], + [ + -1735.947, + -56786.52, + 2598.15, + 0.0, + -86.32, + 0.0 + ], + [ + -1735.947, + -56786.52, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -1735.947, + -56786.52, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1735.947, + -56786.52, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -1735.947, + -56786.52, + 2598.15, + 0.0, + 173.68, + -0.0 + ], + [ + -1735.947, + -56786.52, + 2598.15, + 0.0, + 148.68, + -0.0 + ], + [ + -1843.466, + -56721.097, + 2598.15, + 0.0, + 148.68, + -0.0 + ], + [ + -1950.984, + -56655.673, + 2598.15, + 0.0, + 148.68, + -0.0 + ], + [ + -2058.503, + -56590.249, + 2598.15, + 0.0, + 148.68, + -0.0 + ], + [ + -2166.021, + -56524.826, + 2598.15, + 0.0, + 148.68, + -0.0 + ], + [ + -2166.021, + -56524.826, + 2598.15, + 0.0, + 173.68, + -0.0 + ], + [ + -2291.116, + -56510.971, + 2598.15, + 0.0, + 173.68, + -0.0 + ], + [ + -2291.116, + -56510.971, + 2598.15, + 0.0, + 173.68, + -0.0 + ] + ], + "Rationale": [ + "The green door sits on the tall pale wall well over to my right, near the edge of my view. I will turn right to bring it toward the center of my heading before walking out across the open concrete.", + "The green door now sits ahead of me on the long pale wall with clear paving between us. I will walk forward to cut down that distance.", + "The door and the wall graffiti have grown larger, so my heading is carrying me the right way. I will keep walking to close more of the remaining gap.", + "I am much closer to the wall now, but the green door has drifted to the right side of my view while the BOOM lettering fills the center. I will turn right so the door sits squarely ahead of me.", + "The green door is now framed near the middle of the wall in front of me with open pavement between us. I will step forward to bring myself right up to it.", + "The door fills a good part of my view and its handle and lock are already distinct. I will walk forward again to stand close in front of it.", + "The green door now takes up most of my view and my own shadow falls across its face, so only a short gap remains. I will take one more step to bring myself right up against it.", + "The green door fills my view at arm's length, its two knobs plain against the painted metal. I have arrived at it. I mark reaching this door and now set out for the brick wall with the spray painted heart.", + "The green door fills my view at arm's length, so standing here I have nothing left to gain from it. The red heart sprayed on brick lies elsewhere in this yard, well off my current heading, so I will turn left to swing my view off the door panel and start scanning for it.", + "The door has slid to the right of my view and the pale wall with the robot faces and BOOM lettering is opening on the left, but no red heart is in sight yet. I will keep turning left to sweep more of the yard into view.", + "The door is now only a strip at my right and I can see the pale wall, the paint cans, and a sliver of the open yard beyond. The heart on brick is still further around, so another left turn should bring the open ground and far walls into view.", + "The yard is open ahead with the duct and the distant apartment block in view, and the pale BOOM wall now sits on my right. The brick face carrying the red heart should lie further left, so I will continue turning that way.", + "I can now pick out the brick wall on my left with the CROWE lettering and the small red heart beside it. It sits off to the side rather than in front of me, so one more left turn should put it near the center of my view before I walk over.", + "The brick building with the sprayed lettering and the red heart is now roughly ahead of me, with clear paving between us. I will walk forward to close that distance.", + "The red heart and the CROWE lettering have grown larger and sit just left of center, confirming my heading is good. The wall is still several paces off, so I will keep walking toward it.", + "The heart on the brick is clearly readable now, near the corner of this wall, and the paving in front of it is open apart from the bricks stacked by the stairs. Another step forward should bring me close enough to stand right at the graffiti.", + "The red spray-painted heart beside the Crowe lettering is now clearly readable on this brick corner, but I am still several paces off with bricks and paint cans on the ground ahead. I will walk forward to close that remaining gap to the wall.", + "I am close enough that the brickwork fills most of my view, yet the red heart sits off to the right of where I am facing, with the stairway crowding the left side. I will turn right to bring the heart to the middle of my view before stepping in.", + "The heart now sits squarely ahead on the brick face near the wall's corner edge, with clear ground between me and it. One more step forward should put me right up against the graffiti.", + "The red spray-painted heart fills my view at arm's length on the brick. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3e541a86479e69d6c2efa3bfda5902b405aa8a97 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the brick wall graffiti heart, then reach the green door.", + "Type": 3, + "Start_Pose": [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -1787.892, + -56215.541, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -1907.121, + -56255.851, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2026.35, + -56296.162, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2145.579, + -56336.472, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2261.21, + -56376.158, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2261.21, + -56376.158, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2261.21, + -56376.158, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2261.21, + -56376.158, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -2261.21, + -56376.158, + 2598.15, + 0.0, + -86.32, + 0.0 + ], + [ + -2261.21, + -56376.158, + 2598.15, + 0.0, + -61.32, + 0.0 + ], + [ + -2200.808, + -56486.576, + 2598.15, + 0.0, + -61.32, + 0.0 + ], + [ + -2140.406, + -56596.994, + 2598.15, + 0.0, + -61.32, + 0.0 + ], + [ + -2140.406, + -56596.994, + 2598.15, + 0.0, + -36.32, + 0.0 + ], + [ + -2038.999, + -56671.539, + 2598.15, + 0.0, + -36.32, + 0.0 + ], + [ + -1937.592, + -56746.085, + 2598.15, + 0.0, + -36.32, + 0.0 + ], + [ + -1836.184, + -56820.631, + 2598.15, + 0.0, + -36.32, + 0.0 + ], + [ + -1836.184, + -56820.631, + 2598.15, + 0.0, + -36.32, + 0.0 + ] + ], + "Rationale": [ + "The red spray-painted heart sits on the brick wall to my left, off my current heading, while the green door stands on the far tan wall to my right. Since the heart is my first stop, I will turn left to bring that brick wall and its heart square in front of me before walking.", + "The brick wall with the heart beside the lettering is now ahead of me, with open concrete between us. I will walk forward to close that distance.", + "The lettering and the red heart have grown larger, so my heading is carrying me straight at that wall. The gap is still wide, so I will keep walking forward.", + "The heart is clearly readable now but the wall is still several paces off. Another step forward should bring me close enough to count as being at it.", + "The brick face and its red heart now dominate my view, with only the small bricks on the ground near its base between us. I will step forward again to stand right at the graffiti.", + "The painted letters and heart are large and near, but I am still a stride short of the brickwork itself. One more forward step should put me right up against the graffiti.", + "The red spray-painted heart and the dripping letters fill my view at arm's length on the brick wall. I have reached the graffiti heart. I mark reaching it, then set off for the green door on the tan wall across the roof.", + "Pressed this close, the brickwork blocks everything and the green door lies back across the open roof to my right. I will turn right to swing my view off this wall and start hunting for that door.", + "The heart still fills the left side of my view and the brick corner blocks most of what lies ahead, so I am not yet facing anywhere useful. Turning right again should swing the open rooftop and the far pale wall into view, where the green door should stand.", + "More of the rooftop has opened up on my right, with the pale wall and the covered vent now visible, but the green door is still outside my view. I will keep turning right to bring that wall fully in front of me.", + "The green door is now visible against the pale wall, but it sits far over on the right edge of my view with the chimney and boxes between us. One more turn to the right should place the door closer to the centre of my heading before I walk.", + "The green door now sits comfortably in front of me along the long pale wall, with clear open paving in between. I will walk forward to close that distance.", + "The wall and its door have grown noticeably larger, so my heading is carrying me toward it. I will step forward again to keep closing the remaining gap.", + "I am close to the wall now, but I am angled across it and the door sits slightly left of my path with the boxes below it. Turning right should square my heading along the wall so I can walk straight in beside the green door.", + "With my heading now running along the wall, the green door stands clear ahead of me and the paving beside it is open. I will walk forward to reach it.", + "The green door is much nearer, its handle now distinct on the panel just to my left front. I will keep walking forward to draw level with it.", + "The pale green door now stands close along the wall to my left, its handle clearly visible. A short gap of pavement still separates me from being level with it, so I will step forward once more to close that distance.", + "The green door's panel is right beside me, filling the near left of my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_c/infos.json b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a84f6983d64d0716d217e378168e3e1bb663ea3d --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Navigate to the tunnel opening, then proceed to the green door.", + "Type": 3, + "Start_Pose": [ + -1668.663, + -56175.23, + 2598.15, + 0, + -136.32, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1668.663, + -56175.23, + 2598.15, + 0, + -136.32, + 0 + ], + [ + -1759.685, + -56262.152, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1850.708, + -56349.074, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1941.73, + -56435.996, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2032.752, + -56522.918, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2123.774, + -56609.84, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2214.797, + -56696.762, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2305.819, + -56783.684, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2305.819, + -56783.684, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2238.995, + -56719.87, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2238.995, + -56719.87, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -2238.995, + -56719.87, + 2598.15, + 0.0, + -86.32, + 0.0 + ], + [ + -2238.995, + -56719.87, + 2598.15, + 0.0, + -61.32, + 0.0 + ], + [ + -2238.995, + -56719.87, + 2598.15, + 0.0, + -36.32, + 0.0 + ], + [ + -2238.995, + -56719.87, + 2598.15, + 0.0, + -11.32, + 0.0 + ], + [ + -2115.584, + -56744.575, + 2598.15, + 0.0, + -11.32, + 0.0 + ], + [ + -1992.173, + -56769.28, + 2598.15, + 0.0, + -11.32, + 0.0 + ], + [ + -1992.173, + -56769.28, + 2598.15, + 0.0, + -36.32, + 0.0 + ], + [ + -1890.766, + -56843.825, + 2598.15, + 0.0, + -36.32, + 0.0 + ], + [ + -1805.27, + -56876.345, + 2598.15, + 0.0, + -36.32, + 0.0 + ], + [ + -1805.27, + -56876.345, + 2598.15, + 0.0, + -36.32, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the rooftop I can see the curved metal tunnel hood ahead against the far wall, and the green door stands on the tall wall to my right. The tunnel is my first destination and the concrete between us is clear, so I will walk forward to close that distance.", + "The tunnel hood has grown a little larger and still sits near the center of my heading, so I do not need to correct my direction. The rooftop ahead remains empty, so I will keep walking straight toward the opening.", + "The pale metal hood and the railing beside it are clearly ahead of me now, but they are still many strides away. My line stays clear of the brick corner on my left, so another step forward should keep shrinking the gap.", + "The curved tunnel now shows its shaded underside and the fence line running behind it, which tells me I am well inside the yard. I am still short of the opening, so I will continue forward.", + "The metal hood sits squarely in the middle of my view with its mouth angled toward me, but it is still several paces off. The ground between remains flat and clear, so I will step forward again.", + "I can now make out the rust and seams on the curved metal and the dark gap beneath its lip, so I am close. I have not yet drawn level with the opening, so I will keep advancing toward it.", + "The hood fills the lower half of my view and its dark mouth is only a stride or two ahead on my left. One more step forward should bring me right up against the tunnel opening.", + "The curved metal hood is right at my feet, its dark mouth open beside me and the wall pressed close on my right. I have reached the tunnel opening. I mark reaching it and now head for the green door set in the tall wall behind me.", + "The curved metal hood of the tunnel opening fills my view at arm's length, with the brick wall pressing in on my right. Since I have already arrived here and my other destination, the green door, lies back behind me, I will step backward to open enough clearance to swing around without scraping the duct or the wall.", + "With a little space now between me and the tunnel hood, I can see the duct and railings running away to my left and the tall wall on my right. The green door is not in this view, so I will turn right to begin swinging my heading back along the wall toward it.", + "The tunnel hood has slid to the far left edge and my view is now mostly blank sunlit brick. That means I am only partway around, so I will keep turning right to bring the stretch of wall carrying the green door into sight.", + "I am facing a plain brick face with a pillar edge appearing on the right, and still no door in front of me. Continuing to turn right should carry my gaze past that pillar to the wall section where the green door stands.", + "The BOOM graffiti and the pale green door have come into view on the right side of my field, with cardboard boxes and cans below them. I will turn right again to bring that door and the walkway beside it more squarely in front of me.", + "The green door now sits near the middle of my view, but the wall runs away diagonally and my heading still cuts toward the bricks rather than along them. One more turn right should line me up with the open walkway that leads down beside the door.", + "I am now aimed along the clear paved strip beside the graffitied wall, with the green door standing ahead on my left. The way is unobstructed apart from the boxes hugging the wall, so I will walk forward to close the distance to the door.", + "The green door has grown larger and shifted to my left as I advance along the wall, and I am still short of it. Another step forward should bring me level with the doorway.", + "The green door has slid to the far left edge of my view and is nearly edge-on as I walk along this wall. I will turn left to bring it back in front of me so I can close on it straight rather than skimming past.", + "The green door now sits ahead of me with its handle clearly visible, and the walkway between the wall and the roof deck is clear. I will step forward to close the remaining gap to it.", + "The green door fills the left portion of my view and its knob is close enough to make out in detail, so only a short distance remains. I will step forward again to stand right at it.", + "The green door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_d/infos.json b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d6f37d4684fdf751b70b193bfb8d71f86dd9741b --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t3_d/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move to the graffiti heart on brick, then reach the tunnel opening.", + "Type": 3, + "Start_Pose": [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1759.685, + -56262.152, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1759.685, + -56262.152, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -1878.914, + -56302.463, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -1998.143, + -56342.773, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2117.372, + -56383.084, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2236.601, + -56423.394, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2236.601, + -56423.394, + 2598.15, + 0.0, + -161.32, + 0.0 + ], + [ + -2236.601, + -56423.394, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2236.601, + -56423.394, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -2282.361, + -56540.64, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -2328.12, + -56657.886, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -2372.737, + -56764.255, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -2372.737, + -56764.255, + 2598.15, + 0.0, + -111.32, + 0.0 + ] + ], + "Rationale": [ + "The red spray-painted heart sits on the brick wall ahead on my left, while the curved metal tunnel mouth stands further off across the open concrete. Both are still distant, so I will walk straight ahead to cut down the gap before committing to a heading.", + "The heart on the brick face now sits well off to my left, so my current heading would carry me past it rather than to it. I will turn left to swing that graffiti wall in front of me for a straight approach.", + "The brick wall carrying the red heart is now angled ahead of me with clear paving between us. I will step forward along this heading to close the remaining distance.", + "The lettering and the red heart have grown noticeably, confirming my line runs onto that brick face. I will keep walking forward since nothing blocks the paving in front of me.", + "The heart is now large on the wall just ahead of me, but I am still a few paces short of standing at it. I will advance again to bring myself right up to that brickwork.", + "The brick face fills most of my view and the red heart is close on my right, so only a short step remains. I will move forward once more to finish closing on the graffiti.", + "The red heart sprayed on the brick fills my view at arm's length, individual bricks and paint edges clear. I am standing at the graffiti heart. I mark reaching it and set off for the curved metal tunnel mouth off to my right.", + "This brick face blocks most of my view, and the curved metal tunnel mouth lies beyond the wall's edge to my right. I will turn right to bring that opening into view and start lining up on it.", + "The red heart has slid to the left edge of my view and the curved metal duct with its dark opening now sits out across the open yard to my right. One more turn to the right should put that opening near the center of my heading so I can walk straight at it.", + "The curved metal tunnel and the railing beside it are now ahead of me with clear paving between us. My heading looks good enough to close distance, so I will step forward toward that opening.", + "The metal tunnel has grown noticeably larger and its dark mouth is now clearly visible where it meets the pavement. I am still several strides short of it, so I keep walking forward.", + "The curved metal shell now fills the lower half of my view and its dark inner edge is just off to my right. A final short step should bring me right up against the tunnel's mouth.", + "The tunnel's curved metal mouth is directly beneath me, filling my view with my own shadow on the wall behind it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t5_a_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3ddd7e8c08294d2143b809a2ad1344167839984c --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the tomato at the green door, then place it near the brick wall graffiti heart.", + "Type": 5, + "Start_Pose": [ + -1668.663, + -56175.23, + 2598.15, + 0, + -136.32, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1780.147, + -56788, + 2568.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1668.663, + -56175.23, + 2598.15, + 0, + -136.32, + 0 + ], + [ + -1668.663, + -56175.23, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -1714.422, + -56292.476, + 2598.15, + 0.0, + -111.32, + 0.0 + ], + [ + -1760.182, + -56409.722, + 2607.048, + 0.0, + -111.32, + 0.0 + ], + [ + -1760.182, + -56409.722, + 2607.048, + 0.0, + -86.32, + 0.0 + ], + [ + -1752.104, + -56535.321, + 2607.048, + 0.0, + -86.32, + 0.0 + ], + [ + -1744.026, + -56660.921, + 2603.891, + 0.0, + -86.32, + 0.0 + ], + [ + -1744.026, + -56660.921, + 2603.891, + 0.0, + -86.32, + 0.0 + ], + [ + -1744.026, + -56660.921, + 2603.891, + 0.0, + -111.32, + 0.0 + ], + [ + -1744.026, + -56660.921, + 2603.891, + 0.0, + -136.32, + 0.0 + ], + [ + -1744.026, + -56660.921, + 2603.891, + 0.0, + -161.32, + 0.0 + ], + [ + -1744.026, + -56660.921, + 2603.891, + 0.0, + 173.68, + -0.0 + ], + [ + -1744.026, + -56660.921, + 2603.891, + 0.0, + 148.68, + -0.0 + ], + [ + -1851.544, + -56595.497, + 2598.298, + 0.0, + 148.68, + -0.0 + ], + [ + -1959.062, + -56530.072, + 2598.298, + 0.0, + 148.68, + -0.0 + ], + [ + -2066.58, + -56464.648, + 2598.298, + 0.0, + 148.68, + -0.0 + ], + [ + -2066.58, + -56464.648, + 2598.298, + 0.0, + 173.68, + -0.0 + ], + [ + -2191.674, + -56450.792, + 2598.298, + 0.0, + 173.68, + -0.0 + ], + [ + -2307.249, + -56437.127, + 2598.15, + 0.0, + 173.68, + -0.0 + ], + [ + -2235.687, + -56445.053, + 2598.15, + 0.0, + 173.68, + -0.0 + ], + [ + -2235.687, + -56445.053, + 2598.15, + 0.0, + 173.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1780.147, + -56788.0, + 2568.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1780.147, + -56788.0, + 2568.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1780.147, + -56788.0, + 2568.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1780.147, + -56788.0, + 2568.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1780.147, + -56788.0, + 2568.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1780.147, + -56788.0, + 2568.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1780.147, + -56788.0, + 2568.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1722.755, + -56658.942, + 2568.257, + -28.202, + -36.176, + 1.862 + ], + [ + -1724.796, + -56667.765, + 2568.529, + -28.189, + -61.164, + 1.872 + ], + [ + -1730.206, + -56675.619, + 2567.862, + -28.215, + -86.193, + 1.849 + ], + [ + -1740.528, + -56688.21, + 2568.043, + -14.175, + -119.128, + 6.959 + ], + [ + -1745.944, + -56681.826, + 2567.932, + -28.208, + -136.178, + 1.851 + ], + [ + -1754.079, + -56678.071, + 2568.6, + -28.198, + -161.174, + 1.867 + ], + [ + -1862.208, + -56614.007, + 2568.07, + -28.198, + -161.175, + 1.862 + ], + [ + -1969.898, + -56548.475, + 2567.683, + -28.202, + -161.179, + 1.86 + ], + [ + -2077.383, + -56483.074, + 2567.798, + -28.201, + -161.176, + 1.857 + ], + [ + -2068.345, + -56487.021, + 2568.748, + -28.211, + -136.183, + 1.853 + ], + [ + -2193.402, + -56472.087, + 2568.292, + -28.199, + -136.176, + 1.863 + ], + [ + -2309.282, + -56458.384, + 2567.73, + -28.209, + -136.183, + 1.853 + ], + [ + -2305.261, + -56437.348, + 2613.15, + 0.0, + 173.68, + -0.0 + ], + [ + -2305.261, + -56437.348, + 2613.15, + 0.0, + 173.68, + -0.0 + ] + ], + "PD_Dist_2D": [ + 622.8, + 622.8, + 499.9, + 378.8, + 378.8, + 254.2, + 132.1, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 21.4, + 22.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red tomato sits on the ground to my right, beside the pale wall with the green metal door, while the brick wall carrying the graffiti heart is off to my left. Since the pickup target comes first, I will turn right to bring the tomato and its green door closer to the centre of my heading. That should give me a straight line to walk along instead of a diagonal approach.", + "The tomato and the green door are now roughly ahead of me across the open rooftop yard, with only flat paving and a loose hose between us. I will walk forward to close the sizeable gap toward the pickup target. Nothing blocks the path, so this step should bring the tomato noticeably nearer.", + "The tomato has grown larger in view and the BOOM graffiti and green door are clearer, so my forward walking is closing the distance as intended. I am still too far away to reach the fruit. I will step forward again to continue the approach.", + "The tomato now sits noticeably right of my centre line at the foot of the wall, so walking straight ahead would carry me past its left side. I will turn right to put the fruit and the green door squarely in front of me. A cleaner heading now should make the final approach and grasp simpler.", + "With the tomato now centred just below the green door, my heading points straight at the pickup target. I will walk forward to cut the remaining distance to the wall. The ground ahead is open paving, so the step should land me much closer.", + "The tomato fills much more of the lower view and the door hardware is now clearly visible, so I am close but likely still short of grasping range. I will take one more step forward to bring the fruit right up to my feet. That should put it within reach for a pickup attempt.", + "The tomato is now immediately in front of me at the base of the green door, so close that it is cropped by the bottom edge of my view. This is the interaction position the task calls for. I will reach down and try to pick the fruit up.", + "The grasp worked: the tomato is now lifted in my hand rather than resting on the paving, and my view is tipped down at the ground where it used to sit. The delivery point, the brick wall with the red graffiti heart, lies well behind and to my left from this door-facing pose. I will turn left to begin swinging my heading around toward that wall.", + "The tomato is secured in my hands and the green door wall now fills what is in front of me, so nothing further is needed here. The brick wall carrying the graffiti heart lies well to my left across the yard, off to the side of this painted door wall. I will keep rotating left to swing my heading toward that open part of the yard.", + "Ahead of me I now see the corner of the painted wall and the open courtyard stretching away to the left, with the drop target still outside my heading. Carrying the tomato, I need my facing to swing further around toward the brick wall on the far side. Another left rotation should bring that graffiti wall closer to the center of what I can see.", + "The brick wall with the red heart and the Crowe lettering has just come into sight at my far left, past the courtyard. It is still too far off to the side for a straight walk toward it while holding the tomato. I will turn left again to bring that heart wall more toward the middle of my heading.", + "The graffiti heart on the brick corner is now clearly to my left, closer to the center than before but still offset. A final left rotation should line my walking direction up with that wall so I can advance straight to it. I will turn left once more before moving.", + "The brick building with the Crowe lettering and the red heart now sits roughly ahead of me across open paving, with the metal stairway to its left. My heading is good enough to close distance without more turning while carrying the tomato. I will walk forward toward that wall.", + "The lettering and the red heart on the brick face are noticeably larger, so my previous step closed real distance toward the target wall. I am still several paces short of a spot where placing the tomato would count as near the heart. I will step forward again along the same heading.", + "The brick wall with the heart now dominates what is in front of me, with the bricks and paint cans on the ground clearly resolved. I am close but not yet at the base of the painted heart where the tomato should be set down. Another forward step should bring me within placing range.", + "I am now right beside the brick wall, but the red heart sits toward my right edge while the stairway and the lettering fill the left of my heading. To set the tomato down directly under the heart I need to square up with that painted section. I will turn right so the heart comes to the center of my facing.", + "The brick wall bearing the \"Crowe SLAD-6t-4-Life\" tag and the red spray-painted heart is now squarely ahead of me, with the loose bricks on the ground marking its base. I am still several paces off, too far to set the carried tomato down close to that heart, so I will walk forward to close the gap. This should bring the graffiti heart directly within reach of a placement.", + "The graffiti lettering and the red heart now fill most of my view, so I am close to the wall but the ground at its base is still below and slightly beyond me. One more step forward should put me right against the wall surface under the heart, where a released tomato would settle beside it. I will advance again to finish closing that last bit of distance.", + "My view is now filled entirely by the pale brick texture of the graffiti wall, which tells me I am standing right up against it at the heart marking. This is the intended placement spot for the tomato I have been carrying since the green door. I will release it here so it should come to rest near the brick wall graffiti heart.", + "The tomato is resting on the ground right below the red graffiti heart on the brick wall. The placement condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t5_b_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..795f1892814fd314c264a126b44d1b46ce188649 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001669_y-056175_z002598_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the ceramic vase at the tunnel opening, then leave it near the green door.", + "Type": 5, + "Start_Pose": [ + -1668.663, + -56175.23, + 2598.15, + 0, + -136.32, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2296.568, + -56777.168, + 2528.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1668.663, + -56175.23, + 2598.15, + 0, + -136.32, + 0 + ], + [ + -1759.685, + -56262.152, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1850.708, + -56349.074, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -1941.73, + -56435.996, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2032.752, + -56522.918, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2123.774, + -56609.84, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2214.797, + -56696.762, + 2598.15, + 0.0, + -136.32, + 0.0 + ], + [ + -2214.797, + -56696.762, + 2598.15, + 0.0, + -136.321, + 0.0 + ], + [ + -2214.797, + -56696.762, + 2598.15, + 0.0, + -111.321, + 0.0 + ], + [ + -2214.797, + -56696.762, + 2598.15, + 0.0, + -86.321, + 0.0 + ], + [ + -2214.797, + -56696.762, + 2598.15, + 0.0, + -61.321, + 0.0 + ], + [ + -2214.797, + -56696.762, + 2598.15, + 0.0, + -36.321, + 0.0 + ], + [ + -2113.391, + -56771.31, + 2598.15, + 0.0, + -36.321, + 0.0 + ], + [ + -2113.391, + -56771.31, + 2598.15, + 0.0, + -11.321, + 0.0 + ], + [ + -1989.98, + -56796.016, + 2598.15, + 0.0, + -11.321, + 0.0 + ], + [ + -1989.98, + -56796.016, + 2598.15, + 0.0, + -36.321, + 0.0 + ], + [ + -1888.574, + -56870.563, + 2598.15, + 0.0, + -36.321, + 0.0 + ], + [ + -1823.991, + -56876.484, + 2598.15, + 0.0, + -36.321, + 0.0 + ], + [ + -1882.002, + -56833.838, + 2598.15, + 0.0, + -36.321, + 0.0 + ], + [ + -1882.002, + -56833.838, + 2598.15, + 0.0, + -36.321, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2296.568, + -56777.168, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2296.568, + -56777.168, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2296.568, + -56777.168, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2296.568, + -56777.168, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2296.568, + -56777.168, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2296.568, + -56777.168, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2296.568, + -56777.168, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2199.608, + -56711.785, + 2568.257, + -28.202, + -86.176, + 1.862 + ], + [ + -2193.787, + -56704.3, + 2568.529, + -28.189, + -61.164, + 1.872 + ], + [ + -2192.31, + -56695.47, + 2567.862, + -28.215, + -36.193, + 1.849 + ], + [ + -2188.886, + -56688.821, + 2567.916, + -14.092, + -18.977, + 6.87 + ], + [ + -2202.434, + -56679.208, + 2567.932, + -28.208, + 13.822, + 1.851 + ], + [ + -2101.301, + -56753.686, + 2568.353, + -28.189, + 13.837, + 1.869 + ], + [ + -2109.392, + -56749.569, + 2568.07, + -28.198, + 38.825, + 1.862 + ], + [ + -1986.092, + -56775.017, + 2567.683, + -28.202, + 38.821, + 1.86 + ], + [ + -1978.661, + -56779.248, + 2568.884, + -28.197, + 13.822, + 1.87 + ], + [ + -1876.673, + -56852.813, + 2568.748, + -28.211, + 13.817, + 1.853 + ], + [ + -1811.648, + -56859.057, + 2567.829, + -28.209, + 13.819, + 1.852 + ], + [ + -1825.602, + -56875.301, + 2538.15, + 0.0, + -36.321, + 0.0 + ], + [ + -1825.602, + -56875.301, + 2538.15, + 0.0, + -36.321, + 0.0 + ] + ], + "PD_Dist_2D": [ + 869.8, + 744.0, + 618.1, + 492.2, + 366.4, + 240.5, + 114.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 22.1, + 21.4, + 20.2, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this rooftop corner I can see the pale ceramic vase standing far ahead near the dark tunnel-like opening in the far wall, and the green door sits on the tall wall to my right. The vase is far too distant to reach, so I will walk straight ahead across the open concrete toward it.", + "The vase near the tunnel opening now appears slightly larger and the far wall has grown in my view, so my heading is carrying me toward it. I will keep walking forward since nothing blocks the concrete between me and the target.", + "The ceramic vase beside the tunnel entrance is clearly resolving now, standing to the left of the tall chimney column, and it is still several body lengths away. My current heading remains lined up with it, so I will continue advancing.", + "The vase is now plainly in front of me near the metal barrier and the curved tunnel hood, but it is still out of arm's reach. I will step forward again to close the remaining gap before attempting a grasp.", + "The vase now stands out at eye-catching size ahead, close to the curved metal tunnel cover along the left railing. It is still a couple of paces off, so I will keep moving forward to bring it within reach.", + "The ceramic vase fills much of my view just ahead beside the tunnel hood, but it still sits a short step beyond a comfortable grasp. I will take one more step forward so it is directly in front of me for picking up.", + "I am now standing right at the tunnel opening with the ceramic vase directly in front of me, close enough that it dominates my view against the metal hood. This is the grasp position the task requires, so I will attempt to pick the vase up.", + "The grasp worked, since I am now looking down at the vase held in front of my legs instead of resting on the ground. The green door lies back along the tall wall behind my right shoulder, so I will turn right to begin swinging my heading around toward it.", + "The vase is up in my hands, and my own shadow on the brick shows me carrying it. Right now I am staring almost straight into this blank wall, which gives me no usable heading toward the green door I saw on the far side of the yard. I will turn right again so more of the open rooftop swings into view.", + "My view is still dominated by the wall corner, with only the edge of the BOOM graffiti and a box creeping into the right side. That heading is useless for carrying the vase anywhere, so I will keep rotating right. Continuing past this corner should reveal the long wall stretch where the green door stands.", + "The green door is now in sight along the graffiti wall, but it sits off to the right of my view and the wall runs slanted across me. One more turn to the right should bring the door and the paved strip in front of it closer to the middle of my heading. I am still holding the vase, so I only need a workable walking direction.", + "The green door is clearly ahead along this wall, with the open rooftop and its hoses off to my right, so my heading finally points where the vase needs to go. The door is still well down the wall, far too distant to set the vase beside it. I will walk forward along the wall to close that gap.", + "I am much closer now, with the green door just ahead and the wall face sliding past my left shoulder. My path is drifting toward the brickwork rather than the clear paved lane running beside it. Turning right should line my walking direction up with that open lane so I can keep advancing without scraping the wall.", + "My heading now runs along the open pavement beside the wall, with the green door standing to my left and nothing blocking the way ahead. I still carry the vase and am not yet level with the doorway. I will step forward to draw alongside it.", + "The green door is now right beside me on my left, close enough that its handle and hinges are distinct. Walking straight on would carry me past it and away from the drop spot. I will turn left to face the door so I can place the vase near it.", + "The green door is now squarely in front of me with its knob and lock plainly visible, and the vase is still in my hands. I am still a short step back from the doorway pavement where I want the vase to rest. I will move forward to close that last bit of distance.", + "I am still holding the ceramic vase and the green door's panel and knob now fill the left side of my view, so I am nearly at the intended drop spot. I will take one more short step forward to close the last bit of distance along the wall, which should put me squarely beside the door before I release the vase.", + "The green door is directly beside me, its edge and frame filling the left of my view, and I am still carrying the ceramic vase from the tunnel opening. This is the position the task asks for, so I will release the vase here and it should come to rest right next to the door.", + "The ceramic vase now stands on the ground right beside the green door, no longer in my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88ee3f5343697b135296e299e3ee2c81d5cbacf2 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Walk to the base of the metal staircase, then approach the green door.", + "Type": 3, + "Start_Pose": [ + -1760.811, + -55573.438, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1760.811, + -55573.438, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + [ + -1842.65, + -55669.056, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + [ + -1842.65, + -55669.056, + 2598.15, + 0.0, + -155.56, + 0.0 + ], + [ + -1957.232, + -55721.129, + 2598.15, + 0.0, + -155.56, + 0.0 + ], + [ + -2071.813, + -55773.202, + 2598.15, + 0.0, + -155.56, + 0.0 + ], + [ + -2071.813, + -55773.202, + 2598.15, + 0.0, + -155.56, + 0.0 + ], + [ + -2071.813, + -55773.202, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + [ + -2071.813, + -55773.202, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -2071.813, + -55773.202, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -2051.17, + -55897.356, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -2030.527, + -56021.511, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -2009.885, + -56145.665, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1989.242, + -56269.82, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1968.599, + -56393.975, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1947.957, + -56518.129, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1927.314, + -56642.284, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1927.314, + -56642.284, + 2598.15, + 0.0, + -55.56, + 0.0 + ], + [ + -1856.135, + -56746.082, + 2598.15, + 0.0, + -55.56, + 0.0 + ], + [ + -1784.956, + -56849.881, + 2598.15, + 0.0, + -55.56, + 0.0 + ], + [ + -1784.956, + -56849.881, + 2598.15, + 0.0, + -55.56, + 0.0 + ] + ], + "Rationale": [ + "The metal staircase climbs the graffiti covered brick wall ahead and slightly to my left, well across the open yard from me. Nothing blocks the paving between us, so I will walk forward to cut down that distance before fine tuning my heading.", + "The staircase and its lower steps now sit left of the center of my view, while my heading points out toward the open yard. A turn to the left should put the base of the stairs squarely in front of me for a straight walk in.", + "The staircase now stands centered ahead of me with the bottom steps and handrail clearly in line with my heading. The paving in front is clear, so I will walk forward to close on the foot of the stairs.", + "The stairs loom much larger now, with the lowest treads and the near handrail post filling the lower part of my view. A further step forward should bring me right up against the foot of the staircase.", + "The bottom step and the handrail of the metal staircase are directly in front of me, close enough to touch, with the brick wall rising just beyond. I have arrived at the base of the staircase. I mark reaching it before setting off across the yard toward the green door in the far wall.", + "Standing at the foot of the stairs, my view is filled by treads and brickwork, and the green door lies off to my right across the open yard. I will turn right to swing my heading off this wall and back out over the open ground.", + "The rotation has opened up part of the yard and the pale far wall on the right side of my view, but the stair frame still cuts across most of it. Another turn to the right should carry my heading further toward that open wall.", + "The green door is now visible in the pale wall across the yard, sitting right of center beside the BOOM! lettering. One more turn to the right should place it near the middle of my view so I can walk straight at it.", + "The staircase is now behind my left shoulder and the far wall with the pale green door sits well ahead across the open yard. The ground between me and that wall is clear paving, so I will walk forward to start closing the gap.", + "The green door on the far wall has grown slightly larger and stays near the centre of my view, confirming my heading is good. I will keep walking forward across the open yard toward it.", + "I am still some distance from the wall, though the door and the graffiti around it are noticeably clearer now. Nothing blocks the paving in front of me, so another step forward should continue closing on the door.", + "The green door sits just left of centre and the wall now fills much of my view, so I still have ground to cover. I will step forward again to keep approaching it.", + "The door's handle and frame are becoming distinct, which tells me I am getting near but not yet close enough to stand at it. I will continue walking straight toward the wall.", + "The doorknob is now visible on the green door and the wall is close, but I still have a few paces of paving in front of me. I will move forward again to shorten that remaining distance.", + "The green door is large in front of me and its handle is plainly visible, so only a short stretch of ground remains. I will take another step forward to come right up to it.", + "I am close to the wall now, but the green door has drifted to the right side of my view while my heading points at the blank brick and the BOOM graffiti. Turning right should swing the door back toward the centre so I can step straight up to it.", + "The pale green door now sits just left of my heading with its handle clearly visible on the wall ahead. A few paces of open pavement still separate me from it, so I will walk forward to close that gap.", + "The green door fills much of my view now, its two handles within arm's reach of a single stride more. I will step forward once more to stand directly at it.", + "The green door's surface fills my view directly in front of me. I am standing at it, so the task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b206bab5710c240155ef42b44b331e69e215f9 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t3_b/infos.json @@ -0,0 +1,346 @@ +{ + "Instruction": "Head toward the \"BOOM!\" graffiti wall, then reach the base of the metal staircase.", + "Type": 3, + "Start_Pose": [ + -1760.811, + -55573.438, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1760.811, + -55573.438, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + [ + -1760.811, + -55573.438, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1794.572, + -55694.684, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1828.334, + -55815.93, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1862.095, + -55937.176, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1895.856, + -56058.423, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1929.618, + -56179.669, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1963.379, + -56300.915, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1963.379, + -56300.915, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1942.736, + -56425.07, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1922.094, + -56549.224, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1901.451, + -56673.379, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1880.808, + -56797.534, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1880.808, + -56797.534, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1913.819, + -56887.403, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1913.819, + -56887.403, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1889.033, + -56798.39, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1864.247, + -56709.376, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1864.247, + -56709.376, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + [ + -1864.247, + -56709.376, + 2598.15, + 0.0, + -155.56, + 0.0 + ], + [ + -1864.247, + -56709.376, + 2598.15, + 0.0, + 179.44, + -0.0 + ], + [ + -1864.247, + -56709.376, + 2598.15, + 0.0, + 154.44, + -0.0 + ], + [ + -1864.247, + -56709.376, + 2598.15, + 0.0, + 129.44, + -0.0 + ], + [ + -1944.202, + -56612.176, + 2598.15, + 0.0, + 129.44, + -0.0 + ], + [ + -1944.202, + -56612.176, + 2598.15, + 0.0, + 104.44, + -0.0 + ], + [ + -1975.587, + -56490.293, + 2598.15, + 0.0, + 104.44, + -0.0 + ], + [ + -2006.972, + -56368.41, + 2598.15, + 0.0, + 104.44, + -0.0 + ], + [ + -2038.357, + -56246.527, + 2598.15, + 0.0, + 104.44, + -0.0 + ], + [ + -2069.742, + -56124.644, + 2598.15, + 0.0, + 104.44, + -0.0 + ], + [ + -2069.742, + -56124.644, + 2598.15, + 0.0, + 129.44, + -0.0 + ], + [ + -2149.696, + -56027.445, + 2601.914, + 0.0, + 129.44, + -0.0 + ], + [ + -2152.78, + -55947.948, + 2601.899, + 0.0, + 129.44, + -0.0 + ], + [ + -2152.78, + -55947.948, + 2601.899, + 0.0, + 129.44, + -0.0 + ] + ], + "Rationale": [ + "The large \"BOOM!\" lettering is painted on the pale wall well to my right across the open rooftop, while the metal staircase climbs the brick building on my left. Since the graffiti wall is where I need to go first, I will turn right to bring it in front of me before crossing.", + "The graffiti wall with the \"BOOM!\" tag now lies ahead of me beyond a wide stretch of empty concrete. Nothing blocks that stretch, so I will walk forward to begin closing the gap.", + "The \"BOOM!\" lettering and the green door beside it have grown slightly larger, confirming my heading is carrying me toward that wall. The ground ahead is still clear, so I will keep walking forward.", + "I am still some distance from the painted wall, with the chimney stack and the \"BOOM!\" tag sitting ahead of me. Another step forward should continue shrinking that gap.", + "The \"BOOM!\" lettering and the doorway next to it are noticeably closer and remain roughly in front of me. I will walk forward again over the clear concrete.", + "The tag now reads clearly and the small boxes at the base of the wall are becoming visible, so I still have ground to cover but the approach is working. I will continue forward toward that wall.", + "The painted wall fills much of my view now, with the robot faces and \"BOOM!\" letters plainly ahead and slightly right. One more stride forward should bring me properly up to it.", + "I am close to the painted wall, but the \"BOOM!\" lettering and the green door sit to the right of my current heading rather than straight ahead. I will turn right to square up on that section of graffiti before advancing further.", + "The \"BOOM!\" lettering now sits squarely ahead of me on the pale brick wall, with the green door just to its right. Nothing blocks the open concrete between me and that wall, so I will walk straight on to close the remaining distance.", + "The lettering and the robot faces above it have grown noticeably larger and the cardboard boxes at the wall base are now visible, so my heading is carrying me right at the graffiti. I will keep walking forward to close in further.", + "The painted letters now fill much of my view and the wall texture is clearly resolved, but there is still a stretch of concrete between me and the base of the wall. I will step forward again to stand right at the graffiti.", + "I am nearly against the wall now, with the lettering and the door filling my view and only a narrow band of pavement left below. One more step forward should bring me right up to the painted lettering.", + "Standing this close, my view has drifted onto the door edge and its handle, with only the tail of the lettering at the left margin. I will turn left to bring the painted word back to the center of my view.", + "The painted word is centered in front of me again and my own shadow falls across the brickwork just below it. A short step forward should put me right at the foot of this painted wall.", + "The painted lettering fills my whole view, close enough that I can see the brick grain through the paint. I have arrived at the graffitied wall. I mark reaching it, then set off for the metal staircase at the far side of this yard.", + "Pressed this close to the painted wall, I can see nothing but the brushstrokes, which leaves me no view for picking a route onward. I will step back to open up the yard again before heading for the metal staircase.", + "The painted BOOM! lettering still fills most of my view, so I am standing almost against this wall with no room to swing around. I will step back once more to open clearance from the brickwork before I reorient toward the metal staircase.", + "I now have standoff from the wall, with the whole BOOM! panel, the metal door and the boxes in view. Nothing resembling steps lies in this direction, so I will turn left to sweep my view off the wall and toward the open yard.", + "The turn has opened the left edge of my view past the wall's corner, showing the duct and the fenced ground beyond. Still no metal stairs in sight, so I will keep turning left to bring more of the open lot in front of me.", + "The yard now runs away ahead between the tan wall and the darker brick, with the far apartment block in the distance. There are still no steps in this heading, so another left turn should carry my view further around the lot.", + "The brick wall with the red heart tag has swung into my left foreground and the open concrete stretches ahead, but no metal structure yet. I will turn left again to bring the side of the building where such steps would stand into view.", + "The metal staircase with its railed landing has appeared at the left edge of my view, fixed to the brick building. One more left turn should bring it nearer the centre of my heading so I can walk straight at it.", + "The staircase and its landing now sit ahead of me across clear concrete, with nothing blocking the route. I will walk forward to close the distance toward its lower steps.", + "I am much closer now, but the graffitied brick face crowds my right while the lowest steps and the space beneath the landing lie toward my left. I will turn left so my path runs into that open ground at the foot of the stairs rather than into the wall.", + "The graffiti wall behind me is done with, and the metal staircase bolted to the brick building now stands clearly along my right. I walk forward across the open yard to close the remaining distance to it.", + "The stair flight and its supporting posts have grown noticeably larger on my right, so my heading is carrying me alongside them. I take another step forward to draw level with the lower end of the staircase.", + "The underside of the staircase and its lower treads are now close on my right, but I am still short of where the steps meet the ground. Another stride forward should bring me beside the bottom of the flight.", + "The full run of steps is beside me on the right and the lowest treads sit just past my shoulder. I continue walking forward so that the foot of the stairs comes level with me rather than staying behind.", + "I am now level with the staircase, but it lies off to my right while I face across the open yard. I turn right to bring the steel steps and their lowest treads squarely in front of me.", + "The turn has put the stair flight and its handrail directly ahead, with the treads descending toward the paving on my left. I step forward to reach the ground where the steps begin.", + "I am right against the underside of the flight, with beams and treads overhead and the brick wall to my right. One short step forward should place me at the paving where the lowest steps start.", + "The lowest steps and handrail of the metal staircase are right at my position against the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t5_a_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..728d87aad15bf56ad1b70cd3ee4b90f74bb11280 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-001761_y-055573_z002598_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the metal bucket at the base of the metal staircase, then leave it near the green door.", + "Type": 5, + "Start_Pose": [ + -1760.811, + -55573.438, + 2598.15, + 0, + -130.56, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2072.524, + -55788.332, + 2528.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1760.811, + -55573.438, + 2598.15, + 0, + -130.56, + 0 + ], + [ + -1842.65, + -55669.056, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + [ + -1842.65, + -55669.056, + 2598.15, + 0.0, + -155.56, + 0.0 + ], + [ + -1957.232, + -55721.129, + 2598.15, + 0.0, + -155.56, + 0.0 + ], + [ + -1957.232, + -55721.129, + 2598.15, + 0.0, + -155.56, + 0.0 + ], + [ + -1957.232, + -55721.129, + 2598.15, + 0.0, + -130.56, + 0.0 + ], + [ + -1957.232, + -55721.129, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1990.993, + -55842.375, + 2598.15, + 0.0, + -105.56, + 0.0 + ], + [ + -1990.993, + -55842.375, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1970.351, + -55966.53, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1949.709, + -56090.684, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1929.066, + -56214.839, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1908.424, + -56338.994, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1887.782, + -56463.148, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1867.139, + -56587.303, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1846.497, + -56711.458, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1825.855, + -56835.612, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1807.873, + -56876.312, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1819.682, + -56805.287, + 2598.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1819.682, + -56805.287, + 2598.15, + 0.0, + -80.56, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2072.524, + -55788.332, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2072.524, + -55788.332, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2072.524, + -55788.332, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2072.524, + -55788.332, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1947.841, + -55740.317, + 2568.257, + -28.202, + -105.416, + 1.862 + ], + [ + -1939.879, + -55735.168, + 2568.529, + -28.189, + -80.403, + 1.872 + ], + [ + -1935.575, + -55727.318, + 2567.862, + -28.215, + -55.433, + 1.849 + ], + [ + -1970.343, + -55847.823, + 2567.676, + -28.202, + -55.419, + 1.858 + ], + [ + -1968.935, + -55837.908, + 2568.876, + -28.198, + -30.415, + 1.865 + ], + [ + -1949.417, + -55962.239, + 2568.593, + -28.2, + -30.415, + 1.865 + ], + [ + -1928.722, + -56086.686, + 2568.062, + -28.194, + -30.412, + 1.865 + ], + [ + -1908.052, + -56211.032, + 2567.681, + -28.202, + -30.419, + 1.859 + ], + [ + -1887.417, + -56335.139, + 2567.802, + -28.205, + -30.419, + 1.854 + ], + [ + -1866.819, + -56459.051, + 2568.182, + -28.207, + -30.423, + 1.858 + ], + [ + -1846.214, + -56582.944, + 2568.605, + -28.19, + -30.407, + 1.871 + ], + [ + -1825.605, + -56706.927, + 2568.869, + -28.202, + -30.419, + 1.863 + ], + [ + -1804.937, + -56831.198, + 2568.793, + -28.188, + -30.404, + 1.875 + ], + [ + -1786.879, + -56872.38, + 2567.926, + -28.206, + -30.419, + 1.852 + ], + [ + -1808.201, + -56874.34, + 2558.15, + 0.0, + -80.56, + 0.0 + ], + [ + -1808.201, + -56874.34, + 2558.15, + 0.0, + -80.56, + 0.0 + ] + ], + "PD_Dist_2D": [ + 378.6, + 259.0, + 259.0, + 133.4, + 21.4, + 22.3, + 22.5, + 21.4, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket sits on the ground at the foot of the metal staircase ahead of me, still well across the open yard. I will walk forward to close that distance before I can reach it.", + "From here the bucket has drifted toward the left side of my view as I closed in on the stairs. I will turn left to bring it back in front of me so my next steps lead straight to it.", + "The bucket is now centered ahead of me near the bottom of the staircase, with clear pavement between us. I will step forward to get close enough for a grasp.", + "The bucket now fills the lower part of my view, its rim within arm's reach right in front of me. I will attempt to pick it up so I can carry it toward the green door.", + "The grasp worked, since the bucket is now held low in my hands and my view looks down over its interior and the pavement. The green door lies back across the yard behind my current heading, so I will turn right to begin swinging toward it.", + "With the bucket in hand my view has come back up and I can see the staircase and brickwork on my left, but the far wall with the green door is still off to my right. I will turn right again to bring that wall and its door into the center of my heading.", + "The far wall is now in front of me and the pale green door is visible along it, slightly to the right of my heading. With the bucket still in hand, I will walk forward across the open yard toward that wall.", + "After advancing, the overhead stair structure crowds the left of my view while the green door sits off to the right of my current heading. I will turn right to line up on the door before continuing toward it with the bucket.", + "The metal bucket is in my hands and the pale green door sits straight ahead in the middle of the far graffiti wall, but a wide stretch of open yard still separates us. I will walk forward along this heading to carry the bucket closer to that door. The path across the concrete looks clear, so this step should reduce the remaining distance.", + "The green door is noticeably larger now and stays near the middle of my view, confirming my heading is still good while I carry the bucket. The yard between me and the wall remains empty concrete. I will step forward again to keep closing on the delivery spot.", + "From here the door and the BOOM graffiti beside it read clearly, so I am well aligned but still several strides short of the wall. Nothing blocks the ground between me and that section of wall. I will continue walking forward with the bucket.", + "The wall now fills most of my view and the green door sits just left of center, so my line of travel still leads to it. The cardboard and bottles at the base of the wall are off to the side and do not obstruct my lane. Another forward step should bring the door within reach for setting the bucket down.", + "The door frame and its handle are becoming distinct ahead of me, but there is still open ground before the wall. I keep holding the bucket rather than releasing it early. I will advance again to get close enough that a release counts as leaving it near the door.", + "My own shadow is cast onto the wall beside the door, which tells me I am now close to it while still a step or two away. The door remains centered in front of me and nothing stands between it and my feet. I will take another step forward with the bucket.", + "The green door now dominates my view with its handle plainly visible, so I am nearly at the drop position while still carrying the bucket. A little more closing distance would place the bucket right at the doorway rather than short of it. I will step forward once more.", + "I am standing almost against the green door, with its two round handles centered in front of me and the brick wall to the side. The bucket is still in my hands, so I want to be squarely at the doorway before releasing it. I will take one more short step forward to settle into that position.", + "The green door fills my view now, with its knob and lock right in front of me, so I am nearly at the delivery spot while still carrying the bucket. I will take one more short step forward to close the last bit of distance and stand directly at the door. That should put the bucket well within the intended release area beside the green door.", + "I am pressed right up against the pale green door panel, with the carried bucket edge visible at the bottom of my view, so I am as close to the drop point as I can usefully be. Since the task asks me to leave the bucket near this door, I will release it here. The bucket should settle on the ground directly at the doorway.", + "The metal bucket is now resting on the ground directly in front of the green door. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-002005_y-056031_z002598_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-002005_y-056031_z002598_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05ccbf07ac2e5bd1ef5d6729a52772410c498e43 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-002005_y-056031_z002598_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the green door near the \"BOOM!\" graffiti.", + "Type": 0, + "Start_Pose": [ + -2004.65, + -56031.363, + 2598.375, + 0, + -62.4, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2004.65, + -56031.363, + 2598.375, + 0, + -62.4, + 0 + ], + [ + -1946.34, + -56142.9, + 2598.375, + 0.0, + -62.4, + 0.0 + ], + [ + -1888.03, + -56254.437, + 2598.375, + 0.0, + -62.4, + 0.0 + ], + [ + -1829.72, + -56365.973, + 2598.375, + 0.0, + -62.4, + 0.0 + ], + [ + -1829.72, + -56365.973, + 2598.375, + 0.0, + -87.4, + 0.0 + ], + [ + -1824.011, + -56491.703, + 2607.045, + 0.0, + -87.4, + 0.0 + ], + [ + -1818.301, + -56617.432, + 2598.15, + 0.0, + -87.4, + 0.0 + ], + [ + -1812.592, + -56743.162, + 2598.15, + 0.0, + -87.4, + 0.0 + ], + [ + -1806.883, + -56868.891, + 2598.15, + 0.0, + -87.4, + 0.0 + ], + [ + -1806.883, + -56868.891, + 2598.15, + 0.0, + -87.4, + 0.0 + ] + ], + "Rationale": [ + "From here I can already see the pale green door set into the long wall, immediately to the right of the large \"BOOM!\" graffiti on the left side of my view. It is far across the open rooftop, so I will move forward to begin closing that distance while the flat paving ahead looks clear.", + "The wall and its graffiti now fill more of my view, confirming the previous step brought me closer to the target door. The path ahead still shows only open paving with the hose and vent off to the side, so I will keep advancing straight.", + "The green door and the \"BOOM!\" tag are noticeably nearer and sit toward the left of my heading, while nothing blocks the ground in front of me. Another forward step should continue to shorten the gap before I refine my heading.", + "My forward motion has pushed the target off to the left, with the \"BOOM!\" lettering now cut off at the left edge and the door well left of my center. I will turn left to swing my heading onto the door so my remaining approach runs straight at it.", + "The turn worked, and the green door with the \"BOOM!\" tag beside it now sits comfortably near the middle of my view. With the heading corrected and clear paving between me and the wall, I will move forward to close in.", + "The door frame is clearly larger and still centered ahead, so my heading remains good. I will step forward again to keep reducing the remaining distance to the wall.", + "The door now dominates my view with its handle and hinges clearly visible, and the \"BOOM!\" lettering sits right beside it, confirming this is the target. I am still a short distance back, so one more forward step should bring me right up to the doorway.", + "The green door and its two knobs now fill nearly my whole view with the wall bricks only at the edges, so I am nearly against it. A final short forward step should place me directly at the door within reach.", + "The green door's panel, frame edge, and knob fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-002005_y-056031_z002598_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x-002005_y-056031_z002598_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe62035aaee0c96fd68d719cffc825aaefdd8aa2 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-002005_y-056031_z002598_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the ceramic pot beside the green door beneath the \"BOOM!\" graffiti.", + "Type": 5, + "Start_Pose": [ + -2004.65, + -56031.363, + 2598.375, + 0, + -62.4, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1733.077, + -56872.773, + 2513.138, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2004.65, + -56031.363, + 2598.375, + 0, + -62.4, + 0 + ], + [ + -1946.34, + -56142.9, + 2598.375, + 0.0, + -62.4, + 0.0 + ], + [ + -1888.03, + -56254.437, + 2598.375, + 0.0, + -62.4, + 0.0 + ], + [ + -1829.72, + -56365.973, + 2598.375, + 0.0, + -62.4, + 0.0 + ], + [ + -1771.41, + -56477.51, + 2606.976, + 0.0, + -62.4, + 0.0 + ], + [ + -1771.41, + -56477.51, + 2606.976, + 0.0, + -87.4, + 0.0 + ], + [ + -1765.701, + -56603.24, + 2606.976, + 0.0, + -87.4, + 0.0 + ], + [ + -1759.991, + -56728.969, + 2598.15, + 0.0, + -87.4, + 0.0 + ], + [ + -1759.991, + -56728.969, + 2598.15, + 0.0, + -87.399, + 0.0 + ], + [ + -1759.991, + -56728.969, + 2598.15, + 0.0, + -87.399, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1733.077, + -56872.773, + 2513.138, + 0.0, + 0.0, + 0.0 + ], + [ + -1733.077, + -56872.773, + 2513.138, + 0.0, + 0.0, + 0.0 + ], + [ + -1733.077, + -56872.773, + 2513.138, + 0.0, + 0.0, + 0.0 + ], + [ + -1733.077, + -56872.773, + 2513.138, + 0.0, + 0.0, + 0.0 + ], + [ + -1733.077, + -56872.773, + 2513.138, + 0.0, + 0.0, + 0.0 + ], + [ + -1733.077, + -56872.773, + 2513.138, + 0.0, + 0.0, + 0.0 + ], + [ + -1733.077, + -56872.773, + 2513.138, + 0.0, + 0.0, + 0.0 + ], + [ + -1733.077, + -56872.773, + 2513.138, + 0.0, + 0.0, + 0.0 + ], + [ + -1738.687, + -56727.39, + 2568.257, + -28.202, + -37.255, + 1.862 + ], + [ + -1738.687, + -56727.39, + 2568.257, + -28.202, + -37.255, + 1.862 + ] + ], + "PD_Dist_2D": [ + 884.2, + 760.4, + 637.5, + 515.9, + 397.1, + 397.1, + 271.5, + 146.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the pale green door in the graffiti wall ahead, with the \"BOOM!\" lettering to its left and a small terracotta pot resting on the ground beside it. The pot is far across the open rooftop, so I will walk forward to close that gap before any grasp is possible.", + "The wall with the \"BOOM!\" tag and the green door has grown larger in front of me, confirming my heading is good. The ceramic pot beside the door is still well out of reach, so I continue walking straight toward it.", + "The green door now sits clearly left of center with the reddish pot standing right at its base, so the target is identified without doubt. The open rooftop between us is still clear apart from the hose lying flat, so I keep stepping forward to shorten the distance.", + "The pot beside the green door is now plainly visible against the wall, but it sits off to my left edge and still too far to touch. I will advance again to bring myself close to the wall before correcting my heading.", + "I am close to the graffiti wall now, but the green door and the ceramic pot beside it sit toward the left side of my view while I face the mural panel. I will turn left to put the pot near the center of my heading so a straight approach lines up with it.", + "The turn has brought the green door and the terracotta pot at its side into the middle of my view, with the \"BOOM!\" tag confirming the right stretch of wall. The pot is still a couple of strides away, so I walk forward along this heading.", + "The ceramic pot now sits low and centered just below the green door frame, but it still appears a full stride ahead of my feet. I will step forward once more to stand directly over it so a grasp becomes feasible.", + "The green door fills my view and the terracotta pot has come right to the bottom edge, immediately in front of my feet beside the doorway. This is the pot beside the green door under the \"BOOM!\" tag, so I will reach down and attempt to pick it up.", + "The ceramic pot is now held in my hands, lifted off the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e731ad96b13564a65150524872ca712086c0620 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the green alien graffiti on the brick wall.", + "Type": 0, + "Start_Pose": [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -108.52, + 0.0 + ], + [ + -2611.208, + -55101.853, + 2602.886, + 0.0, + -108.52, + 0.0 + ], + [ + -2651.186, + -55221.194, + 2606.042, + 0.0, + -108.52, + 0.0 + ], + [ + -2691.163, + -55340.535, + 2606.042, + 0.0, + -108.52, + 0.0 + ], + [ + -2691.163, + -55340.535, + 2606.042, + 0.0, + -133.52, + 0.0 + ], + [ + -2777.83, + -55431.8, + 2598.15, + 0.0, + -133.52, + 0.0 + ], + [ + -2864.498, + -55523.064, + 2598.15, + 0.0, + -133.52, + 0.0 + ], + [ + -2950.687, + -55607.317, + 2598.15, + 0.0, + -133.52, + 0.0 + ], + [ + -2950.687, + -55607.317, + 2598.15, + 0.0, + -133.52, + 0.0 + ] + ], + "Rationale": [ + "I can see the green alien figure painted on the brick wall, but it sits at the far left edge of my view while most of my heading points across the open rooftop. I will turn left so the alien graffiti moves toward the center of my view and gives me a clean straight path toward it.", + "The graffiti wall now sits ahead of me with the green alien on its left side and the hearts and lettering beside it. Nothing blocks the concrete between me and the wall, so I will step forward to begin closing the distance.", + "The wall and its paintings have grown noticeably larger, so my heading is carrying me toward the target as intended. The scattered cans and debris sit low against the base of the wall and do not obstruct my line of travel, so I will keep advancing.", + "The brick surface now fills much of my view and the green alien is clearly visible toward the left side, still several steps away. I will continue forward to shorten that remaining gap before making any final heading adjustment.", + "Being closer to the wall has pushed the green alien toward the left part of my view while the lettering and hearts dominate straight ahead. I will turn left to put the alien figure back in front of me so my remaining steps close directly on it.", + "The green alien is now the nearest painted figure in front of me, with the wall corner and the fence beyond it on my left. I will step forward along the wall to reduce the last stretch of distance to the alien.", + "The alien painting is close enough that its full body spans a large part of my view, yet I am still short of standing right at the wall. Another step forward should bring me directly up to the green figure.", + "The green alien now towers over most of my view and individual bricks and paint strokes are distinct, so I am nearly at arm's length from it. I will take one more short step so I am standing right at the alien graffiti.", + "The green alien graffiti fills my view at arm's length on the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..09cc9983c84141e5bd14a4d9e7fd1b2233feac90 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the bottom of the metal staircase.", + "Type": 0, + "Start_Pose": [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2557.027, + -55107.567, + 2605.829, + 0.0, + -83.52, + 0.0 + ], + [ + -2557.027, + -55107.567, + 2605.829, + 0.0, + -58.52, + 0.0 + ], + [ + -2491.303, + -55214.902, + 2605.829, + 0.0, + -58.52, + 0.0 + ], + [ + -2425.58, + -55322.237, + 2605.829, + 0.0, + -58.52, + 0.0 + ], + [ + -2359.856, + -55429.573, + 2605.829, + 0.0, + -58.52, + 0.0 + ], + [ + -2294.132, + -55536.908, + 2598.15, + 0.0, + -58.52, + 0.0 + ], + [ + -2294.132, + -55536.908, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2279.928, + -55661.963, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2279.928, + -55661.963, + 2598.15, + 0.0, + -83.52, + 0.0 + ] + ], + "Rationale": [ + "I can see a metal staircase rising along the far side of the graffiti-covered brick wall, well ahead and slightly to my right. Moving forward across the open rooftop deck should close some of that distance and bring the stair base into clearer view.", + "The brick wall now fills most of my view and the staircase sits off to its right edge, so my heading is biased too far left of the target. I will turn right to place the stairway more centrally ahead of me before continuing.", + "After the turn the staircase and its lower steps are clearly in the left-center of my view with clear paving in between. I will move forward to shorten the distance to the base of those metal stairs.", + "The staircase looks noticeably larger and closer now, though I am still several steps away from its lowest tread. Continuing forward should keep reducing that gap along the wall.", + "The stair structure now occupies much of the left side of my view, so I am close but not yet at its foot. Another forward step should bring me nearly alongside the bottom of the staircase.", + "The lowest treads and the cone beside them are close ahead on my left, meaning I am nearly at the stair base. I will advance once more to reach that landing area.", + "I am now beside the bottom of the staircase, but the flight is angled off to my left rather than in front of me. Turning left should square my heading with the stairs so I face their lowest step directly.", + "The staircase is now centered in my view with its bottom step and handrails directly ahead. A final short step forward should place me right at the foot of the metal stairs.", + "The metal staircase's lowest step and both handrails fill my view directly ahead, within arm's reach. The task is complete, so I stop here rather than moving closer." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_c/infos.json b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3d2671fafcb33fa5ecc5b55beaf4601010b1b676 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t0_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the yellow object near the wall beneath the graffiti.", + "Type": 0, + "Start_Pose": [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2557.027, + -55107.567, + 2605.829, + 0.0, + -83.52, + 0.0 + ], + [ + -2542.823, + -55232.622, + 2605.829, + 0.0, + -83.52, + 0.0 + ], + [ + -2528.619, + -55357.677, + 2605.829, + 0.0, + -83.52, + 0.0 + ], + [ + -2528.619, + -55357.677, + 2605.829, + 0.0, + -108.52, + 0.0 + ], + [ + -2568.596, + -55477.018, + 2604.091, + 0.0, + -108.52, + 0.0 + ], + [ + -2568.596, + -55477.018, + 2604.091, + 0.0, + -108.52, + 0.0 + ], + [ + -2568.596, + -55477.018, + 2604.091, + 0.0, + -108.52, + 0.0 + ] + ], + "Rationale": [ + "I can see the graffiti-covered brick wall ahead and a small yellow sack resting against its base beside a blue one, which matches the yellow object I need to reach. It is still far across the open concrete, so I will move forward along my current heading to begin closing that gap.", + "The yellow sack near the wall is now larger in view but still several strides away, roughly ahead and slightly left. Nothing blocks the concrete between us, so I will continue straight to keep reducing the distance.", + "The yellow bag and the neighboring blue one are clearly resolved at the foot of the wall under the graffiti, with cans and a box beside them. I am still a couple of paces short of a close standing position, so I will advance again.", + "From this close position the yellow bag sits low and left of my view center while my heading points more toward the wall face on the right. I will turn left to bring the yellow object into the middle of my view before stepping in.", + "With the turn done, the yellow sack now sits ahead and slightly right along the wall base, only a short step away. I will move forward once more to finish closing the remaining distance to it.", + "I am now right up against the wall and my view is filled mostly with brick and graffiti, with only the top of the yellow sack showing at the bottom edge. I will look down to bring the yellow object fully into view and confirm I am standing beside it.", + "The yellow sack lies directly at my feet against the wall beneath the graffiti. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d5e4109b656d2b08b05a7402a0cfeef41724766c --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Lift the plate at the green alien graffiti on the brick wall.", + "Type": 5, + "Start_Pose": [ + -2571.231, + -54982.512, + 2598.15, + 0, + -83.52, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2914.639, + -55595.188, + 2548.15, + 90, + 30, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2571.231, + -54982.512, + 2598.15, + 0, + -83.52, + 0 + ], + [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -108.52, + 0.0 + ], + [ + -2611.208, + -55101.853, + 2602.886, + 0.0, + -108.52, + 0.0 + ], + [ + -2651.186, + -55221.194, + 2606.042, + 0.0, + -108.52, + 0.0 + ], + [ + -2691.163, + -55340.535, + 2606.042, + 0.0, + -108.52, + 0.0 + ], + [ + -2691.163, + -55340.535, + 2606.042, + 0.0, + -133.52, + 0.0 + ], + [ + -2777.83, + -55431.8, + 2598.15, + 0.0, + -133.52, + 0.0 + ], + [ + -2864.498, + -55523.064, + 2598.15, + 0.0, + -133.52, + 0.0 + ], + [ + -2864.498, + -55523.064, + 2598.15, + 0.0, + -133.522, + 0.0 + ], + [ + -2864.498, + -55523.064, + 2598.15, + 0.0, + -133.522, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2914.639, + -55595.188, + 2548.15, + 90.0, + 30.0, + 0.0 + ], + [ + -2914.639, + -55595.188, + 2548.15, + 90.0, + 30.0, + 0.0 + ], + [ + -2914.639, + -55595.188, + 2548.15, + 90.0, + 30.0, + 0.0 + ], + [ + -2914.639, + -55595.188, + 2548.15, + 90.0, + 30.0, + 0.0 + ], + [ + -2914.639, + -55595.188, + 2548.15, + 90.0, + 30.0, + 0.0 + ], + [ + -2914.639, + -55595.188, + 2548.15, + 90.0, + 30.0, + 0.0 + ], + [ + -2914.639, + -55595.188, + 2548.15, + 90.0, + 30.0, + 0.0 + ], + [ + -2914.639, + -55595.188, + 2548.15, + 90.0, + 30.0, + 0.0 + ], + [ + -2848.594, + -55537.327, + 2568.257, + -28.202, + -83.377, + 1.862 + ], + [ + -2848.594, + -55537.327, + 2568.257, + -28.202, + -83.377, + 1.862 + ] + ], + "PD_Dist_2D": [ + 702.4, + 702.4, + 579.2, + 457.5, + 338.8, + 338.8, + 213.1, + 87.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The green alien figure is painted at the far left edge of the brick wall, and the white plate leaning against the wall beside it sits well off to my left. Facing this way I would walk past the target rather than toward it, so I will turn left to bring the alien graffiti and the plate closer to the center of my view before advancing.", + "The graffiti wall now sits squarely ahead with the green alien and the white plate visible at its left side. There is clear, open rooftop between me and that wall, so I will walk forward to cut down the distance to the plate.", + "The wall and its graffiti have grown noticeably larger, but the plate beside the alien is still several paces away and too far to reach. I will keep walking forward along this clear line to close in on it.", + "The alien and the white plate are now clearly resolved on the left portion of the wall, with spray cans and debris scattered around them. I am still not within arm's reach, so I will step forward again to continue closing the gap.", + "As I have closed in, the alien graffiti and the plate resting beneath it have drifted toward the left edge of my view while the wall fills the center. To keep the plate in front of me for the final approach, I will turn left to re-center the alien and the plate.", + "The plate is now centered below the alien figure, leaning against the brick with spray cans beside it. It is still a short walk away, so I will move forward to bring it within reach.", + "The plate is large in the lower center of my view, tilted against the wall right under the alien figure. One more step forward should put me directly over it so I can reach down for the grasp.", + "I am standing right at the base of the brick wall with the green alien directly beside me, and the rim of the plate is visible at the very bottom of my view, within arm's reach. This is the target plate at the alien graffiti, so I will attempt to lift it now.", + "The plate is now held in my hand, lifted clear of the ground beside the alien graffiti wall. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t5_b_p/infos.json b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5340b0a36b607ecb1772bee587f782b4748da98a --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-002571_y-054983_z002598_t5_b_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the green bell pepper near the bottom of the metal staircase.", + "Type": 5, + "Start_Pose": [ + -2571.231, + -54982.512, + 2598.15, + 0, + -83.52, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2223.937, + -55731.137, + 2543.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2571.231, + -54982.512, + 2598.15, + 0, + -83.52, + 0 + ], + [ + -2571.231, + -54982.512, + 2598.15, + 0.0, + -58.52, + 0.0 + ], + [ + -2505.507, + -55089.847, + 2605.487, + 0.0, + -58.52, + 0.0 + ], + [ + -2439.784, + -55197.182, + 2604.957, + 0.0, + -58.52, + 0.0 + ], + [ + -2374.06, + -55304.518, + 2604.188, + 0.0, + -58.52, + 0.0 + ], + [ + -2308.336, + -55411.853, + 2598.15, + 0.0, + -58.52, + 0.0 + ], + [ + -2242.612, + -55519.189, + 2598.15, + 0.0, + -58.52, + 0.0 + ], + [ + -2242.612, + -55519.189, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2228.408, + -55644.244, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2228.408, + -55644.244, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2228.408, + -55644.244, + 2598.15, + 0.0, + -83.52, + 0.0 + ], + [ + -2228.408, + -55644.244, + 2598.15, + 0.0, + -83.52, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2223.937, + -55731.137, + 2543.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2207.26, + -55641.227, + 2568.257, + -28.202, + -33.375, + 1.862 + ], + [ + -2207.26, + -55641.227, + 2568.257, + -28.202, + -33.375, + 1.862 + ] + ], + "PD_Dist_2D": [ + 825.3, + 825.3, + 700.4, + 575.9, + 452.3, + 330.3, + 212.8, + 212.8, + 87.0, + 87.0, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the metal staircase against the far wall with a small green bell pepper resting at its base, but it sits well to the right of my current heading while the graffiti-covered brick corner fills the view ahead of me. I will turn right to put the staircase and the pepper closer to the center of my view and open the clear rooftop lane toward them.", + "The staircase and the green pepper at its base now sit ahead of me with a wide, unobstructed stretch of rooftop between us. I will walk forward to cut down that long distance before worrying about fine alignment.", + "The pepper at the foot of the stairs has grown slightly larger and my heading still points along the open rooftop toward it. Nothing blocks the ground in front of me, so another step forward should keep closing the gap.", + "The staircase and its handrail are noticeably closer now and the green pepper sitting under the lowest steps is clearly resolved. I will continue walking forward since the target is still too far to reach.", + "The metal staircase now dominates the left of my view and the green pepper is plainly resting on the pavement at its bottom step. I am still several strides short of grasping range, so I will keep advancing.", + "The pepper is large in my view now, sitting just beside the lowest stair treads, but it is still a stride or two out of arm's reach. I will step forward again to bring it right in front of me.", + "I am now very close to the staircase, but the green pepper has drifted to the lower left corner of my view instead of being centered in front of me. I will turn left to bring it back into the middle of my view so I can face it squarely for the pick.", + "The green bell pepper is now centered in front of me on the pavement at the bottom of the metal stairs, with clear ground between us. I will take one more step forward to close the last bit of distance and put it within reach.", + "I am now right at the foot of the metal staircase, but my view is level with the steps and railing, so the green bell pepper has dropped out of sight below the bottom edge of my view. Tilting my gaze downward should bring the pepper on the ground directly in front of my feet back into view for a grasp.", + "With my gaze lowered, the green bell pepper fills the lower center of my view, close to my feet at the bottom of the staircase. Nothing stands between me and it, so I will attempt the grasp now, which should place the pepper in my hands.", + "The green bell pepper is now held in my hands, lifted off the rooftop surface. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003279_y-055158_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-003279_y-055158_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfbc7cb517a458b60d8b986ad702b88f756471f --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003279_y-055158_z002598_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Discover the green alien graffiti painted on the brick wall, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -3278.596, + -55157.778, + 2598.15, + 0.0, + 99.52, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3278.596, + -55157.778, + 2598.15, + 0.0, + 99.52, + -0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + 124.52, + -0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + 149.52, + -0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + 174.52, + -0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + -160.48, + 0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + -135.48, + 0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + -110.48, + 0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + -85.48, + 0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + -60.48, + 0.0 + ], + [ + -3216.582, + -55267.298, + 2598.15, + 0.0, + -60.48, + 0.0 + ], + [ + -3154.568, + -55376.818, + 2598.15, + 0.0, + -60.48, + 0.0 + ], + [ + -3092.553, + -55486.339, + 2598.15, + 0.0, + -60.48, + 0.0 + ], + [ + -3030.539, + -55595.859, + 2598.15, + 0.0, + -60.48, + 0.0 + ], + [ + -3030.539, + -55595.859, + 2598.15, + 0.0, + -60.48, + 0.0 + ] + ], + "Rationale": [ + "I am facing a dark grey brick wall with only a grey robot doodle sprayed on it, not the green alien I need. Since this surface offers no green graffiti and the rest of the yard is out of view, I will turn right to begin a steady scan of the surroundings.", + "The view now shows the corner of the grey wall, a chain-link fence, and a tan apartment block beyond it, with no green alien graffiti in sight. I will keep rotating right in the same direction to sweep further around this rooftop yard.", + "From here I mostly see the storage tote, the fence line, and the neighboring building's fire escape, none of which is the target. Continuing my consistent rightward scan should bring the unseen portions of this rooftop into view.", + "I am looking out across the fence at the tan apartment block and a bare rooftop parapet, so the alien graffiti is still not in my view. I will continue turning right to keep sweeping toward the unexamined part of this rooftop.", + "The scan has opened onto more rooftop deck with a tarp-covered object, but there is still no green alien on any wall here. I will keep turning right so the remaining walls further around come into view.", + "Ahead I see the tarp, a metal duct, pallets, and a distant parapet with faded lettering, but no green alien figure. Continuing the same rightward rotation should reveal the walls on that side of the rooftop.", + "A brick wall has entered on my right side, and I can see green paint plus heart tags on it, a strong sign this is the graffiti wall. I will turn right once more to bring that wall and its green figure to the center of my view.", + "The green alien graffiti is clearly visible on the brick wall to my right, alongside the lettering and heart tags. I will turn right once more to square my heading on the alien so I can walk straight to it.", + "The green alien figure is now clearly visible on the light brick wall ahead, painted alongside lettering and heart tags, so the search target is found. The wall stands well across the open rooftop deck, and the ground between me and it is flat and unobstructed. I will walk forward to close that distance toward the graffiti.", + "The alien painting has grown noticeably larger and sits slightly left of my heading, confirming I am closing on the correct wall. There is still a stretch of empty pavement before the brick face, with only scattered spray cans and litter well off to the side. I will keep walking forward to reduce the remaining gap.", + "The alien figure and the surrounding tags now fill much of my view, so I am close but not yet at the wall face. The paved surface directly ahead remains clear right up to the brick. Another step forward should bring me to arm's length of the graffiti.", + "I am now beside the brick wall with the green alien's body and the painted hearts filling my view at close range. A final short step should place me directly at the graffiti surface so the target is unmistakably reached.", + "The green alien graffiti fills my view directly against the brick wall at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003279_y-055158_z002598_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-003279_y-055158_z002598_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..99cafd0e57d897d808f538f82f26a80584f031df --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003279_y-055158_z002598_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Once you locate two trash bags leaning together, one yellow and one blue, approach them.", + "Type": 1, + "Start_Pose": [ + -3278.596, + -55157.778, + 2598.15, + 0.0, + 99.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3278.596, + -55157.778, + 2598.15, + 0.0, + 99.52, + -0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + 74.52, + -0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + 49.52, + -0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + 24.52, + -0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + -0.48, + 0.0 + ], + [ + -3278.596, + -55157.777, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + -3164.979, + -55211.921, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + -3051.361, + -55266.065, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + -2937.744, + -55320.209, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + -2824.126, + -55374.354, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + -2710.509, + -55428.498, + 2605.847, + 0.0, + -25.48, + 0.0 + ], + [ + -2596.892, + -55482.642, + 2598.394, + 0.0, + -25.48, + 0.0 + ], + [ + -2596.892, + -55482.642, + 2598.394, + 0.0, + -25.48, + 0.0 + ], + [ + -2596.892, + -55482.642, + 2598.394, + 0.0, + -25.48, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a close brick wall with robot graffiti and a metal tank at the right edge, so no trash bags are visible from here. I will turn left to begin a consistent scan away from this blank wall face and open up more of the surroundings.", + "The wall still dominates my view, though a colored graffiti patch and the edge of a machine unit are now creeping in on the left. Continuing the same leftward turn should keep revealing new area rather than backtracking over the wall I already checked.", + "The scan is opening up: I can now see a rooftop surface, an air conditioning unit, and sky beyond the wall, but still no pair of leaning bags. I will keep turning left in the same direction to bring the rest of this rooftop into view.", + "A wide rooftop with scattered vents and distant buildings is now in front of me, and the AC unit still hides part of the ground on the left. Another left turn should sweep past that obstruction and expose the far side of the roof where debris and bags could be sitting against a wall.", + "Against the base of the tan graffiti wall on the far left I can make out a yellow sack and a blue sack propped together, which matches the pair I am looking for. I will turn left once more to bring them nearer the center of my heading before walking toward them.", + "The yellow and blue bags leaning together are now ahead of me along the base of the graffiti-covered brick wall, and my heading points down that open stretch of roof. I will step forward since the paved surface between us looks clear of obstacles.", + "The two bags have grown larger against the wall, confirming that my heading is carrying me toward them. I will continue walking forward to close the remaining distance across the open roof.", + "The yellow and blue sacks are now clearly resting side by side at the wall with cans and litter around them, still a few paces off to my front left. I will keep advancing to get close enough for the approach to count as reaching them.", + "The paired trash bags, one yellow and one blue leaning together, are clearly visible ahead at the foot of the graffiti covered brick wall on my left. My heading already points along that wall with open rooftop floor in between, so I will keep walking forward to close the remaining distance.", + "The two bags now appear noticeably larger and lower in my view, confirming that my forward steps are steadily shrinking the gap. They are still several paces off beside the wall, so I will advance again to get properly close to them.", + "The yellow and blue bags leaning against each other now fill the lower left of my view, very near the wall beside me. One more step forward should bring me directly alongside them at a proper approach distance.", + "I am now right up beside the wall and the bags have dropped almost entirely below my forward gaze, with only a hint of blue fabric near the bottom edge. Tilting my view downward should bring the paired yellow and blue bags fully back into sight so I can confirm I am standing at them.", + "The yellow and blue trash bags lean together directly at my feet beside the wall. The approach task is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003300_y-055752_z002598_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-003300_y-055752_z002598_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f52f864a22e6780d90fd292d3d954977f65896fe --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003300_y-055752_z002598_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the gray metal air-conditioning unit beneath the three colored diamond graffiti.", + "Type": 0, + "Start_Pose": [ + -3299.709, + -55751.999, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3299.709, + -55751.999, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3235.869, + -55643.534, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3172.028, + -55535.068, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3108.188, + -55426.602, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3044.347, + -55318.136, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3044.347, + -55318.136, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3032.328, + -55192.852, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3032.328, + -55192.852, + 2598.15, + 0.0, + 84.52, + -0.0 + ] + ], + "Rationale": [ + "From the rooftop I can already see three colored diamonds sprayed on the gray brick wall ahead, with a boxy metal air-conditioning unit standing right below them. The unit is still far off across the open deck, so I will move forward to begin closing that gap.", + "The diamond graffiti and the vented gray unit under it have grown larger and are held slightly right of my center view, confirming my heading is good. The paved deck ahead is clear, so I will continue forward toward the unit.", + "The wall now fills much of my view and the target unit beneath the three diamonds sits clearly to my right of center, still several steps away. I will keep advancing to shorten the remaining distance before making any heading correction.", + "I am now close to the wall, with the diamonds overhead and the gray unit at the right edge of my view. One more forward step should bring me within reach of the unit's position before I turn to face it squarely.", + "The air-conditioning unit has drifted to the right edge of my view while my heading points along the wall, so it is no longer centered. I will turn right to bring the unit and the diamonds directly in front of me.", + "After the turn the gray metal unit is centered ahead with the three colored diamonds directly above it on the brick wall. A short forward step should place me right at the unit and complete the approach.", + "The gray metal air-conditioning unit fills my view directly beneath the three colored diamonds. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003300_y-055752_z002598_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x-003300_y-055752_z002598_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c844bf3752831baff11354036f2e309594edf34 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003300_y-055752_z002598_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the green bell pepper near the cardboard boxes next to the three-diamond graffiti.", + "Type": 5, + "Start_Pose": [ + -3299.709, + -55751.999, + 2598.15, + 0, + 59.52, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2931.849, + -55105.707, + 2553.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3299.709, + -55751.999, + 2598.15, + 0, + 59.52, + 0 + ], + [ + -3235.869, + -55643.534, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3172.028, + -55535.068, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3108.188, + -55426.602, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3044.347, + -55318.136, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2980.507, + -55209.67, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2980.507, + -55209.67, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2980.507, + -55209.67, + 2598.15, + 0.0, + 59.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2931.849, + -55105.707, + 2553.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2931.849, + -55105.707, + 2553.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2931.849, + -55105.707, + 2553.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2931.849, + -55105.707, + 2553.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2931.849, + -55105.707, + 2553.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2931.849, + -55105.707, + 2553.15, + 0.0, + 0.0, + 0.0 + ], + [ + -2999.219, + -55199.364, + 2568.257, + -28.202, + 109.665, + 1.862 + ], + [ + -2999.219, + -55199.364, + 2568.257, + -28.202, + 109.665, + 1.862 + ] + ], + "PD_Dist_2D": [ + 743.7, + 617.8, + 492.0, + 366.2, + 240.4, + 114.8, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the graffiti wall ahead with the three diamond shapes, and a small green object sits on the ground below them beside some sacks and boxes. That matches the green bell pepper I need, but it is still far across the open rooftop. I will walk forward along my current heading to close the distance.", + "The diamond graffiti and the green item beneath it are noticeably larger now, so my straight-line heading is carrying me toward the right spot. Nothing blocks the paving between me and that cluster of boxes and sacks. I will keep walking forward to shorten the gap.", + "The green produce item is now clearly resolved on the ground in front of the diamond graffiti, next to the blue sacks and the cardboard box. My heading is already lined up with it, so no turn is needed. I will continue walking forward to get within reach.", + "The green bell pepper stands out plainly beneath the painted diamonds, with the cardboard box just to its right and an air conditioning unit further right. I am closer but still several paces short of grasping range. I will step forward again to reduce that remaining distance.", + "The pepper now fills a large part of my lower view directly ahead, with the cardboard box and sacks right beside it against the diamond graffiti. I am nearly on top of it but likely still a step outside comfortable reach. I will take one more step forward so the pepper sits close in front of me.", + "The green bell pepper is right at my feet in the near foreground, with the cardboard box and blue sacks beside it under the three diamond graffiti, confirming this is the specified target. I am standing close enough that no further approach seems needed. I will attempt to pick it up now.", + "The green bell pepper is now held in my hand in front of me, off the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf47c9cf8577fd7dc8e607960b6d0b6bb1a687b --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Head toward the \"KING BRONX\" graffiti text, then move to the robot face graffiti.", + "Type": 3, + "Start_Pose": [ + -3335.507, + -55812.821, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3335.507, + -55812.821, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3271.667, + -55704.354, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3207.826, + -55595.888, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3207.826, + -55595.888, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3104.127, + -55524.565, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3000.429, + -55453.241, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2896.73, + -55381.918, + 2600.364, + 0.0, + 34.52, + -0.0 + ], + [ + -2793.031, + -55310.594, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2793.031, + -55310.594, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2729.191, + -55202.128, + 2606.034, + 0.0, + 59.52, + -0.0 + ], + [ + -2665.35, + -55093.662, + 2598.4, + 0.0, + 59.52, + -0.0 + ], + [ + -2665.35, + -55093.662, + 2598.4, + 0.0, + 84.52, + -0.0 + ], + [ + -2653.496, + -54982.755, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -2653.496, + -54982.755, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -2662.32, + -55074.732, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -2671.144, + -55166.71, + 2605.808, + 0.0, + 84.52, + -0.0 + ], + [ + -2679.968, + -55258.688, + 2605.808, + 0.0, + 84.52, + -0.0 + ], + [ + -2679.968, + -55258.688, + 2605.808, + 0.0, + 109.52, + -0.0 + ], + [ + -2679.968, + -55258.688, + 2605.808, + 0.0, + 134.52, + -0.0 + ], + [ + -2679.968, + -55258.688, + 2605.808, + 0.0, + 159.52, + -0.0 + ], + [ + -2797.872, + -55214.652, + 2598.15, + 0.0, + 159.52, + -0.0 + ], + [ + -2915.776, + -55170.616, + 2598.15, + 0.0, + 159.52, + -0.0 + ], + [ + -3033.583, + -55129.122, + 2598.15, + 0.0, + 159.52, + -0.0 + ], + [ + -3149.81, + -55119.322, + 2598.15, + 0.0, + 159.52, + -0.0 + ], + [ + -3149.81, + -55119.322, + 2598.15, + 0.0, + 134.52, + -0.0 + ], + [ + -3149.81, + -55119.322, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3191.864, + -55000.697, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3191.864, + -55000.697, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3191.864, + -55000.697, + 2598.15, + 0.0, + 109.52, + -0.0 + ] + ], + "Rationale": [ + "The grey wall across the rooftop carries the \"KING BRONX\" lettering, with the robot face painted further along the same wall to its right. Both destinations are far off and a brick corner crowds my left side, so I will walk forward into the open yard to close distance and clear that corner.", + "The brick corner has slid off to my left and the painted wall now spans the view, with the \"KING BRONX\" letters still small and distant. Nothing blocks the open rooftop between me and them, so I will keep walking forward to close on that lettering.", + "Holding this heading walks me straight into the wall face and the air conditioning units and rubbish bags piled at its base, well short of the lettering. Turning left should swing my heading onto the open paving that runs alongside the wall, giving me a clear lane toward the \"KING BRONX\" text.", + "From this heading the paving ahead is clear, with only loose debris and hose coils flat on the ground, and the \"KING BRONX\" letters sit off to my right along the wall. I will walk forward to run down this open lane and draw level with that lettering.", + "The lettering has grown noticeably larger and shifted further toward my right as I travel along the wall. The lane ahead is still unobstructed, so I will keep walking forward to shorten the remaining distance.", + "The tall \"KING BRONX\" letters now fill much of the wall on my right, so I am nearly abreast of them but not yet level. The paving in front stays clear of the coiled hose, so I will walk forward again.", + "The word \"BRONX\" is running off the right edge of my view, which means I am almost level with the painted text but still a short way from standing before it. The floor ahead remains open past the air conditioning unit, so I will step forward once more.", + "I am now standing level with the huge \"KING\" and \"BRON\" letters, but they are pushed to the right edge because my heading runs parallel to the wall. Turning right should bring the lettering squarely in front of me so I can walk straight at it.", + "The big spray painted letters reading KING BRONX now sit squarely ahead of me on the grey brick wall. Nothing blocks the open concrete between me and that stretch of wall, so I will walk straight in to close the gap.", + "The lettering has grown much larger and the brick texture is clearly resolved, so my last step brought me noticeably nearer. There is still open floor before the wall, so I will keep walking toward the painted words.", + "I am close enough that the wall runs steeply off to my right and the word is cut off at the frame edge, leaving my heading skewed along the bricks rather than into them. Turning right should square me onto the painted lettering before I step in further.", + "The turn worked, and the white letters of BRONX now fill my view straight ahead instead of sliding off to one side. A short walk forward should bring me right up against that painted section of wall.", + "I am so close to the sprayed KING BRONX letters that only their bare brick backing fills my view. I have reached that graffiti text, and I mark arriving at it before turning my attention along the wall to the robot face drawing.", + "Pressed this close, the brick fills everything and I cannot see any of the surrounding wall to pick out my next destination. Backing up should restore enough distance to see along the wall toward the robot face drawing.", + "Stepping back has already pulled the large BRONX letters into view again, but the wall still fills my whole field and the robot face is not yet visible. I will back up once more to widen what I can see.", + "The whole KING BRONX tag is visible now, with the edge of a blue diamond painting appearing at the upper right, so the drawings I want lie further along the wall in that direction. One more step back should give me the room to swing my heading that way.", + "Backing off has given me the whole spray painted lettering in one view, so I am done with this spot and need the cartoon robot head that is painted further along the same wall. The painted shapes continue off to my right, so I will turn right to swing my view that way.", + "The turn has brought the painted diamonds into the middle of my view, with the hatted figure and the small square robot head crowded at the right edge. I will turn right again so that robot head and the deck beside the wall come into the workable center of my view.", + "The robot head is now plainly on the brick ahead of me and the open rooftop with the fence opens to the right. Another right turn should point me down the length of the wall instead of straight into it, giving me a clear line to walk.", + "My heading now runs along the brick wall, with the robot head painted ahead on my left and unobstructed deck in front of me. I will walk forward to cut down the distance to that drawing.", + "The robot head has grown noticeably larger on the wall to my left and the boxy unit sits close beside it. The lane in front of me is still clear, so I step forward again to draw nearer to the drawing.", + "The painted robot head is now high on the brick just ahead to my left, but I am still short of standing under it. I will keep walking forward along the wall to close that last stretch.", + "The robot head is large on the brick immediately to my left, so I am nearly level with it, and the caged tank ahead still leaves room to walk. One more step forward should put me right at the painted face.", + "That last step carried me level with the painting and it has slipped out of my view behind my left shoulder, leaving only bare brick and the caged tank in front of me. I will turn left toward the wall so the robot face comes back into view.", + "The robot face painted on the brick sits well to my left and I am still angled along the wall rather than facing it. I will turn left again so the face moves toward the middle of my view and I can walk straight at it.", + "The robot face is now centered ahead of me on the brick wall with clear floor between us. I will step forward to close the remaining gap and stand right in front of it.", + "I am close enough that only the lower edge of the painted face and the bricks beneath it fill my view. Raising my gaze should bring the whole robot face back into the center of sight.", + "The robot face graffiti fills my view directly in front of me on the wall. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2612e28db3519ae52429d63d58cd9d44d46cb5d7 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the diamond graffiti symbol, then navigate to the caged white tank on the far right beside the wall.", + "Type": 3, + "Start_Pose": [ + -3335.507, + -55812.821, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3335.507, + -55812.821, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3271.667, + -55704.354, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3207.826, + -55595.888, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3143.986, + -55487.422, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3080.145, + -55378.956, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3016.305, + -55270.49, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2952.465, + -55162.024, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2952.465, + -55162.024, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -2940.445, + -55036.74, + 2622.106, + 0.0, + 84.52, + -0.0 + ], + [ + -2940.445, + -55036.74, + 2622.106, + 0.0, + 84.52, + -0.0 + ], + [ + -2949.269, + -55128.718, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -2958.093, + -55220.695, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -2958.093, + -55220.695, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -2958.093, + -55220.695, + 2598.15, + 0.0, + 134.52, + -0.0 + ], + [ + -2958.093, + -55220.695, + 2598.15, + 0.0, + 159.52, + -0.0 + ], + [ + -3075.997, + -55176.66, + 2598.15, + 0.0, + 159.52, + -0.0 + ], + [ + -3193.901, + -55132.624, + 2598.15, + 0.0, + 159.52, + -0.0 + ], + [ + -3311.805, + -55088.589, + 2598.15, + 0.0, + 159.52, + -0.0 + ], + [ + -3311.805, + -55088.589, + 2598.15, + 0.0, + 159.52, + -0.0 + ] + ], + "Rationale": [ + "The painted diamond symbols are visible on the grey brick wall ahead of me, well across the open concrete yard. Nothing blocks the straight line between me and that stretch of wall, so I will walk forward to begin closing the distance to the diamonds.", + "The diamond symbols on the wall have grown larger and the brick corner no longer crowds my view, confirming my heading is good. I will keep walking forward toward them since the yard ahead is still clear.", + "The blue, green and gold diamonds are clearly resolved on the wall slightly right of my heading, and I am still several paces short of them. The debris and hoses lie off to my left, away from my path, so I will continue walking forward.", + "The wall now fills most of my view and the diamonds sit at eye level ahead of me, but the gap is still too wide to count as arriving. I will advance again to bring myself nearer the painted symbols.", + "The diamonds are large in front of me now, with the blue bags and cardboard boxes gathered at the base of the wall below them. There is still walking room before that clutter, so I will step forward again toward the symbols.", + "The painted diamonds tower on the wall just ahead and my heading has drifted so that they sit toward the right of my view. I will take another step forward to get within close range of them before adjusting my facing.", + "I am nearly at the wall, but the diamonds sit off to my right while the KING BRONX lettering takes the center of my view. Turning right should swing my facing onto the diamond symbols so I can close on them squarely.", + "The three diamonds are now squarely in front of me and the turn has put my heading on them. The bags and boxes sit low and to my left, leaving a clear step, so I will walk forward to come right up to the diamond symbols.", + "The painted diamond fills my whole view, its facets and sparkle only an arm's length of brick away. I have arrived at the diamond graffiti symbol. I mark reaching it, then set off for the caged white tank standing against the wall on the far right.", + "I am so close to the painted wall that nothing but the diamond is visible, leaving me no sight line toward the caged tank on the far right. Stepping back should pull the wall away and reopen the yard to my view.", + "The wall has receded enough to show the bagged rubbish and the ribbed unit at the right edge, but I am still tight against the mural. Another step back should give me the clearance to swing toward the right-hand corner of the yard.", + "From this distance I can see the rubbish and the ribbed unit at the right, but the far right corner where the caged tank stands is still outside my view. Turning right should carry my heading along the wall toward that corner.", + "My view has swung to the robot face and the big ribbed unit against the brick, yet the wall still runs on past the right edge. I will turn right again to bring the far corner of the yard into sight.", + "The corner has opened up and I can now see the caged white tank sitting on its pallet by the fence, but it sits well to the right of my heading. One more turn right should place it in front of me for a straight walk.", + "The caged white tank now sits ahead of me on its pallet against the fence, with clear paving between us. I will walk forward to close that gap.", + "The caged tank has grown larger and stays directly in my path beside the brick wall and fencing. A few more paces are still needed, so I will keep walking straight at it.", + "The white tank in its metal cage now fills the middle of my view, standing on its pallet against the chain-link fence beside the wall. A short gap of open concrete still separates me from it, so I will step forward once more to close that last stretch and stand right at it.", + "The caged white tank fills my view at arm's length against the fence and wall. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_c/infos.json b/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..722f15792bb41c6e07ad848e1f7f17af369d6dec --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t3_c/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Proceed to the robot face graffiti, then reach the \"KING BRONX\" graffiti text.", + "Type": 3, + "Start_Pose": [ + -3335.507, + -55812.821, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3335.507, + -55812.821, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3271.667, + -55704.354, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3207.826, + -55595.888, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3207.826, + -55595.888, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3195.807, + -55470.604, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3183.788, + -55345.321, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3171.768, + -55220.037, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3159.749, + -55094.753, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3159.749, + -55094.753, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3201.225, + -54982.565, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3201.225, + -54982.565, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3170.351, + -55069.654, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3139.477, + -55156.743, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3108.603, + -55243.833, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + -3108.603, + -55243.833, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + -3108.603, + -55243.833, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3108.603, + -55243.833, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3004.904, + -55172.509, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2901.205, + -55101.186, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2817.52, + -55078.922, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2708.6, + -55024.986, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2708.6, + -55024.986, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2708.6, + -55024.986, + 2598.15, + 0.0, + 59.52, + -0.0 + ] + ], + "Rationale": [ + "Across the open rooftop I can already pick out the square robot face sprayed on the far grey wall, right of the coloured diamonds, with the \"KING BRONX\" lettering further left. The robot face is my first stop and it is still far off, so I will walk straight ahead to cut the distance.", + "The wall has grown noticeably and the robot face now reads clearly, but it is still well beyond arm's reach across the open deck. Nothing blocks the paving in front of me, so I keep walking straight toward it.", + "The robot face sits well off to the right of my heading, while the lettering and diamonds fill the centre of my view. Turning right should swing my facing onto the robot face so I can walk straight at it.", + "The robot face is now well inside my view, sitting right of the goggled hat figure, and my heading points into that stretch of wall. There is clear ground before the air conditioning unit and the stacked crates, so I advance toward it.", + "The brickwork detail is sharpening and the robot face keeps growing ahead and slightly right, so I am closing correctly. The AC unit sits to the left of my line, leaving room to continue, and I step forward again.", + "The wall now fills most of my view and the robot face is close, though still a couple of strides away on the right. The floor between me and the bricks is clear past the AC unit, so I keep advancing.", + "The robot face is large and near, but I am not yet standing right at that patch of brick. One more step forward should bring me close enough to be at it.", + "I am now right up against the brickwork, but the robot face has drifted to the right edge of my view while the heart and glasses fill the centre. Turning right should put the robot face squarely in front of me before I settle at it.", + "The sprayed robot face with its little antenna now fills most of my view, so only a short gap of open ground still separates me from that stretch of brick. I will step forward once more to stand right at it.", + "The brick is close enough that its rough courses blur across my whole view, right under the sprayed robot face I walked to. I have arrived at that robot face. I mark reaching it, and now I turn my attention to the white \"KING BRONX\" lettering further along this same wall.", + "Standing this tight against the brick, nothing but blurred masonry is in front of me, so I cannot pick out the white lettering painted further along the wall. I will back up to regain some viewing distance and room to swing my heading.", + "The robot face has resolved again, but it still spans much of my view, so I am too close to the wall to turn cleanly along it. Another step back should open up enough space to see where the painted letters lie.", + "Now the hat and glasses tag, the pavement and the tanks at the right edge are coming back into view, but the wall still crowds my field of vision. One more step back should give me a wide enough angle to spot the lettering off to my left.", + "From this distance I can take in the hat and glasses tag and a hint of coloured paint running off the left edge of my view, which is the direction the white lettering lies. I will turn left to bring that stretch of wall in front of me.", + "The painted diamonds have swung into the left half of my view, so the white block letters must sit just beyond them. I will keep turning left to bring that text into frame.", + "The white \"KING BRONX\" lettering is now visible at the far left of my view, past the diamonds and the bagged rubbish. I will turn left once more to face it squarely before walking down the wall toward it.", + "The white \"KING BRONX\" lettering now sits clearly ahead of me along the wall, with open pavement between me and it. I will walk forward down this stretch to close the remaining distance to that text.", + "The lettering has grown noticeably larger and the bagged rubbish along the wall base is passing on my right, so my line of travel is good. I will keep walking to bring the text within close reach.", + "The wall now fills much of my view and \"BRONX\" spreads wide across it, but I am still a few paces short of the paint itself. Another step forward should put me right beside the lettering.", + "The letters of \"BRONX\" are now oversized and skewed by the shallow angle, which tells me I am nearly against the wall. I will take one more step forward to finish closing on the painted text.", + "I am right up against the wall and the lettering runs off to my right, only partly inside my view. Turning right should square my gaze onto the \"BRONX\" text instead of the empty brick and rooftop beyond it.", + "The \"BRONX\" lettering fills my view at arm's length on the brick. