diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf4210f144aae2f5d0da50835f65d08463e7619a --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the rusted orange garage door on the brick building.", + "Type": 0, + "Start_Pose": [ + -14.484, + 135.01, + 202.152, + 0.0, + 70.08, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14.484, + 135.01, + 202.152, + 0.0, + 70.08, + -0.0 + ], + [ + -14.484, + 135.01, + 202.152, + 0.0, + 95.08, + -0.0 + ], + [ + -25.628, + 260.375, + 206.291, + 0.0, + 95.08, + -0.0 + ], + [ + -36.773, + 385.739, + 211.124, + 0.0, + 95.08, + -0.0 + ], + [ + -47.917, + 511.104, + 211.244, + 0.0, + 95.08, + -0.0 + ], + [ + -59.062, + 636.469, + 209.955, + 0.0, + 95.08, + -0.0 + ], + [ + -70.206, + 761.833, + 209.955, + 0.0, + 95.08, + -0.0 + ], + [ + -70.206, + 761.833, + 209.955, + 0.0, + 120.08, + -0.0 + ], + [ + -133.288, + 870.742, + 207.773, + 0.0, + 120.08, + -0.0 + ], + [ + -196.369, + 979.651, + 204.398, + 0.0, + 120.08, + -0.0 + ], + [ + -259.451, + 1088.561, + 214.553, + 0.0, + 120.08, + -0.0 + ], + [ + -259.451, + 1088.561, + 214.553, + 0.0, + 95.08, + -0.0 + ], + [ + -270.595, + 1213.925, + 224.656, + 0.0, + 95.08, + -0.0 + ], + [ + -270.595, + 1213.925, + 224.656, + 0.0, + 95.08, + -0.0 + ] + ], + "Rationale": [ + "Scanning the yard, I can see several bays along the brick facades, and the rust-streaked orange panel sits well off to my right beyond the pale metal doors. My current heading points across the pipes and rail scrap instead of at that bay, so I will turn right to bring the rusted door nearer the center of my view.", + "The rusted orange door on the brick wall is now roughly ahead of me, just right of center between the pale metal doors and the tall window bay. The paved yard in front is open apart from low rails, so I will move forward to start closing the distance.", + "The rusted door has grown noticeably larger and its orange staining is clearer, confirming my heading is taking me toward it. The ground ahead stays open, so I will continue forward.", + "The gabled brick wall with the rusted orange bay now fills much of my view and the sacks piled at its base are clearly resolved. I am still several strides short of the door, so I will keep pressing forward.", + "The rusted orange door stands just right of center with its metal panel and weeds at the threshold clearly visible. There is still open ground between me and the wall, so I will advance again.", + "The wall is close enough that I can read individual bricks, and the orange rust streaks on the target door are vivid to the right of the sack pile. Another forward step should bring me into the immediate area of that bay.", + "I am now right up against the brick facade, and the rusted orange door sits off to my right rather than straight ahead, with plain brickwork filling the center of my view. I will turn right to put that door back on my heading before advancing further.", + "With the turn done, the rusted orange door is now in front of me on the brick wall, framed between the sack pile and the steel stair frame. The sandy ground toward it looks clear, so I will move forward to close the last of the gap.", + "The rusted orange garage door now dominates the left half of my view on the brick wall, with open sandy ground between me and its base. I will move forward again to keep closing that remaining gap along the wall.", + "The corroded door panels have grown much larger and its frame edge is clearly visible, so I am now quite near the brick building. Another forward step should bring me right up to the door face, with only dry weeds in the way.", + "At this close range the rusted door has drifted to the far left edge of my view while plain brick wall and a steel stair fill the right side. I will turn left to bring the door back to the center of my heading before finishing the approach.", + "The rusted orange door is now squarely centered ahead, framed by brick on both sides, with a narrow strip of ground and weeds at its base. One more forward step should place me directly at the door.", + "The rusted orange metal door panel and its seam fill my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..376470df76d1e80d2bd2f6575dc7ad83669169cd --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the black trash bags on the ground.", + "Type": 0, + "Start_Pose": [ + -14.484, + 135.01, + 202.152, + 0.0, + 70.08, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14.484, + 135.01, + 202.152, + 0.0, + 70.08, + -0.0 + ], + [ + -14.484, + 135.01, + 202.152, + 0.0, + 95.08, + -0.0 + ], + [ + -25.628, + 260.375, + 206.291, + 0.0, + 95.08, + -0.0 + ], + [ + -36.773, + 385.739, + 211.124, + 0.0, + 95.08, + -0.0 + ], + [ + -47.917, + 511.104, + 211.244, + 0.0, + 95.08, + -0.0 + ], + [ + -59.062, + 636.469, + 209.955, + 0.0, + 95.08, + -0.0 + ], + [ + -70.206, + 761.833, + 209.955, + 0.0, + 95.08, + -0.0 + ], + [ + -81.35, + 887.198, + 202.243, + 0.0, + 95.08, + -0.0 + ], + [ + -92.495, + 1012.562, + 210.676, + 0.0, + 95.08, + -0.0 + ], + [ + -92.495, + 1012.562, + 210.676, + 0.0, + 95.08, + -0.0 + ] + ], + "Rationale": [ + "From this yard I can see a small dark pile of bags on the ground to the right of center, sitting near the brick wall between the loading doors. My current heading points too far left across the pipes and scaffolding, so I will turn right to bring that pile closer to the middle of my view and open a clear lane toward it.", + "After turning, the bag pile now sits near the center of my view against the brick wall ahead, with flat paved ground and only shallow rails between us. I will move forward along this heading to start closing the distance.", + "The pile of bags is slightly larger in my view and still roughly straight ahead, so my heading remains good. The ground between us is open pavement, so I will continue forward without adjusting my direction.", + "The bags are clearly resolving as a grey and black heap just left of the rusted door, and the gap is still substantial. I will keep advancing on this heading since nothing obstructs the route.", + "The heap of sacks now occupies a good portion of the lower center of my view, but I am still a few steps short of standing beside it. I will move forward again to keep reducing the remaining distance.", + "The wall and doorways now fill most of my view and the bags sit close in front, slightly left of center. Another step forward should bring me right up to the pile.", + "The pile of dark bags is now large in the lower left foreground, only a short step away from my position. I will advance once more to close the final gap and stand directly at the bags.", + "The bags are right at the bottom edge of my view beside the brick wall, so I am nearly at contact range. One more short step forward should place me immediately at the pile, close enough to consider the approach done.", + "The pile of trash bags fills the lower left of my view, right at my feet against the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00caeb8c191b0a405462b022569a94b55ea84a28 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000014_y000135_z000202_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the tomato beside the rusted orange garage door on the brick building.", + "Type": 5, + "Start_Pose": [ + -14.484, + 135.01, + 202.152, + 0, + 70.08, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -215.509, + 1078.213, + 174.096, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14.484, + 135.01, + 202.152, + 0, + 70.08, + 0 + ], + [ + -14.484, + 135.01, + 202.152, + 0.0, + 95.08, + -0.0 + ], + [ + -25.628, + 260.375, + 206.291, + 0.0, + 95.08, + -0.0 + ], + [ + -36.773, + 385.739, + 211.124, + 0.0, + 95.08, + -0.0 + ], + [ + -47.917, + 511.104, + 211.244, + 0.0, + 95.08, + -0.0 + ], + [ + -59.062, + 636.469, + 209.955, + 0.0, + 95.08, + -0.0 + ], + [ + -70.206, + 761.833, + 209.955, + 0.0, + 95.08, + -0.0 + ], + [ + -81.35, + 887.198, + 202.243, + 0.0, + 95.08, + -0.0 + ], + [ + -81.35, + 887.198, + 202.243, + 0.0, + 120.08, + -0.0 + ], + [ + -81.35, + 887.198, + 202.243, + 0.0, + 120.08, + -0.0 + ], + [ + -144.432, + 996.107, + 209.069, + 0.0, + 120.08, + -0.0 + ], + [ + -144.432, + 996.107, + 209.069, + 0.0, + 120.08, + -0.0 + ], + [ + -144.432, + 996.107, + 209.069, + 0.0, + 120.08, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -215.509, + 1078.213, + 174.096, + 0.0, + 0.0, + 0.0 + ], + [ + -162.604, + 984.876, + 172.935, + -28.202, + 170.225, + 1.862 + ], + [ + -162.604, + 984.876, + 172.935, + -28.202, + 170.225, + 1.862 + ] + ], + "PD_Dist_2D": [ + 964.4, + 964.4, + 839.6, + 715.2, + 591.4, + 468.6, + 348.2, + 233.4, + 233.4, + 233.4, + 108.