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t5_a_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ee2029a97709fc3689b47435152253fc2fcfc224 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003336_y-055813_z002598_t5_a_pd/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Pick up the wicker basket beneath the \"KING BRONX\" graffiti, then set it down near the robot face graffiti.", + "Type": 5, + "Start_Pose": [ + -3335.507, + -55812.821, + 2598.15, + 0, + 59.52, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2611.561, + -55030.148, + 2545.08, + 90, + 79.519, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3335.507, + -55812.821, + 2598.15, + 0, + 59.52, + 0 + ], + [ + -3271.667, + -55704.354, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3207.826, + -55595.888, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -3207.826, + -55595.888, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3104.127, + -55524.565, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -3000.429, + -55453.241, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2896.73, + -55381.918, + 2600.364, + 0.0, + 34.52, + -0.0 + ], + [ + -2793.031, + -55310.594, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + -2793.031, + -55310.594, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + -2729.191, + -55202.128, + 2606.034, + 0.0, + 59.52, + -0.0 + ], + [ + -2729.191, + -55202.128, + 2606.034, + 0.0, + 59.521, + -0.0 + ], + [ + -2729.191, + -55202.128, + 2606.034, + 0.0, + 84.521, + -0.0 + ], + [ + -2729.191, + -55202.128, + 2606.034, + 0.0, + 109.521, + -0.0 + ], + [ + -2729.191, + -55202.128, + 2606.034, + 0.0, + 134.521, + -0.0 + ], + [ + -2729.191, + -55202.128, + 2606.034, + 0.0, + 159.521, + -0.0 + ], + [ + -2729.191, + -55202.128, + 2606.034, + 0.0, + -175.479, + 0.0 + ], + [ + -2854.658, + -55212.049, + 2598.15, + 0.0, + -175.479, + 0.0 + ], + [ + -2980.125, + -55221.97, + 2598.15, + 0.0, + -175.479, + 0.0 + ], + [ + -2980.125, + -55221.97, + 2598.15, + 0.0, + 159.521, + -0.0 + ], + [ + -3098.03, + -55177.937, + 2598.15, + 0.0, + 159.521, + -0.0 + ], + [ + -3098.03, + -55177.937, + 2598.15, + 0.0, + 134.521, + -0.0 + ], + [ + -3186.279, + -55088.201, + 2598.15, + 0.0, + 134.521, + -0.0 + ], + [ + -3186.279, + -55088.201, + 2598.15, + 0.0, + 109.521, + -0.0 + ], + [ + -3162.22, + -55156.062, + 2598.15, + 0.0, + 109.521, + -0.0 + ], + [ + -3162.22, + -55156.062, + 2598.15, + 0.0, + 109.521, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2611.561, + -55030.148, + 2545.08, + 90.0, + 79.519, + 0.0 + ], + [ + -2747.903, + -55191.823, + 2568.257, + -28.202, + 109.666, + 1.862 + ], + [ + -2751.46, + -55200.612, + 2568.529, + -28.189, + 134.678, + 1.872 + ], + [ + -2750.471, + -55209.51, + 2567.862, + -28.215, + 159.649, + 1.849 + ], + [ + -2751.949, + -55216.841, + 2575.808, + -14.092, + 176.865, + 6.87 + ], + [ + -2736.292, + -55222.39, + 2575.824, + -28.208, + -150.336, + 1.851 + ], + [ + -2726.892, + -55224.526, + 2576.492, + -28.198, + -125.333, + 1.867 + ], + [ + -2852.464, + -55233.299, + 2568.07, + -28.198, + -125.333, + 1.862 + ], + [ + -2978.134, + -55243.233, + 2567.683, + -28.202, + -125.337, + 1.86 + ], + [ + -2986.437, + -55241.192, + 2568.884, + -28.197, + -150.336, + 1.87 + ], + [ + -3104.634, + -55198.262, + 2568.748, + -28.211, + -150.341, + 1.853 + ], + [ + -3112.475, + -55192.655, + 2568.072, + -28.211, + -175.349, + 1.853 + ], + [ + -3200.944, + -55103.75, + 2568.503, + -28.192, + -175.323, + 1.866 + ], + [ + -3205.688, + -55095.37, + 2567.892, + -28.204, + 159.659, + 1.858 + ], + [ + -3185.611, + -55090.086, + 2563.15, + 90.0, + 109.521, + 0.0 + ], + [ + -3185.611, + -55090.086, + 2563.15, + 90.0, + 109.521, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1066.1, + 943.6, + 821.9, + 821.9, + 697.9, + 574.7, + 452.8, + 334.0, + 334.0, + 208.4, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 20.2, + 21.4, + 20.6, + 21.4, + 20.7, + 70.0, + 70.0 + ], + "Rationale": [ + "From this rooftop corner I can see the \"KING BRONX\" tag on the far grey wall, with a round wicker basket resting on the ground just below and slightly right of it. The brick corner on my left blocks part of the view, so I will walk forward to open up the space and close the large gap to that wall.", + "The rooftop has opened up and the graffiti wall with \"KING BRONX\" is clearly ahead, the wicker basket still small near the base of it. Nothing blocks the paved stretch in front of me, so I will keep walking to shorten the distance before I worry about fine alignment.", + "The \"KING BRONX\" lettering and the basket beneath it now sit well to the left side of my view, while my heading points more toward the diamond and robot tags further right. I will turn left to bring the basket and its section of wall back toward the center of my path.", + "With the turn done, the \"KING BRONX\" wall and the round wicker basket beside it now lie ahead of me rather than off to the side. The paved area between us is clear apart from coiled hose and scattered debris off to the left, so I will step forward along this heading.", + "The lettering has grown noticeably larger and the basket by the wall is easier to pick out, so this heading is taking me toward the target. The ground directly in front stays clear, so I will continue walking rather than adjust my facing yet.", + "I am now close enough that \"KING BRONX\" fills much of the wall ahead and the round wicker basket sits plainly at its base slightly right of me. There is still a stretch of open floor before the wall, so I will keep advancing to get within reach of the basket.", + "The wall is close now and the wicker basket beneath the tag is large in view, but it is still a few paces off and to my right. I will walk forward again to pull alongside it before turning to face it squarely.", + "I am nearly level with the wall, and the wicker basket now sits low and to my right rather than in front of me, with my heading running along the wall instead of toward it. I will turn right to face the basket directly so the next step can bring me within grabbing range.", + "The round wicker basket is propped against the base of the wall directly under the large KING BRONX lettering, slightly left of my heading and still a couple of paces off. I will step forward to close that last gap so the basket sits within arm's reach for a grasp. The floor between me and the wall is clear apart from a few small cans, so this step should bring me into pickup range.", + "The basket now fills the lower center of my view, close enough that its woven rim is right at my feet under the KING BRONX tag. This is the object the task names, and I am standing directly over it with nothing between us. I will attempt the pick now, which should place the basket in my hands for carrying.", + "The pick worked, since the basket is now held low in front of me and my downward view is filled by its woven surface instead of the bare floor. With the wall immediately ahead, I need to reorient toward the stretch of graffiti further right where the robot face is painted. I will turn right to begin swinging my heading along the wall.", + "Lifting my gaze from the carried basket, I see the KING BRONX lettering and the blue diamond tag filling my view, so I am still aimed at the section of wall where I picked up. The robot face I need to reach is further along to the right, past the diamonds. I will keep turning right to bring that part of the wall into view.", + "The diamond tags and the hat-and-glasses figure are now centered, with the edge of the smiling robot face just appearing at the right margin of my view. The blue trash bags and crates piled at the wall base sit right in front of me, so I cannot simply push straight along the wall here. I will continue turning right to bring the robot face section and the open rooftop beside it into my heading.", + "The robot face graffiti is now clearly in view, but a large air conditioning unit stands directly beneath it and the clutter of bags fills the strip along the wall. Approaching straight from here would run me into that equipment, so I need a heading onto the open paved area to my right. I will turn right again to line up with that clear rooftop space.", + "The robot face has slid to the left side of my view and the bulky air conditioner still blocks the ground immediately below it. Ahead and to my right the rooftop opens up toward the fence with plenty of walking room. I will turn right once more to face that open ground so I can carry the basket clear of the equipment.", + "I am now facing the open paved rooftop with the wall and the robot face behind my left shoulder and the air conditioner beside me. Stepping forward here should carry the basket past that equipment and give me room to swing back toward the robot face from a clear angle. I will walk forward across the empty paving.", + "The wicker basket is still secured in my hands, and the graffiti wall now runs along my left with only open rooftop deck ahead of me. I step forward again to carry the basket clear of the equipment and blue barrels along that wall before I swing in toward the robot face marking. This should leave me enough open floor to turn back in cleanly.", + "Walking forward has brought me past the equipment, and the painted wall segment with the robot face has slid behind my left shoulder while only the fence and the far building fill my view. I turn left so that wall face, and the robot graffiti drawn on it, comes back in front of me. That heading should let me approach the drop area directly.", + "The turn has brought the robot face graffiti back into view on the wall to my left, with the metal tote sitting in the corner ahead. Still carrying the basket, I walk forward to close the gap toward that corner section of the wall. Getting nearer should let me judge where to set the basket down beneath the marking.", + "From here the robot face graffiti sits far to the left edge of my view while the tote and fence dominate the front. I turn left to swing that marking toward the center of my heading. A squarer approach should put me directly in front of the wall for the drop.", + "The robot face graffiti is now clearly on the wall to my forward left, and the floor between me and that wall is open. I walk forward with the basket to close the remaining distance to the base of the wall. Standing close should place the basket within the intended area when I release it.", + "I am close against the brick wall now, but the robot face has slipped to the far left edge as the blank wall fills most of my view. I turn left to bring the robot marking squarely in front of me before releasing the basket. Facing it directly should make the placement clearly near that graffiti.", + "The robot face graffiti is centered directly ahead of me at arm's length from the brick wall, which is exactly the area named for the placement. I am still holding the wicker basket, so I release it here. Setting it down at this spot should satisfy the requirement to leave it near the robot face.", + "The wicker basket now sits on the ground directly below the robot face graffiti. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003349_y-055106_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-003349_y-055106_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb04d9179d103407b617958ecb6feac85afe353 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003349_y-055106_z002598_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search for a ladder mounted on a red brick wall; once you locate it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + 39.52, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + 39.52, + -0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + 64.52, + -0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + 89.52, + -0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + 114.52, + -0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + 139.52, + -0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + 164.52, + -0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + -170.48, + 0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + -145.48, + 0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + -120.48, + 0.0 + ], + [ + -3349.228, + -55105.766, + 2598.15, + 0.0, + -95.48, + 0.0 + ], + [ + -3361.247, + -55231.049, + 2598.15, + 0.0, + -95.48, + 0.0 + ], + [ + -3344.296, + -55320.722, + 2598.15, + 0.0, + -95.48, + 0.0 + ], + [ + -3329.441, + -55430.221, + 2602.472, + 0.0, + -95.48, + 0.0 + ], + [ + -3341.46, + -55555.505, + 2598.15, + 0.0, + -95.48, + 0.0 + ], + [ + -3341.46, + -55555.505, + 2598.15, + 0.0, + -70.48, + 0.0 + ], + [ + -3299.406, + -55674.13, + 2598.15, + 0.0, + -70.48, + 0.0 + ], + [ + -3299.406, + -55674.13, + 2598.15, + 0.0, + -45.48, + 0.0 + ], + [ + -3231.58, + -55751.809, + 2598.15, + 0.0, + -45.48, + 0.0 + ], + [ + -3231.58, + -55751.809, + 2598.15, + 0.0, + -45.48, + 0.0 + ] + ], + "Rationale": [ + "I am standing on a rooftop facing a painted grey brick wall with graffiti, and I see no ladder or red brick surface anywhere in front of me. I will turn right to begin a steady scan of the surroundings for a red brick wall carrying a mounted ladder.", + "The view is still dominated by the same grey painted brickwork and the rooftop unit at its base, with no red brick or ladder in sight. I will keep turning right in the same direction so the scan stays consistent and reveals the parts of the roof still hidden behind me.", + "Now I can see the edge of the grey wall and a metal rooftop structure entering from the right, which suggests more open roof beyond it. I will continue turning right to swing past this obstruction and check whether a red brick wall with a ladder stands on that side.", + "The bulky rooftop unit and railing block much of my view, though a chain link fence and a distant tan building are opening up beyond it. I will turn right again to clear this near obstruction and keep sweeping for a red brick wall with a ladder.", + "I am looking mostly at the near metal housing and the fenced rooftop edge, with only far-off apartment facades behind the mesh. Nothing here matches a red brick wall with a mounted ladder, so I will keep rotating right in the same direction.", + "Beyond the fence I only see distant apartment blocks with fire escapes, which are far off the roof and not reachable targets. I will continue the rightward sweep to bring the unexplored part of this rooftop into view.", + "The fence line and open sky still dominate, and the right side is just starting to show more of the rooftop deck and a covered object. I will turn right once more to open up that near ground area where a wall with a ladder could be standing.", + "The rooftop deck is now clearly visible with a tarp covered object, stacked pallets, and a wall marked STREET further along, and I can glimpse warmer brick at the far right edge. I will turn right again to bring that brickwork fully into view and check it for a mounted ladder.", + "From this rooftop I can see a chain-link fence, a covered bulk object and a tan wall with green lettering, but no ladder fixed to any red brick surface yet. There is more masonry continuing off to my right that I have not inspected, so I will keep the scan turning in the same rightward direction. This should bring that unchecked brick section into view without breaking my consistent sweep.", + "The rotation has revealed a reddish brick wall on my right side carrying graffiti, and along its face I can make out slim vertical hardware that resembles rungs. An open, unobstructed rooftop lane runs straight ahead beside that wall, so I will walk forward instead of turning further. Advancing should shorten the distance and let me confirm whether that hardware is the wall-mounted ladder.", + "The brick wall on my right is now closer and I can see a line of pale vertical rails with horizontal rungs mounted on it, which matches the ladder I am looking for. The lane ahead is still clear apart from bottles off to the left of my path. I will keep walking forward to close the remaining gap along the wall.", + "The mounted ladder on the red brick wall to my right is clearly resolved now, with evenly spaced rungs running up the face. I am still some way short of it and the corridor between the fence and the wall stays open. Continuing straight ahead should bring me alongside the ladder.", + "The ladder is fixed to the brick wall just off my right shoulder, but its base is still ahead of my current position along the wall. The floor ahead is flat and free of clutter on my chosen line. I will step forward again to draw level with the ladder before turning toward it.", + "I am now nearly level with the wall-mounted ladder, which sits on the red brick surface to my right and is partly cut off at the edge of my view. Walking straight on would carry me past it along the wall. Turning right should swing the ladder toward the centre of my view and point me at it.", + "The ladder is now well inside my view, mounted on the red brick wall ahead and to my right, with its rails and rungs clearly visible. There is still open floor between me and the wall. I will walk forward to close that remaining distance.", + "The ladder now fills the right portion of my view and I am close to the brick wall, but my heading still runs along the wall rather than into it. A further right turn should square me up with the rungs directly in front of me. That alignment should let a final short step bring me right up to the ladder.", + "The metal rungs bolted to the red brick wall now fill the right half of my view, so the ladder is confirmed and directly ahead of my heading. I am still a couple of paces short of standing at its base, so I will step forward along the wall to close that last bit of distance.", + "The wall-mounted ladder's rungs are right in front of me at arm's length on the red brick face. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x-003366_y-055516_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x-003366_y-055516_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb4e93be15a56779599c3de971dddb28061203fe --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x-003366_y-055516_z002598_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Discover the wall graffiti depicting three diamonds in blue, green, and yellow; once found, approach it.", + "Type": 1, + "Start_Pose": [ + -3366.325, + -55515.55, + 2598.15, + 0.0, + -60.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3366.325, + -55515.55, + 2598.15, + 0.0, + -60.48, + 0.0 + ], + [ + -3366.325, + -55515.551, + 2598.15, + 0.0, + -35.48, + 0.0 + ], + [ + -3366.325, + -55515.551, + 2598.15, + 0.0, + -10.48, + 0.0 + ], + [ + -3366.325, + -55515.551, + 2598.15, + 0.0, + 14.52, + -0.0 + ], + [ + -3366.325, + -55515.551, + 2598.15, + 0.0, + 39.52, + -0.0 + ], + [ + -3269.237, + -55435.461, + 2598.15, + 0.0, + 39.52, + -0.0 + ], + [ + -3172.149, + -55355.371, + 2598.15, + 0.0, + 39.52, + -0.0 + ], + [ + -3075.061, + -55275.281, + 2598.15, + 0.0, + 39.52, + -0.0 + ], + [ + -2977.973, + -55195.191, + 2598.15, + 0.0, + 39.52, + -0.0 + ], + [ + -2977.973, + -55195.191, + 2598.15, + 0.0, + 64.52, + -0.0 + ], + [ + -2977.973, + -55195.191, + 2598.15, + 0.0, + 89.52, + -0.0 + ], + [ + -2961.391, + -55082.511, + 2598.15, + 0.0, + 89.52, + -0.0 + ], + [ + -2961.391, + -55082.511, + 2598.15, + 0.0, + 89.52, + -0.0 + ] + ], + "Rationale": [ + "From here I face a brick corner with an alien figure painted on it, and no diamond graffiti is in sight. The open ground continues around to my right, so I will turn that way to begin a steady scan of the surrounding walls.", + "The building corner now sits on my left and a wide rooftop area with distant buildings is opening up ahead, but the painted diamonds are still not visible. I will keep rotating in the same direction to bring more of the far walls into view.", + "A broad open yard is now in front of me with a grey wall and structures appearing at the right edge, which is unexplored surface that could carry more graffiti. I will continue the same rightward scan to expose that wall fully.", + "On the grey wall to my right I can now make out coloured diamond shapes beside the KING BRONX lettering, which matches the target. I will turn a little further right to place that painted section squarely ahead before moving toward it.", + "The grey wall with the blue, green, and yellow diamonds is now centred ahead of me, so the search is over and I can commit to it. I will walk forward across the open paving to close the distance.", + "The diamonds have grown larger and more distinct, confirming I am heading straight at the right mural. The path stays clear apart from the air unit and bags near the wall base, so I will keep walking forward.", + "The mural now dominates the right portion of my view and the wall is noticeably closer, but I am still several steps away from it. I will advance again to keep shrinking that gap.", + "The blue diamond is now large and close on the right, showing I am nearly alongside the painted section. I will step forward once more to finish closing on the wall before adjusting my heading.", + "The blue diamond of the mural is now cut off at the right edge of my view because I am walking nearly parallel to this grey brick wall. I will turn right to swing my heading toward the painted panel so the whole diamond group comes into the center of my view.", + "All three diamonds, blue, green, and yellow, are now visible on the wall, but they sit in the right half of my view while the KING BRONX lettering takes the left. I will turn right once more to square up on the diamond cluster before closing the remaining distance.", + "The blue, green, and yellow diamonds are now directly ahead of me and fill the upper part of my view, so the target graffiti is confirmed. I will step forward toward the wall, keeping clear of the air unit on the right, to bring myself close to the mural.", + "The blue, green, and yellow diamond graffiti fills my view at arm's length on the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000020_y-056055_z002598_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x000020_y-056055_z002598_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db972386a96cfe3bdf4e7902a48af530905e937d --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000020_y-056055_z002598_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the \"KING\" graffiti on the gray brick wall.", + "Type": 0, + "Start_Pose": [ + 19.636, + -56054.566, + 2598.15, + 0.0, + -49.92, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 19.636, + -56054.566, + 2598.15, + 0.0, + -49.92, + 0.0 + ], + [ + 19.636, + -56054.566, + 2598.15, + 0.0, + -74.92, + 0.0 + ], + [ + 52.38, + -56176.091, + 2600.543, + 0.0, + -74.92, + 0.0 + ], + [ + 85.484, + -56296.362, + 2628.992, + 0.0, + -74.92, + 0.0 + ], + [ + 118.228, + -56417.887, + 2598.15, + 0.0, + -74.92, + 0.0 + ], + [ + 150.973, + -56539.412, + 2598.15, + 0.0, + -74.92, + 0.0 + ], + [ + 150.973, + -56539.412, + 2598.15, + 0.0, + -99.92, + 0.0 + ], + [ + 129.29, + -56663.389, + 2598.15, + 0.0, + -99.92, + 0.0 + ], + [ + 107.608, + -56787.366, + 2598.15, + 0.0, + -99.92, + 0.0 + ], + [ + 86.224, + -56887.247, + 2598.15, + 0.0, + -99.92, + 0.0 + ], + [ + 86.224, + -56887.247, + 2598.15, + 0.0, + -99.92, + 0.0 + ] + ], + "Rationale": [ + "I can already see the red \"KING\" tag with the robot-face stencil on the gray brick wall, but it sits well to the left of my heading while most of my view is filled with the open rooftop and the tan building ahead. I will turn left so that gray wall and its graffiti move toward the center of my view before I start closing distance.", + "The gray brick wall with the \"KING\" tag now sits near the middle of my view, so my heading is usable for a straight approach. I will step forward to begin closing the fairly large gap across the open rooftop surface.", + "The lettering has grown noticeably and the pallets and boxes along the wall base are now closer on my left, which confirms I am gaining ground on the target. The path directly ahead is still clear paving, so I will keep advancing.", + "The gray wall now occupies the left half of my view and the tag is clearly legible, but I am still several paces short of standing right in front of it. I will continue forward to keep shrinking that distance.", + "The brickwork and the \"KING\" letters are considerably larger now, though the wall face is drifting toward my left and I still have open paving in front of me. Another forward step should bring me close enough that only a small heading correction remains.", + "I am now close to the wall, but the \"KING\" tag has slid into the left portion of my view while the right side shows the neighboring tan building and the fire escape. I will turn left to square up on the graffiti so my remaining steps carry me straight into it.", + "The turn has put the red lettering and the stencil face near the center of my view with the gray brick filling almost everything ahead. I will step forward to close the last short gap to the wall.", + "The letters are now large enough to read individual brick courses behind them, and the boxes and cans at the wall base sit just below me on the left. One more short step should place me directly in front of the tag, close enough to count as reaching it.", + "The red \"KING\" letters now fill most of my view on the gray brick wall, so I am nearly at the target but still a step short of standing right at it. I will take one more short step forward to close that remaining gap and finish the approach.", + "The red spray paint and gray brick texture fill my view at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000020_y-056055_z002598_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x000020_y-056055_z002598_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1e1e19f5111eda3dea0de5c176d068a41eff47 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000020_y-056055_z002598_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the metal staircase leading to the neighboring building.", + "Type": 0, + "Start_Pose": [ + 19.636, + -56054.566, + 2598.15, + 0.0, + -49.92, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 19.636, + -56054.566, + 2598.15, + 0.0, + -49.92, + 0.0 + ], + [ + 100.671, + -56150.867, + 2600.555, + 0.0, + -49.92, + 0.0 + ], + [ + 100.671, + -56150.867, + 2600.555, + 0.0, + -24.92, + 0.0 + ], + [ + 214.812, + -56203.898, + 2600.555, + 0.0, + -24.92, + 0.0 + ], + [ + 328.953, + -56256.929, + 2605.232, + 0.0, + -24.92, + 0.0 + ], + [ + 443.095, + -56309.96, + 2605.232, + 0.0, + -24.92, + 0.0 + ], + [ + 557.236, + -56362.991, + 2605.232, + 0.0, + -24.92, + 0.0 + ], + [ + 671.377, + -56416.022, + 2598.15, + 0.0, + -24.92, + 0.0 + ], + [ + 785.518, + -56469.053, + 2598.15, + 0.0, + -24.92, + 0.0 + ], + [ + 899.659, + -56522.084, + 2598.15, + 0.0, + -24.92, + 0.0 + ], + [ + 1006.959, + -56569.264, + 2598.15, + 0.0, + -24.92, + 0.0 + ], + [ + 1006.959, + -56569.264, + 2598.15, + 0.0, + -24.92, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop I can see the metal staircase with pale handrails to the right of the tall brick wall, rising toward the neighboring building. The open concrete deck between me and it is clear apart from a coiled hose off to the right, so I will step forward to begin closing that distance.", + "After advancing, the metal staircase now sits well off to the right of my heading while the brick wall fills the center of my view. I will turn right so the stairs come toward the middle of my view and my path leads straight to them.", + "The metal staircase and its landing are now roughly centered ahead of me with the brick building on my left. The deck between us is open except for loose hose lying flat, so I will walk forward along this heading.", + "The staircase is growing larger ahead and its steps and handrails are clearly aligned with my heading. No further turning seems needed, so I will keep stepping forward to close the remaining gap.", + "I can now make out the individual treads of the metal stairs and the short vent pipe standing to their left on the deck. The route stays clear, so I will continue forward toward the base of the staircase.", + "The staircase and its upper walkway toward the neighboring building are directly ahead and noticeably nearer. I will take another step forward to keep reducing the distance to the stairs.", + "The lower steps and the near handrail now occupy much of the center of my view, so I am getting close to the foot of the staircase. I will advance again to bring myself right up to it.", + "The bottom step of the metal staircase is just a short distance in front of me, with its railings rising on both sides. I will step forward once more to stand at the base of the stairs.", + "The metal staircase with its handrails and landing that crosses toward the neighboring building now stands close ahead, slightly right of center in my view. Its lowest steps are still a few paces off across the open concrete, so I will step forward again to keep closing that gap.", + "The staircase now dominates my view, with the near handrail rising just ahead and the bottom tread almost within reach. One more short advance should bring me right to the foot of the stairs, where I can stop.", + "I stand at the foot of the metal staircase, its treads and handrail directly within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t2_a/infos.json b/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b9d91112a9d915e0cb1ece0679c76ae1ec76bf4 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the leftmost rooftop AC unit on the ground.", + "Type": 2, + "Start_Pose": [ + 81.412, + -56172.514, + 2600.539, + 0.0, + 164.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 81.412, + -56172.514, + 2600.539, + 0.0, + 164.16, + -0.0 + ], + [ + -39.668, + -56138.162, + 2607.936, + 0.0, + 164.16, + -0.0 + ], + [ + -160.748, + -56103.809, + 2598.15, + 0.0, + 164.16, + -0.0 + ], + [ + -281.828, + -56069.455, + 2598.15, + 0.0, + 164.16, + -0.0 + ], + [ + -402.907, + -56035.102, + 2598.15, + 0.0, + 164.16, + -0.0 + ], + [ + -402.907, + -56035.102, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -498.125, + -55952.796, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -593.342, + -55870.491, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -688.559, + -55788.186, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -688.559, + -55788.186, + 2598.15, + 0.0, + 139.16, + -0.0 + ] + ], + "Rationale": [ + "Scanning the rooftop, three boxy AC cabinets sit spread across the far side, and the leftmost of them is the ribbed unit standing beside the chain-link fence corner under the wall with the green circular emblem. That fence and emblem give me a fixed anchor to follow. I will walk forward to begin closing the distance.", + "The fence-side AC cabinet has grown noticeably and still sits left of my heading, so my line of travel is good. The deck between us is flat and clear. I will keep walking forward.", + "The AC unit by the chain-link fence keeps expanding in view and its ribbed housing is now clearly resolved. There is still open deck separating me from it. Another step forward should continue shrinking that gap.", + "My unit beside the fence is now the nearest large object and sits well to the left of my heading. I am still several strides short of it. I will advance again before correcting my facing.", + "Walking straight has pushed the fence-side AC cabinet far toward the left edge of my view, so continuing on this heading would carry me past it. Turning left should swing my facing back onto the unit and place it near the center of my path.", + "The turn worked: the ribbed AC cabinet now stands squarely ahead of me with the emblem wall and fence behind it. Nothing blocks the paving between us. I will step forward to close in.", + "The cabinet ahead has grown to fill much of the middle of my view and stays centered on my heading. I am close but not yet within arm's reach of it. Another forward step should bring me right up to it.", + "The ribbed cabinet now dominates the lower half of my view, its concrete base and side panels clearly visible just ahead. One more step should place me directly beside it.", + "The ribbed AC cabinet by the fence and emblem wall fills my view directly ahead, close enough to touch. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t2_b/infos.json b/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b8e872c223f8686fa0aea03d89fd220a9d42bd4 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Navigate to the rightmost rooftop AC unit on the ground.", + "Type": 2, + "Start_Pose": [ + 81.412, + -56172.514, + 2600.539, + 0.0, + 164.16, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 81.412, + -56172.514, + 2600.539, + 0.0, + 164.16, + -0.0 + ], + [ + -39.668, + -56138.162, + 2607.936, + 0.0, + 164.16, + -0.0 + ], + [ + -39.668, + -56138.162, + 2607.936, + 0.0, + -170.84, + 0.0 + ], + [ + -163.922, + -56158.198, + 2598.121, + 0.0, + -170.84, + 0.0 + ], + [ + -288.176, + -56178.234, + 2598.121, + 0.0, + -170.84, + 0.0 + ], + [ + -412.43, + -56198.269, + 2598.121, + 0.0, + -170.84, + 0.0 + ], + [ + -536.684, + -56218.305, + 2598.121, + 0.0, + -170.84, + 0.0 + ], + [ + -536.684, + -56218.305, + 2598.121, + 0.0, + -145.84, + 0.0 + ], + [ + -640.829, + -56288.976, + 2598.121, + 0.0, + -145.84, + 0.0 + ], + [ + -744.974, + -56359.646, + 2598.121, + 0.0, + -145.84, + 0.0 + ], + [ + -849.119, + -56430.317, + 2598.121, + 0.0, + -145.84, + 0.0 + ], + [ + -849.119, + -56430.317, + 2598.121, + 0.0, + -170.84, + 0.0 + ], + [ + -973.373, + -56450.353, + 2598.121, + 0.0, + -170.84, + 0.0 + ], + [ + -973.373, + -56450.353, + 2598.121, + 0.0, + -170.84, + 0.0 + ] + ], + "Rationale": [ + "From here I can count three boxy AC units spread across the roof, and the rightmost one is the squat unit tucked against the graffiti-covered wall on the right edge. They look much alike, so I fix on that wall-side position as my target. I will walk forward to cross the open deck before angling toward it.", + "My heading points across the middle of the roof, while the unit standing against the graffiti wall sits off to my right. Turning right should swing that wall and its unit toward the center of my view so I can walk straight at it.", + "The mural wall with the big red heart now fills the right side of my view, and the AC unit I want sits at its base ahead of me. A long stretch of bare roof still separates us, so I will step forward to close it.", + "The unit beside the mural wall has grown noticeably larger and stays just right of my heading, which tells me my line is good. Nothing blocks the deck between us, so I keep walking forward.", + "I am still several paces short of the cylindrical unit standing at the foot of the mural wall. The coiled hoses lie off to my left and leave my path open, so I advance again.", + "The unit by the mural wall now stands tall in my view with its ducting visible, but there is still open deck before it. I will move forward once more to close that remaining gap.", + "The other rooftop units have fallen away behind and to my left, and the one I am going to is the boxy unit at the foot of the heart mural. It sits a little right of my heading, so I turn right to line myself up with it before closing the last distance.", + "The unit at the base of the mural wall is now large and just left of my heading, with its cabinet and cable clearly visible. A short stretch of paving remains, so I step forward to draw up beside it.", + "The louvered cabinet sits close on my left with its cable running out across the paving, and a couple of paces of clear deck still lie between us. I keep walking forward to pull level with it.", + "The unit now fills the lower left of my view, its grille and the spray can at its base plainly visible, so I am nearly beside it. One more step forward should bring me right up to its face.", + "My last step carried me alongside the unit, and it has slid to the far left edge where only part of its grille remains in view. Turning left should swing it back to the center of my heading so I can settle squarely in front of it.", + "The unit stands centered ahead of me now, its ribbed panel and the round housing behind it both clear, with only a short bit of deck between us. I step forward to close that last gap and stand directly at it.", + "The wall-side unit's panel now fills my view at arm's length, its seam and latch clear. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..86959ef69503f92dcb679e5d2402b28f5a9fbdca --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the plate beside the leftmost rooftop AC unit.", + "Type": 5, + "Start_Pose": [ + 81.412, + -56172.514, + 2600.539, + 0, + 164.16, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -637.67, + -55592.746, + 2548.15, + 90, + -20, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 81.412, + -56172.514, + 2600.539, + 0, + 164.16, + 0 + ], + [ + -39.668, + -56138.162, + 2607.936, + 0.0, + 164.16, + -0.0 + ], + [ + -39.668, + -56138.162, + 2607.936, + 0.0, + 139.16, + -0.0 + ], + [ + -134.885, + -56055.857, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -230.102, + -55973.551, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -325.319, + -55891.246, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -420.537, + -55808.941, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -515.754, + -55726.635, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -515.754, + -55726.635, + 2598.15, + 0.0, + 139.16, + -0.0 + ], + [ + -515.754, + -55726.635, + 2598.15, + 0.0, + 139.16, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -637.67, + -55592.746, + 2548.15, + 90.0, + -20.0, + 0.0 + ], + [ + -637.67, + -55592.746, + 2548.15, + 90.0, + -20.0, + 0.0 + ], + [ + -637.67, + -55592.746, + 2548.15, + 90.0, + -20.0, + 0.0 + ], + [ + -637.67, + -55592.746, + 2548.15, + 90.0, + -20.0, + 0.0 + ], + [ + -637.67, + -55592.746, + 2548.15, + 90.0, + -20.0, + 0.0 + ], + [ + -637.67, + -55592.746, + 2548.15, + 90.0, + -20.0, + 0.0 + ], + [ + -637.67, + -55592.746, + 2548.15, + 90.0, + -20.0, + 0.0 + ], + [ + -637.67, + -55592.746, + 2548.15, + 90.0, + -20.0, + 0.0 + ], + [ + -529.257, + -55743.19, + 2568.257, + -28.202, + -170.695, + 1.862 + ], + [ + -529.257, + -55743.19, + 2568.257, + -28.202, + -170.695, + 1.862 + ] + ], + "PD_Dist_2D": [ + 923.7, + 809.4, + 809.4, + 683.6, + 557.8, + 432.0, + 306.4, + 181.1, + 21.4, + 21.4 + ], + "Rationale": [ + "From this end of the rooftop I can see a row of boxy AC units along the far parapet, with a pale round object resting on the deck beside the leftmost one. That cluster is still far across the open concrete, so I will walk straight ahead to close the gap before judging the exact target. The deck ahead is flat and clear, so a forward step should be safe.", + "The AC unit with the round white object beside it sits left of my current heading, while my view is centered on the empty middle of the roof. I will turn left to bring that unit and the plate closer to the center of my path. A modest heading change should let me walk straight at the target instead of drifting past it.", + "After the turn the AC unit and the white disc beside it now sit near the middle of my view, so my heading points at the target. The distance is still large, with a broad stretch of clear deck between me and them. I will walk forward along this line to keep closing in.", + "The boxy AC unit and the round white plate ahead have grown noticeably larger, confirming I am tracking the correct pair. Nothing blocks the concrete between us, and my heading still lines up with them. I will keep stepping forward to shorten the remaining distance.", + "The plate is now clearly readable as a white dish standing on the deck just left of the AC unit's base. It is still several paces away, too far to reach from here. I will advance again to bring it within arm's range.", + "The AC unit now fills a good part of the right side of my view and the plate sits just left of it, slightly left of my center line. The gap is closing but the dish is still beyond reach. Another forward step should put me almost on top of it.", + "The plate is close now, low in my view beside the ribbed AC housing, but it still sits a short step in front of my feet. Reaching from this spot would be a stretch, so a final forward step is the safer setup for grasping. I will move up so the dish falls directly beneath me.", + "The white plate is now right at my feet, filling the lower portion of my view beside the leftmost AC unit, and no obstacle sits between my hands and it. This is the plate the task names, and I am within easy reach of it. I will reach down and attempt to pick it up.", + "The white plate is now in my hands, held right in front of me. The pickup task is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t5_b_p/infos.json b/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb0dd107e0e30d037adfae77d6673044204f7b88 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000081_y-056173_z002601_t5_b_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Lift the trash bag at the base of the rightmost rooftop AC unit.", + "Type": 5, + "Start_Pose": [ + 81.412, + -56172.514, + 2600.539, + 0, + 164.16, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -929.718, + -56424.367, + 2518.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 81.412, + -56172.514, + 2600.539, + 0, + 164.16, + 0 + ], + [ + 81.412, + -56172.516, + 2600.539, + 0.0, + -170.84, + 0.0 + ], + [ + -42.842, + -56192.551, + 2598.15, + 0.0, + -170.84, + 0.0 + ], + [ + -167.096, + -56212.587, + 2598.15, + 0.0, + -170.84, + 0.0 + ], + [ + -291.35, + -56232.623, + 2598.15, + 0.0, + -170.84, + 0.0 + ], + [ + -415.604, + -56252.659, + 2598.15, + 0.0, + -170.84, + 0.0 + ], + [ + -539.858, + -56272.694, + 2598.15, + 0.0, + -170.84, + 0.0 + ], + [ + -664.112, + -56292.73, + 2598.15, + 0.0, + -170.84, + 0.0 + ], + [ + -664.112, + -56292.73, + 2598.15, + 0.0, + -145.84, + 0.0 + ], + [ + -768.257, + -56363.401, + 2598.15, + 0.0, + -145.84, + 0.0 + ], + [ + -768.257, + -56363.401, + 2598.15, + 0.0, + -145.841, + 0.0 + ], + [ + -768.257, + -56363.401, + 2598.15, + 0.0, + -145.841, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -929.718, + -56424.367, + 2518.15, + 0.0, + 0.0, + 0.0 + ], + [ + -755.762, + -56380.728, + 2568.257, + -28.202, + -95.696, + 1.862 + ], + [ + -755.762, + -56380.728, + 2568.257, + -28.202, + -95.696, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1042.0, + 1042.0, + 916.7, + 791.5, + 666.5, + 542.0, + 418.3, + 296.4, + 296.4, + 172.6, + 21.4, + 21.4 + ], + "Rationale": [ + "From here the rooftop spreads out ahead, and the units along the right side of the deck, near the graffiti wall, are the ones I need to inspect for the rightmost AC unit. The relevant part of the roof sits off to my right rather than straight ahead, so a right turn should put that stretch of wall and its units in front of me. I will turn right to open a clear forward path toward them.", + "The turn has lined me up with the open deck running alongside the graffiti wall on my right, and the AC housings sit far down that stretch. Nothing blocks the ground between me and them, so walking straight ahead is the efficient way to close the gap. I will step forward along this lane.", + "The wall with the large graffiti heart is noticeably larger now, confirming my heading is carrying me toward the right side of the roof. A dark rounded shape is starting to stand out beside one of the units ahead, which fits a bagged object at its base. I will keep walking forward to bring it into clearer view.", + "The cylindrical unit ahead and the dark sack leaning against it are becoming distinct, so this looks like the target pairing described in the task. The deck between us is flat and clear of hoses and debris on this line. I will continue forward to shorten the distance.", + "The trash bag beside the tall cylindrical AC unit is now clearly visible slightly right of my heading, and it is still several strides away. Hoses and smaller vents lie off to my left, so my current lane stays unobstructed. I will keep advancing toward the unit.", + "The bag and its adjacent unit keep growing in my view, confirming I am closing on the correct target near the right wall. I am still too far away for a reliable grasp. I will take another step forward.", + "The bagged sack at the foot of the unit is now large and unmistakable a short way ahead and slightly to my right. Closing further should put it within arm's reach for a lift. I will advance again.", + "The trash bag now sits close in front of me but offset to the right of my heading, sitting against the base of the tall AC unit. Walking straight would carry me past its right side rather than up to it. I will turn right to center the bag before stepping in to grasp it.", + "The trash bag is now sitting just left of center at the base of the AC unit ahead, but it is still a few paces off and too far to reach. I will step forward to close that remaining gap and bring the bag into grasping range at my feet.", + "The trash bag now fills the lower part of my view right beside the AC unit's louvered housing, so it is within arm's reach. I will attempt the pick now, which should lift the bag off the rooftop deck.", + "The trash bag is held in my grip, filling the lower view above the rooftop deck. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..646090f46b431c9a27a62167a83cd2a7b6a558f9 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the bottom of the metal staircase.", + "Type": 0, + "Start_Pose": [ + 133.798, + -54536.531, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 133.798, + -54536.531, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 197.638, + -54428.065, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 261.479, + -54319.599, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 261.479, + -54319.599, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 365.178, + -54248.276, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 468.876, + -54176.952, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 572.575, + -54105.628, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 676.274, + -54034.305, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 676.274, + -54034.305, + 2598.15, + 0.0, + 34.52, + -0.0 + ] + ], + "Rationale": [ + "I can see the metal staircase with its handrails rising against the brick wall on the left side of my view, well across the open rooftop from where I stand. The deck ahead of me is clear and flat, so I will step forward to begin closing that distance.", + "The staircase and its railing now read larger on my left, confirming that advancing shortens the gap to its base. The path ahead past the water tower legs is still open, so I will take another step forward.", + "The staircase sits well off to my left while my heading points at the water tower and the far rooftops, so walking straight would carry me past it. I will turn left to bring the stairs and their lower landing toward the center of my view before continuing.", + "After turning, the staircase and the pipe run beside it are now placed ahead of me rather than off to the side, so my heading looks usable. I will move forward along this line to close in on the bottom of the steps.", + "The lower flight and its railing fill more of my view, and the pallets and pipe on either side leave the approach lane clear. Another step forward should bring me nearer the foot of the staircase.", + "I am close enough now that the handrail crosses much of my view and the individual treads are clearly resolved. I will advance again to bring the bottom step within reach.", + "The lower flight is directly in front of me with its base just short of my feet, and no obstruction sits between me and the first tread. One more step forward should place me right at the bottom of the metal staircase.", + "The bottom step and side rail of the metal staircase are immediately in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ae220ee4c8a3aa0f83861874b5485b6515e3ee74 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t3_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Head toward the gray rooftop vent box, then reach the base of the metal staircase.", + "Type": 3, + "Start_Pose": [ + 133.798, + -54536.531, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 133.798, + -54536.531, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 133.798, + -54536.531, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + 155.258, + -54418.78, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + 167.277, + -54293.497, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + 179.296, + -54168.213, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + 191.316, + -54042.929, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + 203.335, + -53917.645, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + 203.335, + -53917.645, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + 161.281, + -53799.02, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + 119.227, + -53680.395, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + 119.227, + -53680.395, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + 119.227, + -53680.395, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + 119.227, + -53680.395, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 119.227, + -53680.395, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 119.227, + -53680.395, + 2598.15, + 0.0, + 9.52, + -0.0 + ], + [ + 119.227, + -53680.395, + 2598.15, + 0.0, + -15.48, + 0.0 + ], + [ + 240.52, + -53713.987, + 2598.15, + 0.0, + -15.48, + 0.0 + ], + [ + 361.814, + -53747.579, + 2598.15, + 0.0, + -15.48, + 0.0 + ], + [ + 483.107, + -53781.171, + 2598.15, + 0.0, + -15.48, + 0.0 + ], + [ + 483.107, + -53781.171, + 2598.15, + 0.0, + -40.48, + 0.0 + ], + [ + 578.839, + -53862.876, + 2598.15, + 0.0, + -40.48, + 0.0 + ], + [ + 674.572, + -53944.582, + 2598.15, + 0.0, + -40.48, + 0.0 + ], + [ + 674.572, + -53944.582, + 2598.15, + 0.0, + -40.48, + 0.0 + ] + ], + "Rationale": [ + "From here the open rooftop stretches ahead, and the boxy gray vent units sit off to my right beyond the water tower's legs, while the metal staircase is back on my left against the brick wall. I will turn right to put the vent box in front of me so I can walk straight at it first.", + "The pair of gray vent boxes now sits ahead of me on the open deck, roughly in line with my heading. The rooftop between us is clear flat paving, so I will walk forward to begin closing that gap.", + "The vent boxes have grown noticeably larger and stay near the middle of my view, confirming my heading is good. Nothing but flat roof and a loose hose lies between, so I will keep walking forward.", + "The gray vent structure is still ahead and slightly right, and the water tower's base has slid past on my left as I gain ground. I will continue forward to shorten the remaining distance to the vent box.", + "The vent housing now fills a good portion of my view with its louvered panel and dark grille clearly readable, so I am well within the final stretch. The deck ahead stays clear, so I will step forward again.", + "The vent box is close now, its metal frame and base plate visible just ahead and a little to my right. I will keep advancing to bring myself right up against it.", + "At this range the vent box has drifted to the right half of my view, so walking straight would carry me past its side rather than up to its face. I will turn right to square myself onto the box before closing the last few steps.", + "The vent box is now centered squarely in front of me, its louvers, riveted plate and grille filling the middle of my view. I will walk forward to close the short remaining gap and stand at it.", + "The gray vent box now fills most of my view, its louvered grille and riveted panel large and close ahead. There is still a short stretch of open deck between us, so I will step forward once more to stand right at it.", + "The riveted gray vent box is directly in front of me, its panel and dark grille filling my view at arm's length with no gap left to cross. I have reached the vent box. I mark arriving here, and now I am heading for the metal staircase on the brick wall.", + "Standing this close, the vent's metal casing blocks nearly everything ahead, so the staircase is nowhere in my view. I will turn left to swing my gaze off the box and back across the open rooftop where those steps stand.", + "The turn has brought the vent's hooded intake and louvered doors into view, but the rooftop beyond is still hidden behind the housing. Another left turn should carry my view further past the box toward the open deck.", + "Past the edge of the vent housing I can now see the water tower legs and the long pipe run opening on the left. The staircase lies further around toward the brick wall, so I will keep turning left.", + "The tower supports and pipework now dominate the left of my view, and the vent box has slipped to the right edge. The brick wall carrying the stairs has not come around yet, so I turn left again to bring it in front of me.", + "The brick wall has come around and the metal staircase with its handrails is now visible off to my left, past the pipe. One more left turn should bring those steps nearer the center of my heading before I walk toward them.", + "The metal staircase against the brick wall now sits roughly ahead of me, with clear rooftop deck in between. I will walk forward to close that distance toward the bottom of the steps.", + "The metal staircase with its pale handrails stands ahead against the brick wall, still several paces off across the open roof deck. The paving between me and it is clear apart from the loose cable, so I will walk forward to close that gap.", + "The stair flight now fills more of my view, its lower steps and side rail clearly resolved just left of my heading. Nothing blocks the paving ahead, so I will keep walking to bring the foot of the stairs within a few steps.", + "I am close enough now that the stairway dominates my view, but its lowest steps and the handrail post sit left of where I am pointed, with the big duct crowding my right. I will turn left to square my heading onto the foot of the flight.", + "With the turn done, the staircase and its railing sit ahead of me and the bottom step is plainly in view across a short stretch of open deck. I will step forward to draw up to its base.", + "The lowest treads and the near handrail are only a stride or two away now, filling the right of my view. One more step forward should place me right at the bottom of the flight.", + "The bottom tread and handrail of the metal staircase are directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..248a7b11b998419f5475a6894a5aec9278cad084 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Navigate to the metal staircase, then proceed to the gray vent box.", + "Type": 3, + "Start_Pose": [ + 133.798, + -54536.531, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 133.798, + -54536.531, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 197.638, + -54428.065, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 197.638, + -54428.065, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 301.337, + -54356.742, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 405.036, + -54285.418, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 508.735, + -54214.095, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 612.434, + -54142.771, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 716.132, + -54071.448, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 716.132, + -54071.448, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 716.132, + -54071.448, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 716.132, + -54071.448, + 2598.15, + 0.0, + 84.52, + -0.0 + ], + [ + 716.132, + -54071.448, + 2598.15, + 0.0, + 109.52, + -0.0 + ], + [ + 716.132, + -54071.448, + 2598.15, + 0.0, + 134.52, + -0.0 + ], + [ + 627.885, + -53981.709, + 2598.15, + 0.0, + 134.52, + -0.0 + ], + [ + 539.638, + -53891.971, + 2598.15, + 0.0, + 134.52, + -0.0 + ], + [ + 451.391, + -53802.233, + 2598.15, + 0.0, + 134.52, + -0.0 + ], + [ + 363.144, + -53712.495, + 2598.15, + 0.0, + 134.52, + -0.0 + ], + [ + 274.897, + -53622.757, + 2598.15, + 0.0, + 134.52, + -0.0 + ], + [ + 274.897, + -53622.757, + 2598.15, + 0.0, + 134.52, + -0.0 + ] + ], + "Rationale": [ + "The metal staircase with its pipe railing stands against the brick wall off to my left, still well across the open rooftop. I will walk forward over the clear concrete to cut down that distance before adjusting my heading toward it.", + "After closing some distance, the staircase sits well to my left while my heading points at the water tower and the far rooftops. I will turn left so the stairs come into the center of my view and I can walk straight at them.", + "The steps and their handrails now sit squarely ahead of me with clear deck between us. I will walk forward along this heading to close on the staircase.", + "The stairs are growing larger and the railing detail is sharper, so my heading is good. I will keep walking forward since nothing blocks the concrete between me and the bottom step.", + "The staircase now fills much of the view, but I am still several strides short of its base. I will continue walking forward to reach it.", + "The lower steps and the near handrail are close now, with the pipe run passing to the right of my path. I will step forward again to bring myself right up to the staircase.", + "The staircase towers directly in front of me and the handrail is nearly within reach. One more forward step should place me at its foot.", + "The steel treads and handrails of the staircase rise immediately in front of me, close enough to touch. I have arrived at the metal staircase. I mark reaching it and now set off for the gray vent box out on the rooftop.", + "I am standing right at the foot of the steel steps, with the brick wall and the stair rails filling almost my whole view. Nothing of the open roof where a gray vent box could sit is visible from this heading, so I will turn right to swing my gaze off the stairway and across the rooftop.", + "The steps have slid to my left and I now see the large pipe run and the tower legs across the open deck, but no gray vent housing yet. I will keep turning right to bring more of the exposed rooftop into view.", + "Ahead of me the tower legs and the pipe still block most of the deck, and the far apartment blocks stretch off to the right where the roof opens up. Another turn to the right should clear the tower structure out of my line of sight and expose that open side.", + "The boxy gray vent unit is now visible out on the open deck, sitting to the right of center past the tower leg. I will turn right once more to put it squarely in front of me before walking out toward it.", + "The gray vent box is now centered ahead of me on the flat rooftop with nothing but open concrete and a loose cable between us. I will walk forward to start closing that distance.", + "The vent box has grown larger and stays near the middle of my view, so my heading across the deck is still good. I will keep walking straight toward it.", + "I can now make out the louvered panels and the ribbed door on the front of the gray unit, so I am getting close. Another step forward should bring me right up beside it.", + "The gray vent box now fills much of my view with its base plate and vents plainly visible just ahead. I will advance once more to stand directly at it.", + "The gray vent box now fills the center of my view with its louvered panels clearly visible, but there is still a stretch of open roof between me and its base. I will step forward once more to close that last gap and stand right at the unit.", + "The gray vent box fills my view at arm's length, its louvered panels directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5162131e5655638da0d8547e266480436df3f5c4 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000134_y-054537_z002598_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the metal bucket near the bottom of the metal staircase.", + "Type": 5, + "Start_Pose": [ + 133.798, + -54536.531, + 2598.15, + 0, + 59.52, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 591.472, + -54132.48, + 2528.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 133.798, + -54536.531, + 2598.15, + 0, + 59.52, + 0 + ], + [ + 197.638, + -54428.065, + 2598.15, + 0.0, + 59.52, + -0.0 + ], + [ + 197.638, + -54428.065, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 301.337, + -54356.742, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 405.036, + -54285.418, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 508.735, + -54214.095, + 2598.15, + 0.0, + 34.52, + -0.0 + ], + [ + 508.735, + -54214.095, + 2598.15, + 0.0, + 34.519, + -0.0 + ], + [ + 508.735, + -54214.095, + 2598.15, + 0.0, + 34.519, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 591.472, + -54132.48, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 591.472, + -54132.48, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 591.472, + -54132.48, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 591.472, + -54132.48, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 591.472, + -54132.48, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 591.472, + -54132.48, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 496.131, + -54196.846, + 2568.257, + -28.202, + 84.664, + 1.862 + ], + [ + 496.131, + -54196.846, + 2568.257, + -28.202, + 84.664, + 1.862 + ] + ], + "PD_Dist_2D": [ + 610.5, + 492.4, + 492.4, + 366.7, + 241.1, + 116.2, + 21.4, + 21.4 + ], + "Rationale": [ + "From this rooftop I can see the metal staircase running down the brick wall on the left, and a grey metal bucket standing on the ground near its lower end. The bucket is still far off across the open deck, so I will walk forward to close the gap before worrying about fine alignment.", + "After advancing, the bucket at the foot of the staircase now sits well to the left of my heading, while my view is centered on the water tower ahead. I will turn left to bring the staircase and its bucket into the middle of my view so I can walk straight at them.", + "The turn has put the metal staircase and the grey bucket near the center of my view, with clear open deck between us. I will walk forward along this heading to shorten the remaining distance to the bucket.", + "The bucket has grown noticeably larger and still sits close to the center of my path near the bottom of the stairs. Nothing blocks the paving in front of me, so I will keep walking forward to get within reach.", + "The bucket is now large in the lower center of my view but its rim is still a step or so beyond comfortable grasping range. I will take one more step forward so that I am standing right over it before attempting to pick it up.", + "I am now standing directly over the metal bucket at the bottom of the staircase, with its open rim filling the lower part of my view. This is close enough to reach it, so I will attempt to pick it up and it should come into my hands.", + "The metal bucket is now held in front of me, its rim framing my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x000275_y-056062_z002598_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x000275_y-056062_z002598_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..55568bc7e750b044f37fa0f26a1741f9c81417a0 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x000275_y-056062_z002598_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Discover the metal staircase that spans between two buildings, then reach its base.", + "Type": 1, + "Start_Pose": [ + 274.689, + -56062.204, + 2598.15, + 0.0, + -100.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 274.689, + -56062.204, + 2598.15, + 0.0, + -100.48, + 0.0 + ], + [ + 274.689, + -56062.203, + 2598.15, + 0.0, + -75.48, + 0.0 + ], + [ + 274.689, + -56062.203, + 2598.15, + 0.0, + -50.48, + 0.0 + ], + [ + 354.779, + -56159.291, + 2598.15, + 0.0, + -50.48, + 0.0 + ], + [ + 434.869, + -56256.379, + 2605.161, + 0.0, + -50.48, + 0.0 + ], + [ + 514.959, + -56353.467, + 2605.161, + 0.0, + -50.48, + 0.0 + ], + [ + 514.959, + -56353.467, + 2605.161, + 0.0, + -25.48, + 0.0 + ], + [ + 628.577, + -56407.611, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + 742.194, + -56461.755, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + 855.811, + -56515.899, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + 969.429, + -56570.043, + 2598.15, + 0.0, + -25.48, + 0.0 + ], + [ + 969.429, + -56570.043, + 2598.15, + 0.0, + -25.48, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop I face a graffiti-covered brick parapet with pallets and debris, and no metal staircase bridging buildings is visible ahead. The open deck continues to my right toward the taller building, so I will turn right to scan that side for a connecting stair.", + "Turning has brought a brick building with fire escapes into view, and at the far right edge I can just make out a pale metal handrail and steps near the roof edge. I will keep turning right in the same direction to bring that possible staircase fully into my view.", + "The metal staircase with its handrails is now clearly centered to the right of the fire escape building, rising toward a platform that spans across to the neighboring structure. It is still far across the open deck, so I will walk forward to close the distance.", + "The staircase and its span have grown larger in my view, confirming it is the bridging structure I am looking for. The deck ahead is flat and unobstructed, so I will continue walking toward it.", + "The metal stair sits ahead and slightly to my right, with its lower steps still some distance away across the open roof. I will keep advancing to bring the base of the staircase within reach.", + "The staircase now sits off to my right side rather than straight ahead, and walking forward on this heading would carry me past it toward the brick wall. I will turn right to place the stair and its base directly in front of me.", + "The turn has centered the metal staircase and the walkway it carries across to the far building. With the lower steps now aligned ahead of me, I will walk forward to close on the base.", + "The stair fills more of my view and the bottom step and side rails are clearly resolved just ahead. I will keep stepping forward to bring myself right up to the base of the staircase.", + "The metal staircase with its railings and connecting walkway stands clearly ahead of me, slightly right of center, and the rooftop between us is open and flat. I am still several paces short of its lowest step, so I will keep walking straight toward it to close that remaining gap.", + "The staircase now fills much of my view, with the handrails rising on both sides and the bottom treads just in front of me. One more step forward should bring me right up to the base of the stair where I can stop.", + "I stand directly at the bottom tread of the metal staircase that bridges to the neighboring building. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x001191_y-053748_z002923_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x001191_y-053748_z002923_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d19ba2e758cf53a0551b4f8677f2ea14e52c17d9 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x001191_y-053748_z002923_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search for the A-frame ladder leaning against the brick wall; after locating it, proceed to its position.", + "Type": 1, + "Start_Pose": [ + 1191.169, + -53747.561, + 2923.15, + 0.0, + -0.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1191.169, + -53747.561, + 2923.15, + 0.0, + -0.48, + 0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + 24.52, + -0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + 49.52, + -0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + 74.52, + -0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + 99.52, + -0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + 124.52, + -0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + 149.52, + -0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + 174.52, + -0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + -160.48, + 0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + -135.48, + 0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + -110.48, + 0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + -85.48, + 0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + -60.48, + 0.0 + ], + [ + 1253.183, + -53857.083, + 2923.15, + 0.0, + -60.48, + 0.0 + ], + [ + 1315.197, + -53966.603, + 2923.15, + 0.0, + -60.48, + 0.0 + ], + [ + 1357.85, + -54074.905, + 2923.15, + 0.0, + -60.48, + 0.0 + ], + [ + 1368.078, + -54178.107, + 2923.15, + 0.0, + -60.48, + 0.0 + ], + [ + 1423.895, + -54288.543, + 2923.15, + 0.0, + -60.48, + 0.0 + ], + [ + 1423.895, + -54288.543, + 2923.15, + 0.0, + -60.48, + 0.0 + ] + ], + "Rationale": [ + "My whole view is filled by a flat brick wall with only a strip of pavement at its base, so there is no ladder or any other object I can evaluate from here. I will turn right to begin a consistent scan and open up the surroundings beyond this blank face of brick.", + "The wall now recedes to my left and a lit open area with a rooftop edge is appearing on the right side of my view, but no A-frame ladder stands against the brick here. I will keep turning right in the same direction to bring that open space fully into view.", + "I can now see an open rooftop with a coiled hose and distant buildings, and the brick wall runs along my left with nothing leaning on the visible portion. Continuing the same rightward scan should reveal more of the roof surface where a ladder could be standing.", + "A wooden support structure is just entering the right edge of my view while the brick wall on my left still shows no ladder against it. I will turn right again to see that structure and the rooftop area behind it more clearly.", + "The angled beams on the right resolve into the legs of a large water tank, not the A-frame ladder I am looking for. Since this is not the target, I will keep rotating right to continue past it.", + "The water tank and its crossbraced frame now dominate the centre of my view and block much of the rooftop behind it. I will continue turning right so the tower passes to my side and the roof area beyond it becomes visible.", + "The tower has shifted to my left and a broad rooftop with a graffitied parapet and vents is opening up on the right, but I still see no A-frame ladder set against a brick wall. Keeping the same turn direction should extend the scan across that open roof.", + "This stretch of rooftop is mostly empty apart from ducts and skylights, and the walls I can see carry no leaning ladder. I will maintain the steady rightward rotation to cover the remaining unscanned portion of the roof.", + "The open rooftop deck ahead of me shows only vents, skylights and a graffiti parapet, with no A-frame ladder anywhere in this span. I will keep rotating right at the same steady rate so my scan stays consistent and covers the remaining unseen portion of the roof.", + "From where I stand, this sector shows water towers, a low parapet and a long duct run, but still no ladder against a brick wall. I will continue turning right to bring the next unscanned sector of the roof into my view.", + "The stucco building and its fire escape fill my view now, and the ladder I am looking for is still not in sight. Since the brick surface that started my search lies further around to my right, I will keep the rotation going in the same direction.", + "A brick wall has come into the right side of my view and I can make out a stepladder standing against it, past the dark tank. I will turn right once more to place that ladder closer to the center of my heading before moving.", + "The A-frame ladder is now clearly in front of me, standing against the brick wall beside a blue sack and the dark tank. With my heading settled on it, I will walk forward along the open deck to close the distance.", + "The ladder and the brick wall have grown slightly larger, confirming that my heading is carrying me toward the target. I will step forward again since the path across the deck remains clear.", + "The brick wall now dominates the right of my view and the ladder stands just beyond the blue sack, still some paces away. I will continue walking forward to reach its position.", + "I have cleared the corner of the brick wall and the A-frame ladder stands openly ahead of me on the deck. A few more steps should bring me right up to it, so I will keep moving forward.", + "The A-frame ladder now stands clearly ahead of me on the open rooftop, its full frame filling much of my view but still a couple of paces away. I will step forward once more to close that remaining gap and bring myself right up beside it.", + "The A-frame ladder stands directly in front of me, within arm's reach at the rooftop wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x001191_y-053748_z002923_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x001191_y-053748_z002923_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cac304a9ddde085f91c6769de68e256fd4995fc0 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x001191_y-053748_z002923_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Identify the blue trash bag sitting on the ground near the building, then head over to it.", + "Type": 1, + "Start_Pose": [ + 1191.169, + -53747.561, + 2923.15, + 0.0, + -0.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1191.169, + -53747.561, + 2923.15, + 0.0, + -0.48, + 0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + -25.48, + 0.0 + ], + [ + 1191.169, + -53747.562, + 2923.15, + 0.0, + -50.48, + 0.0 + ], + [ + 1271.259, + -53844.65, + 2923.15, + 0.0, + -50.48, + 0.0 + ], + [ + 1351.349, + -53941.738, + 2923.15, + 0.0, + -50.48, + 0.0 + ], + [ + 1357.868, + -54032.366, + 2923.15, + 0.0, + -50.48, + 0.0 + ], + [ + 1364.418, + -54123.28, + 2923.15, + 0.0, + -50.48, + 0.0 + ], + [ + 1364.418, + -54123.28, + 2923.15, + 0.0, + -50.48, + 0.0 + ], + [ + 1364.418, + -54123.28, + 2923.15, + 0.0, + -50.48, + 0.0 + ] + ], + "Rationale": [ + "My whole view is filled by a flat brick wall, so nothing about the surroundings or the trash bag is visible from here. I will turn left to begin a consistent scan and open up the area beside this wall.", + "Turning has opened the left edge of the wall, and I can already see a ladder and a blue bag resting on the ground near the building on the far left. I will continue turning left to bring that bag and the open area more toward the center of my view.", + "The rooftop area is now open ahead of me, with the blue trash bag sitting on the ground beside the brick wall to my left front. I will walk forward along this wall to close the distance toward it.", + "The blue bag is still ahead and slightly left, close to the wall, and the pavement between us is clear. I will keep walking forward to shorten the remaining gap.", + "The wall now dominates the right side of my view and the bag has slid low toward the bottom left, meaning I am getting close but not yet beside it. I will step forward again to continue closing on it.", + "The blue bag is now clearly visible at the bottom of my view, just past the corner of the brick wall. One more step forward should bring me right up beside it.", + "I have cleared the wall corner and stand in the open rooftop area, with a blue bag just at the bottom edge of my view on the right. I will look down to bring the bags on the ground into clear view and confirm I am beside them.", + "The blue trash bags are directly below me on the ground beside the building. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8f466fb7f268c4fb8a6fbc3e311743d57e8e4e88 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the large plastic storage tank enclosed in a metal cage.", + "Type": 0, + "Start_Pose": [ + 1210.302, + -53036.297, + 2923.15, + 0, + -23.04, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1210.302, + -53036.297, + 2923.15, + 0, + -23.04, + 0 + ], + [ + 1326.121, + -53085.555, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + [ + 1441.941, + -53134.813, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + [ + 1557.76, + -53184.071, + 2929.361, + 0.0, + -23.04, + 0.0 + ], + [ + 1672.076, + -53226.093, + 2929.361, + 0.0, + -23.04, + 0.0 + ], + [ + 1760.147, + -53257.457, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + [ + 1760.147, + -53257.457, + 2923.15, + 0.0, + -23.04, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop position I can already see the caged plastic storage tank ahead, sitting against the brick wall roughly straight along my heading. Since it is nearly centered in my view, no turn is needed and I will move forward to begin closing the considerable gap.", + "The caged tank now appears larger and still lies close to the center-right of my view, so my heading remains usable. I will continue forward to keep closing distance across the clear rooftop surface.", + "The metal cage frame and its pallet base are now clearly resolved a few steps ahead, with the brick wall passing on my left. I judge I am still too far for the goal position, so another forward step should tighten the approach.", + "The tank now fills a large part of the right side of my view and I can see its front panel in detail, so I am close but not yet directly at it. I will step forward again to finish closing the remaining gap.", + "The caged tank is now immediately in front of me, its frame spanning most of my view beside the brick wall. One more short forward step should bring me right up against it at a proper standing distance.", + "The caged storage tank's metal frame and body are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..512dde3172c2f9743bf8d1e09dea20a2624224c5 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t0_b/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Approach the small green box against the brick wall.", + "Type": 0, + "Start_Pose": [ + 1210.302, + -53036.297, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1210.302, + -53036.297, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + [ + 1326.121, + -53085.555, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + [ + 1441.941, + -53134.813, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + [ + 1557.76, + -53184.071, + 2929.361, + 0.0, + -23.04, + 0.0 + ], + [ + 1557.76, + -53184.071, + 2929.361, + 0.0, + -23.04, + 0.0 + ], + [ + 1557.76, + -53184.071, + 2929.361, + 0.0, + -23.04, + 0.0 + ] + ], + "Rationale": [ + "I can see a small green container sitting on the rooftop deck against the tall brick wall well ahead of me, slightly left of my heading. The open concrete walkway between me and it is clear apart from a coiled hose lying flat, so I will move forward to start closing that distance.", + "The green container is now noticeably larger and still positioned along the brick wall just left of my forward direction, so my heading remains good. I will continue straight ahead to keep reducing the gap.", + "The green box is clearly resolved beside the brick wall, but it is still a couple of paces off and low in view. Another forward step should bring me within close standing distance of it without running into the metal tank crate on my right.", + "I am now right beside the brick wall and the green box has dropped near the lower edge of my view, partly cut off by my current gaze angle. Tilting my view downward should bring the small container fully into sight so I can confirm I am standing next to it.", + "The small green box sits directly in front of me at the base of the brick wall, within arm's reach. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a610b44811d321cc7c3784ba651e36a1aba19b1f --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x001210_y-053036_z002923_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the tomato beside the caged white tank on the pallet.", + "Type": 5, + "Start_Pose": [ + 1210.302, + -53036.297, + 2923.15, + 0, + -23.04, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1684.039, + -53094.652, + 2899.266, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1210.302, + -53036.297, + 2923.15, + 0, + -23.04, + 0 + ], + [ + 1326.121, + -53085.555, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + [ + 1441.941, + -53134.813, + 2923.15, + 0.0, + -23.04, + 0.0 + ], + [ + 1441.941, + -53134.813, + 2923.15, + 0.0, + 1.96, + -0.0 + ], + [ + 1567.726, + -53130.508, + 2929.311, + 0.0, + 1.96, + -0.0 + ], + [ + 1567.726, + -53130.508, + 2929.311, + 0.0, + 1.959, + -0.0 + ], + [ + 1567.726, + -53130.508, + 2929.311, + 0.0, + 1.959, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1684.039, + -53094.652, + 2899.266, + 0.0, + 0.0, + 0.0 + ], + [ + 1684.039, + -53094.652, + 2899.266, + 0.0, + 0.0, + 0.0 + ], + [ + 1684.039, + -53094.652, + 2899.266, + 0.0, + 0.0, + 0.0 + ], + [ + 1684.039, + -53094.652, + 2899.266, + 0.0, + 0.0, + 0.0 + ], + [ + 1684.039, + -53094.652, + 2899.266, + 0.0, + 0.0, + 0.0 + ], + [ + 1566.386, + -53109.188, + 2899.689, + -28.202, + 52.104, + 1.862 + ], + [ + 1566.386, + -53109.188, + 2899.689, + -28.202, + 52.104, + 1.862 + ] + ], + "PD_Dist_2D": [ + 477.3, + 358.0, + 245.4, + 245.4, + 121.7, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the large red tomato resting on the rooftop deck just beside the caged white tank on its pallet, but it is still far down the walkway ahead of me. I will walk forward along the open concrete strip beside the brick wall to close that distance.", + "The tomato and the caged tank have both grown noticeably larger, so my heading along this rooftop lane is taking me toward the target. I will keep walking forward since the path beside the brick wall is still clear and the tomato remains well out of reach.", + "I am now close to the caged tank, but the tomato has drifted to the far right edge of my view and is partly cut off, so I cannot approach it straight ahead. I will turn right to bring the tomato back toward the center of my view before continuing.", + "The tomato now sits squarely ahead of me on the open deck, just to the right of the caged white tank on its pallet. I will step forward to bring it within grasping range.", + "The tomato has filled the lower part of my view right in front of my feet, with the caged tank standing beside it against the wall. This is close enough to reach down, so I will attempt to pick it up.", + "The tomato is now held in my hands in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d6331a257b1cb2ea1435adc79a2d13f1b9cea58f --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the wooden stepladder against the brick wall.", + "Type": 0, + "Start_Pose": [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2180.872, + -56621.904, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2266.644, + -56714.012, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2352.415, + -56806.119, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2438.186, + -56898.226, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2517.763, + -56984.626, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2507.616, + -57014.091, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2567.373, + -57105.448, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2644.82, + -57186.086, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2644.82, + -57186.086, + 2608.15, + 0.0, + -47.04, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop I can already pick out the wooden stepladder leaning against the graffiti-covered brick wall ahead and slightly left of my heading. The path across the open concrete looks clear apart from the low vent unit near the wall, so I will move forward to start closing the distance.", + "The stepladder has grown larger and stays close to the center-left of my view, confirming my heading is pointed at it. Nothing blocks the concrete directly in front of me, so I will keep advancing.", + "I am still some distance from the wall, with the ladder and the paint cans beside it now clearly resolved. My current heading carries me straight toward that spot, so another forward step should shorten the gap.", + "The short bollard sits to the right of my line of travel, leaving the lane toward the ladder open. I will continue forward since the ladder is still a few paces off along the wall.", + "The stepladder now fills a good portion of my view and its legs are visible on the rooftop just ahead. I am not yet close enough to be standing at it, so I will move forward again.", + "The ladder stands directly in front of me against the brick wall, though there is still a small gap of concrete between us. I will edge forward to close that remaining distance.", + "The ladder frame now dominates the left of my view and the brick wall is close, so I am nearly at the target. One more short advance should bring me right up beside the stepladder.", + "I am almost touching the stepladder, with its legs and rungs filling the near left of my view against the brick wall. A final short step forward should place me squarely at the ladder.", + "The wooden stepladder's rails and steps fill my immediate left view at arm's reach against the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4df23f2edaf1aad365fc21bfa19ccc5ab4485d57 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the blue barrel near the door.", + "Type": 0, + "Start_Pose": [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2211.763, + -56577.026, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2328.424, + -56624.255, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2445.086, + -56671.484, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2445.086, + -56671.484, + 2608.15, + 0.0, + 2.96, + -0.0 + ], + [ + 2570.777, + -56664.985, + 2608.15, + 0.0, + 2.96, + -0.0 + ], + [ + 2696.468, + -56658.486, + 2608.15, + 0.0, + 2.96, + -0.0 + ], + [ + 2696.468, + -56658.486, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2813.129, + -56705.715, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2929.791, + -56752.944, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2929.791, + -56752.944, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2929.791, + -56752.944, + 2608.15, + 0.0, + -47.04, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the rooftop I can already spot the target: a blue barrel standing beside a rust colored one, right next to the gray metal door set in the brick stair structure. That cluster sits to the right of where I am facing, so a small right rotation should bring the door and its barrels close to the center of my view. I will turn right to set up a straight approach line.", + "The gray door with the rust and blue barrels beside it now sits near the middle of my view, so my heading is pointed at the target. The rooftop deck ahead looks flat and unobstructed, with the large pipe assembly well off to my right. I will step forward to start closing the distance.", + "The barrels beside the door have grown noticeably larger, which tells me the previous step carried me toward them. There is still a wide stretch of empty rooftop between me and the brick stair structure. I will continue forward to keep reducing that gap.", + "The rust barrel and the blue barrel are now clearly distinguishable next to the gray door, and the stacked pallets and ladder along the brick wall are passing off to my left. Nothing blocks the paving directly in front of me. Another forward step should bring me within a short distance of the barrels.", + "I am now fairly close, but the barrels are tucked tight against the sloped brick face of the stair structure, and holding this heading would walk me straight into that corner rather than up beside them. Turning right points me along the open deck that runs past the structure. That should let me keep advancing on clear floor before I swing back toward the barrels.", + "With this heading the rust and blue barrels sit off to my left against the bulkhead, and a wide clear stretch of rooftop opens in front of me. Stepping forward here moves me alongside the structure instead of into its wall. I will advance on this open lane.", + "The blue barrel and its rust neighbor are noticeably nearer on my left, so I am drawing level with them along the edge of the brick structure. The floor ahead remains flat and open, with the pipe well clear on my right. I will take one more step forward to reach a spot right beside the barrels.", + "The blue barrel is now very close but pushed to the far left edge of my view, with most of it outside what I can see. Rotating left should bring the barrel and the adjacent door back into the center so I can judge my final standoff. I will turn left to face the target directly.", + "The blue barrel is clearly visible ahead on my left, standing beside the rust colored one against the brick wall next to the door of the roof structure. It is still several steps away, so I will step forward along the open pavement to close that gap.", + "The blue barrel now fills much of the left side of my view and its lid detail is clear, so I am close but not yet beside it. One more forward step should bring me within arm's reach of it near the wall.", + "I am now right beside the barrel, but it has slipped to the far left edge of my view and is only partly visible. Turning left should bring the blue barrel back to the center of my view so I am squarely facing it.", + "The blue barrel stands centered directly in front of me at arm's reach, beside the wall by the door. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_c/infos.json b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..52529f8780c066b744b0c5d06156b435541dcbef --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the white air-conditioning unit against the graffiti-covered brick wall.", + "Type": 0, + "Start_Pose": [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2180.872, + -56621.904, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2266.644, + -56714.012, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2266.644, + -56714.012, + 2608.15, + 0.0, + -72.04, + 0.0 + ], + [ + 2266.644, + -56714.012, + 2608.15, + 0.0, + -97.04, + 0.0 + ], + [ + 2251.218, + -56838.922, + 2608.15, + 0.0, + -97.04, + 0.0 + ], + [ + 2251.218, + -56838.922, + 2608.15, + 0.0, + -72.04, + 0.0 + ], + [ + 2290.027, + -56958.648, + 2608.15, + 0.0, + -72.04, + 0.0 + ], + [ + 2290.027, + -56958.648, + 2608.15, + 0.0, + -72.04, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop position I can see the white air-conditioning unit sitting on the left against the brick wall covered with graffiti tags. It is still far across the open deck, so I will move forward to begin closing that distance.", + "The white unit with the \"STREET\" tag now appears larger at the left edge of my view, confirming I am gaining ground on it. The deck ahead remains clear, so I will keep moving forward to reduce the remaining gap.", + "The white air-conditioning unit has drifted to the far left border of my view while my heading points along the wall toward the shed and barrels. I will turn left to bring the unit back toward the center of my view before advancing further.", + "The unit is now visible with the BRONX and NYC graffiti behind it, but it still sits left of my view center. Another left turn should square my heading onto the unit and the graffiti wall it stands against.", + "I am now facing the graffiti-covered brick wall squarely with the tagged white unit and its neighbor filling the lower part of my view. The path between me and them is clear, so I will move forward to close in.", + "At this closer range the \"STREET\" unit has slid toward the left of center and the wall crowds my view. A small right turn should recenter the target unit and open a clean forward line for the last step of the approach.", + "The white unit tagged \"STREET\" now stands just ahead and slightly left, with the graffitied brick wall directly behind it. One more forward step should bring me right up beside it.", + "The white air-conditioning unit is directly beside me against the graffiti-covered brick wall, filling the near view. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_d/infos.json b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3279ff37a83a5484c0960549bb7f8d1822f2393 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Navigate to the NYC graffiti.", + "Type": 0, + "Start_Pose": [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2180.872, + -56621.904, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2266.644, + -56714.012, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2352.415, + -56806.119, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2352.415, + -56806.119, + 2608.15, + 0.0, + -72.04, + 0.0 + ], + [ + 2391.224, + -56925.845, + 2608.15, + 0.0, + -72.04, + 0.0 + ], + [ + 2430.033, + -57045.571, + 2608.15, + 0.0, + -72.04, + 0.0 + ], + [ + 2468.842, + -57165.297, + 2608.15, + 0.0, + -72.04, + 0.0 + ], + [ + 2507.651, + -57285.024, + 2608.15, + 0.0, + -72.04, + 0.0 + ], + [ + 2545.927, + -57397.358, + 2628.623, + 0.0, + -72.04, + 0.0 + ], + [ + 2545.927, + -57397.358, + 2628.623, + 0.0, + -72.04, + 0.0 + ] + ], + "Rationale": [ + "I can see the large NYC graffiti tag painted on the brick wall ahead and to my left, beside a ladder and an air conditioning unit. The open rooftop deck in front of me is clear, so I will move forward to begin closing the distance to that wall.", + "The NYC tag has grown slightly larger and sits a bit further left in my view, confirming I am gaining on the wall. The paving ahead remains unobstructed, so I will continue straight forward before adjusting my heading.", + "The brick wall with the NYC lettering and the leaning ladder is now clearly closer on my left, while the shed and barrels stay off to my right. I will take another step forward along the open deck to keep shrinking the gap.", + "The NYC graffiti now sits well off to the left edge of my view while my heading still points down the rooftop past the shed. I will turn left to bring the tag toward the center of my view so that further forward motion carries me straight at it.", + "After the turn the brick wall fills the front of my view with the NYC lettering roughly centered, flanked by the ladder and paint cans. With my heading now aimed at the target, I will move forward to close the remaining distance.", + "The lettering is larger and still centered ahead of me, with the ladder standing just to its right and the paint cans at the base of the wall. The ground in front is clear of clutter, so I will step forward again toward the tag.", + "The NYC piece now dominates my view, with individual bricks and the paint cans clearly resolved. I still have a little gap to the wall, so I will move forward once more to get properly close to the graffiti.", + "The NYC letters fill nearly the whole view and the ladder has passed to my right edge, so I am almost at the wall. I will advance one more short step to settle directly in front of the graffiti.", + "The painted NYC lettering now fills almost my whole view directly ahead, with the brick wall squarely centered and no obstacle between us. A short remaining gap to the wall is still visible along the bottom, so I will step forward once more to close it. This should bring me right up against the graffiti at a proper stopping distance.", + "The NYC graffiti fills my view at arm's length on the brick wall. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_e/infos.json b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e50353f1e3cf6611d955af84ba62077b8098e50 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t0_e/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Move to the door.", + "Type": 0, + "Start_Pose": [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2180.872, + -56621.904, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2266.644, + -56714.012, + 2608.15, + 0.0, + -47.04, + 0.0 + ], + [ + 2266.644, + -56714.012, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2383.305, + -56761.241, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2499.967, + -56808.47, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2616.628, + -56855.699, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2733.29, + -56902.928, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2833.998, + -56955.044, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2833.998, + -56955.044, + 2608.15, + 0.0, + -22.04, + 0.0 + ] + ], + "Rationale": [ + "Scanning the rooftop from where I stand, the only door I can see is the gray metal one set into the small brick structure ahead and slightly to my right. It is still far across the open concrete, so I will step forward to begin closing that distance while the path in front of me stays clear.", + "The metal door on the brick structure has grown slightly larger and its edges are clearer, so my forward motion is reducing the gap. The open concrete between me and it is still unobstructed, so I will advance again.", + "The door still sits noticeably right of my heading, with the brick wall and graffiti filling the left side of my view. A small turn to the right should bring the doorway closer to straight ahead so my next steps carry me directly toward it.", + "After the slight rightward turn the gray door is much closer to the center of my view with clear floor leading up to it. I will move forward along this heading to keep closing on it.", + "The doorway keeps growing ahead of me and remains well centered, so my heading is good. Nothing blocks the ground between us, with the barrels standing off to the right of the structure, so I will continue advancing.", + "The door now dominates the middle of my view and I can make out its handle and the brick surround, but I am not yet within arm's reach. Another step forward should bring me up to the threshold.", + "The metal door and its brick jambs fill most of my view, so I am nearly at it, though a short stretch of floor remains in front of the threshold. I will step forward once more to stand directly at the door.", + "I am right in front of the door now, with its handle at my left and the panel spanning almost my whole view. A last short step should place me squarely at the door, close enough to consider the move complete.", + "The metal door fills my view at arm's length, its handle just to my left. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9400df801c8101b33a86524044f494f305db8f --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002095_y-056530_z002608_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the wicker basket beside the blue barrel near the door.", + "Type": 5, + "Start_Pose": [ + 2095.101, + -56529.797, + 2608.15, + 0, + -47.04, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2846.816, + -56731.996, + 2543.15, + 90, + -47.04, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.101, + -56529.797, + 2608.15, + 0, + -47.04, + 0 + ], + [ + 2095.101, + -56529.797, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2211.763, + -56577.026, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2328.424, + -56624.255, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2445.086, + -56671.484, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2561.747, + -56718.713, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2678.409, + -56765.942, + 2608.15, + 0.0, + -22.04, + 0.0 + ], + [ + 2678.409, + -56765.942, + 2608.15, + 0.0, + -22.039, + 0.0 + ], + [ + 2678.409, + -56765.942, + 2608.15, + 0.0, + -22.039, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2846.816, + -56731.996, + 2543.15, + 90.0, + -47.04, + 0.0 + ], + [ + 2846.816, + -56731.996, + 2543.15, + 90.0, + -47.04, + 0.0 + ], + [ + 2846.816, + -56731.996, + 2543.15, + 90.0, + -47.04, + 0.0 + ], + [ + 2846.816, + -56731.996, + 2543.15, + 90.0, + -47.04, + 0.0 + ], + [ + 2846.816, + -56731.996, + 2543.15, + 90.0, + -47.04, + 0.0 + ], + [ + 2846.816, + -56731.996, + 2543.15, + 90.0, + -47.04, + 0.0 + ], + [ + 2846.816, + -56731.996, + 2543.15, + 90.0, + -47.04, + 0.0 + ], + [ + 2685.856, + -56745.92, + 2578.257, + -28.202, + 28.105, + 1.862 + ], + [ + 2685.856, + -56745.92, + 2578.257, + -28.202, + 28.105, + 1.862 + ] + ], + "PD_Dist_2D": [ + 778.4, + 778.4, + 653.7, + 529.5, + 406.3, + 285.4, + 171.8, + 21.4, + 21.4 + ], + "Rationale": [ + "From my starting spot on the rooftop I can see the metal door in the brick structure ahead, with the barrels and a round wicker basket sitting to the right of my heading. My current facing points too far left of that cluster, so a straight walk would drift past it. I will turn right to bring the basket and the blue barrel near the door closer to the center of my view before advancing.", + "The door, the barrels and the round wicker basket now sit ahead of me with clear open rooftop paving between us. Nothing blocks the straight line toward them, and the basket is still far too distant to reach. I will walk forward to close that gap.", + "The basket and the pair of barrels beside the doorway have grown noticeably larger, confirming my heading is carrying me toward them. There is still a wide stretch of empty paving before I would be near enough to reach the basket. I will keep walking straight ahead.", + "The doorway structure and the barrels beside it now fill much more of my view, and the wicker basket is clearly resting on the paving just right of them. I am still several strides short of grasping range. Another step forward should continue shrinking that distance.", + "The blue barrel and the rust colored barrel by the door are now plainly separated, and the wicker basket sits on its side just to their right at the level of my lower view. It is close but not yet within arm's reach. I will step forward again to get beside it.", + "The brick doorway structure and the two barrels now dominate the left of my view, and the wicker basket lies just ahead and slightly right of me. One more step should place it directly at my feet where a grasp is feasible. I will advance that last stride.", + "The wicker basket is now right at the lower right edge of my view, its weave clearly visible beside the barrels standing against the door structure. This is the basket named in the task and it is within arm's reach. I will attempt to pick it up.", + "The wicker basket is now held in my hands in front of me, off the rooftop paving. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06134e7e2211775d5f99880d11488b6de7376b05 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Walk to the ladder leaning against the graffiti wall, then approach the metal door.", + "Type": 3, + "Start_Pose": [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2401.885, + -56659.46, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2496.468, + -56742.494, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2496.468, + -56742.494, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2547.097, + -56857.721, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2597.726, + -56972.947, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2650.672, + -57086.21, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2697.98, + -57165.467, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2697.98, + -57165.467, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2660.81, + -57080.873, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2660.81, + -57080.873, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2660.81, + -57080.873, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2660.81, + -57080.873, + 2608.15, + 0.0, + 8.72, + -0.0 + ], + [ + 2660.81, + -57080.873, + 2608.15, + 0.0, + 33.72, + -0.0 + ], + [ + 2765.495, + -57011.004, + 2608.15, + 0.0, + 33.72, + -0.0 + ], + [ + 2765.495, + -57011.004, + 2608.15, + 0.0, + 33.72, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the stepladder standing against the graffiti-covered brick wall well off to my left, and the grey metal door in its brick housing further ahead. Both destinations are far across this open rooftop, so I will walk forward to cut down the distance before choosing a heading.", + "The ladder and the painted lettering have grown larger but still sit to my left, and the paved roof ahead is clear of obstacles. Another step forward should bring me close enough to the wall to swing my heading onto the ladder.", + "My current heading carries me past the graffiti wall, since the ladder now sits well over on my left edge while the door housing dominates the centre. I will turn left so the ladder and the painted lettering come in front of me and I can walk straight at them.", + "The turn has put the stepladder and the NYC lettering squarely ahead of me with open paving in between. I will walk forward along this heading to close on the ladder.", + "The ladder is noticeably nearer, its legs and the paint cans at its base now clearly resolved against the brick. Nothing blocks the way, so I keep walking straight at it.", + "The stepladder now stands tall in front of me, its rails and the bucket beside it a couple of paces away against the graffiti. I will advance again to bring myself right up beside it.", + "The ladder's top cap and rails now dominate the left of my view and the brick wall is close enough to read every course. Only a short gap remains, so one more step forward should put me at the ladder itself.", + "The stepladder is at arm's reach beside me, its rails leaning across the graffiti-painted brick that fills my view. I have arrived at the ladder against the graffiti wall. I mark reaching it, and now I set off for the grey metal door in its brick housing out on the roof behind me.", + "The stepladder against the graffitied brick fills most of my view, so I am standing too close to the wall to swing around cleanly. I will step back to open some clearance before reorienting toward the metal door on the far side of this rooftop.", + "With a little space regained, the ladder and painted lettering still sit squarely in front of me, and the metal door lies back toward the open rooftop on my right. I will turn right to begin swinging my heading off this wall.", + "My view has swung past the ladder onto the covered crate and the stacked pallets, with the open roof and railing opening on the right. The doorway is still outside my view, so I will keep turning right to bring it around.", + "The brick housing with its grey metal door has come into the right side of my view, though only its edge and handle are showing. Another turn right should bring that doorway around in front of me.", + "The metal door now stands framed straight ahead in its brick surround, but walking dead-on would put the raised frame and the barrel right in my path. I will turn a little further right to line up on the clear paving beside it.", + "The grey metal door and its brick frame are now on my left with clear paving running past them. I will walk forward to close the last of the gap and come up alongside the door.", + "The metal door's face and hinges are right beside me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..accca64e13048d44d37afbd8dc08ae344eaad109 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the blue barrel, then move to the wooden pallets stack.", + "Type": 3, + "Start_Pose": [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2425.836, + -56615.252, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2546.649, + -56650.534, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2667.461, + -56685.816, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2788.274, + -56721.098, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2909.086, + -56756.381, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2909.086, + -56756.381, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2820.391, + -56730.478, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2731.696, + -56704.575, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2643.001, + -56678.673, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2643.001, + -56678.673, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2643.001, + -56678.673, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2693.63, + -56793.899, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2744.259, + -56909.126, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2794.888, + -57024.353, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2794.888, + -57024.353, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2843.312, + -57105.677, + 2608.058, + 0.0, + -41.28, + 0.0 + ], + [ + 2937.894, + -57188.712, + 2608.058, + 0.0, + -41.28, + 0.0 + ], + [ + 3030.409, + -57242.398, + 2608.058, + 0.0, + -41.28, + 0.0 + ], + [ + 3030.409, + -57242.398, + 2608.058, + 0.0, + -41.28, + 0.0 + ] + ], + "Rationale": [ + "Across the rooftop I can pick out the blue barrel standing with a rusty drum against the brick utility shed. My heading points too far along the wall to walk straight at it, so I pivot right to put the open deck alongside the shed in front of me. That should give me a clean lane toward the barrel.", + "The blue barrel and its rusty neighbour now sit ahead beside the shed doorway, with clear paving between me and them. Nothing blocks the route, so I walk forward to close the distance.", + "The barrels have grown noticeably larger at the base of the shed, confirming my heading is carrying me toward them. I am still several strides short, so I keep walking forward.", + "The blue drum and the rust drum are clearly separated now against the brick shed, and the gap ahead of me is still plain paving. I continue forward to keep shrinking that gap.", + "The blue barrel now fills a good part of the lower view, so only a short stretch of deck remains. I step forward again to bring myself right up beside it.", + "The barrels loom close on my left with the shed brickwork beside them, meaning one more stride should put me level with them. I move forward to reach that position.", + "The blue barrel stands right at my side, close enough to touch against the shed brickwork. I have reached it. I mark reaching the blue barrel and now set off for the stack of wooden pallets waiting by the graffiti wall.", + "Standing this tight against the barrel and the shed brick leaves me no room to swing around toward the pallets, which lie back along the building wall behind me. Backing up is the direct way to unwind this dead-end corner without a wasteful full turn. I step backward to open space.", + "The blue barrel and its rusty neighbour still crowd my left shoulder against the brick corner, too tight for a clean turn. I will back up another step to open space between me and them before swinging my heading toward the wooden pallets stacked further along the wall.", + "The barrels have slid back and now sit clearly ahead of me rather than beside my shoulder, but the brick corner of the stair housing still hems in my left. One more step back should give me enough open deck to rotate toward the pallet stack by the graffiti wall.", + "I have enough clearance now, with the barrels well ahead of me and open deck around my feet. The wooden pallets sit further left along the brick building, out of my current view, so I will turn left to bring that side of the roof in front of me.", + "The grey door and the stair housing now dominate my view, and the graffiti wall with the ladder is just appearing at the far left. Another left turn should carry my heading past this brick block toward the stacked pallets set against that wall.", + "I am now facing the graffiti wall with the ladder and the tarp covered shape beside it, the stretch of wall where the pallets are stacked. The way ahead across the deck is clear, so I will walk forward to close that distance.", + "The ladder and the tarp covered bundle against the brick wall are noticeably larger, so I am gaining on that side of the roof. The pallets should sit just past the tarp, hidden behind the brick pillar on my right, so I will keep walking forward.", + "I am close to the graffiti wall now, with the tarp covered shape just ahead and the brick pillar edging my right. Stepping forward once more should carry me past that pillar so the stacked pallets alongside the tarp come into clear view.", + "The wooden pallets are now plainly visible, stacked against the brick wall just right of the tarp covered shape and off my centre line. I will turn right to put that stack directly in front of me before closing the last of the gap.", + "The stacked wooden pallets sit against the brick wall ahead of me, though a masonry corner still crowds the right side of my view. My heading now points into the open lane past that corner, so I will walk forward to close the remaining gap to the stack.", + "The brick corner has cleared my path and the pallet stack now stands plainly ahead, a little left of center, with the covered bundle beside it. Open paving runs straight to it, so another step forward should bring me appreciably nearer.", + "The pallet stack now fills much of the center of my view and its slats are clearly resolved, so only a short gap remains. I will step forward once more to stand right at the stack.", + "The stacked wooden pallets fill my view at arm's length. Both named destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_c/infos.json b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f9941473aec9af96f64b49b3e7adae91c15d9f0 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Approach the metal doorway on the rooftop structure, then reach the ladder.", + "Type": 3, + "Start_Pose": [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2401.885, + -56659.46, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2496.468, + -56742.494, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2591.05, + -56825.528, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2591.05, + -56825.528, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2711.862, + -56860.81, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2830.27, + -56895.333, + 2608.147, + 0.0, + -16.28, + 0.0 + ], + [ + 2830.27, + -56895.333, + 2608.147, + 0.0, + -41.28, + 0.0 + ], + [ + 2830.27, + -56895.333, + 2608.147, + 0.0, + -41.28, + 0.0 + ], + [ + 2830.27, + -56895.333, + 2608.147, + 0.0, + -66.28, + 0.0 + ], + [ + 2830.27, + -56895.333, + 2608.147, + 0.0, + -91.28, + 0.0 + ], + [ + 2830.27, + -56895.333, + 2608.147, + 0.0, + -116.28, + 0.0 + ], + [ + 2774.545, + -57008.184, + 2608.147, + 0.0, + -116.28, + 0.0 + ], + [ + 2718.819, + -57121.034, + 2608.147, + 0.0, + -116.28, + 0.0 + ], + [ + 2718.819, + -57121.034, + 2608.147, + 0.0, + -116.28, + 0.0 + ] + ], + "Rationale": [ + "The grey metal door set into the small brick structure stands ahead of me across the open rooftop deck. The paved surface between us is clear of clutter, so I will walk straight forward to cut down that distance.", + "The doorway and its brick surround now fill more of my view, confirming my heading is carrying me toward it. Still several strides of bare rooftop remain, so I will keep walking forward.", + "The metal door is clearly nearer now, with the barrels beside it standing off to my right rather than in my path. Another forward step should bring me within a short reach of the doorway.", + "From this close range the grey door sits a little right of where I am facing, so walking straight would drift me past its frame toward the pallets. I will turn right to square my heading onto the doorway before closing the last of the gap.", + "The doorway now sits squarely in front of me with its handle plainly visible and clear paving leading to the threshold. I will step forward to close the remaining distance to the metal door.", + "The door panel and its brick jamb now dominate my view, and only a short stretch of paving remains before the threshold. One more forward step should place me right at the doorway.", + "I am close enough that the brick corner of the structure now blocks most of my view and the metal door has slipped out of sight past my left shoulder. I will turn left to bring the door itself back in front of me and confirm I am standing at it.", + "The grey metal door with its slim handle stands directly in front of me, close enough to touch, framed by the brick of the rooftop hut. I have reached this doorway. I mark arriving here before turning away toward the wooden stepladder standing against the graffiti wall.", + "I am right up against the metal door, so nothing more is needed here and the painter's ladder stands back along the graffiti wall to my left. I will turn left to swing my view off the door slab and toward that open stretch of roof.", + "The brick pier still blocks much of my view, though the ladder's legs are just creeping in at the far left edge. Another left turn should bring the ladder clear of the doorway structure and into the center of my view.", + "The ladder now stands plainly against the graffiti wall, but it sits left of center while the doorway's brick corner still takes up the right side of my view. One more left turn should put the ladder straight ahead so I can walk directly at it.", + "The ladder is now centered ahead of me with clear paving between us and no obstacles in the lane. I will walk forward to close that gap.", + "The ladder has grown large in front of me but its feet and the paint cans beside it are still a couple of paces off. Another step forward should bring me right up beside it.", + "The ladder stands directly in front of me, close enough to touch its rails. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_d/infos.json b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf4179780a82455cdfd5726b0301fd11d8cba3a1 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_d/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Navigate to the stacked pallets, then proceed to the blue barrel.", + "Type": 3, + "Start_Pose": [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2401.885, + -56659.46, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2496.468, + -56742.494, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2591.05, + -56825.528, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2685.632, + -56908.562, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2685.632, + -56908.562, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2736.261, + -57023.789, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2736.261, + -57023.789, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2830.844, + -57106.823, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2925.426, + -57189.857, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + 8.72, + -0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + 33.72, + -0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + 58.72, + -0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + 83.72, + -0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + 108.72, + -0.0 + ], + [ + 3017.941, + -57242.411, + 2608.15, + 0.0, + 133.72, + -0.0 + ], + [ + 2930.955, + -57151.45, + 2608.15, + 0.0, + 133.72, + -0.0 + ], + [ + 2846.954, + -57106.651, + 2608.147, + 0.0, + 133.72, + -0.0 + ], + [ + 2846.954, + -57106.651, + 2608.147, + 0.0, + 108.72, + -0.0 + ], + [ + 2798.794, + -56997.922, + 2608.127, + 0.0, + 108.72, + -0.0 + ], + [ + 2798.794, + -56997.922, + 2608.127, + 0.0, + 83.72, + -0.0 + ], + [ + 2812.562, + -56872.818, + 2608.127, + 0.0, + 83.72, + -0.0 + ], + [ + 2812.562, + -56872.818, + 2608.127, + 0.0, + 58.72, + -0.0 + ], + [ + 2812.562, + -56872.818, + 2608.127, + 0.0, + 33.72, + -0.0 + ], + [ + 2902.537, + -56793.745, + 2608.15, + 0.0, + 33.72, + -0.0 + ], + [ + 2902.537, + -56793.745, + 2608.15, + 0.0, + 8.72, + -0.0 + ], + [ + 2902.537, + -56793.745, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2902.537, + -56793.745, + 2608.15, + 0.0, + -16.28, + 0.0 + ] + ], + "Rationale": [ + "From the rooftop I can pick out the stack of wooden pallets leaning against the brick wall just left of the small brick shed, with the blue barrel standing beyond it on the right. The pallets are my first destination and they sit well ahead across open deck, so I will walk forward to close that gap.", + "The pallet stack beside the shed has grown slightly larger, so my heading is carrying me toward it. Nothing blocks the paving between me and that corner, so I will keep walking forward.", + "The pallets are now clearly stacked in the recess left of the shed doorway, still some distance off. My path stays clear, so I will continue advancing toward them.", + "The brick shed now fills much of my view on the right while the pallets remain visible ahead beside the covered object. Another step forward should bring me closer to that corner before I adjust my heading.", + "The shed's brick corner has swung directly in front of me and the pallets have slipped toward the left edge of my view. I will turn left to bring the pallet stack back into the center of my heading before continuing.", + "With the shed edge now off to my right, the pallets stand clear ahead beside the tarp-covered object at the brick wall. The floor between us is open, so I will step forward to close on them.", + "My left turn has carried my heading a little past the pallets, which now sit to my right against the brick wall next to the covered heap. I will turn right to square up on that stack again.", + "The pallet stack is centered ahead beside the tarp-covered object, with the shed's brick corner cleared to my right. The way to it is open, so I will keep walking forward to reach it.", + "The stack of wooden pallets stands just ahead against the brick wall, with the tarp-covered heap crowding my left. The floor between me and the pallets is clear, so I will walk forward to close the remaining gap toward that stack.", + "The pallet stack now fills the middle of my view and the tarp has slid to my left edge, so I am nearly on top of it. One more step forward should bring me right up against the pallets.", + "The stacked pallets tower directly in front of me, close enough to touch, with their boards filling almost my whole view. I have reached the stacked pallets. I mark reaching them and turn my attention toward finding the blue barrel.", + "The pallets and the brick wall block nearly everything ahead, and no blue barrel is anywhere in this narrow view. I will pivot right to swing my gaze off the stack and onto the open rooftop.", + "The pallets have slid to my left and the open deck with its railing is opening up on the right, but I still see no blue barrel there. I will keep turning right to bring more of the rooftop into view.", + "Ahead is only the parapet, the water tank and the buildings beyond, with a dark brick structure entering at my right. Nothing barrel-like shows here, so I will turn right again to look past that structure.", + "The sloped brick structure now takes up the right half of my view and hides whatever lies behind it. Continuing my rightward sweep should carry my gaze around that wall toward the unseen part of the roof.", + "The brick wall has grown across most of my view and still no blue barrel is in sight along the open deck to my left. I will keep pivoting right to continue the sweep around this wall.", + "The dark brick face of this rooftop structure still fills my whole view, so I cannot see any barrel from here. Having marked the pallet stack, I keep rotating right to sweep my heading off this wall and toward the open deck beyond its corner.", + "The wall's edge has now come into view and open rooftop with pipework and distant skyline shows past it on my right. One more turn right should carry that open ground into the center of my view so I can search it for the blue barrel.", + "The wide roof deck is now open ahead of me with pipes, a vent stack and a compressor unit scattered across it, and the brick structure sits safely off to my left. No blue barrel is visible from this spot, so I will walk forward onto that deck to bring more of it into view.", + "The brick structure is sliding past on my left and the deck ahead stays clear all the way to the parapet. Another step forward should clear that corner completely and expose the part of the roof it is still hiding.", + "I am out in the open now, with a long pipe run and graffitied parapet to my left and only a pale tank at the right edge. Since nothing blue appears in the right half, I will turn left to face the pipe area and the ground beyond it.", + "Facing the pipe run and the graffitied wall, the deck between me and them is empty and walkable. I will step forward to close on that side of the roof, where more of the floor behind the pipes should become visible.", + "From here the pipes and the wall are laid out across my view, but I still see no blue barrel among them. Turning left should swing my view toward the unseen stretch of roof past the left end of the pipe run.", + "A drum now stands close on my left beside the brick corner, which suggests barrels are grouped along this side of the roof. I will walk forward across the open deck to get near that cluster and check whether the blue one is among them.", + "Straight ahead I only face the pipe runs and the graffitied parapet with the low sun washing out the view, and no blue barrel stands there. I will turn left to swing my heading onto the open part of the deck where drums are more likely to be standing.", + "The swing has opened up the wide roof deck and the tall pale building beyond it, but I still cannot pick out a blue drum in this heading. I will keep rotating left to bring the nearer left side of the roof into view.", + "Close on my left sits a rusted drum topped with a dark bucket, not the blue barrel I want, and the deck ahead of me is clear and walkable. I will step forward along it to reach the barrels grouped further along this side of the roof.", + "After that step the deck ahead is empty and the barrels I passed now sit off to my left, out of my forward view. I will turn left to bring that cluster back in front of me.", + "A pale barrel has appeared at the very left edge of my view, still cut off by the frame. I will turn left once more so it sits squarely in front of me and I can confirm it is the blue one.", + "The blue barrel stands directly in front of me, within arm's reach against the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_e/infos.json b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e80df0c686cd1002b9079dfa9a13cf7883fc288 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t3_e/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Move to the rusty barrel, then walk to the \"NYC\" graffiti.", + "Type": 3, + "Start_Pose": [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2401.885, + -56659.46, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2401.885, + -56659.46, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2522.698, + -56694.742, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2643.51, + -56730.024, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2764.323, + -56765.307, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2764.323, + -56765.307, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2764.323, + -56765.307, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2764.323, + -56765.307, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2764.323, + -56765.307, + 2608.15, + 0.0, + -91.28, + 0.0 + ], + [ + 2761.511, + -56891.134, + 2608.15, + 0.0, + -91.28, + 0.0 + ], + [ + 2758.7, + -57016.962, + 2608.15, + 0.0, + -91.28, + 0.0 + ], + [ + 2755.888, + -57142.79, + 2608.15, + 0.0, + -91.28, + 0.0 + ], + [ + 2773.101, + -57252.51, + 2608.15, + 0.0, + -91.28, + 0.0 + ], + [ + 2773.101, + -57252.51, + 2608.15, + 0.0, + -116.28, + 0.0 + ], + [ + 2780.954, + -57324.507, + 2608.15, + 0.0, + -116.28, + 0.0 + ], + [ + 2728.008, + -57391.008, + 2608.15, + 0.0, + -116.28, + 0.0 + ], + [ + 2728.008, + -57391.008, + 2608.15, + 0.0, + -116.28, + 0.0 + ] + ], + "Rationale": [ + "From this end of the rooftop I can pick out the rusty steel drum tucked against the brick stair housing ahead and slightly to my right, with the big NYC lettering painted on the wall to my left. The barrel is the closer of my two destinations, so I will walk forward to cut down the open span of paving between us.", + "The rusty drum and its companion container sit right of my heading, beside the bulkhead door, so walking straight ahead would carry me past them along the wall. I will turn right to bring the barrel closer to the centre of my view before continuing.", + "The rusty drum and the pale container beside it now sit near the middle of my view against the bulkhead wall, with clear paving between me and them. I will walk forward to close that gap.", + "The rusty barrel has grown noticeably and its ribbed metal side is now clearly readable beside the grey door. I am still several paces short of standing beside it, so I will keep walking forward.", + "The rusty drum now fills a good part of my left-forward view, close against the brick corner, but I am not yet right up beside it. One more step forward should bring me level with the barrel.", + "The rusty steel drum stands directly beside me, its corroded ribs filling my view against the brick corner, with the pale container next to it. I have reached the rusty barrel, and I mark arriving here before setting off for the NYC lettering painted on the brick wall behind me.", + "Standing at the rusty drum, my view is filled by the bulkhead brickwork and the tall building across the roof, with no painted lettering anywhere in front of me. The big NYC piece is on the wall back around to my left, so I will turn left to begin swinging my heading toward it.", + "The swing has brought the bulkhead corner and its grey door across my view, and beyond it I can see the far brick wall with its small painted decal, but the NYC lettering is still out of sight to my left. I will turn left again to keep bringing that wall into view.", + "Having marked the barrels behind me, I now need the painted lettering on the brick wall, and only its right edge shows at the far left of my view while the stairwell housing still blocks the right side. One more turn to the left should swing that graffiti into the center of my heading.", + "The rounded NYC lettering now sits squarely ahead on the brick facade with the stepladder and paint cans in front of it. My heading is clean, so I will walk straight in to close the open stretch of rooftop between us.", + "The lettering and the stepladder in front of it have grown noticeably, so my line of travel is carrying me directly onto the painted section of wall. Nothing blocks the deck ahead, so I keep walking forward.", + "The brick wall now fills most of my view and the painted letters sit just behind the ladder, but I am still several strides short of standing at them. I advance again to shorten that remaining gap.", + "Only the tail of the lettering is still ahead of me while the ladder has drifted to my left side, meaning I am nearly at the painted brick. One more step forward should bring me right up against it.", + "I am close against the brick, but the lettering has slid to the left edge of my view and I am mostly facing blank wall and the small screen decal. Turning left should bring the painted tag back to the middle of my heading.", + "The full NYC tag is now centered on the wall directly in front of me after that turn. I step forward to stand right at the painted brick.", + "The painted letters now dominate my view and the brick texture is close enough to read individual bricks, so I am nearly against the tag. A final short step should place me right at the graffiti.", + "The painted lettering fills my view at arm's length against the brick. I am at the graffiti, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t5_a_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45cd3b1cba71bd7e311257a40dce30b1cd3fcc65 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002307_y-056576_z002608_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the jerry can at the ladder leaning against the graffiti wall, then leave it near the metal door.", + "Type": 5, + "Start_Pose": [ + 2307.303, + -56576.426, + 2608.15, + 0, + -41.28, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2575.258, + -57189.5, + 2528.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2307.303, + -56576.426, + 2608.15, + 0, + -41.28, + 0 + ], + [ + 2307.303, + -56576.426, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2357.932, + -56691.652, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2408.561, + -56806.879, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2459.19, + -56922.106, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2509.819, + -57037.333, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2509.819, + -57037.333, + 2608.15, + 0.0, + -66.28, + 0.0 + ], + [ + 2509.819, + -57037.333, + 2608.15, + 0.0, + -41.28, + 0.0 + ], + [ + 2509.819, + -57037.333, + 2608.15, + 0.0, + -16.28, + 0.0 + ], + [ + 2509.819, + -57037.333, + 2608.15, + 0.0, + 8.72, + -0.0 + ], + [ + 2552.977, + -57070.266, + 2608.15, + 0.0, + 8.72, + -0.0 + ], + [ + 2677.199, + -57054.989, + 2608.15, + 0.0, + 8.72, + -0.0 + ], + [ + 2801.603, + -57035.909, + 2608.15, + 0.0, + 8.72, + -0.0 + ], + [ + 2730.435, + -57046.824, + 2608.15, + 0.0, + 8.72, + -0.0 + ], + [ + 2730.435, + -57046.824, + 2608.15, + 0.0, + 8.72, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2575.258, + -57189.5, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2575.258, + -57189.5, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2575.258, + -57189.5, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2575.258, + -57189.5, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2575.258, + -57189.5, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2575.258, + -57189.5, + 2528.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2529.123, + -57028.184, + 2578.257, + -28.202, + -16.136, + 1.862 + ], + [ + 2524.076, + -57020.158, + 2578.529, + -28.189, + 8.876, + 1.872 + ], + [ + 2516.28, + -57015.755, + 2577.862, + -28.215, + 33.847, + 1.849 + ], + [ + 2511.199, + -57010.268, + 2577.916, + -14.092, + 51.063, + 6.87 + ], + [ + 2549.414, + -57049.213, + 2577.742, + -28.211, + 58.854, + 1.852 + ], + [ + 2673.423, + -57033.966, + 2578.092, + -28.208, + 58.852, + 1.855 + ], + [ + 2797.562, + -57014.922, + 2578.523, + -28.19, + 58.876, + 1.871 + ], + [ + 2799.626, + -57036.211, + 2558.15, + 0.0, + 8.72, + -0.0 + ], + [ + 2799.626, + -57036.211, + 2558.15, + 0.0, + 8.72, + -0.0 + ] + ], + "PD_Dist_2D": [ + 669.1, + 669.1, + 543.2, + 417.4, + 291.5, + 165.6, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From here I can see the graffiti wall with the NYC tag and the stepladder leaning against it off to my left, with the red jerry can on the ground beside them. My body is currently facing the open rooftop and the metal door, so the can sits well off my forward path. I will turn left to bring the ladder and the jerry can closer to the center of my view before walking toward them.", + "The graffiti wall and the leaning stepladder are now roughly ahead of me, with the red jerry can on the ground at the ladder's base. The clear paved rooftop between us gives me an unobstructed lane, but the can is still far too distant to grasp. I will step forward to close that gap.", + "The ladder and the red jerry can beside it have grown noticeably larger, so my heading is carrying me straight toward the target. There is still a stretch of empty paving before I would be within arm's reach of the can. I will keep walking forward to shorten that remaining distance.", + "The red jerry can now stands clearly in front of me at the foot of the stepladder against the graffiti wall. I am close enough to see its handle and spout, but not yet close enough to reach down and take hold of it. Another step forward should place me directly over the can.", + "The jerry can fills a large part of my lower view now, sitting just left of the ladder legs against the wall. It still sits slightly beyond comfortable grabbing range, so one more short advance should bring it right at my feet. I will step forward before attempting the grasp.", + "The red jerry can is now directly in front of me at the base of the ladder, close enough that it dominates the lower portion of my view. This is the object named in the task, and nothing blocks my reach toward its handle. I will attempt to pick it up so I can carry it to the metal door.", + "The grasp worked: the jerry can is now held low in front of me, visible against the paving as I look down. The metal door I need to reach is behind me to the right, away from this graffiti wall I am facing. I will turn right to begin swinging my heading back toward the door.", + "I am holding the jerry can and my view has come back up to the ladder and the brick wall, with the rooftop opening out to the right. The metal door is not yet in front of me, so this heading would not lead to the drop point. I will turn right again to keep rotating toward the door side of the roof.", + "The metal door in its brick frame is now clearly in view but still sits right of my heading, with the pallets and covered crate off to the left. I will turn right once more to bring the door square in front of me before walking over with the can I am carrying. That should give me a straight path toward the doorway.", + "The grey metal door is now centered ahead of me with the barrel to its right, so my heading is good. I will step forward to close the remaining gap while keeping hold of the jerry can. A short advance should bring the doorway within dropping range.", + "The door frame has grown larger and stays centered, so I am on line but still several paces short of it. I will keep walking forward to carry the can nearer to the doorway. Another step should put me close enough for a placement.", + "The door now fills much of my view with its handle clearly visible, though there is still a little floor left between me and the threshold. I will advance once more so the can ends up right beside the metal door rather than short of it. This should place me at a suitable release spot.", + "I am right up against the metal door, with its surface and handle filling my view at arm's length. This is the intended delivery spot, so I will release the jerry can here so it rests near the door. The release should leave it on the ground beside the threshold.", + "The jerry can is resting on the ground directly at the metal door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f45d32d32ce2e90da6619541e3ef4679949523 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Locate the brick wall bearing the large \"NYC\" graffiti lettering and navigate over to it.", + "Type": 1, + "Start_Pose": [ + 2395.326, + -56526.572, + 2608.15, + 0.0, + 79.52, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2395.326, + -56526.572, + 2608.15, + 0.0, + 79.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 104.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 129.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 154.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 179.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -155.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -130.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -105.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -80.48, + 0.0 + ], + [ + 2416.142, + -56650.696, + 2608.15, + 0.0, + -80.48, + 0.0 + ], + [ + 2436.958, + -56774.822, + 2608.15, + 0.0, + -80.48, + 0.0 + ], + [ + 2457.774, + -56898.947, + 2608.15, + 0.0, + -80.48, + 0.0 + ], + [ + 2478.59, + -57023.073, + 2608.15, + 0.0, + -80.48, + 0.0 + ], + [ + 2499.406, + -57147.199, + 2608.15, + 0.0, + -80.48, + 0.0 + ], + [ + 2504.051, + -57263.002, + 2611.348, + 0.0, + -80.48, + 0.0 + ], + [ + 2504.051, + -57263.002, + 2611.348, + 0.0, + -55.48, + 0.0 + ], + [ + 2575.124, + -57366.846, + 2608.54, + 0.0, + -55.48, + 0.0 + ], + [ + 2575.124, + -57366.846, + 2608.54, + 0.0, + -55.48, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop I can see a long concrete wall ahead carrying \"BOOM\" and a winged heart tag, but none of it reads as the large \"NYC\" lettering I need. Since the wall surfaces continue out of view past the pipes on my right, I will turn right to begin a steady scan of the surrounding facades.", + "The winged heart tag is now centered on the brick wall in front of me, which confirms this stretch of wall is not the \"NYC\" piece. I will keep rotating right in the same direction so my scan stays consistent and reaches the wall sections still hidden behind the large pipe.", + "My view is now dominated by the big pipe running across the rooftop, with the heart tag sliding off to my left and open skyline opening up on the right. Nothing here shows the \"NYC\" lettering, so I will continue turning right to clear the pipe and expose the next facades.", + "The pipe still blocks much of the lower view and the buildings beyond are far away across the street, so no candidate wall is legible from here. I will hold the same rightward scan to bring the nearer rooftop structures into view.", + "A tall brick building with a fire escape has come into view on my right, and its broad brick face is exactly the kind of surface that could carry large graffiti. I will keep turning right to bring more of that building's wall into the center of my view.", + "The brick facade now fills the right side of my view and I can make out dark lettering beginning at its far edge, a strong sign that painted tags continue along this wall. I will continue turning right to bring that lettered section fully into view.", + "I can now read \"BRONX\" and \"Crowe 4-Life\" painted across this brick wall, so this is clearly the tagged facade, though the \"NYC\" piece is not yet in view. I will turn right once more to follow the wall further along and check the section beyond these tags.", + "The large outlined \"NYC\" lettering is now visible on this brick wall to the right of the \"BRONX\" tag, with a ladder and paint cans set beneath it. I will turn right once more to place that lettering closer to the center of my heading before walking toward it.", + "The large \"NYC\" graffiti is now clearly visible on the brick facade ahead of me, slightly right of center beside the \"Crowe 4-Life\" tag. The rooftop deck between me and that wall looks open, with the air conditioning units and ladder off to the sides. I will walk forward to close the considerable distance to the lettering.", + "The graffiti wall has grown noticeably larger in view, confirming that my heading is carrying me toward the target. The paint cans, stool and ladder sit near the base of the lettering, but nothing blocks the lane straight ahead of me. I will keep walking forward to reduce the remaining gap.", + "The \"NYC\" piece is centered a little right of my view and the brick texture is resolving clearly, so I am still well aligned with the target wall. There is still open rooftop between me and the base of the wall. I will continue walking forward toward it.", + "The lettering now fills a large part of my view and the ladder leaning against the wall stands just to the right of the letters. My straight path is still clear, with the paint cans and bricks resting low against the wall base. I will step forward again to get closer to the graffiti.", + "I am close enough now that individual bricks and the outline of the \"NYC\" letters are sharp in front of me. A short stretch of rooftop still separates me from the wall face. I will advance again to stand directly at the graffiti.", + "The \"NYC\" tag dominates my view and my own shadow is cast on the bricks, so I am nearly at the wall. Only a short step of open ground remains before the spray cans and bricks at the base. I will take one more step forward to close in on the lettering.", + "I am now right up against the brick wall, but at this range only the \"N\" and part of the \"Y\" fall in my view, with the rest of the tag running off to the right. Rotating right should bring the whole \"NYC\" lettering back into the middle of my view for a cleaner final approach. I will turn right to recenter on the graffiti.", + "The full \"NYC\" piece is now framed squarely in front of me on the brick wall after the turn. I am very close, with only a narrow strip of rooftop visible at the bottom of my view. I will step forward once more to finish arriving at the graffiti wall.", + "The NYC graffiti lettering fills my view at arm's length on the brick wall directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a9e84ddb5f09edacc1a415097accab0a5b6cb53b --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search for the A-frame shaped ladder standing near the NYC graffiti on the wall, then make your way to it.", + "Type": 1, + "Start_Pose": [ + 2395.326, + -56526.572, + 2608.15, + 0.0, + 79.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2395.326, + -56526.572, + 2608.15, + 0.0, + 79.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 54.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 29.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 4.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -20.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -45.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -70.48, + 0.0 + ], + [ + 2437.38, + -56645.196, + 2608.15, + 0.0, + -70.48, + 0.0 + ], + [ + 2479.434, + -56763.821, + 2608.15, + 0.0, + -70.48, + 0.0 + ], + [ + 2521.488, + -56882.446, + 2608.15, + 0.0, + -70.48, + 0.0 + ], + [ + 2558.04, + -56963.584, + 2608.15, + 0.0, + -70.48, + 0.0 + ], + [ + 2610.506, + -56994.398, + 2608.15, + 0.0, + -70.48, + 0.0 + ], + [ + 2652.589, + -57113.012, + 2608.15, + 0.0, + -70.48, + 0.0 + ], + [ + 2652.589, + -57113.012, + 2608.15, + 0.0, + -70.48, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop I can see a concrete wall with graffiti reading BOOM and a winged heart, but no NYC tag and no A-frame ladder anywhere in front of me. I will turn left to begin a steady scan of the surrounding rooftop surfaces for the NYC lettering that should mark the ladder's location.", + "The new heading only brings a tall office block and more pipe runs into view, with the same BOOM graffiti still on the far concrete wall and no A-frame ladder. I will keep turning left in the same direction to continue sweeping toward unseen parts of the roof.", + "This heading is dominated by the large pale building across the street and the pipe line, with no NYC graffiti or ladder in sight. I will continue the left sweep to bring the still unexamined side of the rooftop into view.", + "Now I see antennas, barrels and a brick parapet on the left edge, which hints at a working area of the roof, but the ladder is not yet visible. I will turn left again to bring that brick side wall fully into view.", + "The brick building wall with a doorway and stacked barrels is now in front of me, and its painted surface continues off to the left where I still cannot see. I will turn left once more to expose the rest of that brick facade where graffiti is likely to be.", + "The NYC graffiti is now clearly visible on the brick wall and the A-frame ladder is standing right beside it, slightly left of my current heading. I will turn left once more to center the ladder before walking toward it.", + "The A-frame ladder is now near the middle of my view, standing against the brick wall beside the NYC graffiti, with clear open roof between us. I will walk forward to close the sizeable distance to it.", + "The ladder and the NYC lettering have grown larger, confirming I am heading straight at the target. I will keep walking forward since I am still several paces short of standing at the ladder.", + "The A-frame ladder is standing right against the NYC graffiti on the brick wall ahead, slightly right of my heading, so the target is confirmed. There is still open roof deck between me and it, so I will keep walking straight to close the gap.", + "The ladder and the NYC lettering now fill more of my view, confirming I am steadily closing on the target. My path along the paving is still unobstructed, so another forward step should bring me nearer without needing to turn.", + "The ladder is now large and centered ahead with the graffiti directly behind it, but I am still a few paces short of standing beside it. I will step forward again to reduce that remaining distance.", + "The ladder legs and the bucket beside them are close now, yet a short stretch of paving still separates me from it. One more forward step should place me right at the ladder against the graffiti wall.", + "The A-frame ladder fills my view at arm's length in front of the NYC graffiti. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_c/infos.json b/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e088336d59761aa1ba4ac06967b70f58ba0bb33 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Determine where the small dark utility door sits on the rooftop structure beneath the triangular roof and near the power line pole; once found, go to it.", + "Type": 1, + "Start_Pose": [ + 2395.326, + -56526.572, + 2608.15, + 0.0, + 79.52, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2395.326, + -56526.572, + 2608.15, + 0.0, + 79.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 104.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 129.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 154.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 179.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -155.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -130.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -105.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -80.48, + 0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -55.48, + 0.0 + ], + [ + 2466.649, + -56630.269, + 2608.15, + 0.0, + -55.48, + 0.0 + ], + [ + 2466.649, + -56630.269, + 2608.15, + 0.0, + -30.48, + 0.0 + ], + [ + 2575.116, + -56694.11, + 2608.15, + 0.0, + -30.48, + 0.0 + ], + [ + 2683.582, + -56757.95, + 2608.15, + 0.0, + -30.48, + 0.0 + ], + [ + 2792.048, + -56821.79, + 2608.15, + 0.0, + -30.48, + 0.0 + ], + [ + 2792.048, + -56821.79, + 2608.15, + 0.0, + -55.48, + 0.0 + ], + [ + 2828.267, + -56905.632, + 2608.095, + 0.0, + -55.48, + 0.0 + ], + [ + 2828.267, + -56905.632, + 2608.095, + 0.0, + -55.48, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop I face a low concrete parapet with graffiti and a ladder, with large pipes running across the deck, but I see no small structure with a triangular roof or any power line pole. Nothing here matches the utility door I need, so I will turn right to begin a steady scan of the rest of the roof.", + "The view now shows the brick parapet and a water tank beyond it, with a thick pipe dominating the near foreground and still no small utility structure. I will keep rotating right in the same direction to bring more of the rooftop into view.", + "This heading looks out over the city skyline and distant rooftops, so the near deck offers no candidate structure. Continuing the same rightward scan should swing my view toward the parts of this roof I have not inspected yet.", + "A metal footbridge and stairs appear ahead with tall buildings behind, but there is still no small shed-like structure or power line pole in sight. I will maintain the rightward rotation to keep sweeping consistently around the roof.", + "The tall brick building with fire escapes now fills the right side of my view, and an air conditioning unit sits at its base, which suggests the utility side of the roof lies further right. I will continue turning right to follow that wall and look for the structure described in the task.", + "Facing the brick wall I see graffiti and two condenser units on the deck, service equipment that hints the roof access point should be along this same face. I will keep turning right to reveal the section of wall still hidden beyond the edge of my view.", + "Now the wall shows a ladder, paint cans and pipes stacked against it, more signs of a maintenance area, yet the small door with a triangular roof is not visible yet. I will turn right again to uncover the rooftop corner just past the current edge of my view.", + "At the right edge of my view a brick structure with a dark recessed opening has just come into sight beyond the ladder and stacked materials. I will turn right once more to bring that likely utility doorway toward the center of my view.", + "Along the brick wall ahead I can now make out the right edge of a low structure with a dark recessed opening at the far right of my view, which fits the small utility door I am looking for. I will continue turning right by one more increment to bring that structure and its doorway toward the center of my view.", + "The small brick structure with its dark gray door is now clearly in view to the right of center, tucked under a sloped roofline with an antenna mast rising just behind it, matching the pole cue in my task. It still sits well across the roof deck, so I will walk forward to close the distance before refining my heading.", + "After advancing, the utility door has drifted toward the right side of my view rather than sitting straight ahead of me. I will turn right one increment to put the doorway closer to my forward axis so my next steps carry me directly at it.", + "The gray door under the sloped roof is now roughly centered ahead of me, with the barrels stacked beside it on the right. The distance is still several strides, so I will walk forward to close in on the doorway.", + "The utility door and its brick surround now fill more of my view, confirming I am closing on the right structure beneath the triangular roof. I am still short of arriving at the doorway, so I will keep walking forward.", + "The doorway is close now, sitting slightly left of my heading with the brick corner and barrels crowding the right side of my view. One more step forward should bring me alongside the structure and within reach of the door.", + "I am now right up against the brick corner of the structure, with the wall and barrels dominating my view and only a sliver of the gray door visible at the far left. I will turn left to swing the doorway back into the center of my view.", + "The gray utility door is back in view with its handle and recessed brick frame clearly visible just ahead and slightly left. A short step forward should place me directly at the door, close enough to count as reaching it.", + "The dark utility door with its metal handle fills my view at arm's length inside the brick frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_d/infos.json b/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..497040c4d177caa43817b06b7c1b55a2e6ba33e5 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002395_y-056527_z002608_t1_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Find the pair of barrels, one blue and one brick-colored, sitting together on the rooftop, and navigate to their position.", + "Type": 1, + "Start_Pose": [ + 2395.326, + -56526.572, + 2608.15, + 0.0, + 79.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2395.326, + -56526.572, + 2608.15, + 0.0, + 79.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 54.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 29.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + 4.52, + -0.0 + ], + [ + 2395.326, + -56526.57, + 2608.15, + 0.0, + -20.48, + 0.0 + ], + [ + 2513.23, + -56570.606, + 2608.15, + 0.0, + -20.48, + 0.0 + ], + [ + 2631.134, + -56614.642, + 2608.15, + 0.0, + -20.48, + 0.0 + ], + [ + 2749.038, + -56658.677, + 2608.15, + 0.0, + -20.48, + 0.0 + ], + [ + 2866.942, + -56702.713, + 2608.15, + 0.0, + -20.48, + 0.0 + ], + [ + 2866.942, + -56702.713, + 2608.15, + 0.0, + -45.48, + 0.0 + ], + [ + 2955.189, + -56792.451, + 2608.15, + 0.0, + -45.48, + 0.0 + ], + [ + 2955.189, + -56792.451, + 2608.15, + 0.0, + -45.48, + 0.0 + ] + ], + "Rationale": [ + "From my starting spot on the rooftop I only see pipe runs, a graffiti wall with a ladder, and the low sun ahead, with no barrels anywhere in view. I will turn left to begin a steady scan of the rest of the roof for the blue and brick-colored pair.", + "The new heading shows more pipe supports and a tall office block beyond the roof edge, but still no barrels. I will keep rotating left in the same direction so the scan stays consistent and covers the unseen part of the rooftop.", + "I still see mostly the long pipe running across the roof deck and the pale building across the way, with no barrels in this sector. I will continue turning left to sweep the remaining rooftop area that is still hidden from me.", + "Now I can see a brick-colored barrel and a blue barrel standing together near the low wall at the far left of my view. I will turn left once more to bring that pair closer to the center of my heading before advancing.", + "The blue and brick-colored barrels are now clearly ahead and slightly left, beside the brick wall and its doorway. The floor between us looks clear, so I will walk forward to close the distance toward them.", + "The two barrels have grown larger in my view, confirming I am closing on them along the brick wall. I will keep walking forward since the path stays open and they are still some distance away.", + "The brick-colored and blue barrels are noticeably closer now at my left, with the small canister perched beside them. I will advance again to reach a position right next to the pair.", + "The barrels now fill much of the left side of my view, so only a short gap remains between me and them. I will step forward once more to draw level with their position.", + "The blue barrel is now close but sitting at the far left edge of my view, with the brick-colored one hidden behind the wall corner on that side. I will turn left to bring the barrel pair back into the center of my heading before closing the last bit of distance.", + "Both barrels are now centered in front of me, the brick-colored one on the left and the blue one beside it against the brick wall. They are only a short step away, so I will walk forward to close the remaining gap and stand at their position.", + "The blue barrel fills the near foreground with the brick-colored one right beside it at arm's length. The target pair has been reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c7c5dcdcfe0c384a43998c811a8cf4425bc8ffdc --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the metal door set into the red brick building with the word \"STREET\" painted on its facade, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -160.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -160.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 174.52, + -0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 149.52, + -0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 124.52, + -0.0 + ], + [ + 2390.607, + -54318.27, + 2943.15, + 0.0, + 124.52, + -0.0 + ], + [ + 2319.284, + -54214.571, + 2966.0, + 0.0, + 124.52, + -0.0 + ], + [ + 2247.96, + -54110.872, + 2923.15, + 0.0, + 124.52, + -0.0 + ], + [ + 2176.637, + -54007.174, + 2923.15, + 0.0, + 124.52, + -0.0 + ], + [ + 2124.924, + -53903.397, + 2923.15, + 0.0, + 124.52, + -0.0 + ], + [ + 2080.512, + -53799.79, + 2944.967, + 0.0, + 124.52, + -0.0 + ], + [ + 2080.512, + -53799.79, + 2944.967, + 0.0, + 149.52, + -0.0 + ], + [ + 2080.512, + -53799.79, + 2944.967, + 0.0, + 149.52, + -0.0 + ] + ], + "Rationale": [ + "From this open rooftop I can see parapets, water towers and distant facades, but no metal door anywhere in front of me. The nearest strong cue is the dark brick wall with graffiti at the far left edge of my view, so I will turn left to bring that structure into sight. That painted brick surface is the most likely place to find a door set into a red brick facade.", + "The brick structure with the heart and lettering graffiti is now clearly on the left side of my view, but I only see its blank side wall and no doorway yet. Continuing the same leftward scan should swing the rest of that building into view, including any face that carries a door. I will turn left again rather than reverse direction and lose the cue.", + "I can now see the red brick rooftop structure with the word STREET painted on it, and a pale metal door set into that facade on its left-hand face. The target sits well to the left of my heading, so one more left turn should place it closer to the center of my path. That would give me a clean straight approach across the open roof deck.", + "The metal door and the STREET lettering are now roughly ahead of me on the brick facade, with unobstructed rooftop paving in between. Since the target is identified and my heading points at it, I will step forward to close the distance. Nothing blocks the direct line except the small table set against the wall further along.", + "The brick facade has grown noticeably larger and the metal door remains slightly left of my forward path, so my heading is still good. I will keep walking forward to shorten the remaining gap to the doorway. The paving ahead stays open and level.", + "The STREET graffiti and the metal door are clearly resolved now, with the wooden table standing against the wall to the right of the door. My path toward the door is still clear along the left side of that table, so I will continue forward. Each step brings the doorway closer to a workable standing position.", + "The door is close enough now that I can make out its frame and the blue bag on the ground beside it, while the table and bottles sit off to my right. I am still short of a comfortable standing distance from the doorway, so I will step forward again. The line ahead past the table remains walkable.", + "The brick wall with the large STREET lettering now fills much of my view and the metal door sits just ahead on the left, close to arm's reach. One more forward step should bring me right up beside the doorway rather than leaving me short of it. The debris and the table remain to my right and do not block that step.", + "The metal door set into the red brick wall is now clearly on my left, with the large painted \"STREET\" lettering spanning the bricks beside it, so the target is confirmed. The floor ahead along the wall is clear apart from the bag resting near the doorway, so I will step forward again to close the last stretch of distance to the door.", + "I am now right alongside the metal door, which sits at the very left of my view with its frame and handle close enough to read, and the brick facade fills the rest of the frame. Walking on would carry me past the doorway rather than toward it, so I turn right to settle square against the lettered facade at my stopping position beside the door.", + "The lettered red brick facade fills my view with the metal door's frame immediately at my left. The target has been found and reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6bf1c7f7f4c267fcab5820a61f59e1415ec525a7 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Search for the single blue trash bag beside the light-colored metal door in the red brick rooftop structure, then approach it.", + "Type": 1, + "Start_Pose": [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -160.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -160.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -135.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -110.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -85.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -60.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -35.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -10.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 14.52, + -0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 39.52, + -0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 64.52, + -0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 89.52, + -0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 114.52, + -0.0 + ], + [ + 2409.698, + -54307.46, + 2943.15, + 0.0, + 114.52, + -0.0 + ], + [ + 2357.465, + -54192.952, + 2966.781, + 0.0, + 114.52, + -0.0 + ], + [ + 2305.232, + -54078.443, + 2957.858, + 0.0, + 114.52, + -0.0 + ], + [ + 2252.999, + -53963.934, + 2923.15, + 0.0, + 114.52, + -0.0 + ], + [ + 2200.767, + -53849.426, + 2923.15, + 0.0, + 114.52, + -0.0 + ], + [ + 2148.534, + -53734.917, + 2923.15, + 0.0, + 114.52, + -0.0 + ], + [ + 2096.301, + -53620.409, + 2923.15, + 0.0, + 114.52, + -0.0 + ], + [ + 2054.043, + -53506.038, + 2923.15, + 0.0, + 114.52, + -0.0 + ], + [ + 2054.043, + -53506.038, + 2923.15, + 0.0, + 114.52, + -0.0 + ], + [ + 2054.043, + -53506.038, + 2923.15, + 0.0, + 114.52, + -0.0 + ] + ], + "Rationale": [ + "From this rooftop I can see an open deck, a parapet wall, and distant water towers, but no red brick structure with a light metal door or any blue trash bag. The area to my right is still unseen, so I will turn right to begin a consistent scan of the surroundings. This should bring new portions of the roof into view.", + "The new heading reveals a tall salmon-colored building with a fire escape and water tower, but still no light-colored metal door or single blue bag on this deck. Continuing the same rightward sweep keeps the scan systematic instead of skipping sectors. I will turn right again to expose the next slice of the rooftop.", + "Ahead I see the neighboring building's flat facade and a low grey structure edging into the right side of my view, but no red brick wall with a metal door. That grey block may hide part of the roof behind it, so I keep sweeping in the same direction. I will turn right once more.", + "The pale angled rooftop structure now dominates the center and blocks much of what lies beyond it, and I still have not found the light metal door or a lone blue bag. Maintaining the same rotation direction should carry my gaze past this obstruction. I will turn right again.", + "Past the pale structure I can now see refuse against its base at the lower right, including sacks and canisters, which is a promising sign of a trash drop area. However the wall beside them is pale block, not the red brick with a light metal door I need. I will keep turning right to see these bags and the surrounding walls more clearly.", + "Now I clearly see a yellow sack alongside a blue one against the pale block wall, but these sit as a pair with no metal door in sight, so they do not match the single blue bag by a light door in red brick. The roof continues open to the right toward more distant structures. I will turn right again to keep scanning for the correct red brick wall.", + "With those paired bags now falling to my left edge, the view opens onto a wide empty stretch of roof with skylights and a vent, and no red brick doorway yet. The unexplored sector further right remains the best place to keep looking. I will continue turning right.", + "Ahead is only open rooftop with skylights, a small vent, and air conditioning units near the right, with no red brick structure or light metal door visible. Rotating in the same steady direction keeps my coverage complete without backtracking. I will turn right again to reveal the next portion of the roof.", + "Facing into the low sun, I only see open rooftop deck, a vent pipe, skylights and a pair of condenser units, with no red brick structure or light metal door anywhere in this arc. Nothing here matches the trash bag I am looking for, so I will keep rotating right in the same consistent direction to sweep the remaining unseen part of the roof.", + "The view is still dominated by bare roof surface, skylights and a condenser unit against distant apartment blocks, with strong sun glare and no sign of a doorway or bagged refuse. Since the target area has not appeared yet, I will turn right again to bring the next unscanned sector of the rooftop into view.", + "A brick rooftop structure with graffiti and a light-colored metal door has now come into view at the right edge, and a small bluish object sits on the deck near the base of that door. That matches the cue I need, so I will turn right once more to bring the door and the bag closer to the center of my view before advancing.", + "The brick rooftop structure is now squarely ahead and slightly right, with its light metal door and a single blue bag resting on the deck just left of the doorframe. The path across the roof toward it looks clear, so I will walk forward to close the long distance to that bag.", + "The metal door and the blue bag beside it have grown noticeably larger, confirming I am heading straight at the right structure. The deck ahead is still open, so I will keep walking forward to reduce the remaining gap.", + "The graffitied brick wall now fills the right half of my view, and the single blue bag is clearly visible on the ground at the left edge of the light metal door. I am still several strides away, so I will continue forward along the same line.", + "The blue bag beside the door is now clearly a single sack sitting against the wall, and it stays consistently ahead of me as I advance. I will step forward again to keep closing the remaining distance to it.", + "The light-colored metal door and the blue bag at its left side are close enough now that I can make out the bag's folds and a small can beside it. A few more steps should bring me right up to it, so I will keep walking forward.", + "The single blue trash bag is clearly visible at the base of the light-colored metal door set into the red brick rooftop structure, slightly left of my heading. It is still several paces away, so I will keep walking straight ahead to close the remaining distance.", + "The blue bag and the metal door now fill much more of my view, confirming I am closing on the target. I will step forward again to bring the bag within immediate reach.", + "The blue trash bag sits just ahead at the corner of the brick wall beside the metal door, close to the bottom of my view. One more short step forward should place me right beside it.", + "I am now standing right at the brick corner and the bag has dropped nearly out of the bottom of my view, with only a sliver of it visible below the wall. Tilting my gaze down should bring the blue bag fully into view to confirm I am beside it.", + "The single blue trash bag lies directly at my feet against the brick wall beside the metal door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_c/infos.json b/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..452aacf3f5c3fdcae04cb1a6a68775a4fd5d9ff0 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002462_y-054422_z002943_t1_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Look around for a small wooden table placed along the rooftop edge, and after identifying it, walk over to it.", + "Type": 1, + "Start_Pose": [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -160.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + -160.48, + 0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 174.52, + -0.0 + ], + [ + 2461.931, + -54421.969, + 2943.15, + 0.0, + 149.52, + -0.0 + ], + [ + 2353.465, + -54358.128, + 2967.787, + 0.0, + 149.52, + -0.0 + ], + [ + 2244.999, + -54294.288, + 2923.15, + 0.0, + 149.52, + -0.0 + ], + [ + 2244.999, + -54294.288, + 2923.15, + 0.0, + 124.52, + -0.0 + ], + [ + 2173.675, + -54190.589, + 2923.15, + 0.0, + 124.52, + -0.0 + ], + [ + 2102.352, + -54086.89, + 2923.15, + 0.0, + 124.52, + -0.0 + ], + [ + 2102.352, + -54086.89, + 2923.15, + 0.0, + 124.52, + -0.0 + ] + ], + "Rationale": [ + "From here I see an open stretch of rooftop with a low parapet and some vents, but no small wooden table anywhere in this view. The left edge of my view is cut off by a dark brick wall and railing, so unscanned rooftop likely continues that way. I will turn left to sweep that hidden side of the roof.", + "Turning has brought the tall brick structure and more of the parapet into view, yet I still cannot see any small wooden table. Open rooftop keeps extending beyond the left side of the wall, so the scan is not finished. I will continue turning left in the same direction to reveal that remaining area.", + "Now I can see a small wooden folding table with bottles on it, set against the brick wall near the rooftop edge on the left side of the roof. The path across the open concrete toward it is clear. I will walk forward to close the distance to that table.", + "The wooden table beside the brick wall is noticeably larger in view, so my forward motion is closing the gap. It is still some distance away across open roof deck with nothing blocking me. I will keep walking forward toward it.", + "The wooden table now sits well over on the left side of my view while my heading points along the brick facade past it. I need to face it more directly before advancing further. I will turn left to bring the table toward the center of my view.", + "The turn has brought the small wooden table with its bottles into a more central position ahead of me along the wall. The floor between us is clear concrete. I will walk forward to close in on it.", + "The wooden table and the bottles on it are clearly ahead and close, standing against the brick wall. I am still a step or two short of being right beside it. I will move forward once more to arrive at the table.", + "The small wooden table with its bottles is directly in front of me, within arm's reach against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6eeb1c5e5c3b54509001b03c1041e09e7fcba323 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Walk to the wooden step ladder, then approach the rusty metal barrel.", + "Type": 3, + "Start_Pose": [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2557.555, + -56650.889, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2586.295, + -56773.423, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2615.035, + -56895.956, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2643.775, + -57018.49, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + 48.2, + -0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + 73.2, + -0.0 + ], + [ + 2708.892, + -57020.537, + 2608.15, + 0.0, + 73.2, + -0.0 + ], + [ + 2745.27, + -56900.049, + 2608.15, + 0.0, + 73.2, + -0.0 + ], + [ + 2745.27, + -56900.049, + 2608.15, + 0.0, + 48.2, + -0.0 + ], + [ + 2745.27, + -56900.049, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2745.27, + -56900.049, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2829.484, + -56898.023, + 2608.096, + 0.0, + -1.8, + 0.0 + ], + [ + 2829.484, + -56898.023, + 2608.096, + 0.0, + -1.8, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the rooftop I can see the wooden step ladder standing against the graffiti wall ahead of me, and the rusty barrels sit far off to my right beyond the brick shed. The ladder is the closer destination, so I will walk straight toward it. My heading already points at it, so no turn is needed yet.", + "The step ladder has grown larger and stays near the center of my view, so my heading is still good. I will keep walking forward to close the remaining distance to it.", + "The ladder, the paint cans and the bucket beside it are now clearly resolved just ahead of me, with nothing blocking the flat rooftop between us. Another step forward should bring me appreciably nearer to it.", + "The wooden ladder now dominates my view and its feet are only a short distance away on the concrete. I will step forward again to stand right beside it.", + "I am nearly at the ladder, with its rails and top step filling the middle of my view against the brick. One more step should place me directly at it rather than a pace short.", + "The wooden step ladder now towers directly in front of me, its rails and paint-stained top within arm's reach of the graffiti wall. I have reached it. I mark arriving here, and next I am heading for the rusty metal barrel standing at the far side of the roof.", + "Standing this close, the ladder and the brick wall block almost everything ahead, and the rusty barrel lies off to my right past the shed. I will turn right to swing my view away from the wall and start bringing that side of the roof in front of me.", + "The turn has cleared the ladder to my left edge, but I now face the covered object and the stacked pallets along the same brick wall, with no barrel in sight yet. I will keep turning right to continue sweeping toward the open side of the roof.", + "Having reached the wooden step ladder, I am now swinging my heading away from that brick wall toward the open part of the roof. Ahead I only see the covered heap, stacked pallets and the side of the brick outbuilding, not the rusty barrel. I keep pivoting right to bring the far corner of the roof into view.", + "The pallets have slid to my left and the brick outbuilding with its grey door now dominates the right of my view, so my heading is still short of where the barrels stand. Another step of rotation to the right should carry my gaze past that structure toward the open roof beyond it.", + "Now the outbuilding sits squarely in front of me, its grey door and brick corner blocking the stretch of roof I want to reach. The rusty barrel is not yet in sight, so I continue rotating right to look past the near corner of this structure.", + "The outbuilding has moved to my left and a wide sunlit stretch of roof with pipes and a graffiti wall opens on my right. I turn right once more to place that open lane straight ahead so I can walk along it toward the barrels.", + "My heading is now down the open rooftop, with the brick outbuilding close on my left and a rust colored drum just visible at its base. Nothing blocks the ground in front of me, so I step forward to close the gap toward that side of the building.", + "The rusty metal barrel is now clearly showing at my left, tucked against the brick wall, and it is still slightly ahead of me rather than beside me. I take another step forward to draw level with it before facing it.", + "Walking on has carried the rusty barrel out of my forward view, leaving only the open roof, pipes and the graffiti wall in front of me. The barrel lies off to my left now, so I rotate left to bring it back into the center of my view.", + "The rusty barrel with the drum resting on it has come back into view, but it sits at the far left edge rather than in front of me. I turn left again to square my heading onto it before stepping in.", + "The rusty metal drum with the grey pail on top now sits low in the left part of my view, still off my heading and partly hidden by the brick corner. One more turn to the left should swing it toward the middle of my view so I can walk straight in.", + "The rusty drum with its grey pail is now centred ahead of me beside the brick corner, with clear open roof between us. I will step forward to close the last of that gap and stand right at it.", + "The rusty metal barrel fills the near view right in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df1afd4c84e2eb8bcc943bf014b64165f86fe24f --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Head toward the air conditioning unit, then reach the blue barrel.", + "Type": 3, + "Start_Pose": [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2528.815, + -56528.355, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2503.077, + -56651.555, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2477.34, + -56774.754, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -126.8, + 0.0 + ], + [ + 2376.209, + -56998.733, + 2608.15, + 0.0, + -126.8, + 0.0 + ], + [ + 2376.209, + -56998.733, + 2608.15, + 0.0, + -126.8, + 0.0 + ], + [ + 2431.559, + -56924.745, + 2608.15, + 0.0, + -126.8, + 0.0 + ], + [ + 2431.559, + -56924.745, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2431.559, + -56924.745, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2431.559, + -56924.745, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2431.559, + -56924.745, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2431.559, + -56924.745, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2431.559, + -56924.745, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2547.241, + -56875.164, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2662.922, + -56825.583, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2778.604, + -56776.002, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2778.604, + -56776.002, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2904.4, + -56779.955, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2904.4, + -56779.955, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2904.4, + -56779.955, + 2608.15, + 0.0, + -26.8, + 0.0 + ] + ], + "Rationale": [ + "From here the boxy air conditioning unit sits far off at the left edge of the rooftop, while the blue barrel stands away to my right past the brick shed. Since the cooling unit is the place I want first, I will turn left to bring it into the middle of my view before walking.", + "The two pale air conditioning units now sit ahead of me along the graffiti wall, roughly centred in my path. The open roof deck between us is clear, so I will walk forward to cut down that distance.", + "The air conditioning units have grown noticeably larger and now sit low and left of centre, confirming my heading is carrying me toward them. Nothing blocks the deck ahead, so I will keep walking to close the gap.", + "The nearer cooling unit with the STREET tag on its casing is now close on my left, and the wall behind it fills much of my view. A few more paces should put me alongside it, so I will step forward again.", + "The air conditioning unit has slid to the left edge of my view while my heading points at the bare brick wall ahead. Turning left should swing the unit back in front of me so I can walk straight up to it.", + "Both cooling units are now squarely in front of me, the nearer one only a short walk away with clear paving between. I will step forward to bring myself right up against it.", + "The ribbed metal casing of the air conditioning unit fills the bottom of my view, its grille and fan cover an arm's length away. I have reached the cooling unit, and I mark reaching it before turning back across the roof toward the blue barrel by the shed.", + "The cooling unit is pressed right up against me and blocks the lower half of my view, leaving no room to swing around cleanly. Backing up a step should open enough space to pivot toward the far side of the roof where the blue barrel stands.", + "I have already reached the air conditioning unit, and now the brick wall and the fire escape fill nearly all of my view, with no blue barrel anywhere in sight. Turning right should begin sweeping my gaze away from this wall and across the open roof deck where a barrel is more likely to stand.", + "The sweep has moved the air conditioning unit to my left edge, but I am still looking straight at brick, graffiti and paint cans. No barrel has entered the view yet, so I will keep rotating right to bring more of the roof around.", + "The ladder and the painted lettering still block the whole width of my view, so this heading offers nothing to walk toward. Another turn to the right should carry my gaze past the corner of the building and onto the open part of the roof.", + "The roof is finally opening up on my right, with a vent pipe and taller buildings beyond the parapet coming into view. I will turn right again to bring that open stretch in front of me instead of the wall.", + "A brick stair hut with a metal door now sits ahead, and a rusty drum with a canister on top stands beside it. That drum is not blue, so I will keep turning right to expose the roof area past the hut.", + "The doorway is centered and the drums beside it sit slightly left, while the walkable roof runs off to my right. One more right turn should place that open stretch and the drums in a line I can walk along.", + "I am now facing down the open roof with the stair hut and its drums along my left and clear paving straight ahead. Nothing blocks this line, so I will walk forward to close on the containers grouped by the brick wall.", + "The rusty drum by the brick wall is noticeably nearer on my left, and a paler container stands tucked beside it. The path ahead is still open, so I will keep walking forward to bring that cluster within reach and pick out the blue barrel.", + "The drums standing against the low brick wall are still off to my left and slightly ahead, so open deck remains between us. I will keep walking forward across the roof to draw level with that cluster before angling in toward it.", + "Walking straight has pushed the barrels almost out of the left border of my view, leaving only a sliver of the rusted drum visible. I will turn left so the cluster, and the pale blue barrel with it, comes back in front of me.", + "The blue barrel is now clearly in view on my left, standing beside the rusted drum and the grey can against the brick wall. A short stretch of deck still separates me from it, so I will step forward to close that gap.", + "I am now right alongside the blue barrel, but it has slipped to the very left edge of my view and is cut off. I will turn left to bring it squarely in front of me at this close range.", + "The blue barrel stands directly in front of me, close enough to touch against the brick wall. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_c/infos.json b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d685782e760d9a7a5c7311dbc3c35fecf86e9b0 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the grey ventilation pipe on the ground, then move to the wooden ladder.", + "Type": 3, + "Start_Pose": [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2557.555, + -56650.889, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2586.295, + -56773.423, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2586.295, + -56773.423, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2560.557, + -56896.622, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2560.557, + -56896.622, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2523.174, + -56979.357, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2523.174, + -56979.357, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2516.792, + -57072.688, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2516.792, + -57072.688, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2594.624, + -57171.595, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2594.624, + -57171.595, + 2608.15, + 0.0, + -51.8, + 0.0 + ] + ], + "Rationale": [ + "From here the low grey ventilation pipe capping the roof deck sits well ahead of me on the open paving, with the wooden stepladder leaning further back against the graffitied brick wall. Nothing blocks the flat ground between us, so I will walk forward to close that distance toward the pipe first.", + "The grey vent pipe has grown larger and dropped lower in my view, so my heading is carrying me straight toward it. It is still several paces off, so I will keep walking forward to bring it within reach.", + "The grey vent pipe now sits down to my left rather than straight ahead, so continuing forward would slide me past it toward the wall. I will turn left to swing my heading onto the pipe before advancing again.", + "After the turn the grey vent pipe sits near the middle of my view with clear paving between us. I will step forward along this heading to arrive right beside it.", + "The grey ventilation pipe now stands low and close at the bottom of my view, its capped top just in front of my feet on the paving. I have arrived at it. I mark reaching it and turn my attention to the wooden stepladder standing open against the graffitied brick wall ahead on my right.", + "The wooden stepladder stands open against the graffitied wall off to my right, still a good stretch of paving away. Walking forward now shortens that gap along the wall before I need to correct my heading.", + "The wooden stepladder has slid to the right edge of my view while my heading points at bare brick and the paint cans. I will turn right to bring the ladder into the middle of my view so I can walk straight at it.", + "The wooden stepladder now stands squarely ahead of me, its splayed legs framed against the graffitied wall. The paving between us is clear apart from the bucket to one side, so I will walk forward to close on the ladder.", + "The wooden stepladder now stands at the right edge of my view, partly cut off by the frame, while the graffiti wall fills the center ahead of me. I will turn right to bring the ladder into the middle of my view so my heading points straight at it.", + "The wooden stepladder is now centered in front of me, its two legs planted on the roof a few paces away against the brick wall. The path between us is open concrete, so I will walk forward to close the remaining gap to it.", + "The wooden stepladder fills my view at arm's reach, its rails and rungs directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_d/infos.json b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..81b0a1dd56ffaba70cdb964007366a0ee98a64de --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_d/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Proceed to the \"STREET\" labeled box, then navigate to the rusty barrel.", + "Type": 3, + "Start_Pose": [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2528.815, + -56528.355, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2528.815, + -56528.355, + 2608.15, + 0.0, + -126.8, + 0.0 + ], + [ + 2453.422, + -56629.135, + 2608.15, + 0.0, + -126.8, + 0.0 + ], + [ + 2378.03, + -56729.914, + 2608.15, + 0.0, + -126.8, + 0.0 + ], + [ + 2378.03, + -56729.914, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2352.292, + -56853.113, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2326.555, + -56976.313, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2326.555, + -56976.313, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2345.45, + -56885.865, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2345.45, + -56885.865, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2345.45, + -56885.865, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2345.45, + -56885.865, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2345.45, + -56885.865, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2471.247, + -56889.819, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2597.044, + -56893.772, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2722.841, + -56897.725, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2722.841, + -56897.725, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2838.522, + -56848.144, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2838.522, + -56848.144, + 2608.15, + 0.0, + 23.2, + -0.0 + ] + ], + "Rationale": [ + "From here the rooftop unit marked STREET sits far to my left, half hidden behind the nearer air conditioner casing. I will turn left to bring that lettered box toward the center of my view before walking to it.", + "The pair of rooftop units is now in view, but the one lettered STREET still sits left of my heading with the graffiti wall dominating the center. Another left turn should line my body up with that box so I can walk straight at it.", + "The lettered rooftop box now sits ahead of me against the brick wall with clear open decking between us. I will walk forward to close that gap.", + "The lettered box has grown noticeably larger and the BRONX graffiti behind it is now legible, so I am closing in but still several paces short. I will keep walking forward along the open deck.", + "My straight walk has drifted the lettered box off to my right, with the fire escape filling the left side of my view. I will turn right to put that STREET unit squarely in front of me.", + "The STREET lettering is now centered ahead of me and the deck between us is clear. I will step forward to bring myself right up to that box.", + "The lettered unit now fills the lower center of my view, but I am still a stride or so away from standing at it. One more step forward should put me right beside it.", + "The STREET lettering on the rooftop box fills my view from arm's length, its ribbed casing right in front of me. I have arrived at this labeled box. I mark reaching it, then set off toward the rusty barrel.", + "The lettered STREET unit crowds the left of my view at arm's length, and its bulk hides most of the rooftop beyond it. Having marked that box, I need room to look around for a rusty barrel, so I step back to open up the scene before reorienting.", + "With a little clearance gained, the boxy unit and graffiti wall still fill my heading and no barrel is anywhere in sight. I turn right to begin sweeping my gaze along the wall toward the more open part of the roof where a barrel might stand.", + "The sweep has brought the ladder, paint cans and the NYC lettering into view, but still nothing that looks like a rusty drum. I continue turning right toward the far corner of the roof, where the wall ends and open deck appears.", + "Swinging further has revealed the rooftop stairwell hut and open deck on my right, with the wall and ladder now sliding off to the left. I keep turning right to bring that open area and the objects stacked beside the hut fully into view.", + "A rust-colored drum with a small canister on top now stands just right of the stairwell hut's gray door, off to my right side. I turn right once more to place it near the middle of my view so I can walk straight at it.", + "The rusty barrel now sits ahead beside the stairwell doorway, roughly aligned with my heading across clear roof deck. Nothing blocks the path, so I walk forward to close the distance.", + "The barrel and the brick hut have grown noticeably larger, confirming my line of travel is good. I take another step forward to keep closing on the drum.", + "The rusty drum is now close beside the doorway, its ribbed sides and corroded paint clearly visible just right of my heading. I advance once more to bring myself right up alongside it.", + "The rusty barrel with its metal canister on top sits just past the brick corner on my right, while the grey door and its pillar crowd the left half of my view. Turning right should swing the barrel toward the center of my view and clear the doorway structure from my path.", + "The rusty barrel now stands clear against the brick wall ahead and slightly left, with open roof deck between me and it. A step forward should close the short remaining gap and bring me right up beside it.", + "The rusty barrel and its canister are right at my side, filling the near left of my view. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_e/infos.json b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df84ab44b32a928201253ff045e47679cca6aa17 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t3_e/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Move to wooden step ladder, then walk to the air conditioning unit.", + "Type": 3, + "Start_Pose": [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2528.815, + -56528.354, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2557.555, + -56650.889, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2586.295, + -56773.423, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2615.035, + -56895.956, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2643.775, + -57018.49, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -126.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -151.8, + 0.0 + ], + [ + 2672.515, + -57141.024, + 2608.15, + 0.0, + -176.8, + 0.0 + ], + [ + 2546.852, + -57148.049, + 2608.15, + 0.0, + -176.8, + 0.0 + ], + [ + 2546.852, + -57148.049, + 2608.15, + 0.0, + 158.2, + -0.0 + ], + [ + 2429.994, + -57101.309, + 2608.15, + 0.0, + 158.2, + -0.0 + ], + [ + 2429.994, + -57101.309, + 2608.15, + 0.0, + 158.2, + -0.0 + ] + ], + "Rationale": [ + "The wooden step ladder stands open against the graffitied brick wall roughly ahead of me, and there is clear flat rooftop between us. I will walk forward to begin closing that gap before I concern myself with the air conditioning unit off to the left.", + "The ladder has grown larger and sits slightly right of my heading, so my current course is carrying me toward it. Nothing blocks the open rooftop in front of me, so I will keep walking forward.", + "The ladder and the paint cans at its feet are now clearly resolved just ahead, but I am still several strides short of standing at it. I will advance again to bring myself up to it.", + "The step ladder now fills much of my view with its legs planted on the pavement in front of me. A further step forward should place me right at it.", + "The ladder towers directly in front of me with its rails and top platform close enough to touch, yet I am still a short pace off. I will take one more step forward to stand squarely at the ladder.", + "The wooden step ladder's rails and paint spattered top platform are right against me, filling my view with the brick wall behind. I have arrived at the ladder. I mark reaching it, then set off for the air conditioning unit standing out on the open roof.", + "Standing at the ladder, my view is filled by its rails and the brick wall, so nothing of the boxy metal condenser unit is in front of me. It sits off toward my left along the roof, so I will turn left to swing my heading that way.", + "The turn has slid the ladder toward my right edge and opened up the wall with the Bronx tag, but the air conditioning unit is still not in view. I will turn left again to keep sweeping my heading across the open roof toward it.", + "The step ladder has swung out to my right edge and I am now facing only painted brick, with no cooling unit anywhere in this view. Swinging further left should open up the rest of the rooftop where such equipment would stand.", + "The open rooftop is now in view and a boxy louvered condenser sits at the far left edge, partly cut off. Another left turn should bring that unit toward the middle of my view so I can walk straight at it.", + "The air conditioning unit now sits roughly ahead of me on the open roof deck with clear paving between us. I will walk forward to cut down that distance.", + "The condenser is much closer now but has drifted to the left of my heading, so walking straight would carry me past its side. A left turn should square me onto it before I close the last stretch.", + "The air conditioning unit is squarely ahead of me with only a short stretch of open roof left. One more step forward should bring me right up beside it.", + "The air conditioning unit stands directly beside me, filling the near foreground within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t5_a_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16d7877164d429ddcc33b2ce877eee806754a889 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Grab the candelabra at the wooden step ladder, then set it down near the rusty metal barrel.", + "Type": 5, + "Start_Pose": [ + 2528.815, + -56528.354, + 2608.15, + 0, + -76.8, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2691.808, + -57118.441, + 2533.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveBackward", + "MoveBackward", + "TurnRight", + "MoveBackward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2528.815, + -56528.354, + 2608.15, + 0, + -76.8, + 0 + ], + [ + 2557.555, + -56650.889, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2586.295, + -56773.423, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2615.035, + -56895.956, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2643.775, + -57018.49, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2643.775, + -57018.49, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2622.676, + -56928.531, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2601.577, + -56838.573, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2601.577, + -56838.573, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2544.436, + -56765.959, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2544.436, + -56765.959, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2656.776, + -56822.707, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2656.776, + -56822.707, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2782.572, + -56826.661, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2710.608, + -56824.399, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2710.608, + -56824.399, + 2608.15, + 0.0, + -1.8, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2691.808, + -57118.441, + 2533.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2691.808, + -57118.441, + 2533.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2691.808, + -57118.441, + 2533.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2691.808, + -57118.441, + 2533.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2691.808, + -57118.441, + 2533.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2664.425, + -57013.02, + 2578.257, + -28.202, + -26.656, + 1.862 + ], + [ + 2643.243, + -56922.697, + 2578.856, + -28.191, + -26.652, + 1.872 + ], + [ + 2622.154, + -56832.794, + 2578.68, + -28.199, + -26.655, + 1.867 + ], + [ + 2618.707, + -56824.854, + 2577.72, + -28.202, + -1.656, + 1.861 + ], + [ + 2560.79, + -56752.203, + 2578.442, + -28.191, + -1.646, + 1.87 + ], + [ + 2553.981, + -56745.861, + 2578.387, + -28.196, + 23.351, + 1.862 + ], + [ + 2665.507, + -56803.199, + 2578.758, + -28.213, + 23.332, + 1.85 + ], + [ + 2657.301, + -56800.782, + 2577.673, + -28.204, + 48.341, + 1.854 + ], + [ + 2782.871, + -56805.307, + 2577.821, + -28.209, + 48.34, + 1.852 + ], + [ + 2780.573, + -56826.598, + 2578.15, + 0.0, + -71.8, + 0.0 + ], + [ + 2780.573, + -56826.598, + 2578.15, + 0.0, + -71.8, + 0.0 + ] + ], + "PD_Dist_2D": [ + 612.2, + 486.4, + 360.8, + 235.4, + 110.9, + 21.4, + 21.4, + 21.4, + 21.9, + 21.4, + 22.2, + 21.4, + 21.9, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this corner of the rooftop I can see the wooden step ladder against the graffiti wall, with the brass candelabra standing beside its base. The rusty barrel sits far to the right near the brick shed, so I first need to reach the candelabra. I will walk straight ahead to close the long gap toward the ladder.", + "The ladder and the candelabra now fill more of my view, so my heading toward them is good. The candelabra is still several paces away, well beyond arm's reach. I will keep walking forward along the same line.", + "The candelabra is clearly resolved beside the ladder legs with its three candles, and the paved path in front of me is unobstructed. It is still too far for a grasp attempt. I will step forward again to bring it within reach.", + "The candelabra is now large in the lower part of my view, just in front of the ladder, and the ladder itself towers ahead of me. A short final step should place the candelabra directly at my feet for a reliable grasp. I will advance once more.", + "I am now standing right at the ladder with the candelabra's candles rising into the bottom of my view, so it is within reach. Nothing blocks my hands between me and its stem. I will attempt to pick up the candelabra now.", + "The grasp worked, since the candelabra is now held low in front of me. The barrel destination lies back across the rooftop, away from this wall where I am pressed close to the ladder. I will step backward to pull clear of the ladder and gain room to carry it.", + "My view has lifted back to the ladder and wall, confirming I am carrying the candelabra away from the pickup spot. I am still close in against the building with limited open floor behind me. I will back up another step to open the space I need before turning toward the barrel side of the roof.", + "I now have clear pavement around me while holding the candelabra, with the ladder and wall directly in front. The rusty barrel and the brick shed lie off to my right side, not along this heading. I will turn right to bring that side of the rooftop into view.", + "I am holding the candelabra and now facing the brick utility shed, with the ladder wall off to my left and open roof deck ahead. The rusty barrel is not yet in view past the shed corner, so I will step back to widen my view of the deck and open room to swing around the structure. This backward step should keep the carried candelabra clear of the shed wall while I reposition.", + "From here the rusty metal barrel is now visible at the right edge of the deck, beside the shed and next to the grey drum. I am still carrying the candelabra, so I will turn right to bring that barrel toward the center of my heading. That should set up a straight walking line toward the drop area.", + "The rusty barrel and its neighboring drum now sit ahead and slightly right, in front of the shed wall. With the candelabra still carried, I will walk forward to close the remaining distance across the open roof deck. The path in front of me looks clear of clutter.", + "I am close to the shed now and the rusty barrel sits at the right side of my view against the brick corner. Walking straight would carry me into the shed face instead of alongside the barrel, so I will turn right to line up with the barrel and the open ground beside it. That heading should let me approach a suitable spot to set the candelabra down.", + "The rusty barrel is now framed just left of center with open deck beyond it, so my heading finally runs alongside it rather than into the shed. I will step forward to bring myself right up beside the barrel. That short advance should put me within setting-down range.", + "I am standing immediately beside the rusty metal barrel, close enough that its ribbed side fills much of my view. The candelabra is still in my hands and this ground beside the barrel matches the requested placement spot. I will release it here to set it down near the barrel.", + "The candelabra now stands on the deck right beside the rusty metal barrel. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t5_b_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a21896d511627449147bdd2c8195377786b90bc --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002529_y-056528_z002608_t5_b_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Grab the trash bag at the air conditioning unit, then drop it near the blue barrel.", + "Type": 5, + "Start_Pose": [ + 2528.815, + -56528.354, + 2608.15, + 0, + -76.8, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2381.331, + -56962.492, + 2528.362, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2528.815, + -56528.354, + 2608.15, + 0, + -76.8, + 0 + ], + [ + 2528.815, + -56528.355, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2503.077, + -56651.555, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2477.34, + -56774.754, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2477.34, + -56774.754, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -101.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -76.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2451.602, + -56897.953, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2567.284, + -56848.373, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2682.965, + -56798.792, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2798.647, + -56749.211, + 2608.15, + 0.0, + 23.2, + -0.0 + ], + [ + 2798.647, + -56749.211, + 2608.15, + 0.0, + -1.8, + 0.0 + ], + [ + 2798.647, + -56749.211, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2907.114, + -56796.174, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2993.086, + -56787.53, + 2608.15, + 0.0, + -26.8, + 0.0 + ], + [ + 2993.086, + -56787.53, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2948.561, + -56730.948, + 2608.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2948.561, + -56730.948, + 2608.15, + 0.0, + -51.8, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2381.331, + -56962.492, + 2528.362, + 0.0, + 0.0, + 0.0 + ], + [ + 2381.331, + -56962.492, + 2528.362, + 0.0, + 0.0, + 0.0 + ], + [ + 2381.331, + -56962.492, + 2528.362, + 0.0, + 0.0, + 0.0 + ], + [ + 2381.331, + -56962.492, + 2528.362, + 0.0, + 0.0, + 0.0 + ], + [ + 2381.331, + -56962.492, + 2528.362, + 0.0, + 0.0, + 0.0 + ], + [ + 2381.331, + -56962.492, + 2528.362, + 0.0, + 0.0, + 0.0 + ], + [ + 2381.331, + -56962.492, + 2528.362, + 0.0, + 0.0, + 0.0 + ], + [ + 2472.629, + -56901.723, + 2578.257, + -28.202, + -51.656, + 1.862 + ], + [ + 2473.184, + -56892.258, + 2578.529, + -28.189, + -26.643, + 1.872 + ], + [ + 2469.397, + -56884.145, + 2577.862, + -28.215, + -1.673, + 1.849 + ], + [ + 2468.45, + -56876.726, + 2577.916, + -14.092, + 15.543, + 6.87 + ], + [ + 2451.84, + -56876.484, + 2577.932, + -28.208, + 48.342, + 1.851 + ], + [ + 2442.251, + -56877.471, + 2578.6, + -28.198, + 73.346, + 1.867 + ], + [ + 2558.4, + -56828.945, + 2578.07, + -28.198, + 73.346, + 1.862 + ], + [ + 2674.269, + -56779.287, + 2577.683, + -28.202, + 73.341, + 1.86 + ], + [ + 2789.912, + -56729.72, + 2577.798, + -28.201, + 73.344, + 1.857 + ], + [ + 2798.577, + -56728.93, + 2578.748, + -28.211, + 48.338, + 1.853 + ], + [ + 2807.777, + -56731.385, + 2578.072, + -28.211, + 23.33, + 1.853 + ], + [ + 2915.894, + -56776.689, + 2578.701, + -28.203, + 23.34, + 1.863 + ], + [ + 3002.065, + -56768.14, + 2578.481, + -28.198, + 23.345, + 1.865 + ], + [ + 3008.875, + -56774.456, + 2578.354, + -28.189, + -1.642, + 1.869 + ], + [ + 2991.85, + -56785.957, + 2568.15, + 0.0, + -51.8, + 0.0 + ], + [ + 2991.85, + -56785.957, + 2568.15, + 0.0, + -51.8, + 0.0 + ] + ], + "PD_Dist_2D": [ + 458.5, + 458.5, + 333.9, + 210.9, + 210.9, + 95.4, + 95.4, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 20.3, + 20.0, + 21.4, + 21.4, + 20.5, + 70.0, + 70.0 + ], + "Rationale": [ + "From here on the rooftop I can see the air conditioning unit against the graffiti wall, with the dark trash bag slumped on the ground beside it, sitting left of my current heading. Turning left should swing that bag and its air conditioner toward the center of my view so I can walk straight at it. The blue barrel is off to the right, but the bag has to be collected first.", + "The trash bag now sits near the middle of my view, resting on the ground next to the air conditioning units along the brick wall. It is still far across the open roof deck, so I will walk forward to close that gap. The path ahead looks clear of clutter, so a straight advance should bring me noticeably nearer.", + "The bag has grown much larger in front of me and I can now make out its ribbed folds beside the air conditioning unit, but it is still several paces away and low in my view. I will keep walking forward to get within grabbing range of it. Nothing blocks the stretch of deck between us.", + "The trash bag is directly in front of me at the base of the air conditioning unit, filling the lower part of my view. I will reach out and try to grab it now that I am facing it squarely. If it is still slightly beyond my reach, the grasp may not take hold.", + "That grab did not take hold, since my hands came up empty. It seems I reached from too far back, so I will step forward once more to stand right over it. Closing that last bit of distance should put the bag properly within reach.", + "I am now right beside the air conditioning unit, but my view is aimed at the brick wall and graffiti, and the trash bag that should be at the base of the unit is below my line of sight, which is likely why my earlier grab attempt closed on nothing. I will look down to bring the ground beside the unit and the bag itself into view. That should let me confirm the bag is within reach before I try to take it.", + "With my view tilted down, the dark trash bag is now clearly visible right at the base of the air conditioning unit, close in front of my feet in the lower left of my view. This is the target the task names, and it looks well inside grabbing range. I will attempt to pick it up now.", + "The grab worked, and the trash bag is now held in front of me, filling the lower part of my view as I look down at the pavement. Facing this wall and the air conditioning unit gives me nothing useful for the delivery, since no blue barrel is anywhere in sight here. I will turn right to start scanning the rooftop for the blue barrel.", + "Carrying the bag, my view has come back up to the graffiti wall with the ladder, paint cans and a covered pile, and there is still no blue barrel in this direction. The open rooftop appears to continue further to my right past the edge of the building. I will keep turning right to widen the search for the drop target.", + "Turning has brought the small brick doorway structure and stacked pallets into view, and the only container I can make out near it is not the blue barrel I need. The rooftop clearly opens out further to the right beyond that structure. I will continue turning right to bring that unexplored part of the roof into view while still holding the bag.", + "The bag is in hand after the grab by the air conditioning unit, so the remaining job is to locate the blue barrel. From this heading I only see the utility door, a rusty orange drum with a grey pail on it, and the far building beyond the roof edge, none of which is the blue barrel. I will keep pivoting right to sweep the unexplored part of the rooftop.", + "Now the small brick doorway sits centered ahead with the rust drum tucked against its side, still not the blue barrel I need. The roof clearly continues to my right past the structure, so another right pivot should bring that open stretch into view. I will turn right again to check it while keeping hold of the bag.", + "The sweep has opened onto a wide, clear rooftop with the pipe run ahead and the drum cluster against the brick wall on my left. Nothing blocks the deck in front of me, so walking out along it should bring me alongside that cluster and reveal whether the blue barrel stands among those containers. I will step forward carrying the bag.", + "I have drawn nearer to the brick wall on my left, where the rust drum and a lighter container are now clearly separated from the wall corner. The deck ahead is still open, so continuing forward should let me come level with that group instead of viewing it at a sharp angle. I will take another step forward with the bag.", + "A bluish barrel is now visible beside the rust one at the left edge of my view, which matches the drop target for this bag. It sits close to my left shoulder, so I need a bit more room past the wall corner before I can face it squarely. I will step forward once more to gain that clearance.", + "I am still carrying the trash bag, but the rooftop straight ahead is empty and the barrels have slid out of my view after my last steps, having passed by on my left side. Continuing on this heading would only take me farther from them across open deck. I will turn left to swing the barrel cluster back into the front of my view.", + "The turn brought a rusty drum and a blue barrel back into sight, but they sit far to the left against the brick wall rather than in front of me. With the bag still in hand, I need them roughly centered before I walk in for the drop. I will turn left once more to line my heading up with the blue barrel.", + "The blue barrel and the rusty drum are now squarely in front of me next to the brick wall, so my heading is usable. They are still several paces off, too far to set the bag down beside them. I will step forward to close that gap.", + "The blue barrel now fills much of my view close ahead against the wall, with the bottle on its lid clearly visible. I am nearly at drop range but not quite alongside it yet. I will take one more step forward to get right next to the barrel.", + "That last step carried me alongside the barrel, and now only the angled brick wall and empty deck are in front of me, with the blue barrel no longer in view. Releasing the bag on this heading would leave it away from the barrel. I will turn left to bring the blue barrel back in front of me before letting go.", + "I am still carrying the trash bag, and the blue barrel now sits right beside me at the near left edge of my view, its metal rim clearly within arm's reach. This is close enough to the barrel to satisfy the placement requirement, so I will release the bag here. It should land on the roof surface next to the barrel rather than anywhere farther out on the open deck.", + "The trash bag now rests on the roof directly against the blue barrel. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_a/infos.json b/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7bcd4f268181bcdc1f48b69a6b4640275ea56492 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the gray metal door, then approach the small folding table.", + "Type": 3, + "Start_Pose": [ + 2675.044, + -53296.998, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2675.044, + -53296.998, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2568.496, + -53363.989, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2461.948, + -53430.982, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2461.948, + -53430.982, + 2943.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2337.071, + -53446.669, + 2968.235, + 0.0, + -172.84, + 0.0 + ], + [ + 2212.193, + -53462.356, + 2923.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2087.316, + -53478.043, + 2923.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2087.316, + -53478.043, + 2923.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2087.316, + -53478.043, + 2923.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2087.316, + -53478.043, + 2923.15, + 0.0, + -122.84, + 0.0 + ], + [ + 2087.316, + -53478.043, + 2923.15, + 0.0, + -97.84, + 0.0 + ], + [ + 2070.148, + -53602.726, + 2923.15, + 0.0, + -97.84, + 0.0 + ], + [ + 2052.98, + -53727.409, + 2925.448, + 0.0, + -97.84, + 0.0 + ], + [ + 2047.593, + -53799.352, + 2954.486, + 0.0, + -97.84, + 0.0 + ], + [ + 2047.593, + -53799.352, + 2954.486, + 0.0, + -97.84, + 0.0 + ] + ], + "Rationale": [ + "From this open stretch of rooftop I can see the gray metal door set into the brick wall ahead, still far off across the paving. Nothing blocks the flat run toward it, so I will walk forward to close some of that distance.", + "The brick wall and its gray metal door now fill more of my view, so my heading is carrying me the right way. The paving in front of me stays clear, so I will keep walking forward to shorten the gap.", + "The gray door sits well left of where I am pointed, with the graffiti wall and the small folding table drifting toward my center. I will turn left so the door comes squarely in front of me before I advance further.", + "The gray metal door now sits near the middle of my view with the brick wall square in front of me. With the rooftop clear underfoot, I will step forward to bring myself closer to that door.", + "The door is much larger now, its handle and hinges clearly readable, though I am still a few paces short of standing at it. I will walk forward again to close that remaining gap.", + "The gray door now dominates my view, with the bricks beside it filling the left edge, so I am nearly at it. One more short step forward should put me right up against the door.", + "The gray metal door fills my view at arm's length, its handle and the brick edge beside it sharp and close. I have arrived at the door. I mark reaching it, then turn away toward the small folding table standing further along this wall.", + "Standing this close, the door slab blocks nearly everything ahead and the small folding table lies further along the wall to my right. I will turn right to swing my view off the door and back down the rooftop where that table stands.", + "The gray metal door still dominates my view, with only the graffitied brick and a sliver of open roof showing past its hinge edge on the right. Since my remaining destination lies somewhere along that wall, I will turn right again to swing my heading off the door and out along the rooftop.", + "Swinging clear of the door has revealed a small wooden folding table with bottles on it, tucked against the brick wall toward the right edge of my view. One more turn to the right should bring that table nearer the center of my heading before I start walking.", + "The folding table now sits ahead of me along the brick wall, roughly centered in my path with clear open roof between us. With my heading settled, I will walk forward to close that distance.", + "The folding table and the canister beside it have grown noticeably larger and stay lined up just ahead along the wall, so my walking direction is good. I will keep stepping forward, since I am still several paces short of standing at it.", + "The folding table is close now, its slatted top and bottles filling the lower part of my view, but I am still slightly short of standing right beside it. One more short step forward should put me at the table.", + "The small folding table is directly in front of me, its slatted top and bottles within arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_b/infos.json b/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0d5c567425af32b50f154b2ac2432cf2f9e8b891 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Head toward the \"STREET\" graffiti, then move to the trash bag on the floor near the door.", + "Type": 3, + "Start_Pose": [ + 2675.044, + -53296.998, + 2943.15, + 0, + -147.84, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2675.044, + -53296.998, + 2943.15, + 0, + -147.84, + 0 + ], + [ + 2568.496, + -53363.989, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2461.948, + -53430.982, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2355.4, + -53497.975, + 2967.443, + 0.0, + -147.84, + 0.0 + ], + [ + 2248.853, + -53564.968, + 2923.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2142.305, + -53631.961, + 2923.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2042.64, + -53698.033, + 2925.555, + 0.0, + -147.84, + 0.0 + ], + [ + 2042.64, + -53698.033, + 2925.555, + 0.0, + -147.84, + 0.0 + ], + [ + 2120.863, + -53648.85, + 2923.357, + 0.0, + -147.84, + 0.0 + ], + [ + 2120.863, + -53648.85, + 2923.357, + 0.0, + -172.84, + 0.0 + ], + [ + 2120.863, + -53648.85, + 2923.357, + 0.0, + 162.16, + -0.0 + ], + [ + 2120.863, + -53648.85, + 2923.357, + 0.0, + 137.16, + -0.0 + ], + [ + 2120.863, + -53648.85, + 2923.357, + 0.0, + 112.16, + -0.0 + ], + [ + 2073.39, + -53532.288, + 2923.357, + 0.0, + 112.16, + -0.0 + ], + [ + 2073.39, + -53532.288, + 2923.357, + 0.0, + 112.16, + -0.0 + ] + ], + "Rationale": [ + "The dark \"STREET\" lettering is sprayed on the brick wall well ahead of me, to the right of the metal door. Nothing blocks the open rooftop between us, so I will walk straight ahead to close that distance.", + "The graffiti wall has grown larger in front of me and the lettering is easier to read, so my heading is right. I will keep walking forward toward the painted crown and \"STREET\" tag.", + "The brick face with the heart, crown and \"STREET\" lettering now dominates my view and the small table and boxes beside it sit clear of my line. I will continue advancing toward the tag.", + "I am several paces from the wall and the sprayed word reads plainly at eye level. There is still open floor between me and the bricks, so another step forward should bring me closer to the tag.", + "Only a short stretch of rooftop separates me from the brick face, and the graffiti now fills most of what I see. I will step forward again to stand right at the painted lettering.", + "The letters of the tag are close enough that individual brick courses and paint texture are clear. One more short step should put me directly at the graffiti.", + "The sprayed strokes of the \"STREET\" tag fill my whole view, close enough to see every grain of the brick behind the paint. I have reached the graffiti on this wall. I mark reaching it and now aim for the trash bag lying on the floor by the metal door.", + "I am pressed so close to the graffiti that the bricks block everything else from view. Backing up should restore enough distance to see the rooftop and the metal door again as I set off toward the trash bag on the floor beside it.", + "The spray-painted STREET lettering still fills most of my view, and I have already marked reaching it. The trash bag sits further along this wall past the metal door, off to my left, so I will turn left to swing my heading away from the bare brick toward that stretch.", + "Only the doorframe edge has come into view at the far left while brick still occupies most of my sight. The bag rests on the ground beside that door, so I will keep rotating left to bring the doorway and the floor beneath it in front of me.", + "The metal door now fills the left half of my view, but the ground beside it where the bag lies is still outside my field of view. Another left rotation should carry my heading past the door panel and open up the floor area beyond it.", + "The blue trash bag has appeared low on the left, slumped against the wall beside the door with a small bottle next to it. It sits too far to the side for a straight approach, so I will turn left once more to line my heading up with it.", + "The trash bag now sits low and near the center of my view, tucked at the base of the wall beside the door, with clear rooftop floor between us. My heading is right on it, so I will walk forward to close the short remaining gap.", + "The blue trash bag lies directly at my feet at the base of the wall by the door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_c/infos.json b/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6fae08e54d937dcd3215a9850cfa87d8da5ce2f --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t3_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the trash bag, then reach the folding table.", + "Type": 3, + "Start_Pose": [ + 2675.044, + -53296.998, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2675.044, + -53296.998, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2568.496, + -53363.989, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2568.496, + -53363.989, + 2943.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2443.619, + -53379.676, + 2943.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2318.741, + -53395.363, + 2965.81, + 0.0, + -172.84, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -122.84, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -97.84, + 0.0 + ], + [ + 2176.695, + -53535.733, + 2923.15, + 0.0, + -97.84, + 0.0 + ], + [ + 2159.527, + -53660.416, + 2923.15, + 0.0, + -97.84, + 0.0 + ], + [ + 2142.359, + -53785.098, + 2923.15, + 0.0, + -97.84, + 0.0 + ], + [ + 2142.359, + -53785.098, + 2923.15, + 0.0, + -97.84, + 0.0 + ] + ], + "Rationale": [ + "From this open stretch of roof I can see the blue trash bag slumped against the brick wall beside the metal door, with the folding table further along the same wall. Both sit well ahead of me, so I will walk forward to cut the distance before refining my heading.", + "The blue trash bag by the wall now sits left of my heading, while my nose points more toward the open roof and the far water tower. A modest turn to the left should place the bag closer to the center of my path so I can walk straight at it.", + "With the trash bag now roughly ahead of me near the door and the cans beside it, my line of travel is clear concrete. I will step forward to close on it.", + "The bag and the small cans beside it have grown noticeably larger, so my heading is holding true. There is still a stretch of bare roof before I stand beside it, so I keep walking forward.", + "The bag now sits close in front of me at the foot of the wall, with the door panel filling the right side of my view. One more step forward should bring me right up beside it.", + "The blue trash bag is right at my feet in the lower corner, with the brick wall and steel door filling my view at arm's length. I have arrived at the trash bag. I mark reaching it, then set off along this wall toward the folding table.", + "Standing over the trash bag, my view is filled by brick and the closed door, with nothing of the folding table in sight. The table stands further along this wall to my right, so I will turn that way to bring it back into view.", + "The graffiti stretch of the wall has swung into view and the edge of the folding table with its bottles is just appearing at the far right. Another turn right should put that table squarely ahead of me for a straight walk.", + "The wooden folding table with its bottles sits further along this brick wall, but it still lies off to my right with the wall filling most of my view. One more turn to the right should swing my heading onto the open rooftop lane that runs toward it.", + "My heading now runs straight down the clear rooftop strip, with the folding table and its bottles ahead beside the graffitied wall. Nothing blocks the paving between us, so I step forward to cut the distance.", + "The folding table has grown larger ahead on my left, its bottles and the crate beside it now clearly separated. I am still several paces short of standing at it, so I keep walking forward along the wall.", + "The folding table is close now, low in my view with its bottles and the propane tank at its legs. One more step forward should bring me right up beside it.", + "The folding table with its bottles and can stands directly beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t5_a_pd/infos.json b/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0748e39fdcfaaf4864256f2c6fa1c3e8fd4b66ff --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002675_y-053297_z002943_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Lift the tomato by the gray metal door, then place it near the small folding table.", + "Type": 5, + "Start_Pose": [ + 2675.044, + -53296.998, + 2943.15, + 0, + -147.84, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2045.688, + -53461.348, + 2893.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2675.044, + -53296.998, + 2943.15, + 0, + -147.84, + 0 + ], + [ + 2568.496, + -53363.989, + 2943.15, + 0.0, + -147.84, + 0.0 + ], + [ + 2568.496, + -53363.989, + 2943.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2443.619, + -53379.676, + 2943.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2318.741, + -53395.363, + 2965.81, + 0.0, + -172.84, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -172.84, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -172.842, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -147.842, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -122.842, + 0.0 + ], + [ + 2193.863, + -53411.05, + 2923.15, + 0.0, + -97.842, + 0.0 + ], + [ + 2176.692, + -53535.733, + 2923.15, + 0.0, + -97.842, + 0.0 + ], + [ + 2159.521, + -53660.415, + 2923.15, + 0.0, + -97.842, + 0.0 + ], + [ + 2142.349, + -53785.097, + 2923.15, + 0.0, + -97.842, + 0.0 + ], + [ + 2142.349, + -53785.097, + 2923.15, + 0.0, + -122.842, + 0.0 + ], + [ + 2107.877, + -53844.136, + 2923.15, + 0.0, + -122.842, + 0.0 + ], + [ + 2146.924, + -53783.643, + 2923.15, + 0.0, + -122.842, + 0.0 + ], + [ + 2146.924, + -53783.643, + 2923.15, + 0.0, + -122.842, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2045.688, + -53461.348, + 2893.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2045.688, + -53461.348, + 2893.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2045.688, + -53461.348, + 2893.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2045.688, + -53461.348, + 2893.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2045.688, + -53461.348, + 2893.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2045.688, + -53461.348, + 2893.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2197.13, + -53432.162, + 2893.257, + -28.202, + -122.697, + 1.862 + ], + [ + 2206.262, + -53429.611, + 2893.529, + -28.189, + -97.685, + 1.872 + ], + [ + 2212.704, + -53423.394, + 2892.862, + -28.215, + -72.714, + 1.849 + ], + [ + 2219.412, + -53420.088, + 2892.916, + -14.092, + -55.498, + 6.87 + ], + [ + 2197.947, + -53537.924, + 2893.482, + -28.198, + -47.696, + 1.865 + ], + [ + 2180.738, + -53662.9, + 2892.945, + -28.191, + -47.683, + 1.871 + ], + [ + 2163.54, + -53787.705, + 2892.664, + -28.214, + -47.711, + 1.852 + ], + [ + 2159.765, + -53795.394, + 2893.889, + -28.191, + -72.692, + 1.872 + ], + [ + 2126.005, + -53855.437, + 2892.745, + -28.193, + -72.693, + 1.863 + ], + [ + 2108.961, + -53842.453, + 2938.15, + 0.0, + -122.842, + 0.0 + ], + [ + 2108.961, + -53842.453, + 2938.15, + 0.0, + -122.842, + 0.0 + ] + ], + "PD_Dist_2D": [ + 650.5, + 531.8, + 531.8, + 406.2, + 280.9, + 156.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 20.2, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From here I can see the gray metal door set in the brick wall ahead, with the large red tomato resting on the rooftop just to its left. The tomato is far too distant to reach, so I will walk forward across the open roof deck to close that gap. This should bring the target within a workable range for a later grasp.", + "The tomato and the metal door now sit noticeably left of my heading, while the center of my view is filled with empty rooftop and the far parapet. Continuing straight would carry me past the target rather than toward it. I will turn left to put the tomato and its door closer to the middle of my path.", + "After the turn the tomato sits near the middle of my view, directly beside the gray metal door, so my heading now points at the target. The tomato still looks small, meaning several strides of rooftop remain between us. I will step forward along this corrected line to keep closing the distance.", + "The tomato has grown larger in front of me and the brick wall now fills much of my view, so my heading remains good. I am still standing back far enough that the fruit is out of arm's reach. Another step forward should bring me close enough to consider grasping it.", + "The tomato and the blue gourd beside it are now clearly at the base of the wall just left of the metal door, but they still sit slightly below and ahead of me. One more stride should place the tomato directly at my feet where a pick can be attempted. I will advance that last short distance.", + "The tomato is now immediately in front of me at the foot of the gray metal door, filling the lower part of my view within reach. This is the object the task names, and nothing blocks my hands from it. I will attempt to pick it up now.", + "The grasp worked, since the tomato is now lifted in my hands and no longer resting on the rooftop tiles. The small folding table with the bottles stood farther along this wall to my right, away from the door. I will turn right to swing my heading toward that side of the roof.", + "I am still carrying the tomato and my view is dominated by the door and the graffiti wall, with only the edge of the folding table and its crate just entering at the right. My heading is not yet lined up with that drop area. I will turn right again to bring the small folding table properly into view ahead of me.", + "The tomato is secure in my grip and the gray metal door is now behind my left shoulder, with the brick wall still filling much of my view. The small wooden folding table with its bottles sits further right along the wall, so I need a bit more rotation before I can walk toward it. I will turn right again to bring that open stretch of roof and the table into the center of my view.", + "My heading now runs along the brick wall with the open rooftop deck clear ahead and the small folding table set against the wall in the middle distance. Nothing blocks that stretch of pavement, and I am still carrying the tomato. I will step forward to close the gap toward the table.", + "The folding table and the propane cylinder beside it have grown noticeably larger and are drifting toward my left, which confirms my forward line is carrying me alongside them. I am still well short of a comfortable placement distance while holding the tomato. Another step forward should bring me nearer to the table.", + "The small folding table now sits close in the lower left of my view, its legs and the bottles on top clearly resolved. I am nearly abreast of it but not yet positioned to set the tomato down beside it. I will advance once more to draw level with the table.", + "I have come level with the small folding table, which is now at the lower left edge of my view while my body still faces down the open deck. To place the tomato near it I need the table squarely in front of me rather than off to the side. I will turn left to face the table.", + "The folding table with its green bottles and can now sits centered in front of me, close against the brick wall. There is still a short gap between me and its edge, which is more than I want before releasing the tomato. I will take a short step forward to stand right at the table.", + "I am now standing right at the small folding table, with its slats, bottles and can filling the near part of my view and the brick wall just beyond. This is the spot the task calls for, close beside the table, and I still have the tomato in hand. I will release it here so it should come to rest next to the table.", + "The tomato is resting on the deck directly beside the small folding table. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8f0682ae1ebab11813372ae9aae29267daaf54b --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the door on the brick wall with graffiti.", + "Type": 0, + "Start_Pose": [ + 2741.482, + -53172.466, + 2943.15, + 0.0, + -171.84, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2741.482, + -53172.466, + 2943.15, + 0.0, + -171.84, + 0.0 + ], + [ + 2616.897, + -53190.329, + 2943.15, + 0.0, + -171.84, + 0.0 + ], + [ + 2616.897, + -53190.329, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2511.535, + -53259.171, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2406.172, + -53328.013, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2300.81, + -53396.856, + 2953.349, + 0.0, + -146.84, + 0.0 + ], + [ + 2195.448, + -53465.698, + 2923.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2090.085, + -53534.54, + 2923.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2090.085, + -53534.54, + 2923.15, + 0.0, + -171.84, + 0.0 + ], + [ + 2090.085, + -53534.54, + 2923.15, + 0.0, + -171.84, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop I can already see the target: a brick wall tagged with a red heart, crown, and the word STREET, with a plain metal door set into it to the right of the water tank. I am far back across the open concrete deck, so I will step forward to begin closing that distance before refining my heading.", + "After advancing, the graffiti wall and its metal door sit off to the right of my view rather than straight ahead of me. I will turn right so the door comes toward the center of my view and my walking direction points at it.", + "The metal door and the STREET graffiti are now roughly centered in my view, so my heading is aimed at the target. The clear concrete deck ahead lets me step forward and keep reducing the gap to the wall.", + "The brick wall now fills more of my view and the door with its handle is clearly readable, but I am still several strides away from it. I will keep walking straight ahead since nothing blocks the path between me and the wall.", + "The graffiti tag and the pale metal door are close enough now that I can see the door's seams and handle plate, yet I am not yet standing at it. Another forward step should bring me nearly within arm's reach of the doorway.", + "The door and the surrounding graffiti now dominate my view, with the blue tarp and cans off to my lower left and no obstruction directly in my path. I will advance once more to close the last of the distance to the doorway.", + "I am nearly at the wall, with the metal door's full height and its hinges plainly visible just to my left of center. One more short step should place me directly at the door rather than slightly short of it.", + "Standing right at the wall, only the left part of my view shows the door's smooth panel while the graffiti brickwork beside it takes up the right. I will turn left so I face the door squarely instead of the adjacent bricks.", + "The metal door with its handle fills my view at arm's length, with the graffiti brick wall at its right edge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..444367964843d261492cec69c2998568c4c18036 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the wooden folding table near the brick structure.", + "Type": 0, + "Start_Pose": [ + 2741.482, + -53172.466, + 2943.15, + 0.0, + -171.84, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2741.482, + -53172.466, + 2943.15, + 0.0, + -171.84, + 0.0 + ], + [ + 2741.482, + -53172.465, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2636.12, + -53241.307, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2530.757, + -53310.149, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2425.395, + -53378.992, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2320.032, + -53447.834, + 2966.249, + 0.0, + -146.84, + 0.0 + ], + [ + 2320.032, + -53447.834, + 2966.249, + 0.0, + -121.84, + 0.0 + ], + [ + 2253.636, + -53554.754, + 2923.15, + 0.0, + -121.84, + 0.0 + ], + [ + 2187.239, + -53661.674, + 2923.15, + 0.0, + -121.84, + 0.0 + ], + [ + 2120.842, + -53768.595, + 2923.15, + 0.0, + -121.84, + 0.0 + ], + [ + 2089.896, + -53835.312, + 2934.156, + 0.0, + -121.84, + 0.0 + ], + [ + 2089.896, + -53835.312, + 2934.156, + 0.0, + -121.84, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop position I can see the brick structure with the graffiti wall ahead, and a small wooden folding table with bottles sits at its base far over to my right. My current heading points too far left of that corner, so I will turn right to bring the table side of the brick wall into the center of my view before advancing.", + "The brick building now fills the middle of my view and the wooden folding table is visible along its base slightly right of center. The open rooftop deck in front of me is clear, so I will move forward to start closing the distance toward the table.", + "The graffiti wall and the low ledge in front of it are noticeably larger than a moment ago, confirming my heading is carrying me toward the structure. The folding table beside the propane tank is still ahead and to the right, so another forward step should continue reducing the gap.", + "I am now close enough to make out the individual planks of the folding table and the cardboard box next to it along the brick wall. Nothing blocks the deck between me and that spot, so I will keep moving forward.", + "The brick wall now dominates the left of my view while the folding table sits farther along it to my right, meaning I still have ground to cover down the length of the wall. I will advance again to draw level with the table area.", + "Moving along the wall has pushed the wooden folding table off toward the right edge of my view, with the wall crowding my left side. I will turn right to bring the table back in front of me so my remaining forward steps head straight at it.", + "The folding table with its bottles, the propane cylinder, and the cardboard box are now grouped ahead of me against the graffiti wall. With the heading corrected and the deck clear, I will move forward to close in on the table.", + "The table is clearly closer now, its legs and the bottles on top standing out sharply just ahead beside the brick wall. I am still a couple of steps short of standing at it, so I will continue forward.", + "The wooden folding table with its bottles sits just ahead against the graffitied brick wall, still a couple of body lengths off to my front. My heading is aligned with it and the rooftop surface between us is clear, so I will step forward again to close that remaining gap.", + "The folding table now fills the lower part of my view, with its slatted top, bottles, and the propane cylinder beneath clearly resolved right beside the brick wall. One more short step forward should bring me directly to the table's edge for a final standing position.", + "The wooden folding table's slats and bottles are right at my feet against the brick wall. The task is complete, so I stop here rather than pushing into the table." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e992069e473ed61ab584b4ef2479df699d0a3e7c --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002741_y-053172_z002943_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the jerry can at the wooden folding table near the brick structure.", + "Type": 5, + "Start_Pose": [ + 2741.482, + -53172.466, + 2943.15, + 0, + -171.84, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2092.228, + -53755.516, + 2840.15, + 0, + 30, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2741.482, + -53172.466, + 2943.15, + 0, + -171.84, + 0 + ], + [ + 2741.482, + -53172.465, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2636.12, + -53241.307, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2530.757, + -53310.149, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2425.395, + -53378.992, + 2943.15, + 0.0, + -146.84, + 0.0 + ], + [ + 2320.032, + -53447.834, + 2966.249, + 0.0, + -146.84, + 0.0 + ], + [ + 2320.032, + -53447.834, + 2966.249, + 0.0, + -121.84, + 0.0 + ], + [ + 2253.636, + -53554.754, + 2923.15, + 0.0, + -121.84, + 0.0 + ], + [ + 2187.239, + -53661.674, + 2923.15, + 0.0, + -121.84, + 0.0 + ], + [ + 2187.239, + -53661.674, + 2923.15, + 0.0, + -121.84, + 0.0 + ], + [ + 2187.239, + -53661.674, + 2923.15, + 0.0, + -121.84, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2092.228, + -53755.516, + 2840.15, + 0.0, + 30.0, + -0.0 + ], + [ + 2205.701, + -53672.421, + 2893.257, + -28.202, + -71.696, + 1.862 + ], + [ + 2205.701, + -53672.421, + 2893.257, + -28.202, + -71.696, + 1.862 + ] + ], + "PD_Dist_2D": [ + 872.6, + 872.6, + 748.5, + 625.0, + 502.8, + 382.8, + 382.8, + 257.6, + 133.5, + 21.4, + 21.4 + ], + "Rationale": [ + "From here on the rooftop I can see the brick structure ahead with a small wooden folding table set against its wall to the right of the doorway, and a reddish can beside it. The table sits off to the right of my current heading, so I will turn right to bring that corner of the roof into the center of my view before walking over.", + "The graffiti wall of the brick structure is now squarely in front of me, and the folding table with the reddish jerry can beside it is visible along its base. Nothing blocks the open rooftop between me and that wall, so I will walk forward to close the large remaining distance.", + "The brick wall and its graffiti are noticeably larger now, and the folding table with the can next to it stays visible on the right side of the wall. I am still well short of grasping range, so I will keep walking forward across the open roof.", + "The folding table and the reddish jerry can beside it are clearly resolved now against the brick wall, but they are still several strides away and slightly right of my heading. I will continue walking forward to shorten the gap before making any final adjustment.", + "The jerry can is now distinctly visible on the ground beside the wooden folding table, though it sits toward the right edge of my view as the wall fills more of the frame. I will step forward again to bring myself near the table area before correcting my heading.", + "I am close to the brick wall now, and the folding table with the jerry can beside it has slipped to the right side of my view while the plain wall and door dominate the center. I will turn right so the can and table sit in front of me and I can walk straight at them.", + "The turn has placed the wooden folding table and the reddish jerry can along the wall directly ahead of me, with clear rooftop between us. I will walk forward to close the last stretch toward the can.", + "The jerry can now stands large in the lower part of my view beside the folding table, but it is still a stride away and low to the ground. I will take one more step forward so it comes within comfortable reach for a grasp.", + "The red jerry can now fills the lower left of my view, standing on the rooftop right beside the wooden folding table against the graffitied brick wall. I am close enough that no further stepping is needed, so I will reach down and attempt to grasp it. If the grab registers, the can should come up into my hands.", + "The jerry can is now lifted and held in front of me, off the rooftop surface. The pick succeeded, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t0_a/infos.json b/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..947e2eb20dc30a99e25e62e6af5254345fba6451 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the blue barrel.", + "Type": 0, + "Start_Pose": [ + 2973.646, + -56220.045, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2973.646, + -56220.045, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2937.774, + -56340.685, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2901.902, + -56461.324, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2901.902, + -56461.324, + 2608.15, + 0.0, + -81.56, + 0.0 + ], + [ + 2920.374, + -56585.82, + 2608.15, + 0.0, + -81.56, + 0.0 + ], + [ + 2938.847, + -56710.316, + 2608.15, + 0.0, + -81.56, + 0.0 + ], + [ + 2938.847, + -56710.316, + 2608.15, + 0.0, + -81.56, + 0.0 + ] + ], + "Rationale": [ + "I can see the blue barrel ahead on the rooftop, standing beside a rust colored drum against the light brick stair wall, slightly right of my current heading. The open concrete surface between us is clear, so I will move forward to begin closing that distance.", + "The blue barrel now appears larger and better defined next to the tan drum, confirming I am on a good line toward it. The path ahead is still clear of debris, so I will continue forward to keep reducing the gap.", + "The blue barrel sits noticeably right of my view center, so continuing straight would carry me past it toward the graffiti wall. I will turn right to bring the barrel closer to the middle of my heading before advancing further.", + "After the turn, the blue barrel and its neighbor sit near the center of my view with the stair wall behind them. With my heading now lined up, I will move forward to close the remaining distance.", + "The blue barrel now fills a large part of my view just right of center, but I am still a step short of standing beside it. I will move forward once more to bring myself within immediate reach of it.", + "The blue barrel now fills the near half of my view, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t0_b/infos.json b/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f9efb2fb1aa75d7b1d7a85e03d802ba15a5a8f --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the wooden ladder leaning against the brick wall.", + "Type": 0, + "Start_Pose": [ + 2973.646, + -56220.045, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2973.646, + -56220.045, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2937.774, + -56340.685, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2901.902, + -56461.324, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2866.029, + -56581.963, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2830.157, + -56702.601, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2794.285, + -56823.24, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2758.413, + -56943.878, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2722.54, + -57064.517, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2687.93, + -57164.455, + 2608.15, + 0.0, + -106.56, + 0.0 + ], + [ + 2687.93, + -57164.455, + 2608.15, + 0.0, + -106.56, + 0.0 + ] + ], + "Rationale": [ + "From the open rooftop I can see the wooden ladder standing against the graffitied brick wall, roughly straight ahead near the middle of my view. My heading already lines up with it and the floor between us looks clear, so I will move forward to begin closing the distance.", + "The ladder against the brick wall is now noticeably larger, confirming I am tracking toward the right target. Nothing blocks the paved stretch in front of me, so I will continue forward to keep closing distance.", + "The ladder remains slightly left of center while the barrels and brick stair housing sit off to my right, well clear of my path. I will press forward again since my current heading passes cleanly toward the ladder.", + "The graffiti wall and the ladder in front of it now fill much more of my view, so the gap is shrinking steadily. My heading still points at the ladder, so another forward step should bring me closer without any turn.", + "The ladder is now clearly the dominant object ahead, standing on the paving right against the brick wall with paint cans beside it. The route stays open, so I will keep moving forward to close the remaining distance.", + "The ladder's legs and platform are plainly resolved just a few steps ahead of me against the brick wall. I am still a bit far to call this an approach complete, so I will advance once more.", + "The ladder now towers in front of me and its frame nearly fills my view, with the small paint cans at its base to the left. One more forward step should place me right at the ladder as the task asks.", + "I am close enough that I am looking up through the ladder's rungs and legs against the brick wall. A final short forward step should bring me directly to the ladder before I stop.", + "The wooden ladder's legs and rails fill my view at arm's length against the brick wall. The approach goal is satisfied, so I stop here to avoid colliding with it." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t5_a_p/infos.json b/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..247220bfc3104e50562689c03e0157fd20096827 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x002974_y-056220_z002608_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Grab the jerry can beside the blue barrel.", + "Type": 5, + "Start_Pose": [ + 2973.646, + -56220.045, + 2608.15, + 0, + -106.56, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3157.792, + -56847.383, + 2522.15, + 0, + -30, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2973.646, + -56220.045, + 2608.15, + 0, + -106.56, + 0 + ], + [ + 2973.646, + -56220.047, + 2608.15, + 0.0, + -81.56, + 0.0 + ], + [ + 2992.119, + -56344.543, + 2608.15, + 0.0, + -81.56, + 0.0 + ], + [ + 3010.592, + -56469.039, + 2608.15, + 0.0, + -81.56, + 0.0 + ], + [ + 3029.064, + -56593.535, + 2608.15, + 0.0, + -81.56, + 0.0 + ], + [ + 3029.064, + -56593.535, + 2608.15, + 0.0, + -56.56, + 0.0 + ], + [ + 3098.421, + -56698.559, + 2608.15, + 0.0, + -56.56, + 0.0 + ], + [ + 3098.421, + -56698.559, + 2608.15, + 0.0, + -56.558, + 0.0 + ], + [ + 3098.421, + -56698.559, + 2608.15, + 0.0, + -56.558, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3157.792, + -56847.383, + 2522.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3157.792, + -56847.383, + 2522.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3157.792, + -56847.383, + 2522.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3157.792, + -56847.383, + 2522.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3157.792, + -56847.383, + 2522.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3157.792, + -56847.383, + 2522.