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The red tomato sits far to my right edge, near the rusted orange door on the brick facade. Heading straight ahead would carry me toward the pipe stacks instead of the target. I will turn right so the tomato and its doorway sit closer to the center of my view.", + "The tomato now sits near the middle of my view, in front of the rusted orange door on the brick building. It is still far off across the open concrete yard, and the ground between us looks clear. I will walk forward to close that distance.", + "The tomato has grown slightly larger and stays just right of my center line, with the rusted door directly behind it. I am still well beyond reach for a grasp. I will keep walking straight along this clear stretch of yard.", + "The tomato is clearly visible ahead beside the pile of sacks, and the rusted orange door fills more of the wall in front of me. My heading still points at it, so no turn is needed yet. I will advance again to shorten the remaining gap.", + "The tomato now reads as a distinct round object slightly right of center, with the rusted door close behind it. It remains too far to touch from where I stand. I will step forward once more along the open ground toward it.", + "The red tomato sits on the sand just right of my heading, in front of the rusted metal door set in the brick wall. It is still several paces away, too far to reach. I will keep walking straight to close that gap.", + "The tomato now fills a good part of the lower right of my view, with the rust stained door directly behind it confirming it is the one named in the task. It is still beyond arm's reach across the open sand. Another step forward should bring me close enough to work with.", + "The tomato has drifted to the far right edge of my view and is partly cut off, while my heading points at the brick wall and the garbage bags. I need it centered before any reach attempt. Turning right should bring the tomato back in front of me.", + "The tomato is now squarely centered in my view against the rusted door and the weeds. My hands are empty and the fruit looks large enough that a grab may already be in range. I will try to pick it up from here.", + "That reach did not take hold, since my hands remain empty. The gap to it was clearly larger than a grab can span. I will step forward to stand right over the fruit before trying again.", + "My earlier grasp attempt from farther back left my hands empty and the tomato still resting on the ground by the rusted orange door. Now the tomato sits directly at the bottom of my view, right against the brick wall and well within reach. I will attempt the pick again from this closer stance.", + "The tomato is now held in my hands. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1c8babefd7917f9984083c6b12d94f63ed81c207 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the rightmost metal door on the building.", + "Type": 2, + "Start_Pose": [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + [ + -43.372, + 392.531, + 211.041, + 0.0, + 103.72, + -0.0 + ], + [ + -73.223, + 514.799, + 210.704, + 0.0, + 103.72, + -0.0 + ], + [ + -103.074, + 637.067, + 210.055, + 0.0, + 103.72, + -0.0 + ], + [ + -132.925, + 759.334, + 211.831, + 0.0, + 103.72, + -0.0 + ], + [ + -162.776, + 881.602, + 209.907, + 0.0, + 103.72, + -0.0 + ], + [ + -192.626, + 1003.87, + 204.263, + 0.0, + 103.72, + -0.0 + ], + [ + -222.477, + 1126.138, + 214.443, + 0.0, + 103.72, + -0.0 + ], + [ + -251.913, + 1239.085, + 225.008, + 0.0, + 103.72, + -0.0 + ], + [ + -251.913, + 1239.085, + 225.008, + 0.0, + 103.72, + -0.0 + ] + ], + "Rationale": [ + "Along this brick facade I can count the metal doors, and the last one at the right end is the rust streaked panel stained orange and blue, standing just left of the tall window. It lies off to the right of my current heading, while my view is centred on the pale doors further left. I turn right so that rusted door comes into the middle of my path.", + "The rust stained door now sits ahead of me, only a little left of centre, with open paving and rail strips between us. Nothing blocks that line, so I walk forward to close the distance.", + "The rusted door has grown larger and stays close to the centre of my view, so my heading is still good. The paving ahead is clear apart from the low rails, and I keep walking toward it.", + "The pale doors on the left are sliding out of my view, so I simply keep following the rust streaked panel itself, which now dominates the wall ahead. The bags of rubble sit off to my left and do not obstruct my line, so I step forward again.", + "The rusted metal door now fills much of the wall in front of me, framed by brick on both sides and the window to its right. I am still several paces short of it, so I continue walking straight in.", + "The rusted door stands almost squarely ahead, its lintel and hinges clearly visible above the weeds at its base. Only a short stretch of sandy ground remains, so I keep advancing.", + "The two rusted leaves and their central seam now fill nearly my whole view, with only dry weeds between my feet and the threshold. I step forward once more to stand right at this door.", + "The rusted metal surface and its hinge plate are close enough that no ground shows below them, so I am nearly against the door. A last short step should bring me right up to it.", + "The pitted rusted metal of the door fills my view at arm's length. I am standing at it, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..443a1b256ba8e6b0081d333c9e47320e3dfadb9f --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the second door from the left.", + "Type": 2, + "Start_Pose": [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + [ + -18.754, + 515.959, + 211.224, + 0.0, + 78.72, + -0.0 + ], + [ + 5.865, + 639.387, + 209.305, + 0.0, + 78.72, + -0.0 + ], + [ + 30.484, + 762.814, + 211.811, + 0.0, + 78.72, + -0.0 + ], + [ + 55.102, + 886.242, + 204.855, + 0.0, + 78.72, + -0.0 + ], + [ + 79.721, + 1009.67, + 205.243, + 0.0, + 78.72, + -0.0 + ], + [ + 79.721, + 1009.67, + 205.243, + 0.0, + 53.72, + -0.0 + ], + [ + 154.195, + 1111.129, + 202.828, + 0.0, + 53.72, + -0.0 + ], + [ + 154.195, + 1111.129, + 202.828, + 0.0, + 28.72, + -0.0 + ], + [ + 264.571, + 1171.608, + 209.151, + 0.0, + 28.72, + -0.0 + ], + [ + 375.443, + 1229.941, + 227.726, + 0.0, + 28.72, + -0.0 + ], + [ + 375.443, + 1229.941, + 227.726, + 0.0, + 53.72, + -0.0 + ], + [ + 375.443, + 1229.941, + 227.726, + 0.0, + 53.72, + -0.0 + ] + ], + "Rationale": [ + "Counting the doors along these brick facades from the left, the second one is the pale door tucked just behind the wooden scaffold tower, and the doors otherwise look much alike, so I will hold it by that tower. It sits well across the open yard from me. I step forward to begin closing that distance.", + "The facade has grown a little, but the door beside the scaffold tower is still far off across the cracked concrete. Nothing blocks the ground ahead of me. I keep walking straight toward it.", + "The wall is filling more of my view, and my door still lies left of the big placarded double door, under the scaffold tower. The heap of sacks and the stacked pipes stay clear of my line. Another stride forward should bring me nearer.", + "The rusty gate has slid to my right edge and the far left of the row is dropping out of sight, so I hold to the pale door standing beside the scaffold tower. It is still several paces off to my left front. I advance again.", + "I am close to the brickwork now, with the placarded double door directly ahead and my door showing at the left edge past the brick pillar. The ground between me and the wall is still open. I walk forward to close the remaining gap.", + "At this range the placarded double door fills the middle of my view while the door I want lies off to the left, mostly hidden by the brick pillar and the scaffold. Walking straight on would take me to the wrong door. I turn left to swing my heading onto my target.", + "The turn has brought the scaffold tower and the pale door beside it into the left of my view, with the placarded door pushed to my right. My target is still a couple of paces away past the weeds. I step forward to draw up to it.", + "The brick pillar now stands squarely in front of me and my door has slipped to the left of it, near the scaffold legs. Facing this way I would walk into the pillar rather than reach the door. I turn left again to bring it back in front of me.", + "The scaffold legs and the pale door panel behind them now sit ahead of me instead of behind the pillar, with only weeds and loose brick on the ground between. That gap is short but still real. I walk forward to close on the door.", + "The whitewashed door face fills the right of my view now, close behind the scaffold framing, so I am nearly at it. One more stride should bring me flush against it.", + "I am right up against the door, but my heading is skewed so the scaffold pipework crowds the middle of my view and the door slabs off to the right. Turning right should square me onto the door face where I stand.", + "The whitewashed door fills my view at arm's length, squarely in front of me. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d7451f07f5d910bfa2edf012e3db464bc3b3e6 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the rusty orange door on the right side.", + "Type": 2, + "Start_Pose": [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + [ + -18.754, + 515.959, + 211.224, + 0.0, + 78.72, + -0.0 + ], + [ + -18.754, + 515.959, + 211.224, + 0.0, + 103.72, + -0.0 + ], + [ + -48.604, + 638.227, + 210.011, + 0.0, + 103.72, + -0.0 + ], + [ + -78.455, + 760.494, + 210.011, + 0.0, + 103.72, + -0.0 + ], + [ + -108.306, + 882.762, + 201.854, + 0.0, + 103.72, + -0.0 + ], + [ + -138.157, + 1005.03, + 207.902, + 0.0, + 103.72, + -0.0 + ], + [ + -168.008, + 1127.298, + 214.553, + 0.0, + 103.72, + -0.0 + ], + [ + -197.443, + 1239.118, + 223.882, + 0.0, + 103.72, + -0.0 + ], + [ + -197.443, + 1239.118, + 223.882, + 0.0, + 103.72, + -0.0 + ] + ], + "Rationale": [ + "Across the yard I can pick out the corroded orange metal door set to the right of the two pale grey doors on the same brick facade, and that rust is what marks it as mine. The open concrete stretch ahead is clear of pipes and debris, so I will walk forward to cut the distance before adjusting my heading.", + "The rusty orange door sits well off to the right of my heading, near the edge of my view, while my path points at the plain brick between the pale doors. I will turn right to swing that corroded door toward the center of my view so a straight walk carries me to it.", + "The turn has brought the rusty orange door near the middle of my view, framed between the pale doors on my left and the tall window and green skip on my right. With the ground between me and it open apart from the sandbag pile off to the left, I will step forward along this heading.", + "The corroded orange door is growing larger straight ahead and my heading still points at it. Nothing blocks the sandy ground in front of me, so I will keep walking to close the remaining gap.", + "The rust-streaked door now fills a good part of my view, with the sandbags safely to my left and dry weeds along the wall base to my right. My line is still true to it, so I will advance again.", + "The orange corrosion and peeling paint of the door are clearly resolved just ahead of me and slightly right of center. There is still a stretch of sandy ground between us, so I will step forward to bring myself close to its face.", + "The rusted metal panel now dominates my view, with only loose bricks and thin weeds between my feet and its threshold. I am close but not yet at the wall, so I will take another step in.", + "The pitted rusty door and its hinge post fill nearly my whole view, with the brick jamb close on my left. Only a short gap remains, so I will step forward once more to stand directly at it.", + "The pitted rusty door fills my view at arm's length. I am standing at it, so the approach is complete and I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_d/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ec207b176e3d57f19a7fe352b94c52944df48ee --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the second door from the right.", + "Type": 2, + "Start_Pose": [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + [ + -18.754, + 515.959, + 211.224, + 0.0, + 78.72, + -0.0 + ], + [ + 5.865, + 639.387, + 209.305, + 0.0, + 78.72, + -0.0 + ], + [ + 30.484, + 762.814, + 211.811, + 0.0, + 78.72, + -0.0 + ], + [ + 55.102, + 886.242, + 204.855, + 0.0, + 78.72, + -0.0 + ], + [ + 79.721, + 1009.67, + 205.243, + 0.0, + 78.72, + -0.0 + ], + [ + 104.339, + 1133.098, + 202.901, + 0.0, + 78.72, + -0.0 + ], + [ + 145.946, + 1239.332, + 226.914, + 0.0, + 78.72, + -0.0 + ], + [ + 145.946, + 1239.332, + 226.914, + 0.0, + 78.72, + -0.0 + ] + ], + "Rationale": [ + "Counting the doors along this brick facade from the right end, the rusty orange one is the last, so my target is the pale white double door just left of it, beside the pile of grey sacks. It sits well ahead of me across the open yard, so I will walk straight forward toward it.", + "The white double door beside the sack pile has grown slightly larger and stays near the centre of my view, confirming my heading is good. The yard between us is still clear, so I will keep stepping forward.", + "The white double door next to the grey sacks is closer and I can now make out its panel seams and rusty streaks. Nothing blocks the ground between us, so I continue walking straight ahead.", + "My target white double door now fills much of the view with the sack pile heaped just to its right. I am still several strides short of the wall, so I keep advancing on it.", + "The white double door and its small plate are close ahead, with the sacks now off to my right and the neighbouring door edging out of view. A short stretch of ground remains, so I step forward again.", + "The rusted white door leaves now dominate my view, the peeling paint and plate clearly in front of me, but a little of the ground still shows at its base. I will walk forward once more to close that last gap.", + "I am nearly against the white door, its central seam and rust blooms directly before me, with a last narrow strip of ground at its foot. One more short step should bring me right up to it.", + "The rusted white door leaves and their central seam fill my view at arm's length. I have reached the intended door, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_e/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1fce941839d0e2802ee4c1ee7f3368fabf124d8f --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t2_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Navigate to the third door from the right.", + "Type": 2, + "Start_Pose": [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -43.372, + 392.531, + 210.956, + 0.0, + 78.72, + -0.0 + ], + [ + -18.754, + 515.959, + 211.224, + 0.0, + 78.72, + -0.0 + ], + [ + 5.865, + 639.387, + 209.305, + 0.0, + 78.72, + -0.0 + ], + [ + 30.484, + 762.814, + 211.811, + 0.0, + 78.72, + -0.0 + ], + [ + 55.102, + 886.242, + 204.855, + 0.0, + 78.72, + -0.0 + ], + [ + 79.721, + 1009.67, + 205.243, + 0.0, + 78.72, + -0.0 + ], + [ + 79.721, + 1009.67, + 205.243, + 0.0, + 53.72, + -0.0 + ], + [ + 154.195, + 1111.129, + 202.828, + 0.0, + 53.72, + -0.0 + ], + [ + 154.195, + 1111.129, + 202.828, + 0.0, + 28.72, + -0.0 + ], + [ + 264.571, + 1171.608, + 209.151, + 0.0, + 28.72, + -0.0 + ], + [ + 375.443, + 1229.941, + 227.726, + 0.0, + 28.72, + -0.0 + ], + [ + 375.443, + 1229.941, + 227.726, + 0.0, + 53.72, + -0.0 + ], + [ + 436.162, + 1239.679, + 231.315, + 0.0, + 53.72, + -0.0 + ], + [ + 436.162, + 1239.679, + 231.315, + 0.0, + 53.72, + -0.0 + ] + ], + "Rationale": [ + "Counting the shuttered doors along this brick facade from the right, I get the rusty orange one, then the tall white one in the middle, and third the pale door standing beside the wooden scaffold tower, so that scaffold-side door is my goal. It sits far across the open yard, so I step forward to close the gap.", + "The pale door next to the scaffold tower is still small and distant on the left side of the facade. The bare concrete yard ahead is clear of pipes and debris, so I keep walking straight toward the building.", + "The facade is filling more of my sight, and the door beside the scaffold tower is now clearly readable off to the left. Nothing blocks the ground between me and the wall except the sack pile well to the right of my line, so I advance again.", + "I am close enough now that the brickwork detail is sharp, but I am still out in the yard rather than at the wall. The scaffold-side door I want remains ahead and to my left, so another step forward keeps shrinking the distance.", + "The white middle door now dominates straight ahead while the door beside the scaffold sits further left along the wall. Advancing once more brings me level with the building so I can then work leftward along the facade.", + "I am right up against the wall, and what fills my sight is the tall white door with the brick pier beside it, not the door I want. My goal sits further along to the left, past that pier near the scaffold, so I pivot left to bring it in front of me.", + "The turn opened up the left stretch of wall, with the scaffold tower and the pale door recessed beyond the brick pier. That door is my target, so I walk forward along the wall to reach it.", + "The brick pier now cuts across my heading and hides most of the bay I am aiming for, with only a sliver of the pale door showing to its left. I turn left to swing past that pier and face the scaffold bay squarely.", + "The pier has slid to my right and the pale door beside the scaffold now stands open in front of me, with only dry weeds and loose brick on the ground between us. I walk forward into that bay to close on it.", + "The scaffold legs and the pipe rising through them now stand between me and the whitewashed door, but the gap beside them is wide enough to walk through. Another step should bring me right up to the door face.", + "I am close in beside the scaffold, and the pale door surface is pushed off to my right while the timber and pipe fill my heading. Pivoting right should square me onto the door rather than the scaffold frame.", + "The whitewashed panel of the door now fills my view with the scaffold timbers cleared to the left edge, so my heading is on it. A short step forward should put me directly at its face.", + "I stand directly at the whitewashed door beside the scaffold, its panel and frame edge filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t3_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..43df0e3196fab14834a02d9d00f1fe0d0482cd75 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Move to the metal scaffolding tower, then navigate to the rusty metal door.", + "Type": 3, + "Start_Pose": [ + -93.351, + 643.738, + 210.055, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -93.351, + 643.738, + 210.055, + 0.0, + 79.68, + -0.0 + ], + [ + -70.804, + 767.561, + 210.055, + 0.0, + 79.68, + -0.0 + ], + [ + -48.257, + 891.384, + 206.984, + 0.0, + 79.68, + -0.0 + ], + [ + -48.257, + 891.384, + 206.984, + 0.0, + 54.68, + -0.0 + ], + [ + 24.508, + 994.077, + 209.556, + 0.0, + 54.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 54.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 29.68, + -0.0 + ], + [ + 206.619, + 1159.089, + 202.984, + 0.0, + 29.68, + -0.0 + ], + [ + 315.768, + 1215.784, + 225.985, + 0.0, + 29.68, + -0.0 + ], + [ + 423.284, + 1239.634, + 231.303, + 0.0, + 29.68, + -0.0 + ], + [ + 423.284, + 1239.634, + 231.303, + 0.0, + 29.68, + -0.0 + ], + [ + 343.006, + 1193.881, + 217.204, + 0.0, + 29.68, + -0.0 + ], + [ + 262.729, + 1148.129, + 202.758, + 0.0, + 29.68, + -0.0 + ], + [ + 262.729, + 1148.129, + 202.758, + 0.0, + 54.68, + -0.0 + ], + [ + 262.729, + 1148.129, + 202.758, + 0.0, + 79.68, + -0.0 + ], + [ + 262.729, + 1148.129, + 202.758, + 0.0, + 104.68, + -0.0 + ], + [ + 262.729, + 1148.129, + 202.758, + 0.0, + 129.68, + -0.0 + ], + [ + 262.729, + 1148.129, + 202.758, + 0.0, + 154.68, + -0.0 + ], + [ + 262.729, + 1148.129, + 202.758, + 0.0, + 179.68, + -0.0 + ], + [ + 136.872, + 1148.832, + 202.758, + 0.0, + 179.68, + -0.0 + ], + [ + 136.872, + 1148.832, + 202.758, + 0.0, + -155.32, + 0.0 + ], + [ + 54.515, + 1078.082, + 207.365, + 0.0, + -155.32, + 0.0 + ], + [ + -59.847, + 1025.53, + 214.553, + 0.0, + -155.32, + 0.0 + ], + [ + -59.847, + 1025.53, + 214.553, + 0.0, + 179.68, + -0.0 + ], + [ + -59.847, + 1025.53, + 214.553, + 0.0, + 154.68, + -0.0 + ], + [ + -59.847, + 1025.53, + 214.553, + 0.0, + 129.68, + -0.0 + ], + [ + -145.148, + 1113.867, + 214.428, + 0.0, + 129.68, + -0.0 + ], + [ + -225.509, + 1210.731, + 221.087, + 0.0, + 129.68, + -0.0 + ], + [ + -225.509, + 1210.731, + 221.087, + 0.0, + 129.68, + -0.0 + ] + ], + "Rationale": [ + "The latticed metal scaffolding tower stands well off to my left along the brick workshop wall, and a rusty stained door sits further right on the same facade. Since the tower is my first stop and still far across the open yard, I will walk forward to cut down that distance before adjusting my heading.", + "The brick wall and the pile of sacks have grown noticeably larger, so my last step did close ground, but the scaffolding frame is still off at the left margin and out of reach. I will keep walking forward to gain more of the yard before angling toward it.", + "Straight ahead I now face only sacks and the plain brick wall with the rusty door panel to my right, and the scaffolding has slipped past the left edge of my view. Walking further this way would carry me into the wall, so I will turn left to bring the tower back in front of me.", + "The turn worked, and the timber and steel tower with its ladder is back in view ahead of me, beside the pale doors. With a clear stretch of gravel between us, I will step forward to close on it.", + "The tower's cross-braced legs are noticeably nearer now, rising past the top of my view beside the white metal doors. I still have a few paces of open ground before I stand at its base, so I will keep walking forward.", + "My view is now dominated by the rusted white door with its transformer warning plate, and the scaffolding has drifted to the far left edge. Continuing straight would press me into that door face, so I will turn left to put the tower back ahead of me.", + "The turn lined me up well, with the braced tower and its central pipe standing directly ahead across a short weedy strip of ground. I will walk forward to close the last of the gap to its base.", + "The scaffolding now fills the left half of my view, its riveted braces and the pipe it carries close enough to make out clearly. I am not quite at its base yet, so I will step forward again to stand right at the structure.", + "The riveted legs and the thick vertical pipe of the metal scaffolding tower now fill the left half of my view, with the whitewashed wall pressing in on the right. I am close but not yet standing at its base, so I will step forward once more along this narrow gap to close the remaining distance.", + "The braced steel legs and the rusted pipe column of the scaffolding tower are directly in front of me, close enough to touch, with the wall right at my shoulder. I have reached the metal scaffolding tower. I mark arriving here before setting off for the rusty metal door.", + "Standing this tight against the tower legs and the pale wall leaves me almost no open view, since bracing and pipework block nearly everything ahead. Backing up a step should open the corridor around me so I can pick a heading toward the rusty door.", + "The tower now reads as a whole framework rather than a wall of steel in my face, but I am still wedged in the narrow slot between it and the pale building face. One more step back should give me enough clearance to swing my heading freely.", + "I have the room I need now, and the scaffolding tower I came to is squarely ahead with nothing but weeds and the pale wall beyond it. The rusty door lies back along the building fronts to my right, so I begin swinging my heading that way.", + "The tower has slid to my left edge and I am now looking mostly at the whitewashed slab and the brick pier beside it. That is not yet the weathered iron door I want, so I keep rotating right across the building face.", + "Directly ahead is only a sunlit brick pier and the whitewashed steel panel with its transformer plate, which is not the rust streaked door I am looking for. I continue turning right to bring more of the yard along this wall into view.", + "The pale steel door with the transformer sign still dominates my view, and the brick corner on the right hides whatever lies further around. I will keep turning right past that corner to look for the rusty door along the open yard.", + "I am still wedged into the corner beside the white transformer door, with brickwork filling most of my view and no walkable line ahead. Turning right again should keep swinging my heading away from this dead end toward the gap past the brick corner where the sacks lie.", + "The rotation has opened my view: beyond the pile of sacks the passage gives onto a wide yard with a gantry and a green skip. My heading still cuts across the brick wall, so one more right turn should set me squarely along that opening.", + "The passage now runs straight ahead into the open yard, with only the sacks hugging the wall to my left. I will walk forward to clear this tight corner and gain open ground where the building facades and their doors become visible.", + "I have stepped clear of the narrow gap, but my heading still runs along the brick wall on my left while the open yard with the skip sits off to my right. A right turn should aim me into that open ground before I cross it.", + "The yard now lies squarely ahead, open sand with the green skip and the overhead gantry framing it. I will walk forward into it, which should bring me within reach of the surrounding facades where a rusted metal door can be found.", + "The skip has grown noticeably closer and the sandy ground in front of me stays clear of rubble. Another stride forward should carry me deeper into the yard, near enough to the flanking buildings to start checking their walls for the rusted door.", + "I am well into the yard with the skip directly in front of me, and my current heading only shows distant halls across the open ground. The nearer brick building whose wall I want to inspect stands to my left, so I will turn that way to bring its facade into view.", + "The turn has brought the left-hand brick hall with its tall windows and steel frame into view, but its wall still runs off past the edge of my sight. I will keep swinging left to expose the rest of that facade and pick out the rusted metal door on it.", + "The rust-streaked