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3157.792, + -56847.383, + 2522.15, + 0.0, + -30.0, + 0.0 + ], + [ + 3115.903, + -56686.282, + 2578.257, + -28.202, + -6.414, + 1.862 + ], + [ + 3115.903, + -56686.282, + 2578.257, + -28.202, + -6.414, + 1.862 + ] + ], + "PD_Dist_2D": [ + 653.8, + 653.8, + 529.4, + 406.0, + 284.6, + 284.6, + 160.2, + 21.4, + 21.4 + ], + "Rationale": [ + "From here on the rooftop I can see the blue barrel against the brick wall with the red jerry can sitting just to its right, but both sit off toward the right side of my view. I will turn right to bring that barrel and can group closer to the center of my heading before walking toward them.", + "The blue barrel and the red jerry can beside it are now roughly ahead of me, with clear open rooftop between us. I will walk forward to close the sizable gap toward the target.", + "The barrels and the jerry can appear larger now, so my heading is carrying me straight at them. I will keep stepping forward since the target is still too far for a grasp.", + "The blue barrel and the red jerry can beside it now fill much of my view, but I am still several paces short of arm's reach. I will advance again to get close enough to work with the can.", + "At this range the blue barrel sits directly in front of me while the jerry can stands off to its right, so a straight step would put me at the barrel instead of the can. I will turn right to place the jerry can in front of my heading.", + "The red jerry can is now centered ahead of me by the wall, with the blue barrel pushed to my left edge. I will step forward once to bring the can within reach for a grasp.", + "The jerry can is right at my feet in the lower part of my view, close against the wall and well within arm's reach. I will attempt the grasp now, which should lift the can into my hands.", + "The red jerry can is now held in front of me, carried above my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x003082_y-056651_z002608_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x003082_y-056651_z002608_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..709090e84782e58b091012feecb87396598e5ef1 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x003082_y-056651_z002608_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the narrow metal door embedded in the graffiti-covered concrete wall on the rooftop, partially obscured near the \"Crowe 4-Life\" spray-painted text; once you have located it, navigate over to that door.", + "Type": 1, + "Start_Pose": [ + 3081.674, + -56651.26, + 2608.15, + 0.0, + 139.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3081.674, + -56651.26, + 2608.15, + 0.0, + 139.52, + -0.0 + ], + [ + 3081.674, + -56651.262, + 2608.15, + 0.0, + 114.52, + -0.0 + ], + [ + 3081.674, + -56651.262, + 2608.15, + 0.0, + 89.52, + -0.0 + ], + [ + 3081.674, + -56651.262, + 2608.15, + 0.0, + 64.52, + -0.0 + ], + [ + 3135.818, + -56537.644, + 2608.15, + 0.0, + 64.52, + -0.0 + ], + [ + 3189.962, + -56424.027, + 2608.15, + 0.0, + 64.52, + -0.0 + ], + [ + 3189.962, + -56424.027, + 2608.15, + 0.0, + 89.52, + -0.0 + ], + [ + 3193.178, + -56299.082, + 2608.15, + 0.0, + 89.52, + -0.0 + ], + [ + 3198.621, + -56174.258, + 2608.15, + 0.0, + 89.52, + -0.0 + ], + [ + 3199.676, + -56048.403, + 2608.15, + 0.0, + 89.52, + -0.0 + ], + [ + 3200.73, + -55922.549, + 2608.15, + 0.0, + 89.52, + -0.0 + ], + [ + 3201.784, + -55796.694, + 2608.15, + 0.0, + 89.52, + -0.0 + ], + [ + 3199.361, + -55682.695, + 2644.921, + 0.0, + 89.52, + -0.0 + ], + [ + 3199.361, + -55682.695, + 2644.921, + 0.0, + 64.52, + -0.0 + ], + [ + 3199.361, + -55682.695, + 2644.921, + 0.0, + 39.52, + -0.0 + ], + [ + 3199.361, + -55682.695, + 2644.921, + 0.0, + 39.52, + -0.0 + ] + ], + "Rationale": [ + "The \"Crowe BOOM! 4-Life\" spray paint is visible on the concrete wall far to my left, but the wall section around it is cut off at the edge of my view and no door is yet apparent. I will turn left to bring that graffiti-marked wall into the center of my view so I can inspect it for the narrow metal door.", + "The graffiti text now reads clearly on the concrete wall ahead, and a pale rectangular panel that could be the door sits to its left, though glare from the low sun washes out that part of the wall. I will keep turning left to place that suspected door area more centrally and confirm what it is.", + "The wall with the graffiti now sits to my right and the lighter panel beside it is still partly hidden behind glare and the pipe elbow in front of me. Continuing the same leftward scan should open up the stretch of wall left of the lettering where the narrow door most likely sits.", + "I can now see a narrow grey metal door set into the concrete wall just left of the \"Crowe BOOM! 4-Life\" lettering, which matches the target description. The floor between me and that wall looks clear apart from the pipe on my right, so I will walk forward to close the distance.", + "The metal door and the graffiti beside it are getting larger as I advance, confirming I am closing on the right wall. The path in front of me is still unobstructed, so I will keep walking forward toward the door.", + "My heading has drifted so that the door sits off to the right of center, with the open rooftop edge and the neighboring building filling the left of my view. I will turn right to square up with the wall and put the metal door on my forward line before continuing.", + "The turn worked, and the narrow metal door with the \"Crowe BOOM! 4-Life\" tag beside it is now centered ahead of me on the concrete wall. The floor between me and the door looks clear, so I will step forward to keep closing in.", + "The door and its short concrete step are clearly ahead and slightly left, and the pipe stays off to my right without blocking my line. I will continue walking forward to reach the door.", + "The narrow metal door is clearly visible ahead in the concrete wall, just left of the \"Crowe BOOM! 4-Life\" spray paint, with its small step block at the base. The open floor between me and that wall is clear, so I will keep walking straight to close the remaining distance.", + "The door and its concrete steps now fill much more of my view, confirming I am closing in on the correct target beside the graffiti. The pipe run stays off to my right and does not block my lane, so another step forward is safe.", + "I am only a couple of paces from the steps below the metal door, which is now large and slightly left of center. Continuing forward should bring me right up to the doorway rather than stopping short of it.", + "The door slab now dominates the left of my view with its handle and lock at arm's height, so I am essentially at the wall. One last short step should place me directly at the doorway.", + "My view is now filled by bare brick wall, which means I have arrived at the wall but my heading is offset to the right of the door itself. I will turn left to bring the metal door back into the center of my view.", + "The edge of the door slab and its frame have come into view on the left side, confirming the door is just past my current heading. Another left turn should square me up with the door face.", + "The narrow metal door with its handle and lock now fills my view at arm's length. The task is complete, so I stop here at the located door." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x003392_y-054052_z002943_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x003392_y-054052_z002943_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7f027f451672635c0a1efcf436cf06022d53b962 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x003392_y-054052_z002943_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Locate the dark doorway embedded in the small concrete structure with a sloped roof on this rooftop; navigate to it.", + "Type": 1, + "Start_Pose": [ + 3391.669, + -54051.755, + 2943.15, + 0.0, + 159.52, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3391.669, + -54051.755, + 2943.15, + 0.0, + 159.52, + -0.0 + ], + [ + 3391.669, + -54051.754, + 2943.15, + 0.0, + -175.48, + 0.0 + ], + [ + 3391.669, + -54051.754, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 3282.148, + -54113.768, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 3282.148, + -54113.768, + 2943.15, + 0.0, + -125.48, + 0.0 + ], + [ + 3209.098, + -54216.257, + 2943.15, + 0.0, + -125.48, + 0.0 + ], + [ + 3136.047, + -54318.747, + 2943.15, + 0.0, + -125.48, + 0.0 + ], + [ + 3062.996, + -54421.236, + 2943.15, + 0.0, + -125.48, + 0.0 + ], + [ + 2989.945, + -54523.725, + 2943.15, + 0.0, + -125.48, + 0.0 + ], + [ + 2916.894, + -54626.214, + 2943.15, + 0.0, + -125.48, + 0.0 + ], + [ + 2916.894, + -54626.214, + 2943.15, + 0.0, + -125.48, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop I can see air handling units, a vent cap, and a graffitied parapet wall, but no small sloped-roof structure with a dark doorway anywhere ahead. The right side of my view is cut off by open roof deck and a tall wall edge, so unscanned rooftop remains in that direction. I will turn right to begin a consistent scan for the stair bulkhead.", + "The scan has brought a pale concrete wall into the right edge of my view, along with bags and boxes stacked near its base, which hints at a built structure rather than open deck. I still cannot see a doorway or the sloped roofline from this heading. I will continue turning right in the same direction to bring that structure fully into view.", + "Now the small concrete structure with its distinctly sloped roof stands ahead and slightly right, and I can make out the recessed dark doorway set into its near face. That matches the target, so a full scan is unnecessary. I will walk forward to close the wide gap of open roof deck between us.", + "The bulkhead and its dark doorway now sit noticeably right of my heading, so continuing straight would carry me past it toward the graffitied parapet on the left. A modest rightward correction should place the doorway near the center of my path. I will turn right to line up with it before advancing further.", + "The turn has brought the sloped-roof structure and its shadowed doorway close to the middle of my view, with clear concrete deck between me and it. Nothing blocks the direct line except the bags and boxes piled to the left of the entrance. I will walk forward along this heading to close the distance to the doorway.", + "The bulkhead has grown larger and the dark doorway remains slightly left of center on my heading, still several strides away across open roof. My path stays clear of the piled bags and boxes beside the structure. I will keep walking forward to continue closing on the entrance.", + "The sloped concrete wall and its recessed dark doorway now fill much of the left half of my view, so I am close but not yet at the entrance. The deck immediately ahead is still open and walkable. I will step forward again to bring myself right up to the doorway.", + "I am now very near the bulkhead, with the tall doorway and its hinged metal door directly beside and ahead of me at close range. A short additional step should place me squarely at the entrance rather than slightly short of it. I will move forward once more to reach the doorway itself.", + "The dark metal door of the small rooftop structure now fills the left half of my view, with its handle and hinges clearly resolved at close range. I am nearly at it but still slightly short of the doorway itself, so I will step forward once more to close the last bit of distance and stand directly at the entrance.", + "The doorway of the sloped-roof rooftop structure is immediately beside me, its frame and jamb filling the near view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x003392_y-054052_z002943_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x003392_y-054052_z002943_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ca514f5d9500794c5c5dbe9685a3554d5ae1e2a6 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x003392_y-054052_z002943_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search for the yellow and blue trash bags piled beside cardboard boxes near the rooftop entrance structure, then move toward them.", + "Type": 1, + "Start_Pose": [ + 3391.669, + -54051.755, + 2943.15, + 0.0, + 159.52, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3391.669, + -54051.755, + 2943.15, + 0.0, + 159.52, + -0.0 + ], + [ + 3391.669, + -54051.754, + 2943.15, + 0.0, + -175.48, + 0.0 + ], + [ + 3391.669, + -54051.754, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 3282.148, + -54113.768, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 3172.628, + -54175.782, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 3063.108, + -54237.796, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 2953.587, + -54299.811, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 2844.067, + -54361.825, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 2734.546, + -54423.839, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 2734.546, + -54423.839, + 2943.15, + 0.0, + -150.48, + 0.0 + ], + [ + 2734.546, + -54423.839, + 2943.15, + 0.0, + -150.48, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop position I can see air handling units, a vent cap and the graffiti wall ahead, but no trash bags or entrance structure in view. The open deck continues off to my right, so I will turn right to scan that unseen portion of the roof for the piled bags and cardboard boxes.", + "Scanning right has brought a tan wall into the right edge of my view, and near its base I can make out small colored shapes that could be bagged refuse beside boxes. I will keep turning right in the same direction to bring that pile and the structure fully in front of me.", + "The entrance structure with its doorway now stands ahead of me, and the yellow and blue bags with cardboard boxes are piled against its near wall. They are still far across the deck, so I will walk forward along the clear concrete toward them.", + "The bags and boxes beside the entrance structure are slightly larger in view but still at a distance across the open roof. My heading stays on them, so I will continue walking straight ahead.", + "The yellow and blue bags with their cardboard boxes are now clearly distinguishable at the base of the tan wall ahead. Nothing blocks the deck between us, so I will keep stepping forward to close the remaining gap.", + "The pile is noticeably closer, with the bags and the open cardboard box now filling a good part of the lower right view. I will continue walking forward to reach a position right beside them.", + "The yellow and blue bags and the boxes beside the wall are now large and close in the lower right of my view. A couple more steps should place me directly at the pile, so I will keep advancing.", + "The bags now sit just at the near edge of my view, close against the entrance structure wall on my right. I will take one more step forward to stand right at the pile.", + "I am now right up against the entrance structure's wall, and only the tops of the yellow bags are still visible at the very bottom edge of my view. Tilting my gaze down should bring the whole pile of yellow and blue bags beside the cardboard boxes back into clear view so I can confirm I have reached them.", + "The yellow and blue trash bags beside the cardboard boxes are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x003491_y-057028_z002608_t1_a/infos.json b/dataset/trajectory/Demo_Roof/task_x003491_y-057028_z002608_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f3bebf66c3ef710603acafd6bae080abaf21633 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x003491_y-057028_z002608_t1_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Search for a stack of wooden pallets sitting near a brick wall, then navigate over to them.", + "Type": 1, + "Start_Pose": [ + 3490.942, + -57028.131, + 2608.034, + 0.0, + -60.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3490.942, + -57028.131, + 2608.034, + 0.0, + -60.48, + 0.0 + ], + [ + 3490.942, + -57028.133, + 2608.034, + 0.0, + -85.48, + 0.0 + ], + [ + 3490.942, + -57028.133, + 2608.034, + 0.0, + -110.48, + 0.0 + ], + [ + 3490.942, + -57028.133, + 2608.034, + 0.0, + -135.48, + 0.0 + ], + [ + 3401.204, + -57116.38, + 2608.034, + 0.0, + -135.48, + 0.0 + ], + [ + 3311.466, + -57204.627, + 2608.034, + 0.0, + -135.48, + 0.0 + ], + [ + 3221.727, + -57292.874, + 2608.034, + 0.0, + -135.48, + 0.0 + ], + [ + 3221.727, + -57292.874, + 2608.034, + 0.0, + -135.48, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop terrace I only see the railing, open sky, and neighboring facades, with no stack of pallets anywhere in front of me. The brick wall of my own building rises on my left, which is the most plausible place for pallets to be stored against, so I will turn left to scan along it.", + "The brick wall now fills the left half of my view, but the rooftop deck beside it is empty of any stacked material. I will continue turning left in the same direction to bring more of the wall base and the unseen corner of the terrace into view.", + "A stack of wooden pallets is now visible at the base of the brick wall on the left side of my view, next to a covered tarp and the painted lettering. I will turn left once more to bring that stack closer to the center of my heading before advancing.", + "The pallet stack sits ahead of me against the brick wall, roughly aligned with my heading. The deck between us is clear, so I will walk forward to close the distance toward the pallets.", + "The pallets now appear noticeably larger and more centered, confirming I am closing on them along the brick wall. The path is still clear, so I will keep walking forward to get right up to the stack.", + "The stack of pallets now dominates my view and the brick wall behind it is only a short distance away. I will take one more step forward to stand directly at the pallets.", + "The stacked wooden pallets and the brick wall fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demo_Roof/task_x003491_y-057028_z002608_t1_b/infos.json b/dataset/trajectory/Demo_Roof/task_x003491_y-057028_z002608_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..34714ccdca0438208c928ef8c3e05dd804314ac0 --- /dev/null +++ b/dataset/trajectory/Demo_Roof/task_x003491_y-057028_z002608_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the ladder positioned beside the NYC graffiti on the building; once you spot it, make your way there.", + "Type": 1, + "Start_Pose": [ + 3490.942, + -57028.131, + 2608.034, + 0.0, + -60.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3490.942, + -57028.131, + 2608.034, + 0.0, + -60.48, + 0.0 + ], + [ + 3490.942, + -57028.133, + 2608.034, + 0.0, + -85.48, + 0.0 + ], + [ + 3490.942, + -57028.133, + 2608.034, + 0.0, + -110.48, + 0.0 + ], + [ + 3490.942, + -57028.133, + 2608.034, + 0.0, + -135.48, + 0.0 + ], + [ + 3401.204, + -57116.38, + 2608.034, + 0.0, + -135.48, + 0.0 + ], + [ + 3401.204, + -57116.38, + 2608.034, + 0.0, + -160.48, + 0.0 + ], + [ + 3282.578, + -57158.434, + 2608.034, + 0.0, + -160.48, + 0.0 + ], + [ + 3163.953, + -57200.488, + 2608.034, + 0.0, + -160.48, + 0.0 + ], + [ + 3045.328, + -57242.542, + 2608.034, + 0.0, + -160.48, + 0.0 + ], + [ + 2930.616, + -57246.854, + 2608.034, + 0.0, + -160.48, + 0.0 + ], + [ + 2930.616, + -57246.854, + 2608.034, + 0.0, + 174.52, + -0.0 + ], + [ + 2805.332, + -57234.834, + 2608.034, + 0.0, + 174.52, + -0.0 + ], + [ + 2805.332, + -57234.834, + 2608.034, + 0.0, + 174.52, + -0.0 + ] + ], + "Rationale": [ + "From this rooftop edge I only see the parapet railing, a water tower on the neighboring roof, and distant facades, with no ladder or NYC graffiti anywhere in view. The open rooftop deck continues to my left behind the brick wall, so I will turn left to begin a consistent scan of that unseen area.", + "The turn brought the large brick wall of my own building into view along with more of the open roof deck, but no graffiti lettering or ladder is visible yet. I will keep turning left in the same direction to sweep the rest of this wall face, since a tagged wall would most likely appear along it.", + "Now the far left edge of my view shows red and white graffiti lettering on the brick wall next to a stack of wooden pallets, which matches the NYC tag described in the task. I will turn left once more to bring that painted section, and whatever stands beside it, fully into the center of my view.", + "The NYC graffiti is now clearly centered on the brick wall, and a stepladder stands on the deck just to its left. With the target identified and a clear paved path ahead, I will walk forward to close the distance toward that ladder.", + "After advancing, the pallet stack sits directly in my path and the ladder has shifted to the left side of my view. I will turn left to line my heading up with the ladder and keep a clear lane of deck between me and the wall.", + "The ladder beside the NYC tag is now roughly ahead of me with open rooftop paving leading toward it and the pallets set off to my right. I will step forward along this lane to keep closing on the ladder.", + "The stepladder against the graffitied wall is larger and still nearly straight ahead, and the covered heap and pallets stay clear of my path on the right. I will keep walking forward to reduce the remaining distance.", + "The ladder now fills much of the view beside the bold NYC lettering, but I am still a few paces short of standing next to it. I will advance again to reach the ladder's position at the wall.", + "The white step ladder now stands directly ahead of me, propped against the brick wall right beside the large NYC graffiti, so the target is confirmed. I still have a short gap of open rooftop between me and its base, so I will walk forward again to close it.", + "I am now very close to the ladder, but my heading points into the brick wall behind it rather than along the open rooftop. Turning left should swing the wall out of my path and set me facing the clear deck so my final step can bring me alongside the ladder instead of into the bricks.", + "With the wall cleared from my heading, the ladder now stands just off to my right with the graffiti behind it and open paving directly ahead. One short step forward should place me right beside the ladder's base.", + "I am standing immediately beside the ladder at the graffiti-covered brick wall, close enough to touch its rails. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002338_y003456_z000708_t1_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002338_y003456_z000708_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ea274282ad69fd8a8960d33d7c39d8de66d5f604 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002338_y003456_z000708_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the flat-bed cart sitting on the curved rail tracks, then navigate over to it.", + "Type": 1, + "Start_Pose": [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 141.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 141.6, + -0.0 + ], + [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 116.6, + -0.0 + ], + [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 91.6, + -0.0 + ], + [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 66.6, + -0.0 + ], + [ + 2388.476, + 3571.695, + 708.275, + 0.0, + 66.6, + -0.0 + ], + [ + 2438.46, + 3687.202, + 708.275, + 0.0, + 66.6, + -0.0 + ], + [ + 2488.445, + 3802.71, + 708.275, + 0.0, + 66.6, + -0.0 + ], + [ + 2538.429, + 3918.218, + 708.275, + 0.0, + 66.6, + -0.0 + ], + [ + 2538.429, + 3918.218, + 708.275, + 0.0, + 41.6, + -0.0 + ], + [ + 2632.547, + 4001.779, + 708.275, + 0.0, + 41.6, + -0.0 + ], + [ + 2726.664, + 4085.34, + 708.275, + 0.0, + 41.6, + -0.0 + ], + [ + 2726.664, + 4085.34, + 708.275, + 0.0, + 41.6, + -0.0 + ] + ], + "Rationale": [ + "I am facing a blank concrete wall marked C with sealed double doors, and no flat-bed cart is anywhere in this view. The rail tracks curving across the floor run off to my left, so I will turn left to follow them and look for the cart along that line.", + "More of the track network and the overhead crane hook are now in view, but I still see no cart on the rails. I will continue the same leftward scan to bring the far side of the hall, where the tracks curve away, into view.", + "A dark flat-bed cart has just appeared at the far left edge, sitting on the tracks near the wall. I will keep turning left to bring it fully into the center of my view instead of scanning any further.", + "The flat-bed cart is now clearly visible on the left, standing on the curved rails beside the open bay with the crates. It is still far off across the turntable floor, so I will walk forward to close the distance toward it.", + "The cart has grown larger on my left, confirming that my forward walk is closing the gap. The path across the grated turntable ahead is clear, so I will keep advancing toward it.", + "I can now make out the cart's wheels and flat deck resting on the rail beside the storage bay, still off to my left front. Another step forward should bring me alongside the section of track where it sits.", + "The cart is close on my left now, with its bed and coupling hardware plainly visible, though my heading still carries me past its front. I will step forward once more to draw level with it before adjusting my facing.", + "The flat-bed cart is right beside me on the left, while my view is still aimed at the sealed doors marked B straight ahead. I will turn left to face the cart directly so I can walk the last short stretch toward it.", + "The flat-bed cart on its curved rail track now sits ahead and slightly left of my heading, with open floor between us. I will step forward to close that remaining gap and bring the cart within reach.", + "The cart's rail wheels and deck now fill much of the left side of my view, so only a short distance remains. I will take one more step forward so I end up directly beside the flat-bed cart.", + "The flat-bed cart on the curved rail track is right beside me, filling the near left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002338_y003456_z000708_t1_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002338_y003456_z000708_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6c53adcdf7dcb20967cb6d48e0fc86d122b3ff4c --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002338_y003456_z000708_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Locate the pendant controller hanging from the overhead crane hook; once you spot it, move toward that suspended device.", + "Type": 1, + "Start_Pose": [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 141.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 141.6, + -0.0 + ], + [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 116.6, + -0.0 + ], + [ + 2338.491, + 3456.187, + 708.275, + 0.0, + 91.6, + -0.0 + ], + [ + 2334.977, + 3581.997, + 708.275, + 0.0, + 91.6, + -0.0 + ], + [ + 2331.463, + 3707.807, + 708.275, + 0.0, + 91.6, + -0.0 + ], + [ + 2327.948, + 3833.617, + 708.275, + 0.0, + 91.6, + -0.0 + ], + [ + 2327.948, + 3833.617, + 708.275, + 0.0, + 66.6, + -0.0 + ], + [ + 2377.933, + 3949.125, + 708.275, + 0.0, + 66.6, + -0.0 + ], + [ + 2427.918, + 4064.632, + 708.275, + 0.0, + 66.6, + -0.0 + ], + [ + 2473.543, + 4126.315, + 707.571, + 0.0, + 66.6, + -0.0 + ], + [ + 2473.543, + 4126.315, + 707.571, + 0.0, + 66.6, + -0.0 + ] + ], + "Rationale": [ + "Ahead of me is only the concrete bay wall marked C, a pair of closed shutter doors and cable racks, with nothing hanging from above. Since the overhead crane and its pendant controller are not in sight here, I will turn left to begin a steady scan of the hall in one consistent direction.", + "Swinging my gaze left has brought a yellow crane block and its hook into the upper corner on my left, above the circular tunnel opening. Continuing the same leftward turn should bring that crane assembly and whatever hangs from it toward the centre of my heading before I commit to walking.", + "The crane girder now spans the ceiling directly overhead and its hook hangs near the middle of my heading, above the turntable rails leading to the ring door lettered B. With the suspended gear lined up in front of me, I will walk forward to close distance on it.", + "The hook block has grown larger overhead and a thin cable now drops from it toward the floor, which is the kind of hanging pendant line I am after. The floor ahead across the turntable plates is unobstructed, so I will keep walking forward.", + "The suspended line and its hanging unit have shifted higher and slightly left as I close in, confirming I am nearing the crane rather than passing under it already. I will step forward again to bring the dangling device within a comfortable working distance.", + "The hanging cable and its pale handset now sit noticeably to the left of my heading, while my body is aimed straight at the ring doorway instead. I will turn left to put the suspended controller back near the centre of my path before advancing further.", + "The turn has placed the crane cable and the pendant hanging from it near the middle of my heading, with the ring door and cabinet flanking it. The plated floor between us is clear, so I will walk forward toward the suspended device.", + "The pendant controller is now clearly resolved as a pale cylindrical handset dangling on its cable roughly ahead of me, and it has grown as I approach. I will keep stepping forward to bring myself right up to the suspended device.", + "The pendant controller hanging on its cable from the overhead crane is now clearly centered ahead of me, just left of the door frame beyond the circular bulkhead. It still reads as slightly distant and small in my view, so I will take one more step forward along the open track floor to close the remaining gap. The path in front of me looks clear, so this short advance should bring me within immediate reach of the suspended device.", + "The suspended pendant controller now hangs directly in front of me, large and centered at close range. The task of locating and approaching it is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002359_y003163_z000708_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002359_y003163_z000708_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7f058250ec48dcc47256e9112a1635df2b306e0d --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002359_y003163_z000708_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the half-door near the letter A marking.", + "Type": 0, + "Start_Pose": [ + 2359.255, + 3163.46, + 708.275, + 0, + 29.76, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2359.255, + 3163.46, + 708.275, + 0, + 29.76, + 0 + ], + [ + 2468.515, + 3225.932, + 708.275, + 0.0, + 29.76, + -0.0 + ], + [ + 2468.515, + 3225.932, + 708.275, + 0.0, + 54.76, + -0.0 + ], + [ + 2541.136, + 3328.727, + 708.275, + 0.0, + 54.76, + -0.0 + ], + [ + 2613.757, + 3431.521, + 708.275, + 0.0, + 54.76, + -0.0 + ], + [ + 2686.378, + 3534.315, + 707.945, + 0.0, + 54.76, + -0.0 + ], + [ + 2758.999, + 3637.11, + 662.121, + 0.0, + 54.76, + -0.0 + ], + [ + 2831.62, + 3739.904, + 658.275, + 0.0, + 54.76, + -0.0 + ], + [ + 2831.62, + 3739.904, + 658.275, + 0.0, + 29.76, + -0.0 + ], + [ + 2940.879, + 3802.377, + 658.275, + 0.0, + 29.76, + -0.0 + ], + [ + 2940.879, + 3802.377, + 658.275, + 0.0, + 29.76, + -0.0 + ] + ], + "Rationale": [ + "From my starting spot I can see the large letter A painted on the concrete wall ahead and to the right of it the open half-door leading into the lit tunnel bay. The floor between me and that wall is clear, so I will move forward to begin closing the gap toward the marked doorway.", + "The A marking and its half-door now sit off to my right, and holding this heading would carry me into the plain concrete wall instead of the opening. I will turn right so my forward direction runs along the open floor lane that leads toward the doorway.", + "After the turn the doorway beneath the A marking lies ahead of me with the grated platform to my right and clear ground in between. I will move forward to shorten the distance to that half-door.", + "The doorway and the A letter have grown larger, which tells me the previous step took me nearer to the target. Nothing blocks the path, so I will continue forward toward the opening.", + "The open door leaf and its hazard-striped edge are now clearly resolved just left of my heading, and the cart inside the bay is visible through the gap. I will keep moving forward to close the remaining distance to the half-door.", + "The doorway now fills much of my view and I can see the threshold and rails inside the tunnel, so I am close but not yet at the door. I will advance again to bring myself right up to it.", + "The open half-door panel is at arm's reach on my left and the loading platform with the cart runs straight ahead through the opening. One more forward step should place me directly at the doorway.", + "I am now right beside the opening, but the door itself has slid to the far left edge of my view while the tunnel interior and cart dominate the center. I will turn left to bring the half-door and its frame back in front of me for a squared final approach.", + "The half-door panel with its red handle now stands just ahead on my left, with the painted A marking still visible on the concrete wall beside it. My heading is squared onto the threshold, so one more forward step should close the small remaining gap and put me directly at the door.", + "The half-door panel fills the near left of my view at arm's reach, beside the A marking. The task is complete, so I stop here rather than move past it." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002359_y003163_z000708_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002359_y003163_z000708_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a29636a0cf860553294f6253cc5ef9a8d55787b --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002359_y003163_z000708_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the tomato beside the half-door near the letter A marking.", + "Type": 5, + "Start_Pose": [ + 2359.255, + 3163.46, + 708.275, + 0, + 29.76, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2939.975, + 3576.386, + 632.117, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2359.255, + 3163.46, + 708.275, + 0, + 29.76, + 0 + ], + [ + 2468.515, + 3225.932, + 708.275, + 0.0, + 29.76, + -0.0 + ], + [ + 2577.774, + 3288.405, + 708.275, + 0.0, + 29.76, + -0.0 + ], + [ + 2687.034, + 3350.877, + 707.925, + 0.0, + 29.76, + -0.0 + ], + [ + 2767.187, + 3415.823, + 662.132, + 0.0, + 29.76, + -0.0 + ], + [ + 2767.187, + 3415.823, + 662.132, + 0.0, + 29.76, + -0.0 + ], + [ + 2875.652, + 3479.345, + 662.132, + 0.0, + 29.76, + -0.0 + ], + [ + 2875.652, + 3479.345, + 662.132, + 0.0, + 29.76, + -0.0 + ], + [ + 2875.652, + 3479.345, + 662.132, + 0.0, + 29.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2939.975, + 3576.386, + 632.117, + 0.0, + 0.0, + 0.0 + ], + [ + 2939.975, + 3576.386, + 632.117, + 0.0, + 0.0, + 0.0 + ], + [ + 2939.975, + 3576.386, + 632.117, + 0.0, + 0.0, + 0.0 + ], + [ + 2939.975, + 3576.386, + 632.117, + 0.0, + 0.0, + 0.0 + ], + [ + 2939.975, + 3576.386, + 632.117, + 0.0, + 0.0, + 0.0 + ], + [ + 2939.975, + 3576.386, + 632.117, + 0.0, + 0.0, + 0.0 + ], + [ + 2939.975, + 3576.386, + 632.117, + 0.0, + 0.0, + 0.0 + ], + [ + 2864.523, + 3497.58, + 632.227, + -28.202, + 79.905, + 1.862 + ], + [ + 2864.523, + 3497.58, + 632.227, + -28.202, + 79.905, + 1.862 + ] + ], + "PD_Dist_2D": [ + 712.6, + 587.4, + 462.7, + 338.9, + 235.9, + 235.9, + 116.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits on the floor ahead beside the half-open door under the painted letter A, but it is still far across the hall. My heading already points straight at it, so no turn is needed. I will walk forward to close that distance.", + "The tomato and the letter A on the wall have grown slightly larger, confirming the previous step carried me toward them. It remains well out of arm's reach on the open floor ahead. I will keep walking straight to shorten the gap.", + "The tomato now reads clearly against the concrete wall beneath the A marking, and the door frame beside it fills more of my view. I am still several paces short of a reachable position. Another straight step forward should bring me nearer without needing any turn.", + "The tomato is close now, low in front of me near the yellow striped door edge, but it still looks slightly too distant to grasp. My heading stays true with the target just ahead. I will take one more step forward to stand over it.", + "The tomato now sits large and low directly in front of me at the foot of the door frame beneath the A marking. It looks near enough that a grasp attempt is reasonable from here. I will try to pick it up.", + "My grasp attempt did not take hold, since my hands are empty. I was evidently still too far from the tomato for the reach to connect. I will step forward to close that remaining gap beside the half-door under the letter A.", + "The tomato now sits right at the bottom edge of my view, directly at my feet beside the striped post of the half-door marked A. This is close enough for a reach, so I will attempt to grasp it.", + "The tomato is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002372_y003271_z000708_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002372_y003271_z000708_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1b6c64d76a8347f85054df1dab74a1cbb1f04bc5 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002372_y003271_z000708_t0_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Head toward the letter B on the far wall.", + "Type": 0, + "Start_Pose": [ + 2372.198, + 3271.393, + 708.275, + 0, + 83.52, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2372.198, + 3271.393, + 708.275, + 0, + 83.52, + 0 + ], + [ + 2386.402, + 3396.448, + 708.275, + 0.0, + 83.52, + -0.0 + ], + [ + 2400.606, + 3521.503, + 708.275, + 0.0, + 83.52, + -0.0 + ], + [ + 2414.81, + 3646.558, + 708.275, + 0.0, + 83.52, + -0.0 + ], + [ + 2429.014, + 3771.613, + 708.275, + 0.0, + 83.52, + -0.0 + ], + [ + 2443.218, + 3896.668, + 708.275, + 0.0, + 83.52, + -0.0 + ], + [ + 2457.422, + 4021.723, + 708.275, + 0.0, + 83.52, + -0.0 + ], + [ + 2471.431, + 4127.105, + 706.715, + 0.0, + 83.52, + -0.0 + ], + [ + 2482.266, + 4127.165, + 706.715, + 0.0, + 83.52, + -0.0 + ], + [ + 2493.102, + 4127.165, + 706.715, + 0.0, + 83.52, + -0.0 + ], + [ + 2503.937, + 4127.165, + 706.715, + 0.0, + 83.52, + -0.0 + ], + [ + 2493.509, + 4035.355, + 708.275, + 0.0, + 83.52, + -0.0 + ], + [ + 2493.509, + 4035.355, + 708.275, + 0.0, + 58.52, + -0.0 + ], + [ + 2559.233, + 4142.69, + 708.275, + 0.0, + 58.52, + -0.0 + ], + [ + 2559.233, + 4142.69, + 708.275, + 0.0, + 83.52, + -0.0 + ], + [ + 2577.146, + 4266.58, + 708.144, + 0.0, + 83.52, + -0.0 + ], + [ + 2591.35, + 4391.635, + 708.144, + 0.0, + 83.52, + -0.0 + ], + [ + 2605.554, + 4516.689, + 708.144, + 0.0, + 83.52, + -0.0 + ], + [ + 2605.554, + 4516.689, + 708.144, + 0.0, + 58.52, + -0.0 + ], + [ + 2671.278, + 4624.025, + 708.144, + 0.0, + 58.52, + -0.0 + ], + [ + 2737.001, + 4731.36, + 658.275, + 0.0, + 58.52, + -0.0 + ], + [ + 2801.822, + 4825.128, + 658.275, + 0.0, + 58.52, + -0.0 + ], + [ + 2801.822, + 4825.128, + 658.275, + 0.0, + 58.52, + -0.0 + ] + ], + "Rationale": [ + "I can see the faint letter B painted on the far wall just left of the large sealed door inside the round red-ringed arch. My heading is already pointing down the grated floor straight at that wall, so no turn is needed yet. I will step forward to begin closing the long distance to the marking.", + "The arched doorway and the B beside it now appear slightly larger, confirming my forward heading is carrying me toward the far wall. The path across the metal grating ahead is clear of carts and crates, which sit off to my left. I will continue stepping forward along this line.", + "The circular turntable section of floor is now filling the lower part of my view and the vault arch with the B keeps expanding straight ahead. Nothing blocks the lane between me and the far wall. I will keep advancing to close more distance.", + "The red-ribbed ring and the B on the wall are noticeably closer, and the hanging crane cable is off to my right rather than in my way. My heading still lines up with the marking, so continued forward motion remains the most direct progress. I will step forward again.", + "The far wall now dominates my view, with the B clearly readable to the left of the striped door threshold. There is still open grating between me and that wall, so I have room to keep advancing. I will move forward to shorten the remaining gap to the marking.", + "The letter B is clearly painted on the far wall to the left of the arched vault opening, and my heading keeps that wall filling the space ahead of me. The floor between me and the wall is still open grating, so I will take another full step forward to close the remaining distance.", + "The arch and the marked wall now dominate my view, and the letter B sits just left of the doorway at a comfortable height, confirming I am still headed at the target. A hanging hook line dangles near the center of my path, but the floor ahead is clear, so I will continue forward.", + "The suspended block on the crane cable has swung into the middle of my path and the last step gained less ground than the ones before it. The marked wall is still ahead of me, so I will push forward again and see whether I can keep closing on it.", + "My last step barely moved me at all, since the scene ahead looks almost unchanged and the hanging block still sits right in front of me. The letter B remains the goal on the wall beyond it, so I will try one more forward push in case I can squeeze past.", + "Two forward attempts in a row have produced almost no change in what I see, so the hanging block is clearly holding me in place short of the marked wall. I will attempt forward once more to confirm whether this route is genuinely blocked rather than just tight.", + "The letter B is plainly visible on the far wall ahead, but the heavy hanging hook block sits directly in my path and my last forward pushes barely shifted me at all, so I am pressed against it. I will step backward to open clearance from that suspended block. That should give me room to reorient onto a route that passes it.", + "After backing off, the hanging block still hangs squarely between me and the doorway wall, so pushing straight on the same line would only bring me back against it. The letter B sits to the left side of the wall ahead, and the floor there looks open. I will turn left to take up a heading that should let me pass beside the obstruction.", + "With my heading now angled left, the hanging block hangs off to the right side of my view and the space ahead of me is clear floor. The letter B on the far wall is still in sight toward the right. I will walk forward along this offset line to slip past the obstruction while closing on that wall.", + "I have moved past the hanging block on this angled line, and now the letter B and the doorway sit off to my right while a side wall and cabinet fill the left of my view. Continuing straight would carry me into that corner instead of the target. I will turn right to bring the marked wall back in front of me.", + "The letter B and the double doors are centered ahead again, and the hanging block now hangs clear to my right rather than across my path. Nothing stands between me and the far wall. I will walk forward to close the remaining distance to the marked wall.", + "The painted letter B is clearly visible on the far wall just left of the big double doors, and my heading now carries me straight at that wall section without anything blocking the floor grating ahead. There is still a noticeable gap to the wall, so I will step forward to keep closing distance on the marking.", + "The B and the ribbed red arch beside it have grown larger and the doors now fill most of my view, confirming that my last step closed real distance toward the target wall. I still have room before reaching it, so I will advance again.", + "I am now very close to the wall, but the B has drifted to the left side of my view while the door panels sit straight ahead of me. Turning left should bring the letter back toward the center of my heading so my remaining steps go directly at it rather than into the doors.", + "After the turn, the B on the wall now sits near the middle of my view with the red arch just to its left, so my heading is pointed at the target itself. I will step forward to close the last of the gap to that wall panel.", + "The letter B is large and centered ahead of me, with the hazard stripe panel and arch on either side, so I am nearly at the wall bearing the marking. One more step forward should bring me right up to it.", + "The painted B is now directly above me at the top of my view, with the red arch ring and the hazard-striped wall panel filling almost everything I can see. Only a short gap of floor remains between me and that wall, so I will step forward once more to close the final distance to the marking.", + "The wall bearing the letter B is directly in front of me at arm's length, filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002483_y003723_z000708_t1_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002483_y003723_z000708_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e36265dfe2b06ff82f1051d270aea82de0bed26b --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002483_y003723_z000708_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for the large industrial door marked with the letter B; after locating it, proceed toward that entrance.", + "Type": 1, + "Start_Pose": [ + 2482.973, + 3723.4, + 708.275, + 0.0, + -18.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + -18.4, + 0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 6.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 31.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 56.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 81.6, + -0.0 + ], + [ + 2501.359, + 3847.909, + 708.275, + 0.0, + 81.6, + -0.0 + ], + [ + 2519.745, + 3972.418, + 708.275, + 0.0, + 81.6, + -0.0 + ], + [ + 2538.13, + 4096.926, + 708.275, + 0.0, + 81.6, + -0.0 + ], + [ + 2572.221, + 4208.214, + 708.059, + 0.0, + 81.6, + -0.0 + ], + [ + 2590.607, + 4332.723, + 708.059, + 0.0, + 81.6, + -0.0 + ], + [ + 2590.607, + 4332.723, + 708.059, + 0.0, + 106.6, + -0.0 + ], + [ + 2554.65, + 4453.337, + 708.059, + 0.0, + 106.6, + -0.0 + ], + [ + 2518.694, + 4573.95, + 708.059, + 0.0, + 106.6, + -0.0 + ], + [ + 2482.737, + 4694.564, + 708.059, + 0.0, + 106.6, + -0.0 + ], + [ + 2446.781, + 4815.177, + 708.059, + 0.0, + 106.6, + -0.0 + ], + [ + 2410.824, + 4935.791, + 708.059, + 0.0, + 106.6, + -0.0 + ], + [ + 2410.824, + 4935.791, + 708.059, + 0.0, + 106.6, + -0.0 + ] + ], + "Rationale": [ + "From here I can see a wall stenciled with a large letter A and an open doorway beside it, but no door marked B anywhere in view. Since the labeled bays seem to run in sequence along this hall, I will turn right to sweep further along the wall and look for the B marking.", + "The rotation has brought the open A doorway to the center of my view, with cargo track and a flatbed cart beyond it, but still no B label. I will keep turning right in the same direction to continue the scan toward the unseen part of the bay.", + "At the right edge of my view a large red ringed portal has appeared with what looks like a B stenciled on its surround. I will continue turning right to bring that circular bulkhead fully into view and confirm it is the marked entrance.", + "The circular red framed bulkhead with the stenciled B is now clearly visible to my right, so the target entrance is identified. I will turn right once more to place that doorway squarely ahead before moving toward it.", + "The B marked doors inside the red ringed portal are now centered directly ahead of me across the open grating floor. With the heading aligned, I will walk forward to close the distance to that entrance.", + "The B doorway has grown larger and stays near the center of my view, so my heading toward it is still good. I will keep walking forward across the plating to close more of the remaining distance.", + "The marked entrance now fills much of my view, with the hazard striped bases of the doors clearly visible ahead. Nothing blocks the path, so I will continue forward toward the B door.", + "A hanging crane hook dangles near the middle of my view, but the B doors remain directly ahead and the floor route stays clear. I will step forward again to keep closing on the entrance.", + "The large double door inside the red ringed frame is straight ahead with the painted letter B clearly visible on the wall to its left, so this is the entrance I was told to reach. There is still open grating between me and the threshold, so I will keep walking forward to close that gap.", + "From this closer position the B door has drifted toward the right side of my view, with the red ring arc now filling the left edge. I will turn right to bring the door panels back to the center of my heading before continuing to advance.", + "The double door now sits squarely in front of me with the B marking at the left edge of the wall, so my heading is lined up with the entrance. I will step forward to continue closing on the threshold.", + "The door panels fill more of my view and my own shadow is cast on them, showing I am close but not yet at the entrance. I will walk forward again to reach the doorway itself.", + "The metal door surface, handles and hazard stripes are close ahead and slightly left, with only a short stretch of grating remaining. I will advance again to bring myself right up to this entrance.", + "I am now nearly against the B entrance, with the door leaves and their handles occupying almost the whole view. I will take another step forward to close the last of the distance to the door face.", + "The door panel and its handle are directly in front of me at arm's length, so I am essentially at the entrance. I will make one last short step forward to settle right at the door.", + "I am standing directly against the door I identified by the painted B, its handle right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002483_y003723_z000708_t1_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002483_y003723_z000708_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b7ed3d5c6267a162903e13741db8195c7a557982 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002483_y003723_z000708_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Identify the heavy metal gate labeled C, then head over to it.", + "Type": 1, + "Start_Pose": [ + 2482.973, + 3723.4, + 708.275, + 0.0, + -18.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + -18.4, + 0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 6.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 31.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 56.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 81.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 106.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 131.6, + -0.0 + ], + [ + 2482.973, + 3723.4, + 708.275, + 0.0, + 156.6, + -0.0 + ], + [ + 2367.465, + 3773.385, + 708.275, + 0.0, + 156.6, + -0.0 + ], + [ + 2251.958, + 3823.369, + 697.81, + 0.0, + 156.6, + -0.0 + ], + [ + 2136.45, + 3873.354, + 667.805, + 0.0, + 156.6, + -0.0 + ], + [ + 2020.216, + 3909.113, + 667.805, + 0.0, + 156.6, + -0.0 + ], + [ + 1903.098, + 3919.374, + 667.805, + 0.0, + 156.6, + -0.0 + ], + [ + 1862.401, + 3922.935, + 667.523, + 0.0, + 156.6, + -0.0 + ], + [ + 1862.401, + 3922.935, + 667.523, + 0.0, + 156.6, + -0.0 + ] + ], + "Rationale": [ + "I need the heavy metal gate marked C, but from here I only see a wall stenciled with the letter A and an open doorway to my right. Since no C marking is visible in this view, I will begin a steady rightward scan of the bay to check the walls in that direction.", + "The doorway ahead is still the A bay, and the tunnel beyond it holds a rail cart rather than the labeled gate I want. I will keep turning right to bring more of the surrounding wall into view and look for a C marking.", + "A second lettered bay appears at the right edge with a large ring-framed portal marked B, which tells me the gates are lettered in sequence around this chamber. I will continue turning right, since the next letter should lie further along in that direction.", + "The B portal with its red ring frame is now clearly in front of me, so this is still not the gate I was asked to find. I will keep the same rightward scan going to reach the wall beyond B, where a C gate is likely to sit.", + "B is drifting to my left and a fresh section of concrete wall with another set of doors is opening up on the right. I will turn right again to bring that next bay fully into view and check its stencilled letter.", + "Two more sets of heavy doors are now visible on the right wall, but their letters are not yet readable from this angle. I will continue the rightward turn to square up on those doors and read the marking beside them.", + "The recessed double doors on the right are clearly heavy metal, and I still cannot read the letter painted on the wall beside them from this oblique angle. One more turn right should center that bay so I can confirm whether it is the gate I want.", + "The letter C is now plainly stencilled on the concrete beside the recessed heavy metal double doors directly ahead of me. My heading is lined up with that bay, so I will walk forward along the platform to close the distance to the C gate.", + "The large metal double gate with the C painted on the wall beside it fills the view ahead, so the target is confirmed and centered enough to walk straight at. I still have a fair stretch of open floor and loading ramp between me and the gate, so I will step forward to close that gap.", + "The gate panels and their orange hazard stripes now take up most of my view, which tells me the previous step brought me meaningfully closer. There is still a clear span of concrete floor before the raised loading lip, so I will keep walking forward toward the gate.", + "The C gate now dominates the frame, with the door hardware and the ramp edge close in front of me, confirming I am on a straight line to it. I am not yet up against the doors, so another forward step should place me right at the gate.", + "I am very near the metal gate now, close enough to read the rivets on the hinge strap and the arrow marking on the ramp at my feet. A short further step should bring me right up to the door face rather than stopping short of it.", + "The gate surface fills nearly the whole view at close range, so only a small residual gap remains between me and it. I will take one last short step forward to settle directly at the C gate.", + "I am standing directly at the heavy metal gate marked C, its riveted hinge and hazard stripe right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4acbf95a4998b429c91a89d01b6edeff751cab5a --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the large metal double door.", + "Type": 0, + "Start_Pose": [ + 2501.046, + 4325.851, + 708.275, + 0.0, + -158.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2501.046, + 4325.851, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2385.052, + 4308.594, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2268.031, + 4262.262, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2151.01, + 4215.931, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2033.99, + 4169.599, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 1916.969, + 4123.267, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 1811.257, + 4077.572, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 1811.257, + 4077.572, + 708.275, + 0.0, + -158.4, + 0.0 + ] + ], + "Rationale": [ + "The large metal double door sits in the recessed bay ahead of me, slightly left of center but already within my forward path. Nothing blocks the ramp between me and it, so I will move forward to begin closing the distance.", + "The double door now fills more of my view and its handles and hazard stripes are clearer, confirming my heading is still on the target. I will continue forward since the floor ahead remains clear.", + "Both door leaves and their push bars now dominate the upper part of my view, so I am well aligned with the metal double door. There is still open floor in front of me, so another forward step should close more of the remaining gap.", + "The door face is close enough that I can see individual seams and rivets on the bars, but I am not yet at the threshold. I will step forward again to reach a position right in front of the doors.", + "Only one leaf and part of the frame remain in view, showing I am nearly against the metal door. One more forward step should bring me to a proper stopping position at its surface.", + "The handle and kick plate of the door are now within arm's reach at the center of my view, so I am essentially at the target. A final short forward step should place me directly at the door surface.", + "The metal door surface completely fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c11fec99c64bf4dc1c3306f388c11a58de192e --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the rust-colored barrel at the base of the wall marked with a white letter \"C\".", + "Type": 0, + "Start_Pose": [ + 2501.046, + 4325.851, + 708.275, + 0.0, + -158.4, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2501.046, + 4325.851, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2385.052, + 4308.594, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2385.052, + 4308.594, + 708.275, + 0.0, + -133.4, + 0.0 + ], + [ + 2298.576, + 4217.148, + 708.275, + 0.0, + -133.4, + 0.0 + ], + [ + 2212.1, + 4125.702, + 708.275, + 0.0, + -133.4, + 0.0 + ], + [ + 2125.623, + 4034.256, + 708.275, + 0.0, + -133.4, + 0.0 + ], + [ + 2039.147, + 3942.81, + 707.938, + 0.0, + -133.4, + 0.0 + ], + [ + 1952.671, + 3851.364, + 667.805, + 0.0, + -133.4, + 0.0 + ], + [ + 1866.195, + 3759.918, + 667.805, + 0.0, + -133.4, + 0.0 + ], + [ + 1866.195, + 3759.918, + 667.805, + 0.0, + -108.4, + 0.0 + ], + [ + 1852.157, + 3641.501, + 666.139, + 0.0, + -108.4, + 0.0 + ], + [ + 1852.157, + 3641.501, + 666.139, + 0.0, + -108.4, + 0.0 + ] + ], + "Rationale": [ + "From the walkway I can see the pale letter \"C\" painted on the concrete wall to the right of the big double doors, and a small rust-colored barrel sits on the floor at that wall's base. I will step forward to close some of the open distance across this bay before adjusting my heading toward the barrel.", + "The lettered wall and the barrel beneath it sit off to the right of my current heading, which is aimed mostly at the shuttered doors. I will turn right so the \"C\" wall and its barrel move toward the center of my view and my forward path leads to them.", + "After turning, the wall bearing the \"C\" and the rust-colored barrel at its base are now ahead of me with the ribbed tunnel opening to the right. The floor between us is clear, so I will advance straight to reduce that distance.", + "The barrel at the base of the lettered wall has grown noticeably larger and stays just left of the tunnel ribs, confirming my heading is good. I will keep walking forward since a fair stretch of floor still separates me from it.", + "The concrete wall with the \"C\" now fills much of my view and the rust-colored barrel sits ahead near its base with cables running across the floor. My heading still points at it, so I will continue forward to close the remaining gap.", + "The painted \"C\" is now big and close on the wall in front of me, and the barrel stands clearly at its base slightly to the right. Another step forward should bring me within arm's reach of the barrel.", + "I am close to the corner of the marked wall now, with the barrel sitting just ahead and to the right beside the cable bracket. I will advance again to pull up alongside it rather than stopping short.", + "The rust-colored barrel is now very near, low on the right against the base of the wall carrying the \"C\", while the wall face dominates my left side. One more forward step should place me right beside it, close enough to count as reaching it.", + "The marked wall now fills most of my view and the rust-colored barrel has slipped to the right edge, only partly visible beside the conduit bracket. Turning right should swing my heading onto the barrel so I can close the last bit of distance straight on.", + "The rust-colored barrel is now centered ahead of me, standing at the base of the wall next to the conduit bracket. It is still a couple of steps away, so I will advance forward to bring myself right up beside it.", + "The rust-colored barrel's lid is directly below me at the base of the marked wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91ddca535a1679c96237beb684b69d04beadd367 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the wall with letter 'C' on it.", + "Type": 0, + "Start_Pose": [ + 2501.046, + 4325.851, + 708.275, + 0.0, + -158.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2501.046, + 4325.851, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2385.052, + 4308.594, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2268.031, + 4262.262, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2268.031, + 4262.262, + 708.275, + 0.0, + -133.4, + 0.0 + ], + [ + 2181.555, + 4170.816, + 708.275, + 0.0, + -133.4, + 0.0 + ], + [ + 2095.079, + 4079.37, + 708.275, + 0.0, + -133.4, + 0.0 + ], + [ + 2008.603, + 3987.924, + 708.275, + 0.0, + -133.4, + 0.0 + ], + [ + 1922.126, + 3896.478, + 667.805, + 0.0, + -133.4, + 0.0 + ], + [ + 1855.975, + 3806.405, + 667.14, + 0.0, + -133.4, + 0.0 + ], + [ + 1855.975, + 3806.405, + 667.14, + 0.0, + -133.4, + 0.0 + ] + ], + "Rationale": [ + "I can already spot the letter 'C' painted on the concrete wall to the right of the large double doors ahead of me. Moving straight forward should close the gap across this open bay and bring that marked wall into clearer view.", + "The marked wall segment with the 'C' is noticeably larger now and sits slightly right of my heading. Another step forward should keep shortening the distance before I refine my direction.", + "The double doors now fill most of my view straight ahead, while the wall bearing the 'C' lies off to my right side. I will turn right to point my heading at that lettered wall rather than at the doors.", + "After the turn, the wall with the 'C' now sits near the center of my view with clear floor leading to it. Moving forward should carry me directly toward that marking.", + "The lettered wall panel is growing and stays roughly ahead of me, with only open deck and a small barrel off to its right. I will keep advancing to close the remaining distance.", + "The 'C' is now large and clearly aligned with my heading, so my direction needs no correction. Another forward step should bring me close to the wall surface.", + "The concrete surface with the 'C' fills much of my view and the pipe bundles are close on the right. I will continue forward to finish closing on the marked wall.", + "Only the lower edge of the 'C' remains visible because the wall is now almost within arm's reach. One last short step forward should place me right at the marked wall.", + "The lettered wall now fills my view at arm's length, its concrete surface directly ahead. The task is complete, so I stop here rather than push into the wall." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1fc994dc65ddbe45f370bb9320b7b7e9e866672 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002501_y004326_z000708_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Lift the trash bag at the large metal double door.", + "Type": 5, + "Start_Pose": [ + 2501.046, + 4325.851, + 708.275, + 0, + -158.4, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1968.089, + 4200.095, + 628.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2501.046, + 4325.851, + 708.275, + 0, + -158.4, + 0 + ], + [ + 2385.052, + 4308.594, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2268.031, + 4262.262, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2151.01, + 4215.931, + 708.275, + 0.0, + -158.4, + 0.0 + ], + [ + 2151.01, + 4215.931, + 708.275, + 0.0, + -158.401, + 0.0 + ], + [ + 2151.01, + 4215.931, + 708.275, + 0.0, + -158.401, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1968.089, + 4200.095, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 1968.089, + 4200.095, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 1968.089, + 4200.095, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 1968.089, + 4200.095, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2159.438, + 4196.301, + 678.381, + -28.202, + -108.256, + 1.862 + ], + [ + 2159.438, + 4196.301, + 678.381, + -28.202, + -108.256, + 1.862 + ] + ], + "PD_Dist_2D": [ + 547.6, + 430.8, + 306.3, + 183.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The trash bag sits on the loading platform directly in front of the large metal double door, straight ahead of my heading. It is far too distant to reach from here, so I will walk forward along this centered line toward it. No turn is needed since the bag already lies near the middle of my view.", + "The bag and the double door now fill more of my view, confirming that walking straight is closing the gap. The bag remains centered, so no heading correction is needed. I will step forward again to keep closing in on it.", + "The bag is clearly nearer now, resting just before the door's lower edge, but it still sits beyond comfortable reach. I will advance once more to bring it close enough in front of me for a grasp. My heading stays aligned with it, so no turn is required.", + "The trash bag now looms close at the bottom of my view, right at the base of the metal double door, within reach. This is the target the task names, so I will attempt to grasp and lift it. If my hands close on it, the bag should come up off the platform.", + "The trash bag is held in my hands, lifted off the platform. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002646_y003311_z000708_t2_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002646_y003311_z000708_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0693d7230eaaa662f5a66ef9eb1ef891323761f --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002646_y003311_z000708_t2_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the second door from the right.", + "Type": 2, + "Start_Pose": [ + 2645.975, + 3311.396, + 708.254, + 0.0, + 109.44, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2645.975, + 3311.396, + 708.254, + 0.0, + 109.44, + -0.0 + ], + [ + 2604.087, + 3430.08, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2562.198, + 3548.764, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2520.31, + 3667.448, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2478.422, + 3786.131, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2436.533, + 3904.815, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2436.533, + 3904.815, + 708.275, + 0.0, + 84.44, + -0.0 + ], + [ + 2448.728, + 4030.082, + 708.275, + 0.0, + 84.44, + -0.0 + ], + [ + 2460.754, + 4126.719, + 707.144, + 0.0, + 84.44, + -0.0 + ], + [ + 2470.015, + 4126.734, + 707.144, + 0.0, + 84.44, + -0.0 + ], + [ + 2479.276, + 4126.734, + 707.144, + 0.0, + 84.44, + -0.0 + ], + [ + 2470.323, + 4034.769, + 708.275, + 0.0, + 84.44, + -0.0 + ], + [ + 2470.323, + 4034.769, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2427.436, + 4127.344, + 707.6, + 0.0, + 109.44, + -0.0 + ], + [ + 2374.587, + 4220.455, + 708.036, + 0.0, + 109.44, + -0.0 + ], + [ + 2374.587, + 4220.455, + 708.036, + 0.0, + 84.44, + -0.0 + ], + [ + 2386.782, + 4345.721, + 708.036, + 0.0, + 84.44, + -0.0 + ], + [ + 2398.976, + 4470.988, + 708.036, + 0.0, + 84.44, + -0.0 + ], + [ + 2411.17, + 4596.255, + 708.036, + 0.0, + 84.44, + -0.0 + ], + [ + 2423.364, + 4721.522, + 708.036, + 0.0, + 84.44, + -0.0 + ], + [ + 2435.558, + 4846.789, + 708.036, + 0.0, + 84.44, + -0.0 + ], + [ + 2435.558, + 4846.789, + 708.036, + 0.0, + 84.44, + -0.0 + ] + ], + "Rationale": [ + "Counting the doorways from the right, the first is the recessed set in the right-hand wall, and the second is the double door framed by the red circular ring and marked with a B. That ringed door sits ahead of me and slightly left, with open grated floor between us. I step forward to begin closing that distance.", + "The ring-framed double door with the B is noticeably larger now, so my heading is carrying me toward it. Nothing on the plated floor obstructs the way, though the door still sits left of my line of travel. I walk forward again.", + "The red ring and its double door keep filling more of my view, confirming steady progress toward the doorway I chose. The suspended hook and chain hang clear of my path, and the floor ahead stays open. I take another step forward.", + "I am well into the bay now, with the ringed doors clearly to the left of my straight-ahead line while the wall doorways slide off to my right. Distance is still the main thing separating me from that door. Another forward step should shorten it before I correct the offset.", + "The ringed double door with the B now dominates the left of my view, and the hanging chain drops beside my path rather than across it. I still have several paces of floor to cover before any heading adjustment is worthwhile. I keep walking forward.", + "My straight-ahead line now points at the blank wall to the right of the ring-framed B door, which has drifted well over to my left as I advanced. A small turn to the left should bring that doorway square in front of me before I close the last stretch.", + "The B door now sits centered in the red ring directly along my heading, so the offset is corrected. Grated plating runs unbroken between me and its threshold. I walk forward.", + "The doorway keeps growing centered ahead, confirming the corrected heading holds. The weight on the hanging cable now dangles near my line, a little left of the seam between the two door leaves. I step forward again while keeping the door centered.", + "That stride carried me less far than the earlier ones, and the suspended weight is now hanging close in front of me, just left of the door's seam. The doorway itself stays centered and open, so I try another step toward it.", + "My last step barely shifted the scene at all, and the hanging weight sits pressed right against my line, so it seems to be holding me up short of the doors. The threshold is still several paces off. I attempt one more push forward to see whether I can get past it.", + "Two forward attempts in a row barely moved me, so the suspended weight hanging on my line is clearly holding me in place. Pressing straight ahead is not going to get me to the threshold. I back up to open some clearance so I can reorient around it.", + "Backing off restored some room, but the dangling weight still sits squarely on my straight line, a touch left of the seam between the door leaves. Holding this heading only walks me back into it. Turning right should swing my path clear to the side of the obstruction, even though the doors will then sit left of me.", + "With my heading angled off to the side, the hanging weight now lies to the left of where I am pointed rather than across it, and open plating runs ahead. The B door sits left of centre, which I accept for the moment. I walk forward to slip past the obstruction.", + "That stride carried its full length, so the obstruction is no longer stopping me. The ringed doorway has swung further to my left as I skirt past on this angled line. One more step forward should put the weight fully behind me before I swing back toward the doors.", + "I am clear of the hanging weight now, and the double door under its red ring has slid to the far left edge of my view while my heading points at bare wall. Nothing stands between me and that threshold anymore. I turn left to bring the doors back in front of me.", + "The turn put the B door back in the middle of my view, framed by the red ring, and the cable that had been blocking me no longer hangs across this line. Open grating runs straight to the threshold. I walk forward.", + "That stride went its full length and the doors have grown noticeably, so this line is clean. The B on the wall sits to the left of the recess and the striped kick plates are now legible at the base of both leaves. I step forward again.", + "The pair of leaves now spans nearly my whole view, with the ring's curve pushed out to the edges and my own shadow cast on the right leaf. Only a couple of paces of grating remain. I keep advancing toward the threshold.", + "The handles and the riveted bars across both leaves are close enough to read detail, and the doorway's side walls have fallen outside my view. I am nearly at the threshold but not yet on it. Another step should bring me right up to the doors.", + "Only the metal of the two leaves and a thin strip of floor at their base remain in view, so I am within a stride of the doors. One short step forward should place me directly at them.", + "The handles and seam of the B door fill my view at arm's length. I have arrived at the door, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x002646_y003311_z000708_t2_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x002646_y003311_z000708_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b35e5bd010185d9f21fa8b72c4b86a26e3c0c05 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x002646_y003311_z000708_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the right door.", + "Type": 2, + "Start_Pose": [ + 2645.975, + 3311.396, + 708.254, + 0.0, + 109.44, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2645.975, + 3311.396, + 708.254, + 0.0, + 109.44, + -0.0 + ], + [ + 2604.087, + 3430.08, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2562.198, + 3548.764, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2520.31, + 3667.448, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2478.422, + 3786.131, + 708.275, + 0.0, + 109.44, + -0.0 + ], + [ + 2478.422, + 3786.131, + 708.275, + 0.0, + 134.44, + -0.0 + ], + [ + 2390.3, + 3875.993, + 708.275, + 0.0, + 134.44, + -0.0 + ], + [ + 2302.178, + 3965.854, + 708.275, + 0.0, + 134.44, + -0.0 + ], + [ + 2302.178, + 3965.854, + 708.275, + 0.0, + 159.44, + -0.0 + ], + [ + 2184.336, + 4010.054, + 708.275, + 0.0, + 159.44, + -0.0 + ], + [ + 2066.494, + 4054.254, + 708.275, + 0.0, + 159.44, + -0.0 + ], + [ + 1948.651, + 4098.455, + 708.275, + 0.0, + 159.44, + -0.0 + ], + [ + 1830.809, + 4142.655, + 708.275, + 0.0, + 159.44, + -0.0 + ], + [ + 1830.809, + 4142.655, + 708.275, + 0.0, + 159.44, + -0.0 + ] + ], + "Rationale": [ + "Two doorways face me from this bay: the arched one ringed in red panelling straight ahead, and a pale double door recessed in an alcove along the right-hand wall, which is the one I want. It sits well past the open grating, so I will walk forward across the floor plates to close that gap before angling over.", + "The alcove door on my right has grown slightly larger and the hazard-striped threshold under it is now clearer, so my heading is still carrying me usefully into the bay. I am not yet far enough along to swing toward it without cutting across the raised platform edge. I will keep walking forward.", + "The turntable ring on the floor is spreading wide beneath me and the alcove door on the right has moved further toward the edge of my view, which means I am drawing level with it. Turning now would still leave me short of its approach ramp. I will advance one more stride along the same line.", + "I am now deep into the bay, with the arched door ahead and the recessed door filling much of the right wall. A little more forward travel should put me squarely opposite that alcove so my turn lines up with its opening rather than the blank wall beside it. I will step forward again.", + "I have come far enough forward that the recessed double door on the right wall is nearly beside me, while my body still points at the arched doorway I do not want. Turning right should bring that alcove door into the middle of my view so I can walk straight at it.", + "The turn has brought the recessed double door with its hazard-striped base into the right half of my view, with clear floor plates running toward its threshold. Nothing blocks that line, so I will walk forward to close the remaining distance to it.", + "The two door leaves and their handles are noticeably larger and the overhead lamp above the alcove is directly ahead of me, confirming I am closing on the right target. There is still open floor between me and its threshold. I will keep walking toward it.", + "The recessed double door now sits off to my right and I am angled toward the corner wall and the red arch on my left instead of at its opening. A further turn right should square my heading with the door's centre before I close the last stretch.", + "The second turn has put the pale double door dead centre, both leaves and the lamp above the alcove framed squarely in front of me. Open floor plating runs unbroken from my feet to its hazard-striped kickplates. I will walk straight ahead to eat into that gap.", + "The two leaves now fill most of my view and their handles sit near eye height, so my line into the alcove is holding true. Several strides of floor still separate me from the threshold strip. I will keep advancing on this heading.", + "The doorframe has grown past the edges of my view and only the lower panels with their striped plates remain visible, which tells me I am close. The floor immediately in front is still clear right up to the sill. Another step forward should bring me within arm's reach.", + "Both handles and the seam between the leaves are close enough now to show rust and grime, so I am nearly at the door face. One short stride should place me directly at it rather than a pace short.", + "The right-hand alcove's double door fills my view at arm's length, its seam and handle directly before me. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3eff041a5f947b3b87d398ce33eca6ed43a05ba2 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Walk to the stacked crates against the brick wall, then head toward the base of the pipe with the red pipe valve.", + "Type": 3, + "Start_Pose": [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3859.142, + 4450.294, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3821.254, + 4330.273, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3783.366, + 4210.252, + 713.858, + 0.0, + -107.52, + 0.0 + ], + [ + 3745.477, + 4090.232, + 714.189, + 0.0, + -107.52, + 0.0 + ], + [ + 3707.589, + 3970.211, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3669.7, + 3850.19, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3642.181, + 3767.248, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3642.181, + 3767.248, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3669.997, + 3855.362, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3697.813, + 3943.476, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3697.813, + 3943.476, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3697.813, + 3943.476, + 708.275, + 0.0, + -57.52, + 0.0 + ], + [ + 3697.813, + 3943.476, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3803.937, + 3875.815, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3910.062, + 3808.154, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 4016.187, + 3740.493, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 4110.304, + 3730.07, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 4110.304, + 3730.07, + 708.275, + 0.0, + -32.52, + 0.0 + ] + ], + "Rationale": [ + "Across the dusty floor I can see the pale crates stacked against the brick wall, straight ahead of me and still far off. Nothing blocks the open ground between us, so I will walk forward to begin closing that gap.", + "The crate stack against the brick wall has grown slightly larger and sits near the middle of my heading. My path is still clear concrete, so I keep walking straight toward it.", + "The stacked crates are clearly resolving now, with individual boxes distinguishable at the foot of the brick wall. My heading still lines up with them, so another step forward should carry me closer.", + "The crates now fill a good part of the wall base ahead and the red valve on the green pipe hangs to my right along the same brickwork. The crates remain my current destination, so I continue walking straight at them.", + "The stacked boxes are close enough that I can pick out their latches and the pallets under them. I am not yet standing at the stack, so I take another step forward.", + "The crate stack now dominates what lies in front of me, its wooden lids and metal clasps only a couple of paces away against the brick. I will walk forward again to bring myself right up to the stack.", + "I am nearly against the crates, with the topmost box and its pallet filling my sight and the brick wall just behind them. A short step forward should place me right at the base of the stack.", + "The crates are now at arm's length, their edges and the pallet slats crowding almost everything in front of me. One last short step should put me squarely at the stack against the brick wall.", + "The stacked crates and their pallet slats fill my whole view, with the brick wall right behind them, so I am standing directly at the stack. This is the crate pile against the brick wall I came for. I mark reaching it and now set off for the base of the pipe with the red valve wheel.", + "Pressed this close, the crate boards block nearly everything and I cannot see the wall run where the valved pipe stands. Stepping back should reopen the room around the stack so I can pick out that pipe. I will back up rather than turn blind against the crates.", + "The crate stack and the brick wall are readable again, but the boxes still crowd the near half of my view. Another step back should give me clearance to swing my heading along the wall toward the pipe with the red valve. I will keep backing up.", + "I now stand clear of the crate stack with open floor at my feet, and the pipework carrying the red valve is not in front of me but further along the brick wall to my right. Turning right should bring that stretch of wall into view.", + "Green pipework has just edged into the right side of my view beyond the brickwork, but the red valve and the point where the pipe meets the floor are still off frame. Another turn right should carry that pipe run into the middle of my view.", + "The red valve wheel and the pipe bending down to the floor are now in sight against the brick, but my heading aims into the wall face instead of down the open floor beside it. One more turn right should place that clear lane ahead of me with the pipe base to my side.", + "The pipe with the red valve wheel now rises on my left and its lower bend runs down to the floor, with clear open ground stretching ahead beside the brick wall. Walking forward should close the gap to where that pipe meets the ground.", + "The vertical section under the valve is much nearer now, and I can see its flanged foot sitting on the floor to my left. A few more steps should bring me level with that base rather than alongside the upper bend.", + "The green pipe with the red valve above it curves down close on my left and I can now see its bolted flange resting on the floor. The foot of it is still a little ahead of me, so I will keep walking forward along the brick wall to reach it.", + "The bolted joint of the pipe is now almost beside my shoulder and its lower section drops to the floor just ahead on my left. Only a short gap remains, so one more step forward should put me level with the foot of the pipe.", + "The pipe's lower body stands right beside me at floor level, its base within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..29250b93a582b235be13f08955e3085f1d70dc08 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Approach the yellow warning sign, then move to the metal cart on tracks.", + "Type": 3, + "Start_Pose": [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3859.142, + 4450.294, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3821.254, + 4330.273, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3821.254, + 4330.273, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3736.192, + 4237.51, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3651.131, + 4144.746, + 714.161, + 0.0, + -132.52, + 0.0 + ], + [ + 3566.069, + 4051.983, + 714.161, + 0.0, + -132.52, + 0.0 + ], + [ + 3481.008, + 3959.22, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3395.946, + 3866.456, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3395.946, + 3866.456, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3395.946, + 3866.456, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3395.946, + 3866.456, + 708.275, + 0.0, + 177.48, + -0.0 + ], + [ + 3395.946, + 3866.456, + 708.275, + 0.0, + 152.48, + -0.0 + ], + [ + 3284.328, + 3924.611, + 708.275, + 0.0, + 152.48, + -0.0 + ], + [ + 3172.71, + 3982.765, + 708.275, + 0.0, + 152.48, + -0.0 + ], + [ + 3172.71, + 3982.765, + 708.275, + 0.0, + 152.48, + -0.0 + ] + ], + "Rationale": [ + "From this end of the bay I can pick out the yellow warning marking on the far wall ahead, beside the metal door and the hazard striping at the corner. It is still a long way off across the open concrete floor, with nothing blocking the straight path. I will walk forward to close that distance.", + "The warning marking on the wall and the striped hazard band beside the doorway have grown larger, so my heading is carrying me straight toward them. There is still a wide stretch of floor and the rail line between me and that wall. I continue walking forward.", + "The brick wall with the yellow warning marking now fills much of my view and the crates below it are clearly resolved. I am still several paces short of standing at that marking. Another step forward should bring me close enough to work with.", + "Straight ahead of me is only blank brickwork and the closed metal door, while the yellow and black striped hazard marker sits on the concrete corner off to my left. Walking on this heading would carry me past it into the wall. I turn left to put that striped marker in front of me.", + "The striped hazard marker on the concrete pillar now lies ahead of me, with open floor and the rails running between us. The yellow triangular sign is on the wall to my right, confirming I am in the marked area. I walk forward toward the striped corner.", + "The striped marker on the pillar is noticeably nearer and the stacked crates along the brick wall are close on my right. Nothing stands between me and that corner. I keep walking forward to shorten the remaining gap.", + "I am nearly beside the concrete pillar now, with its yellow and black striped band low and close ahead of me. A couple more paces should put me right at that warning marking. I step forward again.", + "The striped hazard marking on the pillar is only a short step away, filling the lower centre of my view against the brick corner. I am not yet standing at it. One more forward step should bring me level with the marking.", + "The yellow and black warning striping on the concrete column now sits just ahead and slightly left, with the brick corner close on my right. One more step should bring me right up against that marking rather than leaving it a stride away.", + "The yellow and black warning marking now fills the view directly in front of me, close enough to touch against the concrete column. I am standing at it, so I mark reaching this warning marking before heading for the metal cart sitting on the rails behind me.", + "With the warning marking reached, my view is filled by bare concrete and brick, so nothing useful lies straight ahead. The rails and the cart lie back to my left, so I will turn that way to begin bringing them into view.", + "The turn has opened the left edge of my view onto the lit rail bay, where a pale flatbed shape is just appearing past the column. Another left turn should swing that cart and its track clear of the concrete edge blocking me.", + "The metal cart on its rails is clearly visible now, but it sits well off to my left while the column still cuts across the right half of my view. Turning left once more should put the cart and the track squarely in front of me.", + "The rail cart now sits centered ahead of me in the vaulted bay, with the track running toward it and the floor clear. I will walk forward along it to close the remaining distance.", + "The cart's flatbed and wheels are much larger now, filling the left and center of my view, but I am still a stride short of standing beside it. Another step forward should bring me right up to it.", + "The metal cart on its rails is directly in front of me, its bed within arm's reach. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d3705ab3b6a48597b45fa06e79d0aea279728747 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_c/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Head toward the metal cart on tracks, then proceed to the stacked crates.", + "Type": 3, + "Start_Pose": [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3811.969, + 4477.551, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3726.908, + 4384.788, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3726.908, + 4384.788, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3610.612, + 4336.664, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3494.317, + 4288.541, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3378.022, + 4240.417, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3261.726, + 4192.293, + 714.065, + 0.0, + -157.52, + 0.0 + ], + [ + 3154.049, + 4144.831, + 714.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3154.049, + 4144.831, + 714.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -57.52, + 0.0 + ], + [ + 3307.015, + 4073.989, + 714.275, + 0.0, + -57.52, + 0.0 + ], + [ + 3374.602, + 3967.817, + 708.275, + 0.0, + -57.52, + 0.0 + ], + [ + 3442.188, + 3861.645, + 708.275, + 0.0, + -57.52, + 0.0 + ], + [ + 3509.775, + 3755.473, + 708.275, + 0.0, + -57.52, + 0.0 + ], + [ + 3509.775, + 3755.473, + 708.275, + 0.0, + -57.52, + 0.0 + ] + ], + "Rationale": [ + "The flatbed cart sitting on the rails shows at the far left through the open bay, while the stacked crates rest against the brick wall ahead to the right. The cart is my first destination, so I will walk forward across this open floor to cut the distance before adjusting my heading.", + "The cart on the rails is still pinned at the left margin of my view, so walking straight would carry me past the bay opening rather than into it. I will turn left to swing the doorway and the cart toward the center of my heading.", + "The turn has brought the open bay and the cart standing on its tracks into the left half of my view, with the rails running from my feet toward it. That gives me a clear line to follow, so I will step forward and close on the cart.", + "The cart has grown larger inside the doorway and the rails still run unbroken ahead of me, so nothing blocks the direct route. I will keep walking forward to shorten the remaining gap to it.", + "The cart and the doorway it stands in have drifted to the left of my heading as I closed in, and straight ahead I would meet the concrete pier beside the opening. I will turn left to line myself up with the bay entrance and the cart beyond it.", + "The bay opening is now squarely in front of me with the cart resting on the rails just inside it. With the doorway centered and the floor clear, I will walk forward toward the cart.", + "The cart now fills much more of the opening and its wheels on the rails are plainly visible, so I am nearly at the threshold. I will continue forward to bring myself alongside it.", + "I have passed the doorframe and the flatbed cart sits close ahead on its rails, slightly left of my heading. A few more paces should put me right at it, so I will step forward again.", + "The flatbed cart standing on its rails is now just ahead of me inside the doorway, filling the middle of my view. I will keep walking straight along the track line to close the last of that gap.", + "The cart's steel bed and wheels now dominate my view, so I am within a step or two of it. One more short advance should bring me right up against it rather than leaving me hanging back.", + "The flatbed cart on its rails is right against me, its deck spread across my whole view at arm's length. I have reached it, so I mark arriving at the cart before setting off for the stacked wooden crates back by the brick wall.", + "Pressed this close against the cart's deck, I have no room to swing around toward the crate stack by the brick wall. Backing up a step should open enough clearance to turn cleanly away from the cart.", + "With a little space behind me, the cart still fills my view while the open steel door stands to my right. Turning right begins swinging my heading back out through that doorway toward the crates against the brick wall.", + "My view has swung onto the open door panel and the ribbed tunnel wall, so I am not yet facing the outer hall. I will turn right again to continue bringing the doorway and the space beyond it in front of me.", + "The brick wall of the outer hall is appearing past the door edge, with the wooden crate boxes just entering the right side of my view. Another right turn should carry that stack toward the middle of my heading.", + "The stacked crates sit against the brick wall ahead on my right, but the concrete pillar and door still crowd the left of my view. Turning right once more should put the stack squarely in front of me for a straight walk.", + "The stacked wooden crates are now clearly in view ahead against the brick wall, with open floor between us. My heading points straight at them, so I will walk forward to close that gap.", + "The crate stack has grown larger and sits just left of center, confirming my line of travel is good. Still several paces of bare floor remain, so I will keep walking toward it.", + "The stacked crates now fill much of my view, their latches and boards clearly readable. I am close but not yet standing at them, so another step forward should bring me right up to the pile.", + "The crates loom directly in front of me, close enough that individual boxes and the brick behind them dominate my view. One more short step should place me right at the stack.", + "The stacked crates are directly before me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_d/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..430402cd24849dc1b94af217d498f9897a2a4163 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_d/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Navigate to the metal cart on tracks, then approach the base of the pipe with the red pipe valve.", + "Type": 3, + "Start_Pose": [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3811.969, + 4477.551, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3726.908, + 4384.788, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3726.908, + 4384.788, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3610.612, + 4336.664, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3494.317, + 4288.541, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3378.022, + 4240.417, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3261.726, + 4192.293, + 714.065, + 0.0, + -157.52, + 0.0 + ], + [ + 3154.049, + 4144.831, + 714.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3154.049, + 4144.831, + 714.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -57.52, + 0.0 + ], + [ + 3239.428, + 4180.161, + 714.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3345.552, + 4112.5, + 714.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3451.677, + 4044.839, + 714.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3557.802, + 3977.178, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3663.927, + 3909.517, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3770.052, + 3841.856, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3876.176, + 3774.195, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3982.301, + 3706.534, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3982.301, + 3706.534, + 708.275, + 0.0, + -32.52, + 0.0 + ] + ], + "Rationale": [ + "The metal cart sits on the rails far to my left, near the open doorway into the ribbed tunnel chamber, while the green pipes with the red valve stand along the brick wall to my right. Since the cart is my first destination, I will walk forward across the open floor toward the rail line to shorten the gap before swinging left.", + "From here the cart on the tracks sits well off to my left edge, almost leaving my view, while my heading points at the brick wall and its pipework. I will turn left to bring the doorway and the cart toward the center of my view so I can walk straight at them.", + "The turn has brought the open gateway and the metal cart on its rails into the left half of my view, with clear floor between me and them. I will walk forward along the rails to close that distance.", + "The cart and the tall gateway have grown noticeably larger, so my heading is carrying me along the rails toward them. The floor ahead is still open, so I will keep walking forward to close more of the remaining distance.", + "The cart still sits left of my heading, close to the doorway's left jamb, so walking straight would carry me past it toward the wall on my right. I will turn left to line my body up with the rails and put the cart squarely ahead.", + "The turn has centered the open gateway with the cart sitting on the rails just beyond it. With a clear run of track between me and the cart, I will step forward to close on it.", + "The cart now fills much more of my view just inside the threshold, and the rails run straight from my feet to its wheels. I will keep walking forward to reach it.", + "I am at the gate now, with the flatbed cart on the tracks only a short distance ahead and slightly left. I will step forward again to bring myself right up beside it.", + "The metal cart standing on the rails is close ahead now, its loaded bed filling much of my view, yet I am still short of being beside it. The floor along the track is clear, so I will keep walking straight at it.", + "The cart's steel deck and its wheel on the rail are almost within reach, but I am still just behind its near corner. One more step forward should bring me right up alongside it.", + "The flat steel bed of the cart on the rails is right against me, its plates and beams close enough to touch. I have arrived at the metal cart on the tracks, and I mark reaching it before heading for the pipe with the red valve on the brick wall.", + "I am pressed so close against the cart's bed that its plates block almost everything in front of me, leaving no room to swing around here. Backing up a step should give me the clearance I need to turn toward the brick hall and its red valve pipe.", + "With a little space opened between me and the cart, the open metal door stands at my right and the brick chamber lies back through it. I will turn right to start swinging my heading toward that opening.", + "The door panel now fills most of my view and only a narrow strip of the space beyond shows past its right edge. Another turn right should carry my heading further around toward that passage.", + "The door edge is sliding leftward and brickwork with stacked crates is opening up on my right. I will keep turning right to bring the pipework on that wall in front of me.", + "The brick wall with its green pipe run and crates is now ahead of me, but the descending pipe I want is still off toward the right of my view. One more turn right should bring it near the center of my heading.", + "Swinging right has brought the brick wall with its green pipe run into view, and I can pick out the pipe whose red handwheel sits at the bend. My heading still points across the wall instead of down the open floor beside it, so one more turn right should line me up to walk toward that pipe.", + "The pipe with the red handwheel now stands ahead and slightly left, its lower section curving down toward the floor, and the passage beside the rails is clear. I will step forward along this open lane to close the distance to that pipe.", + "The elbow with the red wheel has grown larger ahead on the left, but I am still several strides short of where the pipe meets the floor. The stacked crates stay clear of my line, so I keep walking forward.", + "The red handwheel is now clearly readable at the bend of the green pipe just to my left, and the vertical section below it runs down out of sight behind the crate stack. Another step forward should bring the lower part of that pipe into reach of my view.", + "The valved pipe now fills much of the left side of my view, though its footing on the floor is still ahead of me rather than beside me. I continue walking forward to draw level with where the pipe grounds itself.", + "The red wheel sits high on my left now and the vertical column below the elbow is plainly visible dropping to the floor. I am close but not yet standing at its foot, so I take another step forward.", + "The bolted elbow looms close on my left and the pipe's flanged footing where it meets the floor is now visible just ahead of me. A further step forward should put me right beside that base.", + "The pipe's flanged base sits on the floor barely a stride ahead and to my left, with the bolted elbow directly above it. One more step forward should place me right at that footing.", + "The bolted elbow and the pipe's flanged foot on the floor fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_e/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..04728c62e20c63d2e092d97312878b8d8b94eee6 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t3_e/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Move to the green pipe's ground elbow joint, then walk to the stacked crates.", + "Type": 3, + "Start_Pose": [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3857.488, + 4690.335, + 714.595, + 0.0, + -107.52, + 0.0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3913.415, + 4445.526, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3929.799, + 4320.738, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3946.184, + 4195.95, + 714.13, + 0.0, + -82.52, + 0.0 + ], + [ + 3962.568, + 4071.162, + 714.13, + 0.0, + -82.52, + 0.0 + ], + [ + 3978.953, + 3946.374, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3995.337, + 3821.586, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 4005.357, + 3720.949, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 4005.357, + 3720.949, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3993.328, + 3812.562, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3993.328, + 3812.562, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3993.328, + 3812.562, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3993.328, + 3812.562, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3877.033, + 3764.439, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3760.737, + 3716.315, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3760.737, + 3716.315, + 708.275, + 0.0, + -157.52, + 0.0 + ] + ], + "Rationale": [ + "The green pipe runs along the brick wall ahead on my right, and its lower bend curves down to meet the floor near the far corner. That elbow at ground level is where I need to stand first, so I walk forward across the open concrete to cut down the distance.", + "Stepping closer has left the descending pipe and its ground elbow sitting right of my heading, with the wall running off to that side. I will turn right to bring that elbow toward the center of my view before pressing on.", + "The turn has put the green pipe and the elbow where it curves down onto the floor near the middle of my view, with clear ground between us. I walk forward along this heading to close on that joint.", + "The pipe's descending run and the flanged elbow at its base are growing larger straight ahead, so my heading is good. There is still a stretch of open floor to cover, and I continue walking toward that joint.", + "The red valve wheel and the bend below it now stand well ahead of me, with the elbow's base plate visible where the pipe meets the ground. I keep walking forward since nothing blocks the approach to that joint.", + "The elbow and its bolted base are noticeably nearer and still framed slightly right of center, close to my line of travel. I advance again to keep shrinking the gap to the ground joint.", + "The pipe's curve and the flange where it plants on the concrete are only a short stretch away now, filling much of my view against the brick. I step forward once more to bring myself right up beside that ground elbow.", + "The bend and its bolted collars are almost within arm's reach, with the brickwork close on my left and the joint's base just below and to my right. A last short step forward should place me at the elbow itself.", + "The green pipe's lower bend and its flanged foot fill the right of my view, so only a short step remains before I am standing at the point where it meets the floor. I will walk forward that last bit to close the gap against the brick wall.", + "The green pipe's curved elbow hangs directly over me where it turns down into the floor, with nothing but brickwork beyond it. I am standing at that ground joint, so I mark reaching it and now set off for the stacked crates along the wall.", + "Pressed this close, the pipe and brick fill nearly everything and I have no room to swing my heading around. I will step back to open up space, which should give me a wider view before I aim for the crates.", + "With a little clearance restored, the pipe still sits to my right while the wooden crates I saw stacked further along the wall lie off to my left. I will turn left to begin swinging my heading away from the pipe toward them.", + "The rotation has brought a bright pillar and blank brickwork into view, but the crates are not in front of me yet. I will keep turning left to carry my heading further around the corner of this wall.", + "The stack of wooden crates has come into the left edge of my view beside the pillar. One more left turn should bring them near the center of my heading so I can walk straight at them.", + "The stacked crates now sit ahead of me along the wall with clear open floor between us. I will walk forward to cut that distance down.", + "The crates are much larger in view now, though still a couple of paces off to my front. Another step forward should bring me right up beside the stack.", + "The stacked crates fill my view right in front of me, within arm's reach. I am standing at them, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t5_a_pd/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a70b63caa2fecb65d087a95168a775ef8250e5be --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Pick up the candelabra by the stacked crates against the brick wall, then set it down near the pipe with the red valve.", + "Type": 5, + "Start_Pose": [ + 3857.488, + 4690.335, + 714.595, + 0, + -107.52, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3373.528, + 3819.619, + 633.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3857.488, + 4690.335, + 714.595, + 0, + -107.52, + 0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3859.142, + 4450.294, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3821.254, + 4330.273, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3783.366, + 4210.252, + 713.858, + 0.0, + -107.52, + 0.0 + ], + [ + 3783.366, + 4210.252, + 713.858, + 0.0, + -132.52, + 0.0 + ], + [ + 3698.304, + 4117.489, + 714.136, + 0.0, + -132.52, + 0.0 + ], + [ + 3613.243, + 4024.726, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3528.181, + 3931.962, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3528.181, + 3931.962, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3528.181, + 3931.962, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3528.181, + 3931.962, + 708.275, + 0.0, + -82.52, + 0.0 + ], + [ + 3528.181, + 3931.962, + 708.275, + 0.0, + -57.52, + 0.0 + ], + [ + 3528.181, + 3931.962, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3634.306, + 3864.302, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3740.431, + 3796.641, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3846.556, + 3728.981, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 3846.556, + 3728.981, + 708.275, + 0.0, + -7.52, + 0.0 + ], + [ + 3971.333, + 3712.51, + 708.275, + 0.0, + -7.52, + 0.0 + ], + [ + 4079.304, + 3723.658, + 708.275, + 0.0, + -7.52, + 0.0 + ], + [ + 4079.304, + 3723.658, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 4018.593, + 3762.364, + 708.275, + 0.0, + -32.52, + 0.0 + ], + [ + 4018.593, + 3762.364, + 708.275, + 0.0, + -32.52, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3373.528, + 3819.619, + 633.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3544.332, + 3917.98, + 678.381, + -28.202, + -82.375, + 1.862 + ], + [ + 3549.644, + 3925.834, + 678.654, + -28.189, + -57.363, + 1.872 + ], + [ + 3550.533, + 3934.743, + 677.987, + -28.215, + -32.392, + 1.849 + ], + [ + 3553.508, + 3941.604, + 678.041, + -14.092, + -15.176, + 6.87 + ], + [ + 3539.353, + 3950.298, + 678.057, + -28.208, + 17.623, + 1.851 + ], + [ + 3645.201, + 3882.688, + 678.478, + -28.189, + 17.638, + 1.869 + ], + [ + 3751.088, + 3815.167, + 678.861, + -28.205, + 17.615, + 1.859 + ], + [ + 3857.178, + 3747.538, + 679.014, + -28.191, + 17.63, + 1.872 + ], + [ + 3849.233, + 3750.784, + 677.922, + -28.201, + 42.625, + 1.857 + ], + [ + 3973.534, + 3733.756, + 678.3, + -28.206, + 42.619, + 1.858 + ], + [ + 4081.092, + 3744.961, + 678.971, + -28.191, + 42.629, + 1.876 + ], + [ + 4090.353, + 3741.266, + 677.804, + -28.204, + 17.622, + 1.855 + ], + [ + 4077.617, + 3724.732, + 678.275, + 0.0, + -102.52, + 0.0 + ], + [ + 4077.617, + 3724.732, + 678.275, + 0.0, + -102.52, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1036.0, + 915.2, + 796.0, + 679.1, + 566.2, + 566.2, + 440.7, + 315.5, + 191.2, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 22.0, + 21.4, + 21.4, + 20.8, + 70.0, + 70.0 + ], + "Rationale": [ + "From here the brick wall with the stacked crates sits well across the hall, and the green pipe with the red valve wheel stands to the right of it. The candelabra I need is too far away to make out clearly, so I will walk forward to close that distance and bring the crate stack into a workable range.", + "The crate stack against the brick wall is noticeably larger now, so my heading is carrying me toward the pickup area. Nothing blocks the open concrete floor ahead, so I will keep walking forward to close in on the crates.", + "I can now pick out a small candelabra standing on the floor just left of the stacked crates, which matches the target. It is still several strides off, so I will continue walking forward toward that corner.", + "The candelabra by the crates is clearly resolved and sits slightly left of my heading, still beyond arm's reach. I will step forward again to shorten the remaining gap before worrying about alignment.", + "The candelabra now sits well off to the left side of my view while my heading points at the blank brick wall and the pipe. I will turn left to bring the candelabra and the crate corner toward the center of my view so my remaining steps lead straight to it.", + "The turn has put the candelabra and the crate stack near the middle of my view with open floor between us. I will walk forward along this corrected heading to close the remaining distance to the target.", + "The candelabra stands upright on the floor ahead beside the striped corner post, and the crates fill the right of my view. It is still a couple of strides away, so I will keep walking forward to get within reach.", + "The candelabra is directly ahead and low in my view, but it looks a step short of comfortable grasping range. I will advance once more so it sits close in front of me before I attempt to pick it up.", + "The candelabra now stands directly in front of me at arm's length, with the stacked crates and brick wall right behind it. Nothing blocks the approach, so I will attempt the grasp from this position and expect it to come into my hands.", + "The grasp worked, since the candelabra arms are now held in front of me instead of resting on the floor. The corner of brick and concrete leaves no path this way, so I will turn right to swing my heading back toward the open hall where the valve pipe stands.", + "I am still facing the crate stack and the brick wall, which is not a route anywhere. Continuing to rotate right should bring the open floor and the pipe wall with the red valve back into view for the carry.", + "The stacked crates still occupy the whole view, so my heading remains useless for travel. Another right turn should keep sweeping toward the open aisle beside the pipes where I need to carry the candelabra.", + "The green pipe with the red valve wheel is now appearing at the right edge, with clear floor beneath it. One more right turn should place that open corridor ahead of me so I can walk the candelabra over.", + "The corridor along the brick wall is open ahead and the pipe with the red valve wheel stands just to my left front. Carrying the candelabra, I will step forward to close the remaining distance toward that drop area.", + "The valve pipe has grown larger and is now close on my left, but I am not yet beside its base. I will keep walking forward along the open floor to reach a spot next to the pipe where the candelabra can be set down.", + "I am nearly level with the elbow of the valve pipe, with clear ground still ahead along the bricks. Another step forward should bring me alongside the pipe base, close enough to place the candelabra near it.", + "I am carrying the candelabra and the large green pipe now fills the left of my view, so walking straight would take me into the brick wall. I will turn right to swing my heading along the open corridor floor beside the pipe. That should give me a clear line to approach the pipe run with the red valve.", + "The corridor ahead is now open along the pipe line, with clear floor between the brick wall and the rails. I will step forward to close distance toward the section of piping where the valve stands. The candelabra stays in my hands as I advance.", + "The vertical pipe is passing close on my left and the corridor stays unobstructed ahead. Another step forward should bring me alongside the pipe section where I can set the candelabra down near it. I keep moving while the route remains clear.", + "I am now beside the large pipe, which sits to my left while my body faces down the corridor. I will turn left so I am squared toward the pipe and the floor space right at its base. That should place the drop point directly in front of me.", + "I am facing the pipe at close range with clear floor immediately in front of me and the candelabra still in my hands. This is the spot beside the pipe run with the red valve that the task asks for. I will release the candelabra here so it rests near the pipe.", + "The candelabra now stands on the floor right against the green pipe, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t5_b_pd/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da155e51e10f95a792a957c72afa16f5f3c61dd5 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x003857_y004690_z000715_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the jerry can at the yellow warning sign, then leave it near the metal cart on the tracks.", + "Type": 5, + "Start_Pose": [ + 3857.488, + 4690.335, + 714.595, + 0, + -107.52, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3582.909, + 3820.96, + 638.275, + 0, + 70, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3857.488, + 4690.335, + 714.595, + 0, + -107.52, + 0 + ], + [ + 3897.031, + 4570.314, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3859.142, + 4450.294, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3821.254, + 4330.273, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3783.366, + 4210.252, + 713.858, + 0.0, + -107.52, + 0.0 + ], + [ + 3745.477, + 4090.232, + 714.189, + 0.0, + -107.52, + 0.0 + ], + [ + 3707.589, + 3970.211, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3707.589, + 3970.211, + 708.275, + 0.0, + -107.52, + 0.0 + ], + [ + 3707.589, + 3970.211, + 708.275, + 0.0, + -132.52, + 0.0 + ], + [ + 3707.589, + 3970.211, + 708.275, + 0.0, + -157.52, + 0.0 + ], + [ + 3707.589, + 3970.211, + 708.275, + 0.0, + 177.48, + -0.0 + ], + [ + 3581.851, + 3975.744, + 708.275, + 0.0, + 177.48, + -0.0 + ], + [ + 3456.114, + 3981.278, + 708.275, + 0.0, + 177.48, + -0.0 + ], + [ + 3456.114, + 3981.278, + 708.275, + 0.0, + 152.48, + -0.0 + ], + [ + 3344.496, + 4039.431, + 713.674, + 0.0, + 152.48, + -0.0 + ], + [ + 3232.878, + 4097.585, + 714.265, + 0.0, + 152.48, + -0.0 + ], + [ + 3232.878, + 4097.585, + 714.265, + 0.0, + 177.48, + -0.0 + ], + [ + 3153.98, + 4102.7, + 714.275, + 0.0, + 177.48, + -0.0 + ], + [ + 3225.911, + 4099.534, + 714.275, + 0.0, + 177.48, + -0.0 + ], + [ + 3225.911, + 4099.534, + 714.275, + 0.0, + 177.48, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3582.909, + 3820.96, + 638.275, + 0.0, + 70.0, + -0.0 + ], + [ + 3582.909, + 3820.96, + 638.275, + 0.0, + 70.0, + -0.0 + ], + [ + 3582.909, + 3820.96, + 638.275, + 0.0, + 70.0, + -0.0 + ], + [ + 3582.909, + 3820.96, + 638.275, + 0.0, + 70.0, + -0.0 + ], + [ + 3582.909, + 3820.96, + 638.275, + 0.0, + 70.0, + -0.0 + ], + [ + 3582.909, + 3820.96, + 638.275, + 0.0, + 70.0, + -0.0 + ], + [ + 3582.909, + 3820.96, + 638.275, + 0.0, + 70.0, + -0.0 + ], + [ + 3728.136, + 3964.365, + 678.381, + -28.202, + -57.375, + 1.862 + ], + [ + 3723.042, + 3956.876, + 678.654, + -28.189, + -82.363, + 1.872 + ], + [ + 3715.158, + 3951.51, + 677.987, + -28.215, + -107.392, + 1.849 + ], + [ + 3700.981, + 3943.504, + 678.168, + -14.175, + -140.327, + 6.959 + ], + [ + 3581.641, + 3954.378, + 678.607, + -28.198, + -132.375, + 1.865 + ], + [ + 3455.608, + 3959.922, + 678.07, + -28.191, + -132.361, + 1.871 + ], + [ + 3447.412, + 3962.933, + 678.861, + -28.205, + -157.385, + 1.859 + ], + [ + 3335.531, + 4020.019, + 679.014, + -28.191, + -157.37, + 1.872 + ], + [ + 3223.769, + 4078.259, + 684.789, + -28.206, + -157.382, + 1.863 + ], + [ + 3232.327, + 4075.455, + 684.3, + -28.206, + -132.381, + 1.858 + ], + [ + 3154.024, + 4081.321, + 684.982, + -28.191, + -132.372, + 1.872 + ], + [ + 3155.979, + 4102.612, + 664.275, + 0.0, + 177.48, + -0.0 + ], + [ + 3155.979, + 4102.612, + 664.275, + 0.0, + 177.48, + -0.0 + ] + ], + "PD_Dist_2D": [ + 937.9, + 812.5, + 687.3, + 562.3, + 437.9, + 314.5, + 194.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 22.1, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The task points me to a jerry can at a yellow warning marking, and the only such marking I can see is the striped panel on the far wall beside the stacked crates. That area is a long way off across the open concrete floor, so I will walk straight ahead to close the gap and confirm the can.", + "The striped warning panel and the crate stack beneath it are noticeably nearer now, and a small reddish object sits on the floor by those crates. That is likely the jerry can I need, so I keep walking straight toward it.", + "The reddish object beside the crates now clearly reads as a jerry can standing under the yellow striped marking. My heading already lines up with it, so another step forward should bring me closer without needing to turn.", + "The jerry can sits plainly on the floor by the crates, still several paces beyond reach. Nothing blocks the ground between us, so I continue advancing on the same line.", + "The can is now large in view and slightly left of center, but still too far to grasp. I will step forward again to shorten the remaining distance before attempting to take it.", + "Only a short gap remains between me and the jerry can at the base of the crates. One more step should put it within arm's reach so a grasp becomes possible.", + "The jerry can now fills the near foreground directly beside me, close enough that no further stepping is needed. I will attempt to pick it up so I can carry it toward the rails and the metal cart.", + "The grasp worked, the jerry can is in my hands and no longer standing by the crates. The crates and brick wall are ahead of me, while the rail opening with the cart lay off to my left, so I will turn left to face that route.", + "The jerry can is in my hands, so the remaining job is to carry it to the metal cart standing on the rails. From here I only see the ammunition crates and the striped corner pillar, with the rail bay somewhere further left. I will turn left again to bring that track opening into view.", + "The turn has brought the doorway with the rails and the flat metal cart into the left edge of my view, confirming the drop-off area. It still sits off to the side, so walking now would carry me past the opening. Another left turn should put the tracks and cart near the center of my heading.", + "The rail bay is now straight ahead, with the tracks running from my feet to the flat metal cart under the yellow hoist. My heading lines up with the doorway, so nothing blocks a direct walk. I will step forward to close the distance to the cart while holding the can.", + "The cart and the hoist above it have grown noticeably larger, so the previous step closed real distance along the rails. The can is still in my hands and the way through the open bulkhead remains clear. I will keep walking forward toward the cart.", + "I have come through the doorway, but the concrete pier on my right is crowding the view and the cart sits left of my current heading. Walking straight would angle me away from its deck. I will turn left to square up with the cart before continuing.", + "The turn has put the flat metal cart squarely ahead on its rails with open floor between us. I am still holding the jerry can and need to be beside the cart before releasing it. I will step forward along the track toward it.", + "The cart's deck and wheels now fill much of the view, so I am close but not yet alongside its platform. One more step should bring the loading surface within easy reach for setting the can down. I will advance again.", + "I am right at the cart, but its deck and the steel frame on it sit toward my right while the heavy bulkhead door dominates the left of my view. To place the can properly near the cart I need to face its platform. I will turn right to square up with it.", + "I am still carrying the jerry can, and the metal cart on the rails now fills the view straight ahead with its flat deck just past arm's reach. One more short step forward should bring me close enough alongside it to release the can nearby.", + "The cart's loaded deck is immediately in front of me on the tracks, so I am at the delivery spot the task asks for. I will release the jerry can here, which should leave it resting right beside the cart.", + "The jerry can now sits released at the metal cart on the tracks. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4b0eea6dadf6697e845c54076ad6c43dcd43391f --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the leftmost green pump machine along the wall.", + "Type": 2, + "Start_Pose": [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + [ + 4098.462, + 4043.007, + 713.949, + 0.0, + 82.56, + -0.0 + ], + [ + 4114.759, + 4167.807, + 714.234, + 0.0, + 82.56, + -0.0 + ], + [ + 4131.057, + 4292.606, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4147.354, + 4417.406, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4147.354, + 4417.406, + 708.301, + 0.0, + 57.56, + -0.0 + ], + [ + 4214.867, + 4523.625, + 708.301, + 0.0, + 57.56, + -0.0 + ], + [ + 4282.38, + 4629.844, + 708.301, + 0.0, + 57.56, + -0.0 + ], + [ + 4349.892, + 4736.063, + 732.112, + 0.0, + 57.56, + -0.0 + ], + [ + 4417.405, + 4842.282, + 742.699, + 0.0, + 57.56, + -0.0 + ], + [ + 4484.918, + 4948.501, + 743.968, + 0.0, + 57.56, + -0.0 + ], + [ + 4552.431, + 5054.721, + 728.212, + 0.0, + 57.56, + -0.0 + ], + [ + 4552.431, + 5054.721, + 728.212, + 0.0, + 57.56, + -0.0 + ] + ], + "Rationale": [ + "Four green pump units stand in a row along the far wall, and the one at the left end is the one sitting closest to the stack of wooden crates, so that stack is what I will keep it pinned to. The floor between us is wide and clear, so I walk straight forward to cut the distance.", + "The pumps and their overhead pipes have grown noticeably larger, confirming I am closing on the wall. Nothing blocks the stretch of floor in front of me, so I keep walking forward before worrying about lining up.", + "I am still several strides short of the wall, with hoses lying flat and posing no obstruction. The pump beside the crate stack sits off to my left, but closing distance straight ahead first is the simplest way in, so I step forward again.", + "The pumps now read clearly as separate machines on their pallets, so I am within a short walk of the wall. My heading still points at the middle of the run rather than the machine by the crates, but another forward step costs nothing and shortens the remaining diagonal.", + "The machine I want, the one at the crate-stack end of the run, sits well off to my left while my body still faces the middle of the wall. I turn left to swing my heading onto that end so I can walk at it directly.", + "The turn has brought the crate stack and the gas cylinders at the left end of the hall into view, and the pump next to those crates now lies ahead of me rather than off to the side. The floor along that line is open, so I walk forward toward it.", + "The far end of the run has slipped out of my view, so I hold onto the machine standing beside the crate stack as my target rather than any position in a row. It is still a few strides off along the wall, so I keep walking toward it.", + "The pump beside the crates now fills a good part of my view but I am still standing back from it, with only floor and a flat hose between us. I step forward again to bring myself up close to that machine.", + "From here the crates and the drums are almost level with me on the left, and the pump on its pallet beside them sits just ahead and slightly left. Bare concrete lies between us, so another stride should carry me nearer without any need to reorient.", + "The pump beside the crates now sits squarely in the middle of my view, its motor and casing plainly separated on the pallet. Only a short span of floor and a flat hose remain, so I walk on to close it.", + "The motor housing and its flanged pipe now dominate my view, close enough that I can read the ribs on the casing. I am still a stride short of standing at the pallet, so one more step forward should bring me right up beside it.", + "The pump standing next to the crate stack is now directly in front of me, filling my view at arm's length. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..34ca53dc3141aaa4318d1e8153d6aed1afe4c924 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the second pump machine from the left.", + "Type": 2, + "Start_Pose": [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + [ + 4098.462, + 4043.007, + 713.949, + 0.0, + 82.56, + -0.0 + ], + [ + 4114.759, + 4167.807, + 714.234, + 0.0, + 82.56, + -0.0 + ], + [ + 4131.057, + 4292.606, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4147.354, + 4417.406, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4163.651, + 4542.205, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4179.948, + 4667.004, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4196.246, + 4791.804, + 731.303, + 0.0, + 82.56, + -0.0 + ], + [ + 4212.543, + 4916.603, + 731.992, + 0.0, + 82.56, + -0.0 + ], + [ + 4228.84, + 5041.403, + 731.992, + 0.0, + 82.56, + -0.0 + ], + [ + 4228.84, + 5041.403, + 731.992, + 0.0, + 82.56, + -0.0 + ] + ], + "Rationale": [ + "Four pump sets stand in a line along the far wall, and counting from the left end my target is the second one, sitting just left of centre ahead of me. They all look alike, so I fix it by its position under the wall lamp with its own riser pipe rising behind it. I walk forward toward it across the open floor.", + "The pump I chose is still ahead and a little left of centre, and its riser pipe and hose are clearer than before. Nothing blocks the floor between me and it, so I keep walking straight forward to close the distance.", + "My pump sits ahead and slightly left, its motor housing now readable at this range. My heading is already lined up on it, so another forward step should bring me nearer without any turn.", + "The machines have grown noticeably and the pale green motor of my pump is directly ahead, just left of centre. The hoses on the floor curve away from my path rather than across it, so I continue walking forward.", + "I am close enough now to see the pump's bedplate and coupling, and it remains centred slightly left of my heading. A few more steps forward should put me right at it, so I keep advancing.", + "The left end of the line is sliding out of my view at this range, so I stop counting and simply follow the machine I picked, which stands squarely ahead with its riser pipe. The approach lane between the hose runs is still open, so I walk on.", + "My pump now fills much of the centre of my view, its green motor and terminal box clearly separated from the units flanking it. I am still short of standing beside it, so I take another step forward.", + "At this distance the row no longer reads as a row, but my pump is unmistakable straight ahead on its steel skid. Only a short gap of floor remains, so I keep walking forward to arrive at it.", + "My pump sits just left of centre on its skid, close enough that its cooling fins and terminal box read individually. A narrow strip of bare floor still separates me from its bedplate, so I step forward once more to arrive right beside it.", + "The pump's motor and coupling fill my view at arm's length, its riser pipe rising directly before me. I have reached it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4e8cd01ba321289fa02c0dfdcc23be8dcfde2b9 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the third pump machine from the right.", + "Type": 2, + "Start_Pose": [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + [ + 4098.462, + 4043.007, + 713.949, + 0.0, + 82.56, + -0.0 + ], + [ + 4114.759, + 4167.807, + 714.234, + 0.0, + 82.56, + -0.0 + ], + [ + 4131.057, + 4292.606, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4147.354, + 4417.406, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4163.651, + 4542.205, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4179.948, + 4667.004, + 708.301, + 0.0, + 82.56, + -0.0 + ], + [ + 4196.246, + 4791.804, + 731.303, + 0.0, + 82.56, + -0.0 + ], + [ + 4212.543, + 4916.603, + 731.992, + 0.0, + 82.56, + -0.0 + ], + [ + 4228.84, + 5041.403, + 731.992, + 0.0, + 82.56, + -0.0 + ], + [ + 4228.84, + 5041.403, + 731.992, + 0.0, + 82.56, + -0.0 + ] + ], + "Rationale": [ + "A row of pump skids stands along the far wall ahead of me, and they all look alike. Counting in from the right end, I settle on the third one, just left of the room's center under the wall lamp behind it, and I will follow that machine from here. It lies straight ahead, so I step forward.", + "The pump I picked is still dead ahead, a little left of center, with its discharge hose curling out toward me. Nothing stands between me and it except flat floor, so I keep walking straight without altering my heading.", + "The machines have grown noticeably larger and their hoses now sprawl across the floor in front of me. My pump still sits squarely ahead, so another straight stride is the most direct way to keep closing the distance.", + "My pump is clearly nearer now, its motor and casing separating out on the skid ahead of me. My heading already points at it, so I advance again instead of adjusting my facing.", + "The wall lamps and skids fill much more of my view, and my pump remains ahead and slightly left. The floor between us carries only flat-lying hose, so I press forward.", + "The right end of the row has slid out of my view, so counting from that end is no longer possible and I simply keep following the machine I chose, still ahead and a little left. I step forward again to cut down the remaining gap.", + "My pump now dominates the view ahead, its green motor and mounting plate distinct, with a floor grating just short of it. Only a few strides of open concrete remain, so I keep moving toward the skid.", + "The pump sits close ahead and slightly left, its skid frame and bolts plainly readable from here. A short gap is all that is left, so I take another step to bring myself right up to the machine.", + "My pump fills the near left of my view, its motor housing and skid rails only a stride or two off, with clear floor between us. One more step should bring me right alongside it.", + "The pump's motor and coupling now fill my view at arm's length. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_d/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20593841395cf322c675e8defe6ec1884f13dad1 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Move to the rightmost pump unit near the wall.", + "Type": 2, + "Start_Pose": [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 107.56, + -0.0 + ], + [ + 4044.193, + 4038.202, + 713.447, + 0.0, + 107.56, + -0.0 + ], + [ + 4006.221, + 4158.196, + 714.134, + 0.0, + 107.56, + -0.0 + ], + [ + 3968.248, + 4278.191, + 708.275, + 0.0, + 107.56, + -0.0 + ], + [ + 3930.276, + 4398.185, + 708.275, + 0.0, + 107.56, + -0.0 + ], + [ + 3892.304, + 4518.179, + 708.275, + 0.0, + 107.56, + -0.0 + ], + [ + 3863.023, + 4638.102, + 708.275, + 0.0, + 107.56, + -0.0 + ], + [ + 3843.188, + 4757.2, + 731.31, + 0.0, + 107.56, + -0.0 + ], + [ + 3833.552, + 4876.272, + 737.698, + 0.0, + 107.56, + -0.0 + ], + [ + 3833.552, + 4994.564, + 737.698, + 0.0, + 107.56, + -0.0 + ], + [ + 3833.552, + 4994.564, + 737.698, + 0.0, + 132.56, + -0.0 + ], + [ + 3833.552, + 5079.804, + 737.698, + 0.0, + 132.56, + -0.0 + ], + [ + 3833.552, + 5165.045, + 737.698, + 0.0, + 132.56, + -0.0 + ], + [ + 3833.552, + 5165.045, + 737.698, + 0.0, + 157.56, + -0.0 + ], + [ + 3833.552, + 5204.54, + 737.698, + 0.0, + 157.56, + -0.0 + ], + [ + 3833.552, + 5204.54, + 737.698, + 0.0, + 157.56, + -0.0 + ] + ], + "Rationale": [ + "From the doorway I can count four pump units in a row along the far wall, and the one I want is the last one on the right, standing where the back wall meets the side wall under the painted marking. My body faces the middle of the row, so that end sits well off to my right. I will turn right to put that corner unit ahead of me before crossing the floor.", + "The turn has brought the right end of the row and the tall wall bearing the large painted letter into my view ahead. The pump beside that corner is still far off across an open, unobstructed floor. I will walk forward to close the distance.", + "The pumps and their overhead risers are noticeably larger, so my heading is carrying me toward the corner end of the row rather than past it. Nothing blocks the concrete apron in front of me. I will keep walking forward.", + "The suction hoses curving off the skids are now clearly separated, and the unit nearest the side wall still sits ahead and slightly right of my path. There is plenty of clear floor left to cover. I will continue forward.", + "As I close in, the pumps at the far left of the row are sliding out of my view, so I hold onto the unit standing against the side wall as my target rather than any position in a row. It is still several strides off. I will step forward again.", + "The motor casings and their bedplates are now large enough to read individually, and the one closest to the side wall corner is the one I am heading for. The floor between us is clear apart from loose hose. I will keep moving forward.", + "Only two skids remain framed ahead of me, and the right one, backed by the corner and its coiled hose, is my target. I am close but still standing out on the open floor. I will advance again to reach it.", + "The corner unit's motor, coupling and pipe riser now dominate the right of my view, so I am nearly alongside it. A short stretch of floor still separates me from its bedplate. I will step forward to draw closer.", + "The corner skid with its coiled suction hose fills the right half of my view and the side wall is close behind it. I am still a couple of paces short of standing at its bedplate. I will walk on.", + "The corner unit's casing, coupling and coloured leads are now readable in detail, while the neighbouring skid has slid to my left edge. A short gap of bare floor still lies between me and its frame. I will step forward again.", + "The corner unit sits off to my right with its motor end running away from me, so walking straight now would carry me along the back wall instead of up to it. Turning right should swing the skid squarely in front of me.", + "The skid now sits centred ahead with its pipe riser, pump body and motor all in frame and clear floor in between. A few strides remain to stand beside it. I will move forward.", + "The bedplate and flanged pump housing are close enough that the motor now runs off my right edge. Another step should bring me right up against the frame. I will keep walking.", + "The unit has drifted low and right in my view while blank wall takes up the left side, so I am not squared on it. A right turn should bring the pump body back to the centre of my view.", + "The pump casing and its motor now sit centred and near, with the riser elbow and hose immediately to my left. One short step should place me right at the skid. I will advance.", + "I stand right at the corner pump's bedplate, with its casing and the side wall filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_e/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..855b3ced8c21769d51cf534886bcef88a75229b9 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004082_y003918_z000708_t2_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Proceed to the third pump machine from the left.", + "Type": 2, + "Start_Pose": [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 82.56, + -0.0 + ], + [ + 4082.165, + 3918.208, + 708.275, + 0.0, + 107.56, + -0.0 + ], + [ + 4044.193, + 4038.202, + 713.447, + 0.0, + 107.56, + -0.0 + ], + [ + 4006.221, + 4158.196, + 714.134, + 0.0, + 107.56, + -0.0 + ], + [ + 3968.248, + 4278.191, + 708.275, + 0.0, + 107.56, + -0.0 + ], + [ + 3930.276, + 4398.185, + 708.275, + 0.0, + 107.56, + -0.0 + ], + [ + 3930.276, + 4398.185, + 708.275, + 0.0, + 82.56, + -0.0 + ], + [ + 3946.573, + 4522.984, + 708.275, + 0.0, + 82.56, + -0.0 + ], + [ + 3962.871, + 4647.783, + 708.275, + 0.0, + 82.56, + -0.0 + ], + [ + 3979.168, + 4772.583, + 737.208, + 0.0, + 82.56, + -0.0 + ], + [ + 3995.465, + 4897.382, + 737.757, + 0.0, + 82.56, + -0.0 + ], + [ + 3995.465, + 4897.382, + 737.757, + 0.0, + 107.56, + -0.0 + ], + [ + 3957.493, + 5017.376, + 737.757, + 0.0, + 107.56, + -0.0 + ], + [ + 3957.493, + 5017.376, + 737.757, + 0.0, + 107.56, + -0.0 + ] + ], + "Rationale": [ + "Four pump machines stand in a row against the far wall, and I want the third counting from the left. They look nearly identical, so I fix it as the one standing immediately left of the pump closest to the right corner. It lies slightly right of my current heading, so I turn right to line up before crossing the floor.", + "The pump I chose, the one just left of the machine nearest the right corner, now sits ahead of me across a wide open floor. The bay between us is clear apart from flat hazard-striped seams, so I walk forward to begin closing that distance.", + "The pumps and their hoses have grown slightly larger, so my line of travel is carrying me toward the row rather than past it. I am still several strides from the machine I want, so I keep walking forward.", + "The motors and the curved suction hoses are becoming clearly separated now, and my target still lies ahead and slightly left of center. The floor in front of me stays flat and clear, so I continue advancing.", + "I am closer, but the whole row has begun drifting toward the left edge of my view as I advance along this heading. There is still open floor between me and the pump I want, so I take another step forward before correcting my facing.", + "My forward travel has pushed the machines well over to the left side of my view, with bare wall filling the right. I turn left to swing my heading back onto the pump I am tracking so that the remaining approach stays straight.", + "The turn has brought the machines back across my view, and the pump I am tracking, the one inboard of the machine nearest the right corner, sits close to my line of travel. With the floor and hoses lying flat ahead, I walk forward to close in.", + "From this range a green lead is visible running down the motor of the pump I am heading for, which gives me a mark I can follow instead of a position in the row. It is still a few strides away, so I step forward again.", + "The motor with the green lead now sits near the middle of my view with its hose curling toward me across clear concrete. A couple of strides of open floor remain before I am beside it, so I keep walking.", + "The pump I am after fills much more of my view now, its base plate and hose fitting clearly readable. Nothing blocks the short stretch of floor left in front of me, so I advance again.", + "At this range the machine with the green lead sits right of my centerline, while a neighbouring unit occupies the left of my view. I turn right to put my target squarely in front of me for the last short approach.", + "The turn has set the green-leaded motor almost dead ahead, close enough to see its cooling fins and mounting bolts. Only a short gap of floor separates us, so one more step should bring me right alongside it.", + "The pump with the green lead now stands directly beside me at arm's length. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f4951f69b317ac18c6131d35605739895f598f42 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_a/infos.json @@ -0,0 +1,606 @@ +{ + "Instruction": "Walk to the blue gas cylinders near the wall, then head toward the open doorway.", + "Type": 3, + "Start_Pose": [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "LookDown", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + [ + 4224.236, + 4780.941, + 732.086, + 0.0, + -0.96, + 0.0 + ], + [ + 4350.078, + 4778.832, + 732.086, + 0.0, + -0.96, + 0.0 + ], + [ + 4475.919, + 4776.724, + 738.144, + 0.0, + -0.96, + 0.0 + ], + [ + 4601.76, + 4774.615, + 728.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4727.602, + 4772.506, + 728.275, + 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+ 0.0, + -100.96, + 0.0 + ], + [ + 5630.474, + 4413.026, + 708.275, + 0.0, + -100.96, + 0.0 + ], + [ + 5596.165, + 4300.419, + 708.275, + 0.0, + -100.96, + 0.0 + ], + [ + 5596.165, + 4300.419, + 708.275, + 0.0, + -75.96, + 0.0 + ], + [ + 5596.165, + 4300.419, + 708.275, + 0.0, + -50.96, + 0.0 + ], + [ + 5675.439, + 4202.663, + 714.12, + 0.0, + -50.96, + 0.0 + ], + [ + 5675.439, + 4202.663, + 714.12, + 0.0, + -25.96, + 0.0 + ], + [ + 5788.599, + 4147.569, + 714.12, + 0.0, + -25.96, + 0.0 + ], + [ + 5788.599, + 4147.569, + 714.12, + 0.0, + -25.96, + 0.0 + ] + ], + "Rationale": [ + "From here I can already pick out the cluster of grey blue cylinders standing against the far concrete wall on the right, with a lit open doorway further to the left. The floor between me and them is wide and clear apart from some loose hoses, so walking straight ahead should close most of that gap.", + "The cylinders by the wall have grown slightly and the marked wall behind them is now easier to read, so my heading is carrying me toward them. Nothing blocks the open floor in front of me, so I keep walking forward.", + "The row of cylinders and the crates stacked beside them are noticeably nearer, confirming I am tracking straight at that corner of the wall. The hoses lie low and off to my left, so another step forward should keep shrinking the distance.", + "I am now well into the open bay, with the cylinders clearly upright against the wall ahead on my right and the doorway holding its position to my left. Since the route stays clear, I continue walking to reach the cylinders first.", + "The cylinders and the drums beside them are close enough now that I can make out individual bottles against the wall. The floor grating and packing crates sit clear of my line, so I press forward to finish closing on them.", + "The cluster of grey gas cylinders stands against the far wall ahead and slightly right, still several strides off. The floor between me and them looks clear apart from the striped edge of the raised slab, so I will keep walking straight to close the distance.", + "My last stride gained almost nothing, since the wall and cylinders sit at nearly the same size and angle as before. The yellow striped lip of the raised floor section is right at my feet, so I will try one more push forward to see whether I can step over it.", + "Two straight strides in a row have barely shifted my view, so the raised slab edge in front of me is stopping my advance. Pressing on here is wasted effort, so I will back up to open clearance from that lip before choosing another line toward the cylinders.", + "I have pulled back a little and the blocked slab edge is now further off, but I am still hemmed close to it. I will step back once more to give myself room to turn freely and look for a way around toward the cylinders on the right-hand wall.", + "With clearance behind me, my straight-ahead line is still barred by that raised floor section. I will pivot left to scan the open rail floor on that side for a route that lets me get around the obstruction rather than butting into it again.", + "My last push straight ahead gained almost nothing, so I am still rotating away from that stalled heading. From here the bay opens to my left past the rail cart, so another turn left should bring that clearer floor into view as a way around whatever stopped me.", + "Facing this way I see track and thick hoses running across the bay, but the ground right at my feet is out of view. I will look down to check what lies immediately in front of me, since my forward step barely moved me a moment ago.", + "With my gaze lowered I can see hose lines and rails snaking over the floor just ahead of me. I will turn left again to aim at the smoother stretch of ground beyond them rather than pushing into the same cluttered line.", + "From this heading the floor in front of me looks open, with the brick wall and the parked rail cart well clear of my path. I will walk forward to get off the spot where my movement stalled and regain some room to work with.", + "That step brought me close to the brick wall and the cart on its rails, and there are no gas cylinders on this side of the bay. I will turn right to swing my heading back across the room toward the wall where those cylinders stand.", + "My heading still faces the brick wall and the rail cart on the left, which is not where the cylinders are stacked. The far wall with the painted marking and the open doorway lies further to my right, so I will turn right once more to swing my line of travel back toward that side of the hall.", + "Now the doorway sits ahead of me and the grey cylinders stand against the marked wall at the right edge of my view. The floor between me and that wall is open apart from loose hoses, so I will walk forward to close the gap toward the cylinders.", + "Walking forward has carried me so that the doorway and cart dominate the view while the cylinders have slipped out past the right edge. I will turn right to bring the wall and its upright cylinders back in front of me before advancing again.", + "The upright cylinders and the crates beside them are back in view, but they sit off to my right rather than straight ahead. One more turn to the right should put that group near the center of my heading so a straight walk carries me to them.", + "The cluster of grey cylinders under the painted marking now sits roughly ahead of me with the crates just beyond them. The floor between us is open apart from the low hazard-striped platform edge, so I will walk forward to close on them.", + "The cluster of grey cylinders standing against the far wall is now clearly ahead of me, just left of the stacked wooden crates. The floor between us is open, with only the flat cable run underfoot, so a straight walk should close a good part of that gap.", + "The cylinders have grown noticeably larger and now sit near the centre of my view, which tells me my heading is good. Nothing blocks the sandy floor ahead, so I keep walking straight to shorten the remaining distance to them.", + "I can now make out the individual cylinders and the two lying flat in front of them, along with the small barrels beside the crate stack. I am still several paces short of standing beside them, so another step straight ahead is the direct way to close in.", + "The upright cylinders and the crate lids beside them fill much more of my view now, and the O2 marking on the nearest one is becoming legible. The floor stays clear right up to them, so I continue walking forward to reach the wall where they stand.", + "The cylinders are close enough that their tops rise well above my line of sight and the wall behind them fills the frame. One more step should bring me right up against this group beside the wall.", + "The upright grey cylinders are close now against the timber wall, but loose cylinders and low ammunition boxes clutter the floor directly in front of my boots. I will turn left to shift my heading off that clutter and onto the clearer strip of floor before pressing in toward them.", + "With my heading now clear of the boxes on the ground, the standing cylinders sit just off to my right along the wall. I will walk forward to close the remaining gap to them.", + "The wall panel and the row of cylinders now fill most of my view, so only a short distance remains. I will step forward once more to bring myself right up beside the cylinders.", + "My last step barely changed anything in front of me, so the crates and the wall are holding me where I stand. I will turn right to face the cylinder cluster squarely and look for floor I can still cross toward it.", + "The turn has put the group of cylinders squarely in front of me with the barrels off to the right, and the forward step before it gained almost nothing. From this heading I will try walking forward again to reach the cylinders at the wall.", + "My last push forward gained no ground; the cylinder row and the crates sit hard against the wall right in front of me, so this corner is closed off. I will step back to open some clearance before I try a different heading.", + "Backing off has given me room again, but the view straight ahead is the same walled-in stretch where my last forward attempt stalled. I will turn left to sweep my view along the wall and look for a way in that is not boxed by crates.", + "The first turn only swung more blank wall and stacked ammunition boxes into view, with the cylinders now off to my right. I will turn left once more to keep sweeping toward the open side of this bay, where a clear line of travel should show itself.", + "Now the cluttered corner sits to my right and the floor beside the wall, with the dark doorway further along on my left, is clear of crates. I will walk forward into that open ground so I can reach the cylinder row from a side that is not blocked.", + "That step has carried me close in against the marked wall and the ammunition crate, and the cylinder row has slid out of sight to my right. I will turn right to bring those cylinders back in front of me.", + "The stack of ammunition crates now fills the middle of my view, and the tall gas cylinders standing against the wall sit off at my right edge. Another turn to the right should swing that cylinder group toward the center of my heading so I can walk straight at it.", + "The row of gas cylinders against the wall is now ahead of me with clear floor between us and the crates pushed to my left. I will walk forward to close that remaining gap and stand near them.", + "I am close enough now that the cylinders loom large, but they sit to the right of my heading while bare wall fills the left half of my view. Turning right should point me squarely at the group before I take the last step in.", + "The cylinders now stand directly ahead against the wall, with the barrels and the corner just past them on my right. One more step forward should bring me right up beside the group.", + "The gas cylinders fill my view at arm's length, standing in their row against the wall. I have reached them. I mark arriving here before turning around toward the open doorway.", + "The gas cylinders now fill my whole view at arm's length, so close that I can see nothing of the floor or the bay around them. Having reached them, I will back up a step to regain clearance and get the wider room back into view before I set off toward the open doorway.", + "Backing off worked, and the row of cylinders against the wall is fully in front of me again with barrels and crates crowding the right side. Nothing ahead resembles an opening, so I will turn left to swing my view off the cylinder stack and start searching along the wall for the doorway.", + "The turn has pushed the cylinders toward the right edge, but everything else in front of me is still blank concrete wall. I will keep turning left to continue sweeping toward the part of the bay where an opening may appear.", + "Only two cylinders remain at the right edge and the rest of my view is wall with a dark crate low on the left. There is still no gap in sight, so I will turn left again to keep bringing more of the bay into view.", + "The cylinders have passed out of view entirely and I am facing flat wall above a crate, with my own shadow cast on it. Since no passage has appeared yet, I will turn left once more to carry the sweep further around toward the open part of the room.", + "Having marked the gas cylinders behind me, I now need the open doorway, and only its dark metal edge with hazard striping has crept into the left of my view while the concrete corner still fills the rest. I will turn left again so the opening should come fully in front of me.", + "The doorway is now open in front of me on the left, with the brick machinery hall and its overhead crane showing through, and the floor between me and it is clear of crates. I will walk forward to close that gap.", + "I am close enough that the doorframe and the concrete wall crowd the right of my view, and the opening itself sits off to my left rather than straight ahead. Turning left should square my heading with the passage before I continue.", + "The opening now lies squarely ahead, showing the rail cart, brick wall and yellow crane hoist in the hall beyond, with the heavy door panel standing clear to my right. I will step forward to carry myself into that passage.", + "The doorway edge has swung further right as I close on it and more of the far room, its rails and cart, opens up ahead of me. Nothing blocks the floor, so I will keep walking to reach the threshold.", + "Having left the gas bottles behind, I am now in the hall with the brick wall and rail track to my left, while a tall dark door panel still crowds the right of my view. Walking forward should carry me past that panel and open up the gap I need for the way out.", + "The large sliding steel door with its red wheel is now fully visible on my right, and the floor between the rails ahead of me is clear. I continue walking forward to draw level with that door, where the opening beside it should become reachable.", + "I am standing level with the steel door, but my heading still points at the brick wall and pipework rather than at any passage. Turning right should swing my view along the door toward the gap at its far edge.", + "The turn has brought a bright, cable-lined passage into the right edge of my view, past the steel door. One more right turn should put that opening squarely in front of me so I can walk straight into it.", + "The open passage with its white cable-lined wall and running rails now lies ahead of me rather than off to the side. I walk forward to close the remaining distance to that opening.", + "I have stepped through the open doorway and the bright corridor beyond opens to my right, while the sliding metal panel still fills the left half of my view. Turning right should swing my heading down the corridor axis so the passage lies straight ahead instead of off to the side.", + "The corridor now runs straight ahead of me, with the cable-lined wall on the left and rails leading toward the lit far end. Walking forward should carry me clear of the doorway threshold and properly into the passage beyond it.", + "I stand inside the bright corridor past the doorway, with the passage open ahead of me. The task is complete, so there is nothing further to reach." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ae94e7230962086fa9aebcb46fbdb511d490e71c --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_b/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Approach the red pipe valve wheel, then move to the stacked wooden crates near the blue gas cylinders.", + "Type": 3, + "Start_Pose": [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -25.96, + 0.0 + ], + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -50.96, + 0.0 + ], + [ + 4177.669, + 4685.294, + 710.176, + 0.0, + -50.96, + 0.0 + ], + [ + 4256.943, + 4587.539, + 708.275, + 0.0, + -50.96, + 0.0 + ], + [ + 4336.217, + 4489.783, + 708.275, + 0.0, + -50.96, + 0.0 + ], + [ + 4415.491, + 4392.028, + 708.275, + 0.0, + -50.96, + 0.0 + ], + [ + 4494.765, + 4294.272, + 708.275, + 0.0, + -50.96, + 0.0 + ], + [ + 4574.038, + 4196.517, + 714.248, + 0.0, + -50.96, + 0.0 + ], + [ + 4653.312, + 4098.761, + 714.248, + 0.0, + -50.96, + 0.0 + ], + [ + 4732.586, + 4001.006, + 708.275, + 0.0, + -50.96, + 0.0 + ], + [ + 4732.586, + 4001.006, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4845.746, + 3945.912, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4958.906, + 3890.818, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 5072.066, + 3835.724, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 5144.173, + 3811.351, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 5144.173, + 3811.351, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 5144.173, + 3811.351, + 708.275, + 0.0, + -0.96, + 0.0 + ], + [ + 5144.173, + 3811.351, + 708.275, + 0.0, + 24.04, + -0.0 + ], + [ + 5144.173, + 3811.351, + 708.275, + 0.0, + 49.04, + -0.0 + ], + [ + 5226.678, + 3906.395, + 708.275, + 0.0, + 49.04, + -0.0 + ], + [ + 5226.678, + 3906.395, + 708.275, + 0.0, + 74.04, + -0.0 + ], + [ + 5261.285, + 4027.403, + 709.682, + 0.0, + 74.04, + -0.0 + ], + [ + 5295.892, + 4148.411, + 714.184, + 0.0, + 74.04, + -0.0 + ], + [ + 5295.892, + 4148.411, + 714.184, + 0.0, + 99.04, + -0.0 + ], + [ + 5276.116, + 4272.706, + 708.275, + 0.0, + 99.04, + -0.0 + ], + [ + 5256.341, + 4397.002, + 708.275, + 0.0, + 99.04, + -0.0 + ], + [ + 5236.566, + 4521.298, + 711.353, + 0.0, + 99.04, + -0.0 + ], + [ + 5216.79, + 4645.593, + 711.353, + 0.0, + 99.04, + -0.0 + ], + [ + 5216.79, + 4645.593, + 711.353, + 0.0, + 74.04, + -0.0 + ], + [ + 5251.397, + 4766.601, + 728.24, + 0.0, + 74.04, + -0.0 + ], + [ + 5286.004, + 4887.609, + 728.24, + 0.0, + 74.04, + -0.0 + ], + [ + 5320.611, + 5008.616, + 728.24, + 0.0, + 74.04, + -0.0 + ], + [ + 5355.218, + 5129.624, + 728.24, + 0.0, + 74.04, + -0.0 + ], + [ + 5355.218, + 5129.624, + 728.24, + 0.0, + 74.04, + -0.0 + ] + ], + "Rationale": [ + "From here the hall stretches ahead with hoses on the floor and a doorway, but no pipe valve wheel anywhere in my heading. The heavy pipework runs along the wall off to my left, so I will turn left to bring that side of the hall into view.", + "The brick wall with its rusty pipe stacks has swung into view, but it still sits off to the left edge rather than in front of me. I will turn left once more so my heading runs down that wall toward the pipework.", + "Now the long brick wall and the tall rust-colored pipe cluster lie roughly straight ahead of me, with clear floor and rail track between. I will walk forward to close that distance and get near enough to pick out the valve wheel on those pipes.", + "The pipe cluster by the doorway has grown slightly larger, so my heading down this wall is carrying me toward it. The floor stays open apart from the rail line to my left, so I will keep walking forward.", + "A small wheel is now discernible on the pipework beside the flatbed cart ahead, which matches the valve I am heading for. It is still far off down the hall, so I will keep advancing along this wall.", + "The valve wheel on the standing pipe is clearer now, sitting just left of the parked flatbed cart. Nothing stands between me and it on this stretch of floor, so I will continue forward.", + "The pipework with its wheel is noticeably nearer and drifting toward the right of my view as I travel along the wall. It is still several paces off, so I will walk forward again to close in.", + "The valve wheel on the rusty pipe column stands clearly ahead and slightly right, with the cart and rail line keeping to my right side. The open floor lets me press on, so I will step forward to shorten the remaining gap.", + "The rust-red pipe assembly with its spoked valve wheel stands ahead on my right, still several strides away along this brick wall. The floor between us is open, so I will keep walking straight to close that gap.", + "The pipe stack and its wheel have grown larger and sit clearly to my right, so my heading is still carrying me usefully toward them. Nothing blocks the sandy floor ahead, so another step forward should shorten the remaining distance.", + "The valve wheel now sits off to the right of my heading, so walking straight would carry me past it along the wall. I will turn right to bring the wheel and its pipe toward the centre of my view before advancing again.", + "After the turn the pipe with the spoked wheel is squarely in front of me, with the open doorway and rails to the right. With a clear path, I will step forward to close on the wheel.", + "The wheel and its flanged pipe now fill a good part of my view, showing the last step brought me appreciably nearer. I will keep walking forward since I am not yet close enough to count as standing at it.", + "The pipe base and its spoked wheel are close on my left now, with the doorway light spilling in on the right. A further step forward should bring me right alongside the wheel.", + "The wheel and the valve body dominate my view at short range, so only a small remaining gap separates me from it. I will take one more short step forward to stand directly at the wheel.", + "The spoked valve wheel on the pipe fills my view at arm's length, close enough to touch. I have reached the pipe valve wheel. I mark reaching it, and now I turn my attention to the stacked wooden crates beside the blue gas cylinders.", + "The red pipework's yellow valve wheel fills my view right against the brick wall, so I am as close to it as I need to be. I turn right to swing my view off this wall and begin searching for the wooden crates stacked by the blue gas cylinders.", + "The valve wheel has slid to my left edge and a lit opening with rail tracks is now coming into view ahead. I keep turning right to bring the wider hall beyond the doorway into my field of view, where storage should be.", + "Past the door frame I can now make out pale upright cylinders and boxy stacks along the far wall to my right. One more turn to the right should bring that storage corner closer to straight ahead before I set off toward it.", + "The bay holding the crate stacks and the upright cylinders now lies ahead and slightly right, beyond the rails and the open door leaf. I walk forward to clear this doorway area and cut the distance to that corner.", + "The crate stacks and the cylinders beside them still sit right of center while my heading runs along the tracks. I turn right to point myself at that storage corner before covering the remaining floor.", + "The wooden crates and the row of cylinders now sit roughly ahead of me across open floor. I step forward to close on them.", + "The crates have grown larger and the cylinders standing beside them are plainly visible, but a wide stretch of floor still separates us. I keep walking forward toward the stack.", + "A raised striped ledge and loose hoses run across the ground directly between me and the crate stack. I turn right to take the open floor beside that ledge, keeping the crates and cylinders off my left shoulder as I press on.", + "From this open bay I can see the stacked wooden crates ahead on my left, with the row of gas cylinders standing against the wall just beyond them. They are still a long way off across the sandy floor, so I will walk forward to cut down that distance.", + "The crate stack and the cylinders beside it have grown larger and shifted a little further to my left as I close in. Nothing blocks the open floor between us, so another step forward should keep shortening the gap.", + "The wooden crates are clearly resolved now, with barrels and the pale cylinders at the wall to their left. I am still several paces short of them, so I keep walking forward across the open bay.", + "The crate stack now fills much of the left side of my view, its individual boxes and panels plain to see. My heading still carries me past rather than onto them, but the floor ahead is clear, so I take another step to close in.", + "The stacked crates have drifted to the edge of my view on the left while my heading points at the empty wall and the pumps to my right. Turning left should swing the crates and the cylinders behind them back into the center so I can walk straight at them.", + "The turn worked: the crate stack now sits squarely ahead, with the blue gas cylinders and barrels lined up along the wall to its left. With my heading finally on them, I walk forward to close the remaining ground.", + "The crates are directly in front of me and filling more of the view, the cylinders still visible off to their left. I am not close enough to count as standing at them, so I keep advancing.", + "The stenciled crate faces and the coiled hose beside them are near enough to read detail, but a couple of paces of sand still separate me from the pile. I step forward again to bring myself right up against it.", + "The stacked wooden crates now fill most of my view, with the pale cylinders and green boxes just off to my left. A short strip of floor still separates me from the front crates, so I will step forward once more to close that last gap.", + "The stacked wooden crates beside the gas cylinders now stand directly in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03ed3749405245ed6cd6304edad4571013b816d5 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_c/infos.json @@ -0,0 +1,436 @@ +{ + "Instruction": "Head toward the teal electric motor, then proceed to the blue gas cylinders.", + "Type": 3, + "Start_Pose": [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + 24.04, + -0.0 + ], + [ + 4213.337, + 4834.322, + 731.909, + 0.0, + 24.04, + -0.0 + ], + [ + 4328.279, + 4885.593, + 731.909, + 0.0, + 24.04, + -0.0 + ], + [ + 4443.221, + 4936.865, + 748.442, + 0.0, + 24.04, + -0.0 + ], + [ + 4443.221, + 4936.865, + 748.442, + 0.0, + 49.04, + -0.0 + ], + [ + 4525.726, + 5031.91, + 728.275, + 0.0, + 49.04, + -0.0 + ], + [ + 4587.146, + 5115.094, + 728.275, + 0.0, + 49.04, + -0.0 + ], + [ + 4587.146, + 5115.094, + 728.275, + 0.0, + 49.04, + -0.0 + ], + [ + 4526.575, + 5045.316, + 728.275, + 0.0, + 49.04, + -0.0 + ], + [ + 4526.575, + 5045.316, + 728.275, + 0.0, + 24.04, + -0.0 + ], + [ + 4526.575, + 5045.316, + 728.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4652.416, + 5043.207, + 728.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4772.386, + 5041.375, + 728.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4772.782, + 5045.386, + 728.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4773.022, + 5049.406, + 728.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4680.635, + 5050.954, + 728.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4588.248, + 5052.502, + 728.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4588.248, + 5052.502, + 728.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4588.248, + 5052.502, + 728.275, + 0.0, + -50.96, + 0.0 + ], + [ + 4667.522, + 4954.747, + 728.275, + 0.0, + -50.96, + 0.0 + ], + [ + 4667.522, + 4954.747, + 728.275, + 0.0, + -75.96, + 0.0 + ], + [ + 4667.522, + 4954.747, + 728.275, + 0.0, + -100.96, + 0.0 + ], + [ + 4643.593, + 4831.183, + 728.275, + 0.0, + -100.96, + 0.0 + ], + [ + 4619.664, + 4707.62, + 726.128, + 0.0, + -100.96, + 0.0 + ], + [ + 4619.664, + 4707.62, + 726.128, + 0.0, + -75.96, + 0.0 + ], + [ + 4619.664, + 4707.62, + 726.128, + 0.0, + -50.96, + 0.0 + ], + [ + 4619.664, + 4707.62, + 726.128, + 0.0, + -25.96, + 0.0 + ], + [ + 4619.664, + 4707.62, + 726.128, + 0.0, + -0.96, + 0.0 + ], + [ + 4745.506, + 4705.511, + 742.052, + 0.0, + -0.96, + 0.0 + ], + [ + 4871.347, + 4703.403, + 725.205, + 0.0, + -0.96, + 0.0 + ], + [ + 4997.188, + 4701.294, + 724.138, + 0.0, + -0.96, + 0.0 + ], + [ + 5123.03, + 4699.185, + 723.043, + 0.0, + -0.96, + 0.0 + ], + [ + 5248.871, + 4697.077, + 720.959, + 0.0, + -0.96, + 0.0 + ], + [ + 5374.712, + 4694.968, + 719.353, + 0.0, + -0.96, + 0.0 + ], + [ + 5500.554, + 4692.859, + 717.665, + 0.0, + -0.96, + 0.0 + ], + [ + 5500.554, + 4692.859, + 717.665, + 0.0, + 24.04, + -0.0 + ], + [ + 5615.496, + 4744.131, + 728.207, + 0.0, + 24.04, + -0.0 + ], + [ + 5615.496, + 4744.131, + 728.207, + 0.0, + 49.04, + -0.0 + ], + [ + 5698.0, + 4839.176, + 728.207, + 0.0, + 49.04, + -0.0 + ], + [ + 5711.903, + 4923.829, + 728.275, + 0.0, + 49.04, + -0.0 + ], + [ + 5711.903, + 4923.829, + 728.275, + 0.0, + 49.04, + -0.0 + ] + ], + "Rationale": [ + "From here the teal electric motors sit far off at the right edge of the hall, near the cable-lined wall, while my heading points across the open floor. I will turn right to bring that machinery into the middle of my view before walking toward it.", + "The teal motors on their pallets are now clearly ahead on the right side of my view, across an unobstructed stretch of floor. I will walk forward to cut down the distance to them.", + "The pair of teal motors ahead has grown noticeably larger, so my heading is carrying me toward them. Nothing blocks the floor between us, so I will keep walking forward.", + "The nearest teal motor with its pale housing now fills a good part of the right side of my view, close enough to make out its casing ribs. I will step forward again to close the remaining gap.", + "The teal motor sits off to my right rather than straight ahead, so walking on this heading would carry me past it toward the wall. I will turn right to put the machine squarely in front of me before advancing further.", + "The teal electric motor on its pallet now sits squarely ahead of me after my turn, with clear open floor between us. I will walk forward to close that remaining gap toward it.", + "The teal motor now dominates the lower left of my view, so only a short stretch of floor still separates us. I will step forward again to stand right at it.", + "The teal electric motor and its coupled pump fill my view at arm's length, its ribbed casing and pipework right in front of me. I have arrived at it. I mark reaching this motor before setting off for the blue gas cylinders standing by the far wall.", + "Standing this close, the motor's casing blocks nearly everything and I cannot see the open floor I need for my next leg. I will step back to open the view and give myself room to swing toward the blue gas cylinders.", + "Backing off has restored a view of the hall, with the motor now clear of my path and the wall of crates and cabling ahead. The blue gas cylinders stand off to my left near the marked concrete wall, so I will turn left to bring them into view.", + "The teal electric motor now sits close on my right and I have already come up to it, so it no longer needs my heading. Swinging further left opens the room toward the marked wall, where the pale blue gas cylinders stand beside the stacked crates. This second turn should put that group roughly ahead of me.", + "The row of blue cylinders is now visible ahead against the wall with the painted letter, with crates stacked to their right and open floor in between. My heading is good enough to simply close distance, so I will walk forward.", + "The cylinders have grown noticeably larger and remain slightly left of center, confirming that my line of travel is right. Nothing stands between me and them except open floor, so I will keep walking forward.", + "The cylinders sit ahead by the lettered wall, but a raised slab with a rail runs across the floor just in front of me. I still have distance to cover, so I will step forward again toward them.", + "My last step barely changed anything; the cylinders and crates sit at almost the same size and angle, so the raised slab edge in front of me appears to be holding me back. I will try walking forward once more to see whether I can push past that lip.", + "My last two attempts to walk straight ahead barely shifted me at all, so something at the edge of this raised floor section is holding me in place. The cylinders stacked against the marked wall are still across that gap, and pushing forward again is pointless. I will step back to open up clearance before trying a different line.", + "One step back has widened my view of the room but I am still hemmed against the raised floor slab that stopped my forward walk. To turn freely and pick a different approach to the cylinders by the marked wall, I need more space behind me. I will back up once more.", + "Now that I have space behind me, the straight line to the cylinders is still cut off by the raised slab and the crates crowding its right side. The floor stretching away to my left looks open and unobstructed. I will turn left to look for a route that gets around this obstruction.", + "Turning has brought the wide bay with the overhead crane and the rail cart into view, and that side of the hall is clear of the slab that stopped me. A little more rotation should put that open floor squarely in front of me. I will turn left again.", + "I am now facing the open bay under the yellow crane, with clear floor and rails ahead instead of the raised slab that stalled me. Walking this way should carry me clear of that blockage and give me room to swing back toward the cylinders. I will step forward.", + "Ahead of me the bay closes off into a brick wall with a rail cart and hoist, and no gas cylinders stand anywhere in this stretch. I will turn left to sweep my view across the unseen portion of this hall, hoping the cylinder rack shows up along that side.", + "The first part of the sweep only brought green pipework and more brick masonry into view, still with no sign of the blue cylinders. I will keep turning left to carry the scan further around, since the rest of that side of the hall is still hidden from me.", + "Facing me now is a long brick wall with pipework and stacked pallets, with the cart off to my right, and the floor between us is clear. I will walk forward to close on that wall so its corners and the ground beside the pallets come into view.", + "The step gained ground and the brick wall is noticeably nearer, yet only pipe runs, pallets and the cart are along it, with no cylinders. I will advance once more to get close enough to judge whether anything stands in the shadowed strip at its base.", + "From this close the whole brick face is plain: pipes, stacked pallets and the rail cart, and nothing resembling the blue cylinders. This corner of the hall is a dead end for my search, so I will turn right to swing my view back across the open floor toward the other side.", + "The brick wall, the cart and the hoist still fill most of my view, and the pale bluish cylinder stack I saw standing against the marked wall is nowhere in front of me. I will turn right again so the open floor and that far wall swing into my heading.", + "The turn has carried the brick wall to my left and the lit doorway is now near the middle, but the far storage wall is still off to my right. Another turn right should bring that wall and the cylinders beside it toward my forward line.", + "The wall with the big painted letter is in view now and the upright gas cylinders sit at its base, but they are still well over on my right side. I will turn right once more so they sit closer to straight ahead before I walk toward them.", + "The gas cylinders now stand ahead and only slightly to my right, lined up against the marked wall beside the crates. The floor between us is open apart from a hose off to the side, so I will walk forward to close the distance.", + "The cylinders have grown noticeably larger and stay ahead of me, so my heading is holding and the last step made real ground. I will keep walking forward to cut down the remaining gap to them.", + "The cluster of grey blue gas cylinders stands against the marked wall ahead and slightly to my right, still a good distance off. My heading already points down the open floor toward them, so a straight step forward should close the gap without spending a turn.", + "The cylinders have grown noticeably larger and sit just right of my centre view, confirming the last step carried me toward them. The floor between us stays clear, so I keep walking straight to shorten the remaining distance.", + "The cylinders and the crates beside them are close enough now that I can read the shading on their bodies, and they sit to the right of my path. Nothing stands between me and that wall, so another forward step should bring me nearly alongside the stack.", + "The cylinder stack now fills the right side of my view at close range, with the crates just before it against the marked wall. I continue straight ahead to draw level with the group rather than stopping short of it.", + "I am nearly abreast of the wall, and the cylinders have slid to the right edge of my view as I come alongside them. One more step forward should carry me level with the stack and the crates beside it.", + "Walking straight has brought me right up against the blank concrete wall, and only the crates and a sliver of a tall cylinder remain at the right edge of my view. The bank of gas cylinders sits off to my right, outside my heading. I will turn right so they come into the middle of my view.", + "The turn has put the row of tall bluish gas cylinders in clear view ahead and slightly right, standing against the wall beside the stacked crates. The floor between me and them looks open. I will walk forward to close the remaining distance.", + "Advancing has pushed the crate stack into my foreground while the gas cylinders have slid to the right edge of my view. My heading is drifting past them toward the bare wall. Turning right should bring the cylinders back in front of me for a straight approach.", + "The cluster of gas cylinders now stands squarely ahead of me against the wall, with the crate only to my left and open floor in between. Nothing blocks a direct line to them. I will step forward to close on them.", + "The gas cylinders now fill much of my view, close enough to read the O2 marking on the nearest one. A short step more should put me right at their base. I will move forward to finish the approach.", + "The row of blue-grey gas cylinders marked O2 stands directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_d/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a5716a4f1f402fb12b84a9d212e196be72e1cfcb --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_d/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Navigate to the open doorway, then walk to the red pipe valve wheel.", + "Type": 3, + "Start_Pose": [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -25.96, + 0.0 + ], + [ + 4211.555, + 4727.956, + 728.329, + 0.0, + -25.96, + 0.0 + ], + [ + 4324.715, + 4672.862, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4437.874, + 4617.768, + 727.388, + 0.0, + -25.96, + 0.0 + ], + [ + 4551.034, + 4562.674, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4664.194, + 4507.58, + 711.313, + 0.0, + -25.96, + 0.0 + ], + [ + 4777.354, + 4452.486, + 711.313, + 0.0, + -25.96, + 0.0 + ], + [ + 4890.514, + 4397.392, + 708.426, + 0.0, + -25.96, + 0.0 + ], + [ + 5003.674, + 4342.298, + 708.426, + 0.0, + -25.96, + 0.0 + ], + [ + 5116.833, + 4287.204, + 708.426, + 0.0, + -25.96, + 0.0 + ], + [ + 5229.598, + 4254.595, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 5342.758, + 4199.501, + 714.271, + 0.0, + -25.96, + 0.0 + ], + [ + 5455.918, + 4144.407, + 714.271, + 0.0, + -25.96, + 0.0 + ], + [ + 5569.077, + 4089.314, + 714.271, + 0.0, + -25.96, + 0.0 + ], + [ + 5682.237, + 4034.22, + 712.662, + 0.0, + -25.96, + 0.0 + ], + [ + 5795.397, + 3979.126, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 5795.397, + 3979.126, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 5712.32, + 4019.573, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 5712.32, + 4019.573, + 708.275, + 0.0, + -50.96, + 0.0 + ], + [ + 5712.32, + 4019.573, + 708.275, + 0.0, + -75.96, + 0.0 + ], + [ + 5712.32, + 4019.573, + 708.275, + 0.0, + -100.96, + 0.0 + ], + [ + 5712.32, + 4019.573, + 708.275, + 0.0, + -125.96, + 0.0 + ], + [ + 5712.32, + 4019.573, + 708.275, + 0.0, + -150.96, + 0.0 + ], + [ + 5602.284, + 3958.479, + 708.275, + 0.0, + -150.96, + 0.0 + ], + [ + 5492.248, + 3897.384, + 708.275, + 0.0, + -150.96, + 0.0 + ], + [ + 5382.212, + 3836.29, + 708.275, + 0.0, + -150.96, + 0.0 + ], + [ + 5295.58, + 3784.514, + 708.275, + 0.0, + -150.96, + 0.0 + ], + [ + 5295.58, + 3784.514, + 708.275, + 0.0, + -150.96, + 0.0 + ] + ], + "Rationale": [ + "The lit open doorway in the far wall sits left of where I am facing, past the wide dusty floor and its hoses. I will turn left so the opening comes toward the middle of my view before I start walking. That should give me a straight lane toward it.", + "The bright doorway now sits near the center of my view with clear floor between us. I will walk forward to begin closing that distance.", + "The doorway and the interior beyond it have grown slightly larger, so my heading is carrying me toward the opening. The floor ahead stays clear of the coiled hoses on my right. I will keep walking straight.", + "The opening remains squarely ahead and the room beyond is clearly visible through it. Nothing stands between me and it except open floor. Another step forward should keep shrinking the gap.", + "The rail cart and the brick wall with its pipework are sliding by on my left, which tells me I am moving steadily along the hall. The doorway ahead keeps widening. I will continue forward.", + "The doorway is noticeably closer now and I can make out the racked equipment inside the next room. My path stays clear of the cart on its track to the left. Another forward step is the direct way in.", + "The bright opening now fills a good part of my view and its swung door and frame are distinct. I am still short of the threshold, so I will walk forward again.", + "The threshold is close, with the open door panel on the left of the gap and the lit room and its rails beyond. My heading lines up with the middle of the opening. I will keep advancing toward it.", + "The lit open doorway stands squarely ahead of me at the end of this bay, and the sandy floor beside the rail track is clear of the flat car and hanging hoist tackle on my left. I will keep walking straight toward that opening.", + "The doorway now fills much more of my view and I can see deep into the bright corridor beyond it, so my heading is still true. Nothing blocks the strip of floor between me and the threshold, so I keep advancing.", + "The thick door frame edges now sit near the sides of my view and the rails run straight through the opening, which tells me the threshold is only a few strides off. I continue forward along the track line.", + "I am right at the threshold now, with the opened metal door leaf standing back on my left and the pale corridor with its racked equipment opening in front of me. Another step should carry me into the passage itself.", + "I have crossed into the brighter corridor, and the swung-open door panel with its red emblem now runs along my left shoulder. I keep moving forward to bring myself level with the middle of the opening.", + "The tall open door leaf on my left is close enough that its red circular handle is plainly visible, and the corridor stretches clear ahead along the rails. I advance again to settle myself squarely at the opening.", + "The open door panel now dominates my left side at arm's reach, so I am nearly abreast of the passage it uncovers. One more step forward should place me even with the gap rather than short of it.", + "The trailing edge of the open door is sliding past my left shoulder, meaning the doorway itself is almost directly beside me. I take one more step so I stand fully at the opening before judging my position.", + "The heavy steel door stands swung wide right beside me and the lit passage runs straight on past its frame, so I am standing in the open doorway itself. I have arrived at it, and I mark reaching this doorway before setting off for the red valve wheel on the pipework.", + "The open door leaf crowds the entire left half of my view and I am wedged right in the gap of the frame. Turning here would only swing steel across my sight, so I will step back to gain clearance before reorienting toward the pipe valve wheel.", + "I have backed clear of the door leaf and now have room to pivot. Nothing down this long straight corridor of cable racks shows a pipe with a red valve wheel, so I will turn left to sweep the side of the space I have not yet faced.", + "The pivot has brought the face of the steel door around, with a red handwheel set into the leaf right in front of me. That panel is not the pipework I am after and it screens most of my view, so I will keep turning left to open up the space behind it.", + "The door leaf and its red handwheel now fill my view almost completely, with only brickwork and a crate showing past the left edge. Since this flat panel gives me no route or target, I will turn further left toward that open brick-walled side.", + "Swinging left has pushed the door leaf toward the frame edge and brought a brick-walled bay with stacked crates into view. Pipe runs are more likely along that wall, so I will turn left again to face deeper into the bay.", + "A tall vertical pipe with a valve wheel on its side now stands against the brick wall, but it sits left of my heading while the door edge still cuts the right of my view. One more left turn should bring that valve wheel in front of me before I walk in.", + "The valve wheel on the standing pipe is now ahead of me, just right of center against the brick wall, and the sandy floor between us is open. I will walk forward to close that distance.", + "The rust-red pipe assembly with its spoked valve wheel stands ahead along the brick wall on my right, still several strides away. My heading already lines up with the clear stretch of floor beside it, so I will keep walking forward to close that gap.", + "The valve wheel on the red pipe is noticeably larger now and sits just to my right, meaning I am still short of standing beside it. Another step forward should bring me nearly level with the pipe body.", + "The red pipe and its wheel now dominate the right side of my view, so I am nearly alongside the target. One more short step forward should place me directly at the valve rather than a pace behind it.", + "The red pipe's valve wheel is right in front of me, within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_e/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..211aface6aab97df5ef766b07bd4e0cd69e7c709 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004098_y004783_z000746_t3_e/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Move to the parked vehicle on the far wall, then approach the teal motor.", + "Type": 3, + "Start_Pose": [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -0.96, + 0.0 + ], + [ + 4098.395, + 4783.05, + 745.539, + 0.0, + -25.96, + 0.0 + ], + [ + 4211.555, + 4727.956, + 728.329, + 0.0, + -25.96, + 0.0 + ], + [ + 4324.715, + 4672.862, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4437.874, + 4617.768, + 727.388, + 0.0, + -25.96, + 0.0 + ], + [ + 4551.034, + 4562.674, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4664.194, + 4507.58, + 711.313, + 0.0, + -25.96, + 0.0 + ], + [ + 4777.354, + 4452.486, + 711.313, + 0.0, + -25.96, + 0.0 + ], + [ + 4890.514, + 4397.392, + 708.426, + 0.0, + -25.96, + 0.0 + ], + [ + 4890.514, + 4397.392, + 708.426, + 0.0, + -50.96, + 0.0 + ], + [ + 4969.788, + 4299.637, + 708.426, + 0.0, + -50.96, + 0.0 + ], + [ + 4969.788, + 4299.637, + 708.426, + 0.0, + -50.96, + 0.0 + ], + [ + 4969.788, + 4299.637, + 708.426, + 0.0, + -25.96, + 0.0 + ], + [ + 4969.788, + 4299.637, + 708.426, + 0.0, + -0.96, + 0.0 + ], + [ + 4969.788, + 4299.637, + 708.426, + 0.0, + 24.04, + -0.0 + ], + [ + 4969.788, + 4299.637, + 708.426, + 0.0, + 49.04, + -0.0 + ], + [ + 4969.788, + 4299.637, + 708.426, + 0.0, + 74.04, + -0.0 + ], + [ + 4969.788, + 4299.637, + 708.426, + 0.0, + 99.04, + -0.0 + ], + [ + 4950.012, + 4423.932, + 710.374, + 0.0, + 99.04, + -0.0 + ], + [ + 4930.237, + 4548.228, + 711.265, + 0.0, + 99.04, + -0.0 + ], + [ + 4910.461, + 4672.524, + 711.265, + 0.0, + 99.04, + -0.0 + ], + [ + 4890.686, + 4796.819, + 728.28, + 0.0, + 99.04, + -0.0 + ], + [ + 4870.91, + 4921.115, + 728.28, + 0.0, + 99.04, + -0.0 + ], + [ + 4859.728, + 5044.879, + 728.28, + 0.0, + 99.04, + -0.0 + ], + [ + 4846.437, + 5168.675, + 743.461, + 0.0, + 99.04, + -0.0 + ], + [ + 4846.437, + 5168.675, + 743.461, + 0.0, + 124.04, + -0.0 + ], + [ + 4775.985, + 5272.968, + 748.204, + 0.0, + 124.04, + -0.0 + ], + [ + 4775.985, + 5272.968, + 748.204, + 0.0, + 149.04, + -0.0 + ], + [ + 4775.985, + 5272.968, + 748.204, + 0.0, + 149.04, + -0.0 + ] + ], + "Rationale": [ + "I can see the flatbed rail cart parked on its tracks against the far left wall, well off to the side of my current heading. I will turn left so that cart sits ahead of me and I can walk straight toward it.", + "The parked flatbed cart on its rails now lies ahead and slightly left, with clear open floor between us. I will walk forward to begin closing that distance.", + "The flatbed cart against the brick wall has grown larger and its wheels and rails are clearer, so my line of travel is good. Nothing blocks the floor ahead, so I keep walking toward it.", + "I still have a fair stretch of open floor between me and the parked cart on its track by the wall. The hoses lie off to my right and do not cross my path, so I continue advancing.", + "The cart's flat bed and the machinery resting on it are now clearly resolved ahead and to my left. I am not yet beside it, so I take another step forward.", + "The parked cart now fills a good part of my left foreground, but I am still short of standing alongside it. I keep moving forward along the open floor beside the rails.", + "The cart's end and its wheels are close on my left, with the teal-cased machine sitting on its bed. A few more paces should bring me level with it, so I advance again.", + "I am nearly alongside the parked cart, though its near end still extends past my shoulder on the left. One more step forward should place me squarely beside it.", + "The parked flatbed cart with the motor on its deck is now hard against my left shoulder, so my current heading would carry me straight past it down the rail aisle. I turn left to bring that parked vehicle squarely in front of me before closing the last of the gap.", + "The flatbed cart on the rails now sits centred ahead of me against the brick wall, with only a short stretch of floor left. I step forward to pull up directly alongside its deck.", + "The parked flatbed cart fills my view against the brick wall, its deck and mounted motor close enough to touch. I have arrived at this parked vehicle by the wall, so I mark reaching it before setting off toward the teal motor out in the open bay.", + "Nothing further holds me at this cart pressed against the brick wall, and the teal motor I want stands out in the open hall well round to my right. I turn right to start swinging my heading off the cart and back toward that open floor.", + "The cart has slid to my left and the rail aisle with its doorway now runs ahead, but I still face along the wall rather than out into the bay. I turn right again to keep carrying my heading around toward the open floor.", + "The doorway and the concrete wall marked with a large letter now dominate what I see, while the wide bay I need is still further round on my right. I continue turning right to keep the sweep going.", + "The lettered wall, cylinders and stacked crates are drifting across my view as the open floor with its hose runs swings in from the right. I turn right once more to keep bringing that side of the hall in front of me.", + "Crates and gas cylinders now sit ahead of me along the concrete wall, and no teal motor has come into view yet as the bay continues opening to my right. I turn right again, which should bring the far equipment wall into the centre of my path.", + "My heading is still swinging around the hall, and at the right edge of my view I can now pick out a teal motor set on a skid beside the cable-lined wall. One more turn to the right should bring that machinery into the middle of my view so I can walk straight at it.", + "The row of teal motors now sits ahead of me along the cable wall, roughly in front and slightly right, with open floor and only loose hoses between us. My heading is good enough, so I will walk forward to start closing that distance.", + "The motors and their pipework have grown larger and the cable-strung wall behind them is clearer, confirming my line of travel is right. I will keep walking forward since nothing blocks the floor ahead.", + "The nearest teal motor now shows its green and red cabling and the frame it stands on, so I am gaining ground steadily. Another step forward should bring me nearer without needing any turn yet.", + "The crates on the left are sliding out of view while the teal motor holds its place ahead and to the right, which tells me I am tracking straight toward it. I will continue forward across the open floor.", + "The nearest teal motor and its pump housing now fill a good part of the right side of my view, with the hose curving in front of its base. There is still floor between us, so I will step forward again to close in.", + "I am close enough now to make out the bolts on the motor casing and the green hose running to its pump, but the machine still sits off to my right rather than at arm's reach. Another forward step should put me alongside it.", + "The cable-strung concrete wall is filling most of my view and the teal pump has slid to my right edge, meaning I am nearly level with its skid. One more step forward should bring me fully abreast of the machine before I face it.", + "I have come right up to the cable-lined concrete wall, and the teal-cased motor with its ribbed hose sits off at the right edge of my view rather than ahead of me. Turning right should swing it into the center of my view so I can walk straight at it.", + "The teal pump and motor now sit clearly in my view, slightly right of center, with open floor and the hose running toward it. Nothing blocks the short stretch between us, so I will step forward to close the remaining gap.", + "I am now right beside the machine, but my view is dominated by the cable wall and the teal casing has slid to the right edge. A turn to the right should bring the motor squarely in front of me at this close range.", + "The teal motor and its pump housing stand directly before me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c03f9ef3c950ae94e3eae5c1524cf519160e79ae --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the green motor pump on the ground.", + "Type": 0, + "Start_Pose": [ + 4112.133, + 4147.69, + 714.275, + 0.0, + 147.84, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4112.133, + 4147.69, + 714.275, + 0.0, + 147.84, + -0.0 + ], + [ + 4005.585, + 4214.683, + 713.205, + 0.0, + 147.84, + -0.0 + ], + [ + 4005.585, + 4214.683, + 713.205, + 0.0, + 122.84, + -0.0 + ], + [ + 3937.332, + 4320.428, + 708.275, + 0.0, + 122.84, + -0.0 + ], + [ + 3869.08, + 4426.173, + 708.275, + 0.0, + 122.84, + -0.0 + ], + [ + 3800.827, + 4531.919, + 735.095, + 0.0, + 122.84, + -0.0 + ], + [ + 3732.574, + 4637.664, + 807.159, + 0.0, + 122.84, + -0.0 + ], + [ + 3732.574, + 4637.664, + 807.159, + 0.0, + 97.84, + -0.0 + ], + [ + 3715.406, + 4762.346, + 807.159, + 0.0, + 97.84, + -0.0 + ], + [ + 3698.238, + 4887.029, + 807.159, + 0.0, + 97.84, + -0.0 + ], + [ + 3681.07, + 5011.712, + 807.159, + 0.0, + 97.84, + -0.0 + ], + [ + 3681.07, + 5011.712, + 807.159, + 0.0, + 97.84, + -0.0 + ] + ], + "Rationale": [ + "From the entrance area I can see green pump units sitting on the ground far ahead along the left wall, with hoses running from them across the dusty floor. The open concrete floor in front of me is clear, so I will move forward to start closing the large gap toward them.", + "The green pumps sit well to my left, while my current heading points at the wide doorway and rail track on the right. I will turn left so my facing swings toward the pumps and they move into the center of my view before I advance further.", + "Two green pump units are now clearly ahead of me along the cable-lined wall, roughly in line with my heading. The floor between us holds only a flat hose and a low timber, so I will move forward to reduce the distance.", + "The pumps have grown noticeably larger and their mounting plates are now distinct, so my heading is carrying me straight toward them. I will continue forward since I am still several steps short of standing at the nearer unit.", + "The nearer green pump and its vertical pipe now fill much more of my view, confirming I am closing steadily on it. There is still open floor between me and its base, so I will step forward again.", + "The green motor pump ahead is close enough that I can see its motor housing, wiring and the coiled hose beside it. I will move forward once more to bring myself right up beside the unit.", + "The green pump has drifted to the left edge of my view while my heading now points mostly at the bare concrete wall and hose coil. I will turn left to bring the pump back toward the center of my facing before taking any further step.", + "With the turn done, the green motor pumps sit ahead of me on their skids with a short run of clear floor in between. I will move forward to finish closing that last gap and stand directly at the pump.", + "The green motor pump on its skid sits just ahead and slightly right of center, with its hose running toward me and the coiled hose beside it. My heading is already lined up on it, so I will step forward again to keep closing the remaining gap.", + "The green pump now fills the lower center of my view, its motor housing and wiring clearly resolved, but there is still a short stretch of floor before I am standing at it. One more forward step should bring me right up beside the unit.", + "The green motor pump is directly in front of me at my feet, filling the near view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..976fa8c40b1d43b688032c2df3d0cfb2fad14e10 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the yellow-and-black striped base of the doorway pillar beside the large white letter \"A\".", + "Type": 0, + "Start_Pose": [ + 4112.133, + 4147.69, + 714.275, + 0.0, + 147.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4112.133, + 4147.69, + 714.275, + 0.0, + 147.84, + -0.0 + ], + [ + 4005.585, + 4214.683, + 713.205, + 0.0, + 147.84, + -0.0 + ], + [ + 3899.037, + 4281.676, + 708.275, + 0.0, + 147.84, + -0.0 + ], + [ + 3792.489, + 4348.669, + 708.275, + 0.0, + 147.84, + -0.0 + ], + [ + 3792.489, + 4348.669, + 708.275, + 0.0, + 172.84, + -0.0 + ], + [ + 3667.612, + 4364.356, + 708.275, + 0.0, + 172.84, + -0.0 + ], + [ + 3542.734, + 4380.043, + 708.275, + 0.0, + 172.84, + -0.0 + ], + [ + 3417.857, + 4395.73, + 708.275, + 0.0, + 172.84, + -0.0 + ], + [ + 3417.857, + 4395.73, + 708.275, + 0.0, + 172.84, + -0.0 + ] + ], + "Rationale": [ + "I can see the large white letter \"A\" on the concrete wall ahead, and to its right the doorway pillar carries a yellow-and-black striped band near the floor. That striped base is my target, so I will move forward across the open dusty floor to close the distance.", + "The striped pillar base beside the letter \"A\" now appears larger and lower in my view, confirming I am closing on it. The path ahead is still clear dusty floor, so I will continue forward.", + "The wall with the \"A\" fills more of my view and the striped pillar corner sits just right of center, still a few steps off. Another forward step should bring me close to the doorway edge before I fine-tune my heading.", + "I am now close to the wall, but the striped pillar base sits off to my right side while my heading points along the blank concrete. I will turn right to place that striped corner squarely ahead of me before advancing further.", + "The turn has brought the doorway and its striped pillar base into the middle of my view, with the letter \"A\" on the wall to the left. With the heading now lined up, I will step forward toward the striped corner.", + "The striped band on the pillar is clearly ahead and low in my view, meaning I am only a short distance away. I will move forward again to tighten that gap.", + "The striped base now dominates the near part of my view, but a small gap of floor still separates me from the pillar. One more forward step should bring me right up against it.", + "The yellow-and-black striped pillar base fills my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..245f5eaabf0afe3623647c68ff95e68e8e805669 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t0_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the flat rail cart on the tracks.", + "Type": 0, + "Start_Pose": [ + 4112.133, + 4147.69, + 714.275, + 0.0, + 147.84, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4112.133, + 4147.69, + 714.275, + 0.0, + 147.84, + -0.0 + ], + [ + 4112.133, + 4147.69, + 714.275, + 0.0, + 172.84, + -0.0 + ], + [ + 3987.255, + 4163.377, + 714.275, + 0.0, + 172.84, + -0.0 + ], + [ + 3862.378, + 4179.064, + 714.275, + 0.0, + 172.84, + -0.0 + ], + [ + 3737.5, + 4194.751, + 714.275, + 0.0, + 172.84, + -0.0 + ], + [ + 3612.623, + 4210.439, + 714.025, + 0.0, + 172.84, + -0.0 + ], + [ + 3487.745, + 4226.126, + 708.331, + 0.0, + 172.84, + -0.0 + ], + [ + 3362.868, + 4241.813, + 708.331, + 0.0, + 172.84, + -0.0 + ], + [ + 3362.868, + 4241.813, + 708.331, + 0.0, + -162.16, + 0.0 + ], + [ + 3243.06, + 4203.255, + 714.074, + 0.0, + -162.16, + 0.0 + ], + [ + 3154.028, + 4165.227, + 714.275, + 0.0, + -162.16, + 0.0 + ], + [ + 3154.028, + 4165.227, + 714.275, + 0.0, + -162.16, + 0.0 + ] + ], + "Rationale": [ + "I can see a pair of rails running across the floor to my right and leading through a large concrete opening, with a low flat rail cart sitting on those tracks in the lit bay beyond. My current heading points too far left, toward the blank wall and the pipe equipment, so I will turn right to bring the tracks and that cart in line with my forward direction.", + "The two rails now run straight away from my feet and the doorway sits centered ahead, with the flat cart on the tracks well beyond it. The floor between me and the opening is clear dusty concrete, so I will walk forward along the rails to start closing the distance.", + "The concrete opening has grown larger and the flat cart beyond it is now clearly resting on the rails, still some distance away. My heading remains parallel to the tracks, so another step forward should keep shrinking the gap.", + "The flat cart's deck and frame are becoming distinct through the opening, and the overhead yellow hoist ring above it is now visible. Nothing blocks the rail corridor, so I keep advancing straight toward the cart.", + "I am close to the threshold now, with the hazard striped column at the left edge of my view and the cart sitting just past the opening. Continuing forward should carry me through the doorway and into the bay where the cart stands.", + "The cart is now large in the middle of my view, standing on the rails with its wheels visible, and the ribbed wall of the inner bay is opening up on my right. I still have several body lengths to cover, so I move forward again.", + "I am passing the doorway edge and the flat cart now sits ahead and slightly to my right on the rails inside the bay. One more step forward should bring me alongside it before I adjust my facing.", + "I have entered the bay and the flat cart now lies to the right of my forward direction, while straight ahead I only face the far doors and the turntable. I will turn right so the cart is centered in front of me before I close the last of the distance.", + "The flat rail cart now sits centered ahead of me on the rails, just past the open bulkhead opening I have stepped through. The path along the track bed looks clear, so I will walk forward to close the remaining gap to the cart.", + "The cart's flat deck and its steel plate load now dominate the lower part of my view, so I am only a short step away from it. I will advance once more to bring myself right up beside the cart deck.", + "The flat rail cart on the tracks is directly in front of me, its deck within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e03e62e4965adaa37da6eabf4db039be4ecd5f84 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Lift the jerry can beside the green motor pump on the ground.", + "Type": 5, + "Start_Pose": [ + 4112.133, + 4147.69, + 714.275, + 0, + 147.84, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3528.705, + 4996.371, + 647.753, + 0, + -10, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4112.133, + 4147.69, + 714.275, + 0, + 147.84, + 0 + ], + [ + 4005.585, + 4214.683, + 713.205, + 0.0, + 147.84, + -0.0 + ], + [ + 3899.037, + 4281.676, + 708.275, + 0.0, + 147.84, + -0.0 + ], + [ + 3899.037, + 4281.676, + 708.275, + 0.0, + 122.84, + -0.0 + ], + [ + 3830.784, + 4387.421, + 708.275, + 0.0, + 122.84, + -0.0 + ], + [ + 3762.532, + 4493.166, + 708.275, + 0.0, + 122.84, + -0.0 + ], + [ + 3694.279, + 4598.912, + 708.275, + 0.0, + 122.84, + -0.0 + ], + [ + 3618.894, + 4698.174, + 721.61, + 0.0, + 122.84, + -0.0 + ], + [ + 3545.749, + 4799.414, + 729.106, + 0.0, + 122.84, + -0.0 + ], + [ + 3545.749, + 4799.414, + 729.106, + 0.0, + 122.84, + -0.0 + ], + [ + 3545.749, + 4799.414, + 729.106, + 0.0, + 122.84, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.705, + 4996.371, + 647.753, + 0.0, + -10.0, + 0.0 + ], + [ + 3528.139, + 4787.321, + 698.381, + -28.202, + 172.985, + 1.862 + ], + [ + 3528.139, + 4787.321, + 698.381, + -28.202, + 172.985, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1029.9, + 915.7, + 804.9, + 804.9, + 679.8, + 554.9, + 430.6, + 311.5, + 197.7, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the small red jerry can far off to my left, sitting on the ground beside the green motor pumps against the far wall. It is much too distant to reach, so I will walk forward to cut down that gap before adjusting my heading.", + "The jerry can and the pump equipment have grown slightly larger toward the left edge of my view, so my forward walking is closing distance as intended. The floor ahead is still clear and open, so I will take another step forward.", + "The jerry can now sits well off to my left beside the green pump, while my heading still points at the concrete wall and the tunnel opening on the right. Walking straight would carry me past it, so I will turn left to bring the can into the center of my view.", + "After turning, the red jerry can beside the green pumps now sits near the middle of my view with clear floor leading to it. I will walk straight ahead to close the remaining distance along this heading.", + "The jerry can is noticeably bigger and holding its place near the center of my view, confirming this heading leads straight to it. Nothing blocks the ground between us, so I will keep walking forward.", + "The can now stands clearly on the ground just right of the green motor pump, but it is still several paces away and too far to grasp. I will continue walking forward toward it.", + "The jerry can fills a good part of my view now, sitting upright on the floor next to the pump and coiled hose. It is still slightly beyond comfortable reach, so I will step forward again to get closer.", + "The jerry can is now very close, low in my view just left of center beside the coiled hose. One more step should bring it within arm's reach so I can attempt the lift.", + "The red jerry can now fills the lower left of my view, right beside the green pump on its pallet, close enough that no further stepping is needed. My hands are empty, so I will attempt the grasp now and expect to lift it off the ground.", + "The jerry can is held in my hands rather than resting on the ground. The lift requested by the task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t5_b_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..311bc4f2de68ab5f806bc3b241a9865d9ee06e8e --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004112_y004148_z000714_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the metal bucket at the vertical hazard stripes near the letter A.", + "Type": 5, + "Start_Pose": [ + 4112.133, + 4147.69, + 714.275, + 0, + 147.84, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3446.603, + 4608.741, + 648.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4112.133, + 4147.69, + 714.275, + 0, + 147.84, + 0 + ], + [ + 4005.585, + 4214.683, + 713.205, + 0.0, + 147.84, + -0.0 + ], + [ + 3899.037, + 4281.676, + 708.275, + 0.0, + 147.84, + -0.0 + ], + [ + 3792.489, + 4348.669, + 708.275, + 0.0, + 147.84, + -0.0 + ], + [ + 3685.942, + 4415.662, + 708.275, + 0.0, + 147.84, + -0.0 + ], + [ + 3579.394, + 4482.655, + 708.275, + 0.0, + 147.84, + -0.0 + ], + [ + 3579.394, + 4482.655, + 708.275, + 0.0, + 147.839, + -0.0 + ], + [ + 3579.394, + 4482.655, + 708.275, + 0.0, + 147.839, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3446.603, + 4608.741, + 648.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3446.603, + 4608.741, + 648.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3446.603, + 4608.741, + 648.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3446.603, + 4608.741, + 648.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3446.603, + 4608.741, + 648.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3446.603, + 4608.741, + 648.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3568.544, + 4464.252, + 678.381, + -28.202, + -162.016, + 1.862 + ], + [ + 3568.544, + 4464.252, + 678.381, + -28.202, + -162.016, + 1.862 + ] + ], + "PD_Dist_2D": [ + 809.6, + 683.9, + 558.3, + 432.8, + 307.5, + 183.1, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the pale metal bucket standing against the concrete wall beneath the painted letter A, right beside the pillar with the orange and black hazard stripes. It is far across the dusty floor, so I will walk straight ahead to close that gap. My heading already points at it, so no turn is needed yet.", + "The bucket and the letter A have grown slightly larger ahead of me, confirming my straight heading is carrying me toward the target. Nothing blocks the open floor between us, so I will keep walking forward instead of adjusting my facing.", + "The bucket now sits clearly ahead of me at the foot of the wall, with the hazard striped pillar just to its right. I am still several strides away, too far to reach it, so I continue walking straight toward it.", + "The bucket is noticeably closer and its handle is beginning to resolve against the wall. My path stays clear and my alignment remains good, so another forward step should bring me near grasping range.", + "The metal bucket fills a good part of my lower view now, its handle clearly visible against the striped pillar behind it. I am still slightly short of arm's reach, so one more step forward should put it directly in front of me for a grasp.", + "The metal bucket is directly in front of me at arm's length, its rim and wire handle plainly within reach beside the hazard striped pillar under the letter A. This is the target the task names, and no closer positioning is needed. I will attempt to pick it up now.", + "The metal bucket is held in my hands, lifted off the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9acce538366670b76accf2cc0ca83ffd7e26052f --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the stack of green ammo crates against the wall.", + "Type": 0, + "Start_Pose": [ + 4220.264, + 4985.118, + 732.092, + 0.0, + -83.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4220.264, + 4985.118, + 732.092, + 0.0, + -83.52, + 0.0 + ], + [ + 4234.468, + 4860.063, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4248.672, + 4735.008, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4248.672, + 4735.008, + 732.115, + 0.0, + -108.52, + 0.0 + ], + [ + 4208.695, + 4615.667, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4168.718, + 4496.326, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4128.74, + 4376.985, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4088.763, + 4257.644, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4088.763, + 4257.644, + 708.275, + 0.0, + -133.52, + 0.0 + ], + [ + 4002.095, + 4166.379, + 714.249, + 0.0, + -133.52, + 0.0 + ], + [ + 3915.428, + 4075.114, + 714.249, + 0.0, + -133.52, + 0.0 + ], + [ + 3828.761, + 3983.85, + 708.275, + 0.0, + -133.52, + 0.0 + ], + [ + 3742.093, + 3892.585, + 708.275, + 0.0, + -133.52, + 0.0 + ], + [ + 3655.426, + 3801.321, + 708.275, + 0.0, + -133.52, + 0.0 + ], + [ + 3655.426, + 3801.321, + 708.275, + 0.0, + -133.52, + 0.0 + ] + ], + "Rationale": [ + "From this doorway-height vantage I can see the low stack of green ammo crates far off against the brick wall on the left side of the hall, past the exposed pipework. The floor ahead is wide and clear, so I will move forward to start closing that long distance before refining my heading.", + "The crate stack against the wall on the left has grown slightly larger and the brick wall detail is clearer, confirming I am gaining ground. The lane in front of me is still empty, so I will keep moving forward rather than turning yet.", + "The green ammo crates now sit well off to the left edge of my view while my heading points straight at the middle of the brick wall. I will turn left to bring the stack closer to the center of my view so continued forward motion carries me toward it.", + "After the turn the crate stack and the elbow pipe above it are now well within my forward view, so my heading points usefully toward the target. The floor between me and that wall is open, so I will move forward to close distance.", + "The stacked crates and the pipe elbow beside them are noticeably larger, so the previous step clearly reduced the gap. I will continue forward on this heading since the target remains ahead and the route stays clear.", + "The brick wall now fills much of my view and the crate stack sits just left of the vertical pipe, still a few paces away. Another forward step should bring me appreciably closer to the crates.", + "I can now make out individual crate lids and latches in the stack ahead on the left, so I am close but not yet beside them. I will take another forward step to keep shrinking that remaining gap.", + "As I have closed in, the crate stack has drifted toward the left portion of my view while the pipework and bare brick dominate the center. I will turn left to put the crates back near the middle of my view so the final approach runs straight at them.", + "After the last small left turn, the stack of green ammo crates against the brick wall now sits near the center of my view with clear floor between us. Nothing blocks the straight line, so I will move forward to close the remaining distance along this heading.", + "The crate stack has grown noticeably larger and stays roughly ahead of me, confirming the previous step closed real distance on it. I will keep advancing forward since the heading still points at the crates and the floor remains clear.", + "The stacked ammo boxes and the pipe above them fill more of my view, but I am still several steps short of standing at the wall. Another forward step should continue closing that gap without needing any turn.", + "The individual crate lids and latches are now clearly resolved just right of center, so I am close to the wall stack. I will take one more forward step to tighten the approach distance.", + "The crate stack now dominates my view at close range with only a small strip of floor left before it. I will make one final short forward step to end up standing directly at the crates.", + "The stacked ammo crates against the wall fill my view at arm's length. The task is complete, so I stop here rather than push into them." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f8d5c35225cc400a5b76258639f35aa6048c1b0b --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the large green pipe fixed against the brick wall.", + "Type": 0, + "Start_Pose": [ + 4220.264, + 4985.118, + 732.092, + 0.0, + -83.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4220.264, + 4985.118, + 732.092, + 0.0, + -83.52, + 0.0 + ], + [ + 4234.468, + 4860.063, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4248.672, + 4735.008, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4262.876, + 4609.953, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4277.08, + 4484.898, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4291.284, + 4359.844, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4305.488, + 4234.789, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4305.488, + 4234.789, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4265.511, + 4115.447, + 714.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4225.534, + 3996.106, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4185.556, + 3876.765, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4145.579, + 3757.424, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4145.579, + 3757.424, + 708.275, + 0.0, + -108.52, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the large green pipe with its red valve running down the brick wall on the left side of the far wall, well beyond the open concrete floor. Nothing blocks the straight lane ahead, so I will move forward to start closing that distance.", + "The green pipe and its elbow are noticeably larger now, confirming that my heading is carrying me toward the target wall. I will continue forward since the floor ahead stays clear.", + "The pipe with its red valve wheel now sits clearly to my left front, and the brick wall behind it fills more of my view. I am still too far to consider the approach complete, so I will keep advancing forward.", + "The pipe's bend and flange details are becoming readable, which tells me the gap is shrinking steadily. The lane straight ahead remains free, so another forward step should bring me closer to the wall.", + "The green pipe and its red valve are now large in the left portion of my view, but the brick wall is still a few paces off. I will move forward again to keep reducing that remaining distance.", + "I am close enough to see individual bricks and the scattered rubble at the base of the wall, and the pipe's lower elbow reaches the floor to my left. One more forward step should place me near the pipe rather than out on the open floor.", + "The green pipe has drifted to the far left edge of my view while my heading points at the blank brick section and the hole ahead. I will turn left to bring the pipe back to the center of my view before continuing.", + "After the turn the green pipe with its red valve sits squarely in front of me against the brick wall, so my heading is now aligned with the target. I will move forward to close the last of the distance to it.", + "The green pipe with its red valve wheel and bolted elbow now sits near the center of my view, mounted flat against the brick wall ahead. There is still open floor between me and its base, so I will keep moving forward to close that gap.", + "The pipe's flanged bends and bolt rings are much larger now, confirming my heading is aimed straight at it. I am not yet close enough to consider the approach done, so I will advance again along the same line.", + "The green pipe now fills most of my forward view with its curved body and bolted joint clearly detailed against the bricks. One more step forward should bring me right up against it and complete the approach.", + "The large green pipe and its bolted flange fill my view directly against the brick wall at arm's reach. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b77446ae29966883bd93c9f1de4bacda581339ec --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t0_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Move to the dark hole in the brick wall.", + "Type": 0, + "Start_Pose": [ + 4220.264, + 4985.118, + 732.092, + 0.0, + -83.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4220.264, + 4985.118, + 732.092, + 0.0, + -83.52, + 0.0 + ], + [ + 4234.468, + 4860.063, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4248.672, + 4735.008, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4262.876, + 4609.953, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4277.08, + 4484.898, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4291.284, + 4359.844, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4291.284, + 4359.844, + 708.275, + 0.0, + -58.52, + 0.0 + ], + [ + 4357.008, + 4252.508, + 708.275, + 0.0, + -58.52, + 0.0 + ], + [ + 4422.732, + 4145.173, + 714.265, + 0.0, + -58.52, + 0.0 + ], + [ + 4488.455, + 4037.837, + 713.371, + 0.0, + -58.52, + 0.0 + ], + [ + 4554.179, + 3930.502, + 708.275, + 0.0, + -58.52, + 0.0 + ], + [ + 4619.903, + 3823.167, + 708.275, + 0.0, + -58.52, + 0.0 + ], + [ + 4619.903, + 3823.167, + 708.275, + 0.0, + -58.52, + 0.0 + ] + ], + "Rationale": [ + "From my starting spot I can already see the dark ragged hole punched through the brick wall ahead of me, a bit right of center beyond the open concrete floor. Nothing blocks the ground between me and that wall, so I will step forward to begin closing the long distance.", + "The breach in the brickwork now sits slightly larger in my view, confirming my heading is carrying me toward it. The floor ahead is still clear of pipes and crates, so I will keep advancing.", + "The wall with the dark opening keeps growing in front of me and the broken bricks around its rim are becoming easier to distinguish. The green pipe run stays well to my left, so a straight step forward remains the shortest way in.", + "I am now close enough to see loose bricks scattered at the base beneath the opening, which tells me I am aimed at the right section of wall. Since the hole is still some distance off and drifting toward the right side of my view, I will continue forward before adjusting my heading.", + "The dark cavity and its dislodged bricks fill a good part of my view now, but I am still several paces short of the wall. I will take another step forward to keep shrinking that gap.", + "Advancing straight has pushed the breach off to the right side of my view, so walking on would carry me past it along the wall. I will turn to the right to swing my heading onto the opening before continuing.", + "After turning, the dark hole and the bricks piled under it sit much closer to the middle of my view, so my heading now points at the target. The floor between me and that wall is clear, so I will step forward.", + "The jagged opening is noticeably nearer, with the shattered bricks along its lower edge now clearly separated. I am still not close enough to count as standing at it, so I will advance again.", + "The dark breach in the brick wall sits slightly left of center and is growing larger as I close in, so my heading remains usable. I still have several body lengths of open floor before the scattered bricks at the wall base, so I will step forward again to shorten the gap.", + "The hole now dominates the upper left of my view and I can make out individual broken bricks around its edges, confirming I am close. There is still clear ground between me and the rubble, so I advance once more toward the opening.", + "The breach fills much of the left side of my view and the dark interior behind the wall is plainly visible, so only a short step remains. I will move forward once more to bring myself right up to the opening before stopping.", + "The dark breach and its broken bricks are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b30d72679127c04f2193e7fbbdecb5b59ec7a267 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t5_a_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the ceramic pot at the stack of green ammo crates against the wall.", + "Type": 5, + "Start_Pose": [ + 4220.264, + 4985.118, + 732.092, + 0, + -83.52, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3759.785, + 3855.206, + 623.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4220.264, + 4985.118, + 732.092, + 0, + -83.52, + 0 + ], + [ + 4234.468, + 4860.063, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4248.672, + 4735.008, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4248.672, + 4735.008, + 732.115, + 0.0, + -108.52, + 0.0 + ], + [ + 4208.695, + 4615.667, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4168.718, + 4496.326, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4128.74, + 4376.985, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4088.763, + 4257.644, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4048.786, + 4138.303, + 714.274, + 0.0, + -108.52, + 0.0 + ], + [ + 4048.786, + 4138.303, + 714.274, + 0.0, + -133.52, + 0.0 + ], + [ + 3962.118, + 4047.038, + 714.274, + 0.0, + -133.52, + 0.0 + ], + [ + 3875.451, + 3955.773, + 708.275, + 0.0, + -133.52, + 0.0 + ], + [ + 3875.451, + 3955.773, + 708.275, + 0.0, + -133.52, + 0.0 + ], + [ + 3875.451, + 3955.773, + 708.275, + 0.0, + -133.52, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3759.785, + 3855.206, + 623.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3891.355, + 3941.512, + 678.381, + -28.202, + -83.375, + 1.862 + ], + [ + 3891.355, + 3941.512, + 678.381, + -28.202, + -83.375, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1220.1, + 1111.3, + 1006.5, + 1006.5, + 883.1, + 760.4, + 639.0, + 519.8, + 404.6, + 404.6, + 278.8, + 153.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The task target sits with the stack of crates against the far brick wall on my left, and from here that whole area is small and distant across the open concrete floor. Walking straight ahead is the simplest way to cut the gap before I refine my heading.", + "The brick wall and the low stack of crates on the left have grown slightly, confirming that straight walking is closing distance. I will step forward again to keep shrinking the gap before committing to a turn toward that corner.", + "The stack of crates I need to reach is pressed against the left edge of my view, so continuing straight ahead would carry me past it toward the blank brick wall. I will turn left to bring that corner and its crates into the middle of my heading.", + "After the turn, the crate stack and the small reddish pot beside it now sit ahead in the left part of my view rather than at the edge. With the heading usable, I will walk forward to close the remaining distance across the open floor.", + "The pot on the floor beside the crates is clearer now, so my heading is carrying me toward it. Nothing blocks the concrete between us, so I will keep stepping forward.", + "The crates and the pot beside them keep growing in view, which tells me this heading is still good. I am not close enough for a grasp yet, so I will advance another step.", + "The pot now stands out plainly on the floor in front of the crate stack, slightly left of my heading. The remaining gap is still too large for reaching it, so I will walk forward again.", + "The crate stack and the ceramic pot fill much more of my view, but the pot is drifting toward the left side as I close in. Another forward step should bring me near enough that only a small heading correction remains.", + "The ceramic pot sits on the floor beside the stacked green ammo crates, but both are off toward the left edge of my view while my heading points at the brick wall and pipework. I will turn left to bring the pot into the center of my path before continuing to close in.", + "The pot and the stack of green crates now sit ahead of me with clear open floor between us. I will step forward to cut the remaining distance toward the pot.", + "The pot is noticeably larger and lower in my view, resting just in front of the crate stack, yet still beyond comfortable reach. I will advance another step to bring it close enough to grasp.", + "The ceramic pot is now at the very bottom of my view, right at my feet in front of the stacked green crates, and my hands are still empty. This is close enough to reach it, so I will attempt to pick it up.", + "The ceramic pot is now held in my hands rather than resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t5_b_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4076466079024674ced5428bd27bfa5e7c2544d5 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004220_y004985_z000732_t5_b_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Lift the trash bag near the base of the green pipe.", + "Type": 5, + "Start_Pose": [ + 4220.264, + 4985.118, + 732.092, + 0, + -83.52, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 4247.697, + 3766.871, + 628.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4220.264, + 4985.118, + 732.092, + 0, + -83.52, + 0 + ], + [ + 4234.468, + 4860.063, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4248.672, + 4735.008, + 732.115, + 0.0, + -83.52, + 0.0 + ], + [ + 4262.876, + 4609.953, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4277.08, + 4484.898, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4291.284, + 4359.844, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4305.488, + 4234.789, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4319.692, + 4109.734, + 714.132, + 0.0, + -83.52, + 0.0 + ], + [ + 4333.896, + 3984.679, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4333.896, + 3984.679, + 708.275, + 0.0, + -83.52, + 0.0 + ], + [ + 4333.896, + 3984.679, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4293.919, + 3865.338, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4293.919, + 3865.338, + 708.275, + 0.0, + -108.52, + 0.0 + ], + [ + 4293.919, + 3865.338, + 708.275, + 0.0, + -108.52, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4247.697, + 3766.871, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 4314.361, + 3859.133, + 678.381, + -28.202, + -58.375, + 1.862 + ], + [ + 4314.361, + 3859.133, + 678.381, + -28.202, + -58.375, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1218.6, + 1093.3, + 968.1, + 843.2, + 718.6, + 594.6, + 471.5, + 350.3, + 234.2, + 234.2, + 234.2, + 108.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The green pipe runs down the far brick wall ahead of me, and a pale sack sits at its base, but it is much too distant to reach. My heading already points across the open floor toward that pipe, so walking straight ahead should close the gap.", + "The pipe elbow and the small sack at its foot have grown slightly larger, confirming my heading is carrying me toward the target. Nothing blocks the concrete floor in front of me, so I will keep walking forward.", + "The bag at the base of the green pipe is now clearly resolved against the brickwork, yet still well out of arm's reach. My current heading keeps it in the left half of my view, so another step forward is the direct way to shrink the distance.", + "The green pipe now fills the left side of my view and the sack beside its base is plainly visible on the floor. I am still several strides short of grasping range, so I continue advancing rather than turning yet.", + "The bag at the foot of the green pipe is close enough to see its creased fabric, but a floor rail and open ground still separate me from it. Stepping forward again should bring me into range before I refine my heading toward the bag.", + "The pale trash bag sits on the floor right at the foot of the green pipe elbow ahead and to my left, but it is still too far to reach. I will keep walking forward to close that gap along my current heading.", + "The bag beside the green pipe base now fills more of my view, so the gap is shrinking steadily. It remains beyond arm's reach and off to my left, so another forward step is the simplest way to keep closing in before I commit to a grasp.", + "The trash bag at the bottom of the green pipe is close now, sitting low in the left part of my view. I still judge it slightly out of grabbing range, so I will advance one more step to bring it within reach.", + "The bag is directly beside the green pipe's lower bend at the left edge of my view and looks close enough to handle. I will attempt to pick it up now rather than step further and possibly push past it.", + "My hands are empty, so that grasp attempt did not take hold. The bag lay off to my left rather than squarely in front, which likely kept it out of my reach. I will turn left to put it centered ahead of me for a better attempt.", + "My earlier grab attempt left my hands empty, and the trash bag still sits untouched at the base of the green pipe ahead. It is now centered in front of me but clearly out of arm's reach, so I will step forward to close that remaining gap before trying again.", + "The trash bag now fills the lower part of my view right at the foot of the green pipe, close enough that I should be able to reach it. Since my hands are still empty from the earlier failed attempt, I will try the grab again from this nearer position.", + "The trash bag is now held in my hands, lifted off the floor. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..efa84163a5a89bd0b3396f7658fd7b48bfcf6e49 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the green flatbed cart on the tracks.", + "Type": 0, + "Start_Pose": [ + 4295.133, + 4498.111, + 708.275, + 0.0, + -0.96, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4295.133, + 4498.111, + 708.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4295.133, + 4498.111, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4408.293, + 4443.017, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4521.452, + 4387.923, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4634.612, + 4332.829, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4747.772, + 4277.735, + 708.275, + 0.0, + -25.96, + 0.0 + ], + [ + 4860.932, + 4222.641, + 710.094, + 0.0, + -25.96, + 0.0 + ], + [ + 4860.932, + 4222.641, + 710.094, + 0.0, + -25.96, + 0.0 + ] + ], + "Rationale": [ + "I can see the green flatbed cart sitting on the rail tracks well off to my left, near the brick wall and pipework. My current heading points down the open floor past it, so I will turn left to bring the cart closer to the center of my view before advancing.", + "After turning, the green flatbed cart on the tracks now sits ahead of me, slightly left of center, still some distance away. The floor between us is clear, so I will move forward to start closing that gap.", + "The cart has grown noticeably larger and the parallel rails now lead straight toward it from my position. My heading still lines up with it, so another step forward should continue reducing the distance.", + "The green flatbed and its wheels on the track are clearly resolved just ahead and left of my path. I am still a few strides short of it, so I will keep advancing along the open floor beside the rails.", + "The flatbed now fills much of the lower left of my view, with its deck and hooks distinct. A little more forward motion should bring me right up beside the cart.", + "The cart's green deck is directly in front of me and dominating the near field, but there is still a small gap before I am alongside it. I will take one more step forward to settle into position at the cart.", + "The green flatbed cart's deck fills the foreground directly in front of me on the tracks. The task is complete, so I stop here at the target." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..599ea0dcb1a9e426b32b0c0261936919af393fc7 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the cluster of gas cylinders beneath the letter A.", + "Type": 0, + "Start_Pose": [ + 4295.133, + 4498.111, + 708.275, + 0.0, + -0.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4295.133, + 4498.111, + 708.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4420.974, + 4496.002, + 708.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4546.815, + 4493.893, + 708.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4546.815, + 4493.893, + 708.275, + 0.0, + 24.04, + -0.0 + ], + [ + 4661.758, + 4545.165, + 711.398, + 0.0, + 24.04, + -0.0 + ], + [ + 4776.7, + 4596.437, + 711.398, + 0.0, + 24.04, + -0.0 + ], + [ + 4891.642, + 4647.709, + 711.398, + 0.0, + 24.04, + -0.0 + ], + [ + 5006.584, + 4698.98, + 722.766, + 0.0, + 24.04, + -0.0 + ], + [ + 5121.526, + 4750.252, + 728.111, + 0.0, + 24.04, + -0.0 + ], + [ + 5236.468, + 4801.524, + 728.111, + 0.0, + 24.04, + -0.0 + ], + [ + 5351.411, + 4852.796, + 728.111, + 0.0, + 24.04, + -0.0 + ], + [ + 5466.353, + 4904.067, + 728.111, + 0.0, + 24.04, + -0.0 + ], + [ + 5518.369, + 4922.228, + 728.111, + 0.0, + 24.04, + -0.0 + ], + [ + 5518.369, + 4922.228, + 728.111, + 0.0, + 24.04, + -0.0 + ], + [ + 5518.369, + 4922.228, + 728.111, + 0.0, + 24.04, + -0.0 + ] + ], + "Rationale": [ + "From this spot inside the hall I can see the letter A painted on the far concrete wall ahead and slightly to my right, with a small cluster of upright gas cylinders standing at its base. The floor between me and that wall is open apart from loose hoses, so I will step forward to begin closing the long distance to the target.", + "The painted A and the cylinders below it have grown slightly larger, confirming that this heading takes me toward the target wall. The path ahead is still clear, so I will keep walking forward to reduce the remaining distance.", + "The cylinder cluster under the letter A now sits well to the right of my heading, while straight ahead of me is the open doorway on the left side of the hall. I will turn right to bring the painted A and its cylinders toward the center of my view before continuing forward.", + "After the turn the letter A and the gas cylinders beneath it now sit near the middle of my view, so my heading points at the target. The floor between me and that wall is open, so I will walk forward to close the gap.", + "The cylinders beneath the painted A are noticeably larger and the crates along the right wall are sliding past, which tells me this heading is closing distance correctly. I will continue walking forward since the target is still several paces away.", + "The painted letter A is clearly on the wall ahead of me and the upright gas cylinders stand just below and slightly right of it, still some distance away across the open floor. My heading is roughly on that cluster with no obstruction between me and it, so I will step forward to close the gap.", + "The cylinders beneath the A now appear larger and lower in my view, confirming that my straight heading is closing distance on them. Nothing blocks the sandy floor ahead, so I will continue forward toward the cluster.", + "The group of grey cylinders and the crates to their right are filling more of my view, so I am steadily approaching the correct wall section. The cluster still sits a few steps away, so another forward step should bring me closer without needing to turn.", + "I can now make out individual cylinders, the small crates beside them, and the pair lying on the ground, so the target cluster is close but not yet reached. I will keep advancing along the same heading to shorten the remaining distance.", + "The cylinder cluster is now large and centered slightly left in my view with the barrels and crates flanking it, so I am nearly at the wall beneath the A. A further step forward should place me right at the cluster.", + "The cluster of gas cylinders under the painted A now fills the center-left of my view, with ammunition crates and barrels flanking it. My heading is still lined up on them, so I will keep walking forward to close the remaining gap.", + "The upright cylinders are large and roughly centered ahead of me, with the loose horizontal cylinders lying just in front of my feet. A short additional step forward should bring me right up to the cluster without needing any turn.", + "My last step advanced me only a little, so I seem to be nearly up against the cylinders and the crates on the floor in front of them. I will attempt one more forward step to settle into the closest standing position beside the cluster.", + "The gas cylinder cluster beneath the letter A stands directly in front of me at arm's reach. The navigation goal is satisfied, so stopping here is correct." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8203d9eee2462d008292b324ba08237d20848c61 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004295_y004498_z000708_t0_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move to the stack of wooden crates in the corner.", + "Type": 0, + "Start_Pose": [ + 4295.133, + 4498.111, + 708.275, + 0.0, + -0.96, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4295.133, + 4498.111, + 708.275, + 0.0, + -0.96, + 0.0 + ], + [ + 4295.133, + 4498.111, + 708.275, + 0.0, + 24.04, + -0.0 + ], + [ + 4410.075, + 4549.383, + 708.275, + 0.0, + 24.04, + -0.0 + ], + [ + 4525.017, + 4600.654, + 723.01, + 0.0, + 24.04, + -0.0 + ], + [ + 4639.959, + 4651.926, + 725.308, + 0.0, + 24.04, + -0.0 + ], + [ + 4754.901, + 4703.198, + 744.396, + 0.0, + 24.04, + -0.0 + ], + [ + 4869.844, + 4754.469, + 728.329, + 0.0, + 24.04, + -0.0 + ], + [ + 4984.786, + 4805.741, + 728.329, + 0.0, + 24.04, + -0.0 + ], + [ + 5099.728, + 4857.013, + 728.329, + 0.0, + 24.04, + -0.0 + ], + [ + 5099.728, + 4857.013, + 728.329, + 0.0, + 49.04, + -0.0 + ], + [ + 5182.233, + 4952.058, + 728.329, + 0.0, + 49.04, + -0.0 + ], + [ + 5264.737, + 5047.102, + 728.329, + 0.0, + 49.04, + -0.0 + ], + [ + 5347.242, + 5142.147, + 728.329, + 0.0, + 49.04, + -0.0 + ], + [ + 5347.242, + 5142.147, + 728.329, + 0.0, + 49.04, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the middle of the hall, the stacked wooden crates sit far off to my right against the wall, well outside my forward heading, which points down the open floor toward the lit doorway. I will turn right to bring that crate stack closer to the center of my view before committing to any walking. This should give me a straighter line toward the corner where the crates are piled.", + "The turn has brought the stack of wooden crates into the right-center of my view, sitting against the far wall past the painted letter A. The floor between me and them is open apart from hoses lying flat, so a straight walk is feasible. I will step forward to start closing the considerable distance to that corner.", + "The crates have grown slightly larger and stay in the right half of my view, confirming my heading is carrying me toward them. Nothing tall blocks the path, only the low hose runs and floor markings. I will continue walking forward to keep reducing the gap.", + "Individual crates in the stack are now distinguishable ahead and to my right, and the wall behind them is filling more of my view. I am still far enough away that no adjustment of heading is needed yet. I will take another step forward along the same line.", + "The crate pile and the gas cylinders beside it are noticeably closer, and the floor grate ahead marks open, walkable ground. My current heading keeps the stack comfortably within view, so no turn is warranted at this distance. I will keep advancing toward the corner.", + "The wooden crates now dominate the right portion of my view, with the cylinder bundles and small green boxes clearly separated along the wall. There is still a stretch of empty floor between me and the pile. I will step forward again to cut that remaining distance.", + "I am close enough now to read the shape of each crate in the stack, though the pile sits toward the right edge rather than directly in front of me. The path straight ahead remains clear of any obstruction. I will continue walking forward to bring myself alongside the corner where the crates are piled.", + "The crate stack fills much of the right side of my view and the wall ahead is close, so I am nearly at the corner but not yet beside the pile. One more step should place me within arm's reach of the crates before I reconsider my heading. I will advance forward again.", + "The stacked wooden crates now sit clearly to the right of my heading, piled against the far corner wall, while my view is still centered on the blank wall and gas cylinders. I will turn right to bring that crate stack into the middle of my view so I can walk straight at it. This should give me a clean approach line into the corner.", + "After turning, the stack of wooden crates is now centered ahead of me in the corner with open floor between us. I will step forward along this heading to close the remaining distance. Nothing appears to block the path across the bare concrete.", + "The crates are noticeably larger now and their pallets are visible at floor level, so my heading is still good. I continue walking forward to keep closing on the stack in the corner. A few more steps should bring me right up beside it.", + "The crate stack now fills most of my view, with individual stenciled boxes and the corner wall close on the left. One more step forward should place me directly at the stack. I keep my heading unchanged since the crates are still centered.", + "The stacked wooden crates in the corner are directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..521e44d257fb435671b8557651158a37f9b87fe3 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Discover the hole broken through the brick wall, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -178.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -178.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -153.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -128.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -103.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -78.4, + 0.0 + ], + [ + 4370.349, + 4354.977, + 708.275, + 0.0, + -78.4, + 0.0 + ], + [ + 4395.657, + 4231.688, + 708.275, + 0.0, + -78.4, + 0.0 + ], + [ + 4420.964, + 4108.4, + 714.076, + 0.0, + -78.4, + 0.0 + ], + [ + 4420.964, + 4108.4, + 714.076, + 0.0, + -53.4, + 0.0 + ], + [ + 4496.005, + 4007.358, + 708.428, + 0.0, + -53.4, + 0.0 + ], + [ + 4571.045, + 3906.316, + 708.428, + 0.0, + -53.4, + 0.0 + ], + [ + 4646.085, + 3805.275, + 708.428, + 0.0, + -53.4, + 0.0 + ], + [ + 4646.085, + 3805.275, + 708.428, + 0.0, + -78.4, + 0.0 + ], + [ + 4671.393, + 3681.986, + 757.542, + 0.0, + -78.4, + 0.0 + ], + [ + 4671.393, + 3681.986, + 757.542, + 0.0, + -78.4, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the concrete hall I can see a doorway ahead and rails running across the floor, but no broken opening in any brick surface. The only brickwork in view is a narrow strip at the far right edge, so that side is the most promising place to look. I will turn right to bring that brick section into view.", + "The turn has brought a larger brick wall with green pipes into view on the right side, which fits the kind of surface the task describes. I still see no breach in the exposed masonry from this angle. I will keep turning right in the same direction to sweep further along that brick wall.", + "The brick wall now fills much of the view with pipework and stacked crates in front of it, yet the section I can see is intact. The wall clearly continues past the right edge of my view. I will continue the rightward scan to inspect that remaining stretch of brick.", + "I can now see a dark ragged breach punched through the brickwork on the right side of the wall, with dark pipes visible inside it. That is the hole the task asks me to find, but it sits off to my right rather than ahead. I will turn right once more to place it closer to the center of my heading before advancing.", + "The broken opening is now roughly ahead of me in the middle of the brick wall, with loose bricks scattered on the floor below it. The floor between me and the wall is open, with only a low rail line to cross. I will walk forward to close the distance toward the hole.", + "The breach has grown larger in view and the rubble pile beneath it is more distinct, confirming I am closing in on it. Nothing blocks the stretch of floor in front of me. I will step forward again to continue the approach.", + "The opening and the dark pipes inside it are clearly resolved now, and the scattered bricks at the base of the wall are close ahead. I still have open floor to cover before I reach the wall. I will keep walking forward toward the breach.", + "As I have gotten closer, the hole has drifted toward the right side of my view rather than staying centered, so my heading is now angled slightly left of it. Correcting this before further steps should keep me walking straight at the opening. I will turn right to bring the breach back toward the center of my path.", + "The broken opening in the brick wall now sits clearly in the left half of my view with the scattered bricks fallen beneath it, and my heading points along the open floor toward that wall. I will step forward to close the remaining distance to the breach.", + "The breach and its rubble pile have grown noticeably larger in front of me, confirming the last step brought me closer to the wall. Since the floor between me and the bricks is still clear, I will keep walking forward toward the opening.", + "I am close enough now that the individual bricks around the gap and the dark interior with its wrapped pipes fill much of my view, though the opening is drifting toward my left side as I near the wall. Another forward step should bring me right up against the breach.", + "At this short range the hole has slid well to my left while the intact brickwork occupies the center of my view. I will turn left to bring the opening back to the middle of my heading before advancing any further.", + "The turn worked and the broken gap with its dark cavity and pipes is now centered directly ahead of me. I will take one more step forward to close in on the opening.", + "The broken wall opening fills my view with its pipes directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e036f6f98ae3922a9b915e2a51d3e374d55eec6f --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Once you locate the base of the curved green pipe mounted on the wall, approach that connection point.", + "Type": 1, + "Start_Pose": [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -178.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -178.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -153.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -128.