metal door slab is stretched along the left edge of my view, seen at a sharp oblique angle while my heading points down the open yard. One more left turn should swing that corroded door face into the center of my view so I can walk straight at it.", + "The corroded, orange-streaked metal door now sits square in front of me on the brick wall, with clear open ground and only low weeds between us. I will walk forward to close the remaining gap toward it.", + "The rusted door panel now fills most of my view, but I am still a stride or two short of standing right at it. Another step forward should bring me up against its face.", + "The pitted, rust-eaten metal door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t5_a_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a5d9e935ce6e9c693542f467d755949fe4818cb --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t5_a_pd/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Grab the jerry can beside the metal scaffolding tower, then leave it near the rusty metal door.", + "Type": 5, + "Start_Pose": [ + -93.351, + 643.738, + 210.055, + 0, + 79.68, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 266.167, + 1161.891, + 132.759, + 0, + 30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -93.351, + 643.738, + 210.055, + 0, + 79.68, + 0 + ], + [ + -70.804, + 767.561, + 210.055, + 0.0, + 79.68, + -0.0 + ], + [ + -48.257, + 891.384, + 206.984, + 0.0, + 79.68, + -0.0 + ], + [ + -48.257, + 891.384, + 206.984, + 0.0, + 54.68, + -0.0 + ], + [ + 24.508, + 994.077, + 209.556, + 0.0, + 54.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 54.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 29.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 29.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 54.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 79.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 104.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 129.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 154.68, + -0.0 + ], + [ + 97.272, + 1096.77, + 203.38, + 0.0, + 179.68, + -0.0 + ], + [ + 1.249, + 1066.726, + 209.741, + 0.0, + 179.68, + -0.0 + ], + [ + -121.796, + 1056.087, + 208.645, + 0.0, + 179.68, + -0.0 + ], + [ + -121.796, + 1056.087, + 208.645, + 0.0, + 154.68, + -0.0 + ], + [ + -121.796, + 1056.087, + 208.645, + 0.0, + 129.68, + -0.0 + ], + [ + -202.158, + 1152.95, + 214.523, + 0.0, + 129.68, + -0.0 + ], + [ + -281.957, + 1239.118, + 225.18, + 0.0, + 129.68, + -0.0 + ], + [ + -235.985, + 1183.706, + 217.946, + 0.0, + 129.68, + -0.0 + ], + [ + -235.985, + 1183.706, + 217.946, + 0.0, + 129.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 266.167, + 1161.891, + 132.759, + 0.0, + 30.0, + -0.0 + ], + [ + 266.167, + 1161.891, + 132.759, + 0.0, + 30.0, + -0.0 + ], + [ + 266.167, + 1161.891, + 132.759, + 0.0, + 30.0, + -0.0 + ], + [ + 266.167, + 1161.891, + 132.759, + 0.0, + 30.0, + -0.0 + ], + [ + 266.167, + 1161.891, + 132.759, + 0.0, + 30.0, + -0.0 + ], + [ + 266.167, + 1161.891, + 132.759, + 0.0, + 30.0, + -0.0 + ], + [ + 266.167, + 1161.891, + 132.759, + 0.0, + 30.0, + -0.0 + ], + [ + 86.738, + 1114.385, + 172.935, + -28.202, + 79.825, + 1.862 + ], + [ + 79.374, + 1108.451, + 173.207, + -28.189, + 104.837, + 1.872 + ], + [ + 75.579, + 1100.44, + 172.54, + -28.215, + 129.808, + 1.849 + ], + [ + 74.729, + 1090.683, + 173.463, + -28.205, + 154.819, + 1.861 + ], + [ + 73.353, + 1084.029, + 172.594, + -14.092, + 172.024, + 6.87 + ], + [ + 88.486, + 1077.179, + 172.61, + -28.208, + -155.177, + 1.851 + ], + [ + 97.672, + 1074.258, + 173.278, + -28.198, + -130.173, + 1.867 + ], + [ + 1.437, + 1045.369, + 173.232, + -28.203, + -130.179, + 1.856 + ], + [ + -121.535, + 1034.733, + 174.346, + -28.21, + -130.179, + 1.852 + ], + [ + -129.862, + 1037.46, + 175.221, + -28.209, + -155.187, + 1.859 + ], + [ + -137.244, + 1043.408, + 174.635, + -28.199, + 179.823, + 1.862 + ], + [ + -218.049, + 1138.661, + 184.954, + -28.202, + 179.822, + 1.86 + ], + [ + -297.745, + 1224.704, + 195.436, + -28.198, + 179.825, + 1.865 + ], + [ + -280.68, + 1237.58, + 167.946, + 0.0, + 129.68, + -0.0 + ], + [ + -280.68, + 1237.58, + 167.946, + 0.0, + 129.68, + -0.0 + ] + ], + "PD_Dist_2D": [ + 630.7, + 518.7, + 414.8, + 414.8, + 294.2, + 181.0, + 181.0, + 20.5, + 21.4, + 22.0, + 23.4, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 20.3, + 20.0, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal scaffolding tower stands off to my left against the brick workshop, and a small red container sits at its base near the stacked pipes. I am still far back across the open yard, so I will walk forward to close that gap before refining my heading.", + "The red jerry can beside the scaffolding is now clearly visible at the left of the wall, and it has grown larger as I advance. Nothing blocks the sandy ground ahead, so I will keep walking forward to shorten the remaining distance.", + "My heading is carrying me toward the sacks and the brick wall while the jerry can now sits far out at the left edge of my view. I will turn left to bring the can and the scaffolding into the center of my path.", + "The jerry can now sits ahead of me at the foot of the scaffolding tower, roughly in line with my heading. The ground between us is open apart from the pipes further left, so I will walk forward to close in on it.", + "The can is much larger now and stands just left of the brick pillar in front of the white doors. I am still not within arm's reach, so I will step forward again to reach a workable grabbing distance.", + "I have come close enough that the rusty white door fills most of my view and the jerry can has slipped to the very left edge, barely inside my sight. I will turn left so the can sits squarely in front of me before I reach for it.", + "The red jerry can now stands centered directly in front of me at the base of the scaffolding tower, close enough that its handle and body fill the lower view. This is the grab the task asks for, so I will attempt to pick it up.", + "The grab worked and the jerry can is now in my hands rather than resting by the scaffolding. The rusty metal door lies back across the yard on my right side, away from this white door corner, so I will turn right to begin swinging my heading toward it.", + "The jerry can is in my hands, so what I need now is a heading toward the rusty door. In front of me is only the white steel door of this corner and the scaffolding legs, not the rust stained one, so I keep rotating right to sweep the yard for it.", + "My view still shows the white door and plain brickwork, with a dark sack heap appearing at the right edge. The rusty door frontage is still outside this heading, so I continue turning right while carrying the can.", + "A strip of the rust and paint stained door is now showing at the right edge past the brick wall, so my sweep is heading the right way. I turn right once more to bring that side of the yard properly in front of me.", + "The rusty door panel is visible along the wall, but the piled sacks sit right in front of me and cut off a straight walk to it. I turn right again to face the open ground running alongside the wall instead.", + "Clear sandy ground and the green skip are opening up to my right while the sacks still crowd my left foreground. One more turn right should set me on that unobstructed lane so I can carry the can past the heap.", + "The lane in front of me is open sand, with the skip off to the right and the stained wall running down my left. I step forward with the can to get clear of the sack heap and move along that wall.", + "I am now past the heap, walking down the open alley with the wall close on my left and the skip ahead on my right. Another step forward should bring me level with the rusty section of that wall.", + "I have come far enough along the alley that the skip is beside me and the wall face has slipped out of my forward view to the left. I turn left to swing my heading back onto the rusty door frontage before setting the can down.", + "The rusty metal door is still off to my left edge while my heading points down the open yard toward the skip. I will turn left again to bring that corroded door squarely ahead so I can walk straight at it with the can in hand.", + "The rusty, peeling metal door now sits centered ahead of me across a short stretch of gravel and weeds. Carrying the jerry can, I will step forward to close that remaining gap to the door.", + "The corroded door panel now fills most of my view, but the weeds at its base are still a step or two away. I will advance once more so the can can be set down right against the door.", + "I am now right up against the rusted, blue-and-orange painted door, with its frame edge at my side and the jerry can still in my hands. This is the placement the task asks for, so I will release the can here beside the door.", + "The jerry can now rests on the ground at the foot of the rusty metal door, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e258fbe867766f4e48952230f442af6e0229e645 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the blue metal door on the brick building.", + "Type": 0, + "Start_Pose": [ + -1378.024, + 917.037, + 194.27, + 0.0, + 20.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1378.024, + 917.037, + 194.27, + 0.0, + 20.16, + -0.0 + ], + [ + -1259.876, + 960.413, + 193.133, + 0.0, + 20.16, + -0.0 + ], + [ + -1141.728, + 1003.79, + 191.585, + 0.0, + 20.16, + -0.0 + ], + [ + -1023.58, + 1047.166, + 194.678, + 0.0, + 20.16, + -0.0 + ], + [ + -1023.58, + 1047.166, + 194.678, + 0.0, + 45.16, + -0.0 + ], + [ + -934.833, + 1136.41, + 207.846, + 0.0, + 45.16, + -0.0 + ], + [ + -846.086, + 1225.654, + 221.392, + 0.0, + 45.16, + -0.0 + ], + [ + -846.086, + 1225.654, + 221.392, + 0.0, + 70.16, + -0.0 + ], + [ + -821.468, + 1238.888, + 221.388, + 0.0, + 70.16, + -0.0 + ], + [ + -821.468, + 1238.888, + 221.388, + 0.0, + 70.16, + -0.0 + ] + ], + "Rationale": [ + "I can see the blue metal door set into the brick facade on the right side of this alley, still some distance ahead. The open gravel lane in front of me is clear, so I will move forward to begin closing that gap.", + "The blue door now fills more of the right side of my view, confirming I am headed the right way along the alley. I will continue straight to keep shrinking the distance before I need to swing toward it.", + "The weathered blue metal panels are clearly resolved on my right, but I am still slightly short of being level with them. Another step forward along the lane should bring me alongside the doorway.", + "I am now nearly beside the blue door, which sits off to my right rather than in front of me. I will turn right to bring the door into the center of my view and face it directly.", + "The turn has brought the blue metal door into view ahead of me with the brick wall framing it. The ground between me and the doorway looks clear apart from loose rubble, so I will step forward to close in.", + "The peeling blue surface now dominates the right half of my view, so I am only a short step away from the door face. I will advance again to stand close in front of it.", + "At this close range the brick pier is filling the middle of my view while the blue door lies to my right. I will turn right so the door itself is squarely in front of me.", + "The blue metal door now fills my view straight ahead with only its brick jamb at the edge, so I am squared up on it. I will take one small step forward to settle right at the doorway.", + "The blue metal door and its brick frame fill my view at arm's length. The task is complete, so I stop here rather than press into the wall." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6e4c936409e7aff2d3a222dad00a141575b8e903 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the metal pillar beside the blue door.", + "Type": 0, + "Start_Pose": [ + -1378.024, + 917.037, + 194.27, + 0.0, + 20.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1378.024, + 917.037, + 194.27, + 0.0, + 20.16, + -0.0 + ], + [ + -1259.876, + 960.413, + 193.133, + 0.0, + 20.16, + -0.0 + ], + [ + -1141.728, + 1003.79, + 191.585, + 0.0, + 20.16, + -0.0 + ], + [ + -1023.58, + 1047.166, + 194.678, + 0.0, + 20.16, + -0.0 + ], + [ + -905.432, + 1090.543, + 206.235, + 0.0, + 20.16, + -0.0 + ], + [ + -905.432, + 1090.543, + 206.235, + 0.0, + 45.16, + -0.0 + ], + [ + -816.685, + 1179.787, + 217.407, + 0.0, + 45.16, + -0.0 + ], + [ + -816.685, + 1179.787, + 217.407, + 0.0, + 45.16, + -0.0 + ] + ], + "Rationale": [ + "From the mouth of this alley I can already pick out the blue metal door on the brick wall to my right, with a braced metal pillar framework standing directly beside it. The gap is still long, so I will move forward along the open gravel lane to begin closing that distance.", + "The braced pillar and the blue door now sit larger in the right half of my view, confirming my heading leads toward them. The lane ahead is still clear of debris, so I will continue forward.", + "The metal pillar is close enough now that I can see its bolted plates and diagonal braces, but I am still standing off from it in the open yard. Another step forward should bring me alongside the structure beside the blue door.", + "The pillar's lower legs and the weedy ground at its base are now clearly ahead and slightly right of my heading. I will take one more forward step to bring myself into the immediate vicinity of the structure.", + "I am nearly beside the framework, but its riveted legs and the blue door sit off to my right while my heading still points down the alley. Turning right should place the pillar centrally ahead so my final step closes on it directly.", + "After the turn the braced metal pillar stands squarely in front of me with the blue door immediately to its right. A short forward step should bring me right up against the structure at an arm's length standing position.", + "The riveted metal pillar and its braces fill my view at arm's length, with the blue door right beside it. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2993a31101135bfae24b3c9fe5b15287dd1c41bf --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the plate in front of the blue metal door on the brick building.", + "Type": 5, + "Start_Pose": [ + -1378.024, + 917.037, + 194.27, + 0, + 20.16, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -860.929, + 1172.906, + 159.98, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1378.024, + 917.037, + 194.27, + 0, + 20.16, + 0 + ], + [ + -1259.876, + 960.413, + 193.133, + 0.0, + 20.16, + -0.0 + ], + [ + -1141.728, + 1003.79, + 191.585, + 0.0, + 20.16, + -0.0 + ], + [ + -1023.58, + 1047.166, + 194.678, + 0.0, + 20.16, + -0.0 + ], + [ + -905.432, + 1090.543, + 206.235, + 0.0, + 20.16, + -0.0 + ], + [ + -905.432, + 1090.543, + 206.235, + 0.0, + 45.16, + -0.0 + ], + [ + -905.432, + 1090.543, + 206.235, + 0.0, + 45.161, + -0.0 + ], + [ + -905.432, + 1090.543, + 206.235, + 0.0, + 45.161, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -860.929, + 1172.906, + 159.98, + 90.0, + 0.0, + 0.0 + ], + [ + -860.929, + 1172.906, + 159.98, + 90.0, + 0.0, + 0.0 + ], + [ + -860.929, + 1172.906, + 159.98, + 90.0, + 0.0, + 0.0 + ], + [ + -860.929, + 1172.906, + 159.98, + 90.0, + 0.0, + 0.0 + ], + [ + -860.929, + 1172.906, + 159.98, + 90.0, + 0.0, + 0.0 + ], + [ + -860.929, + 1172.906, + 159.98, + 90.0, + 0.0, + 0.0 + ], + [ + -921.469, + 1105.882, + 172.154, + -28.202, + 95.305, + 1.862 + ], + [ + -921.469, + 1105.882, + 172.154, + -28.202, + 95.305, + 1.862 + ] + ], + "PD_Dist_2D": [ + 576.9, + 452.0, + 327.8, + 205.6, + 93.6, + 93.6, + 22.2, + 22.2 + ], + "Rationale": [ + "The white plate stands upright on the ground ahead of me, right in front of the blue metal door set in the brick building. It is still far off across the open yard, so I will walk straight forward to close that distance.", + "The plate has grown noticeably larger and stays near the middle of my view, confirming my heading is good. The ground between us is open, so I will keep walking forward toward it.", + "The plate now sits clearly ahead against the blue door and the weathered brickwork, but it is still beyond arm's reach. Nothing blocks the path, so another step forward should bring me close enough to work with it.", + "The plate fills much of the lower right of my view and the brick wall and timber bracing are close by, so I am nearly at the door. One more step forward should put the plate within grasping range.", + "I am now standing right at the wall, but the plate has slipped to the far bottom right corner and is mostly out of my view. Turning right should swing my body and gaze back onto it before I try to take hold of it.", + "The plate is now squarely in front of me at close range, its rim large in the lower center of my view beside the blue metal door. My hands are empty and nothing stands between us, so I will attempt to lift it.", + "The plate is now held in my hands, raised clear of the rubble-strewn ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-001842_y000603_z000205_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-001842_y000603_z000205_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cfdb96c623cd01966ae066eccdb706f96f03ce2e --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-001842_y000603_z000205_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search for a deep blue double door that is closed; once identified, proceed to it.", + "Type": 1, + "Start_Pose": [ + -1841.633, + 603.365, + 205.187, + 0, + -160.32, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1841.633, + 603.365, + 205.187, + 0, + -160.32, + 0 + ], + [ + -1841.633, + 603.365, + 205.187, + 0.0, + -135.32, + 0.0 + ], + [ + -1841.633, + 603.365, + 205.187, + 0.0, + -110.32, + 0.0 + ], + [ + -1841.633, + 603.365, + 205.187, + 0.0, + -85.32, + 