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -103.4, + 0.0 + ], + [ + 4315.874, + 4355.833, + 708.275, + 0.0, + -103.4, + 0.0 + ], + [ + 4286.707, + 4233.4, + 708.275, + 0.0, + -103.4, + 0.0 + ], + [ + 4257.539, + 4110.967, + 714.191, + 0.0, + -103.4, + 0.0 + ], + [ + 4228.372, + 3988.535, + 708.275, + 0.0, + -103.4, + 0.0 + ], + [ + 4199.204, + 3866.102, + 708.275, + 0.0, + -103.4, + 0.0 + ], + [ + 4170.037, + 3743.669, + 708.275, + 0.0, + -103.4, + 0.0 + ], + [ + 4170.037, + 3743.669, + 708.275, + 0.0, + -103.4, + 0.0 + ] + ], + "Rationale": [ + "Straight ahead I only see the doorway and the empty concrete hall, with no curved green pipe descending to a wall connection. At the right edge of what I can see, pale green pipe runs along the upper wall, which is the strongest cue for where the pipe system continues. I will turn right to bring that pipe run into open sight.", + "The green pipe run now stands out clearly along the brick wall to my right, including a red valve wheel and an elbow that starts to bend downward. That bend is still cut off near the right side of what I can see, so I cannot yet judge where the pipe meets the wall. I will keep turning right to follow the pipe toward its lower end.", + "The curved green pipe is now well visible, sweeping down from the horizontal run toward the brick wall on the right side of my heading. It sits off center, so one more turn in the same direction should place its lower connection point directly in front of me. I will turn right again to line up with it.", + "The curved green pipe and the flanged base where it meets the brick wall are now roughly centered ahead of me, so no further turning is needed. The floor between me and that wall is open, with only the rail line crossing it. I will step forward to close the distance to the connection point.", + "The pipe elbow and its footing on the brick wall have grown larger and remain aligned with my heading. I am still several strides short of the wall, so continued forward walking is the direct way to reach the connection. I will advance again.", + "The descending pipe with its flanged foot on the brick wall now fills a good part of my forward sight, but I am not yet close enough to count as standing at the connection. The floor immediately ahead is flat and clear. I will keep walking straight toward the pipe base.", + "The curved pipe and its base plate are close and centered, with the brick wall now filling most of what lies ahead. A little more distance still separates me from the connection point itself. I will step forward once more to close that gap.", + "The bolted elbow and the flanged foot anchoring the pipe to the wall are now very near and directly in front of me. One more short advance should bring me right up against that connection point. I will move forward again.", + "The curved green pipe now fills much of my view, with its flanged elbow and the bolted base plate where it meets the floor clearly centered ahead of me. I am still a short step away from that connection point, so I will walk forward once more to close the last of the gap. This should place me directly at the pipe's base against the brick wall.", + "The curved green pipe's bolted flange and wall connection fill my view at arm's length. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7aab94d77723204b5d65df6ee5726f61dc8b4ef --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004345_y004478_z000708_t1_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Search for the valve wheel on the pipe standing beside the stacked wooden crates; after finding it, reach that valve.", + "Type": 1, + "Start_Pose": [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -178.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -178.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -153.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -128.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -103.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -78.4, + 0.0 + ], + [ + 4345.042, + 4478.265, + 708.275, + 0.0, + -53.4, + 0.0 + ], + [ + 4420.082, + 4377.223, + 708.275, + 0.0, + -53.4, + 0.0 + ], + [ + 4495.123, + 4276.182, + 708.275, + 0.0, + -53.4, + 0.0 + ], + [ + 4570.163, + 4175.14, + 714.274, + 0.0, + -53.4, + 0.0 + ], + [ + 4570.163, + 4175.14, + 714.274, + 0.0, + -28.4, + 0.0 + ], + [ + 4680.875, + 4115.278, + 714.274, + 0.0, + -28.4, + 0.0 + ], + [ + 4791.586, + 4055.417, + 714.274, + 0.0, + -28.4, + 0.0 + ], + [ + 4899.465, + 3992.902, + 708.275, + 0.0, + -28.4, + 0.0 + ], + [ + 5010.176, + 3933.04, + 708.275, + 0.0, + -28.4, + 0.0 + ], + [ + 5120.888, + 3873.179, + 708.275, + 0.0, + -28.4, + 0.0 + ], + [ + 5120.888, + 3873.179, + 708.275, + 0.0, + -53.4, + 0.0 + ], + [ + 5155.94, + 3821.237, + 708.275, + 0.0, + -53.4, + 0.0 + ], + [ + 5155.94, + 3821.237, + 708.275, + 0.0, + -53.4, + 0.0 + ] + ], + "Rationale": [ + "From where I stand in this dusty hall I only see a doorway straight ahead, rails on the floor and loose hoses, with no pipe carrying a valve wheel in front of me. The pipework and any stacked wooden crates are more likely along the side walls, so I will turn right to begin sweeping that side of the bay.", + "Turning has brought the green pipe run along the brick wall into sight, with a small red wheel on it and low boxes stacked on the floor beneath. It is still far off to my right and partly cut off, so I will keep turning right to face that pipework properly and judge whether it matches the valve I am looking for.", + "The green pipes and their red wheel are now roughly in front of me, but that wheel sits high on a wall-mounted run rather than on a pipe standing beside stacked wooden crates. To check the rest of this brick wall and whatever lies further along it, I will keep turning right.", + "The wall-mounted green pipe and its red wheel now sit to my left, and ahead of me the brick wall shows a broken opening but no matching valve. Since the hall clearly continues to my right, I will turn further that way to keep scanning for a standing pipe next to stacked crates.", + "Off to my right I can now make out a rust-colored pipe rising from the floor with a wheel on its side and crate-like boxes beside it, which fits the valve described in my task. I will turn right once more so that pipe and the open floor leading to it sit in front of me before I commit to walking over.", + "Facing down the bay, the standing rusty pipe with its wheel and the crates beside it are now clearly ahead of me near the far wall, so the search part is settled. The floor and rails between us look open, so I will walk forward to close the distance toward that valve.", + "The rusty pipe with its wheel and the crates alongside have grown slightly larger, confirming I am closing on them, but they are still well across the bay. I will keep walking forward along this open stretch of floor to continue the approach.", + "The standing pipe with its wheel and the wooden crates beside it are now noticeably closer, sitting slightly to the right of my heading with the flat cart to my side. Since the path in front of me is still clear, I will step forward again to cut down the remaining distance to that valve.", + "The broken brick wall fills most of my view on the left, while the tall rust colored pipe column with a round wheel handle stands further to my right beside a stack of crates. Turning right should bring that pipe and the crates toward the center of my view so I can confirm it carries the valve wheel described in the task.", + "The pipe assembly with its wheel handle and the crates beside it now sit ahead and slightly left of my heading, so the target is identified and no longer needs searching. The open floor between me and the rail cart is clear, so I will step forward to close the distance toward that pipe.", + "The rusted pipe and its wheel handle have grown noticeably larger ahead of me, confirming I am closing on the right structure. I will keep walking forward along the open floor to shorten the remaining gap.", + "The valve wheel on the standing pipe is clearly visible ahead beside the wooden crates, but it is still several paces away. Continuing forward should bring me close enough to reach it.", + "The valve wheel now reads clearly as a yellow spoked handle on the pipe just left of the crates, so my approach line is committed and correct. I will advance again to close the last part of the distance.", + "The pipe and its yellow valve wheel fill much of the left of my view and the flanged base is close, but I am not yet within reach. One more step forward should place me beside the valve.", + "I am now right beside the pipe, but the yellow valve wheel has drifted to the left edge of my view while the crates sit ahead of me. Turning left should square me up on the wheel so I can face it directly for the final step.", + "The valve wheel and its pipe are now centered in front of me with the crates just beyond, so my heading is on the target. A short step forward should bring the wheel within arm's reach.", + "The yellow valve wheel on the pipe fills my view at arm's reach, with the wooden crates beside it. The reach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7926df05386c49470e2b77762001ffb43a4e33f3 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the green mine cart, then move to the curved green pipe.", + "Type": 3, + "Start_Pose": [ + 4429.35, + 4565.222, + 708.275, + 0.0, + -72.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4429.35, + 4565.222, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4429.35, + 4565.222, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4515.186, + 4473.175, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4601.021, + 4381.127, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4686.857, + 4289.08, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4686.857, + 4289.08, + 708.275, + 0.0, + -22.0, + 0.0 + ], + [ + 4803.551, + 4241.932, + 708.275, + 0.0, + -22.0, + 0.0 + ], + [ + 4864.351, + 4210.033, + 713.73, + 0.0, + -22.0, + 0.0 + ], + [ + 4864.351, + 4210.033, + 713.73, + 0.0, + -22.0, + 0.0 + ], + [ + 4778.679, + 4244.646, + 708.275, + 0.0, + -22.0, + 0.0 + ], + [ + 4778.679, + 4244.646, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4778.679, + 4244.646, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4778.679, + 4244.646, + 708.275, + 0.0, + -97.0, + 0.0 + ], + [ + 4778.679, + 4244.646, + 708.275, + 0.0, + -122.0, + 0.0 + ], + [ + 4711.984, + 4137.912, + 714.246, + 0.0, + -122.0, + 0.0 + ], + [ + 4645.289, + 4031.177, + 711.377, + 0.0, + -122.0, + 0.0 + ], + [ + 4578.593, + 3924.443, + 708.275, + 0.0, + -122.0, + 0.0 + ], + [ + 4578.593, + 3924.443, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4473.039, + 3855.895, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4367.485, + 3787.347, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4261.931, + 3718.8, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4261.931, + 3718.8, + 708.275, + 0.0, + -147.0, + 0.0 + ] + ], + "Rationale": [ + "The green flatbed mine cart sits on the rails well off to my right, near the far end of the bay, while my body faces the broken brick wall. I will turn right to bring the cart into the middle of my view before walking toward it.", + "The green mine cart now sits ahead of me along the rail line, still a fair distance off. I will walk forward down the open floor to close that gap.", + "The cart has grown larger ahead of me but I am still several strides short of it. The lane beside the rails stays clear, so I will keep walking straight toward it.", + "The flatbed cart with its machinery load now fills a good part of my view, though it still sits ahead and slightly left of my heading. Another step forward should bring me alongside it.", + "I am close to the cart, but it has drifted left in my view and my heading points past its near corner toward the wall. Turning right should square me with the open lane running along the cart so I can pull up beside it.", + "The green cart lies just ahead on my left with clear floor between us. I will step forward to draw level with it.", + "The cart's flatbed now spans the bottom of my view, so I am nearly touching it. One short step forward should put me right at its side.", + "The green mine cart's flatbed is right against me, its loaded machinery and rails filling my view at arm's length. I have reached it, so I mark arriving at the cart before setting off toward the curved green pipe.", + "The mine cart's flatbed fills the bottom of my view from barely an arm's length away, leaving me no clearance to swing my heading around. I will step back to open a gap from the cart, which should give me the room I need to turn away and head for the curved green pipe.", + "With a little space now between me and the cart, I can begin reorienting toward the green pipework that runs along the brick wall behind me on my left. I will turn left to start swinging my heading off the cart and back along the hall.", + "The cart and the rusty brown pipework still dominate the right of my view, and the green pipe run is not yet visible. I will keep rotating left so the brick wall on that side comes around into my view.", + "The wall with the ruptured brickwork is now centered ahead and the cart has slipped to my right edge, but nothing green has appeared yet. Another left turn should carry my view further along the wall toward the pipes.", + "I can now catch the green pipe and its elbow at the far left edge of my view while the broken wall still sits ahead of me. One more left turn should bring that pipework closer to the center so I can walk straight at it.", + "The green pipe run with its curved elbow bending down to the floor now lies ahead and slightly to my left, with open ground between us. I will walk forward to close that distance.", + "The curved green pipe has grown larger and sits just left of my path, and the floor between us is still clear. I will take another step forward to keep closing on it.", + "The curved green pipe now stands clearly to my left as I move along the brick wall, still a few strides ahead of my position. I will keep walking forward to draw level with it.", + "The green elbow pipe with its flanged base sits at the far left edge of my view, while the brick wall fills most of the frame ahead. I will turn left so the curved pipe moves toward the center of my view and gives me a straight line to walk.", + "The curved green pipe now stands clearly ahead of me, bending down from the overhead run to its base on the floor. It is still several paces off, so I will walk forward along the open concrete to close that gap.", + "The green bend has grown noticeably larger and its bolted foot plate is now distinct against the brick wall on my right. The distance is still more than a step or two, so I keep walking straight toward it.", + "The curved pipe now fills much of the frame with its elbow and valve wheel close above, yet a short stretch of floor still separates me from it. One more step forward should bring me right up beside it.", + "The curved green pipe stands directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a60087605682a07ead17e9d2d0110a653c98eedc --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_b/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the hole in the brick wall, then reach the mine cart.", + "Type": 3, + "Start_Pose": [ + 4429.35, + 4565.222, + 708.275, + 0.0, + -72.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4429.35, + 4565.222, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4468.243, + 4445.523, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4507.135, + 4325.824, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4546.028, + 4206.125, + 714.135, + 0.0, + -72.0, + 0.0 + ], + [ + 4584.92, + 4086.426, + 714.135, + 0.0, + -72.0, + 0.0 + ], + [ + 4623.813, + 3966.727, + 708.329, + 0.0, + -72.0, + 0.0 + ], + [ + 4662.706, + 3847.028, + 708.329, + 0.0, + -72.0, + 0.0 + ], + [ + 4701.598, + 3727.329, + 740.584, + 0.0, + -72.0, + 0.0 + ], + [ + 4701.598, + 3727.329, + 740.584, + 0.0, + -72.0, + 0.0 + ], + [ + 4701.598, + 3727.329, + 740.584, + 0.0, + -47.0, + 0.0 + ], + [ + 4701.598, + 3727.329, + 740.584, + 0.0, + -22.0, + 0.0 + ], + [ + 4701.598, + 3727.329, + 740.584, + 0.0, + 3.0, + -0.0 + ], + [ + 4701.598, + 3727.329, + 740.584, + 0.0, + 28.0, + -0.0 + ], + [ + 4701.598, + 3727.329, + 740.584, + 0.0, + 53.0, + -0.0 + ], + [ + 4777.342, + 3827.844, + 708.275, + 0.0, + 53.0, + -0.0 + ], + [ + 4853.086, + 3928.36, + 708.275, + 0.0, + 53.0, + -0.0 + ], + [ + 4921.288, + 3992.006, + 708.275, + 0.0, + 53.0, + -0.0 + ], + [ + 4921.288, + 3992.006, + 708.275, + 0.0, + 53.0, + -0.0 + ] + ], + "Rationale": [ + "The broken opening in the brick wall sits directly ahead across the rails, and the flatbed mine cart waits further right along the track. The gap is my first destination, and my heading already points at it, so I will walk straight forward to close the distance.", + "The brick wall and its broken opening now fill more of my view, confirming the last step brought me closer. Nothing blocks the floor between me and it, so I will keep walking forward toward that gap.", + "The wall keeps growing in front of me and the scattered bricks below the opening are now clearly visible, so my approach is on track. I still have several strides of clear floor, so I will step forward again.", + "The breach in the brickwork is close enough that I can make out individual bricks around its ragged edge. I am not yet standing at the wall, so I will continue advancing toward it.", + "The dark pipe inside the opening is now plainly visible and the rubble at the base is only a short distance in front of my feet. A little more ground remains, so I will step forward once more.", + "The brickwork now fills nearly my whole view and the loose bricks lie right at my feet, so I am almost at the wall. I will take another step to bring myself right up to the opening.", + "I am close enough to see through the broken bricks into the dark cavity behind the wall. One more step should place me directly at the breach rather than short of it.", + "The shattered bricks and the dark pipe behind them are right in front of my face, with the wall surface within arm's reach. I am standing at the hole in the brick wall, so I mark reaching it before turning toward the flatbed mine cart on the rails.", + "I am standing right at the broken opening in the brick wall, with shattered bricks filling my whole view and no room to advance. The flatbed cart I now want sits well off to my right along the tunnel, so I turn right to swing my heading away from this wall.", + "My view is still dominated by the ragged brickwork, though the floor and a pipe column are creeping in from the right edge. That tells me I have not yet swung far enough to face down the tunnel, so I keep turning right.", + "Now the tunnel floor and the lit doorway further along are opening up on the right, while the brick wall slides toward my left. The cart is still outside my view beyond that opening, so I continue rotating right to bring it in front of me.", + "The dark rim of a flatbed cart has just appeared at the right edge of my view, past the pipe column and the bright doorway. Since it sits off to that side rather than ahead of me, I turn right again to center it.", + "The mine cart on its rails is now clearly visible, but it still sits to the right of where I am pointed. One more turn to the right should put it squarely ahead so I can walk straight at it.", + "The mine cart now sits centered ahead of me on its rails with clear sandy floor in between. With my heading finally aimed at it, I step forward to close the remaining distance.", + "The cart has grown noticeably larger and its side rail and wheels are plain in front of me, but I am still a few paces short of it. I keep walking straight ahead to draw right up beside it.", + "The cart bed and its load now fill most of my view, so I am nearly upon it. One more short step forward should bring me within arm's reach of it.", + "The mine cart's flatbed and side rail fill my view right at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d680422ed78e4fcbe2d8bdc7759c8c3c30117a21 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t3_c/infos.json @@ -0,0 +1,376 @@ +{ + "Instruction": "Navigate to the wooden crate, then proceed to the wall hole.", + "Type": 3, + "Start_Pose": [ + 4429.35, + 4565.222, + 708.275, + 0.0, + -72.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4429.35, + 4565.222, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4468.243, + 4445.523, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4507.135, + 4325.824, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4507.135, + 4325.824, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4592.971, + 4233.777, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4678.807, + 4141.729, + 714.141, + 0.0, + -47.0, + 0.0 + ], + [ + 4678.807, + 4141.729, + 714.141, + 0.0, + -22.0, + 0.0 + ], + [ + 4795.501, + 4094.582, + 714.141, + 0.0, + -22.0, + 0.0 + ], + [ + 4863.941, + 4050.535, + 714.275, + 0.0, + -22.0, + 0.0 + ], + [ + 4900.789, + 3991.44, + 708.275, + 0.0, + -22.0, + 0.0 + ], + [ + 5017.484, + 3944.292, + 708.275, + 0.0, + -22.0, + 0.0 + ], + [ + 5017.484, + 3944.292, + 708.275, + 0.0, + 3.0, + -0.0 + ], + [ + 5143.17, + 3950.879, + 708.275, + 0.0, + 3.0, + -0.0 + ], + [ + 5268.857, + 3957.466, + 708.275, + 0.0, + 3.0, + -0.0 + ], + [ + 5268.857, + 3957.466, + 708.275, + 0.0, + -22.0, + 0.0 + ], + [ + 5268.857, + 3957.466, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 5354.692, + 3865.419, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 5440.528, + 3773.371, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 5440.528, + 3773.371, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 5377.511, + 3840.948, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 5377.511, + 3840.948, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 5377.511, + 3840.948, + 708.275, + 0.0, + -97.0, + 0.0 + ], + [ + 5377.511, + 3840.948, + 708.275, + 0.0, + -122.0, + 0.0 + ], + [ + 5377.511, + 3840.948, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 5377.511, + 3840.948, + 708.275, + 0.0, + -172.0, + 0.0 + ], + [ + 5377.511, + 3840.948, + 708.275, + 0.0, + 163.0, + -0.0 + ], + [ + 5257.152, + 3877.746, + 708.275, + 0.0, + 163.0, + -0.0 + ], + [ + 5257.152, + 3877.746, + 708.275, + 0.0, + -172.0, + 0.0 + ], + [ + 5132.518, + 3860.23, + 708.275, + 0.0, + -172.0, + 0.0 + ], + [ + 5007.883, + 3842.713, + 708.275, + 0.0, + -172.0, + 0.0 + ], + [ + 5007.883, + 3842.713, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4902.329, + 3774.166, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4796.775, + 3705.618, + 748.726, + 0.0, + -147.0, + 0.0 + ], + [ + 4796.775, + 3705.618, + 748.726, + 0.0, + -122.0, + 0.0 + ], + [ + 4732.131, + 3633.165, + 755.141, + 0.0, + -122.0, + 0.0 + ], + [ + 4732.131, + 3633.165, + 755.141, + 0.0, + -122.0, + 0.0 + ] + ], + "Rationale": [ + "I am standing well back on the near side of the rails, with the brick wall and its gaping hole across the bay ahead of me. Wooden crating and cargo sit off to the right past the flat trolley, all still far away. I will walk forward to cut down this open distance before committing to a heading.", + "The brick wall with its broken opening now fills more of my view and the rail line lies just in front of me, so the previous step clearly gained ground. Nothing blocks the floor ahead. I will keep walking forward to bring the right hand side of the bay, where the crating stands, within reach.", + "Straight ahead there is only bare brickwork and the loose bricks piled at its base, which leads nowhere useful for me. The trolley, the rusty pipe run and the crating I want are all off to my right. I will turn right so that side of the bay comes in front of me.", + "The turn has put the flat trolley, the pipe column and the bright opening at the end of the bay ahead of me. The wooden boxes stacked beside that pipework are the goods I am aiming for. I will walk forward along the open floor toward them.", + "The pipe column with its yellow handwheel and the boxes beside it are visibly nearer, and the trolley has slid to my right without crossing my path. The floor between us is clear. I will step forward again to keep closing on that crating.", + "My heading has drifted so that the loose bricks and blank wall take up my left while the doorway and the stacked timber sit toward my right edge. Turning right will square me with the passage and the crating beside it. I will make that adjustment before moving on.", + "The bright doorway and the timber boxes stacked against the pipework are now set out in front of me, with the trolley parked to my lower right. This heading points straight down the open floor toward that crating. I will walk forward along it.", + "The pipe column and the wooden boxes stacked beside it have grown larger, so my heading is still carrying me toward them. The floor ahead remains open and the trolley stays off to my right. I will keep stepping forward to close the remaining gap to that crating.", + "The brick wall with its large rust-coloured pipework runs along my left, and stacked wooden boxes sit beside it just ahead of me. The lit passage opens to my right, so continuing straight keeps me moving deeper into this bay where the crates stand. I step forward again.", + "The yellow-handled valve and the stacked wooden crates beside it are now clearly to my left and still some distance off. The floor ahead is clear sand with the rails running away on my right, so another step should close the remaining gap toward that stack.", + "The wide doorway with its two swung-open leaves sits off to my right rather than straight ahead, while the crates are close on my left. Turning right should square me with that opening so I can pass through the threshold cleanly instead of clipping the frame.", + "The open doorway now sits centred in front of me with the lit hall and rails beyond it. The wooden crates rest against the brick wall on my left, close to that threshold, so walking forward brings me level with them.", + "I am nearly at the door frame, with the stacked crates and the pipe just behind my left shoulder. One more step should carry me up to the threshold, level with the crate stack rather than short of it.", + "Standing in the doorway, the lit hall stretches straight ahead but the wooden crates I want are off to my left, against the brick wall by the pipe. I turn left to bring that stack into the front of my view.", + "The stacked wooden crates are now in view on my left, but still angled away from my heading with the door leaf occupying the centre. A second turn left should put the crate stack squarely in front of me for a straight approach.", + "The stacked wooden crates now sit centred ahead of me against the brick wall, with clear floor between us. I walk forward to close that last gap and stand right at the crate.", + "The stacked wooden crates now fill almost my whole view, the lower one squarely ahead of my feet against the brick wall. A single step more should close the last bit of gap and put me right at the crate.", + "Nothing but rough planking and stenciled boards fills my view at arm's length, the crate side directly against me. I have arrived at the wooden crate. I mark reaching it and now set off for the broken opening in the brick wall.", + "Pressed this close against the crate boards, I can see nothing but timber and have no room to swing my heading around toward the hall. Stepping back should give me clearance and a usable view before I reorient toward the damaged brick wall.", + "With a little distance regained, the crates and the brick corner are visible again and I have space to pivot. The broken wall opening lies far off my current heading, so I begin rotating left away from the crates to bring the open hall back into view.", + "The rotation has slid the crates toward my right and put bare brick across the left of my view, so I am still aimed into this corner. Another left turn should carry my heading further around toward the open floor of the hall.", + "Now I face mostly blank brickwork with a pipe edging into my left, and no route out of this alcove is in front of me yet. Continuing to swing left should bring the corridor running along the wall into view.", + "The heavy valve pipe stands close ahead and a dark broken patch of brickwork with fallen bricks beneath it has just appeared at the far left of my view. Turning left again should bring that damaged wall and the open floor properly in front of me.", + "The long hall with its rails and the bricks heaped at the wall base is opening on my left, while the valve and pipe still crowd the right of my view. One more left turn should point me down that clear floor toward the broken wall.", + "The crate corner is behind me and my view has swung past the valve pipe onto the open hall with its rail track and distant doorway. The broken brickwork I need lies further around to my left, so I keep rotating left to bring that stretch of wall into my heading.", + "The turning has opened the wide hall in front of me, with the flatcar on the left and scattered bricks and pipework along the brick wall on my right. That rubble marks the damaged wall I am heading for, so I step forward down the hall to close the distance.", + "Walking forward has carried me alongside the brick wall, but my heading points straight down the hall toward the far doorway rather than at the wall itself. The bricks spilling out lie off to my right, so I turn right to face the broken section.", + "The turn has brought the ragged dark opening in the brickwork into view on my right, with fallen bricks heaped beneath it. It is still several paces off, so I walk forward to close on it.", + "The gap in the brickwork has grown noticeably larger and the scattered bricks below it are now clearly separated on the floor, confirming I am closing correctly. I keep walking forward to shorten the remaining distance to the opening.", + "I am now close to the wall, but the opening has drifted to the upper right edge of my view while my heading still runs along the wall. I turn right to put the broken hole back in front of me before advancing further.", + "The jagged opening now sits squarely ahead of me, with the dark cavity and the dislodged bricks plainly framed. A few more paces should bring me right up to it, so I walk forward.", + "The brickwork fills most of my view and the dark interior of the breach is visible through the loosened bricks, so I am nearly at the wall. I step forward again to finish closing the last of the gap.", + "The broken opening in the brickwork now sits well to my right, close enough that its jagged edges and the dark pipe behind fill that side of my view. Walking straight ahead would only carry me along the face of the wall. I turn right so my heading points into the gap itself.", + "The ragged gap and the dark pipes behind it are now centered in front of me, with loose bricks framing the lower edge. Only a short gap of floor remains between me and the opening. I step forward to close that last distance.", + "I stand right at the broken wall, the pipes inside the gap filling my view. The task is complete, so there is nothing further to reach." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t5_a_pd/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e5c9fa9a68d6d7b8789814e3c80080e19db6cddb --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004429_y004565_z000708_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Grab the ceramic vase beside the green mine cart, then place it near the curved green pipe.", + "Type": 5, + "Start_Pose": [ + 4429.35, + 4565.222, + 708.275, + 0, + -72, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4798.128, + 4071.176, + 634.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4429.35, + 4565.222, + 708.275, + 0, + -72, + 0 + ], + [ + 4468.243, + 4445.523, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4507.135, + 4325.824, + 708.275, + 0.0, + -72.0, + 0.0 + ], + [ + 4507.135, + 4325.824, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4592.971, + 4233.777, + 708.275, + 0.0, + -47.0, + 0.0 + ], + [ + 4678.807, + 4141.729, + 714.141, + 0.0, + -47.0, + 0.0 + ], + [ + 4678.807, + 4141.729, + 714.141, + 0.0, + -47.0, + 0.0 + ], + [ + 4678.807, + 4141.729, + 714.141, + 0.0, + -72.0, + 0.0 + ], + [ + 4678.807, + 4141.729, + 714.141, + 0.0, + -97.0, + 0.0 + ], + [ + 4678.807, + 4141.729, + 714.141, + 0.0, + -122.0, + 0.0 + ], + [ + 4678.807, + 4141.729, + 714.141, + 0.0, + -147.0, + 0.0 + ], + [ + 4573.253, + 4073.181, + 714.141, + 0.0, + -147.0, + 0.0 + ], + [ + 4467.699, + 4004.633, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4362.145, + 3936.085, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4256.591, + 3867.537, + 708.275, + 0.0, + -147.0, + 0.0 + ], + [ + 4256.591, + 3867.537, + 708.275, + 0.0, + -122.0, + 0.0 + ], + [ + 4189.896, + 3760.802, + 708.275, + 0.0, + -122.0, + 0.0 + ], + [ + 4228.05, + 3821.861, + 708.275, + 0.0, + -122.0, + 0.0 + ], + [ + 4228.05, + 3821.861, + 708.275, + 0.0, + -122.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4798.128, + 4071.176, + 634.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4798.128, + 4071.176, + 634.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4798.128, + 4071.176, + 634.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4798.128, + 4071.176, + 634.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4798.128, + 4071.176, + 634.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4798.128, + 4071.176, + 634.15, + 0.0, + 0.0, + 0.0 + ], + [ + 4694.008, + 4156.739, + 684.381, + -28.202, + 3.145, + 1.862 + ], + [ + 4698.02, + 4148.619, + 684.654, + -28.189, + -21.843, + 1.872 + ], + [ + 4698.811, + 4139.115, + 683.987, + -28.215, + -46.872, + 1.849 + ], + [ + 4698.804, + 4122.834, + 684.168, + -14.175, + -79.807, + 6.959 + ], + [ + 4690.569, + 4124.341, + 684.057, + -28.208, + -96.857, + 1.851 + ], + [ + 4585.472, + 4055.647, + 684.478, + -28.189, + -96.842, + 1.869 + ], + [ + 4480.144, + 3987.258, + 678.861, + -28.205, + -96.865, + 1.859 + ], + [ + 4374.632, + 3918.728, + 679.014, + -28.191, + -96.85, + 1.872 + ], + [ + 4268.932, + 3850.097, + 678.789, + -28.206, + -96.862, + 1.863 + ], + [ + 4275.585, + 3856.166, + 678.3, + -28.206, + -71.861, + 1.858 + ], + [ + 4208.467, + 3750.22, + 678.724, + -28.192, + -71.848, + 1.869 + ], + [ + 4190.956, + 3762.498, + 648.275, + 0.0, + -122.0, + 0.0 + ], + [ + 4190.956, + 3762.498, + 648.275, + 0.0, + -122.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 616.5, + 499.0, + 386.7, + 386.7, + 261.8, + 138.6, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 22.1, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The pale ceramic vase stands upright on the floor ahead, just left of the green mine cart parked on the rails. It is far off across the open tunnel floor, well beyond arm's reach. I will walk forward along the clear ground to close that distance before worrying about alignment.", + "The vase has grown noticeably larger and the mine cart beside it is now clearer, so my heading is carrying me toward the right target. I am still several strides short of grasping range. I will keep walking straight ahead.", + "The vase now sits well off to the right side of my view, with the cart and rusty pipework behind it, while my path points at the broken brick wall instead. Walking on as I am aimed would pass to its left. I will turn right to put the vase in front of me.", + "After the turn the vase sits close to the center of my view with clear floor leading to it. Nothing blocks the short stretch between me and the rails it stands beside. I will step forward to shorten the gap.", + "The vase now fills a good part of the lower view and its floral pattern is clearly readable, so I am close but likely still short of grasping range. One more stride should bring it directly under my hands. I will advance again.", + "The ceramic vase now stands immediately in front of me, its rim visible and its body filling the near foreground beside the cart's frame. This is as close as I can stand without pushing into it. I will attempt to pick it up now.", + "The grasp succeeded, the ceramic vase is in my hands and no longer resting on the floor by the rails. The curved green pipework I must set it near lies back down the tunnel behind my current facing. I will turn left to begin swinging my heading around toward it.", + "With the vase secured, my view still shows only the broken brick wall and the rusty vertical pipe, none of the green pipework I need. One turn was not enough to bring that side of the tunnel into sight. I will turn left again to continue rotating toward it.", + "The vase is secure in my hands, so my remaining job is to reach the green pipework for the drop. Facing this breached brick wall gives me nothing useful, while a green elbow only just clips the left edge of my view. I will turn left again to bring that pipe run properly in front of me.", + "The green pipe run and its curved elbow now sit in the left half of my view, running along the wall away from me. I am still angled toward the brickwork rather than down that open floor. One more left turn should put the corridor beside the pipes straight ahead so I can walk it.", + "The corridor now opens straight ahead with the rails on the floor and the green piping mounted along the wall to my right. The curved green elbow I want to place the vase near is still well down that wall. I will walk forward to close that distance while keeping the vase with me.", + "The curved green elbow on the right wall has grown noticeably larger, so my heading down this corridor is correct. I am still not near enough to set the vase beside it. Another step forward should bring me closer to a workable placement spot.", + "The green elbow and its flanged joint are now clearly resolved just to my right, with the crates and doorway further along the corridor. The gap is small but the pipe is still off to the side rather than reachable in front of me. I will step forward again to draw level with it.", + "The curved green pipe now fills much of the right side of my view and its base sits on the floor close by. I want to be beside its foot before releasing the vase. One more forward step should put me level with the bend.", + "I am now level with the curved green pipe, but it is pushed to the right edge of my view while I face down the empty corridor. Dropping the vase from this heading would leave it away from the bend. I will turn right so the curve is centered in front of me.", + "The curved green pipe now sits squarely ahead of me with its flanged base on the floor, but there is still a short gap of open ground between us. I want the vase to land right next to that bend. I will take one step forward to get within placing range.", + "The curved green pipe elbow now fills my view directly ahead, with clear floor at its base right in front of me. I am still carrying the ceramic vase, and this spot satisfies the requirement to place it near that pipe. I will release it here so it should come to rest beside the elbow.", + "The ceramic vase now stands on the floor right against the curved green pipe, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..956117c1ad475895b9b3f19632c0726a2034cb78 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the leftmost green pipe curving down the wall.", + "Type": 2, + "Start_Pose": [ + 4472.967, + 4430.983, + 708.275, + 0.0, + -77.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4472.967, + 4430.983, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4472.967, + 4430.983, + 708.275, + 0.0, + -102.76, + 0.0 + ], + [ + 4445.169, + 4308.232, + 708.275, + 0.0, + -102.76, + 0.0 + ], + [ + 4417.37, + 4185.481, + 714.189, + 0.0, + -102.76, + 0.0 + ], + [ + 4389.572, + 4062.731, + 714.189, + 0.0, + -102.76, + 0.0 + ], + [ + 4361.774, + 3939.98, + 708.275, + 0.0, + -102.76, + 0.0 + ], + [ + 4333.976, + 3817.229, + 708.275, + 0.0, + -102.76, + 0.0 + ], + [ + 4333.976, + 3817.229, + 708.275, + 0.0, + -127.76, + 0.0 + ], + [ + 4256.905, + 3717.727, + 708.275, + 0.0, + -127.76, + 0.0 + ], + [ + 4256.905, + 3717.727, + 708.275, + 0.0, + -127.76, + 0.0 + ] + ], + "Rationale": [ + "Several green pipes run along this wall, and the one furthest left, marked by the red valve wheel above its elbow, bends down and ends in a flange near the floor; that is the one I want. It sits at the very edge of my view, so I turn left to bring it in front of me before walking.", + "The green pipe with the red valve wheel now stands ahead of me, curving down the brick wall to its floor flange. It is still far across the open bay, so I step forward along that heading to close the gap.", + "The descending green pipe and its red valve wheel have grown larger and the wall behind them is clearer, so my heading is good. The floor ahead is open concrete, and I continue walking straight toward it.", + "The curving green pipe now dominates the left of my view and its floor flange is clearly visible, but I am still several strides short of the wall. I keep advancing on the same line.", + "The bend of the green pipe and the red wheel above it fill the left side of my view, and the brickwork is close enough to read individual courses. A little more distance remains, so I step forward again.", + "The green pipe's lower bend and bolted base are now large in the left of my view, though my heading has carried me slightly past its centerline. I take another step forward to arrive at the wall beside it.", + "Only the rounded green shoulder of the pipe remains at my left edge while the plain brick and the doorway fill the rest of my view. I turn left to bring the pipe back in front of me before finishing the approach.", + "The green pipe is squarely ahead again, its elbow curving down the brick to the bolted flange on the floor. I am close but not yet beside it, so one more step forward should put me right at it.", + "The green pipe's curved elbow fills my view at arm's length against the brick. I am standing at it, so the walk is done." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be770f534878582634c885f7308e0610acc87033 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the round valve wheel on the right pipe.", + "Type": 2, + "Start_Pose": [ + 4472.967, + 4430.983, + 708.275, + 0.0, + -77.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4472.967, + 4430.983, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4499.65, + 4307.985, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4526.333, + 4184.987, + 714.213, + 0.0, + -77.76, + 0.0 + ], + [ + 4526.333, + 4184.987, + 714.213, + 0.0, + -52.76, + 0.0 + ], + [ + 4526.333, + 4184.987, + 714.213, + 0.0, + -27.76, + 0.0 + ], + [ + 4637.706, + 4126.366, + 714.213, + 0.0, + -27.76, + 0.0 + ], + [ + 4749.08, + 4067.744, + 714.213, + 0.0, + -27.76, + 0.0 + ], + [ + 4860.453, + 4009.123, + 708.339, + 0.0, + -27.76, + 0.0 + ], + [ + 4971.827, + 3950.502, + 708.339, + 0.0, + -27.76, + 0.0 + ], + [ + 5083.2, + 3891.881, + 708.339, + 0.0, + -27.76, + 0.0 + ], + [ + 5083.2, + 3891.881, + 708.339, + 0.0, + -52.76, + 0.0 + ], + [ + 5143.252, + 3810.772, + 708.275, + 0.0, + -52.76, + 0.0 + ], + [ + 5143.252, + 3810.772, + 708.275, + 0.0, + -52.76, + 0.0 + ] + ], + "Rationale": [ + "From here the only round valve wheel is the gold one set on the rust colored pipe standing against the wall on my right side, well apart from the green piping on my left. It sits far across the open floor, so I will walk forward to begin closing that gap.", + "The rust colored pipe carrying that spoked wheel is still off at the right edge of my view and a long stretch of floor remains. The way straight ahead is clear of clutter, so another step forward keeps shrinking the distance before I commit to a heading change.", + "Continuing straight would only bring me up against the broken brick wall, and the pipe holding the spoked wheel has slipped to the far right margin of my view. Turning right should swing that pipework back toward the middle of my heading.", + "The turn opened up the corner where the rust colored pipework with its yellow wheel stands, but it still sits to the right of where I am pointed. I will turn right again so my facing lines up with a straight walk toward it.", + "Now the pipe with the yellow spoked wheel stands roughly ahead of me along this hall, with clear floor and the rail track off to my right. Nothing blocks the line, so I will walk forward toward it.", + "The yellow wheel on the rust colored pipe is growing larger but is still several strides off along the left wall. The floor between us stays clear, so I keep walking forward.", + "The spoked yellow wheel and the crates beside it are now clearly detailed on the pipe ahead at my left, yet I am not close enough to stand at it. Advancing again should bring me nearly alongside that pipe.", + "The rust colored pipe rises close on my left with its yellow wheel projecting toward me, but the wheel is still ahead rather than beside me. One more step forward should put me right at it.", + "The valve wheel juts out from the rusted pipe just off my left shoulder, though the pipe body is still a stride ahead of me rather than beside me. The floor between us is bare, so I will step forward to draw level with it.", + "I am now level with the pipework, and the yellow spoked wheel sits well off to my left while my heading points down the open bay toward the rail track. Turning left should bring the wheel squarely in front of me.", + "The spoked wheel and the pipe carrying it now sit centered ahead of me with the crates behind them. Only a short gap of floor remains, so one more step should put me right up at the wheel.", + "The yellow spoked valve wheel and its rusted pipe fill my view at arm's length. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..972ffdfd1b671b3b7b5a00a2450487009b85f19b --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004473_y004431_z000708_t2_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Move to the second yellow warning triangle from the left.", + "Type": 2, + "Start_Pose": [ + 4472.967, + 4430.983, + 708.275, + 0.0, + -77.76, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "MoveBackward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4472.967, + 4430.983, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4499.65, + 4307.985, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4499.65, + 4307.985, + 708.275, + 0.0, + -102.76, + 0.0 + ], + [ + 4471.852, + 4185.234, + 714.203, + 0.0, + -102.76, + 0.0 + ], + [ + 4444.053, + 4062.483, + 714.203, + 0.0, + -102.76, + 0.0 + ], + [ + 4416.255, + 3939.733, + 708.275, + 0.0, + -102.76, + 0.0 + ], + [ + 4388.457, + 3816.982, + 708.275, + 0.0, + -102.76, + 0.0 + ], + [ + 4388.457, + 3816.982, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4415.14, + 3693.984, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4415.14, + 3693.984, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4395.551, + 3784.283, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4395.551, + 3784.283, + 708.275, + 0.0, + -77.76, + 0.0 + ], + [ + 4395.551, + 3784.283, + 708.275, + 0.0, + -77.76, + 0.0 + ] + ], + "Rationale": [ + "Counting the yellow warning triangles along this brick wall from the left, my target is the second one, the small triangle on the pale support pillar standing just left of the broken hole. I am still back behind the rails in the floor, far from that wall. I will walk forward to close the gap.", + "The pillar carrying my triangle sits well to the left of my heading, while the broken hole lies straight ahead of me. Turning left should swing that pillar toward the middle of my view so I can walk at it directly.", + "The pale pillar with my yellow triangle now sits near the center of my view, with the broken hole off to its right. Nothing blocks the floor between us, so I will step forward to close on it.", + "The pillar and its yellow triangle have grown larger and stay slightly right of center, so my line is good. I am still several paces short of standing at it, so I keep walking forward.", + "The triangle now rides high on the pillar as the wall looms closer, and the green pipe elbow passes safely to my left. I will advance again to bring myself right up to that pillar.", + "The marked pillar fills much of my view with the triangle at the very top edge, so I am nearly there. One more step forward should put me at arm's reach of it.", + "This close, the wall fills everything and there is no row left to read, but the pillar I chose has drifted to the right of my view while the green pipe crowds my left. I will turn right to square up on that pillar face.", + "The pale pillar is now centered directly ahead of me, framed by brick on both sides. A short step forward should bring me to a stop right in front of it.", + "I am right up against the pillar face and my view shows only its blank lower plaster and the two small brackets. The triangle sits high above eye level, so I will look up to bring the marking back into view.", + "Tilting up leaves me staring at featureless plaster with the brickwork skewed at the edges, because I am standing too close to take in the whole pillar. I will step back to open the distance so the marked face fits in my view.", + "With a little space regained, the whole pillar reads clearly between the brick and the broken opening, but my view still cuts off below the marking. Another upward tilt should put the yellow triangle in sight.", + "The yellow warning triangle on this pillar is centered in my view at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0de3dd888067cc5efef7e9f0272c607db33ecf4d --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Walk to the blue gas cylinders, then head toward the green motor.", + "Type": 3, + "Start_Pose": [ + 4554.738, + 4397.295, + 708.275, + 0.0, + 46.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4554.738, + 4397.295, + 708.275, + 0.0, + 46.08, + -0.0 + ], + [ + 4642.04, + 4487.952, + 711.372, + 0.0, + 46.08, + -0.0 + ], + [ + 4729.343, + 4578.61, + 711.372, + 0.0, + 46.08, + -0.0 + ], + [ + 4816.645, + 4669.267, + 718.0, + 0.0, + 46.08, + -0.0 + ], + [ + 4903.948, + 4759.924, + 728.133, + 0.0, + 46.08, + -0.0 + ], + [ + 4903.948, + 4759.924, + 728.133, + 0.0, + 21.08, + -0.0 + ], + [ + 5021.384, + 4805.192, + 728.133, + 0.0, + 21.08, + -0.0 + ], + [ + 5138.821, + 4850.46, + 728.133, + 0.0, + 21.08, + -0.0 + ], + [ + 5256.257, + 4895.728, + 728.133, + 0.0, + 21.08, + -0.0 + ], + [ + 5373.693, + 4940.996, + 728.133, + 0.0, + 21.08, + -0.0 + ], + [ + 5475.021, + 4984.374, + 728.133, + 0.0, + 21.08, + -0.0 + ], + [ + 5475.021, + 4984.374, + 728.133, + 0.0, + 21.08, + -0.0 + ], + [ + 5388.805, + 4951.14, + 728.133, + 0.0, + 21.08, + -0.0 + ], + [ + 5388.805, + 4951.14, + 728.133, + 0.0, + 46.08, + -0.0 + ], + [ + 5388.805, + 4951.14, + 728.133, + 0.0, + 71.08, + -0.0 + ], + [ + 5388.805, + 4951.14, + 728.133, + 0.0, + 96.08, + -0.0 + ], + [ + 5388.805, + 4951.14, + 728.133, + 0.0, + 121.08, + -0.0 + ], + [ + 5388.805, + 4951.14, + 728.133, + 0.0, + 146.08, + -0.0 + ], + [ + 5284.365, + 5021.374, + 728.133, + 0.0, + 146.08, + -0.0 + ], + [ + 5179.925, + 5091.607, + 728.133, + 0.0, + 146.08, + -0.0 + ], + [ + 5075.485, + 5161.841, + 728.133, + 0.0, + 146.08, + -0.0 + ], + [ + 4971.045, + 5232.075, + 728.133, + 0.0, + 146.08, + -0.0 + ], + [ + 4971.045, + 5232.075, + 728.133, + 0.0, + 171.08, + -0.0 + ], + [ + 4846.708, + 5251.59, + 740.76, + 0.0, + 171.08, + -0.0 + ], + [ + 4755.575, + 5269.935, + 732.854, + 0.0, + 171.08, + -0.0 + ], + [ + 4755.575, + 5269.935, + 732.854, + 0.0, + 171.08, + -0.0 + ] + ], + "Rationale": [ + "From the doorway end of this storage hall I can already pick out the cluster of blue gas cylinders standing against the far wall beneath the painted letter A, well ahead of me. Nothing but open floor and a loose hose lies between us, so I will walk forward to close that distance.", + "The cylinders by the wall have grown slightly larger and the crate stack beside them is clearer, so my heading is carrying me the right way. There is still a long stretch of bare floor before I reach them, so I keep walking forward.", + "The row of cylinders and the wooden crates next to them now fill more of my view, and the floor drain lies just ahead on clear ground. I keep walking straight to shorten the remaining gap to those cylinders.", + "The cylinders are clearly resolved now against the far wall, though they sit a little left of where I am pointed. Distance is still the bigger problem than heading, so I will take another step forward before adjusting my facing.", + "Walking straight has pushed the blue cylinders out toward the left side of my view while the crate stacks now sit dead ahead. I will turn left to bring the cylinders back in front of me so my remaining steps carry me straight to them.", + "The turn has put the standing gas cylinders near the middle of my view, with the crate stacks off to my right. With a clean line to them across the open floor, I will walk forward again.", + "The cylinders are noticeably taller in view and I can make out the loose ones lying on the ground beside the low green boxes. I am not close enough to count as standing at them yet, so I keep stepping forward.", + "The cluster of blue cylinders fills a good part of my view now, with the barrels and crates crowding in on my right. A couple more strides should bring me right up beside them, so I will move forward.", + "The tall grey-blue gas cylinders now stand clearly ahead of me against the wooden wall, with ammunition crates and barrels to their right. Nothing blocks the sandy floor between us, so I will keep walking straight to close the remaining gap.", + "The upright cylinders fill much of my view now, close enough that their lettering is starting to show, though a short stretch of floor still separates us. One more step forward should bring me right up beside them.", + "The grey-blue cylinders tower directly in front of me, one marked O2, with their spare bottles lying at my feet. I am standing at the gas cylinders, so I mark reaching them and now set off for the green motor across the hall.", + "I am pressed right up against the cylinders and the plank wall behind them, with crates hemming in the space on my right. Backing off a step should give me room to swing my heading around toward the green motor without scraping this corner.", + "With a little clearance gained, the cylinders sit ahead-left and stacked crates lie off to my right, while the open hall with the machinery lies behind that side. I will turn right to start swinging my heading away from this wall corner toward the green motor.", + "The cylinders have slid to the far left of my view and wooden crates now dominate ahead, so I am still facing storage rather than the machinery. I will keep rotating right to bring the open hall into view.", + "Only stacked crates and barrels are in front of me now, with no sign of the green motor. Another turn to the right should sweep my view past this pile toward the open floor beyond.", + "The crates are drifting to my left and the cable-lined wall with coiled hose is appearing on the right, so the open part of the hall is nearly in front of me. I will turn right once more to bring the machinery side into view.", + "Swinging away from the crate stacks, the green pump and motor units have appeared at the right edge of my view along the cabled wall. I will turn right once more so that machinery sits centered ahead of me rather than at the margin.", + "The line of green motors now lies ahead of me along the far wall, with clear floor and only a hose coil off to the left. I will walk forward to begin closing that distance.", + "The motors and their pump housings have grown larger and are still slightly ahead and to my right, so I remain on a usable line. I will keep stepping forward along the wall to shorten the gap.", + "The green motor with its red and green leads is clearly resolved on its base plate ahead of me. Nothing blocks the floor between us, so I will advance again.", + "The pump and green motor now fill much of the right side of my view, so I am nearly level with the assembly. I will take another step forward to draw alongside it.", + "My heading is running parallel to the cable wall while the green motor sits off to my right on its skid. I will turn right to face the machinery directly before covering the last stretch.", + "The pump and the green motor with its red and green leads are now squarely ahead of me on the base frame. I will step forward to close the short remaining distance to it.", + "The green pump housing and coupled motor are right in front of me, filling the near view at arm's length scale. One more short step forward should place me directly at the machine.", + "The green motor unit stands directly beside me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3267cdb3a5824074e9d9d5c3abc446ac3d8cae40 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the stacked wooden crates, then move to the green motor.", + "Type": 3, + "Start_Pose": [ + 4554.738, + 4397.295, + 708.275, + 0.0, + 46.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4554.738, + 4397.295, + 708.275, + 0.0, + 46.08, + -0.0 + ], + [ + 4642.04, + 4487.952, + 711.372, + 0.0, + 46.08, + -0.0 + ], + [ + 4729.343, + 4578.61, + 711.372, + 0.0, + 46.08, + -0.0 + ], + [ + 4816.645, + 4669.267, + 718.0, + 0.0, + 46.08, + -0.0 + ], + [ + 4903.948, + 4759.924, + 728.133, + 0.0, + 46.08, + -0.0 + ], + [ + 4991.25, + 4850.582, + 728.133, + 0.0, + 46.08, + -0.0 + ], + [ + 5078.553, + 4941.239, + 728.133, + 0.0, + 46.08, + -0.0 + ], + [ + 5165.855, + 5031.897, + 728.133, + 0.0, + 46.08, + -0.0 + ], + [ + 5253.158, + 5122.554, + 728.133, + 0.0, + 46.08, + -0.0 + ], + [ + 5318.748, + 5179.418, + 728.275, + 0.0, + 46.08, + -0.0 + ], + [ + 5318.748, + 5179.418, + 728.275, + 0.0, + 46.08, + -0.0 + ], + [ + 5254.654, + 5112.861, + 728.275, + 0.0, + 46.08, + -0.0 + ], + [ + 5254.654, + 5112.861, + 728.275, + 0.0, + 71.08, + -0.0 + ], + [ + 5254.654, + 5112.861, + 728.275, + 0.0, + 96.08, + -0.0 + ], + [ + 5254.654, + 5112.861, + 728.275, + 0.0, + 121.08, + -0.0 + ], + [ + 5254.654, + 5112.861, + 728.275, + 0.0, + 146.08, + -0.0 + ], + [ + 5254.654, + 5112.861, + 728.275, + 0.0, + 171.08, + -0.0 + ], + [ + 5130.317, + 5132.376, + 728.275, + 0.0, + 171.08, + -0.0 + ], + [ + 5005.981, + 5151.891, + 728.275, + 0.0, + 171.08, + -0.0 + ], + [ + 4881.644, + 5171.406, + 728.275, + 0.0, + 171.08, + -0.0 + ], + [ + 4765.606, + 5190.719, + 728.275, + 0.0, + 171.08, + -0.0 + ], + [ + 4765.606, + 5190.719, + 728.275, + 0.0, + 171.08, + -0.0 + ] + ], + "Rationale": [ + "From here the stacked wooden crates sit far ahead against the left-hand wall, while the green motor rig stands off to my right along the far side of the hall. The crates are my first stop, and the floor between us is open apart from hoses lying flat. I will walk forward to begin closing that gap.", + "The crate stack has grown slightly larger and is still centred a little left of my heading, so my direction is good. Nothing blocks the floor ahead except a hose lying flat, which I can walk over. I will keep stepping forward toward the crates.", + "The wooden crates and the gas cylinders beside them are now clearer ahead, confirming I am tracking the right pile. There is still a long stretch of bare floor before I am anywhere near them. I will continue walking straight ahead.", + "The stack of crates fills more of my view and the coiled hose and cable-lined wall beyond it are becoming distinct. My heading still points straight at the pile, so no correction is needed. I will take another step forward.", + "I can now make out individual crate faces and the pallet frames they rest on, but I am still several paces short of standing at the pile. The path stays clear right up to it. I will keep advancing.", + "The crates now dominate the middle of my view with the cylinders and small barrels lined up to their left. I am close but not yet standing at the stack itself. Another step forward should bring me right up to it.", + "The stenciled lettering on the crate faces is legible and the topmost boxes now rise above my line of sight, so I am nearly at the pile. A little more distance remains before I am truly beside it. I will step forward again.", + "The crates fill almost my whole field of view and the nearest one is only a stride away. One more step should put me directly at the stack rather than just short of it. I will move forward to close that last bit of distance.", + "The stacked wooden crates now fill nearly my whole view, with the lower pallet boxes close in front of me. One more short step should bring me right up against the stack rather than merely near it, so I walk forward again.", + "The stacked wooden crates are directly in front of me, their planks and stencilled markings close enough to read across my entire view. I have arrived at them. I mark reaching this stack and now turn my attention to the green motor over by the far wall.", + "I am pressed right up against the crate stack, so close that the boxes block almost everything but themselves. Backing up a step should open enough clearance to swing my heading around toward the machinery along the far wall without scraping the pallets.", + "With a little space regained, the crates still sit squarely ahead and the open floor lies off to my right past the cabled wall. I turn right to begin swinging my heading off the stack and toward the machinery side of the hall.", + "The crates have shifted toward my left and the cabled wall with the coiled hose is coming into the right of my view. I am not yet facing down the open floor, so I keep rotating right.", + "Now I mostly see the cable runs on the wall and the coiled hose on the floor, with only crate corners left in frame. The machinery I want lies further around to my right, so I continue turning that way.", + "Pale green machinery with pipework has just appeared at the right edge of my view beyond the hose coil. It is still well off my heading, so I rotate right again to bring it toward the center.", + "The green motor and its pump on their skid are clearly visible now, but they sit to the right of my center line. A final turn right should put them straight ahead so I can walk directly toward them.", + "The pump skid with the green motor and its coloured leads now sits ahead of me along the cabled wall, roughly centred in my view. Nothing blocks the open floor between us, so I will walk forward to close the distance.", + "The green motor and the pump beside it have grown larger and stay just left of my heading, confirming I am closing correctly. The floor ahead is still clear, so I keep walking toward the skid.", + "The green motor with its red and green cables is now clearly resolved on the skid to my left front, but I am still a few paces short of standing beside it. I will step forward again to draw level with the machine.", + "The green motor now fills much of my near view with its cables hanging just ahead of me, so only a short gap remains. I will take one more step to bring myself right up alongside it.", + "The green motor and its coloured leads are directly beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3b24cb42b557709e1abfd9c48b5117fc2649 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t3_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the green motor, then proceed to the stacked wooden boxes by the wall.", + "Type": 3, + "Start_Pose": [ + 4554.738, + 4397.295, + 708.275, + 0.0, + 46.08, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4554.738, + 4397.295, + 708.275, + 0.0, + 46.08, + -0.0 + ], + [ + 4554.738, + 4397.295, + 708.275, + 0.0, + 71.08, + -0.0 + ], + [ + 4595.547, + 4516.354, + 708.275, + 0.0, + 71.08, + -0.0 + ], + [ + 4636.357, + 4635.413, + 716.76, + 0.0, + 71.08, + -0.0 + ], + [ + 4636.357, + 4635.413, + 716.76, + 0.0, + 96.08, + -0.0 + ], + [ + 4623.026, + 4760.564, + 728.194, + 0.0, + 96.08, + -0.0 + ], + [ + 4609.696, + 4885.715, + 728.194, + 0.0, + 96.08, + -0.0 + ], + [ + 4596.365, + 5010.866, + 728.194, + 0.0, + 96.08, + -0.0 + ], + [ + 4596.365, + 5010.866, + 728.194, + 0.0, + 96.08, + -0.0 + ], + [ + 4596.365, + 5010.866, + 728.194, + 0.0, + 71.08, + -0.0 + ], + [ + 4596.365, + 5010.866, + 728.194, + 0.0, + 46.08, + -0.0 + ], + [ + 4596.365, + 5010.866, + 728.194, + 0.0, + 21.08, + -0.0 + ], + [ + 4713.801, + 5056.134, + 728.194, + 0.0, + 21.08, + -0.0 + ], + [ + 4775.993, + 5100.242, + 728.194, + 0.0, + 21.08, + -0.0 + ], + [ + 4841.989, + 5144.122, + 745.372, + 0.0, + 21.08, + -0.0 + ], + [ + 4959.425, + 5189.39, + 728.275, + 0.0, + 21.08, + -0.0 + ], + [ + 5076.862, + 5234.658, + 728.275, + 0.0, + 21.08, + -0.0 + ], + [ + 5185.673, + 5248.186, + 728.275, + 0.0, + 21.08, + -0.0 + ], + [ + 5185.673, + 5248.186, + 728.275, + 0.0, + 21.08, + -0.0 + ] + ], + "Rationale": [ + "From here the pale green motor on its skid sits well over to my right, against the far wall past the coiled hoses, while my body faces the open middle of the hall. I will turn right so that machine comes into the center of my view before I start walking toward it.", + "The green motor units on their metal skids now sit ahead of me along the cabled wall, with clear floor between us apart from the flexible hose lying flat. I will walk forward to close that gap.", + "The nearest green motor with its vertical pipe has grown noticeably larger and stays near the middle of my view, so my heading is still good. I will keep walking forward to shorten the remaining distance to it.", + "The green motor has drifted a little left of straight ahead as I closed in, and more of the machinery row lies off to my right. I will turn right to square up on the machines before continuing.", + "Facing straight down the row, the green motors on their pallets are lined up in front of me with clear floor in between. I will step forward to bring myself up to the nearest one.", + "The nearest green motor and its casing now fill a good part of my view, but I am still a few paces short of standing beside it. I will move forward again to get right up to the machine.", + "The green motor on its skid is close on my left now, with the cabled concrete wall just beyond it. One more step forward should place me level with the machine.", + "The green motor stands right beside me, its casing and pipework filling my view against the cabled wall, so I am as close as I can get to it. I have reached the green motor. I mark reaching it, then turn my attention to the stacked wooden crates along the far wall.", + "I am standing right at the green motor on its pallet, so this destination is behind me now and the stacked wooden crates against the far wall are the place I still need to reach. They sit well off to my left, outside this narrow view of cable-lined concrete. I will turn left to begin swinging my heading toward them.", + "The motor housing now sits low in front of me and the view is still filled by the cabled wall, with no sign of the wooden crates yet. My heading has not come around far enough to face the open floor where they stand. I will turn left again to keep sweeping toward that side of the hall.", + "The stacked wooden crates and the coiled hose beside them have come into view at the far left edge, with the gas cylinders and the marked wall beyond them. They are still too far off to one side for a straight walk. One more left turn should bring that stack closer to the center of my path.", + "The wooden crates are now stacked ahead of me against the wall, with the coiled hose at their base and the cylinders lined up to their left. My heading is clear across open floor toward them. I will walk forward to close the distance.", + "The crate stack has grown noticeably larger and sits squarely ahead beside the coiled hose. Nothing blocks the floor between us. I will keep walking forward toward it.", + "The stacked boxes against the wall are clearly closer, the upper crates now rising above my line of sight. I am still several paces short of standing at them. Another step forward should bring me nearer.", + "The wooden boxes and the hose coil beside them now dominate the right half of my view, so I am within a few paces of the wall stack. There is still floor between me and the crate fronts. I will step forward again to close in.", + "The stacked crates now tower directly in front of me with their planked lids and the wall cabling just behind. A short remaining gap keeps me from standing right at the stack. I will move forward once more to reach it.", + "The stacked wooden crates against the wall now fill most of my view, but a little floor still separates me from the lowest crate. One more step forward should bring me right up against the stack.", + "The stacked wooden crates by the wall are directly in front of me, within arm's reach. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t5_a_pd/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7dd221f36d0307c691c5f716ec574fceeee98798 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004555_y004397_z000708_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the ceramic vase at the blue gas cylinders, then leave it near the green motor.", + "Type": 5, + "Start_Pose": [ + 4554.738, + 4397.295, + 708.275, + 0, + 46.08, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 5392.395, + 4796.581, + 648.209, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4554.738, + 4397.295, + 708.275, + 0, + 46.08, + 0 + ], + [ + 4642.04, + 4487.952, + 711.372, + 0.0, + 46.08, + -0.0 + ], + [ + 4729.343, + 4578.61, + 711.372, + 0.0, + 46.08, + -0.0 + ], + [ + 4729.343, + 4578.61, + 711.372, + 0.0, + 21.08, + -0.0 + ], + [ + 4846.779, + 4623.878, + 711.372, + 0.0, + 21.08, + -0.0 + ], + [ + 4964.216, + 4669.145, + 711.372, + 0.0, + 21.08, + -0.0 + ], + [ + 5081.652, + 4714.413, + 727.887, + 0.0, + 21.08, + -0.0 + ], + [ + 5199.088, + 4759.681, + 728.172, + 0.0, + 21.08, + -0.0 + ], + [ + 5199.088, + 4759.681, + 728.172, + 0.0, + 21.08, + -0.0 + ], + [ + 5199.088, + 4759.681, + 728.172, + 0.0, + 46.08, + -0.0 + ], + [ + 5199.088, + 4759.681, + 728.172, + 0.0, + 71.08, + -0.0 + ], + [ + 5199.088, + 4759.681, + 728.172, + 0.0, + 96.08, + -0.0 + ], + [ + 5199.088, + 4759.681, + 728.172, + 0.0, + 121.08, + -0.0 + ], + [ + 5199.088, + 4759.681, + 728.172, + 0.0, + 146.08, + -0.0 + ], + [ + 5094.648, + 4829.915, + 728.172, + 0.0, + 146.08, + -0.0 + ], + [ + 4990.208, + 4900.149, + 728.172, + 0.0, + 146.08, + -0.0 + ], + [ + 4885.768, + 4970.382, + 728.172, + 0.0, + 146.08, + -0.0 + ], + [ + 4783.31, + 5040.539, + 740.679, + 0.0, + 146.08, + -0.0 + ], + [ + 4843.057, + 5000.36, + 743.347, + 0.0, + 146.08, + -0.0 + ], + [ + 4843.057, + 5000.36, + 743.347, + 0.0, + 146.08, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 5392.395, + 4796.581, + 648.209, + 0.0, + 0.0, + 0.0 + ], + [ + 5392.395, + 4796.581, + 648.209, + 0.0, + 0.0, + 0.0 + ], + [ + 5392.395, + 4796.581, + 648.209, + 0.0, + 0.0, + 0.0 + ], + [ + 5392.395, + 4796.581, + 648.209, + 0.0, + 0.0, + 0.0 + ], + [ + 5392.395, + 4796.581, + 648.209, + 0.0, + 0.0, + 0.0 + ], + [ + 5392.395, + 4796.581, + 648.209, + 0.0, + 0.0, + 0.0 + ], + [ + 5392.395, + 4796.581, + 648.209, + 0.0, + 0.0, + 0.0 + ], + [ + 5392.395, + 4796.581, + 648.209, + 0.0, + 0.0, + 0.0 + ], + [ + 5190.839, + 4779.386, + 698.435, + -28.202, + 71.225, + 1.862 + ], + [ + 5182.589, + 4774.714, + 698.708, + -28.189, + 96.237, + 1.872 + ], + [ + 5177.832, + 4767.129, + 698.041, + -28.215, + 121.207, + 1.849 + ], + [ + 5172.116, + 4762.306, + 698.094, + -14.092, + 138.424, + 6.87 + ], + [ + 5180.929, + 4748.225, + 698.11, + -28.208, + 171.222, + 1.851 + ], + [ + 5186.964, + 4740.709, + 698.778, + -28.198, + -163.774, + 1.867 + ], + [ + 5083.156, + 4811.907, + 698.248, + -28.198, + -163.774, + 1.862 + ], + [ + 4978.549, + 4882.256, + 697.861, + -28.202, + -163.778, + 1.86 + ], + [ + 4874.141, + 4952.465, + 697.976, + -28.201, + -163.775, + 1.857 + ], + [ + 4771.891, + 5022.487, + 698.3, + -28.206, + -163.781, + 1.858 + ], + [ + 4784.97, + 5039.422, + 683.347, + 0.0, + 146.08, + -0.0 + ], + [ + 4784.97, + 5039.422, + 683.347, + 0.0, + 146.08, + -0.0 + ] + ], + "PD_Dist_2D": [ + 928.0, + 811.3, + 698.0, + 698.0, + 572.3, + 446.7, + 321.4, + 196.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "Across the hall I can see the pale ceramic vase standing beside the cluster of grey gas cylinders against the wall marked with the large letter A. It is far away, so I will walk forward to close the gap before any grasp is possible.", + "The vase and the cylinders beside it are noticeably larger now, so my heading is carrying me toward them. I still have a long stretch of open floor to cover, so I will keep walking forward.", + "The vase and its cylinders sit off toward the left side of my view while my heading points across the hall past them. I will turn left to put the vase closer to the center of my path before advancing further.", + "After the turn, the vase and the row of grey cylinders sit much closer to the middle of my view, so my heading now points at them. I will walk forward along this line to shorten the remaining distance.", + "The vase is bigger and still roughly ahead of me, confirming this heading leads to it. Nothing blocks the floor between us, so I will continue walking forward.", + "The vase now stands out clearly in front of the gas cylinders, but it is still too far to reach from here. I will step forward again to bring it within grasping range.", + "The vase fills a good part of my view but remains slightly beyond arm's reach at the near edge of the cylinder group. One more forward step should place me close enough to attempt the pick.", + "The ceramic vase now stands directly in front of me at close range, with the blue-grey gas cylinders right behind it as the task described. This is the target object and the distance looks short enough, so I will try to pick it up.", + "The grasp worked, since the ceramic vase is now held in my hands instead of standing on the floor by the blue cylinders. The delivery target, the green motor, sat off toward the right side of this hall when I first surveyed it, and my current heading faces the cylinder wall. I will turn right to begin swinging my heading toward that side.", + "My view now shows the blue cylinders, ammo boxes and stacked crates along the wall, with no motor in sight. The carried vase stays with me, so I only need a heading, not another approach to this shelf area. I will keep turning right to sweep further toward the machinery side of the hall.", + "The stacked crates and the coiled hose against the cabled wall fill my view, and the green motor is still not framed. The open floor continues to the right, which is where the machinery bay should lie. I will turn right again to continue the sweep.", + "At the right edge of my view a pale machine with piping and a red fitting is just appearing beyond the hose coil, which looks like the equipment row I want. It is too far off center to walk toward directly. I will turn right once more to bring that machinery into the middle of my view.", + "A row of pump motors with green cabling now stands in the right half of my view, matching the green motor named in the task. My heading still points partly at the empty cabled wall on the left. I will turn right a last time so the motor row sits ahead of me for a straight walk.", + "The line of machines with green motors and green cables is now framed ahead of me across the open floor, so my heading is good. The vase is still in my hands and the machines are several strides away. I will walk forward to close that distance.", + "The motors and their green cabling have grown larger and remain centered in my path, so my heading needs no correction. I am still too far from the nearest unit to set the vase beside it. I will step forward again.", + "The nearest green motor on its skid is clearly in front of me now, with the red and green leads visible, but it is not yet within arm's reach for placing the vase. The route across the floor stays open. I will keep walking forward to get close beside it.", + "The vase is still in my hands as I carry it along the row of green motors mounted on their steel skids. The nearest motor now fills the left side of my view, so one more step should bring me level with it and close enough to set the vase down beside it.", + "I am still holding the ceramic vase, and the nearest green motor on its skid is now immediately beside me at the left edge of my view. This spot is right next to the motor, so I will release the vase here to leave it where the task requires.", + "The vase now stands on the floor beside the green motor, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004887_y004587_z000711_t1_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004887_y004587_z000711_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f446f3701b518c46956bdf82edde7c117cbff8e3 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004887_y004587_z000711_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Locate the upright oxygen cylinders standing in the corner of the storage area, then navigate over to them.", + "Type": 1, + "Start_Pose": [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 141.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 141.6, + -0.0 + ], + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 116.6, + -0.0 + ], + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 91.6, + -0.0 + ], + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 66.6, + -0.0 + ], + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 41.6, + -0.0 + ], + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 16.6, + -0.0 + ], + [ + 5007.287, + 4622.589, + 711.399, + 0.0, + 16.6, + -0.0 + ], + [ + 5127.901, + 4658.546, + 711.399, + 0.0, + 16.6, + -0.0 + ], + [ + 5248.514, + 4694.502, + 718.96, + 0.0, + 16.6, + -0.0 + ], + [ + 5369.128, + 4730.459, + 728.196, + 0.0, + 16.6, + -0.0 + ], + [ + 5489.741, + 4766.415, + 728.196, + 0.0, + 16.6, + -0.0 + ], + [ + 5610.355, + 4802.372, + 728.196, + 0.0, + 16.6, + -0.0 + ], + [ + 5610.355, + 4802.372, + 728.196, + 0.0, + 41.6, + -0.0 + ], + [ + 5696.151, + 4884.17, + 728.275, + 0.0, + 41.6, + -0.0 + ], + [ + 5763.124, + 4968.656, + 728.275, + 0.0, + 41.6, + -0.0 + ], + [ + 5763.124, + 4968.656, + 728.275, + 0.0, + 41.6, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, the view is filled with a row of pump motors, corrugated hoses and the far concrete wall, with no upright gas cylinders anywhere in sight. Since the equipment bay ahead offers no storage corner, I will begin a steady leftward scan to open up the parts of the room I cannot currently see.", + "Rotating has only brought more of the same machinery line and blank cabled wall into view, and there is still no sign of standing cylinders. I will keep turning in the same leftward direction to continue the scan consistently rather than reversing and re-checking ground I have already opened up.", + "Stacked wooden crates have now appeared at the left edge of my view, which reads as the stored-goods side of this hall rather than the machinery side. That is a strong cue for where cylinders would be kept, so I will turn further left to bring that storage corner fully into view.", + "At the far left of my view, beside the crate stacks and low green boxes, I can make out a cluster of tall grey cylinders standing against the wall. They are still at the very edge of my field of view, so I will turn left again to bring them toward the centre before committing to an approach.", + "The upright cylinders are now clearly visible beside the crates under the large painted A on the wall, sitting left of my heading. One more turn in that direction should line my body up with them so I can walk straight across the open floor.", + "The group of upright cylinders now sits close to the middle of my view against the marked wall, with clear floor and only thin hoses between us. I will step forward along this heading to close the distance toward that corner.", + "The cylinders have grown noticeably larger ahead of me and remain well within my forward view, so my heading is still good. I will continue walking forward since I am clearly not yet close enough to count as standing at them.", + "I am now close enough to see the individual cylinders standing upright against the wall, with two more lying on the floor in front of them. There is still a stretch of open floor before I reach them, so I will keep advancing along the same heading.", + "The cluster of upright gas cylinders standing against the marked wall is clearly in view ahead and slightly to my right, with open floor between me and them. I will keep walking straight to close the remaining distance toward that corner.", + "The standing cylinders now appear noticeably larger and lower in my view, so my forward walking is steadily reducing the gap. I will continue stepping forward since nothing blocks the stretch of floor in front of me.", + "I can now read the O2 marking on the nearest upright cylinder, confirming these are the oxygen cylinders in the corner. The crate ahead sits to my left, so I will walk forward again to get closer to the stack.", + "At this short range the cylinders have drifted to the right edge of my view while a crate now dominates the center of my path. Turning right should bring the oxygen cylinders back to the middle of my heading for a clean final approach.", + "The row of upright oxygen cylinders is now centered in front of me with the crate cleared to my left. I will step forward to close the last stretch toward them.", + "The cylinders now fill most of my view, so I am only a short step away from standing beside them. I will advance once more to finish closing that small remaining gap.", + "The upright oxygen cylinders stand directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x004887_y004587_z000711_t1_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x004887_y004587_z000711_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d1af060d94e4b67368e000aaecdddc2dec3c4e42 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x004887_y004587_z000711_t1_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search for the stack of coiled ribbed tubing resting on the floor beside the wooden crates, then approach it.", + "Type": 1, + "Start_Pose": [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 141.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 141.6, + -0.0 + ], + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 116.6, + -0.0 + ], + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 91.6, + -0.0 + ], + [ + 4886.674, + 4586.633, + 711.399, + 0.0, + 66.6, + -0.0 + ], + [ + 4936.658, + 4702.141, + 724.404, + 0.0, + 66.6, + -0.0 + ], + [ + 4986.643, + 4817.648, + 728.275, + 0.0, + 66.6, + -0.0 + ], + [ + 5036.628, + 4933.156, + 728.275, + 0.0, + 66.6, + -0.0 + ], + [ + 5086.612, + 5048.664, + 728.275, + 0.0, + 66.6, + -0.0 + ], + [ + 5136.597, + 5164.171, + 728.275, + 0.0, + 66.6, + -0.0 + ], + [ + 5136.597, + 5164.171, + 728.275, + 0.0, + 66.6, + -0.0 + ] + ], + "Rationale": [ + "From this spot I only see a row of pump motors, loose hoses running across the floor, and bare concrete walls, with no wooden crates anywhere in view. Since the task ties the coiled ribbed tubing to a stack of crates, I will turn left to sweep the unseen part of this hall for that storage area.", + "The view has shifted to more pump units along the wall, and at the far left edge I can just make out a dark coiled shape near the floor. I will continue turning left in the same direction to bring that left-side region fully into view.", + "Stacked wooden crates now sit at the far left of my view with a coiled ribbed hose resting on the floor just beside them. I will turn left once more to center that crate and tubing area before moving toward it.", + "The crate stack and the coil of ribbed tubing beside it are now roughly ahead of me across an open stretch of floor. I will walk forward to close the long gap toward that target.", + "The crates and the coiled tubing beside them have grown larger, so my heading is carrying me straight at the target. I will keep walking forward since the floor ahead remains clear.", + "The coiled ribbed hose beside the crate stack is now clearly resolved against the wall, but still several paces away. I will continue advancing to shorten the remaining distance.", + "The coil of ribbed tubing now fills a good part of the lower center of my view, just right of the crates. I will step forward again to get properly close to it.", + "The stacked coils of ribbed tubing are directly in front of me with their individual ribs plainly visible beside the crates. I will take one more step forward to stand right at the target.", + "The coiled ribbed tubing fills the lower right of my view at arm's length, right beside the wooden crates. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..74331458bb0bf548da524b3465c19acb58b22697 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the wooden crate beneath the large pipe.", + "Type": 0, + "Start_Pose": [ + 5579.378, + 4386.114, + 708.275, + 0.0, + -106.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5579.378, + 4386.114, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5543.506, + 4265.475, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5507.633, + 4144.837, + 714.261, + 0.0, + -106.56, + 0.0 + ], + [ + 5471.761, + 4024.198, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5435.889, + 3903.559, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5435.889, + 3903.559, + 708.275, + 0.0, + -81.56, + 0.0 + ], + [ + 5454.362, + 3779.063, + 708.275, + 0.0, + -81.56, + 0.0 + ], + [ + 5454.362, + 3779.063, + 708.275, + 0.0, + -81.56, + 0.0 + ] + ], + "Rationale": [ + "Across the room I can see stacked wooden crates sitting against the brick wall directly under the large copper pipe that bends down from the ceiling. My heading already points toward that corner, so I will step forward over the floor rails to begin closing the gap.", + "The crate stack beneath the descending pipe now appears larger and lower in my view, confirming my previous step reduced the distance. The floor ahead is clear, so I will keep walking straight toward it.", + "The stacked crates under the pipe now occupy the right half of my view and the yellow valve wheel is passing on my left, so I am well inside the room. Nothing blocks the ground between us, so I will advance again to keep shortening the distance.", + "The two stacked crates are close now, with their printed markings clearly legible on my right, but I am still a step or two short of standing at them. I will move forward once more to bring myself alongside the stack.", + "My heading is drifting past the crates, which now sit off to my right while the pipe column and bare brick fill the left of my view. I will turn slightly right to bring the crate stack beneath the pipe squarely in front of me before the final step.", + "The stacked wooden crates are now centered directly ahead of me with the large pipe elbow just above them, so my heading is correct. One more forward step should bring me right up against the crate.", + "The crate's wooden planks fill my view at arm's length beneath the pipe. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4fd8898bcd9ae250cdbbab83b5cfb307e13df492 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the valve wheel on the base of the pipe structure.", + "Type": 0, + "Start_Pose": [ + 5579.378, + 4386.114, + 708.275, + 0.0, + -106.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5579.378, + 4386.114, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5543.506, + 4265.475, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5507.633, + 4144.837, + 714.261, + 0.0, + -106.56, + 0.0 + ], + [ + 5471.761, + 4024.198, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5471.761, + 4024.198, + 708.275, + 0.0, + -131.56, + 0.0 + ], + [ + 5388.266, + 3930.023, + 708.275, + 0.0, + -131.56, + 0.0 + ], + [ + 5304.77, + 3835.847, + 708.275, + 0.0, + -131.56, + 0.0 + ], + [ + 5304.77, + 3835.847, + 708.275, + 0.0, + -131.56, + 0.0 + ] + ], + "Rationale": [ + "I can see the yellow valve wheel mounted on the upright pipe at the base of the pipe structure against the brick wall ahead and slightly left of my heading. It is still far off across the rail tracks, so I will move forward to begin closing that distance while keeping it in view.", + "The valve wheel and its pipe now appear larger and the wall behind them fills more of my view, confirming my heading points toward the target. I will keep moving forward since nothing blocks the floor between me and the pipe base.", + "The valve wheel is clearly resolved on the pipe just left of center, with crates stacked farther right along the same wall. I am still several paces short of it, so another forward step should bring me into close range.", + "After closing in, the valve wheel has drifted well toward the left side of my view while the pipe and crates crowd the center and right. I will turn left to bring the valve back toward the middle of my heading before advancing further.", + "The valve wheel now sits near the middle of my view on its flanged pipe, so my heading is aligned with the target. The floor in front is open, so I will move forward to shorten the remaining gap.", + "The valve wheel is centered and noticeably larger, but I am still a step away from being right at the pipe base. I will move forward once more to reach a proper stopping position beside it.", + "The valve wheel on the pipe base fills the center of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6dc5ba2800596f59d6a9faa00e669d98bc066603 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t0_c/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Move to the metal door with the red valve wheel.", + "Type": 0, + "Start_Pose": [ + 5579.378, + 4386.114, + 708.275, + 0.0, + -106.56, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5579.378, + 4386.114, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5579.378, + 4386.114, + 708.275, + 0.0, + -81.56, + 0.0 + ], + [ + 5597.851, + 4261.618, + 708.275, + 0.0, + -81.56, + 0.0 + ], + [ + 5616.324, + 4137.122, + 714.23, + 0.0, + -81.56, + 0.0 + ], + [ + 5634.796, + 4012.626, + 708.275, + 0.0, + -81.56, + 0.0 + ], + [ + 5634.796, + 4012.626, + 708.275, + 0.0, + -81.56, + 0.0 + ] + ], + "Rationale": [ + "I can see the tall metal door with the red valve wheel standing at the right edge of my view, partly cut off by the panelled wall beside it. Turning right should swing my heading toward that door so the wheel sits centered ahead of me before I start walking.", + "The metal door with the red valve wheel now stands ahead of me, roughly centered with the wheel clearly visible on its lower panel. The floor between me and it is open apart from the flat rail lines, so I will step forward to close the distance.", + "The door has grown larger in my view and the red wheel is more distinct, so my heading is carrying me straight to it. I am still several paces short of the door face, so I will keep walking forward.", + "The red valve wheel and the door's handle bar are now clearly detailed just ahead and slightly right of center. One more step forward should bring me within arm's reach of the door surface.", + "The metal door's red valve wheel is directly in front of me at arm's reach. The task is complete, so I stop here rather than press closer." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..52bb92d81385093380df057f67aac78a177c8342 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x005579_y004386_z000708_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the green bell pepper by the wooden crate beneath the large pipe.", + "Type": 5, + "Start_Pose": [ + 5579.378, + 4386.114, + 708.275, + 0, + -106.56, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 5373.566, + 3820.108, + 653.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5579.378, + 4386.114, + 708.275, + 0, + -106.56, + 0 + ], + [ + 5543.506, + 4265.475, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5507.633, + 4144.837, + 714.261, + 0.0, + -106.56, + 0.0 + ], + [ + 5471.761, + 4024.198, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5471.761, + 4024.198, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5435.889, + 3903.559, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5435.889, + 3903.559, + 708.275, + 0.0, + -106.56, + 0.0 + ], + [ + 5435.889, + 3903.559, + 708.275, + 0.0, + -106.56, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 5373.566, + 3820.108, + 653.275, + 0.0, + 0.0, + 0.0 + ], + [ + 5373.566, + 3820.108, + 653.275, + 0.0, + 0.0, + 0.0 + ], + [ + 5373.566, + 3820.108, + 653.275, + 0.0, + 0.0, + 0.0 + ], + [ + 5373.566, + 3820.108, + 653.275, + 0.0, + 0.0, + 0.0 + ], + [ + 5373.566, + 3820.108, + 653.275, + 0.0, + 0.0, + 0.0 + ], + [ + 5373.566, + 3820.108, + 653.275, + 0.0, + 0.0, + 0.0 + ], + [ + 5456.531, + 3898.058, + 678.381, + -28.202, + -56.415, + 1.862 + ], + [ + 5456.531, + 3898.058, + 678.381, + -28.202, + -56.415, + 1.862 + ] + ], + "PD_Dist_2D": [ + 602.3, + 476.7, + 351.3, + 226.5, + 226.5, + 104.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The green bell pepper sits on the floor ahead of me, in front of the wooden crates under the large copper pipe. It is still far off across the rails, well out of reach. I will walk straight forward to close that distance while it stays centered in my view.", + "The pepper has grown noticeably larger and remains directly in front of me, so my heading is good and nothing blocks the floor between us. It is still several strides away, too far to grasp. I will keep walking straight ahead without turning.", + "The pepper now stands out clearly on the concrete just left of center, with the crates and pipe behind it. The gap is still more than an arm's length, so a grasp from here would be unlikely. I will advance one more step to bring it within reach.", + "The green bell pepper now fills the lower part of my view, close in front of me beside the pipe and the wooden crates. This looks near enough to reach down and take hold of it. I will attempt the grasp now.", + "My hands are still empty, so that grasp attempt did not take hold. I must have been slightly beyond reaching range of the pepper. I will step forward once more to shorten the gap before trying again.", + "My earlier grasp attempt left my hands empty and the pepper still resting on the floor, so I closed the remaining distance to the crates under the large pipe. The green pepper now lies right at my feet, well within reach. I will try the pick again from this closer stance.", + "The green bell pepper is now held in my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x006844_y004373_z000708_t3_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x006844_y004373_z000708_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..959996960fe3e6fe4c75d90b7db700a595d3b2fa --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x006844_y004373_z000708_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the striped oil drum, then head toward the blue pipe.", + "Type": 3, + "Start_Pose": [ + 6843.853, + 4373.275, + 708.275, + 0.0, + -46.08, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6843.853, + 4373.275, + 708.275, + 0.0, + -46.08, + 0.0 + ], + [ + 6843.853, + 4373.275, + 708.275, + 0.0, + -71.08, + 0.0 + ], + [ + 6884.663, + 4254.216, + 708.275, + 0.0, + -71.08, + 0.0 + ], + [ + 6925.472, + 4135.157, + 714.243, + 0.0, + -71.08, + 0.0 + ], + [ + 6966.281, + 4016.098, + 708.275, + 0.0, + -71.08, + 0.0 + ], + [ + 7007.091, + 3897.038, + 708.275, + 0.0, + -71.08, + 0.0 + ], + [ + 7007.091, + 3897.038, + 708.275, + 0.0, + -71.08, + 0.0 + ], + [ + 6977.13, + 3984.446, + 708.275, + 0.0, + -71.08, + 0.0 + ], + [ + 6977.13, + 3984.446, + 708.275, + 0.0, + -46.08, + 0.0 + ], + [ + 6977.13, + 3984.446, + 708.275, + 0.0, + -21.08, + 0.0 + ], + [ + 6977.13, + 3984.446, + 708.275, + 0.0, + 3.92, + -0.0 + ], + [ + 7102.695, + 3993.05, + 708.275, + 0.0, + 3.92, + -0.0 + ], + [ + 7228.26, + 4001.655, + 708.275, + 0.0, + 3.92, + -0.0 + ], + [ + 7353.824, + 4010.259, + 708.275, + 0.0, + 3.92, + -0.0 + ], + [ + 7479.389, + 4018.863, + 708.275, + 0.0, + 3.92, + -0.0 + ], + [ + 7604.953, + 4027.467, + 709.47, + 0.0, + 3.92, + -0.0 + ], + [ + 7604.953, + 4027.467, + 709.47, + 0.0, + -21.08, + 0.0 + ], + [ + 7722.39, + 3982.199, + 708.364, + 0.0, + -21.08, + 0.0 + ], + [ + 7839.826, + 3936.931, + 708.364, + 0.0, + -21.08, + 0.0 + ], + [ + 7957.262, + 3891.663, + 711.372, + 0.0, + -21.08, + 0.0 + ], + [ + 7957.262, + 3891.663, + 711.372, + 0.0, + -21.08, + 0.0 + ] + ], + "Rationale": [ + "Along the wall to my left I can pick out the row of barrels, including the one banded in pink and yellow stripes, while my body faces down the rail corridor. I will turn left so that striped drum sits ahead of me instead of off to the side, giving me a straight line to walk.", + "The striped drum now sits near the middle of my view, flanked by two plain barrels against the cable-covered wall. Nothing blocks the open floor between me and it, so I will walk forward to close the gap.", + "The barrels have grown larger and the striped one is clearly to the right of the two plain drums, still a few paces off. My heading remains good, so another step forward should keep shrinking the distance.", + "The striped drum now fills much of the lower center of my view, with the crate and tarpaulin just beyond it. I am close but not yet standing at it, so I will keep walking straight toward it.", + "The striped barrel is only a stride away at my lower left, and my own shadow falls across the wall beside it. One more step forward should bring me right up beside that drum.", + "The striped drum is right at my feet in the lower left corner, its lid within arm's reach against the bundled cables. I have reached the striped oil drum, and I mark reaching it before setting off for the blue pipe standing further along this hall.", + "Standing this tight against the drum and the cable wall, my view is filled with conduit and I have no room to swing around toward the hall. I will step back to open some clearance and regain a wider look at the corridor where the blue pipe stands.", + "With a little space regained, I can see the drums and the wall directly ahead, while the open rail corridor lies off to my right. I will turn right to swing my heading away from the wall and back toward the hall leading to the blue pipe.", + "The drums are behind my left shoulder now and my view is still filled by the cable wall and the tarp-covered load. The open corridor with its rails shows only at the right edge, so I will keep turning right to bring that passage in front of me.", + "The long corridor with its rails and the lit doors at the far end is now opening on my right, but the tarp and crate still block the left half of my view. One more turn to the right should put the corridor centered ahead so I can walk it toward the blue pipe.", + "The corridor now runs straight ahead of me, rails and yellow line leading to the lit doors, with the tarp fallen away to my left. With this lane clear I will walk forward along it to close on the blue pipe standing further down beside the left wall.", + "The doors at the end of the corridor have grown and the cable racks on the right wall are sliding past, so my heading down this lane is good. The blue pipe is still far along the left wall, so I keep walking forward.", + "A blue upright pipe with the short pipes lying beside it is now visible against the left wall ahead of me. It is still some distance off, so I will keep advancing along the corridor to close that gap.", + "The blue pipe against the left wall is clearer and nearer, with the loose lengths of pipe lying on the floor next to it. Nothing blocks the lane, so another step forward should bring me alongside it.", + "The blue pipe now stands well to my left and is noticeably larger, so I am nearly level with it. I will take one more step forward before turning toward it.", + "The blue pipe is now off the left side of my view against the cable wall while my body still faces straight down the corridor. Turning left should put it squarely in front of me so I can walk right up to it.", + "The blue standing pipe against the left wall, with the pair of blue pipes lying on the floor beside it, is now centered well within my view after the turn. It is still several strides down the corridor, so I will walk forward along the clear floor to close that gap.", + "The blue pipe on the wall and the two lying on the ground have grown noticeably larger and sit just left of my heading. I am not yet beside them, so another step forward should bring me closer to that spot.", + "The upright blue pipe now fills much of my left foreground and the pipes on the floor are only a stride or two ahead. One more advance should place me right alongside them at the wall.", + "The blue pipes lie directly beside me at the foot of the left wall, within arm's reach. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x006844_y004373_z000708_t5_a_pd/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x006844_y004373_z000708_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..971289b2724a63e5bc66f6509bca6470364198f1 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x006844_y004373_z000708_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Lift the metal bucket at the striped oil drum, then set it down near the blue pipe.", + "Type": 5, + "Start_Pose": [ + 6843.853, + 4373.275, + 708.275, + 0, + -46.08, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 6983.874, + 4011.351, + 634.218, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6843.853, + 4373.275, + 708.275, + 0, + -46.08, + 0 + ], + [ + 6931.156, + 4282.618, + 708.275, + 0.0, + -46.08, + 0.0 + ], + [ + 6931.156, + 4282.618, + 708.275, + 0.0, + -46.08, + 0.0 + ], + [ + 6931.156, + 4282.618, + 708.275, + 0.0, + -71.08, + 0.0 + ], + [ + 6971.965, + 4163.558, + 714.189, + 0.0, + -71.08, + 0.0 + ], + [ + 6971.965, + 4163.558, + 714.189, + 0.0, + -71.08, + 0.0 + ], + [ + 6971.965, + 4163.558, + 714.189, + 0.0, + -46.08, + 0.0 + ], + [ + 6971.965, + 4163.558, + 714.189, + 0.0, + -21.08, + 0.0 + ], + [ + 7089.401, + 4118.291, + 714.189, + 0.0, + -21.08, + 0.0 + ], + [ + 7206.838, + 4073.023, + 714.189, + 0.0, + -21.08, + 0.0 + ], + [ + 7324.274, + 4027.755, + 709.859, + 0.0, + -21.08, + 0.0 + ], + [ + 7441.711, + 3982.487, + 708.275, + 0.0, + -21.08, + 0.0 + ], + [ + 7556.788, + 3980.266, + 708.275, + 0.0, + -21.08, + 0.0 + ], + [ + 7674.549, + 3936.47, + 708.275, + 0.0, + -21.08, + 0.0 + ], + [ + 7791.985, + 3891.202, + 708.275, + 0.0, + -21.08, + 0.0 + ], + [ + 7909.422, + 3845.934, + 711.278, + 0.0, + -21.08, + 0.0 + ], + [ + 7842.24, + 3871.831, + 708.275, + 0.0, + -21.08, + 0.0 + ], + [ + 7842.24, + 3871.831, + 708.275, + 0.0, + -21.08, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 6983.874, + 4011.351, + 634.218, + 0.0, + 0.0, + 0.0 + ], + [ + 6983.874, + 4011.351, + 634.218, + 0.0, + 0.0, + 0.0 + ], + [ + 6983.874, + 4011.351, + 634.218, + 0.0, + 0.0, + 0.0 + ], + [ + 6983.874, + 4011.351, + 634.218, + 0.0, + 0.0, + 0.0 + ], + [ + 6983.874, + 4011.351, + 634.218, + 0.0, + 0.0, + 0.0 + ], + [ + 6991.967, + 4171.06, + 684.381, + -28.202, + -20.935, + 1.862 + ], + [ + 6987.609, + 4179.48, + 684.654, + -28.189, + 4.077, + 1.872 + ], + [ + 6980.209, + 4184.519, + 683.987, + -28.215, + 29.047, + 1.849 + ], + [ + 7096.81, + 4138.321, + 683.8, + -28.202, + 29.061, + 1.858 + ], + [ + 7214.104, + 4093.107, + 684.062, + -28.208, + 29.062, + 1.852 + ], + [ + 7331.301, + 4047.94, + 678.484, + -28.189, + 29.079, + 1.867 + ], + [ + 7448.476, + 4002.761, + 678.865, + -28.207, + 29.055, + 1.857 + ], + [ + 7563.607, + 4000.527, + 678.917, + -28.188, + 29.076, + 1.875 + ], + [ + 7681.616, + 3956.632, + 678.497, + -28.191, + 29.072, + 1.873 + ], + [ + 7799.275, + 3911.272, + 677.972, + -28.213, + 29.05, + 1.85 + ], + [ + 7916.827, + 3865.968, + 680.848, + -28.204, + 29.061, + 1.855 + ], + [ + 7907.556, + 3846.654, + 668.275, + 0.0, + -21.08, + 0.0 + ], + [ + 7907.556, + 3846.654, + 668.275, + 0.0, + -21.08, + 0.0 + ] + ], + "PD_Dist_2D": [ + 388.1, + 276.3, + 276.3, + 276.3, + 152.7, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket stands on the floor ahead to my left, beside the striped drums and the tarp-covered load. It is still far down the hall, well out of arm's reach. I walk forward along the track to close that gap before attempting any grasp.", + "The bucket now sits clearly in the left foreground beside the drums and looks close enough that a grab may register. Since it is the item the task wants lifted, I will try to pick it up from here rather than step further. If the reach is short, my hands should simply stay empty.", + "My hands are empty, so that grasp attempt did not take hold. The bucket lay off to my left rather than straight along my heading, which likely put it outside reach. I turn left to bring it back in front of me for a straighter approach.", + "The bucket is now centred in my view, standing on the floor in front of the drums and the crate. My previous attempt from this distance came up empty, so the gap is still too large. I step forward to stand right over it before reaching again.", + "The bucket now fills the lower centre of my view, its open rim just below me beside the drums and crate. This is far closer than the range where my earlier attempt failed to take hold. I reach down and try to lift it so I can carry it toward the blue pipe.", + "The grasp at the drums worked and the metal bucket is now in my hands, no longer standing on the floor. With the bucket secured, the delivery point is the blue pipe further along the corridor, not the wall I am facing. I will turn right to swing my heading away from the wall and toward the open passage.", + "Carrying the bucket, my heading still points across the covered pallet and the cable wall rather than down the corridor. The lit passage and its far doors sit further to my right, with the blue pipe standing against the left wall along that stretch. I will turn right again to square up with the walkable corridor.", + "My heading is now down the middle of the corridor, with the rails and the far doors straight ahead and clear floor in front of me. The blue pipe rises against the left wall well down this stretch, still too distant to place the bucket beside it. I will walk forward along the corridor while carrying the bucket.", + "The tarped load has slid past on my left and the way ahead down the rails stays open. The blue pipe on the left wall is closer but still several strides off, so I am not yet in position to set the bucket down. I will keep walking forward with the bucket.", + "The blue pipe and the small pipes lying at its base are clearly visible ahead on the left wall and are growing larger as I advance. The bucket is still in my hands and the corridor remains clear, so nothing forces a detour. I will step forward again to close the remaining gap to the pipe.", + "The bucket is in my hands and travels with me, so I only need to carry it to the drop spot. Down the corridor on the left wall I can see the blue pipe standing among the cable runs, still well ahead. I will keep walking straight along the tracks toward it.", + "The blue pipe on the left wall has grown noticeably larger, confirming my heading is carrying the bucket toward it. Nothing blocks the open floor between me and that section of wall. Another step forward should close more of the remaining gap.", + "The blue pipe and the pale pipes lying at its base are now clearly in view slightly ahead on my left, but I am not yet beside them. Carrying the bucket further along this straight line keeps me on course. I will advance again.", + "The blue pipe now fills much of the left side of my view, so I am nearly level with the intended set-down spot. The bucket is still in my hands, and the floor ahead is clear. One more step should bring me alongside the pipe rather than short of it.", + "The blue pipe is very close on my left with the smaller pipes on the ground just beside it, but I am still slightly short of standing next to it. A final step should place the carried bucket right at the pipe before I release it.", + "The bucket is still in my hands and the blue standpipe now stands immediately at my left shoulder, with the smaller blue pipes on the floor just ahead. This is as close to the pipe as I can stand without pressing into the wall, so the placement condition should be satisfied here. I will release the bucket at this spot.", + "The metal bucket now rests on the floor right at the base of the blue pipe, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x006991_y004373_z000708_t1_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x006991_y004373_z000708_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1083b14dfcefc997b364230f05b5c87d2eeff7b7 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x006991_y004373_z000708_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Discover the rail cart sitting on the tracks near the exit opening, then approach it.", + "Type": 1, + "Start_Pose": [ + 6990.737, + 4373.202, + 708.275, + 0.0, + -118.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6990.737, + 4373.202, + 708.275, + 0.0, + -118.4, + 0.0 + ], + [ + 6990.737, + 4373.202, + 708.275, + 0.0, + -143.4, + 0.0 + ], + [ + 6889.695, + 4298.162, + 708.275, + 0.0, + -143.4, + 0.0 + ], + [ + 6788.653, + 4223.122, + 709.855, + 0.0, + -143.4, + 0.0 + ], + [ + 6788.653, + 4223.122, + 709.855, + 0.0, + -168.4, + 0.0 + ], + [ + 6665.365, + 4197.814, + 714.134, + 0.0, + -168.4, + 0.0 + ], + [ + 6542.076, + 4172.507, + 714.134, + 0.0, + -168.4, + 0.0 + ], + [ + 6418.788, + 4147.199, + 714.134, + 0.0, + -168.4, + 0.0 + ], + [ + 6295.5, + 4121.892, + 714.134, + 0.0, + -168.4, + 0.0 + ], + [ + 6172.211, + 4096.584, + 714.134, + 0.0, + -168.4, + 0.0 + ], + [ + 6048.923, + 4071.277, + 714.134, + 0.0, + -168.4, + 0.0 + ], + [ + 5925.635, + 4045.969, + 714.134, + 0.0, + -168.4, + 0.0 + ], + [ + 5802.346, + 4020.662, + 708.419, + 0.0, + -168.4, + 0.0 + ], + [ + 5679.058, + 3995.354, + 708.419, + 0.0, + -168.4, + 0.0 + ], + [ + 5679.058, + 3995.354, + 708.419, + 0.0, + 166.6, + -0.0 + ], + [ + 5556.625, + 4024.522, + 708.419, + 0.0, + 166.6, + -0.0 + ], + [ + 5434.193, + 4053.69, + 714.127, + 0.0, + 166.6, + -0.0 + ], + [ + 5311.76, + 4082.857, + 714.127, + 0.0, + 166.6, + -0.0 + ], + [ + 5311.76, + 4082.857, + 714.127, + 0.0, + 166.6, + -0.0 + ] + ], + "Rationale": [ + "From here I see rails running across the floor toward the left, with crates, barrels and cable trays lining the wall ahead, but no rail cart in view. The tracks clearly lead toward a lit opening at the far left edge of my view, so I will turn left to bring that exit and the rail line into the center of my sight. That should reveal whether a cart is standing on the tracks near the opening.", + "The turn has lined me up with the bright exit opening, and the tracks run straight from my feet through that doorway. Down the corridor beyond the opening I can make out a low dark object resting on the rails, which fits the cart I am looking for. I will walk forward along the tracks to close distance and confirm it.", + "The opening is noticeably larger now and the flat, dark shape sitting on the rails beyond it has become clearer. Nothing blocks the floor between me and the doorway, so continuing straight is the direct way to reach it. I will step forward again along the track line.", + "The exit opening and the cart on the rails sit slightly to my left, while my heading still drifts toward the crates and cable wall on the right. Turning left should square me with the doorway and the track line running through it. That alignment should let me walk straight through without clipping the door frame.", + "I am now centered on the wide doorway with the rails running straight into it and the small cart visible on the tracks in the corridor beyond. The path ahead is open concrete with no obstruction. I will move forward to pass through the opening and shorten the gap to the cart.", + "The doorway frame now fills much of my view and the cart on the rails ahead is a little more distinct. My heading still follows the rail line straight through the opening, so no correction is needed. I will keep walking forward toward it.", + "I am close to the threshold with the heavy doors swung open on both sides and the corridor beyond well lit. The dark cart body on the rails is plainly visible straight ahead. I will continue forward to pass through the opening and keep closing on it.", + "I have reached the opening itself, with the rails continuing under my feet into the corridor and the cart sitting on them a short way ahead. The route stays clear and straight, so no turn is required. I will step forward again to keep approaching the cart.", + "I have passed through the heavy doorway and the flat rail cart with its dark load is clearly visible ahead, sitting on the rails I am following. It is still a good distance down the corridor, so I will keep walking straight along the track to close that gap.", + "The cart has grown noticeably larger and stays near the center of my view, confirming my heading along the rails is still good. I will step forward again to continue closing on it.", + "The cart's flat deck and the dark object resting on it are now distinct, though it still sits several body lengths down the tunnel. The path along the rails remains clear, so another step forward should bring me closer.", + "The cart is drifting slightly to the left side of my view as I advance, but it is still comfortably within reach of my forward path. I will continue walking straight toward it before considering any heading adjustment.", + "The cart now clearly shows its wheels and frame on the rails to my left front, meaning I am close but not yet beside it. Another forward step should bring me nearly level with it.", + "The cart has shifted well to the left edge of my view while my heading points down the right side of the corridor toward the brick wall and pipes. I will turn left to bring the cart back into the center of my view before advancing further.", + "The turn has recentered the rail cart in front of me, with its deck and wheels squarely on the tracks ahead. I will walk forward to close the remaining short distance to it.", + "The cart now fills much of the lower center of my view, so I am only a step or two from standing beside it. I will move forward again to finish closing that short gap.", + "The rail cart on the tracks now fills the lower center of my view, its flatbed and load close in front of me and squarely on my heading. One more short step forward should close the last of the gap and bring me right up against the cart.", + "The rail cart on the tracks is directly in front of me, its deck and load filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t2_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05da8d5ff348b98ab6d25b47467de78aed0e1be4 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the leftmost barrel beside the crates.", + "Type": 2, + "Start_Pose": [ + 7502.997, + 4178.227, + 714.275, + 0.0, + -177.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7502.997, + 4178.227, + 714.275, + 0.0, + -177.6, + 0.0 + ], + [ + 7377.248, + 4172.957, + 714.275, + 0.0, + -177.6, + 0.0 + ], + [ + 7251.5, + 4167.686, + 714.275, + 0.0, + -177.6, + 0.0 + ], + [ + 7125.751, + 4162.416, + 714.275, + 0.0, + -177.6, + 0.0 + ], + [ + 7000.003, + 4157.145, + 714.275, + 0.0, + -177.6, + 0.0 + ], + [ + 6874.254, + 4151.875, + 714.275, + 0.0, + -177.6, + 0.0 + ], + [ + 6874.254, + 4151.875, + 714.275, + 0.0, + 157.4, + -0.0 + ], + [ + 6758.06, + 4200.242, + 714.275, + 0.0, + 157.4, + -0.0 + ], + [ + 6641.865, + 4248.609, + 708.437, + 0.0, + 157.4, + -0.0 + ], + [ + 6641.865, + 4248.609, + 708.437, + 0.0, + 157.4, + -0.0 + ] + ], + "Rationale": [ + "Barrels sit beside crate stacks on both sides of this tunnel, and the one furthest to the left is a pale drum tucked against the left wall next to a low green crate. It lies well down the corridor, so I walk straight ahead along the rails to close that distance.", + "The pale drum beside the green crate on the left is a little larger now but still far down the tunnel. The path between the rails stays clear, so I keep walking forward toward it.", + "The pale drum and the green crate beside it are resolving clearly along the left wall, past the pipe lying on the floor. Nothing stands between me and them, so I continue forward down the corridor.", + "The drum beside the green crate now shows plainly at the left edge of my view, set back against the wall. I am not yet level with it, so I take another stride forward.", + "The pale drum with its green crate is nearly abreast of me on the left, though still hard against the wall. One more forward step should bring me level enough to swing toward it.", + "My heading still runs straight down the tunnel toward the lit doorway, while the pale drum and the green crate sit off to my left near the wall. I will turn left so the drum comes in front of me and I can walk in on it directly.", + "The turn has brought the pale drum and the green crates into the center-left of my view with clear floor between us. I walk forward to close the remaining gap.", + "The pale drum is close now, standing large in the lower left of my view beside the green crates. A final step forward should put me right alongside it.", + "The pale drum fills the lower left of my view at arm's reach, right beside the green crates. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t2_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0155e67ea216612f36589567cdeac7aab4c282ba --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Reach the rightmost barrel.", + "Type": 2, + "Start_Pose": [ + 7502.997, + 4178.227, + 714.275, + 0.0, + -177.6, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7502.997, + 4178.227, + 714.275, + 0.0, + -177.6, + 0.0 + ], + [ + 7502.997, + 4178.227, + 714.275, + 0.0, + -152.6, + 0.0 + ], + [ + 7391.258, + 4120.307, + 714.275, + 0.0, + -152.6, + 0.0 + ], + [ + 7279.518, + 4062.387, + 714.275, + 0.0, + -152.6, + 0.0 + ], + [ + 7279.518, + 4062.387, + 714.275, + 0.0, + -127.6, + 0.0 + ], + [ + 7203.781, + 3980.547, + 708.275, + 0.0, + -127.6, + 0.0 + ], + [ + 7122.459, + 3926.938, + 708.275, + 0.0, + -127.6, + 0.0 + ], + [ + 7122.459, + 3926.938, + 708.275, + 0.0, + -127.6, + 0.0 + ] + ], + "Rationale": [ + "Down the right wall a short row of barrels stands beyond the crates, and the last one at the far right edge is the rust red drum with a pale yellow band, so that is the one I want. My body faces straight down the tunnel, leaving it at the very margin of my view. I will turn right to swing that side of the corridor in front of me.", + "The crates and the barrels are now well inside my view on the right, with the red and yellow drum among them. They are still a good distance ahead along the wall. I will step forward to close that gap.", + "The drums have grown noticeably larger and the red one with the yellow band sits clearly at the near end of the group. I am still several paces short of it. Another step forward should bring me alongside them.", + "I am nearly level with the drums, but they sit off to my right while my heading still runs down the tunnel. Turning right should put the red and yellow barrel squarely ahead of me. I will make that turn before stepping in.", + "The wall and its cable runs now fill my view, with the drums grouped ahead and slightly left, the red and yellow one nearest me. Seen from this angle they no longer read as a row, so I am holding to that red barrel itself. I will walk toward it.", + "The red barrel with the yellow band now stands large in front of me, its lid and rim clearly visible. A little distance still separates me from it. One more step should bring me right up to it.", + "The red barrel with the yellow band fills the near view at arm's length. I have reached it, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..59e2d20907edf8845bc9b8a8d74bcb5a5cb8be1f --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x007503_y004178_z000714_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the ceramic vase near the leftmost barrel beside the crates.", + "Type": 5, + "Start_Pose": [ + 7502.997, + 4178.227, + 714.275, + 0, + -177.6, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 6764.655, + 3921.989, + 628.275, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7502.997, + 4178.227, + 714.275, + 0, + -177.6, + 0 + ], + [ + 7502.997, + 4178.227, + 714.275, + 0.0, + -152.6, + 0.0 + ], + [ + 7391.258, + 4120.307, + 714.275, + 0.0, + -152.6, + 0.0 + ], + [ + 7279.518, + 4062.387, + 714.275, + 0.0, + -152.6, + 0.0 + ], + [ + 7167.778, + 4004.466, + 708.275, + 0.0, + -152.6, + 0.0 + ], + [ + 7056.039, + 3946.546, + 708.275, + 0.0, + -152.6, + 0.0 + ], + [ + 7056.039, + 3946.546, + 708.275, + 0.0, + -177.6, + 0.0 + ], + [ + 6930.29, + 3941.276, + 708.275, + 0.0, + -177.6, + 0.0 + ], + [ + 6930.29, + 3941.276, + 708.275, + 0.0, + -177.6, + 0.0 + ], + [ + 6930.29, + 3941.276, + 708.275, + 0.0, + -177.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 6764.655, + 3921.989, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 6764.655, + 3921.989, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 6764.655, + 3921.989, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 6764.655, + 3921.989, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 6764.655, + 3921.989, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 6764.655, + 3921.989, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 6764.655, + 3921.989, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 6764.655, + 3921.989, + 628.275, + 0.0, + 0.0, + 0.0 + ], + [ + 6931.794, + 3919.966, + 678.381, + -28.202, + -127.456, + 1.862 + ], + [ + 6931.794, + 3919.966, + 678.381, + -28.202, + -127.456, + 1.862 + ] + ], + "PD_Dist_2D": [ + 781.5, + 781.5, + 657.2, + 533.7, + 411.5, + 292.4, + 292.4, + 166.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The barrels and stacked crates that the task refers to sit along the right-hand wall of this tunnel, well ahead of me, while my heading points straight down the empty track. I will turn right so that storage row falls into the center of my view and I can walk toward it directly.", + "The barrel cluster and the crates beside it are now framed on the right side of my view, but they are still far down the tunnel. The floor between me and them is open, so I will walk forward to close that distance.", + "The barrels along the right wall are noticeably larger than before, so my heading is carrying me toward the right storage row. Nothing blocks the aisle, so I will keep walking forward to reach a position where I can inspect what stands beside the leftmost barrel.", + "A pale ceramic vase is now distinguishable at the near end of the barrel row, just past the wooden crate stack. It is still several paces off, so I will continue forward to bring it within reach.", + "The vase beside the leftmost barrel is clearly identified now and sits ahead and slightly left of my path. I will step forward again to shorten the remaining gap before I settle my heading on it.", + "From this close range the vase has drifted to the left edge of my view while the barrels crowd the center and right. I will turn left so the vase sits squarely in front of me and my forward path leads straight to it.", + "The ceramic vase now stands centered ahead of me, between the crate stack and the first barrel, with clear floor in between. One more step forward should bring it close enough for my hands to reach.", + "The tall ceramic vase fills the near center of my view, standing right beside the leftmost barrel and the crates, close enough that nothing lies between us. I will attempt to pick it up now.", + "The ceramic vase is now held in my hands rather than standing by the barrel. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x007606_y004128_z000714_t3_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x007606_y004128_z000714_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..41c72d38b0ebaf867ebdab3e2823d6864b229e93 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x007606_y004128_z000714_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Approach the wooden crate near the blue barrel at the end of the corridor, then move to the green tarp.", + "Type": 3, + "Start_Pose": [ + 7605.958, + 4127.857, + 714.232, + 0, + -176.64, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7605.958, + 4127.857, + 714.232, + 0, + -176.64, + 0 + ], + [ + 7480.315, + 4120.48, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 7354.673, + 4113.104, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 7229.03, + 4105.727, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 7103.387, + 4098.351, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 6977.745, + 4090.974, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 6977.745, + 4090.974, + 714.275, + 0.0, + 158.36, + -0.0 + ], + [ + 6860.756, + 4137.388, + 714.275, + 0.0, + 158.36, + -0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + 158.36, + -0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + 158.36, + -0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + 158.36, + -0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + -176.64, + 0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + -151.64, + 0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + -126.64, + 0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + -101.64, + 0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + -76.64, + 0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + -51.64, + 0.0 + ], + [ + 6626.78, + 4230.215, + 708.388, + 0.0, + -26.64, + 0.0 + ], + [ + 6739.278, + 4173.782, + 714.263, + 0.0, + -26.64, + 0.0 + ], + [ + 6851.776, + 4117.349, + 714.263, + 0.0, + -26.64, + 0.0 + ], + [ + 6964.274, + 4060.916, + 714.263, + 0.0, + -26.64, + 0.0 + ], + [ + 7076.772, + 4004.482, + 708.398, + 0.0, + -26.64, + 0.0 + ], + [ + 7164.747, + 3969.37, + 708.394, + 0.0, + -26.64, + 0.0 + ], + [ + 7164.747, + 3969.37, + 708.394, + 0.0, + -26.64, + 0.0 + ] + ], + "Rationale": [ + "The corridor runs straight away from me along the rails toward a lit opening, with crates, drums and a draped tarp set against the walls far down its length. The floor between is clear, so I walk forward to begin closing that distance.", + "The stacked wooden crates and the drums beside the right wall have grown slightly larger, confirming my heading down the corridor is right. I continue walking forward since the track bed ahead stays clear.", + "The crate stack and the ribbed drums on my right are clearly nearer, and the far doorway is still centered ahead. I take another step forward along the rails to keep gaining ground toward the storage set at the corridor's end.", + "The wooden crates on the right now stand almost at my shoulder height in view, and a drum sits against the left wall further along. I keep walking forward down the open track bed toward the end of the corridor.", + "I am nearly level with the tall crate stack on my right, while a bluish drum and low green boxes wait further ahead on the left. I walk forward again to draw even with that far cluster near the doorway.", + "The crate and drum grouping I want now lies off to my left, with the bluish barrel and boxes tucked against that wall short of the doorway. My body still points straight down the rails, so I turn left to put that grouping in front of me before walking on.", + "The blue barrel and the crate beside it now sit ahead on my left, squarely within my line of travel. With clear floor between us, I walk forward to close on them.", + "The bluish barrel and the boxed crate against the left wall have grown much larger, so my heading toward them is holding. I step forward again to come alongside that pair.", + "The blue barrel and the wooden crating stacked beside it are now close along the left wall, just short of the open blast doorway. A short step ahead should bring me level with them rather than leaving them behind my shoulder, so I walk forward.", + "The blue barrel and the wooden crates stacked next to it are right beside me at the left wall, at the end of this stretch of corridor by the doorway. I have arrived at the crate by the blue barrel. I mark reaching it, and now I head for the green tarp.", + "With the crate by the blue barrel reached, nothing green shows along this forward heading into the far hall. I begin swinging my view to the right so I can sweep the walls behind and beside me for the tarp.", + "The doorway has slid toward my left and I am now looking across the bare concrete wall with its cable runs. Still no tarp in sight, so I continue rotating right to bring more of the corridor behind me into view.", + "My view has swung well past the doorway and now shows the side wall with its cabling and pale crates. The tarp is not on this bearing, so I keep turning right to continue the sweep.", + "I am facing the stacked crates and cable bundles on the wall almost head on, with no green fabric anywhere in this arc. Another turn to the right should carry my heading further around toward the length of corridor I have not yet scanned.", + "Barrels are now appearing past the crates at the right side of my view, which means the wall continues in that direction. I turn right again to open up that stretch and look for the tarp there.", + "A fold of green fabric has just come into the right edge of my view, past the barrels and beneath the painted letter on the wall. That looks like the tarp, so I turn right once more to bring it toward the middle of my view.", + "The green tarp draped over the crates is now in view along the left wall, but my body is still angled into that wall rather than down the open floor beside it. One more turn to the right should swing my heading onto the clear lane that runs toward the tarp.", + "My heading now runs straight down the corridor, with the green tarp hanging over the crate ahead on my left and clear floor between us. I will walk forward to close that gap.", + "The tarp has grown noticeably larger along the left wall, so my heading is carrying me toward it. Another step forward should bring me alongside its folds.", + "The draped green tarp and the crate under it are only a short stretch ahead on my left now. I keep walking forward to reach the ground beside it.", + "The tarp now towers close on my left, its folds nearly at arm's reach past the crate. One more step forward should put me right at it.", + "The hanging green tarp is immediately beside me, its fabric filling the left of my view. A final short step forward should settle me squarely at it.", + "The green tarp hangs directly beside me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x007606_y004128_z000714_t5_a_pd/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x007606_y004128_z000714_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba002d472dc4af8729136e7493d04e98d72c9658 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x007606_y004128_z000714_t5_a_pd/infos.json @@ -0,0 +1,487 @@ +{ + "Instruction": "Pick up the wicker basket by the wooden crate near the blue barrel, then leave it near the green tarp.", + "Type": 5, + "Start_Pose": [ + 7605.958, + 4127.857, + 714.232, + 0, + -176.64, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 6641.988, + 4273.503, + 652.503, + 90, + 103.36, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7605.958, + 4127.857, + 714.232, + 0, + -176.64, + 0 + ], + [ + 7480.315, + 4120.48, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 7354.673, + 4113.104, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 7229.03, + 4105.727, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 7103.387, + 4098.351, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 6977.745, + 4090.974, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 6977.745, + 4090.974, + 714.275, + 0.0, + 158.36, + -0.0 + ], + [ + 6860.756, + 4137.388, + 714.275, + 0.0, + 158.36, + -0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + 158.36, + -0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + 158.36, + -0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + -176.64, + 0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + -151.64, + 0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + -126.64, + 0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + -101.64, + 0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + -76.64, + 0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + -51.64, + 0.0 + ], + [ + 6743.768, + 4183.801, + 714.275, + 0.0, + -26.64, + 0.0 + ], + [ + 6856.266, + 4127.369, + 714.275, + 0.0, + -26.64, + 0.0 + ], + [ + 6968.765, + 4070.936, + 714.275, + 0.0, + -26.64, + 0.0 + ], + [ + 7081.263, + 4014.504, + 708.275, + 0.0, + -26.64, + 0.0 + ], + [ + 7181.177, + 3978.831, + 708.27, + 0.0, + -26.64, + 0.0 + ], + [ + 7287.429, + 3980.387, + 708.268, + 0.0, + -26.64, + 0.0 + ], + [ + 7223.072, + 4012.671, + 708.268, + 0.0, + -26.64, + 0.0 + ], + [ + 7223.072, + 4012.671, + 708.268, + 0.0, + -26.64, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6641.988, + 4273.503, + 652.503, + 90.0, + 103.36, + 0.0 + ], + [ + 6736.461, + 4163.727, + 684.381, + -28.202, + -151.495, + 1.862 + ], + [ + 6745.692, + 4161.564, + 684.654, + -28.189, + -126.483, + 1.872 + ], + [ + 6754.332, + 4163.908, + 683.987, + -28.215, + -101.512, + 1.849 + ], + [ + 6761.803, + 4163.574, + 684.041, + -14.092, + -84.296, + 6.87 + ], + [ + 6764.881, + 4179.898, + 684.057, + -28.208, + -51.497, + 1.851 + ], + [ + 6765.546, + 4189.514, + 684.725, + -28.198, + -26.494, + 1.867 + ], + [ + 6761.847, + 4197.898, + 684.372, + -28.195, + -1.494, + 1.865 + ], + [ + 6760.556, + 4205.075, + 684.041, + -14.092, + 15.704, + 6.87 + ], + [ + 6865.19, + 4146.784, + 684.607, + -28.198, + 23.506, + 1.865 + ], + [ + 6977.954, + 4090.221, + 684.07, + -28.191, + 23.519, + 1.871 + ], + [ + 7090.561, + 4033.723, + 677.789, + -28.214, + 23.49, + 1.852 + ], + [ + 7190.257, + 3998.166, + 678.244, + -28.2, + 23.502, + 1.862 + ], + [ + 7296.085, + 3999.933, + 678.977, + -28.197, + 23.506, + 1.871 + ], + [ + 7285.641, + 3981.284, + 673.268, + 90.0, + -26.64, + 0.0 + ], + [ + 7285.641, + 3981.284, + 673.268, + 90.0, + -26.64, + 0.0 + ] + ], + "PD_Dist_2D": [ + 974.9, + 852.2, + 730.5, + 610.5, + 493.5, + 382.2, + 382.2, + 257.7, + 135.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 27.1, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this end of the tunnel I can see only the rail lane running straight toward a lit doorway, with barrels and crates stacked far down the right wall. No wicker basket is close enough to identify yet, so I will walk forward along the clear lane to bring that storage area within view.", + "The doorway ahead has grown slightly and the stacked crates and drums on the right are becoming clearer, so my heading down the lane is productive. The basket still is not distinguishable among them, so I continue walking forward.", + "The drums and wooden crates along the right wall are now clearly separated, and the floor between the rails stays free of obstruction. I will keep advancing to reach the storage area where the basket should be sitting.", + "The crate stacks on the right and the ventilation duct lying on the left are close enough now to show detail, but no wicker basket is among them. The passage through the doorway is still ahead, so I step forward again.", + "The tall crate stacks are now beside me on the right and the doorway into the next chamber fills more of the view. The basket must lie further along, so I keep walking forward down the lane.", + "Nothing resembling a wicker basket is among the crates and drums stacked immediately to my right, and my heading points at that right-hand wall rather than the open left side of the passage. I will turn left to face the left lane and its clutter of drums and boxes, where the basket is more likely to sit.", + "With my heading now on the left lane, the duct sections, a drum and a green box stand along that wall ahead of me. The lane between the rails and the wall is clear, so I will walk forward toward those landmarks.", + "Just ahead on the left I can make out a drum and a wooden box set against the cabled wall, matching the landmarks the basket should be next to. It is still too far to reach from here, so I will step forward once more to close the gap for a grasp.", + "The wicker basket is right at my feet in the near corner of my view, beside the barrel and the crates stacked against the cabled wall. It is close enough that no further stepping is needed, so I will attempt to grasp it now and take it with me toward the green tarp.", + "The grasp worked: the wicker basket is now in my hands rather than resting by the barrel. The green tarp hangs back along the wall behind my present heading, so I will turn right to start swinging my facing around for the return trip.", + "My heading has come back onto the corridor, but I still see only the doorway ahead and the green ammunition boxes to my left, with no tarp anywhere. Carrying the basket, I will turn right again to keep rotating toward the side of the bay where the tarp is draped.", + "The doorway has swung over to my left and the stacked crates now fill my right, so my facing is still short of the wall where the tarp hangs. I will turn right once more to continue bringing that stretch of wall around into view.", + "I am now looking almost squarely at the cable-lined wall and the stacked crates, with no clear floor to walk along in this direction. Another right turn should carry the sweep further around while the basket stays in my hands.", + "Crates, barrels and bare wall are all that fill my view, so the tarp must lie still further around to my right. I will turn right again to keep rotating my heading along the wall.", + "The row of barrels is centred now and a fold of green fabric has just appeared at the right edge of my view. I will turn right again to bring that tarp properly into the middle of my view while holding the basket.", + "The green tarp is clearly in sight, draped over a crate against the wall a short way down the bay. My body is still angled into that wall instead of along the open floor, so I will turn right once more to line up with the passage that runs past it.", + "The basket is secure in my hands and my heading now runs down the tunnel with the green tarp draped over crates ahead on my left. Nothing blocks the open floor between the rails and that wall, so I will walk forward to close the gap toward the tarp.", + "The tarp has grown larger on my left, confirming my heading is carrying the basket toward the drop area. It is still a few paces off, so I will keep walking forward along the clear floor.", + "The tarp and the crate it covers now dominate the left side of my view, but I am still short of standing beside it. Another step forward should bring me level with the tarp before I set the basket down.", + "The hanging tarp fills the near left of my view, so I am almost at the release spot with the basket still held. I will step forward once more to reach a position squarely beside its folds.", + "I am walking right along the tarp's hanging edge, which now covers most of my left view, and the basket remains in my hands. One more short step should place me fully at the tarp so the basket lands clearly beside it.", + "I am standing directly against the green tarp, with its fabric filling my left side and the floor beside it clear. This is the intended release spot, so I will release the basket here and it should come to rest near the tarp.", + "The wicker basket rests on the floor right beside the green tarp and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a3ea59852b96519494baddab296b5f4293de9f94 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the leftmost crate.", + "Type": 2, + "Start_Pose": [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -53.8, + 0.0 + ], + [ + 8708.259, + 4091.97, + 714.275, + 0.0, + -53.8, + 0.0 + ], + [ + 8782.592, + 3990.407, + 708.275, + 0.0, + -53.8, + 0.0 + ], + [ + 8856.925, + 3888.844, + 708.275, + 0.0, + -53.8, + 0.0 + ], + [ + 8931.258, + 3787.28, + 713.802, + 0.0, + -53.8, + 0.0 + ], + [ + 9005.591, + 3685.717, + 714.058, + 0.0, + -53.8, + 0.0 + ], + [ + 9079.924, + 3584.154, + 714.058, + 0.0, + -53.8, + 0.0 + ], + [ + 9154.257, + 3482.591, + 708.275, + 0.0, + -53.8, + 0.0 + ], + [ + 9228.59, + 3381.027, + 708.275, + 0.0, + -53.8, + 0.0 + ], + [ + 9228.59, + 3381.027, + 708.275, + 0.0, + -53.8, + 0.0 + ] + ], + "Rationale": [ + "The crates stand in a row along the wall on the left side of the bay, and the one I want is the far end of that run, the end closest to the heavy double doors. The crates look much alike, so I will hold my target by that end position rather than by any marking. Turning left should bring that end of the row and the open floor lane toward it in front of me.", + "My heading now runs down the bay with the crates and the double doors ahead of me and clear floor between the rails. Nothing blocks the lane, so I step forward to close the long gap to the crate at the door end of the row.", + "The crates and the doors behind them have grown noticeably, confirming my heading carries me straight toward the end of the row I chose. The lane between the rails stays clear, so I keep walking forward.", + "The stacked crates against the cable wall are clearly ahead and slightly right of my path, with the doors framing the far end. There is still a good stretch of floor between me and them, so another step forward is the direct way to shorten it.", + "I am well down the bay now, with the crate stack and the single large crate spread across the right of my view and the doors close on the left. The crate I am going to, at the door end of the run, is still ahead of me, so I continue walking.", + "The crates are close enough now that I can read the boards on the large one beside me, and the stack I am aiming at sits just beyond it. A few more strides should bring me level with the crate at the door end, so I step forward again.", + "From this close the crates no longer read as a countable row, but the stack against the cable wall by the doors is the one I have been walking to and it is directly ahead. The floor beside the rail is still open, so I keep moving forward toward it.", + "The stacked crate beside the cable runs now towers in front of me and the doors sit just past its left edge, so I am nearly at it. One more step should put me right against its face rather than a stride short.", + "The crate stack fills the left half of my view and the doors are reduced to a sliver past it, so I am almost alongside it but not yet touching. A short stride should close that last bit of floor and bring me flush with its face.", + "The crate boards fill my view at arm's length. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_b/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab29ea450d995a428c7019a3ef7d8dcec083117f --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the single crate right of the stacks.", + "Type": 2, + "Start_Pose": [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + [ + 8744.217, + 4132.9, + 714.275, + 0.0, + -28.8, + 0.0 + ], + [ + 8854.508, + 4072.267, + 714.275, + 0.0, + -28.8, + 0.0 + ], + [ + 8964.799, + 4011.634, + 714.275, + 0.0, + -28.8, + 0.0 + ], + [ + 8964.799, + 4011.634, + 714.275, + 0.0, + -53.8, + 0.0 + ], + [ + 9039.132, + 3910.071, + 714.275, + 0.0, + -53.8, + 0.0 + ], + [ + 9113.465, + 3808.508, + 709.684, + 0.0, + -53.8, + 0.0 + ], + [ + 9187.798, + 3706.944, + 708.275, + 0.0, + -53.8, + 0.0 + ], + [ + 9187.798, + 3706.944, + 708.275, + 0.0, + -53.8, + 0.0 + ] + ], + "Rationale": [ + "Ahead on the left wall I see a pile of stacked crates, and just to their right one pale wooden crate standing alone on the floor by the corner; that lone crate is my target. It sits well across the track floor, so I will walk forward to close the gap.", + "The lone crate beside the corner is larger in view now but still several strides off, past the rails in front of me. I keep walking straight since my heading still points into that side of the bay.", + "The solitary crate near the cable-covered corner is clearly separated from the stacked pile behind it, and it now sits left of my center of view. Another step forward should bring me nearer before I need to swing my heading toward it.", + "Walking straight has carried the lone crate toward the left edge of my view, with the corner wall and its cable runs filling the middle. I will turn left so that crate sits ahead of me and I can advance directly at it.", + "The turn worked: the single crate now stands ahead of me on the open floor, with the stacked crates behind and left of it. The lane along the wall is clear, so I walk forward toward it.", + "The lone crate is close now, its planks and lid clearly visible, still set apart from the darker stack beyond it. I take another step forward to reach it.", + "My own shadow falls across the front face of the crate, so I am nearly on top of it. One more short step should place me right at its side.", + "The lone crate fills the view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_c/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e5dc61f96a378bcddaecab30a9d49949068d8b2b --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the large double doors on the right.", + "Type": 2, + "Start_Pose": [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 8759.508, + 4185.192, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 8885.09, + 4176.851, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 9010.673, + 4168.51, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 9136.255, + 4160.169, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 9261.837, + 4151.827, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 9387.42, + 4143.486, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 9513.002, + 4135.145, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 9638.584, + 4126.804, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 9764.166, + 4118.463, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 9764.166, + 4118.463, + 714.275, + 0.0, + -3.8, + 0.0 + ] + ], + "Rationale": [ + "Two doorways open onto this bay: a small dark one in the left wall, and on the right a tall pair of metal double doors carrying two red wheel handles. Those wheeled doors are what I want, so I turn right to bring them in front of me.", + "The double doors with the red wheel handles now sit centered at the far end of the bay, with the floor rails running straight toward them. The lane between the cable racks is clear, so I walk forward to begin closing the long gap.", + "The wheeled doors have grown slightly but are still well down the corridor, framed between the two cable-racked walls. My heading stays true along the rails, so I keep walking straight ahead.", + "The red wheels on the doors are becoming distinct, and the stacked crates sit off to the right of my path rather than in it. I advance again to shorten the remaining distance.", + "The doors now fill the end wall clearly, with both red handwheels sharp and the lamp above them lit. Plenty of open floor still lies between us, so I step forward once more.", + "I am squarely aligned on the double doors, the seam between the two leaves lining up near the middle of my view. I am not yet within reach of them, so I continue walking straight in.", + "The doors now tower across almost the whole frame and the crates have slipped to the right edge of my view. A short stretch of rail floor still separates me from the panels, so I keep advancing.", + "Only the door leaves and their two red wheels remain in front of me, with a last few paces of rail floor visible at the bottom. I step forward again to bring myself right up against them.", + "Rust texture and the weld seams on the leaves are readable now, and the rails vanish under a short apron of floor at the bottom edge. That remaining strip means I am close but not yet at the doors, so I take another step in.", + "The two red handwheels and the bar handles above them dominate my view, with only a sliver of ground left beneath the panels. One more step should put me right at the doors, so I walk forward again.", + "The metal leaves and their center seam are within arm's reach, one red wheel at the edge of my view. I have arrived at these doors, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_d/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d1bafea411b8d735c5b13fdfa552038d1004da4 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Move to the door on the far left.", + "Type": 2, + "Start_Pose": [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -53.8, + 0.0 + ], + [ + 8708.259, + 4091.97, + 714.275, + 0.0, + -53.8, + 0.0 + ], + [ + 8782.592, + 3990.407, + 708.275, + 0.0, + -53.8, + 0.0 + ], + [ + 8782.592, + 3990.407, + 708.275, + 0.0, + -78.8, + 0.0 + ], + [ + 8807.038, + 3866.945, + 708.275, + 0.0, + -78.8, + 0.0 + ], + [ + 8831.484, + 3743.483, + 708.275, + 0.0, + -78.8, + 0.0 + ], + [ + 8855.93, + 3620.021, + 708.275, + 0.0, + -78.8, + 0.0 + ], + [ + 8880.376, + 3496.559, + 708.275, + 0.0, + -78.8, + 0.0 + ], + [ + 8904.823, + 3373.097, + 708.275, + 0.0, + -78.8, + 0.0 + ], + [ + 8929.269, + 3249.635, + 713.642, + 0.0, + -78.8, + 0.0 + ], + [ + 8953.715, + 3126.172, + 714.187, + 0.0, + -78.8, + 0.0 + ], + [ + 8978.161, + 3002.71, + 714.187, + 0.0, + -78.8, + 0.0 + ], + [ + 9002.607, + 2879.248, + 714.187, + 0.0, + -78.8, + 0.0 + ], + [ + 9027.053, + 2755.786, + 714.187, + 0.0, + -78.8, + 0.0 + ], + [ + 9051.164, + 2637.247, + 714.275, + 0.0, + -78.8, + 0.0 + ], + [ + 9051.164, + 2637.247, + 714.275, + 0.0, + -78.8, + 0.0 + ] + ], + "Rationale": [ + "Two similar steel double doors with red valve wheels flank this hall, and the one I want sits at the far left edge of my view, barely inside the frame past the cable racks. Since they look alike, I hold onto the one at the end of the left-hand wall rather than any count. I will turn left to bring it properly into view.", + "The turn has opened up the left side, and the steel door with its red wheels now shows ahead beyond the stacked crates and the concrete partition. The floor between me and it is clear along the rails. I will walk forward to close that distance.", + "The double door with the pair of red wheels is larger now and still sits ahead to my left, past the crate stacks lining the partition wall. Nothing blocks the lane I am walking. I will keep stepping forward to shorten the gap before correcting my heading.", + "My path is carrying me past the door, which now sits well off to the left behind the pillar and crate stacks. The rails run straight from there toward me, so a small left turn should put that corridor and the door dead ahead. I will turn left to square up with it.", + "The turn has centered the steel door at the end of the rail corridor, its two red wheels catching the light under the lamp. Cable racks line the wall on my left and crates on my right, leaving the track lane open. I will walk straight ahead down it.", + "The door stays centered on my heading and is noticeably nearer, with the crates on the right and the ammunition boxes on the left passing by cleanly. No correction is needed to my direction. I will keep advancing along the rails.", + "The steel double door now fills much more of the corridor end and its red wheels are clearly resolved. My heading is still true down the middle of the tracks. I will continue walking forward to close in.", + "I am well into the corridor with the door squarely ahead, its frame and hazard stripes now filling the far wall. There is still open floor between me and it, so I have not yet arrived. I will step forward again to keep closing the remaining distance.", + "The steel door sits dead center with its two red wheels plainly readable, and the rails run under my feet straight to its threshold. Several strides of open floor remain before I would be standing at it. I will keep walking forward.", + "Crate stacks and cable bundles now crowd the edges of my view as the door widens across the far wall, which tells me the gap is shrinking. My line down the tracks needs no correction. I will advance again.", + "The door's frame and the hazard stripes on the flanking pillars are sharp now, and the two red wheels sit level with my chest height straight ahead. There is still a stretch of track before the sill. I will step forward once more.", + "The double door fills nearly the whole width of my view and its panel seams are distinct, yet the rails still carry a short run before its base. That remaining strip means I am not close enough to call this arrival. I will keep closing.", + "Only the door and its concrete jambs remain in front of me, with the red wheels large and centered. A last bit of floor separates me from the panels. I will move forward to close it.", + "The panels now dominate everything except a sliver of the side wall, and the wheels are close enough that their spokes and the door handles read clearly. My own shadow falls on the steel, so I am nearly touching distance. I will take another step in.", + "The two red wheels fill my view at arm's reach with the steel surface behind them, so I am right up against these doors. One short step should place me squarely at the threshold. I will advance that last bit.", + "The red valve wheel and the steel panel are right against me, filling my view at contact range. I have reached this door, so there is nothing left to do." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_e/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5fa2efe94a685f94cbeb0520cfc7eec387b9ffc0 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008634_y004194_z000714_t2_e/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Proceed to the right crate.", + "Type": 2, + "Start_Pose": [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -28.8, + 0.0 + ], + [ + 8633.926, + 4193.533, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 8759.508, + 4185.192, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 8885.09, + 4176.851, + 714.275, + 0.0, + -3.8, + 0.0 + ], + [ + 8885.09, + 4176.851, + 714.275, + 0.0, + 21.2, + -0.0 + ], + [ + 9002.432, + 4222.365, + 714.275, + 0.0, + 21.2, + -0.0 + ], + [ + 9119.773, + 4267.878, + 714.275, + 0.0, + 21.2, + -0.0 + ], + [ + 9237.114, + 4313.392, + 708.275, + 0.0, + 21.2, + -0.0 + ], + [ + 9237.114, + 4313.392, + 708.275, + 0.0, + 21.2, + -0.0 + ] + ], + "Rationale": [ + "Two crate groups sit in this hall: pale boxes stacked along the left wall, and the greenish crates by the pillar on the right side of the corridor, which are the ones I want. My body is angled across the rails, so I will turn right to bring the corridor and those right-hand crates into line ahead.", + "The corridor now runs straight ahead toward the double doors, with the green crates stacked beside the pillar on the right. They are still far off, so I will walk forward along the rails to close the gap.", + "The green crates on the right have grown larger but remain several paces down the hall. Nothing blocks the track floor between me and them, so I keep stepping forward.", + "The green crates now sit clearly off to my right, near the base of the cabled pillar, while my heading still points at the doors ahead. I will turn right so my path leads straight at them rather than past them.", + "With the turn done, the stacked green crates and the pillar beside them sit ahead in my path. The open floor between us is clear, so I advance toward them.", + "The crates are noticeably nearer, their green lids now filling part of my view beside the pillar. I am still short of standing beside them, so I take another step forward.", + "The crates dominate the lower right of my view now, close beside the cabled pillar. One more step forward should bring me right up against them.", + "The stacked green crates on the right side stand right in front of me at arm's reach. I have arrived, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008710_y004229_z000708_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008710_y004229_z000708_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1ac9d4b4227297da2ec0929b38a68f6e65e25cc --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008710_y004229_z000708_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the upright blue cylinder near the wall.", + "Type": 0, + "Start_Pose": [ + 8710.184, + 4228.823, + 708.275, + 0.0, + -177.6, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8710.184, + 4228.823, + 708.275, + 0.0, + -177.6, + 0.0 + ], + [ + 8584.435, + 4223.553, + 709.491, + 0.0, + -177.6, + 0.0 + ], + [ + 8584.435, + 4223.553, + 709.491, + 0.0, + -152.6, + 0.0 + ], + [ + 8472.695, + 4165.633, + 714.182, + 0.0, + -152.6, + 0.0 + ], + [ + 8360.956, + 4107.712, + 714.182, + 0.0, + -152.6, + 0.0 + ], + [ + 8249.216, + 4049.792, + 714.182, + 0.0, + -152.6, + 0.0 + ], + [ + 8137.477, + 3991.872, + 708.275, + 0.0, + -152.6, + 0.0 + ], + [ + 8137.477, + 3991.872, + 708.275, + 0.0, + -127.6, + 0.0 + ], + [ + 8060.684, + 3892.155, + 711.239, + 0.0, + -127.6, + 0.0 + ], + [ + 8060.684, + 3892.155, + 711.239, + 0.0, + -127.6, + 0.0 + ] + ], + "Rationale": [ + "Looking down this cable-lined service tunnel, I can pick out an upright blue cylinder standing against the right wall well ahead of me, past the covered equipment. My current heading runs roughly parallel to the tracks and the floor ahead is clear, so stepping forward should close part of that long gap.", + "After advancing, the blue cylinder against the right wall sits well off to the right of my forward path rather than in front of me. Turning right should swing my heading toward that side of the tunnel so I can walk more directly at it.", + "With my heading now angled toward the right wall, the upright blue cylinder and the blue pipe lying beside it are clearly in view ahead of me. The concrete floor between us is unobstructed, so I will advance to reduce the distance.", + "The blue cylinder has grown noticeably larger and now stands out plainly against the cable bundles on the right wall. It is still several strides away, so I keep moving forward on this heading.", + "The cylinder is now well resolved, reaching from the floor up along the wall conduits ahead and slightly right of me. Since I am not yet within close range of it, another forward step should keep narrowing the gap.", + "The blue cylinder is close on my right now, standing upright between the wall cables and the floor drain, with the loose cable snaking near its base. I will step forward again to bring myself alongside it rather than stopping short.", + "At this range the cylinder has drifted to the right edge of my view while my heading still points down the tunnel. Turning right should place it centered in front of me for a clean final step in.", + "The upright blue cylinder now stands roughly ahead of me against the cable-covered wall, with only a short stretch of floor between us. One more forward step should put me directly next to it.", + "The upright blue cylinder stands directly before me at arm's length against the cable-covered wall. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008710_y004229_z000708_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008710_y004229_z000708_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..653c8c205210e7416c10c58a651c969e047b5720 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008710_y004229_z000708_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Lift the metal bucket beside the upright blue cylinder near the wall.", + "Type": 5, + "Start_Pose": [ + 8710.184, + 4228.823, + 708.275, + 0, + -177.6, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 7882.192, + 3902.013, + 633.857, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8710.184, + 4228.823, + 708.275, + 0, + -177.6, + 0 + ], + [ + 8584.435, + 4223.553, + 709.491, + 0.0, + -177.6, + 0.0 + ], + [ + 8584.435, + 4223.553, + 709.491, + 0.0, + -152.6, + 0.0 + ], + [ + 8472.695, + 4165.633, + 714.182, + 0.0, + -152.6, + 0.0 + ], + [ + 8360.956, + 4107.712, + 714.182, + 0.0, + -152.6, + 0.0 + ], + [ + 8249.216, + 4049.792, + 714.182, + 0.0, + -152.6, + 0.0 + ], + [ + 8137.477, + 3991.872, + 708.275, + 0.0, + -152.6, + 0.0 + ], + [ + 8025.737, + 3933.951, + 709.529, + 0.0, + -152.6, + 0.0 + ], + [ + 8025.737, + 3933.951, + 709.529, + 0.0, + -152.6, + 0.0 + ], + [ + 8025.737, + 3933.951, + 709.529, + 0.0, + -152.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 7882.192, + 3902.013, + 633.857, + 0.0, + 0.0, + 0.0 + ], + [ + 7882.192, + 3902.013, + 633.857, + 0.0, + 0.0, + 0.0 + ], + [ + 7882.192, + 3902.013, + 633.857, + 0.0, + 0.0, + 0.0 + ], + [ + 7882.192, + 3902.013, + 633.857, + 0.0, + 0.0, + 0.0 + ], + [ + 7882.192, + 3902.013, + 633.857, + 0.0, + 0.0, + 0.0 + ], + [ + 7882.192, + 3902.013, + 633.857, + 0.0, + 0.0, + 0.0 + ], + [ + 7882.192, + 3902.013, + 633.857, + 0.0, + 0.0, + 0.0 + ], + [ + 7882.192, + 3902.013, + 633.857, + 0.0, + 0.0, + 0.0 + ], + [ + 8036.106, + 3915.274, + 678.381, + -28.202, + -102.455, + 1.862 + ], + [ + 8036.106, + 3915.274, + 678.381, + -28.202, + -102.455, + 1.862 + ] + ], + "PD_Dist_2D": [ + 890.2, + 772.4, + 772.4, + 646.7, + 521.1, + 395.7, + 270.6, + 147.1, + 21.4, + 21.4 + ], + "Rationale": [ + "Far down this cable tunnel, on the right wall, I can make out an upright blue cylinder with a pale bucket standing next to it. That is the target pairing named in the task, so I will walk forward along the corridor to close the large gap before worrying about fine alignment.", + "The bucket and the blue cylinder sit against the right-hand wall, while my heading points straight down the middle of the tunnel toward the far doorway. I will turn right slightly so the target pair moves toward the center of my view and my forward path leads to them.", + "The turn has brought the blue cylinder and the pale bucket beside it into a more central part of my view along the right wall. With the walkway ahead clear, I will step forward to keep shrinking the distance on this heading.", + "The cylinder and bucket are visibly larger and still lined up ahead on my right, so my heading remains good. I will continue walking forward rather than adjust, since nothing blocks the path between me and them.", + "The bucket now reads clearly as a separate container standing just left of the upright blue cylinder against the wall. I am still several strides short of reach, so I will keep advancing on this line.", + "The pale bucket and the tall blue cylinder now fill a good part of the right side of my view, but the bucket is still beyond arm's length. Another step forward should bring it close enough to attempt a grasp.", + "The bucket stands immediately ahead beside the blue cylinder, but I am still slightly too far back to reach into it comfortably. I will take one more step forward to place it directly in front of me for the lift.", + "The metal bucket is now right at my feet, its open rim filling the lower center of my view, with the upright blue cylinder alongside it against the wall. This is the container the task names, so I will attempt to grasp and lift it.", + "The metal bucket is now held in my hands, lifted off the floor beside the blue cylinder. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008808_y004074_z000714_t1_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008808_y004074_z000714_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d8076916298c81efd55eea80b7e3b7c5f0dd65d --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008808_y004074_z000714_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Discover the blue oxygen cylinder standing vertically among two others laid horizontally on the ground, then reach that location.", + "Type": 1, + "Start_Pose": [ + 8807.799, + 4073.518, + 714.044, + 0.0, + 121.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8807.799, + 4073.518, + 714.044, + 0.0, + 121.6, + -0.0 + ], + [ + 8807.799, + 4073.518, + 714.275, + 0.0, + 146.6, + -0.0 + ], + [ + 8807.799, + 4073.518, + 714.275, + 0.0, + 171.6, + -0.0 + ], + [ + 8807.799, + 4073.518, + 714.275, + 0.0, + -163.4, + 0.0 + ], + [ + 8687.185, + 4037.562, + 713.555, + 0.0, + -163.4, + 0.0 + ], + [ + 8566.572, + 4001.605, + 708.275, + 0.0, + -163.4, + 0.0 + ], + [ + 8445.958, + 3965.649, + 708.275, + 0.0, + -163.4, + 0.0 + ], + [ + 8325.345, + 3929.692, + 710.624, + 0.0, + -163.4, + 0.0 + ], + [ + 8204.731, + 3893.736, + 711.212, + 0.0, + -163.4, + 0.0 + ], + [ + 8085.142, + 3866.881, + 711.212, + 0.0, + -163.4, + 0.0 + ], + [ + 8085.142, + 3866.881, + 711.212, + 0.0, + -163.4, + 0.0 + ] + ], + "Rationale": [ + "My view is blocked by the cable-covered corner wall directly ahead, so no oxygen cylinders are anywhere in sight. I will turn right to begin a consistent scan toward the open side of this service tunnel where the floor and rails continue.", + "The tunnel now opens ahead with rails running into the distance, but I still see no blue cylinders along this stretch of wall. I will keep turning in the same direction to sweep the right-hand wall and floor, where equipment appears to be stored.", + "I can now see blue cylinders along the right-hand wall, one standing upright with another lying flat on the ground beside it. I will turn right once more to bring that group into the center of my heading so I can walk straight to it.", + "The standing blue cylinder and the one lying on the ground are now ahead and slightly right, with clear floor between me and them. I will step forward along the tunnel to close the distance to that spot.", + "The cylinders have grown larger in view, confirming I am closing on the correct spot along the right wall. I will continue walking forward since the path stays clear.", + "The upright cylinder is clearly distinguishable from the horizontally laid ones beside it as I get nearer. I will keep advancing straight toward that group.", + "The vertical cylinder is now close on my right with the laid-down cylinders in the near foreground, so I am nearly at the target location. I will take another step forward to draw level with the standing one.", + "The standing blue oxygen cylinder now fills much of my right-hand view, so only a short gap remains before I am beside it. I will move forward once more to reach that position.", + "The upright blue oxygen cylinder standing against the cable wall on my right is now close and fills much of that side of my view, while the horizontal cylinders lie just below it at the floor edge. I am still slightly short of being level with it, so I will take one more short step forward along the wall to close the last of the gap. That should bring me directly alongside the vertical cylinder's position.", + "The vertically standing blue oxygen cylinder is directly beside me at arm's length, with the horizontally laid ones at its base. The task location is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008856_y003201_z000708_t0_a/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008856_y003201_z000708_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..945958d084ede1ccdb544677bd01e44de1e495a1 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008856_y003201_z000708_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the two red valves on the large metal door.", + "Type": 0, + "Start_Pose": [ + 8855.716, + 3200.62, + 708.275, + 0.0, + -60.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8855.716, + 3200.62, + 708.275, + 0.0, + -60.48, + 0.0 + ], + [ + 8917.73, + 3091.1, + 709.847, + 0.0, + -60.48, + 0.0 + ], + [ + 8979.744, + 2981.579, + 714.257, + 0.0, + -60.48, + 0.0 + ], + [ + 8979.744, + 2981.579, + 714.257, + 0.0, + -85.48, + 0.0 + ], + [ + 8989.663, + 2856.112, + 714.257, + 0.0, + -85.48, + 0.0 + ], + [ + 8999.581, + 2730.644, + 714.257, + 0.0, + -85.48, + 0.0 + ], + [ + 8999.581, + 2730.644, + 714.257, + 0.0, + -85.48, + 0.0 + ] + ], + "Rationale": [ + "I can see the large metal double door ahead with the two red valve wheels mounted near its center, slightly left of my heading. The floor rails between me and the door are clear, so I will move forward to begin closing the distance toward those valves.", + "The door and its two red valves now fill more of my view, confirming I am closing on the correct target. Since there is still a clear stretch of floor between me and the door, I will keep moving forward.", + "From this closer position the two red valves have drifted to the left side of my view while the crate wall and rail racks occupy the right. I will turn left to bring the valves and the door center back in front of me before continuing my approach.", + "The double door is now squarely centered with both red valves symmetric about my heading. With alignment good and floor still open, I will move forward to shorten the remaining gap to the valves.", + "Both red valve wheels are directly ahead at roughly chest height, but the door face is still a step or so away. I will advance once more to reach a position right in front of the valves.", + "Both red valve wheels fill my view directly in front of me on the metal door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Bunker/task_x008856_y003201_z000708_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Bunker/task_x008856_y003201_z000708_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a033b77be0f5a52ea1cefa2e22a00e7e90edb83 --- /dev/null +++ b/dataset/trajectory/Demonstration_Bunker/task_x008856_y003201_z000708_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the wicker basket at the two red valves on the large metal door.", + "Type": 5, + "Start_Pose": [ + 8855.716, + 3200.62, + 708.275, + 0, + -60.48, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 8999.282, + 2671.462, + 650.179, + 90, + -80.48, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 8855.716, + 3200.62, + 708.275, + 0, + -60.48, + 0 + ], + [ + 8917.73, + 3091.1, + 709.847, + 0.0, + -60.48, + 0.0 + ], + [ + 8979.744, + 2981.579, + 714.257, + 0.0, + -60.48, + 0.0 + ], + [ + 8979.744, + 2981.579, + 714.257, + 0.0, + -85.48, + 0.0 + ], + [ + 8989.663, + 2856.112, + 714.257, + 0.0, + -85.48, + 0.0 + ], + [ + 8989.663, + 2856.112, + 714.257, + 0.0, + -85.48, + 0.0 + ], + [ + 8989.663, + 2856.112, + 714.257, + 0.0, + -85.48, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 8999.282, + 2671.462, + 650.179, + 90.0, + -80.48, + 0.0 + ], + [ + 8999.282, + 2671.462, + 650.179, + 90.0, + -80.48, + 0.0 + ], + [ + 8999.282, + 2671.462, + 650.179, + 90.0, + -80.48, + 0.0 + ], + [ + 8999.282, + 2671.462, + 650.179, + 90.0, + -80.48, + 0.0 + ], + [ + 8999.282, + 2671.462, + 650.179, + 90.0, + -80.48, + 0.0 + ], + [ + 9010.902, + 2858.403, + 684.381, + -28.202, + -35.335, + 1.862 + ], + [ + 9010.902, + 2858.403, + 684.381, + -28.202, + -35.335, + 1.862 + ] + ], + "PD_Dist_2D": [ + 548.3, + 427.5, + 310.7, + 310.7, + 184.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket sits upright on the rails directly beneath the two red valve wheels on the large metal door, well ahead of me across the open floor. Nothing blocks the straight lane between the rails, so I will walk forward to close that distance before any grasp is possible.", + "The door and its two red valves now fill more of my view, and the basket leaning against the rails has grown noticeably larger, so my heading is good. It is still several strides away and out of reach, so I will keep walking forward.", + "From here the basket and the pair of red valves sit toward the left edge of my view while my heading points at the right side of the door and the crates. A modest turn to the left should center the basket ahead of me so my final approach runs straight at it.", + "The turn has centered the door, the two red valve wheels, and the wicker basket resting on the rails straight ahead of me. The basket is still a few paces off, so I will step forward to bring it within arm's reach for a grasp.", + "The wicker basket is now immediately in front of me at the foot of the door beneath the two red valves, filling the lower part of my view. This is close enough to reach it, so I will attempt to pick it up.", + "My hands are holding the wicker basket taken from the door with the two red valves. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/000.jpg b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f18a4bd0c9cc32f823f3391e19805776d527a368 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7217b99bb8e0f04959409fcd31c340d4e8745ecfe51abfaec42bf4bcfe064a37 +size 133685 diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/001.jpg b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d81e6a315a899f8cc07786d18441cf18ca9179c3 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/001.jpg @@ -0,0 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"TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1929.355, + 13022.096, + 6641.656, + 0.0, + -134.72, + 0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + -109.72, + 0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + -84.72, + 0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + -59.72, + 0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + -34.72, + 0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + -9.72, + 0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + 15.28, + -0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + 40.28, + -0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + 65.28, + -0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + 90.28, + -0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + 115.28, + -0.0 + ], + [ + -1929.355, + 13022.096, + 6641.682, + 0.0, + 140.28, + -0.0 + ], + [ + -2026.163, + 13102.524, + 6641.682, + 0.0, + 140.28, + -0.0 + ], + [ + -2026.163, + 13102.524, + 6641.682, + 0.0, + 115.28, + -0.0 + ], + [ + -2079.91, + 13216.33, + 6641.682, + 0.0, + 115.28, + -0.0 + ], + [ + -2079.91, + 13216.33, + 6641.682, + 0.0, + 140.28, + -0.0 + ], + [ + -2169.521, + 13300.175, + 6641.502, + 0.0, + 140.28, + -0.0 + ], + [ + -2169.521, + 13300.175, + 6641.502, + 0.0, + 165.28, + -0.0 + ], + [ + -2283.269, + 13339.785, + 6641.848, + 0.0, + 165.28, + -0.0 + ], + [ + -2404.998, + 13371.765, + 6641.455, + 0.0, + 165.28, + -0.0 + ], + [ + -2526.256, + 13403.732, + 6644.736, + 0.0, + 165.28, + -0.0 + ], + [ + -2526.256, + 13403.732, + 6644.736, + 0.0, + 165.28, + -0.0 + ] + ], + "Rationale": [ + "From here I see a large brick apartment block across the open paved yard, and a smaller brick structure with a green canopy hard on my left edge, but no green door is actually visible yet. I will turn right to begin a consistent scan of the surrounding area and check what lies along the rest of the yard.", + "The large brick block has swung to my left and the view now opens onto a tree and grassy ground on the right, with still no green door anywhere in sight. I will keep turning right in the same direction to sweep further around this open space.", + "Only the corner of the large brick facade remains at the far left, and directly ahead there is a fence line, a lawn and a row of young trees with no doorway. I will continue the rightward scan to keep uncovering unseen parts of the surroundings.", + "This heading shows mostly open grass, a hedge and scattered trees, with distant low buildings too far off to offer any usable door detail. I will keep rotating right so the scan stays consistent and covers the ground I have not yet inspected.", + "Ahead is an empty field with a hedge boundary and a small pale structure far away, and none of it shows a green door on brick. I will turn right again to continue sweeping toward the area where trees and paving suggest more built structures.", + "A paved lane and denser planting are now entering the right side of my view, which is a more promising direction for buildings than the empty field. I will keep turning right to bring that lane and whatever stands beside it into the center of my view.", + "The lane runs off to my left while thick foliage fills the right side and blocks whatever sits behind it. I will continue the rightward turn to look past this greenery for a brick wall that might carry the green door.", + "Through the trees on my right I can now pick out low brick walling and a paved patch, which is the kind of built surface likely to hold the entrance I need. I will turn right once more to bring that brickwork properly into view and check it for a green door.", + "My view here is filled with birch trees, a hedge and a couple of round brick planters beside the paved strip, with no green door anywhere on the visible brickwork. Since this sector gives no usable cue for the target entrance, I will keep rotating in the same rightward direction to sweep the next unscanned sector.", + "The view has opened onto lawn and a line of slender trees, with only a low curved brick wall on the left and still no green door in sight. I will continue the same steady rightward sweep so the next portion of the surroundings, toward the built structures, comes into view.", + "A green door set in a brick wall has just appeared at the right edge of my view, under a pale green canopy. I will turn right once more to bring that entrance nearer the center of my view so I can commit to approaching it rather than continuing the sweep.", + "The green door on the brick wall is now clearly in front of me beneath the canopy, with open paving between me and the sheltered area. I will walk forward to close the distance toward that entrance.", + "From this closer position the canopy column and the bike racks along the wall sit directly across my forward line, while the green door is set back along the facade. I will turn slightly left to line myself up with the open ground beside the shelter so I can keep advancing along the building instead of straight into its supports.", + "With the shelter's post now off to my right and open grass ahead, the green door remains visible on the brick wall to that side. I will step forward along this clear line to draw level with the entrance.", + "After advancing, the green door has slid to the far right edge of my view and the brick wall now runs away from me. I will turn right to swing that entrance back toward the center of my view and face the wall it sits in.", + "The green door in the brick wall is back in view ahead of me, partly behind the pale canopy support, with grass between us. I will walk forward to keep closing on that entrance and clear the post from my line of sight.", + "The green door in the brick wall is clearly in view but sits left of my heading while the wall corner and railing crowd the right side of my path. I will turn right to swing my heading around the projecting corner and set a straighter line toward the door panel. This should place the doorway closer to the center of my view for the approach.", + "The green door is now framed clearly in the brick wall ahead of me with open grass between us and no obstruction on the ground. I will walk forward to close the remaining distance to that entrance. Each step should make the doorway larger and more centered in my view.", + "The door panel and its white frame now fill a larger part of my view, confirming the previous step brought me closer to the correct entrance. I am still several paces short of standing at the threshold, so I will keep walking forward. The grass ahead remains clear for another step.", + "The green door with its handle now dominates my view and the brickwork detail is sharp, so I am nearly at the wall. I will take one more step forward to bring myself right up to the entrance. That should put me at the doorway itself rather than a stride away.", + "I am standing directly at the green door of the brick building, with its panel and frame filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-002138_y010633_z006675_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-002138_y010633_z006675_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06ba5d225f3e631d80d8f956c8dad976c46f261f --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-002138_y010633_z006675_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search for the wooden bench resting against the metal railing near the roadside, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -2137.655, + 10632.751, + 6675.099, + 0.0, + 105.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2137.655, + 10632.751, + 6675.099, + 0.0, + 105.28, + -0.0 + ], + [ + -2137.655, + 10632.751, + 6675.192, + 0.0, + 130.28, + -0.0 + ], + [ + -2137.655, + 10632.751, + 6675.192, + 0.0, + 155.28, + -0.0 + ], + [ + -2137.655, + 10632.751, + 6675.192, + 0.0, + -179.72, + 0.0 + ], + [ + -2137.655, + 10632.751, + 6675.192, + 0.0, + -154.72, + 0.0 + ], + [ + -2251.461, + 10579.004, + 6680.966, + 0.0, + -154.72, + 0.0 + ], + [ + -2365.266, + 10525.257, + 6686.974, + 0.0, + -154.72, + 0.0 + ], + [ + -2479.072, + 10471.51, + 6694.659, + 0.0, + -154.72, + 0.0 + ], + [ + -2592.878, + 10417.763, + 6700.894, + 0.0, + -154.72, + 0.0 + ], + [ + -2592.878, + 10417.763, + 6700.894, + 0.0, + -154.72, + 0.0 + ] + ], + "Rationale": [ + "I am standing at the roadside with a metal railing running along the pavement, but no wooden bench is visible anywhere along the stretch in front of me. The railing continues off to my right past the low brick building, so I will turn right to follow that railing line and scan for the bench.", + "The railing still stretches across this view with only grass, a potted plant and building frontage behind it, and no bench along it. I will keep turning right in the same direction to bring the further section of railing near the large brick building into view.", + "This portion of railing beside the grass island is still empty, with only the tall brick school block and its forecourt beyond it. I will continue the same rightward scan to check the railing where it curves toward the far side of the forecourt.", + "A wooden bench is now visible ahead against the metal railing at the edge of the roadside forecourt, sitting slightly right of my heading. I will turn right once more to place it more centrally so I can walk straight toward it.", + "The wooden bench against the railing now sits near the centre of my view, so the search part of the task is settled. I will walk forward along the roadside toward it to begin closing the remaining distance.", + "The bench has grown larger and stays just left of centre against the railing, confirming my heading is good. I will step forward again to keep reducing the gap without needing to reorient.", + "The bench is now clearly in the near foreground with its slats and armrests distinct, though still a few paces off to my left front. I will continue walking forward to bring myself alongside it.", + "The bench fills much of the lower left of my view, resting right against the metal railing at the roadside, so I am nearly beside it. One more step forward should place me directly at the bench.", + "The wooden bench against the metal railing now fills the near left of my view, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_d/infos.json b/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..958cc331a925793455ac6ffa9ad6a6903afec285 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_d/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the second door on the building from the left.", + "Type": 2, + "Start_Pose": [ + -4417.574, + 10291.881, + 6697.69, + 0.0, + -144.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4417.574, + 10291.881, + 6697.69, + 0.0, + -144.8, + 0.0 + ], + [ + -4520.419, + 10219.332, + 6697.838, + 0.0, + -144.8, + 0.0 + ], + [ + -4623.264, + 10146.782, + 6698.345, + 0.0, + -144.8, + 0.0 + ], + [ + -4726.109, + 10074.233, + 6698.602, + 0.0, + -144.8, + 0.0 + ], + [ + -4828.954, + 10001.684, + 6699.107, + 0.0, + -144.8, + 0.0 + ], + [ + -4828.954, + 10001.684, + 6699.107, + 0.0, + -169.8, + 0.0 + ], + [ + -4952.824, + 9979.396, + 6699.361, + 0.0, + -169.8, + 0.0 + ], + [ + -5076.694, + 9957.109, + 6699.62, + 0.0, + -169.8, + 0.0 + ], + [ + -5200.564, + 9934.821, + 6699.874, + 0.0, + -169.8, + 0.0 + ], + [ + -5324.434, + 9912.533, + 6700.126, + 0.0, + -169.8, + 0.0 + ], + [ + -5324.434, + 9912.533, + 6700.126, + 0.0, + 165.2, + -0.0 + ], + [ + -5446.117, + 9944.683, + 6700.126, + 0.0, + 165.2, + -0.0 + ], + [ + -5567.801, + 9976.834, + 6700.385, + 0.0, + 165.2, + -0.0 + ], + [ + -5689.484, + 10008.984, + 6700.385, + 0.0, + 165.2, + -0.0 + ], + [ + -5811.168, + 10041.134, + 6700.637, + 0.0, + 165.2, + -0.0 + ], + [ + -5932.851, + 10073.284, + 6701.14, + 0.0, + 165.2, + -0.0 + ], + [ + -5932.851, + 10073.284, + 6701.14, + 0.0, + -169.8, + 0.0 + ], + [ + -6056.721, + 10050.996, + 6705.115, + 0.0, + -169.8, + 0.0 + ], + [ + -6180.591, + 10028.709, + 6705.115, + 0.0, + -169.8, + 0.0 + ], + [ + -6304.461, + 10006.421, + 6705.115, + 0.0, + -169.8, + 0.0 + ], + [ + -6304.461, + 10006.421, + 6705.115, + 0.0, + 165.2, + -0.0 + ], + [ + -6426.144, + 10038.571, + 6705.115, + 0.0, + 165.2, + -0.0 + ], + [ + -6547.828, + 10070.721, + 6704.609, + 0.0, + 165.2, + -0.0 + ], + [ + -6547.828, + 10070.721, + 6704.609, + 0.0, + -169.8, + 0.0 + ], + [ + -6547.828, + 10070.721, + 6704.609, + 0.0, + -169.8, + 0.0 + ] + ], + "Rationale": [ + "Counting from the left, past the door recessed in the shadowed wing, my target is the plain dark door under a wall lamp, unlike the arched stone doorways beside it. It lies well ahead across the open lot, so I step forward to close the distance.", + "The dark lamp-topped door still sits left of centre and the facade has grown only a little, so I am still well out on the lot. Another straight step keeps me closing on it without needing any change of heading yet.", + "The brickwork now fills most of my view, yet the dark door under its lamp stays off to my left and still some way off. I keep walking straight across the open paving rather than turning early.", + "I am much closer to the wall now, and the flat dark door has drifted toward my left edge while the arched doorways sit almost straight ahead. One more forward step should bring me near the frontage before I correct my heading.", + "The plain door with the lamp has slid to the far left of my view while my heading points me at the arched doorways instead. I turn left to bring that door back toward the middle of my view and set a line along the frontage.", + "The turn has put the flat dark door back into clear view on my left, with a taller gothic wing now showing beyond it. With my heading running along the building front, I walk forward to close on that door.", + "The dark door with its lamp bracket lies ahead and slightly left, still a fair stretch of paving away. My heading already follows the building front, so I simply keep walking rather than adjusting.", + "That plain dark door is drawing nearer on my left, its lamp and small wall notice now distinct against the brick. Nothing blocks the paved strip in front of me, so I take another step toward it.", + "The grey door with its lamp bracket sits ahead and a little left, still several strides of open apron away. The red paved strip along the wall runs clear, so I continue straight toward it.", + "Walking along the frontage has pushed the lamp-lit grey door out toward my left edge while my heading runs past it down the wall. I turn left to swing that door back toward the middle of my view before advancing again.", + "The turn has set the grey door roughly ahead of me, with the tall gothic chapel and its steps filling the left side of the courtyard. Nothing stands between me and it, so I press forward along the paving.", + "The arched stone doorways have now fallen behind me, so I keep to the grey door under the bracket lamp rather than any count along the row. It grows steadily ahead and slightly right, and I walk on.", + "The small white notice beside the grey door is beginning to resolve, so I am closing well. The apron stays clear underfoot, and another straight stride cuts the remaining gap.", + "The door and its bracket lamp now stand out clearly against the brick, though I am still short of the wall. I keep walking rather than turning while the gap remains this wide.", + "The paved forecourt has widened right up to the base of the wall, and the grey door is close on my right-hand side. One more step should bring me level with its threshold.", + "I have come almost level with the grey door, which now sits off to my right while my heading carries on down the wall. Turning right should square me up with the doorway instead of walking past it.", + "The turn has set the grey door and its bracket lamp near the middle of my view, with the brick frontage running off to my right. The paving in front of it is empty, so I walk on to shorten the gap.", + "The lamp bracket and the small framed notice beside the doorway are sharper now, so my line is good. I am still a few strides short of the threshold, so I keep stepping forward.", + "The arched stone surround of the grey door now rises well above my eye line, which means I am nearly at the wall. A further stride should bring me within touching distance rather than leaving me out on the apron.", + "Coming in this close has pushed the grey door over to my left while my heading aims at the blank brick and downpipe beyond it. I turn left to bring the doorway back in front of me before taking the last steps.", + "The door with its lamp and notice sits ahead of me again after the swing. Only a short stretch of the pink paving remains, so I step in toward the threshold.", + "The dark panel of the door now dominates the right of my view and its stone jamb is within reach. I take one more step to stand properly at the doorway rather than beside it.", + "I am right up against the frontage, and the grey door runs along my right side while I face down the wall. A right turn should put me square on to the panel and its notice.", + "The grey door panel and its small notice fill my view at arm's length. I have reached it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8033fa0d977f58a17c1831865064f6ccd89d0e4 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search around the tall red brick building for the base of the long outdoor stone staircase that continues upward along the exterior wall, then approach its ground level landing.", + "Type": 1, + "Start_Pose": [ + -5953.386, + 7170.723, + 6949.869, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5953.386, + 7170.723, + 6949.869, + 0.0, + 65.28, + -0.0 + ], + [ + -5953.386, + 7170.723, + 6949.869, + 0.0, + 40.28, + -0.0 + ], + [ + -5953.386, + 7170.723, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5831.976, + 7203.892, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5710.567, + 7237.06, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5589.157, + 7270.228, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5467.747, + 7303.397, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5467.747, + 7303.397, + 6949.869, + 0.0, + -9.72, + 0.0 + ], + [ + -5343.695, + 7282.148, + 6963.954, + 0.0, + -9.72, + 0.0 + ], + [ + -5219.642, + 7260.898, + 6964.458, + 0.0, + -9.72, + 0.0 + ], + [ + -5095.59, + 7239.649, + 6965.219, + 0.0, + -9.72, + 0.0 + ], + [ + -4971.538, + 7218.4, + 6965.275, + 0.0, + -9.72, + 0.0 + ], + [ + -4971.538, + 7218.4, + 6965.275, + 0.0, + -9.72, + 0.0 + ] + ], + "Rationale": [ + "In front of me the tall red brick facade runs flat across the whole view, showing only tall windows and one recessed doorway with no steps beside it. Since no outdoor staircase is visible along this stretch, I will turn left to sweep my view further along the building's exterior wall.", + "At the far left edge of my view I can now make out a pale stone landing with a metal handrail, which looks like the foot of a stair set against the wall. I will continue the same leftward scan to bring that promising structure fully into view rather than reversing my sweep.", + "The corner of the building is now visible, and beside the recessed door I can see a stone staircase with a handrail climbing along the exterior wall. That matches the target, so I will commit and walk forward across the lawn toward the paved area at its foot.", + "The staircase and its handrail are larger and clearer now, still ahead and slightly to my left along the wall. Nothing blocks the grass and paving between us, so I will keep walking forward to close the remaining distance.", + "The steps and the bench beside them are clearly resolved now, but I am still out on the lawn well short of the stair's ground landing. I will continue forward to reach the paved terrace that fronts the bottom of the stairs.", + "I am now at the edge of the paved terrace with the flight of stone steps rising to my left toward the tall door. Another step forward should bring me onto the paving right in front of the staircase.", + "Advancing along the wall has pushed the staircase to the far left edge of my view, leaving mostly blank brickwork in front of me. I will turn left to bring the steps and their ground landing back to the center of my heading before continuing.", + "The turn worked, and the stone staircase with its handrail and the paved landing at its foot now sit ahead of me on the left. With clear paving between us, I will walk forward to close in on the bottom of the steps.", + "The long stone staircase rising along the brick wall is clearly in view ahead and slightly left, with its lowest steps meeting the paved ground beside the doorway. I am still a few paces short of that bottom landing, so I will keep walking forward to close the remaining gap.", + "The staircase now fills more of my view, and the bottom treads and their brick side wall sit just left of the recessed door ahead of me. I am close but not yet standing at the foot of the steps, so I will advance again to reach the ground level landing.", + "The lowest curved steps and the stone door surround now dominate the left of my view, and the drainpipe on the brick wall is close on my right. One more step forward should place me right at the base of the staircase where its ground level landing begins.", + "I am standing directly at the bottom treads of the stone staircase that climbs along the brick exterior wall. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_d/infos.json b/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a9b87dbd1712d7a7773e1b3e5b4dab922423dd7 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search the exterior of the brick building for the black drainpipe that bends diagonally down the wall near the wooden bench and the elevated outdoor staircase, then approach the drainpipe.", + "Type": 1, + "Start_Pose": [ + -5953.386, + 7170.723, + 6949.869, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5953.386, + 7170.723, + 6949.869, + 0.0, + 65.28, + -0.0 + ], + [ + -5953.386, + 7170.723, + 6949.869, + 0.0, + 40.28, + -0.0 + ], + [ + -5953.386, + 7170.723, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5831.976, + 7203.892, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5710.567, + 7237.06, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5589.157, + 7270.228, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5467.747, + 7303.397, + 6949.869, + 0.0, + 15.28, + -0.0 + ], + [ + -5346.337, + 7336.565, + 6963.881, + 0.0, + 15.28, + -0.0 + ], + [ + -5224.927, + 7369.734, + 6964.131, + 0.0, + 15.28, + -0.0 + ], + [ + -5224.927, + 7369.734, + 6964.131, + 0.0, + -9.72, + 0.0 + ], + [ + -5100.875, + 7348.484, + 6964.646, + 0.0, + -9.72, + 0.0 + ], + [ + -4991.45, + 7312.733, + 6965.152, + 0.0, + -9.72, + 0.0 + ], + [ + -4991.45, + 7312.733, + 6965.152, + 0.0, + -9.72, + 0.0 + ] + ], + "Rationale": [ + "I am facing a flat stretch of brick wall with tall windows and straight vertical downpipes, but none of them bends diagonally and I see no bench or elevated staircase here. The facade continues off to my left, so I will turn left to scan that unseen section of the exterior. That direction should reveal whether the bench and stairway landmarks lie along this wall.", + "Turning this way has brought a promising cue into view on the far left, where a dark pipe with a bend sits beside what looks like the base of a stone stairway. The rest of that area is still cut off by the edge of my view, so I will turn left again to bring it fully in front of me. That should confirm whether this is the diagonal drainpipe near the bench and elevated stairs.", + "The building corner is now in front of me, and along the near wall I can see an elevated staircase with a doorway plus a small dark pipe that kinks outward just past the steps. This matches the described drainpipe area well enough to commit, so I will walk forward toward that corner. Closing distance should let me confirm the diagonal bend rather than guessing from far away.", + "The bent black pipe next to the stairs is clearer now, and a wooden bench has appeared at the foot of the staircase, which matches the landmarks in the task. I am still standing out on the grass well short of the wall, so I will keep walking straight ahead. Continuing on this heading should carry me onto the paved strip in front of the drainpipe.", + "The drainpipe now clearly angles diagonally out from the wall before dropping to the pavement, with the bench and the flight of stone steps right beside it. It remains small and distant in my view, so I will keep advancing along the same line. Each step forward should tighten the gap between me and that pipe.", + "I have reached the paved apron and the black drainpipe with its diagonal elbow is plainly visible just left of centre against the brick. There is still open pavement between me and the wall, so I will continue walking straight toward it. Holding this heading should keep the pipe centred as I close in.", + "The drainpipe is much larger now, its angled section standing out from the brickwork beside the bottom of the stone steps. I am not yet close enough to count this as reaching it, so I will take another step forward. This should bring me within arm's reach of the pipe base.", + "The angled drainpipe and its square base block are now close on my left, with the wall running away sharply to my right. My heading is skewed along the wall rather than straight at the pipe, but there is still a little distance to cover, so I will step forward again. That should place me right beside the drainpipe.", + "The black drainpipe with its diagonal bend now sits at the far left edge of my view, while most of my heading is filled by blank brick wall running away to the right. I will turn left to bring the drainpipe and the adjacent stone staircase back toward the center of my view so I can walk straight at it. This should give me a clean approach line along the paved strip at the base of the wall.", + "The bent black drainpipe is now centered ahead of me, running down the brick wall right beside the elevated stone staircase. Since the paved walkway in front of me is clear, I will step forward to close the remaining distance to the pipe.", + "The drainpipe and its diagonal elbow now fill a large part of my view, with its base plate clearly visible on the pavement just ahead. I am still a couple of paces short of standing next to it, so I will walk forward again to close that gap.", + "The black diagonally bent drainpipe is directly in front of me at arm's length on the brick wall beside the steps. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03e1b62fac1b11c9fc75a1541f72958b9129c007 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the dark lamp post on the right side.", + "Type": 2, + "Start_Pose": [ + -8074.198, + 7132.925, + 6948.042, + 0.0, + 99.84, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8074.198, + 7132.925, + 6948.042, + 0.0, + 99.84, + -0.0 + ], + [ + -8074.198, + 7132.925, + 6947.89, + 0.0, + 124.84, + -0.0 + ], + [ + -8146.1, + 7236.224, + 6949.798, + 0.0, + 124.84, + -0.0 + ], + [ + -8218.001, + 7339.523, + 6949.798, + 0.0, + 124.84, + -0.0 + ], + [ + -8289.903, + 7442.821, + 6949.798, + 0.0, + 124.84, + -0.0 + ], + [ + -8361.805, + 7546.12, + 6949.798, + 0.0, + 124.84, + -0.0 + ], + [ + -8433.706, + 7649.419, + 6949.798, + 0.0, + 124.84, + -0.0 + ], + [ + -8433.706, + 7649.419, + 6949.798, + 0.0, + 149.84, + -0.0 + ], + [ + -8542.527, + 7712.653, + 6949.798, + 0.0, + 149.84, + -0.0 + ], + [ + -8651.348, + 7775.886, + 6949.798, + 0.0, + 149.84, + -0.0 + ], + [ + -8651.348, + 7775.886, + 6949.798, + 0.0, + 149.84, + -0.0 + ] + ], + "Rationale": [ + "The dark, unlit lamp post I want stands off at the right edge of my view, on the paving that runs along the tall church wall. Facing this way I would walk past it across the lawn, so I will turn right to bring that post toward the middle of my view before advancing.", + "The dark lamp post now sits near the middle of my view, standing on the paved strip in front of the arched windows. Nothing blocks the grass between me and it, so I will walk straight ahead to close the distance.", + "The lamp post has grown slightly and remains near the center of my view, so my heading is still good. I will keep walking forward across the open lawn toward it.", + "The dark post is noticeably taller in my view and its lantern head is now clearly visible against the brickwork. My path stays clear, so another step forward should bring me closer.", + "The lamp post now rises from the paving just beyond the edge of the lawn, filling much of my view's height. I am still short of it, so I will continue walking straight toward it.", + "The post's fluted base is clearly visible at the paved edge and the lantern is near the top of my view, so only a short gap remains. I will step forward again to close it.", + "At this range the lamp post has drifted to the right of my heading, so walking straight would carry me past its left side. I will turn right to put the post back in front of me before stepping in.", + "The dark lamp post now stands directly ahead of me, its shaft running the full height of my view with the paving just past the grass edge. I will walk forward to stand beside it.", + "The dark post's base sits just ahead where the grass meets the paving, still a stride or two out of reach. Its shaft is centred in my view and the ground between is clear, so one more step forward should bring me right up against it.", + "The dark lamp post's fluted base fills the near foreground, right at my feet on the paving. I have reached it, so the task is done and I stop." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9fce1556c04296d1a231eb48415cd1758590f328 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_b/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Approach the first ground-floor window on the left building.", + "Type": 2, + "Start_Pose": [ + -8074.198, + 7132.925, + 6948.042, + 0.0, + 99.84, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8074.198, + 7132.925, + 6948.042, + 0.0, + 99.84, + -0.0 + ], + [ + -8074.198, + 7132.925, + 6947.89, + 0.0, + 74.84, + -0.0 + ], + [ + -8041.284, + 7254.404, + 6949.767, + 0.0, + 74.84, + -0.0 + ], + [ + -8008.37, + 7375.883, + 6949.767, + 0.0, + 74.84, + -0.0 + ], + [ + -7975.456, + 7497.362, + 6945.502, + 0.0, + 74.84, + -0.0 + ], + [ + -7942.542, + 7618.841, + 6944.472, + 0.0, + 74.84, + -0.0 + ], + [ + -7909.628, + 7740.32, + 6949.114, + 0.0, + 74.84, + -0.0 + ], + [ + -7876.714, + 7861.799, + 6949.707, + 0.0, + 74.84, + -0.0 + ], + [ + -7843.8, + 7983.278, + 6949.707, + 0.0, + 74.84, + -0.0 + ], + [ + -7810.886, + 8104.757, + 6949.707, + 0.0, + 74.84, + -0.0 + ], + [ + -7777.972, + 8226.236, + 6949.707, + 0.0, + 74.84, + -0.0 + ], + [ + -7777.972, + 8226.236, + 6949.707, + 0.0, + 49.84, + -0.0 + ], + [ + -7696.802, + 8322.423, + 6949.707, + 0.0, + 49.84, + -0.0 + ], + [ + -7615.632, + 8418.611, + 6949.433, + 0.0, + 49.84, + -0.0 + ], + [ + -7534.463, + 8514.798, + 6949.705, + 0.0, + 49.84, + -0.0 + ], + [ + -7453.293, + 8610.985, + 6949.705, + 0.0, + 49.84, + -0.0 + ], + [ + -7372.124, + 8707.172, + 6949.705, + 0.0, + 49.84, + -0.0 + ], + [ + -7290.954, + 8803.36, + 6949.705, + 0.0, + 49.84, + -0.0 + ], + [ + -7209.785, + 8899.547, + 6949.705, + 0.0, + 49.84, + -0.0 + ], + [ + -7128.615, + 8995.734, + 6954.413, + 0.0, + 49.84, + -0.0 + ], + [ + -7128.615, + 8995.734, + 6954.413, + 0.0, + 24.84, + -0.0 + ], + [ + -7014.4, + 9048.606, + 6954.413, + 0.0, + 24.84, + -0.0 + ], + [ + -7014.4, + 9048.606, + 6954.413, + 0.0, + 24.84, + -0.0 + ] + ], + "Rationale": [ + "The low brick wing off to my left carries the plain rectangular ground-floor windows I need, while the tall gothic range on my right belongs to the other building. Those windows all look alike, so I settle my target now as the one at the far end of that row, held against the wing's outer end rather than by any detail. I turn left to swing that wall squarely in front of me before setting off.", + "The brick wing and its ground-floor window row now sit centered-left ahead of me instead of at the edge of my view. I am still standing far back on the open lawn, so I walk forward to begin closing that gap.", + "The wing's brickwork has grown and its lower windows are clearer, but the paved strip at its base is still well ahead across the grass. Nothing blocks the lawn in front of me, so I keep walking straight toward that wall.", + "The row of ground-floor windows fills more of my view and the small doorway where the wing meets the taller range is now easy to read. I still have a stretch of lawn to cross, so I continue forward.", + "The brick wall now dominates the left half of my view and the window openings are clearly rectangular with pale stone surrounds. I am not yet at the paving, so another step forward keeps shrinking the distance to the wing.", + "The window row along the wing has spread wide across my view and the paved apron at its foot is coming into reach. The lawn ahead stays clear, so I walk on toward the wall.", + "Downpipes and the stone plinth along the base of the wing are now distinct, showing how close the wall has become. I keep stepping forward across the remaining grass to reach the paving in front of the window row.", + "The paved walk edging the wing lies just past the grass in front of me and the lower windows sit at eye height against the brick. I advance again to bring myself onto that walk and nearer the window I am heading for at the end of the row.", + "Only a short band of lawn still separates me from the pale walk at the foot of the wing. The brick face ahead is unobstructed, so I keep walking straight toward it.", + "The corner where the wing meets the tall range has slid toward the right edge of my view, while the flat brick front opens out to my left. The lawn in front stays clear, so I take another step in.", + "From here the brick front fills most of my view, but it still runs away obliquely and its outer end lies off beyond my left edge. Turning left should square the wall in front of me and point me along the row toward the window at that far end.", + "The wall now reads flat ahead with evenly spaced windows, and the tall range has dropped out of view, so I no longer have that corner to count against. The window at the wing's outer end remains what I am walking to, and I move forward across the grass.", + "The lower windows have grown noticeably and the paving at the wall's foot sits nearer the bottom of my view, yet I am still standing out on the turf. I walk on toward the brickwork.", + "The stone course along the base and the feet of the downpipes now sit low in front of me, with only a little lawn left before the walk. I keep advancing.", + "Barely three window bays and the pipes between them still fit inside my view, so the wall is close and rising well above me. Another step should carry me off the grass and onto the paving beneath it.", + "The edge of the paved walk lies almost at my feet, with a window on either side of the downpipe directly in front of me. I step forward again to bring myself up against the brick face.", + "Only a thin fringe of turf remains under me, with the pink paving running unbroken beneath the brick plinth. Two window bays and their pipes are all that still fit across my view, so the wall is very near. I step forward onto the walk to close the last of that gap.", + "I am on the paving now, brickwork filling everything above the plinth and the nearest window sitting high on my left. My target lies further along this face, past the pipe on the right of my view, so I walk on beside the wall.", + "At this range the wall reads as bare brick with a single window edging out of my upper left and one pipe standing to the right. The paving stays clear ahead, so I keep advancing along the frontage toward the window I am after.", + "Brick and the stone string course now fill almost my whole view, and the window has slipped into the top left corner where I can barely hold it. Turning left should swing that opening back in front of me instead of letting it drift off the edge.", + "The window sits ahead again above the mossy plinth, with its downpipe just to the left and the paving open under my feet. A short step should bring me right up beneath it.", + "The window's stone sill and mullions stand at arm's length directly above me, filling my view. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b82a020e8bdc3d47c796705e0edeb2375c5973a6 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t3_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Head toward the blue sign on the brick wall, then reach the dark arched doorway.", + "Type": 3, + "Start_Pose": [ + -8233.256, + 3794.871, + 6949.842, + 0.0, + -128.48, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8233.256, + 3794.871, + 6949.842, + 0.0, + -128.48, + 0.0 + ], + [ + -8311.571, + 3696.345, + 6949.842, + 0.0, + -128.48, + 0.0 + ], + [ + -8311.571, + 3696.345, + 6949.842, + 0.0, + -153.48, + 0.0 + ], + [ + -8424.186, + 3640.148, + 6949.842, + 0.0, + -153.48, + 0.0 + ], + [ + -8536.802, + 3583.951, + 6949.842, + 0.0, + -153.48, + 0.0 + ], + [ + -8649.418, + 3527.753, + 6964.237, + 0.0, + -153.48, + 0.0 + ], + [ + -8649.418, + 3527.753, + 6964.237, + 0.0, + -178.48, + 0.0 + ], + [ + -8775.233, + 3524.415, + 6963.986, + 0.0, + -178.48, + 0.0 + ], + [ + -8901.048, + 3521.076, + 6963.464, + 0.0, + -178.48, + 0.0 + ], + [ + -8901.048, + 3521.076, + 6963.464, + 0.0, + -153.48, + 0.0 + ], + [ + -8901.048, + 3521.076, + 6963.464, + 0.0, + -128.48, + 0.0 + ], + [ + -8976.85, + 3455.122, + 6963.315, + 0.0, + -128.48, + 0.0 + ], + [ + -8976.85, + 3455.122, + 6963.315, + 0.0, + -128.48, + 0.0 + ], + [ + -8919.354, + 3527.455, + 6963.315, + 0.0, + -128.48, + 0.0 + ], + [ + -8861.859, + 3599.788, + 6963.315, + 0.0, + -128.48, + 0.0 + ], + [ + -8861.859, + 3599.788, + 6963.315, + 0.0, + -103.48, + 0.0 + ], + [ + -8861.859, + 3599.788, + 6963.315, + 0.0, + -78.48, + 0.0 + ], + [ + -8861.859, + 3599.788, + 6963.315, + 0.0, + -53.48, + 0.0 + ], + [ + -8786.96, + 3498.642, + 6963.825, + 0.0, + -53.48, + 0.0 + ], + [ + -8712.061, + 3397.495, + 6964.339, + 0.0, + -53.48, + 0.0 + ], + [ + -8637.162, + 3296.349, + 6965.102, + 0.0, + -53.48, + 0.0 + ], + [ + -8637.162, + 3296.349, + 6965.102, + 0.0, + -78.48, + 0.0 + ], + [ + -8612.027, + 3173.025, + 6965.61, + 0.0, + -78.48, + 0.0 + ], + [ + -8612.027, + 3173.025, + 6965.61, + 0.0, + -78.48, + 0.0 + ] + ], + "Rationale": [ + "From the lawn I can see the brick facade with a blue plaque mounted low on the wall to my left and a dark arched doorway further right. The sign is my first destination, so I walk forward across the grass to close the gap to the building frontage.", + "The paved terrace is now just ahead, and the blue plaque sits off to my left above the wooden bench rather than straight in front of me. I turn left to bring that sign nearer the center of my heading before continuing along the wall.", + "The blue sign now lies ahead of me along the brick facade, with clear paving between me and the bench beneath it. I step forward to shorten that distance.", + "The plaque and the bench below it are noticeably larger now, so my heading is still carrying me toward the sign. I keep walking forward to close more of the remaining distance across the paving.", + "The brick wall with the blue plaque fills much of my view and the bench sits directly under it a short way ahead. Another step forward should bring me close enough to the sign to count as arriving at it.", + "I am now almost against the facade, with the bench and brickwork blocking any further straight advance toward the plaque. I turn left so the open paved walkway running along the building comes into my heading and I can keep working in beside the sign.", + "The walkway beside the building is now open ahead of me, with the blue plaque on the wall to my right just past the bench. I walk forward along this clear paving to draw level with the sign.", + "The plaque has swung further to my right as I move along the wall, meaning I am nearly abreast of it. I take another step forward on the open paving to reach that position.", + "Walking along the frontage has brought me level with the brick wall, and the blue panel now sits at the far right edge of my view while my heading runs parallel to the bricks. I will turn right to swing my body toward that sign instead of past it.", + "The blue sign has come into the right half of my view, but the tall window and brickwork still take the center, so my heading is not yet squared onto it. Another turn to the right should place the sign directly ahead for a straight approach.", + "The blue sign on the brick wall now sits squarely ahead of me, with the bench to my right and clear paving underfoot. I will walk forward to close the remaining gap to the wall.", + "The blue sign and the brick courses beneath it fill my whole view at arm's length, with nothing left between me and the wall. I have reached the blue sign on the brick wall. I mark reaching it and now set off for the dark arched doorway along this frontage.", + "Standing this close, the brickwork and the blue panel blot out everything else, so I cannot see along the frontage to pick out the dark arched doorway. I will step back to open up clearance and bring the wider facade back into view.", + "The sign and the bench beside it are readable again, but I am still tight against the wall with little room to turn along the frontage. I will back up one more step to give myself space to pivot toward the dark arched doorway.", + "I now stand off the wall with the blue panel centered and the bench and paving open to my right, which is the direction the frontage runs on toward the arched entrance. I will turn right to start bringing that stretch of wall into view.", + "Swinging right has pushed the blue panel to my left and revealed the bench, the window, and a dark recessed doorway at the far right of my view. I will turn right again to bring that arched entrance nearer to the center before advancing.", + "The blue sign on the brick wall is now behind my shoulder at the frame edge, and the dark arched doorway stands further along the facade to my right, near the building corner. I will turn right once more to bring that doorway and the open paving in front of it into the center of my view.", + "The dark arched doorway now sits ahead and slightly left, with a wide stretch of unobstructed brick paving between us. I will walk forward along that paving to close the distance to the doorway.", + "The arched doorway has grown noticeably larger and its stone surround is clearer, so my heading along the paving is good. I will keep walking forward to close more of the remaining gap.", + "The dark door with its arched head now fills much of the left of my view and the corner of the brick wall is close by. Another step forward should bring me level with the doorway itself.", + "I am nearly level with the dark arched doorway, but it lies off to my left while my heading points along the open paving and lawn. I will turn left so the doorway sits squarely in front of me.", + "The dark arched doorway is now centered ahead of me with only a short stretch of paving left. I will step forward to bring myself right up to it.", + "The dark arched doorway stands directly before me, its panels filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6fe8dd663e3d0cea3e76f9031eedfc2a441bd3c --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_c/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Head toward the dark door on the far right side.", + "Type": 2, + "Start_Pose": [ + -9097.365, + 5009.125, + 6949.842, + 0.0, + -116.96, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -9097.365, + 5009.125, + 6949.842, + 0.0, + -116.96, + 0.0 + ], + [ + -9097.365, + 5009.125, + 6949.842, + 0.0, + -91.96, + 0.0 + ], + [ + -9097.365, + 5009.125, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -9048.107, + 4893.306, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8998.849, + 4777.486, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8949.592, + 4661.667, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8900.334, + 4545.847, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8851.076, + 4430.028, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8801.818, + 4314.208, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8752.56, + 4198.389, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8703.302, + 4082.569, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8654.044, + 3966.75, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8604.786, + 3850.93, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8555.528, + 3735.111, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8506.27, + 3619.291, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8506.27, + 3619.291, + 6949.842, + 0.0, + -91.96, + 0.0 + ], + [ + -8510.575, + 3493.506, + 6959.846, + 0.0, + -91.96, + 0.0 + ], + [ + -8514.88, + 3367.721, + 6965.312, + 0.0, + -91.96, + 0.0 + ], + [ + -8519.184, + 3241.935, + 6965.564, + 0.0, + -91.96, + 0.0 + ], + [ + -8519.184, + 3241.935, + 6965.564, + 0.0, + -116.96, + 0.0 + ], + [ + -8576.245, + 3129.754, + 6965.564, + 0.0, + -116.96, + 0.0 + ], + [ + -8576.245, + 3129.754, + 6965.564, + 0.0, + -116.96, + 0.0 + ] + ], + "Rationale": [ + "Scanning the long brick facade, I pick out my target as the narrow dark door at the far right end, past the blue wall sign, beyond the big arched entrance. It sits near the right edge of my view, so I will turn right to bring it toward the middle of my heading.", + "The narrow dark door beside the blue sign has swung inward but still sits to the right of straight ahead, with open lawn between me and it. Another turn to the right should put it close enough to centre that I can simply walk at it.", + "The dark door I chose now sits near the middle of my view, with clear grass running toward the paved strip in front of the building. Nothing stands in the way, so I will walk forward to start closing the distance.", + "The dark door I am making for holds steady just left of centre as the facade slides past me, and the lawn ahead remains clear. There is still a long stretch of grass to cover, so I keep walking forward.", + "The big arched entrance has slipped out of view at the left edge, leaving the dark door I am heading for as the doorway still ahead of me. The grass in front stays open, so I step forward again.", + "The dark doorway ahead is growing steadily and the paved area beside the building is drawing closer. Nothing blocks my line across the lawn, so another stride forward continues the approach.", + "My target doorway still sits just left of my heading, and the bench against the facade in front of it is now close. The lawn stays passable, so I keep advancing toward the door.", + "The dark door is noticeably bigger now, but I am still out on the grass short of the paved walk running in front of it. I will keep walking forward to cut down the remaining gap.", + "That dark door under its stone surround stands at the near end of the brick facade, slightly left of my heading, with the bench and the raised walk in front of it. Open grass still separates me from the paving, so I press on forward.", + "The blue wall sign that once marked my door has drifted to the edge of what I can see, but the door itself is now unmistakable ahead and to my left, framed in pale stone. Distance is what remains, so I continue walking.", + "My door is the only entrance still in front of me, sitting on the raised brick terrace at the building's corner. The lawn between us has shrunk but I am not yet at the terrace lip, so another stride forward is worthwhile.", + "The doorway's stone frame and window above it are clear in detail now, and the terrace paving spreads directly ahead of my feet. Since nothing stands between me and it, I keep advancing.", + "I am nearly level with the terrace edge, and the dark door has swung well over to my left as I close on the corner of the brickwork. A further step forward should bring me onto the paving beside it.", + "The building corner now fills the left of my view with the dark door tucked just behind it, and the paved apron runs right up to where I stand. One more forward stride should put me squarely on that paving in front of the entrance.", + "My straight heading now carries me past the entrance rather than to it, since the dark door has slid over to the far left of my view against the building. Turning left should swing it back toward the centre of my path.", + "With the turn done, the dark door sits back in the middle of my view, its arch and stone surround facing me across flat brick paving. The way is clear underfoot, so I walk straight at it.", + "The glazed double door with its pale stone arch is squarely ahead of me, though still a few strides off across unbroken brick paving. Nothing interrupts that line, so I walk on to close the last of the gap.", + "The individual glazing bars in the door panels are readable now, so I am within a couple of paces of the threshold. The paving in front of it stays open, and another stride should bring me right up against the entrance.", + "Coming in this close has pushed the dark door hard against the left edge, leaving plain brickwork straight in front of my nose. Turning left should bring the doorway back into the middle of my heading so I can face it properly.", + "The turn has put the arched dark door dead centre, its full stone surround visible and the sill nearly at my feet. One short step forward should set me right at the entrance.", + "The dark door's glazed panels fill my whole view at arm's length. I have reached the entrance I set out for, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t5_a_pd/infos.json b/dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..17e67d830c6243163dd95127f1ec6eebfb10e33e --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t5_a_pd/infos.json @@ -0,0 +1,601 @@ +{ + "Instruction": "Pick up the ceramic pot beside the black lamp post, then place it near the arched doorway.", + "Type": 5, + "Start_Pose": [ + -9719.985, + 7469.673, + 6939.106, + 0, + -107.36, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -9792.294, + 6797.657, + 6863.891, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -9719.985, + 7469.673, + 6939.106, + 0, + -107.36, + 0 + ], + [ + -9757.538, + 7349.547, + 6938.996, + 0.0, + -107.36, + 0.0 + ], + [ + -9795.092, + 7229.421, + 6938.996, + 0.0, + -107.36, + 0.0 + ], + [ + -9832.645, + 7109.295, + 6948.355, + 0.0, + -107.36, + 0.0 + ], + [ + -9832.645, + 7109.295, + 6948.355, + 0.0, + -82.36, + 0.0 + ], + [ + -9815.912, + 6984.553, + 6948.609, + 0.0, + -82.36, + 0.0 + ], + [ + -9815.912, + 6984.553, + 6948.609, + 0.0, + -82.36, + 0.0 + ], + [ + -9815.912, + 6984.553, + 6948.609, + 0.0, + -107.36, + 0.0 + ], + [ + -9815.912, + 6984.553, + 6948.609, + 0.0, + -132.36, + 0.0 + ], + [ + -9900.715, + 6891.553, 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+ "The task target, a ceramic pot, sits on the grass strip at the foot of the tall black lamp post well ahead of me on the right side of the lawn. It is far too distant to reach from here, so I will walk forward across the paved court to close that gap.", + "The pot beside the lamp post has grown larger and is now clearly resolved against the lawn edge, confirming my heading is good. It remains several strides away, so I will keep walking forward to shorten the distance before any grasp attempt.", + "The lamp post now rises tall on my right with the ceramic pot at its base, so I am approaching the correct spot. The pot is still out of reach across the paving, so another forward stride is the direct way to close in.", + "The ceramic pot and its lamp post have drifted to the right edge of my view while my heading points along the building facade. Turning right should bring the pot back toward the centre of my view so my next steps carry me straight at it.", + "With the turn done, the pot now sits low and near the middle of my view, directly along my heading beside the lamp post. It is still a stride or two off, so I will walk forward to bring it within grasping range.", + "The ceramic pot is now close in front of me at the lawn edge, with the black lamp post right beside it, confirming it is the pot named in the task. This is close enough to reach, so I will attempt to pick it up.", + "The grasp worked, since the ceramic pot is now held in my hands and no longer resting on the grass by the lamp post. The arched doorway in the long facade lies well to my left, so I will turn left to begin swinging my heading back toward it.", + "I am carrying the pot and the facade is back in view, but the arched doorway is still off at the far left edge rather than ahead of me. Another left turn should bring that archway closer to the centre of my view before I set off across the paving.", + "The pot is in my hands and the lamp post area is behind me, so the carry leg is under way. Ahead across the open paving I can see the long brick facade with its arched doorway set into the shaded left section, and there is clear ground between me and it. I will walk forward to close that distance.", + "The facade and its pointed arched doorway have grown noticeably larger, confirming my heading is carrying the pot toward the drop area. Nothing blocks the paved courtyard in front of me. I will keep walking forward.", + "The arched doorway in the shadowed corner of the building is still well ahead of me and slightly to my left. The paving continues unobstructed, so no turn is needed yet. I will advance again with the pot.", + "I am still some distance from the building wall, and the arched door remains clearly visible in the shaded left bay. Continuing straight is the shortest way to bring the carried pot near it. I will step forward once more.", + "The brickwork detail is sharper and the doorway sits closer, but I have not yet reached a placement position. The route stays open across the courtyard. I will keep moving forward while holding the pot.", + "The arched doorway has drifted toward the left edge of my view as I have closed in, so walking straight would carry me past it along the wall. Turning left should bring the door back toward the centre of my heading. I will pivot left before continuing.", + "After the pivot the arched doorway now sits near the middle of my view, framed by the church wall and the adjoining block. The paving in front of it is clear and I am still holding the pot. I will walk forward along this corrected heading.", + "The doorway stays centred ahead and is growing larger, so my heading is good and no further correction is needed. I am still too far from the threshold to set the pot down usefully. I will advance again.", + "The ceramic pot is still in my hands, so I only need to carry it to the arched doorway set into the brick wall ahead. That doorway sits slightly left of my heading and is still some way off across the open paving. I will walk forward to close that gap.", + "The arched door has grown noticeably larger and stays near the center of my view, so my heading is still good for the carry. Nothing blocks the paved stretch in front of me. I will keep stepping forward with the pot.", + "I am carrying the pot toward the arched entrance, which now shows its stone surround clearly ahead of me. The distance is still too great to set the pot down anywhere that counts as near the doorway. Another forward step should bring me closer.", + "The doorway and the small lamp above it are clearly in front of me, confirming I am tracking the right target while holding the pot. The paving remains open and level, with no obstruction between me and the wall. I will continue advancing.", + "The arched door fills more of my view now, so the carry is steadily closing distance. I am still several paces away from a spot that would count as beside the entrance. I will step forward again with the pot in hand.", + "The wooden door and its stone arch are close and slightly right of my heading, but the drift is small enough to keep walking straight for now. The corner of the brick wall stays clear of my path. I will advance again.", + "I can now see the door's planks and the lamp bracket in detail, so I am nearly at the entrance with the pot still in my hands. I want to be right in front of the threshold before releasing it. One more step forward should tighten that placement.", + "The arched doorway now dominates my view and only a short span of paving separates me from its base. Being closer will make the drop land clearly near the entrance rather than out in the open yard. I will step forward once more.", + "The arched wooden doorway now fills much of my view just right of center, and the pot is still held in my hands. I am close but not yet at the paving directly before the threshold, so I will step forward again to shorten that gap.", + "From this close range the arched door has drifted to the right edge of my view, with the brick corner and window dominating the left. Turning right should bring the doorway back to the center of my heading before the last step in.", + "The arched doorway is now squarely centered ahead with clear paving between me and its threshold. I am still holding the pot, so I will walk one more step forward to stand close enough for a placement right beside the door.", + "The arched door now fills my entire view, meaning I am standing immediately in front of its threshold with the pot still carried. This is the intended placement spot near the doorway, so I will release the pot here and expect it to settle on the paving.", + "The ceramic pot now rests on the paving directly in front of the arched doorway and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011173_y010481_z006902_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011173_y010481_z006902_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..90c400e2f5290898c624866901890b1fa9bba668 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011173_y010481_z006902_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Search for the corner formed by two weathered, faded doors whose paint is visibly peeling; once you have located that spot, navigate into the corner.", + "Type": 1, + "Start_Pose": [ + -11173.299, + 10480.85, + 6902.37, + 0.0, + 105.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11173.299, + 10480.85, + 6902.37, + 0.0, + 105.28, + -0.0 + ], + [ + -11173.299, + 10480.85, + 6902.488, + 0.0, + 80.28, + -0.0 + ], + [ + -11173.299, + 10480.85, + 6902.488, + 0.0, + 55.28, + -0.0 + ], + [ + -11173.299, + 10480.85, + 6902.488, + 0.0, + 30.28, + -0.0 + ], + [ + -11064.611, + 10544.311, + 6902.211, + 0.0, + 30.28, + -0.0 + ], + [ + -10955.922, + 10607.772, + 6902.211, + 0.0, + 30.28, + -0.0 + ], + [ + -10847.234, + 10671.234, + 6902.211, + 0.0, + 30.28, + -0.0 + ], + [ + -10738.546, + 10734.695, + 6902.211, + 0.0, + 30.28, + -0.0 + ], + [ + -10738.546, + 10734.695, + 6902.211, + 0.0, + 5.28, + -0.0 + ], + [ + -10613.221, + 10746.277, + 6902.211, + 0.0, + 5.28, + -0.0 + ], + [ + -10487.896, + 10757.859, + 6902.211, + 0.0, + 5.28, + -0.0 + ], + [ + -10362.571, + 10769.441, + 6902.211, + 0.0, + 5.28, + -0.0 + ], + [ + -10237.246, + 10781.023, + 6902.211, + 0.0, + 5.28, + -0.0 + ], + [ + -10111.921, + 10792.605, + 6902.211, + 0.0, + 5.28, + -0.0 + ], + [ + -9986.596, + 10804.187, + 6914.627, + 0.0, + 5.28, + -0.0 + ], + [ + -9861.271, + 10815.769, + 6914.627, + 0.0, + 5.28, + -0.0 + ], + [ + -9735.946, + 10827.351, + 6914.627, + 0.0, + 5.28, + -0.0 + ], + [ + -9610.621, + 10838.933, + 6914.627, + 0.0, + 5.28, + -0.0 + ], + [ + -9516.089, + 10871.374, + 6914.733, + 0.0, + 5.28, + -0.0 + ], + [ + -9516.089, + 10871.374, + 6914.733, + 0.0, + 5.28, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a long brick facade of tall windows and dormers, with open lawn and distant water to my right, and no pair of weathered peeling doors anywhere in view. The building continues past the left edge of my view, so that unseen stretch of wall is the most promising place for a recessed door corner. I will turn left to bring that part of the facade into view.", + "Sweeping left has brought more of the brick wall into view, but I still see only windows and small utility boxes along the walkway, no doors. The facade keeps running out past my left edge, so continuing the same scanning direction should reveal whatever lies at that end. I will turn left again to keep uncovering that stretch.", + "Now a dark arched doorway has appeared at the far left of my view where the wall changes height, which is a strong hint that the building steps back into a corner there. I want that junction centered before I commit to walking toward it. I will turn left once more to face that doorway area directly.", + "Facing this direction I can see where a taller church-like wing meets the lower brick range, with a couple of dark arched doors set into the recess ahead of me. That inside corner is the most plausible place for the two aged doors described in the task, and it is still far across the lawn. I will walk forward to close distance and get a clearer look at those doors.", + "The recessed junction with its two arched doors is holding steady near the center-left of my view and is growing slightly larger, so my heading is good. The doors are still too far away to judge their peeling paint. I will keep walking forward along the lawn toward that corner.", + "The two arched doors under the stepped roof are noticeably closer now and the paved walkway in front of them is coming into view. Nothing blocks the grass between me and that recess. I will continue forward to reach the paving in front of the corner.", + "The pair of dark arched doors sits in the recess to my left front, and the wall detail is now distinct enough to see the aged, stained timber. I am still out on the lawn with the kerb and paving ahead. I will step forward again to keep closing on that corner.", + "As I have advanced, the recess holding the two weathered doors has drifted toward the left side of my view while my heading points at the plain window wall straight ahead. I need the corner between those two doors centered so I can walk straight into it. I will turn left to line my heading up with that recess.", + "From this heading I can see the recessed courtyard nook where a pale timber door and a darker arched door sit on either side of a brick buttress, and both look worn and streaked. That pairing matches the weathered doors described in the task, so I commit to it rather than scanning further. I will step forward across the lawn to close the distance and get a clearer look at their surfaces.", + "The two doors and the buttress between them are now centered ahead and noticeably larger, confirming my heading is pointed into the right recess. Nothing blocks the grass strip in front of me. I will keep walking straight to reach the paved area in front of that corner.", + "The paving edge of the courtyard is close now and the light wooden door on the left of the buttress shows dark staining along its lower half. My current heading still points straight into the gap between the two doors. I will continue forward onto the paving to keep closing on that corner.", + "I am at the edge of the paved courtyard with the pale door and the dark door clearly framing the brick pier ahead of me. Both surfaces look faded and blotchy, which fits the weathered doors I am looking for. I will walk forward onto the paving to bring the corner within a few steps.", + "Standing on the paving now, I can see both doors much larger, with peeling, streaked finish along their lower panels. The recess between them is straight ahead and unobstructed. I will keep advancing to push into that inner corner.", + "The two doors now fill much of my view and the flaking, water stained paint on both is unmistakable, so this is the corner the task describes. The brick pier between them marks the exact junction I need to reach. I will step forward again to close the last stretch of paving.", + "The pale peeling door on my left and the dark blistered door on my right are now at close range, with the corner set slightly to the right of the pier. I still have a couple of paces of open paving before the walls. I will move forward to press into the angle between them.", + "I am right up against the weathered pair, with the peeling pale door at my left edge and the dark stained door to my right, and the brickwork angle between them just ahead. Only a small patch of paving separates me from that inner corner. I will step forward once more to settle into it.", + "The inner angle where the two brick walls meet now fills the center of my view, with the weathered dark door and its peeling paint just off to my right. I am close but not yet inside the recess itself, so I will step forward again to press deeper into that corner.", + "The vertical seam of the corner is directly in front of me and the brickwork now fills almost the entire view, so only a small gap remains. I will take one more short step forward to settle fully into the corner formed by the faded doors.", + "The corner's brick seam is pressed right against my view beside the weathered, peeling door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t2_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f87083020acb1789d6b651857d1708b9ce175684 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the bench on the left side of the courtyard.", + "Type": 2, + "Start_Pose": [ + -12615.498, + 8725.191, + 6913.053, + 0.0, + -107.36, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12615.498, + 8725.191, + 6913.053, + 0.0, + -107.36, + 0.0 + ], + [ + -12615.498, + 8725.191, + 6913.012, + 0.0, + -132.36, + 0.0 + ], + [ + -12700.3, + 8632.191, + 6913.102, + 0.0, + -132.36, + 0.0 + ], + [ + -12785.102, + 8539.19, + 6913.102, + 0.0, + -132.36, + 0.0 + ], + [ + -12869.904, + 8446.19, + 6913.137, + 0.0, + -132.36, + 0.0 + ], + [ + -12869.904, + 8446.19, + 6913.137, + 0.0, + -157.36, + 0.0 + ], + [ + -12986.065, + 8397.742, + 6915.875, + 0.0, + -157.36, + 0.0 + ], + [ + -13102.225, + 8349.294, + 6921.064, + 0.0, + -157.36, + 0.0 + ], + [ + -13102.225, + 8349.294, + 6921.064, + 0.0, + -157.36, + 0.0 + ] + ], + "Rationale": [ + "Two benches sit around this courtyard: one tucked beside the spiral staircase to my right, and one against the long windowed wall at the far left of the lawn, which is the one I want. Only its edge shows at the border of my view, so I will turn left to bring that bench fully in front of me.", + "The bench against the long windowed wall is now clearly in view ahead, low and small at this distance. The lawn and paving between us are open, so I will walk forward to close the gap.", + "The bench by the windowed wall has grown noticeably larger and its slats are becoming distinct, confirming my heading is good. Nothing blocks the grass ahead, so I keep walking toward it.", + "The bench now reads plainly ahead of me with its armrests and backrest visible, but it still sits a fair way off along the wall. I will step forward again to keep closing that distance.", + "The bench has drifted to the left half of my view as I advanced, and my heading now points past it toward the staircase side. A turn to the left should put the bench squarely ahead before I close the last stretch.", + "The bench is now centered ahead of me against the windowed wall, with clear grass and paving between us. I will walk forward to reach it.", + "The bench fills much of the foreground now, its slats and armrest close enough to make out the grain. One more step forward should bring me right up beside it.", + "The bench along the courtyard's left wall is directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t0_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..58931921e76b19cec8cb5be7ebda3e31711e7e5e --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the main entrance with steps.", + "Type": 0, + "Start_Pose": [ + -12696.042, + 12084.957, + 6885.759, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12696.042, + 12084.957, + 6885.759, + 0.0, + 57.6, + -0.0 + ], + [ + -12628.603, + 12191.223, + 6884.739, + 0.0, + 57.6, + -0.0 + ], + [ + -12561.165, + 12297.49, + 6885.713, + 0.0, + 57.6, + -0.0 + ], + [ + -12493.726, + 12403.756, + 6890.554, + 0.0, + 57.6, + -0.0 + ], + [ + -12426.287, + 12510.022, + 6893.408, + 0.0, + 57.6, + -0.0 + ], + [ + -12358.849, + 12616.288, + 6895.075, + 0.0, + 57.6, + -0.0 + ], + [ + -12291.41, + 12722.555, + 6894.762, + 0.0, + 57.6, + -0.0 + ], + [ + -12223.972, + 12828.821, + 6900.034, + 0.0, + 57.6, + -0.0 + ], + [ + -12156.533, + 12935.087, + 6900.034, + 0.0, + 57.6, + -0.0 + ], + [ + -12089.094, + 13041.353, + 6900.814, + 0.0, + 57.6, + -0.0 + ], + [ + -12021.656, + 13147.62, + 6930.671, + 0.0, + 57.6, + -0.0 + ], + [ + -12021.656, + 13147.62, + 6930.671, + 0.0, + 57.6, + -0.0 + ] + ], + "Rationale": [ + "From the lawn I can see the recessed dark double doors with a short flight of pale steps in front of them, set in the brick facade slightly right of center. That stepped doorway matches the main entrance I need to reach, and it is already close to my heading, so I will move straight forward to begin closing the large gap across the grass.", + "The entrance doors and their steps now appear larger and the paved apron in front of the building is clearer, confirming my forward motion is closing distance. My heading still keeps the doorway near the middle of my view, so another straight advance should continue the approach without any turn.", + "The steps below the dark doors are now distinctly resolved into separate treads and the grass verge ends just ahead at the paved forecourt. Nothing blocks the straight line to the entrance, so I will keep advancing forward.", + "I am close to the pavement edge and the stepped entrance sits ahead of me with its blue sign on the wall beside the doors. The doorway remains roughly centered in my view, so continued forward movement should carry me onto the paving toward the steps.", + "I am now on the paved forecourt with the entrance steps clearly ahead and slightly left of center, still well within my forward path. The remaining distance is several strides, so I will continue straight rather than adjust heading.", + "The four stone steps and the tall dark double doors now dominate the middle of my view, with the reception sign readable at their left. There is open paving between me and the bottom step, so I will push forward to close the last stretch.", + "The steps are only a short distance ahead and the doorway frame with its lamp above is directly in front of me. Since I should end up right at the stepped main entrance, I will advance once more to shorten the remaining gap.", + "The bottom step now stretches across the lower part of my view and the doors with the Senior School Reception sign are squarely centered ahead. I am nearly at the entrance, so one more forward step should bring me right up to the steps.", + "The dark double doors of the main entrance sit centered ahead with the flight of stone steps rising directly in front of me, and the \"Senior School Reception\" sign confirms this is the main way in. My heading is already square to the doorway, so I will continue straight to close the last of the gap toward the steps.", + "I am now right at the foot of the entrance steps, with the doors filling most of my view and only the top treads visible below them. One more forward step should bring me onto the landing immediately in front of the main entrance.", + "The main entrance doors and their handles fill my view at arm's length. The task is complete, so I stop here at the entrance." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t0_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..956c7d647f8be6cb1a80b4cf076b3e5f0c2e3a6b --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t0_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the square gray metal storage box beneath the ground-floor windows.", + "Type": 0, + "Start_Pose": [ + -12696.042, + 12084.957, + 6885.759, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12696.042, + 12084.957, + 6885.759, + 0.0, + 57.6, + -0.0 + ], + [ + -12696.042, + 12084.957, + 6885.787, + 0.0, + 32.6, + -0.0 + ], + [ + -12590.012, + 12152.766, + 6885.262, + 0.0, + 32.6, + -0.0 + ], + [ + -12483.982, + 12220.575, + 6886.911, + 0.0, + 32.6, + -0.0 + ], + [ + -12377.951, + 12288.384, + 6891.002, + 0.0, + 32.6, + -0.0 + ], + [ + -12271.921, + 12356.194, + 6892.912, + 0.0, + 32.6, + -0.0 + ], + [ + -12165.891, + 12424.003, + 6894.896, + 0.0, + 32.6, + -0.0 + ], + [ + -12165.891, + 12424.003, + 6894.896, + 0.0, + 7.6, + -0.0 + ], + [ + -12041.137, + 12440.648, + 6897.66, + 0.0, + 7.6, + -0.0 + ], + [ + -11916.384, + 12457.294, + 6907.723, + 0.0, + 7.6, + -0.0 + ], + [ + -11791.631, + 12473.94, + 6898.316, + 0.0, + 7.6, + -0.0 + ], + [ + -11791.631, + 12473.94, + 6898.316, + 0.0, + 7.6, + -0.0 + ], + [ + -11791.631, + 12473.94, + 6898.316, + 0.0, + 7.6, + -0.0 + ] + ], + "Rationale": [ + "From the lawn I can see the long brick facade, and the small square gray metal box sits far to my left along the wall beneath the ground-floor windows. My current heading points at the recessed doorway instead, so I will turn left to swing that stretch of wall and the box into the center of my view.", + "The wall section with the small gray boxes beneath the ground-floor windows now lies ahead of me across the grass. I will move forward to start closing the open lawn distance toward that part of the facade.", + "The facade has grown larger and the paved walkway at the base of the wall is clearly visible, with the square gray box standing against the brick below the windows. Nothing blocks the lawn ahead, so I will keep moving forward to reduce the remaining gap.", + "The ground-floor windows and the gray metal box below them are noticeably closer and slightly left of my heading. I will continue forward over the grass to bring myself near the paved strip in front of that wall.", + "The kerb and paving in front of the wall now fill much of my view, and the square gray box beneath the windows is distinct beside a brick pillar. Another forward step should put me onto or right at the walkway near the target.", + "I am nearly at the paved edge and the gray metal box is only a short distance ahead on my left, set against the brick below the windows. I will step forward again to get onto the walkway beside it.", + "I am now standing on the paved walkway with the square gray box just ahead but sitting off to the left of my heading, close to the wall and its pillar. I will turn left to bring the box squarely in front of me before closing the last stretch.", + "The turn has centered the square gray box beneath the ground-floor windows in my view, with clear paving between us. I will move forward along the walkway to close the last few steps to it.", + "The square gray metal storage box sits on the paving directly under the tall ground-floor windows, now clearly ahead and slightly right of my heading. It is still a few paces off, so I will step forward along the walkway to keep closing that gap.", + "The storage box has grown to fill much of the lower right of my view, so my heading along the wall is good and only a short distance remains. I will take one more step forward to bring me right up beside it.", + "I am now standing next to the box, and at this range only its upper rim shows at the bottom edge of my view while the brickwork dominates ahead. Tilting my gaze downward should bring the whole storage box into view for a clear confirmation.", + "The square gray metal storage box beneath the ground-floor windows is directly in front of me, filling the near foreground. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e983bb493f57b3c64a18c865c91bb811b7d4e5af --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t3_b/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Approach the gray bin near the wall, then move to the main doorway.", + "Type": 3, + "Start_Pose": [ + -12696.042, + 12084.957, + 6885.787, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12696.042, + 12084.957, + 6885.787, + 0.0, + 57.6, + -0.0 + ], + [ + -12628.603, + 12191.223, + 6884.739, + 0.0, + 57.6, + -0.0 + ], + [ + -12628.603, + 12191.223, + 6884.739, + 0.0, + 32.6, + -0.0 + ], + [ + -12522.573, + 12259.032, + 6886.503, + 0.0, + 32.6, + -0.0 + ], + [ + -12416.543, + 12326.842, + 6890.754, + 0.0, + 32.6, + -0.0 + ], + [ + -12310.513, + 12394.651, + 6892.342, + 0.0, + 32.6, + -0.0 + ], + [ + -12204.482, + 12462.46, + 6894.963, + 0.0, + 32.6, + -0.0 + ], + [ + -12098.452, + 12530.269, + 6895.098, + 0.0, + 32.6, + -0.0 + ], + [ + -12098.452, + 12530.269, + 6895.098, + 0.0, + 7.6, + -0.0 + ], + [ + -11973.699, + 12546.915, + 6898.818, + 0.0, + 7.6, + -0.0 + ], + [ + -11848.945, + 12563.56, + 6898.565, + 0.0, + 7.6, + -0.0 + ], + [ + -11848.945, + 12563.56, + 6898.565, + 0.0, + 7.6, + -0.0 + ], + [ + -11848.945, + 12563.56, + 6898.565, + 0.0, + 32.6, + -0.0 + ], + [ + -11848.945, + 12563.56, + 6898.565, + 0.0, + 57.6, + -0.0 + ], + [ + -11848.945, + 12563.56, + 6898.565, + 0.0, + 82.6, + -0.0 + ], + [ + -11848.945, + 12563.56, + 6898.565, + 0.0, + 107.6, + -0.0 + ], + [ + -11848.945, + 12563.56, + 6898.565, + 0.0, + 132.6, + -0.0 + ], + [ + -11934.136, + 12656.205, + 6898.816, + 0.0, + 132.6, + -0.0 + ], + [ + -12019.327, + 12748.849, + 6899.325, + 0.0, + 132.6, + -0.0 + ], + [ + -12104.518, + 12841.494, + 6899.847, + 0.0, + 132.6, + -0.0 + ], + [ + -12104.518, + 12841.494, + 6899.847, + 0.0, + 107.6, + -0.0 + ], + [ + -12142.574, + 12961.461, + 6900.099, + 0.0, + 107.6, + -0.0 + ], + [ + -12142.574, + 12961.461, + 6900.099, + 0.0, + 82.6, + -0.0 + ], + [ + -12142.574, + 12961.461, + 6900.099, + 0.0, + 57.6, + -0.0 + ], + [ + -12075.136, + 13067.728, + 6907.808, + 0.0, + 57.6, + -0.0 + ], + [ + -12007.697, + 13173.994, + 6940.644, + 0.0, + 57.6, + -0.0 + ], + [ + -12007.697, + 13173.994, + 6940.644, + 0.0, + 57.6, + -0.0 + ] + ], + "Rationale": [ + "From the lawn I can see the long brick wall ahead, with a gray bin standing against it off to my left and the arched entrance further right. The bin is my first destination, so I need to cut across the grass and close the distance. I will step forward toward the building frontage.", + "The gray bin by the wall sits well off to my left while my heading points at the doorway section instead. Before covering more ground I should swing my heading toward the bin so my path stays straight to it. I will turn left.", + "The turn has brought the gray bins against the wall into the left half of my view, roughly along my heading now. Nothing but open lawn and paving lies between me and them. I will walk forward to close on the bin.", + "The wall and its bins have grown larger, so my heading is carrying me correctly toward them, but they are still several strides off. The paved strip along the building is unobstructed. I will keep walking forward.", + "The gray bin beside the pillar is now clearly resolved ahead and slightly left, and the lawn edge is close. I still need more ground before I can call myself at it. I will step forward again.", + "I am nearly at the kerb, with the gray bin against the brickwork just ahead on my left. Another stride should put me onto the paving beside it. I will continue forward.", + "I am now on the paving and the gray bin sits close by the wall to my left front. A further step will bring me alongside it rather than leaving it at arm's length. I will move forward.", + "The gray bin has slid to the far left edge of my view as I closed in, so my heading now runs past it along the wall. Turning left should bring it back in front of me for the last short approach. I will turn left.", + "The gray bin standing against the brick frontage is now just ahead and slightly left of my heading, with clear paving between us. I will walk forward to cut that remaining gap along the wall.", + "The bin now fills much of the lower left of my view, so I am close but not yet beside it. One more step forward along the wall should bring me right up to it.", + "The gray bin is right at my feet in the lower left corner, with the brick wall pressed close beside it. I have reached the bin by the wall. I mark arriving here before setting off for the arched entrance doors along the front of the building.", + "Standing at the bin, my view is filled by brickwork and windows, which is no use for travelling onward. The tall entrance with its steps lies back along the frontage behind my right shoulder, so I begin swinging right away from the wall.", + "My view still shows nothing but brick courses and a window sill, so I have not yet come round far enough to see open paving. I keep rotating right to continue bringing the frontage and its entrance into view.", + "The frame is still solid brick with just a sliver of window at the top left, so the route along the building remains outside my view. Another right turn should carry my heading further toward the open ground beside the wall.", + "The building's corner and a strip of paving are appearing at the right edge, showing that the open frontage lies further round in that direction. I will turn right again to bring that route in front of me.", + "Open paving and grass now fill the right half of my view while the wall recedes to the left, so I am nearly facing the walkway that runs along the front of the building. One more turn right should line my heading up with it before I set off.", + "Having marked the gray bin against the wall, I am now turned away from it and facing along the open paved walkway that runs beside the brickwork toward the building's corner. The way ahead is clear of obstacles, so I step forward to begin closing on the main entrance.", + "The building's projecting corner is drawing nearer on my left and the paving continues unbroken in front of me. I keep walking forward, since the entrance should lie further along this facade.", + "Low stone steps have appeared at the base of the wall on my left, a sign that an entrance sits along this side. I advance again to bring myself level with that recess in the facade.", + "The flight of steps is now directly off my left shoulder while my heading still points down the empty pavement past the building. I turn left to swing my view onto that recessed part of the facade where the entrance should be.", + "The turn brought a large dark double door above its stone steps into view on my left, clearly the building's main entrance. I step forward to close the remaining distance across the paving toward it.", + "I am close to the steps now, but the doorway sits well off to my left while I face along the pavement. I turn left to bring the doors nearer the centre of my view before advancing further.", + "The doorway and its steps now fill the left half of my view, still not squarely in front of me. Another left turn should place the doors directly ahead so I can walk straight up to them.", + "The tall double doors under the Senior School Reception sign are now centred in front of me with the steps rising straight ahead. I walk forward to close the last of the gap to this main entrance.", + "The tall double doors under the reception sign fill my view and the last low step lies just ahead of my feet. I am centered on the doorway but still a stride short of it, so I will step forward once more to close the final gap.", + "The doorway's paired handles fill my view at arm's length, so I stand right at the entrance. The task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..968204ac23d83e1e4db2d61a6f790d12730d5e55 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_c/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Head toward the bench near the building, then reach the arched door.", + "Type": 3, + "Start_Pose": [ + -14374.198, + 10328.748, + 6910.801, + 0.0, + -136.