0.0 + ], + [ + -1841.633, + 603.365, + 205.187, + 0.0, + -60.32, + 0.0 + ], + [ + -1841.633, + 603.365, + 205.187, + 0.0, + -35.32, + 0.0 + ], + [ + -1841.633, + 603.365, + 205.187, + 0.0, + -10.32, + 0.0 + ], + [ + -1841.633, + 603.365, + 205.187, + 0.0, + 14.68, + -0.0 + ], + [ + -1719.883, + 635.26, + 198.148, + 0.0, + 14.68, + -0.0 + ], + [ + -1598.132, + 667.155, + 207.691, + 0.0, + 14.68, + -0.0 + ], + [ + -1598.132, + 667.155, + 207.691, + 0.0, + 39.68, + -0.0 + ], + [ + -1501.268, + 747.516, + 205.173, + 0.0, + 39.68, + -0.0 + ], + [ + -1404.404, + 827.877, + 194.244, + 0.0, + 39.68, + -0.0 + ], + [ + -1307.54, + 908.238, + 194.244, + 0.0, + 39.68, + -0.0 + ], + [ + -1210.676, + 988.599, + 191.57, + 0.0, + 39.68, + -0.0 + ], + [ + -1113.812, + 1068.96, + 220.33, + 0.0, + 39.68, + -0.0 + ], + [ + -1016.948, + 1149.321, + 222.557, + 0.0, + 39.68, + -0.0 + ], + [ + -920.085, + 1229.681, + 227.578, + 0.0, + 39.68, + -0.0 + ], + [ + -920.085, + 1229.681, + 227.578, + 0.0, + 39.68, + -0.0 + ] + ], + "Rationale": [ + "Directly ahead I only see a pale, rust streaked metal door set in the brick wall, which is not the deep blue double door I am looking for. Since nothing else in this narrow view matches the target, I will turn right to begin a steady scan of the surrounding yard.", + "The rotation has opened up more of the yard, showing a cable spool, scattered bricks and further brick workshops, but the only door in sight is still the pale metal one on my left. No deep blue double door appears here, so I will keep turning right to continue the scan in the same direction.", + "This part of the yard shows chimneys, an overhead pipe gantry and a few dim doorways, none of which read as a deep blue double door. I will continue the same rightward sweep to bring the next section of the site into view.", + "The open lane between the two brick halls is now in front of me, with crates, a rusted container and scattered bricks, but no blue double door on either wall. Continuing the same consistent rightward rotation should reveal the facades that are still behind me.", + "I am facing a large brick hall with a green skip in front of it, and its visible openings are windows rather than the deep blue double door named in the task. I will keep rotating right to sweep further along this side of the yard.", + "From here I can see the pipe gantry, a green skip and a heap of dark refuse bags, and the doorway on the hall to my left is dim rather than clearly blue. I will continue the same rightward turn so the brick facades on the right side of the yard come into view.", + "The scan now shows the gantry and the skip roughly ahead, with the sunlit brick wing beginning to appear at the right edge. I will turn right once more to bring that brick facade and its doorways fully into my field of view.", + "Turning has brought the tall brick wing into view, and on its facade beyond the skip I can make out a blue painted door panel that plausibly matches the deep blue double door. Rather than complete a full rotation, I will commit to this cue and step forward along the open ground to get close enough to confirm it.", + "Ahead on the right-hand brick facade I can make out a weathered blue door panel set beside the stone steps, which matches the deep blue closed double door I am looking for. The pile of bags and the green skip stay to my left, so the open gravel lane in front of me is clear. I will step forward again to close distance and get a better look at that door.", + "The blue double door on the brick facade now sits to the right of my heading, partly behind the wooden trestle, while my current facing points down the lane past the skip. A single turn to the right should place that door near the center of my view so I can walk straight at it. I will turn right to line up with the target.", + "The turn worked, and the faded blue door in the brick wall is now centered ahead with the raised stone steps on my right. The gravel yard between me and it looks open apart from scattered weeds. I will walk forward to reduce the distance to that door.", + "The blue door is growing larger and stays just left of the wooden bracing, confirming my heading is still good. Nothing blocks the ground between me and the wall except low weeds along the base. I will keep walking forward toward it.", + "From here I can see the door clearly enough to read it as a closed metal double leaf with peeling blue paint and a small window band above. It is still several paces away along the brick facade. I will continue forward to bring myself up to it.", + "The blue double door dominates the right side of my view now, with the wooden scaffold post standing to its left and the paved slabs to my right. The remaining ground is loose gravel and dry weeds that I can walk over. I will step forward again to close the last stretch.", + "The two closed leaves of the blue door and their vertical seam are clearly resolved just ahead of me, so I am nearly at the target. My path passes close by the wooden bracing on the left but remains open. I will advance once more to stand directly in front of the door.", + "I am now close beside the deep blue door, which fills much of my view and is plainly shut. A short step more should put me squarely at its face rather than off to one side. I will move forward to finish the approach.", + "The weathered deep blue double door now fills most of my view, its central seam and closed leaves clearly visible just ahead on the right side of the brick wall. The ground in front of it is clear, so I will step forward once more to close the last bit of distance and stand directly at the door.", + "The closed deep blue double door fills my view at arm's length, its seam and both leaves plainly visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-001904_y-002824_z000190_t1_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-001904_y-002824_z000190_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ee3c6c1fe2eea948d356656371829b6f3141a397 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-001904_y-002824_z000190_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Identify the open half of a green double door, then head over to where it stands.", + "Type": 1, + "Start_Pose": [ + -1904.142, + -2824.328, + 189.55, + 0.0, + 167.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1904.142, + -2824.328, + 189.55, + 0.0, + 167.04, + -0.0 + ], + [ + -1904.142, + -2824.328, + 189.55, + 0.0, + 142.04, + -0.0 + ], + [ + -1904.142, + -2824.328, + 189.55, + 0.0, + 117.04, + -0.0 + ], + [ + -1904.142, + -2824.328, + 189.55, + 0.0, + 92.04, + -0.0 + ], + [ + -1904.142, + -2824.328, + 189.55, + 0.0, + 67.04, + -0.0 + ], + [ + -1904.142, + -2824.328, + 189.55, + 0.0, + 42.04, + -0.0 + ], + [ + -1904.142, + -2824.328, + 189.55, + 0.0, + 17.04, + -0.0 + ], + [ + -1783.808, + -2787.446, + 189.55, + 0.0, + 17.04, + -0.0 + ], + [ + -1663.474, + -2750.565, + 189.55, + 0.0, + 17.04, + -0.0 + ], + [ + -1543.14, + -2713.683, + 189.55, + 0.0, + 17.04, + -0.0 + ], + [ + -1422.807, + -2676.801, + 189.55, + 0.0, + 17.04, + -0.0 + ], + [ + -1302.473, + -2639.92, + 190.88, + 0.0, + 17.04, + -0.0 + ], + [ + -1302.473, + -2639.92, + 190.88, + 0.0, + -7.96, + 0.0 + ], + [ + -1177.826, + -2657.349, + 198.04, + 0.0, + -7.96, + 0.0 + ], + [ + -1053.18, + -2674.778, + 200.286, + 0.0, + -7.96, + 0.0 + ], + [ + -931.555, + -2689.001, + 198.148, + 0.0, + -7.96, + 0.0 + ], + [ + -931.555, + -2689.001, + 198.148, + 0.0, + -7.96, + 0.0 + ] + ], + "Rationale": [ + "From this narrow, shadowed alley I can only see a rusty shutter and a dark doorway ahead, with no green double door in sight. I will turn left to begin a steady scan of the surrounding yard for the open half of a green double door.", + "The corner of the whitewashed building now fills my view, showing a single narrow door and a closed metal shutter rather than a green double door. I will keep rotating left in the same direction to bring more of the yard into view.", + "This angle opens onto a cluttered yard with a green rusted container and stacked cartons, but the green surface belongs to a shed wall, not to an open door leaf. I will continue the left rotation to check the area further around.", + "Facing the large brick factory wall and the side of the container, I still see no green double door anywhere in this sector. Turning left again should sweep past the brickwork toward the passages on the far side of the yard.", + "The yard widens here, and at the far left edge I can make out a low stone building with a dark arched opening and a pale green panel beside it. I will turn left once more to bring that promising opening closer to the centre of my view.", + "Now the arched gateway on the left clearly shows a green door leaf standing open and folded back against the wall, which matches the open half of the green double door I am looking for. I will turn left