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14374.198, + 10328.748, + 6910.801, + 0.0, + -136.32, + 0.0 + ], + [ + -14465.221, + 10241.826, + 6910.801, + 0.0, + -136.32, + 0.0 + ], + [ + -14556.243, + 10154.904, + 6911.121, + 0.0, + -136.32, + 0.0 + ], + [ + -14556.243, + 10154.904, + 6911.121, + 0.0, + -111.32, + 0.0 + ], + [ + -14602.002, + 10037.658, + 6915.293, + 0.0, + -111.32, + 0.0 + ], + [ + -14647.762, + 9920.413, + 6915.293, + 0.0, + -111.32, + 0.0 + ], + [ + -14693.521, + 9803.167, + 6915.293, + 0.0, + -111.32, + 0.0 + ], + [ + -14739.28, + 9685.921, + 6915.038, + 0.0, + -111.32, + 0.0 + ], + [ + -14785.04, + 9568.675, + 6919.235, + 0.0, + -111.32, + 0.0 + ], + [ + -14830.799, + 9451.429, + 6917.582, + 0.0, + -111.32, + 0.0 + ], + [ + -14830.799, + 9451.429, + 6917.582, + 0.0, + -111.32, + 0.0 + ], + [ + -14797.205, + 9537.506, + 6918.622, + 0.0, + -111.32, + 0.0 + ], + [ + -14797.205, + 9537.506, + 6918.622, + 0.0, + -136.32, + 0.0 + ], + [ + -14797.205, + 9537.506, + 6918.622, + 0.0, + -161.32, + 0.0 + ], + [ + -14797.205, + 9537.506, + 6918.622, + 0.0, + 173.68, + -0.0 + ], + [ + -14922.299, + 9551.361, + 6918.622, + 0.0, + 173.68, + -0.0 + ], + [ + -15047.393, + 9565.216, + 6918.114, + 0.0, + 173.68, + -0.0 + ], + [ + -15047.393, + 9565.216, + 6918.114, + 0.0, + -161.32, + 0.0 + ], + [ + -15047.393, + 9565.216, + 6918.114, + 0.0, + -136.32, + 0.0 + ], + [ + -15138.415, + 9478.294, + 6917.189, + 0.0, + -136.32, + 0.0 + ], + [ + -15229.437, + 9391.372, + 6949.861, + 0.0, + -136.32, + 0.0 + ], + [ + -15320.46, + 9304.45, + 6949.861, + 0.0, + -136.32, + 0.0 + ], + [ + -15411.482, + 9217.528, + 6949.861, + 0.0, + -136.32, + 0.0 + ], + [ + -15411.482, + 9217.528, + 6949.861, + 0.0, + -136.32, + 0.0 + ] + ], + "Rationale": [ + "From the edge of the lawn I can see the long brick building ahead, with a wooden bench set against its wall to the right of the arched doorway. The bench is my first destination, so I will walk straight ahead across the grass to close the wide gap.", + "The building fills more of my view and the paved strip in front of it is now clearly visible, so my previous step brought me nearer. The bench beside the arched door is still far off to my right front, so I will keep walking forward over the remaining grass.", + "I am close to the paved frontage now, but the bench sits off to the right of my heading while my body is aimed at the tower and doorway. Turning right should swing the bench toward the middle of my view so I can walk straight at it.", + "The turn has brought the bench and the dark bin beside it into the center of my view, with the arched door now off to my left. With my heading set on the bench, I will step forward onto the paving to close the distance.", + "The bench and its bin are noticeably larger and the grass edge has dropped to the bottom of my view, so the last step made real ground. My path along the wall is clear, so I will keep walking toward the bench.", + "I am now standing on the paved apron with the bench slightly ahead and to my left against the brick wall. Nothing blocks the way between me and it, so another step forward should bring me closer to the bench.", + "The bench and the bin beside it now dominate the near view, and the arched doorway has slid to the far left edge. Only a short stretch of paving separates me from the bench, so I will keep advancing toward it.", + "The bench slats and the bin are close enough that I can pick out the individual boards, so I am nearly beside it. I will take another step forward to pull right up to the bench.", + "The wooden bench set against the brick wall is now close ahead on my left, with the dark bin standing at its far end. I am not yet level with it, so I will take another step forward to draw alongside the seat.", + "The slatted wooden bench fills my view right beside me, its backrest and arm an easy reach away against the brick wall. I am standing at the bench by the building. I mark reaching it, and the arched wooden entrance further along this facade is where I am going next.", + "Standing this close, the bench and the bin crowd my whole view and the wall blocks everything else, leaving me no room to swing around cleanly. I will step back from the seat to open up space and widen what I can see before turning toward the arched door.", + "With a little clearance from the bench, the brick wall and windows still take up the whole frame and no entrance is visible. The arched door lies back along the facade to my left, so I will turn left to begin bringing it into view.", + "The rotation has pushed the bin to the right edge and left the bench squarely in front of me, with a hint of paving and a sign further left. The doorway is still outside my view, so I will turn left again.", + "Broad brick steps rising to an entrance recess have come into the left half of my view past the end of the bench. Another left turn should put those steps and the open paving in front of me so I can walk straight toward the arched door.", + "I am now facing along the open paving with the entrance steps and their raised landing off to my right against the brickwork. Nothing blocks the way, so I will walk forward to close the distance to that recessed doorway.", + "The arched wooden door is plainly visible now on my right, set above the brick steps beside the small blue sign. It is still several paces off, so I will keep walking forward to close on it.", + "The arched doorway sits at the very right edge of my view, with the brick steps leading up to it also crowded to that side. I will turn right to swing my heading toward that entrance so the approach lies straight ahead.", + "The arched door is now fully in sight but still sits right of my centre, with the steps slanting across in front of me. A second turn to the right should square my heading onto the doorway before I walk in.", + "The arched wooden door with its pale threshold now sits nearly straight ahead across the open brick terrace. With my heading settled, I will walk forward to close the remaining distance to the entrance.", + "The pointed arch and its timber planking have grown larger and remain centred in my path. Nothing blocks the paving in front of me, so I keep walking forward to shorten the gap.", + "The arched door now dominates my view, its handle and threshold clearly readable, though I am still a couple of paces off. I will step forward again to bring myself right up to the entrance.", + "The timber door fills nearly the whole frame and its low white step lies just in front of my feet. One more forward step should place me directly at the arched entrance.", + "The arched door's planks and iron handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t5_a_pd/infos.json b/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c37e0e0d5ac1e82fa6c11faaae9b28acd450d274 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t5_a_pd/infos.json @@ -0,0 +1,582 @@ +{ + "Instruction": "Pick up the plate at the wooden arched door, then set it down near the bench.", + "Type": 5, + "Start_Pose": [ + -14374.198, + 10328.748, + 6910.801, + 0, + -136.32, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -15336.244, + 9368.453, + 6899.905, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + 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I am far too distant to reach that plate from the grass, so I will walk straight forward along my current heading. This should close a large part of the gap.", + "The facade and the arched doorway have grown slightly larger, confirming my previous step carried me nearer without any obstruction. The plate near the door is still small in view and well out of reach. I will keep walking forward on the same line.", + "The paved terrace edge is now nearer and the plate by the arched door remains centered slightly left of my heading. Nothing blocks the straight line between me and the doorway, so another forward step is the simplest way to shorten the distance. I will continue advancing.", + "The steps below the arched door and the bench to the right are clearly resolved now, and the plate stands on the landing just left of my heading. I am still on the grass, short of the paving, so I will walk forward again to reach the terrace.", + "I am now on the paving with the arched door and its low steps directly ahead, and the plate is plainly visible in front of the doorway. It is still several strides away, too far to grasp. I will keep moving forward toward it.", + "The white plate is standing on the brick step platform in front of the wooden arched door, still well ahead of me across the paving. Nothing blocks the open forecourt on my line to it, so I keep walking straight to close the gap before any grasp is possible.", + "The plate and the arched doorway have grown noticeably larger, confirming my heading is correct and the distance is shrinking. It is still several paces away on the raised brick step, so I advance again rather than reach yet.", + "The plate now sits clearly on the upper brick tier just below the door, roughly centered in front of me. The step edges are still between me and it, so another walk forward is needed to reach a position where grasping is plausible.", + "The plate fills a good part of the view now and I am nearly at the foot of the brick steps. One more step forward should place it close enough in front of me to attempt a pick.", + "The plate is directly in front of me, large and slightly right of center, resting on the brick paving by the arched door. My hands are empty and it looks near enough to grab, so I will try to pick it up now.", + "My hands are still empty, so that grasp attempt did not take hold. The plate was likely just beyond my reach at the edge of the raised brick landing. I will step forward to close that last bit of distance before trying again.", + "I am now right up against the arched wooden door with the plate's pale rim filling the lower right of my view, far closer than during my earlier unsuccessful attempt. This range should put it within reach. I will try to grasp the plate again.", + "The plate is now held in my hands and no longer sitting at the door, so this grasp worked. With the pickup done, the doorway ahead is no longer my destination and I need to face back out toward the open paving where seating stands. I will turn right to begin swinging away from the door.", + "Carrying the plate, my view still holds the arched door on the left with brick wall and windows filling the rest, so I have no open route ahead yet. Continuing to rotate right should carry my heading past this facade toward the open walkway. I will turn right again.", + "The doorway has slipped to the far edge and I am now looking almost straight at the window wall, which is not a way through. I need to keep swinging right until the open paved courtyard and its benches come into view. I will turn right once more.", + "The plate is secure in my hands, so the doorway is done with and I only need a route to the bench. Right now my whole view is filled by the brick wall and its windows, with no walkable ground ahead. I will keep turning right to swing off this wall and look for the open paving.", + "The wall corner has slid toward the left of my view and a strip of lawn and paving is now appearing at the far right. That sliver is not yet enough space to walk into while carrying the plate. I will turn right again to bring the open courtyard more toward the center of my heading.", + "The courtyard with its lawn and wide paving now fills the right half of my view, while the brick wall still blocks the left. My heading is still angled into that wall, so stepping forward would take me into masonry. One more turn right should put the open walkway squarely ahead.", + "The open courtyard and the paved walkway now lie ahead of me, with the brick wall pushed to my left side. Nothing blocks this heading, so I can finally carry the plate away from the door. I will walk forward along the paving toward the seating area.", + "A bench has come into view at the lower left along this paved walk, confirming the seating I need is on this side of the courtyard. I am still too far and poorly placed beside it to set the plate down. I will keep walking forward to close that remaining distance.", + "I still have the plate in hand, but my heading points straight across the open lawn where there is nothing to set it on. The paved strip along the building to my left is where seating stands, so I turn left to swing my view toward that side.", + "The previous rotation brought the end of a wooden bench into the lower left of my view, set against the brick wall. I am still angled past it, so I turn left again to face along the paved strip where that bench sits.", + "The bench and the bin beside it are now on my left with clear paving running ahead of me. Carrying the plate, I step forward along this walkway to close the remaining distance to the bench before I try to place the plate.", + "Stepping up the walkway has brought me alongside the bench and its bin, both sitting to my left against the brick wall. Since my heading still runs past them down the path, I turn left to bring the bench toward the centre of my view.", + "The bench now occupies the lower left of my view with the wall behind it, yet it is still off to the side of my facing. I turn left once more so the seat and the ground beside it sit squarely ahead, which should give me a workable spot to set the plate down.", + "I am still carrying the plate, and the wooden bench against the brick wall now sits close on my left with the walkway clear ahead. Stepping forward should bring me alongside the bench seat so the plate can be released right beside it rather than short of it.", + "The bench slats and its side bin are now directly beside me, so I am standing at the intended placing spot with the plate still in hand. I will release it here, which should leave the plate resting next to the bench as the task requires.", + "The plate is out of my hands and resting on the paving right beside the bench. The task is complete, so there is nothing further to do here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/000.jpg b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0d7a591096bee467eb6b87a9dbc70b501b23e540 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:741c13a9ab804c34da773748e9ba21c0c1f7b87f1d13f209c1e5664e7d0894ae +size 98697 diff --git a/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/001.jpg b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..28f4325558523ec7cee49e8ff315d8ee5c2ada58 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/001.jpg @@ -0,0 +1,3 @@ +version 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35.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1172.9, + 1172.9, + 1047.3, + 921.7, + 796.2, + 670.9, + 545.8, + 421.1, + 297.5, + 177.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The demon-faced archway sits off to my right along the curved wall, and the small orange pot beside the column right of it is barely at the edge of my view. Turning right should bring both the archway and that pot toward the center of my heading before I close the distance.", + "The demon archway is now roughly centered ahead and the ceramic pot sits just right of it at the base of the column. The open floor between us is clear, so I will walk forward to cut down the long distance.", + "The archway and the pot beside it have grown slightly larger, confirming my heading is carrying me toward the target. The pot is still far across the arena floor, so I keep walking forward.", + "The ceramic pot stays just right of the demon archway and remains well out of reach. Nothing blocks the flat ground in front of me, so another step forward continues the approach.", + "The pot is now clearly recognizable as a round ceramic vessel resting against the low step near the column. My heading still points at it, so I continue walking to shorten the remaining gap.", + "The pot sits slightly right of my center line and is still a few paces away, too far to grasp. I will step forward again to keep closing on it.", + "The carved demon archway now fills much of my view and the ceramic pot stands plainly on the ground before its step. It is not yet within arm's length, so I advance once more.", + "The pot is close and centered just right of my path, its rim and body clearly visible against the mossy floor. One more step forward should bring it near enough for a grasp attempt.", + "The ceramic pot sits low and right of center at the foot of the stone column beside the demon archway, but it is still a few paces off and too far to grasp. I will step forward once more to close the remaining gap and bring the pot within arm's reach.", + "The ceramic pot now fills the lower right of my view, close enough that its rim and opening are clearly resolved right at the base of the stone column. This is the grasp range the task requires, so I will attempt to pick it up.", + "The ceramic pot is now held in my hands rather than resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_a_pd/infos.json b/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..712e6acd9e724817134f1c6dc7d7c7928308e8bc --- /dev/null +++ b/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_a_pd/infos.json @@ -0,0 +1,563 @@ +{ + "Instruction": "Pick up the green bell pepper from the demon archway, then place it on the ground in front of the barred window.", + "Type": 5, + "Start_Pose": [ + -5031.262, + 15855.726, + -6299.828, + 0, + -40, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -3829.868, + 15527.912, + -6366.635, + 7.202, + 75.248, + -80.102 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + 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[ + -4233.8, + 14887.052, + -6329.823, + -28.203, + -64.86, + 1.855 + ], + [ + -4287.092, + 14772.771, + -6330.263, + -28.201, + -64.853, + 1.862 + ], + [ + -4284.103, + 14782.321, + -6329.111, + -28.203, + -39.859, + 1.863 + ], + [ + -4285.224, + 14656.561, + -6300.156, + -28.183, + -39.84, + 1.88 + ], + [ + -4306.584, + 14657.64, + -6297.352, + 0.0, + -90.0, + 0.0 + ], + [ + -4306.584, + 14657.64, + -6297.352, + 0.0, + -90.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1245.3, + 1132.2, + 1022.1, + 1022.1, + 897.0, + 772.0, + 647.5, + 523.5, + 400.7, + 280.7, + 169.3, + 169.3, + 22.2, + 21.4, + 20.7, + 19.4, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 22.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper is already visible far ahead, resting on the ground at the base of the demon-faced archway on the right side of this curved chamber. It is much too distant to grasp, so I will walk forward to close the gap before worrying about fine alignment.", + "The pepper and its demon archway have grown slightly larger, confirming my heading is bringing me closer. Since nothing blocks the open floor ahead, I will keep walking to reduce the remaining distance.", + "The pepper sits well off to the right of my current heading, near the demon-carved archway, so walking straight would carry me past it. I will turn right to place the target closer to the center of my view before advancing again.", + "After the turn, the demon archway and the pepper below it now sit near the middle of my view, so my heading points at the target. I will walk forward along this line to close the still considerable distance.", + "The pepper stays roughly centered and is growing as I advance, so this heading needs no correction yet. I will continue walking straight toward it.", + "The pepper is clearly closer now, sitting just in front of the carved archway's stone step, but it is still several paces away and out of reach. I will take another step forward.", + "The archway fills much more of my view and the pepper is drifting slightly right of center as I near the curved wall. It remains beyond arm's reach, so I will keep walking forward and adjust heading later if needed.", + "The pepper now appears large and low in my view, just short of the archway's step, meaning only a little distance remains. I will step forward again to bring it within grasping range.", + "The green bell pepper sits on the ground at the foot of the demon archway, now large and just right of center ahead of me. It is still several paces away, too far to grasp, so I will keep walking straight toward it to close the remaining gap.", + "The pepper now fills a good part of the lower right of my view against the archway steps, but it still lies beyond arm's reach. One more step forward should bring me close enough to attempt the grasp.", + "Standing close to the archway, the pepper has slipped almost entirely out of my view at the lower right edge while the carved demon fills the center. Turning right should swing my heading back onto the pepper so it sits squarely in front of me for a grasp.", + "The green bell pepper is now directly in front of me at the base of the demon archway, filling the lower part of my view within reach. This is the grasp position the task calls for, so I will attempt to pick it up.", + "The grasp worked and the pepper is held rather than resting on the ground. Now I need the barred window, which is not in front of me here at the demon archway, so I will begin turning left to sweep the curved wall for it.", + "Facing the demon relief again, I see only blank stonework and pillars, with no barred window in this direction. I will keep rotating left along the curved wall to bring the window side of the chamber into view.", + "The demon archway has swung to the right side of my view and the stretch of wall ahead is still featureless masonry. Another left turn should carry my heading further around the rotunda toward where the barred window should stand.", + "The archway has passed off to my right and a dark grated opening is just appearing at the far left edge of my view. Turning left once more should place that barred window ahead of me so I can walk to it while carrying the pepper.", + "The pepper is in my hands, so the remaining job is to carry it to the barred window. That grille sits left of my current heading, near the edge of my view, with the curved wall running away from me. One more turn to the left should bring it near the center so I can walk straight at it.", + "The barred window is now roughly ahead of me across open, unobstructed ground. With the pepper carried along, walking forward is the direct way to close the gap to the wall it sits in.", + "The grille has grown slightly larger and stays near the middle of my view, so my heading is still good. I will keep walking to reduce the remaining distance to that stretch of wall.", + "The barred window keeps expanding ahead of me and the small bones on the floor mark how the wall is drawing nearer. Another forward step should continue closing on the drop area while I hold the pepper.", + "The window's iron bars are now clearly resolved and its arch fills a good part of my view. Still several paces of open floor remain, so I will advance again toward the ledge beneath it.", + "The grille now dominates the right half of my view and the raised step at the base of the wall is close. I will step forward once more to reach the ground directly before the window.", + "I am nearly at the wall, with the barred opening looming to my right and the pillar corner on my left. One more forward step should bring me level with the window before I set the pepper down.", + "Standing at the wall, my view is filled by the corner pillar and stonework while the barred opening lies off to my right rather than in front of me. Turning right should square me with the window so the pepper can be released on the ground before it.", + "The barred window now fills the view straight ahead, but I am still a step short of the flagstones directly beneath it. Carrying the green bell pepper, I walk forward once more to stand right at the base of the grating so the release point lands in front of the window.", + "I am now standing immediately at the barred window, with the iron grating filling my view and the ground right in front of it within reach. This is the placement spot the task specifies, so I release the green bell pepper here and expect it to settle on the stone before the bars.", + "The green bell pepper is resting on the ground directly in front of the barred window. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_b_p/infos.json b/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9b0c2b64f60132e958da903394331f092db3ead3 --- /dev/null +++ b/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_b_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the wicker basket from the ground in front of the barred window.", + "Type": 5, + "Start_Pose": [ + -5031.262, + 15855.726, + -6299.828, + 0, + -40, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -4317.745, + 14831.238, + -6359.828, + 90, + -59.999, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5031.262, + 15855.726, + -6299.828, + 0, + -40, + 0 + ], + [ + -5031.262, + 15855.726, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4978.072, + 15741.659, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4924.882, + 15627.592, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4871.691, + 15513.525, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4818.501, + 15399.458, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4765.311, + 15285.391, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4712.12, + 15171.324, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4712.12, + 15171.324, + -6299.828, + 0.0, + -40.0, + 0.0 + ], + [ + -4615.707, + 15090.423, + -6299.828, + 0.0, + -40.0, + 0.0 + ], + [ + -4519.293, + 15009.522, + -6299.828, + 0.0, + -40.0, + 0.0 + ], + [ + -4422.88, + 14928.622, + -6299.828, + 0.0, + -40.0, + 0.0 + ], + [ + -4422.88, + 14928.622, + -6299.828, + 0.0, + -40.0, + 0.0 + ], + [ + -4422.88, + 14928.622, + -6299.828, + 0.0, + -40.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4317.745, + 14831.238, + -6359.828, + 90.0, + -59.999, + 0.0 + ], + [ + -4409.621, + 14945.372, + -6329.722, + -28.202, + 10.144, + 1.862 + ], + [ + -4409.621, + 14945.372, + -6329.722, + -28.202, + 10.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1248.5, + 1248.5, + 1124.7, + 1001.4, + 878.8, + 757.4, + 637.6, + 520.8, + 520.8, + 394.9, + 269.1, + 143.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket sits far across the courtyard on the ground beside the barred gate, sitting left of my current heading. Before committing to a long walk, I want it closer to the center of my view so my straight path leads to it. I will turn left to line up on it.", + "The basket now sits near the middle of my view, resting on the ground below the barred gate across the open arena floor. The stone floor ahead is clear of obstacles, so nothing blocks a direct walk. I will step forward to close the large gap.", + "The gate and the basket beside it have grown slightly larger, confirming my heading is carrying me toward the target. The basket remains a small disc against the far wall, so I am still well out of reach. I will keep walking straight ahead.", + "The barred gate now fills more of my view and the basket is clearly resting on the ground at its base, slightly right of center. The distance is still too great to reach down and grasp it. Another forward step should keep shrinking that gap.", + "I can now make out the basket's woven rim next to a pale animal skull on the low stone ledge ahead. The wall is still several strides away and the floor between us is flat and clear. I will continue advancing.", + "The gate and its flanking columns now dominate my view, and the basket sits plainly on the ground to the right of the skull. I am still a few paces short of being able to pick it up. I will step forward again.", + "The wall with the barred gate is close now and the wicker basket is distinctly visible on the ground to the right of it. Nothing stands between me and the ledge, so I can keep closing directly. I will take another step toward it.", + "At this shorter range the basket has drifted well right of my view center, so walking straight would carry me past it toward the gate instead. I need my heading pointed at the basket itself before the final steps. I will turn right to bring it back to center.", + "The wicker basket now sits near the middle of my view, resting on the ground at the base of the barred window. Nothing blocks the open stone floor between us, so I will walk straight ahead to close the remaining distance.", + "The basket has grown noticeably larger and stays just left of center, confirming my heading is still good. It remains too far for a grasp, so I keep walking forward toward the window ledge.", + "The basket now dominates the lower center of my view, sitting on the stone lip below the barred window. One more step should bring it within arm's reach for a grasp attempt.", + "The wicker basket is now directly before me at the bottom of my view, close enough that its rim fills the near foreground. My hands are empty and nothing stands between us, so I will reach out and try to pick it up.", + "The wicker basket is now held in my hands and no longer resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_b_pd/infos.json b/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3840a484f1cd71daecf4edb71b1c176820751a3 --- /dev/null +++ b/dataset/trajectory/colosseum_desert/task_x-005031_y015856_z-006300_t5_b_pd/infos.json @@ -0,0 +1,525 @@ +{ + "Instruction": "Pick up the trash bag from the ground near the barred window, then place it at the base of the demon archway.", + "Type": 5, + "Start_Pose": [ + -5031.262, + 15855.726, + -6299.828, + 0, + -40, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4468.371, + 14893.811, + -6358.685, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5031.262, + 15855.726, + -6299.828, + 0, + -40, + 0 + ], + [ + -4934.849, + 15774.825, + -6299.828, + 0.0, + -40.0, + 0.0 + ], + [ + -4838.435, + 15693.924, + -6299.828, + 0.0, + -40.0, + 0.0 + ], + [ + -4742.021, + 15613.024, + -6299.828, + 0.0, + -40.0, + 0.0 + ], + [ + -4742.021, + 15613.024, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4688.831, + 15498.957, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4635.641, + 15384.89, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4582.45, + 15270.823, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4529.26, + 15156.756, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4476.07, + 15042.689, + -6299.828, + 0.0, + -65.0, + 0.0 + ], + [ + -4476.07, + 15042.689, + -6299.828, + 0.0, + 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"PD_Dist_2D": [ + 1114.5, + 996.9, + 881.5, + 769.5, + 769.5, + 644.1, + 518.8, + 393.9, + 269.9, + 149.1, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 22.2, + 21.4, + 21.4, + 21.4, + 21.4, + 20.4, + 21.4, + 20.8, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the center of this round arena I can see the barred gate set in the far wall to my left and the carved demon archway further right. The trash bag I need is somewhere at the foot of that barred opening, still too distant to make out. I will walk forward to close the wide gap toward that wall.", + "The barred gate and the small dark shape resting at its base have grown slightly larger, so my heading is carrying me usefully toward that side of the arena. Nothing blocks the open ground ahead of me. I will keep walking forward to shorten the remaining distance.", + "The wall with the barred gate now fills more of my view, and the dark object sitting on the ground beside it is becoming clearer. It still sits off to my left of my current heading, but I am not yet close enough for a turn to be worthwhile. I will advance again across the open floor.", + "I am close enough now that the barred gate and the object beneath it sit clearly to the left of my forward direction, while the demon archway lies off to my right. Walking straight ahead would carry me past the pickup spot. I will turn left so my heading points at the barred gate.", + "The turn has put the barred gate near the middle of my view with the dark bag shape just below it. The path across the arena floor is clear. I will walk forward along this corrected heading to close on the bag.", + "The gate and the rounded dark bag beside the pale animal skull keep growing as I advance, confirming my heading is good. I am still several paces away, too far for a grasp. I will continue walking straight toward the bag.", + "The bag now reads clearly as a slumped sack on the ground directly ahead at the foot of the barred gate, roughly centered in my view. A short remaining gap separates me from it. I will step forward again rather than attempt a grasp from this distance.", + "The trash bag now occupies the lower center of my view, close under the barred gate, and my heading needs no correction. It is nearly within reach but not quite. I will take one more step forward to get properly over it before trying to lift it.", + "The trash bag now sits just ahead and slightly left of me on the ground below the barred window, filling a good part of my view. It is still a step too far for a reliable grasp, so I will walk forward once more to close that last gap.", + "The bag is directly in front of me at the foot of the barred window, close enough that it dominates the near field. Nothing separates me from it, so I will attempt the grasp now rather than step again and risk pushing past it.", + "The grasp worked: the bag is in my hands and no longer resting on the ground by the window. The demon archway is not in front of me from this heading, so I will turn right to sweep the curved wall and bring that carved doorway into view.", + "Facing this way I still only see the barred window on my left and blank courtyard wall to the right, with no carved demon figure yet. I will keep rotating right along the curved wall to find the archway I need to carry the bag toward.", + "The demon carving has just come into view at the right edge of my field, set in its recessed arch along the curved wall. Another right turn should place it near the middle of my heading so I can walk straight at it while carrying the bag.", + "The demon archway now sits ahead of me across the open courtyard floor with clear ground in between. With the bag in hand, I will walk forward to begin closing the distance toward its base.", + "The demon archway sits a little to the right of my current heading, so walking straight would drift me past its base. I will turn right to square up on the carving before continuing across the floor.", + "From this heading the demon archway and its recessed niche are clearly in view ahead, with open courtyard floor between us. Still holding the bag, I will step forward to keep closing on the arch base where it must be set down.", + "I am carrying the trash bag and the horned demon relief now fills the left side of my view, still several paces off across the open floor. I will keep walking forward to close the remaining gap toward its archway before I turn in to face it.", + "The demon figure and its arched niche have grown noticeably larger and shifted further left as I advance, so I am closing on the wall that holds it. I will step forward again to reach the curb line in front of the archway.", + "The demon carving now dominates the left edge of my view and its clawed feet rest just above the low step, so the drop point is close. I will take another step forward to bring myself level with the base of that archway.", + "I have drawn even with the archway, but the demon's clawed base now sits at the far left edge of my view while I face along the curved wall. I will turn left to bring the base of the archway squarely in front of me for placement.", + "The turn has put the demon's torso and clawed feet centered ahead of me, with the low step between us. I will walk forward to close on that step so the bag can be set right at the figure's base.", + "I am right up against the archway, but the carved feet sit toward the left of my view with the pillar to the right, so my heading is slightly off center. I will turn left to square up on the middle of the demon's base.", + "The demon's clawed feet are now centered directly ahead with the flanking stone blocks evenly framing them, so my heading is on the drop spot. I will step forward once more to stand right at the base before releasing the bag.", + "I am pressed right up against the carved demon at the archway, close enough that its scaled surface fills my view, and the bag is still in my hands. This is the base of the archway named in the task, so I will drop the bag here.", + "The trash bag now rests on the ground at the foot of the demon archway, no longer in my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/000.jpg b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..abb8c2ffac4d0294a7763dddf51f3e8a744fa5e6 --- /dev/null +++ b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6cfdc78d8932d9f2b119f5bacd06c0e024a987daf0d866f2b19a1d466af6f66 +size 111418 diff --git a/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/001.jpg b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..aec2ca9d82fc7ef25718958998cdff97489b0f34 --- /dev/null +++ b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/001.jpg @@ -0,0 +1,3 @@ +version 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0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2226.638, + -129.195, + 223.563, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1697.928, + 89.247, + 293.563, + 0, + -140, + 0 + ], + [ + -1794.342, + 8.346, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -1794.342, + 8.346, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -1915.912, + -24.228, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2037.482, + -56.803, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2037.482, + -56.803, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2037.482, + -56.803, + 293.563, + 0.0, + -165.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2226.638, + -129.195, + 223.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2226.638, + -129.195, + 223.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2226.638, + -129.195, + 223.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2226.638, + -129.195, + 223.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2226.638, + -129.195, + 223.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2031.366, + -77.271, + 263.669, + -28.202, + -114.855, + 1.862 + ], + [ + -2031.366, + -77.271, + 263.669, + -28.202, + -114.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 572.1, + 453.6, + 453.6, + 328.0, + 202.5, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the tall ceramic vase standing against the wall between the wooden doors, but it is far across the open floor. I will walk forward to close that distance before any grasp is possible.", + "The vase now sits well off to the left side of my view while my heading still points across the empty floor toward the chairs. I will turn left so the vase and its doorway come into the center of my path.", + "The vase is now roughly centered ahead of me beside the wooden doors, with clear carpet in between. I will step forward along this heading to shorten the remaining gap.", + "The vase has grown noticeably larger and stays centered ahead, yet it is still a couple of paces beyond comfortable reach. I will advance once more to bring it within grasping range.", + "The ceramic vase now fills the center of my view directly in front of me, close enough that its patterned body is within arm's reach. My hands are empty, so I will attempt to pick it up now.", + "The ceramic vase is now held in my hands instead of standing beside the door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_a_pd/infos.json b/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83025131775ac1a16d8aba94e2b1fa815daa04c4 --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the wicker basket, then place it next to the row of grey chairs beside the stage curtain.", + "Type": 5, + "Start_Pose": [ + -1697.928, + 89.247, + 293.563, + 0, + -140, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2214.533, + -117.865, + 233.563, + 90, + -160, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1697.928, + 89.247, + 293.563, + 0, + -140, + 0 + ], + [ + -1794.342, + 8.346, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -1890.755, + -72.554, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -1890.755, + -72.554, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2012.326, + -105.129, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2012.326, + -105.129, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2012.326, + -105.129, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -2012.326, + -105.129, + 293.563, + 0.0, + -115.0, + 0.0 + ], + [ + -2012.326, + -105.129, + 293.563, + 0.0, + -90.0, + 0.0 + ], + [ + -2012.326, + -230.988, + 293.563, + 0.0, + -90.0, + 0.0 + ], + [ + -2012.326, + -356.847, + 293.563, + 0.0, + -90.0, + 0.0 + ], + [ + -2013.314, + -474.723, + 293.563, + 0.0, + -90.0, + 0.0 + ], + [ + -2013.314, + -402.723, + 293.563, + 0.0, + -90.0, + 0.0 + ], + [ + -2013.314, + -402.723, + 293.563, + 0.0, + -90.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2214.533, + -117.865, + 233.563, + 90.0, + -160.0, + 0.0 + ], + [ + -2214.533, + -117.865, + 233.563, + 90.0, + -160.0, + 0.0 + ], + [ + -2214.533, + -117.865, + 233.563, + 90.0, + -160.0, + 0.0 + ], + [ + -2214.533, + -117.865, + 233.563, + 90.0, + -160.0, + 0.0 + ], + [ + -2214.533, + -117.865, + 233.563, + 90.0, + -160.0, + 0.0 + ], + [ + -2006.209, + -125.597, + 263.669, + -28.202, + -114.855, + 1.862 + ], + [ + -1997.511, + -121.824, + 263.942, + -28.189, + -89.843, + 1.872 + ], + [ + -1991.977, + -114.787, + 263.275, + -28.215, + -64.873, + 1.849 + ], + [ + -1985.783, + -110.596, + 263.328, + -14.092, + -47.656, + 6.87 + ], + [ + -1990.971, + -230.259, + 263.895, + -28.198, + -39.855, + 1.865 + ], + [ + -1990.968, + -356.414, + 263.357, + -28.191, + -39.841, + 1.871 + ], + [ + -1991.959, + -474.297, + 263.329, + -28.204, + -39.86, + 1.855 + ], + [ + -2013.314, + -472.723, + 258.563, + 90.0, + -90.0, + 0.0 + ], + [ + -2013.314, + -472.723, + 258.563, + 90.0, + -90.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 556.6, + 438.7, + 326.9, + 326.9, + 202.6, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The round wicker basket is resting against the wall by the wooden doors, well ahead of me and too far to reach. The grey chairs by the stage curtain sit off to my right, so I know where it must eventually go. I will walk forward to close that distance to the basket first.", + "The basket now appears larger and lower in my view, confirming I am closing on it, but it is still several paces off along the left wall. Nothing blocks the open carpet between us. I will keep walking forward to get within grasping range.", + "The basket has drifted to the far left edge of my view and is nearly cut off, so walking straight would carry me past it. I need my heading pointed at it before any further approach. I will turn left to bring the basket back toward the center of my view.", + "The basket now sits squarely in the lower left of my view with the doors framed ahead, so my heading is usable. It is still a short distance away, out of arm's reach. I will step forward to stand right over it before attempting a grasp.", + "The wicker basket now fills the near foreground directly in front of me, close enough that its weave and rim are clearly detailed. This is the interaction range I was walking toward, and nothing stands between us. I will attempt to pick it up so I can carry it to the grey chairs.", + "The grasp worked, as the basket is now held in my hands rather than sitting on the carpet. The row of grey chairs beside the stage curtain lies well off to my right, while I am currently facing the wooden doors. I will turn right to begin swinging my heading toward that drop area.", + "Two of the grey chairs have edged into the right margin of my view, but most of my view is still filled by the doors and the pale wall. The chair row is not yet ahead of me for a straight carry. I will turn right again to bring it further toward the center.", + "All three grey chairs are now visible against the red wall, but they sit left of center and the stage curtain area lies further right. My heading is still not squared on the space beside that row. I will turn right once more to line up a direct walk toward the chairs and curtain.", + "The basket is in my hands and the row of three grey chairs now stands ahead of me against the red wall, with the gilded proscenium and stage curtain just to their right. That is exactly the placement spot named in the task, but it is still several paces away. I will walk forward to carry the basket toward it.", + "The chairs have grown noticeably larger and are now slightly left of centre, so my heading is still carrying me toward them with the basket in hand. There is open carpet between me and the wall, with nothing blocking the approach. I will keep walking forward to reach a distance where I can set the basket beside the row.", + "The chair row now fills the lower half of my view against the red wall, and the decorated pillar marking the stage side is close on the right. I am nearly at the drop spot but still a step short of standing right alongside the chairs. One more forward step should put the basket close enough to the row to place it there.", + "I am now directly beside the chair row, with the chair backs immediately in the near foreground and the red wall filling the view, and the basket is still held. This is the position the task calls for, next to the grey chairs by the stage curtain. I will release the basket here so it comes to rest alongside them.", + "The wicker basket rests on the floor beside the row of grey chairs by the stage curtain. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_b_p/infos.json b/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf3274b3a6aa183f360837d09620319869bdc2bc --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the trash bag from in front of the middle wooden door.", + "Type": 5, + "Start_Pose": [ + -1697.928, + 89.247, + 293.563, + 0, + -140, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2134.435, + -138.153, + 203.563, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1697.928, + 89.247, + 293.563, + 0, + -140, + 0 + ], + [ + -1794.342, + 8.346, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -1890.755, + -72.554, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -1890.755, + -72.554, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -1890.755, + -72.554, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2012.326, + -105.129, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2012.326, + -105.129, + 293.563, + 0.0, + -165.0, + 0.0 + ], + [ + -2012.326, + -105.129, + 293.563, + 0.0, + -165.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2134.435, + -138.153, + 203.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2134.435, + -138.153, + 203.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2134.435, + -138.153, + 203.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2134.435, + -138.153, + 203.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2134.435, + -138.153, + 203.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2134.435, + -138.153, + 203.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2006.209, + -125.597, + 263.669, + -28.202, + -114.855, + 1.862 + ], + [ + -2006.209, + -125.597, + 263.669, + -28.202, + -114.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 492.2, + 370.3, + 252.4, + 252.4, + 252.4, + 126.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The dark trash bag sits on the carpet in front of the middle wooden door, well across the room from where I stand. Nothing blocks the open floor between us, so I will walk straight ahead to close that distance before attempting any grasp.", + "The bag now appears larger and lower in my view, confirming my heading is bringing me toward it, but it is still too far to reach. I will step forward again to get within grasping range of the bag by the middle door.", + "The trash bag now fills the lower left of my view, close beside the door frame, and my hands are empty. It looks near enough that I will attempt to grab it rather than take another step.", + "My hands are still empty and the bag was not taken, so that grasp attempt did not work. The bag lay off to my left rather than squarely in front of me, so I will turn left to put it directly along my heading.", + "The trash bag is now centered ahead of me in front of the middle wooden door, but the earlier grasp attempt from this standing spot came up empty, which suggests I am still short of reach. I will step forward to stand right over it before trying again.", + "My earlier grasp attempt left the bag still lying on the carpet, so I closed the remaining gap toward the middle wooden door. The bag now fills the lower part of my view, close in front of me and clearly within arm's reach. I will attempt the pick again from this shorter range.", + "The trash bag is now held in my hands and no longer resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_b_pd/infos.json b/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c96163d44a4808e5ffd6b9ccb3bd7147528d8b9b --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x-001698_y000089_z000294_t5_b_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the ceramic pot, then place it at the base of the ornate stone column on the right side of the stage arch.", + "Type": 5, + "Start_Pose": [ + -1697.928, + 89.247, + 293.563, + 0, + -140, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2207.24, + -344.068, + 208.563, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1697.928, + 89.247, + 293.563, + 0, + -140, + 0 + ], + [ + -1794.342, + 8.346, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -1890.755, + -72.554, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -1987.169, + -153.455, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -2083.582, + -234.355, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -2083.582, + -234.355, + 293.563, + 0.0, + -140.0, + 0.0 + ], + [ + -2083.582, + -234.355, + 293.563, + 0.0, + -115.0, + 0.0 + ], + [ + -2083.582, + -234.355, + 293.563, + 0.0, + -90.0, + 0.0 + ], + [ + -2083.582, + -234.355, + 293.563, + 0.0, + -65.0, + 0.0 + ], + [ + -2083.582, + -234.355, + 293.563, + 0.0, + -40.0, + 0.0 + ], + [ + -1987.169, + -315.256, + 293.563, + 0.0, + -40.0, + 0.0 + ], + [ + -1890.755, + -396.157, + 293.563, + 0.0, + -40.0, + 0.0 + ], + [ + -1890.755, + -396.157, + 293.563, + 0.0, + -65.0, + 0.0 + ], + [ + -1837.565, + -510.224, + 293.563, + 0.0, + -65.0, + 0.0 + ], + [ + -1837.565, + -510.224, + 293.563, + 0.0, + -40.0, + 0.0 + ], + [ + -1741.152, + -591.125, + 293.563, + 0.0, + -40.0, + 0.0 + ], + [ + -1741.152, + -591.125, + 293.563, + 0.0, + -65.0, + 0.0 + ], + [ + -1741.152, + -591.125, + 293.563, + 0.0, + -90.0, + 0.0 + ], + [ + -1741.152, + -591.125, + 293.563, + 0.0, + -115.0, + 0.0 + ], + [ + -1710.723, + -525.871, + 293.563, + 0.0, + -115.0, + 0.0 + ], + [ + -1710.723, + -525.871, + 293.563, + 0.0, + -115.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2207.24, + -344.068, + 208.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2207.24, + -344.068, + 208.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2207.24, + -344.068, + 208.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2207.24, + -344.068, + 208.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2207.24, + -344.068, + 208.563, + 0.0, + 0.0, + 0.0 + ], + [ + -2069.389, + -250.321, + 263.669, + -28.202, + -89.856, + 1.862 + ], + [ + -2063.1, + -243.226, + 263.942, + -28.189, + -64.843, + 1.872 + ], + [ + -2061.059, + -234.509, + 263.275, + -28.215, + -39.873, + 1.849 + ], + [ + -2057.216, + -228.093, + 263.328, + -14.092, + -22.656, + 6.87 + ], + [ + -2070.119, + -217.631, + 263.344, + -28.208, + 10.142, + 1.851 + ], + [ + -1973.973, + -298.444, + 263.766, + -28.189, + 10.158, + 1.869 + ], + [ + -1877.778, + -379.176, + 264.148, + -28.205, + 10.135, + 1.859 + ], + [ + -1871.996, + -387.227, + 263.095, + -28.202, + -14.858, + 1.86 + ], + [ + -1818.358, + -500.882, + 263.21, + -28.201, + -14.856, + 1.857 + ], + [ + -1823.689, + -492.585, + 264.161, + -28.211, + 10.138, + 1.853 + ], + [ + -1727.905, + -574.362, + 263.705, + -28.199, + 10.145, + 1.863 + ], + [ + -1722.904, + -581.948, + 263.915, + -28.192, + -14.845, + 1.866 + ], + [ + -1720.997, + -591.289, + 263.305, + -28.204, + -39.862, + 1.858 + ], + [ + -1719.001, + -607.442, + 263.455, + -14.175, + -72.808, + 6.959 + ], + [ + -1740.306, + -589.313, + 273.563, + 0.0, + -115.0, + 0.0 + ], + [ + -1740.306, + -589.313, + 273.563, + 0.0, + -115.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 668.7, + 542.8, + 417.0, + 291.1, + 165.3, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 20.8, + 21.4, + 22.4, + 21.4, + 20.4, + 20.2, + 27.5, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits on the floor ahead of me between the two right-hand doors, well beyond arm's reach. My heading already points that way, so I will walk forward to close the gap before any grasp attempt.", + "The pot has grown noticeably larger and the doorframes are spreading toward the edges of my view, confirming the last step carried me toward it. It is still several strides away, so I will keep walking straight ahead.", + "The pot now sits clearly at the foot of the wall between the doors and remains roughly centred in my view. The distance is still too great for a reliable grasp, so I will advance again on this same line.", + "The pot is close now, low in my view against the red wall beside the door, but it is not yet within comfortable reach. One more step forward should bring it directly in front of me for picking.", + "The ceramic pot is now immediately in front of me at the base of the wall, filling the lower part of my view. This is the closest workable position, so I will attempt to pick it up before carrying it to the stage arch.", + "The grasp succeeded: the ceramic pot is held in my hands and no longer resting on the carpet. The stage arch with its ornate stone columns lies well to my right, behind me from this heading, so I will turn right to begin swinging toward it.", + "Carrying the pot, my view has swung to the row of chairs along the red wall, and the ornate arch pillar is only just appearing at the right edge. That is still short of the heading I need, so I will turn right again.", + "The stage arch and its carved stone columns are now clearly visible on the right side of my view, with the auditorium opening beyond them. I need that column area centred before I can walk toward it with the pot, so I will keep turning right.", + "The pot is in my hands and the ornate stone column with the arch and auditorium beyond it now sits in the right half of my view, while the plain red wall and chairs still fill the left. One more turn to the right should put that column and the open floor in front of me for a straight approach.", + "The stage arch column and the rows of benches are now centered ahead of me with clear carpet between us, so my heading is usable. I will walk forward, carrying the pot toward the column on the right side of the arch.", + "The column base and the leaning pink panel beside it have grown larger, so the previous step closed distance as intended. The floor in front of me is still clear, so I keep walking to bring the base of the column within placing range.", + "The tall ornate column is now close on my left edge while my heading points down the aisle past it toward the benches. Turning left should swing the column and the floor at its base into the center of my view where I can set the pot down.", + "The turn brought the column and the leaning panel in front of me, with the ground at their foot visible slightly right of center. I step forward to close the remaining gap to the arch's stonework before placing the pot.", + "The column shaft now fills the left half of my view at very close range, leaving me almost pressed against its side rather than facing the open floor at its base. Turning right should clear that stonework from my path and reveal the space beside it.", + "The turn opened up the carpet between the leaning panel and the bench rows, so I have a clear lane again. I walk forward along it to reach the ground beside the arch column while still holding the pot.", + "My step carried me alongside the panel so my view is dominated by its face and the benches on the right, with the column stonework off my left shoulder. I turn left to bring the base of the ornate column back in front of me for the drop.", + "I am still carrying the ceramic pot and the ornate stone pillar of the stage arch sits at the left edge of my view, mostly hidden behind the large pink panel. I will turn left to swing that column and its base toward the center of my view so I can set the pot down against it.", + "The ornate column now fills the left half of my view but its base is still off to the side, with the pink panel crowding the right. Another left turn should square me onto the foot of the column so the pot can be released right against it.", + "I am now facing the ornate stone column of the stage arch at close range, with its carved base directly ahead between the pillar and the leaning panel. Still holding the ceramic pot, I will release it here so it should come to rest at the foot of this column.", + "The ceramic pot now stands on the floor against the base of the ornate stone column, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_a_p/infos.json b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4fda3cce1da7c39a8a78a51ed0ca2777ff0b8aed --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the metal bucket near the exit door with the green emergency sign.", + "Type": 5, + "Start_Pose": [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3802.077, + 994.363, + 188.275, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + [ + 3287.253, + 899.219, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3412.633, + 910.188, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3538.013, + 921.158, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + 5.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3802.077, + 994.363, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3802.077, + 994.363, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3802.077, + 994.363, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3802.077, + 994.363, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3802.077, + 994.363, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3660.924, + 953.346, + 238.381, + -28.202, + 55.145, + 1.862 + ], + [ + 3660.924, + 953.346, + 238.381, + -28.202, + 55.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 523.5, + 523.5, + 398.4, + 274.0, + 152.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The exit door with the green emergency sign sits well to my right, with the metal bucket standing beside it against the brick wall. My current heading points too far left across the flight cases, so I will turn right to place that door and bucket near the center of my view before walking in.", + "The door with the green exit sign is now centered ahead and the metal bucket stands directly in front of it. The bucket is still far across the open floor, so I will walk forward along this clear lane to close the distance.", + "The bucket in front of the exit door has grown larger and remains centered in my path. Nothing blocks the floor between me and it, so I will keep walking forward to get within grasping range.", + "The metal bucket now stands clearly at the base of the exit door, but it is still a stride or two beyond comfortable reach. I will step forward once more to close that last gap before attempting the grasp.", + "The metal bucket is right at my feet in front of the exit door, its open rim filling the lower part of my view within arm's reach. I will reach down and pick it up, which should place it in my hands.", + "The metal bucket is now held in my hands rather than resting by the exit door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_a_pd/infos.json b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..36b3dd633cc3a5243c4e8b0874de615ef9336619 --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the plate, then place it on the floor in front of the exit door with the green emergency sign.", + "Type": 5, + "Start_Pose": [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3697.958, + 600.976, + 218.275, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + [ + 3405.522, + 856.173, + 268.275, + 0.0, + -20.0, + 0.0 + ], + [ + 3523.79, + 813.126, + 268.275, + 0.0, + -20.0, + 0.0 + ], + [ + 3523.79, + 813.126, + 268.275, + 0.0, + -20.0, + 0.0 + ], + [ + 3523.79, + 813.126, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3612.786, + 724.131, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3612.786, + 724.131, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3612.786, + 724.131, + 268.275, + 0.0, + -20.0, + 0.0 + ], + [ + 3612.786, + 724.131, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3612.786, + 724.131, + 268.275, + 0.0, + 30.0, + -0.0 + ], + [ + 3612.786, + 724.131, + 268.275, + 0.0, + 55.0, + -0.0 + ], + [ + 3684.976, + 827.228, + 268.275, + 0.0, + 55.0, + -0.0 + ], + [ + 3757.166, + 930.326, + 268.275, + 0.0, + 55.0, + -0.0 + ], + [ + 3757.166, + 930.326, + 268.275, + 0.0, + 30.0, + -0.0 + ], + [ + 3866.163, + 993.255, + 268.275, + 0.0, + 30.0, + -0.0 + ], + [ + 3803.809, + 957.255, + 268.275, + 0.0, + 30.0, + -0.0 + ], + [ + 3803.809, + 957.255, + 268.275, + 0.0, + 30.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3697.958, + 600.976, + 218.275, + 90.0, + 0.0, + 0.0 + ], + [ + 3697.958, + 600.976, + 218.275, + 90.0, + 0.0, + 0.0 + ], + [ + 3697.958, + 600.976, + 218.275, + 90.0, + 0.0, + 0.0 + ], + [ + 3697.958, + 600.976, + 218.275, + 90.0, + 0.0, + 0.0 + ], + [ + 3697.958, + 600.976, + 218.275, + 90.0, + 0.0, + 0.0 + ], + [ + 3697.958, + 600.976, + 218.275, + 90.0, + 0.0, + 0.0 + ], + [ + 3627.454, + 739.662, + 238.381, + -28.202, + 5.145, + 1.862 + ], + [ + 3619.838, + 745.308, + 238.654, + -28.189, + 30.157, + 1.872 + ], + [ + 3610.976, + 746.582, + 237.987, + -28.215, + 55.127, + 1.849 + ], + [ + 3604.25, + 749.851, + 238.041, + -14.092, + 72.344, + 6.87 + ], + [ + 3594.952, + 736.085, + 238.057, + -28.208, + 105.142, + 1.851 + ], + [ + 3667.078, + 838.908, + 238.478, + -28.189, + 105.158, + 1.869 + ], + [ + 3739.118, + 941.774, + 238.861, + -28.205, + 105.135, + 1.859 + ], + [ + 3746.635, + 948.236, + 237.808, + -28.202, + 80.142, + 1.86 + ], + [ + 3855.182, + 1011.576, + 237.922, + -28.201, + 80.145, + 1.857 + ], + [ + 3864.431, + 992.255, + 238.275, + 90.0, + 30.0, + 0.0 + ], + [ + 3864.431, + 992.255, + 238.275, + 90.0, + 30.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 507.6, + 388.1, + 274.5, + 274.5, + 274.5, + 149.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 20.8, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate stands on the floor ahead of me beside the stacked flight cases, but it is far across the open bay. I will walk straight forward to close that gap before any grasp is possible.", + "The plate is noticeably larger and lower in my view now, so my heading is still carrying me toward it. It remains beyond arm's reach, so I will keep walking forward to shorten the remaining distance.", + "The plate now fills a good part of my forward view, close to the cases on my left. I will try to pick it up from here, hoping it is already within reach.", + "My hands are empty and the plate was not taken, so that grasp attempt did not work. The plate sits slightly off to my left rather than straight ahead, so I will turn left to line my heading up with it before trying again.", + "With the plate now sitting near the middle of my view in front of the stacked cases, my heading is aimed at it. It is still too distant for my previous attempt to have reached, so I will step forward to get properly close.", + "My earlier grasp attempt left my hands empty and the plate untouched, so I closed the remaining distance instead. Now the plate fills the lower part of my view, well within arm's reach. I will try the grasp again from this closer position.", + "The plate is now in my hands, so the grasp worked this time. Facing this way I only have the crates and wall of the far corner, not the exit door I need. I will turn right to swing my heading back toward the side where the green emergency sign hangs.", + "Carrying the plate, this heading still shows only the scaffold ladder, brick wall and flight cases with no sign of the exit. The door with the green sign must lie further around to my right. I will keep turning right to bring it into view.", + "The green emergency sign and the edge of its door have just appeared at the far right of my view while I hold the plate. They are still too far off to the side for a straight approach. Another turn right should bring that doorway toward the middle of my view.", + "The exit door under the green sign is now fully visible but still sits right of my heading, with cases along the wall to my left. A small further turn right should line my body up with the doorway. Then I can walk straight to the floor in front of it while carrying the plate.", + "The plate is in my hands, so the remaining job is to carry it to the exit. Ahead and slightly left I can see the grey door under the lit green emergency sign, still several paces away across open floor. I step forward to close that gap.", + "The exit door now fills the left part of my view and its handle is clearly readable, so my heading is carrying me into the corner where it sits. I am still too far back to set the plate down against the doorway. Another step forward should bring me close to the threshold.", + "I am close to the doorway, but the door has slid to my left edge while my heading points at the brick wall and the case in the corner. Continuing straight would take me past the drop spot instead of in front of it. I turn left to bring the door back in front of me.", + "The exit door is now squarely centered ahead of me with its handle at eye height. A short advance should put me right at the threshold so the plate lands on the floor directly in front of this door rather than out in the open. I step forward.", + "I am standing immediately against the exit door panel, close enough that its riveted seams fill my view, and the plate is still in my hands. This is the floor space directly in front of the door marked by the green emergency sign. I release the plate here to satisfy the placement.", + "The plate now rests on the floor directly in front of the exit door, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_b_p/infos.json b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..569a5a08eba9926942db55fb8b4affa1ea196ba4 --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the wicker basket near the blue tarp draped over the objects in the corner.", + "Type": 5, + "Start_Pose": [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3649.39, + 412.851, + 208.275, + 90, + -60, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + [ + 3405.522, + 856.173, + 268.275, + 0.0, + -20.0, + 0.0 + ], + [ + 3405.522, + 856.173, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3494.517, + 767.177, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3583.513, + 678.181, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3583.513, + 678.181, + 268.275, + 0.0, + -70.0, + 0.0 + ], + [ + 3626.56, + 559.912, + 268.275, + 0.0, + -70.0, + 0.0 + ], + [ + 3626.56, + 559.912, + 268.275, + 0.0, + -70.0, + 0.0 + ], + [ + 3626.56, + 559.912, + 268.275, + 0.0, + -70.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3649.39, + 412.851, + 208.275, + 90.0, + -60.0, + 0.0 + ], + [ + 3649.39, + 412.851, + 208.275, + 90.0, + -60.0, + 0.0 + ], + [ + 3649.39, + 412.851, + 208.275, + 90.0, + -60.0, + 0.0 + ], + [ + 3649.39, + 412.851, + 208.275, + 90.0, + -60.0, + 0.0 + ], + [ + 3649.39, + 412.851, + 208.275, + 90.0, + -60.0, + 0.0 + ], + [ + 3649.39, + 412.851, + 208.275, + 90.0, + -60.0, + 0.0 + ], + [ + 3649.39, + 412.851, + 208.275, + 90.0, + -60.0, + 0.0 + ], + [ + 3646.417, + 567.789, + 238.381, + -28.202, + -19.855, + 1.862 + ], + [ + 3646.417, + 567.789, + 238.381, + -28.202, + -19.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 606.4, + 506.0, + 506.0, + 386.7, + 273.4, + 273.4, + 148.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket is visible far ahead on the left, leaning against the dark cases beside the blue tarp in the corner. It is much too distant to reach, so I will walk straight forward to close the gap before adjusting my heading.", + "After advancing, the basket sits at the far left edge of my view while my heading points at the brick wall and door ahead. I will turn left to bring the tarp corner and the basket toward the center of my view for a straighter approach.", + "The turn has put the blue tarp and the wicker basket clearly in view slightly left of center. The basket is still several paces off, so I will step forward to shorten the distance to it.", + "The basket now appears larger and lower in my view, but it is still beyond arm's reach near the cases. I will keep walking forward along this clear stretch of floor to get close enough for a grasp.", + "From here the basket has drifted to the left side of my view while I am facing the case stack and the scaffold post. I will turn left so the basket sits ahead of me rather than off to the side.", + "The basket is now near the center-bottom of my view, leaning where the tarp meets the stacked cases. It is still a step short of reaching distance, so I will move forward once more to stand right beside it.", + "The wicker basket now fills the lower part of my view directly in front of me, close against the tarp and the case stack. This is within reach, so I will attempt to pick it up.", + "The wicker basket is now held in my hands, lifted off the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_b_pd/infos.json b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20a27cb0e2196f0373139647bf5308e701d57a75 --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_b_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the tomato, then place it on top of the stacked crates near the blue tarp.", + "Type": 5, + "Start_Pose": [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3819.692, + 914.531, + 238.275, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + [ + 3287.253, + 899.219, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3412.633, + 910.188, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3538.013, + 921.158, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + -20.0, + 0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + -70.0, + 0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + -95.0, + 0.0 + ], + [ + 3652.424, + 806.747, + 268.275, + 0.0, + -95.0, + 0.0 + ], + [ + 3641.454, + 681.367, + 268.275, + 0.0, + -95.0, + 0.0 + ], + [ + 3630.485, + 555.987, + 268.275, + 0.0, + -95.0, + 0.0 + ], + [ + 3619.516, + 430.607, + 268.275, + 0.0, + -95.0, + 0.0 + ], + [ + 3610.686, + 326.128, + 268.275, + 0.0, + -95.0, + 0.0 + ], + [ + 3616.961, + 397.854, + 268.275, + 0.0, + -95.0, + 0.0 + ], + [ + 3616.961, + 397.854, + 268.275, + 0.0, + -95.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3819.692, + 914.531, + 238.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3819.692, + 914.531, + 238.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3819.692, + 914.531, + 238.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3819.692, + 914.531, + 238.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3819.692, + 914.531, + 238.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3660.924, + 953.346, + 238.381, + -28.202, + 55.145, + 1.862 + ], + [ + 3669.793, + 951.509, + 238.654, + -28.189, + 30.157, + 1.872 + ], + [ + 3677.769, + 946.281, + 237.987, + -28.215, + 5.127, + 1.849 + ], + [ + 3690.594, + 936.252, + 238.168, + -14.175, + -27.808, + 6.959 + ], + [ + 3684.337, + 930.691, + 238.057, + -28.208, + -44.858, + 1.851 + ], + [ + 3673.764, + 805.581, + 238.478, + -28.189, + -44.842, + 1.869 + ], + [ + 3662.808, + 680.476, + 238.861, + -28.205, + -44.865, + 1.859 + ], + [ + 3651.851, + 555.141, + 239.014, + -28.191, + -44.85, + 1.872 + ], + [ + 3640.857, + 429.595, + 238.789, + -28.206, + -44.863, + 1.863 + ], + [ + 3631.987, + 324.574, + 237.803, + -28.203, + -44.859, + 1.858 + ], + [ + 3610.86, + 328.12, + 283.275, + 0.0, + -95.0, + 0.0 + ], + [ + 3610.86, + 328.12, + 283.275, + 0.0, + -95.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 532.7, + 532.7, + 407.1, + 281.8, + 157.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red tomato sits on the floor against the brick wall to the right of my heading, beside the doorway. Before walking toward it I will turn right so it lands near the center of my view and I can approach in a straight line.", + "The tomato is now roughly centered ahead of me, resting on the floor in front of the wall and left of the door. It is still far away, so I will walk straight forward to close that distance.", + "The tomato has grown noticeably larger and stays just left of the doorway, so my heading is still good. It remains out of reach, so another step forward should bring me closer to grasping range.", + "The tomato now fills a good part of the lower view with the crates flanking it on both sides, but it is still slightly ahead of me. One more step should place it directly at my feet where I can attempt a grasp.", + "The tomato is right in front of me at the bottom of my view, close enough that its stem detail is clear against the floor. This is the moment to reach out and try to pick it up so I can carry it to the stacked crates by the blue tarp.", + "The grasp worked and the tomato is now held in my hands rather than resting on the floor. The stacked crates beside the blue tarp lie back along the wall to my left, so I will turn left to begin swinging my heading toward them.", + "I am carrying the tomato and my view currently shows only the doorway and the low crates against the brick wall, not the tarp area. I will keep turning left to bring the stacked crates and the blue cover into view.", + "The pale blue tarp and the crates stacked beside the scaffold column have just appeared at the far left of my view. Another left turn should place that stack ahead of me so I can walk toward it with the tomato.", + "The blue tarp draped over the scenery and the crate stack beside it now lie toward the left side of my view, while the tomato stays in my hand. One more left turn should bring that delivery stack near the center of my heading so I can walk straight at it.", + "The tarp-covered mass is now centered ahead with the stacked road crates standing at its right edge, and the floor between us is wide and empty. Carrying the tomato, I step forward to begin closing that long gap toward the drop point.", + "The crate stack next to the tarp has grown noticeably on the right, yet it is still several strides away. With nothing obstructing the open floor and the tomato still held, I keep walking straight toward it.", + "The stacked crates beside the tarp now rise well above the floor line at my right, but their top surface is still out of arm's reach. I advance again to get close enough for a controlled release.", + "The tarp fills most of my forward view and the crate stack looms large along the right edge, so I am nearly beside the target. Another step should bring me tight against the stack while I still hold the tomato.", + "Only the tarp fabric and the near corner of the crate stack remain visible, which tells me I am almost at the stack itself. One more short step should place me directly at the crates so the tomato can be set down on top.", + "I am pressed right up against the tarp-covered stack with the tomato still in my hands, and the crate top sits immediately in front of me. I release the tomato here, expecting it to come to rest on the stacked crates beside the blue tarp as the task requires.", + "The tomato is resting on the crate top beside the blue tarp and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_c_pd/infos.json b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7750ecb3e1aaedb1fe03f789540f442a64999b65 --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003287_y000899_z000268_t5_c_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the jerry can, then place it on the ground beside the metal truss column base.", + "Type": 5, + "Start_Pose": [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3826.742, + 906.169, + 188.275, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3287.253, + 899.219, + 268.318, + 0, + -20, + 0 + ], + [ + 3287.253, + 899.219, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3412.633, + 910.188, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3538.013, + 921.158, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + 5.0, + -0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + -20.0, + 0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3663.393, + 932.127, + 268.275, + 0.0, + -70.0, + 0.0 + ], + [ + 3706.439, + 813.858, + 268.275, + 0.0, + -70.0, + 0.0 + ], + [ + 3749.486, + 695.589, + 268.275, + 0.0, + -70.0, + 0.0 + ], + [ + 3749.486, + 695.589, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3797.793, + 610.584, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3746.881, + 661.496, + 268.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3746.881, + 661.496, + 268.275, + 0.0, + -45.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3826.742, + 906.169, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3826.742, + 906.169, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3826.742, + 906.169, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3826.742, + 906.169, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3826.742, + 906.169, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3660.924, + 953.346, + 238.381, + -28.202, + 55.145, + 1.862 + ], + [ + 3669.793, + 951.509, + 238.654, + -28.189, + 30.157, + 1.872 + ], + [ + 3677.769, + 946.281, + 237.987, + -28.215, + 5.127, + 1.849 + ], + [ + 3690.594, + 936.252, + 238.168, + -14.175, + -27.808, + 6.959 + ], + [ + 3726.257, + 821.847, + 238.607, + -28.198, + -19.855, + 1.865 + ], + [ + 3769.407, + 703.301, + 238.07, + -28.191, + -19.841, + 1.871 + ], + [ + 3764.795, + 711.974, + 238.861, + -28.205, + 5.135, + 1.859 + ], + [ + 3812.291, + 626.276, + 238.779, + -28.206, + 5.138, + 1.864 + ], + [ + 3796.378, + 611.999, + 218.275, + 0.0, + -45.0, + 0.0 + ], + [ + 3796.378, + 611.999, + 218.275, + 0.0, + -45.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 539.5, + 539.5, + 414.1, + 289.1, + 165.4, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 22.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red jerry can sits far across the floor to the right of my heading, beside the door and the row of black road cases. Before walking that distance I want it centered in front of me, so I will turn right to face it directly.", + "The jerry can now stands roughly ahead of me at the base of the brick wall, but it is still far off and much too small to reach. The floor between us is open, so I will walk forward to close that gap.", + "The can has grown noticeably larger and stays near the middle of my view beside the flight cases, confirming my heading is good. It is still beyond grasping range, so I will keep walking straight toward it.", + "The can is now clearly resting on the floor just left of the door frame and only a couple of paces away. One more step forward should bring it close enough under me for a grasp attempt.", + "The jerry can fills the lower left of my view right beside me, close enough that no further stepping is needed. I will attempt to pick it up now so I can carry it toward the truss column base.", + "The grasp worked and the jerry can is now held in my hands rather than sitting on the floor. The metal truss column with its footing lies back to my left, away from this door, so I will turn left to begin heading that way.", + "I still face brick wall and the line of black cases, with no truss column in sight yet. Since the framework stands further around to my left, I will turn left again to bring it into view.", + "The rust colored truss column and its pale footing have come into view on the left side, partly screened by the stacked cases. Turning left once more should bring that column base closer to the center of my heading before I walk to it.", + "The jerry can is in my hands and no longer sitting by the wall, so the grasp held. The metal truss column with its pale square base stands ahead along the wall, still several paces off. I will walk forward to close that distance before setting the can down.", + "The truss column and its light coloured base plate are now clearly to my right front, but still a couple of paces beyond drop range. Carrying the can, I will step forward again to bring that footing close alongside me.", + "I am now level with the truss column, but its base sits off to my right rather than in front of me. Turning right should square my heading onto the footing so the free floor beside it is directly ahead for the placement.", + "The truss column fills the view ahead and its base plate is low in front of me, slightly nearer than a comfortable placing distance. One short step forward should put me right at the footing so the can can be released beside it.", + "I am standing right at the truss column, with its lattice and footing immediately in front of me and clear floor at its side. This is the spot the task calls for, so I will release the jerry can here and expect it to settle on the ground beside the base.", + "The jerry can now rests on the ground beside the truss column base and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_a_p/infos.json b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27fcd8b571702f297e4babfbf8a652e99a9875cc --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the plate near the white door beneath the green exit sign.", + "Type": 5, + "Start_Pose": [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2889.693, + -1495.019, + 218.275, + 90, + 60, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + [ + 3317.403, + -1167.515, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3199.135, + -1210.562, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3080.866, + -1253.608, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3080.866, + -1253.608, + 268.275, + 0.0, + -135.0, + 0.0 + ], + [ + 2991.87, + -1342.604, + 268.275, + 0.0, + -135.0, + 0.0 + ], + [ + 2991.87, + -1342.604, + 268.275, + 0.0, + -135.0, + 0.0 + ], + [ + 2991.87, + -1342.604, + 268.275, + 0.0, + -135.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2889.693, + -1495.019, + 218.275, + 90.0, + 60.0, + 0.0 + ], + [ + 2889.693, + -1495.019, + 218.275, + 90.0, + 60.0, + 0.0 + ], + [ + 2889.693, + -1495.019, + 218.275, + 90.0, + 60.0, + 0.0 + ], + [ + 2889.693, + -1495.019, + 218.275, + 90.0, + 60.0, + 0.0 + ], + [ + 2889.693, + -1495.019, + 218.275, + 90.0, + 60.0, + 0.0 + ], + [ + 2889.693, + -1495.019, + 218.275, + 90.0, + 60.0, + 0.0 + ], + [ + 3007.401, + -1357.272, + 238.381, + -28.202, + -84.855, + 1.862 + ], + [ + 3007.401, + -1357.272, + 238.381, + -28.202, + -84.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 659.8, + 538.7, + 420.3, + 307.9, + 307.9, + 183.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate stands upright on the floor beside the white door under the green exit sign, well ahead and slightly right of my heading. It is far too distant to reach, so I will walk forward to close that gap. The open wooden floor between us looks clear.", + "The plate and the doorway have grown larger, confirming my heading is carrying me toward the target. I am still several strides short of grasping range, so I will keep walking straight ahead. The floor ahead remains open.", + "The plate now fills a good part of the right side of my view, but it is still a couple of paces off and sits near the edge of my frame. Another step forward should bring it into comfortable reach before I refine my heading.", + "The plate has drifted to the far right edge of my view, close to slipping out of sight, because I have been walking straight past it. Turning right should swing the plate and the doorway back toward the center of my view so a straight walk from here runs at it.", + "The turn brought the plate and the white door squarely into the center of my view, with the plate leaning against the wall just left of the door frame. It remains a stride or two beyond arm's reach, so I will step forward to close the last of the distance.", + "The plate now dominates the lower center of my view, right against the door, so it is within arm's reach and nothing blocks my hands. I will attempt to grasp it now. If the grab registers, the plate should leave the floor and be held.", + "The plate is now held in my hands, lifted clear of the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_a_pd/infos.json b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e48e2615a072f7e378c1fdefd8e700809368194b --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the wicker basket, then place it next to the white door with the green exit sign above it.", + "Type": 5, + "Start_Pose": [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2784.947, + -1103.266, + 218.472, + 90, + 160, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + [ + 3317.403, + -1167.515, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3199.135, + -1210.562, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3199.135, + -1210.562, + 268.275, + 0.0, + 175.0, + -0.0 + ], + [ + 3073.754, + -1199.592, + 268.275, + 0.0, + 175.0, + -0.0 + ], + [ + 2948.374, + -1188.623, + 268.275, + 0.0, + 175.0, + -0.0 + ], + [ + 2948.374, + -1188.623, + 268.275, + 0.0, + 175.0, + -0.0 + ], + [ + 2948.374, + -1188.623, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 2948.374, + -1188.623, + 268.275, + 0.0, + -135.0, + 0.0 + ], + [ + 2948.374, + -1188.623, + 268.275, + 0.0, + -110.0, + 0.0 + ], + [ + 2905.328, + -1306.892, + 268.275, + 0.0, + -110.0, + 0.0 + ], + [ + 2905.328, + -1306.892, + 268.275, + 0.0, + -85.0, + 0.0 + ], + [ + 2916.297, + -1432.272, + 268.275, + 0.0, + -85.0, + 0.0 + ], + [ + 2926.586, + -1523.454, + 268.266, + 0.0, + -85.0, + 0.0 + ], + [ + 2920.311, + -1451.728, + 268.266, + 0.0, + -85.0, + 0.0 + ], + [ + 2920.311, + -1451.728, + 268.266, + 0.0, + -85.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2784.947, + -1103.266, + 218.472, + 90.0, + 160.0, + 0.0 + ], + [ + 2784.947, + -1103.266, + 218.472, + 90.0, + 160.0, + 0.0 + ], + [ + 2784.947, + -1103.266, + 218.472, + 90.0, + 160.0, + 0.0 + ], + [ + 2784.947, + -1103.266, + 218.472, + 90.0, + 160.0, + 0.0 + ], + [ + 2784.947, + -1103.266, + 218.472, + 90.0, + 160.0, + 0.0 + ], + [ + 2784.947, + -1103.266, + 218.472, + 90.0, + 160.0, + 0.0 + ], + [ + 2947.121, + -1209.949, + 238.381, + -28.202, + -134.855, + 1.862 + ], + [ + 2956.585, + -1209.379, + 238.654, + -28.189, + -109.843, + 1.872 + ], + [ + 2964.192, + -1204.658, + 237.987, + -28.215, + -84.873, + 1.849 + ], + [ + 2971.447, + -1202.839, + 238.041, + -14.092, + -67.656, + 6.87 + ], + [ + 2925.645, + -1313.511, + 238.607, + -28.198, + -59.855, + 1.865 + ], + [ + 2927.427, + -1304.445, + 238.478, + -28.189, + -34.842, + 1.869 + ], + [ + 2937.482, + -1429.441, + 238.861, + -28.205, + -34.865, + 1.859 + ], + [ + 2947.804, + -1520.952, + 238.458, + -28.195, + -34.853, + 1.868 + ], + [ + 2926.412, + -1521.462, + 233.266, + 90.0, + -85.0, + 0.0 + ], + [ + 2926.412, + -1521.462, + 233.266, + 90.0, + -85.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 651.1, + 536.3, + 427.9, + 427.9, + 304.4, + 184.4, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 22.2, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket sits far ahead on the floor beside the blue trunks, well out of reach. The white door with its green exit sign is off to my right along the brick wall, so I know where the drop point is. I will walk forward to close the long gap to the basket first.", + "The basket is noticeably larger now, leaning against the wall to the left of the trunks, but still several strides away. Nothing blocks the open wooden floor between us. I will keep walking forward to shorten the remaining distance before adjusting my heading.", + "The basket now sits well off to my left edge while my heading points at the trunks and the doorway wall. Walking straight would carry me past it rather than to it. I will turn left to bring the basket toward the center of my view.", + "With the turn done, the basket now sits ahead in the left half of my view, no longer at the margin. The floor between us is clear. I will step forward to close in on it.", + "The basket is much closer, its woven rim clearly visible near the truss at my left. It is still a stride or two beyond comfortable grabbing range. I will advance once more so it falls within reach.", + "The wicker basket now fills the lower left foreground, close enough that its weave is distinct. Nothing stands between me and it. I will attempt to pick it up so I can carry it to the exit door.", + "The grasp worked, since the basket is now held in my hands rather than resting on the floor. The white exit door lies back along the brick wall well to my right of this heading. I will turn right to begin swinging my view toward it.", + "I am carrying the basket and now face the trunks and the panel wall, with only brick and truss showing at my right edge. The exit door and its green sign are still further around in that direction. I will turn right again to bring the doorway into view.", + "The wicker basket is in my hands, and the white door with the green exit sign glowing above it now sits at the right edge of my view. Another turn to the right should swing that doorway toward the center of my heading before I walk over to it.", + "The exit door with its lit sign is now framed almost straight ahead across open floor, with nothing between me and the brick wall. Still carrying the basket, I walk forward to close that distance toward the drop area beside the door.", + "I am much closer now, but the doorway sits to the right of my heading while plain brick fills the left of my view. I turn right to square up with the door face so my remaining steps bring the basket directly against the wall beside it.", + "The door now fills the view head on, its handle and lamp centered with brick spreading to the right. I step forward to bring the carried basket within placing range of the doorway.", + "The door leaf and its handle fill the left half of my view with brick continuing to the right, so I am nearly against the wall. One more short step should place me tight beside the door where the basket needs to go.", + "I am pressed right up beside the door frame, close enough that further stepping would gain nothing. Still holding the wicker basket, I release it here so it should come to rest on the floor next to the white exit door.", + "The wicker basket sits on the floor against the white door, out of my hands. The placement matches the task, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_b_p/infos.json b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..49982847a97becbfe1fe5d3ad5f3d67d3024dbd0 --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the tomato near the crates.", + "Type": 5, + "Start_Pose": [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2607.596, + -1280.749, + 338.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + [ + 3317.403, + -1167.515, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3199.135, + -1210.562, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3080.866, + -1253.608, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 2962.597, + -1296.654, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 2844.328, + -1339.701, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 2844.328, + -1339.701, + 268.275, + 0.0, + 175.0, + -0.0 + ], + [ + 2718.948, + -1328.731, + 268.275, + 0.0, + 175.0, + -0.0 + ], + [ + 2718.948, + -1328.731, + 268.275, + 0.0, + 175.0, + -0.0 + ], + [ + 2718.948, + -1328.731, + 268.275, + 0.0, + 175.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2607.596, + -1280.749, + 338.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2607.596, + -1280.749, + 338.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2607.596, + -1280.749, + 338.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2607.596, + -1280.749, + 338.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2607.596, + -1280.749, + 338.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2607.596, + -1280.749, + 338.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2607.596, + -1280.749, + 338.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2607.596, + -1280.749, + 338.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2717.695, + -1350.057, + 238.381, + -28.202, + -134.856, + 1.862 + ], + [ + 2717.695, + -1350.057, + 238.381, + -28.202, + -134.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 842.7, + 718.8, + 595.7, + 474.0, + 355.4, + 244.0, + 244.0, + 121.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The red tomato sits on top of the pair of blue crates against the glass-block wall, far ahead across the open floor. Nothing blocks the straight path toward it, so I will walk forward to close that distance.", + "The crates and the tomato above them now appear noticeably larger, confirming my heading is taking me toward the target. The floor ahead remains unobstructed, so I will keep walking forward.", + "The tomato is clearly visible on the left crate lid and is still several strides away, too far to reach. My current heading keeps it comfortably in view, so I will continue advancing.", + "The crates now fill much of the lower view and the tomato is large and unobstructed, but it remains beyond arm's length. I will step forward again to get closer before attempting a grasp.", + "I am close to the crate row, yet the tomato has drifted toward the left side of my view as I closed in. Another forward step should bring me within a comfortable working distance before I correct my heading.", + "The tomato is now cut off at the far left edge of my view while my body faces the bare wall and scaffold to the right. Turning left should swing the target back to the center where I can approach and reach it cleanly.", + "The turn worked, and the tomato now sits centered above the two crates directly in front of me. It is still a short distance off, so I will step forward to bring it within grasping range.", + "The tomato now fills the near view directly in front of me, resting on the crate lid at close range with nothing between us. This is the reachable position I was aiming for, so I will attempt to pick it up.", + "The tomato is now held in my hand rather than resting on the crate. The task is complete, so no further action is needed." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_b_pd/infos.json b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b762694c755bbe50d195e62031252f30c8e526fb --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_b_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it near the crates.", + "Type": 5, + "Start_Pose": [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3221.537, + -1446.838, + 208.275, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + [ + 3435.672, + -1124.469, + 268.275, + 0.0, + -135.0, + 0.0 + ], + [ + 3346.676, + -1213.465, + 268.275, + 0.0, + -135.0, + 0.0 + ], + [ + 3346.676, + -1213.465, + 268.275, + 0.0, + -135.0, + 0.0 + ], + [ + 3257.681, + -1302.461, + 268.275, + 0.0, + -135.0, + 0.0 + ], + [ + 3257.681, + -1302.461, + 268.275, + 0.0, + -134.999, + 0.0 + ], + [ + 3257.681, + -1302.461, + 268.275, + 0.0, + -159.999, + 0.0 + ], + [ + 3139.412, + -1345.508, + 269.817, + 0.0, + -159.999, + 0.0 + ], + [ + 3021.144, + -1388.556, + 268.275, + 0.0, + -159.999, + 0.0 + ], + [ + 3021.144, + -1388.556, + 268.275, + 0.0, + 175.001, + -0.0 + ], + [ + 2895.764, + -1377.588, + 268.275, + 0.0, + 175.001, + -0.0 + ], + [ + 2770.384, + -1366.62, + 268.275, + 0.0, + 175.001, + -0.0 + ], + [ + 2682.451, + -1356.452, + 268.275, + 0.0, + 175.001, + -0.0 + ], + [ + 2754.177, + -1362.726, + 268.275, + 0.0, + 175.001, + -0.0 + ], + [ + 2754.177, + -1362.726, + 268.275, + 0.0, + 175.001, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3221.537, + -1446.838, + 208.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3221.537, + -1446.838, + 208.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3221.537, + -1446.838, + 208.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3221.537, + -1446.838, + 208.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3221.537, + -1446.838, + 208.275, + 0.0, + 0.0, + 0.0 + ], + [ + 3273.212, + -1317.128, + 238.381, + -28.202, + -84.855, + 1.862 + ], + [ + 3265.237, + -1321.421, + 238.654, + -28.189, + -109.843, + 1.872 + ], + [ + 3147.672, + -1365.228, + 238.965, + -28.193, + -109.851, + 1.872 + ], + [ + 3029.362, + -1408.288, + 238.963, + -28.198, + -109.849, + 1.868 + ], + [ + 3019.623, + -1409.186, + 238.062, + -28.208, + -134.858, + 1.852 + ], + [ + 2894.603, + -1398.93, + 238.484, + -28.189, + -134.841, + 1.867 + ], + [ + 2769.499, + -1387.974, + 238.865, + -28.207, + -134.865, + 1.857 + ], + [ + 2681.227, + -1377.783, + 238.447, + -28.196, + -134.853, + 1.866 + ], + [ + 2684.443, + -1356.626, + 258.275, + 0.0, + 175.001, + -0.0 + ], + [ + 2684.443, + -1356.626, + 258.275, + 0.0, + 175.001, + -0.0 + ] + ], + "PD_Dist_2D": [ + 387.0, + 387.0, + 264.8, + 264.8, + 148.8, + 21.4, + 20.4, + 21.4, + 21.4, + 20.7, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits far off at the right edge of my view, against the brick wall, while my heading points at the glass block wall ahead. I will turn right so the pepper moves toward the center of my view and I can walk straight at it.", + "The pepper is now framed ahead of me on the dark floor beside the brick wall, but it still looks small and well out of arm's reach. I will step forward along this heading to close that gap before attempting any grasp.", + "The pepper is clearly larger now, sitting just to my right front against the brick wall, and my hands are still empty. I will try to pick it up from here, since it may already be within reach.", + "My hands are still empty, so that grasp attempt did not take hold of the pepper. The most likely reason is that I was standing too far from it, so I will walk one more step forward to shorten the gap.", + "My hands remain empty after the earlier grasp attempt, and the pepper now shows at the lower right of my view, very close beside the wall. From this shorter range I will try the pick again, and it should be within reach now.", + "The green pepper is in my hands now, so that grasp attempt took hold. The crates I must place it near stand off to my left on the wooden floor, well away from my current heading. I will turn left to bring them back in front of me before carrying the pepper over.", + "I am carrying the pepper, and the two blue crates are now visible ahead against the glass block wall, left of the doorway. The open floor between us is clear of obstacles, so I will step forward to close that distance.", + "The crates have grown larger in the left part of my view, so the approach is closing distance as intended. I am still far too far away to set the pepper down beside them. I will keep walking forward.", + "My heading has drifted toward the door and brick wall on the right, pushing the crates out to the far left edge of my view. Continuing straight would carry me past them rather than up to them. I will turn left to bring the crates back in front of me.", + "The two crates now sit centered ahead of me against the glass block wall, so my heading is usable again. I am still carrying the pepper and remain too distant to place it beside them. I will walk forward to reach them.", + "The green bell pepper is still secured in my grip, so I only need to bring it to the crates. The two dark travel crates stand directly ahead against the panelled wall, still a few paces off. I will walk forward to close that remaining gap before releasing it.", + "The crate now fills most of my view, but its lid edge is still slightly ahead of me rather than at my feet. Carrying the pepper, I want to stand right against the crate so the release lands beside it. I will step forward once more to tighten that spacing.", + "I am now pressed right up against the crate row, with its top edge and the wall panels filling my view. The pepper is still in my hands and this spot is immediately beside the crates, which satisfies the placement the task asks for. I will release it here.", + "The green bell pepper now rests against the crates and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_c_p/infos.json b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_c_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8abf6e12e808d1b7a45c43bd6577309ed0789fb --- /dev/null +++ b/dataset/trajectory/operaHouse/task_x003436_y-001124_z000268_t5_c_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the metal bucket.", + "Type": 5, + "Start_Pose": [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2704.927, + -1449.109, + 188.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3435.672, + -1124.469, + 268.442, + 0, + -160, + 0 + ], + [ + 3317.403, + -1167.515, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3199.135, + -1210.562, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 3080.866, + -1253.608, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 2962.597, + -1296.654, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 2844.328, + -1339.701, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 2844.328, + -1339.701, + 268.275, + 0.0, + -160.0, + 0.0 + ], + [ + 2844.328, + -1339.701, + 268.275, + 0.0, + -160.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2704.927, + -1449.109, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2704.927, + -1449.109, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2704.927, + -1449.109, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2704.927, + -1449.109, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2704.927, + -1449.109, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2704.927, + -1449.109, + 188.275, + 0.0, + 0.0, + 0.0 + ], + [ + 2852.205, + -1359.558, + 238.381, + -28.202, + -109.855, + 1.862 + ], + [ + 2852.205, + -1359.558, + 238.381, + -28.202, + -109.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 799.6, + 674.1, + 548.8, + 423.7, + 299.4, + 177.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The metal bucket stands far ahead against the dark panel wall, near the brick corner and the blue road cases. It is well beyond arm's reach, so I will walk straight forward along my current heading to close that distance.", + "The bucket now reads slightly larger beside the road cases, confirming my straight heading is closing on it. It is still many paces away, so I will keep walking forward without changing direction.", + "The bucket sits just right of the road cases and remains centered enough in my view that no turn is needed. Distance is still too great for a grasp, so I continue advancing.", + "The metal bucket is clearly closer now, showing its lid rim and body near the brick corner. I am still short of grasping range, so I take another step forward.", + "The bucket now fills much of the lower right of my view, but it is still slightly beyond a comfortable grasp. One more forward step should bring me right up to it before I reach out.", + "The metal bucket is directly in front of me, its open rim filling the near view within easy arm's reach. Nothing blocks my hands, so I will attempt to grasp and lift it now.", + "My hand is closed on the metal bucket and it is lifted with me rather than resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_a_p/infos.json b/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f461fe007744153d94171f834e096188336dee19 --- /dev/null +++ b/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the metal bucket.", + "Type": 5, + "Start_Pose": [ + 353.299, + 247.271, + 98.15, + 0, + -40, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 842.688, + 207.271, + 8.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 353.299, + 247.271, + 98.15, + 0, + -40, + 0 + ], + [ + 353.299, + 247.271, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 474.869, + 214.696, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 596.44, + 182.122, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 596.44, + 182.122, + 98.15, + 0.0, + 10.0, + -0.0 + ], + [ + 596.44, + 182.122, + 98.15, + 0.0, + 10.0, + -0.0 + ], + [ + 720.387, + 203.977, + 98.15, + 0.0, + 10.0, + -0.0 + ], + [ + 720.387, + 203.977, + 98.15, + 0.0, + 10.0, + -0.0 + ], + [ + 720.387, + 203.977, + 98.15, + 0.0, + 10.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 842.688, + 207.271, + 8.15, + 0.0, + 0.0, + 0.0 + ], + [ + 842.688, + 207.271, + 8.15, + 0.0, + 0.0, + 0.0 + ], + [ + 842.688, + 207.271, + 8.15, + 0.0, + 0.0, + 0.0 + ], + [ + 842.688, + 207.271, + 8.15, + 0.0, + 0.0, + 0.0 + ], + [ + 842.688, + 207.271, + 8.15, + 0.0, + 0.0, + 0.0 + ], + [ + 842.688, + 207.271, + 8.15, + 0.0, + 0.0, + 0.0 + ], + [ + 842.688, + 207.271, + 8.15, + 0.0, + 0.0, + 0.0 + ], + [ + 716.078, + 224.9, + 68.257, + -28.202, + 60.145, + 1.862 + ], + [ + 716.078, + 224.9, + 68.257, + -28.202, + 60.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 491.0, + 491.0, + 367.9, + 247.5, + 247.5, + 247.5, + 122.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The metal bucket sits far down the corridor near the right-hand wall, well off the side of my current heading. Turning right should bring it toward the center of my view so I can walk straight at it.", + "The bucket now lies ahead of me along the open corridor floor, with no doors or obstructions blocking the lane. It is still far too distant to reach, so I will walk forward to close the gap.", + "The bucket has grown noticeably larger and sits slightly right of my path, but it remains several paces away. The corridor ahead is still clear, so another step forward should bring me within reaching range.", + "The bucket has drifted to the right side of my view as I closed in, so walking straight ahead would carry me past it. Turning right should square my body onto the bucket before I try to take hold of it.", + "The metal bucket now stands directly ahead of me, centered on the corridor floor with nothing between us. I will attempt to grasp it from here, though it may still be beyond arm's reach.", + "My grasp attempt did not take hold, since my hands are empty rather than holding the bucket. It was simply too far down the hallway to reach. I will step forward to close that gap and get within grabbing range.", + "The metal bucket now sits directly in front of me at the bottom of my view, close against the right wall and well within arm's reach. My earlier attempt from farther back came up empty, so this shortened distance is what matters. I will reach down and try to grasp it.", + "The metal bucket is now in my hands, lifted off the floor and moving with me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_a_pd/infos.json b/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe730abf42a644297305ab856e1ff251bd148402 --- /dev/null +++ b/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the ceramic vase, then place it on the floor in front of the CELL 01 door.", + "Type": 5, + "Start_Pose": [ + 353.299, + 247.271, + 98.15, + 0, + -40, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 755.872, + 56.272, + 23.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "LookUp", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 353.299, + 247.271, + 98.15, + 0, + -40, + 0 + ], + [ + 449.713, + 166.37, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 449.713, + 166.37, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -65.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -90.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -115.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -115.0, + 0.0 + ], + [ + 523.405, + 59.323, + 98.15, + 0.0, + -115.0, + 0.0 + ], + [ + 553.833, + 124.577, + 98.15, + 0.0, + -115.0, + 0.0 + ], + [ + 553.833, + 124.577, + 98.15, + 0.0, + -115.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 755.872, + 56.272, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 755.872, + 56.272, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 755.872, + 56.272, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 755.872, + 56.272, + 23.15, + 0.0, + 0.0, + 0.0 + ], + [ + 576.22, + 154.58, + 68.257, + -28.202, + 35.145, + 1.862 + ], + [ + 583.926, + 149.82, + 68.529, + -28.189, + 10.157, + 1.872 + ], + [ + 589.633, + 142.18, + 67.862, + -28.215, + -14.872, + 1.849 + ], + [ + 598.254, + 128.369, + 68.043, + -14.175, + -47.807, + 6.959 + ], + [ + 590.473, + 125.283, + 67.932, + -28.208, + -64.857, + 1.851 + ], + [ + 590.456, + 125.673, + 68.6, + -28.198, + -64.854, + 1.867 + ], + [ + 542.883, + 50.545, + 67.692, + -28.187, + -64.847, + 1.87 + ], + [ + 524.25, + 61.135, + 38.15, + 0.0, + -115.0, + 0.0 + ], + [ + 524.25, + 61.135, + 38.15, + 0.0, + -115.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 445.6, + 325.4, + 325.4, + 200.2, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 20.8, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic vase stands far down the corridor beside the open cell doorway, well out of reach from here. The CELL 01 door is right beside me on the left, so I know where the vase must end up. I will walk forward along the corridor to close that distance.", + "The vase is now closer but sits off to my right of my heading, near the open doorway, while my body still faces along the left wall. A small turn to the right should put it centered ahead so my next step should carry me straight to it. I will turn right.", + "The vase is now lined up ahead of me beside the open doorway, but it is still several strides away and too far to grasp. The floor between us is clear. I will walk forward to bring it within arm's reach.", + "The ceramic vase now fills the near part of my view, standing directly in front of me at the edge of the open cell doorway. It is close enough that I should be able to close my hands around it. I will attempt the pick now.", + "The grasp worked, since the vase is no longer on the floor and is being carried with me. The CELL 01 door lies back along the corridor behind my current heading, not ahead where this cell opening faces. I will turn left to begin swinging around toward it.", + "I still hold the vase, and my view is filled by the CELL 02 doorway and blank block wall rather than the CELL 01 door I need. One turn was not enough to reverse my heading. I will turn left again to keep rotating back along the corridor.", + "Carrying the vase, I am now facing mostly plain wall with call buttons and the CELL 02 opening off to my right. The CELL 01 door is still further around to my left. I will turn left once more to continue bringing it into view.", + "A cell door with its window and buttons is edging into the left side of my view as I keep the vase in hand. My heading is nearly back along the corridor but not yet squared on that door. I will turn left again to face it directly.", + "The vase is secure in my hands and I am now facing a cell door at close range, but its identifying plate sits above my current line of sight. Before committing to a placement spot I need to confirm this is CELL 01 and not a neighboring cell, so I will tilt my view upward to read the label over the frame.", + "Raising my view confirmed the CELL 01 marking above this doorway, so this is the correct drop location. I am still standing slightly back from the door leaf, so I will step forward to bring myself directly in front of it before releasing the vase.", + "I am now pressed right up against the confirmed CELL 01 door, with its frame and lock filling my view and the vase still in my hands. This is the floor space the task calls for, so I will release the vase here and it should settle in front of the door.", + "The ceramic vase now stands on the floor directly in front of the CELL 01 door. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_b_p/infos.json b/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cdb0937ef3b2f1ce9be6e81e34d881883d930126 --- /dev/null +++ b/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_b_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the ceramic pot near the nearest open cell door.", + "Type": 5, + "Start_Pose": [ + 353.299, + 247.271, + 98.15, + 0, + -40, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 771.681, + 143.375, + 13.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 353.299, + 247.271, + 98.15, + 0, + -40, + 0 + ], + [ + 449.713, + 166.37, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 449.713, + 166.37, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -15.0, + 0.0 + ], + [ + 571.283, + 133.796, + 98.15, + 0.0, + -15.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 771.681, + 143.375, + 13.15, + 0.0, + 0.0, + 0.0 + ], + [ + 771.681, + 143.375, + 13.15, + 0.0, + 0.0, + 0.0 + ], + [ + 771.681, + 143.375, + 13.15, + 0.0, + 0.0, + 0.0 + ], + [ + 771.681, + 143.375, + 13.15, + 0.0, + 0.0, + 0.0 + ], + [ + 576.22, + 154.58, + 68.257, + -28.202, + 35.145, + 1.862 + ], + [ + 576.22, + 154.58, + 68.257, + -28.202, + 35.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 431.1, + 322.8, + 322.8, + 200.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The ceramic pot sits on the corridor floor ahead of me, just past the open cell doorway on the left wall. It is still far too distant to reach, so I will walk forward down the hallway to close that gap.", + "After stepping down the corridor, the pot now sits well to my right while my heading still points along the near wall and the open cell door. I will turn right to bring the pot toward the center of my view before advancing again.", + "The pot is now centered ahead of me on the corridor floor beside the open cell doorway. It is still a few paces off, so I will walk forward to bring it within grabbing range.", + "The ceramic pot is now directly in front of me at the near edge of my view, close beside the open cell doorway. This is the reachable position I needed, so I will attempt to pick it up.", + "The ceramic pot is now held in my hands and no longer resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_b_pd/infos.json b/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ea14846656b46f8bfe0c323ba0cc5beb5312a6cd --- /dev/null +++ b/dataset/trajectory/qa_Holding_Cells_A/task_x000353_y000247_z000098_t5_b_pd/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it on the floor in front of the nearest open cell door.", + "Type": 5, + "Start_Pose": [ + 353.299, + 247.271, + 98.15, + 0, + -40, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 504.628, + 97.657, + 20.081, + 78.063, + -66.331, + 102.037 + ], + "Action": [ + "Pick", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 353.299, + 247.271, + 98.15, + 0, + -40, + 0 + ], + [ + 353.299, + 247.271, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 449.713, + 166.37, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 449.713, + 166.37, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 546.126, + 85.47, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 636.672, + 53.437, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 721.566, + 11.17, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 667.477, + 58.417, + 98.15, + 0.0, + -40.0, + 0.0 + ], + [ + 667.477, + 58.417, + 98.15, + 0.0, + -40.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 504.628, + 97.657, + 20.081, + 78.063, + -66.331, + 102.037 + ], + [ + 504.628, + 97.657, + 20.081, + 78.063, + -66.331, + 102.037 + ], + [ + 504.628, + 97.657, + 20.081, + 78.063, + -66.331, + 102.037 + ], + [ + 462.971, + 183.121, + 68.257, + -28.202, + 10.145, + 1.862 + ], + [ + 559.586, + 102.058, + 67.769, + -28.195, + 10.148, + 1.862 + ], + [ + 649.915, + 70.207, + 68.256, + -28.193, + 10.148, + 1.867 + ], + [ + 734.514, + 28.187, + 68.889, + -28.19, + 10.15, + 1.872 + ], + [ + 721.1, + 13.422, + 88.15, + 0.0, + -40.0, + 0.0 + ], + [ + 721.1, + 13.422, + 88.15, + 0.0, + -40.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 212.8, + 212.8, + 88.0, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper is the task target and I can see it resting on the corridor floor beside the first cell door, straight ahead along my heading. I will try to grasp it from here in case it is already within reach, since it lies directly in my line of approach.", + "My hands are empty and the pepper was not taken, so that grasp attempt did not connect from where I stand. The pepper sits farther down the corridor than my reach allows, so I will walk forward along the row of cell doors to close that gap before trying again.", + "My hands are still empty, but stepping up the corridor has brought me right beside the open cell doorway where the pepper lay, close enough that it now falls below my forward gaze. From this much shorter range a grasp should finally take hold. I will attempt to pick it up.", + "The grasp worked and the green pepper is now held in my hands. The nearest open cell door stands just ahead with its interior visible past the swung frame, so I will walk forward to carry the pepper to the drop position at that doorway.", + "I am still carrying the pepper and the open cell door is right in front of me, its frame swung wide with the bunk beyond. I am not yet at the floor spot where the pepper belongs, so I will step forward again to reach the doorway threshold.", + "The green bell pepper is secure in my hands, so all that remains is to set it down at the open cell door. The open door leaf and its frame stand close on my right, but I am still short of the floor area right at that opening. I will step forward to reach a clear spot there.", + "I am now standing at the open cell door with the pepper still in my hands, and the bare floor immediately beside the swung-open door leaf is clear of the bunk frame and ladder. This is the placement spot the task calls for. I will release the pepper here so it rests on the floor in front of the open door.", + "The green bell pepper now rests on the floor at the open cell door, no longer in my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/qa_Holding_Cells_A/task_x001963_y-000246_z000098_t5_a_p/infos.json b/dataset/trajectory/qa_Holding_Cells_A/task_x001963_y-000246_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..49f821ddcdd6e6d074275c91d5565e9f4e127947 --- /dev/null +++ b/dataset/trajectory/qa_Holding_Cells_A/task_x001963_y-000246_z000098_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the plate.", + "Type": 5, + "Start_Pose": [ + 1963.472, + -245.864, + 98.15, + 0, + 100, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1873.163, + 253.398, + 48.15, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1963.472, + -245.864, + 98.15, + 0, + 100, + 0 + ], + [ + 1941.617, + -121.917, + 98.15, + 0.0, + 100.0, + -0.0 + ], + [ + 1919.762, + 2.03, + 98.15, + 0.0, + 100.0, + -0.0 + ], + [ + 1897.906, + 125.977, + 98.15, + 0.0, + 100.0, + -0.0 + ], + [ + 1897.906, + 125.977, + 98.15, + 0.0, + 100.0, + -0.0 + ], + [ + 1897.906, + 125.977, + 98.15, + 0.0, + 100.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1873.163, + 253.398, + 48.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1873.163, + 253.398, + 48.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1873.163, + 253.398, + 48.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1873.163, + 253.398, + 48.15, + 90.0, + 90.0, + 0.0 + ], + [ + 1876.983, + 121.668, + 68.257, + -28.202, + 150.145, + 1.862 + ], + [ + 1876.983, + 121.668, + 68.257, + -28.202, + 150.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 507.4, + 381.5, + 255.7, + 129.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate is visible through the open doorway ahead, resting against the far wall of the next room. It is already lined up with my heading, so I will walk straight forward to close that distance and pass through the door frame.", + "I am now inside the door frame with the plate centered ahead against the wall, noticeably larger than before. Nothing blocks the opening, so I will keep walking forward to clear the doorway and get nearer to the plate.", + "The doorway is behind me and the plate stands clearly against the tiled wall, still a couple of paces off. It remains centered in my view, so another step forward should bring it within grasping range.", + "The plate now fills the lower part of my view directly in front of me, close enough that the wall tiles fill everything above it. My hands are empty and nothing stands between me and it, so I will attempt to grasp the plate.", + "The plate is held in my hands, no longer resting against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/qa_Holding_Cells_A/task_x001963_y-000246_z000098_t5_b_p/infos.json b/dataset/trajectory/qa_Holding_Cells_A/task_x001963_y-000246_z000098_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..870ed682bc83a36390b34c426643e34d14f981c5 --- /dev/null +++ b/dataset/trajectory/qa_Holding_Cells_A/task_x001963_y-000246_z000098_t5_b_p/infos.json @@ -0,0 +1,88 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 1963.472, + -245.864, + 98.15, + 0, + 100, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1831.549, + -84.002, + 138.15, + 0, + 0, + 0 + ], + "Action": [ + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1963.472, + -245.864, + 98.15, + 0, + 100, + 0 + ], + [ + 1963.472, + -245.864, + 98.15, + 0.0, + 100.0, + -0.0 + ], + [ + 1963.472, + -245.864, + 98.15, + 0.0, + 100.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1831.549, + -84.002, + 138.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1941.646, + -250.128, + 68.257, + -28.202, + 150.145, + 1.862 + ], + [ + 1941.646, + -250.128, + 68.257, + -28.202, + 150.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 208.8, + 22.2, + 22.2 + ], + "Rationale": [ + "The tomato sits on the ledge to my right, close and unobstructed, and my hands are empty. Since it is already within reach, no further approach is needed and I will attempt the grasp now.", + "The tomato is now held in my hands and no longer resting on the ledge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_p/000.jpg b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_p/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..976c52cd8952dfcc60e3cc9e57c57f73cb3c14ed --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_p/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecce30feff972c56465ea915867c2d688ad3a0ebf1affe573423bb018147773b +size 176133 diff --git a/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_p/001.jpg b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_p/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ef9f4c5b163b81cc000422ed0dcb347efc7c5b6f --- /dev/null +++ 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