once more to line my heading up with that gateway before walking toward it.", + "The arched passage with the open green door leaf is now roughly ahead of me, with clear cobbled ground and only shallow puddles between us. I will walk forward to close the distance toward that door.", + "The step forward brought the gateway noticeably nearer, and the green door half beside the dark archway is now larger and easier to read. I will keep walking straight since the route stays clear along the base of the brick wall.", + "The green-painted door leaf standing open beside the arched passage is clearly ahead of me, its second half swung outward against the brick wall on the right side of the opening. It is still some distance away, so I will walk forward along the cobbled yard to close the gap. The route between the puddles and the concrete slabs looks clear enough for a straight advance.", + "The open green leaf and the arch it belongs to now fill more of my view, confirming I am closing on the correct double door. I am still short of it, with the leaning planks and the step edge on the right still ahead of me. I will keep walking forward to shorten the remaining distance.", + "The open green half of the double door is close now, with its rusted panel and bracing clearly visible to the right of the dark archway. A couple more steps should bring me right up to the doorway rather than stopping short of it. I will continue moving straight forward.", + "I am now right at the green double door, but the open leaf sits to my right while the passage it guards runs off toward my left. Turning left should square my heading with the archway and the standing door so I can position myself properly at its location.", + "The archway of the green double door is now centered ahead of me, with the open leaf standing just off to my right. Walking forward should carry me into the threshold where the open door stands. The floor through the opening looks clear, so I will step ahead.", + "I am passing under the arch with the open green leaf at my side, so I am essentially at the door's position now. One more step forward should place me level with it inside the passage instead of hanging back in the entry. I will keep moving straight.", + "The open door leaf is now right beside me on the left as the inner passage widens ahead. A final short step should settle me squarely at the spot where this open half of the green double door stands. I will advance once more.", + "The open half of the green double door stands immediately at my side, within arm's reach. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf97de6f7b131f3cf0a9e6a5f9b3d108f25c6da6 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the green dumpster in the area and make your way to where it stands.", + "Type": 1, + "Start_Pose": [ + -2481.373, + -2698.728, + 189.356, + 0.0, + -157.44, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2481.373, + -2698.728, + 189.356, + 0.0, + -157.44, + 0.0 + ], + [ + -2481.373, + -2698.728, + 189.55, + 0.0, + 177.56, + -0.0 + ], + [ + -2481.373, + -2698.728, + 189.55, + 0.0, + 152.56, + -0.0 + ], + [ + -2481.373, + -2698.728, + 189.55, + 0.0, + 127.56, + -0.0 + ], + [ + -2481.373, + -2698.728, + 189.55, + 0.0, + 102.56, + -0.0 + ], + [ + -2481.373, + -2698.728, + 189.55, + 0.0, + 77.56, + -0.0 + ], + [ + -2481.373, + -2698.728, + 189.55, + 0.0, + 52.56, + -0.0 + ], + [ + -2481.373, + -2698.728, + 189.55, + 0.0, + 27.56, + -0.0 + ], + [ + -2369.796, + -2640.496, + 189.65, + 0.0, + 27.56, + -0.0 + ], + [ + -2261.823, + -2631.009, + 197.498, + 0.0, + 27.56, + -0.0 + ], + [ + -2154.83, + -2632.079, + 193.713, + 0.0, + 27.56, + -0.0 + ], + [ + -2044.542, + -2587.339, + 189.593, + 0.0, + 27.56, + -0.0 + ], + [ + -2044.542, + -2587.339, + 189.593, + 0.0, + 52.56, + -0.0 + ], + [ + -1968.028, + -2487.409, + 197.095, + 0.0, + 52.56, + -0.0 + ], + [ + -1947.253, + -2459.101, + 198.148, + 0.0, + 52.56, + -0.0 + ], + [ + -1947.253, + -2459.101, + 198.148, + 0.0, + 52.56, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the factory yard I can only see brick facades, puddles and a narrow gap between the buildings, with no green dumpster anywhere in front of me. I will start a steady leftward scan of the surroundings to bring the unseen parts of this yard into view.", + "The turn has opened up a darker corner where a wall edge now blocks the left side, and there is still no sign of a green dumpster. I will keep rotating in the same leftward direction so the scan stays consistent and covers the area behind that wall edge.", + "Most of my view is now taken up by a tall rusted panel with only a narrow strip of open ground on the right, so almost nothing useful is visible here. Continuing the same leftward rotation should carry my heading past this obstruction toward more open surroundings.", + "The stenciled warning panel is directly in front of me and hides everything beyond it, so no target can be judged from this heading. I will hold the same leftward turn direction to sweep past this closed surface.", + "My whole field of view is still the flat warning panel, dark and featureless, which gives me no cue about where a dumpster might stand. Keeping the rotation consistent to the left should soon clear this barrier and reveal the space beside it.", + "The edge of the panel has come into view and a dim recess with a greenish tint is appearing on the left, which is the first promising break in this wall. I will continue turning left to bring that opening fully into my view.", + "A weathered green door sits right beside me and further left the alley opens onto a sunlit yard with brickwork and clutter. I will turn left once more to face that open passage rather than the doorway, since the yard is the more plausible place to find a dumpster.", + "The alley is now open ahead of me, and partway down the yard on the left there is a large greenish container standing against the brick building. That looks like the green dumpster I am searching for, so I will walk forward along this passage to close the distance and confirm it.", + "The narrow passage between the concrete pillar on my right and the buildings ahead opens onto a yard where a greenish metal container sits beside stacked crates. That patch of green is a promising match for the dumpster I am looking for, but it is still partly hidden by the wall edge. I will walk forward to clear the corner and get a fuller look at it.", + "Stepping past the pillar has exposed the yard, and the green rusted container with its sloped lid is now clearly visible ahead beside the cardboard boxes and gas cylinder. This matches the green dumpster I was told to find, so there is no reason to keep scanning. I will continue walking straight toward it.", + "The green dumpster now fills a large part of the right side of my view, its teal painted panel and rusted top clearly readable at close range. I am still a few steps short of standing at it, with open cobblestone in front of me. I will keep advancing to close that remaining gap.", + "The dumpster is close now, but it sits off to my right while my heading points down the alley toward the far archway. Walking straight would carry me past its front rather than up to it. I will turn right to square myself with the dumpster before closing the last distance.", + "After turning, the green dumpster is centered in front of me, its full painted side and rusted lid spanning the view. Only a short stretch of ground with a gas cylinder and weeds separates me from it. I will step forward to reach the position where it stands.", + "The dumpster wall now occupies almost my entire view, with its rim near the top of my sight line, so I am nearly against it. A small gap still remains before I am standing right at it. I will take one more short step to close in.", + "The green dumpster's weathered side 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/AbandonedDistrict/task_x-002822_y-003204_z000198_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-002822_y-003204_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf82206aab73b762e6c612107ef761ae4c306e40 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-002822_y-003204_z000198_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the vertical metal ladder mounted on the exterior wall of the building, then make your way to it.", + "Type": 1, + "Start_Pose": [ + -2821.81, + -3204.081, + 198.298, + 0.0, + -13.44, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2821.81, + -3204.081, + 198.298, + 0.0, + -13.44, + 0.0 + ], + [ + -2821.81, + -3204.081, + 198.148, + 0.0, + 11.56, + -0.0 + ], + [ + -2821.81, + -3204.081, + 198.148, + 0.0, + 36.56, + -0.0 + ], + [ + -2821.81, + -3204.081, + 198.148, + 0.0, + 61.56, + -0.0 + ], + [ + -2821.81, + -3204.081, + 198.148, + 0.0, + 86.56, + -0.0 + ], + [ + -2821.81, + -3204.081, + 198.148, + 0.0, + 111.56, + -0.0 + ], + [ + -2868.06, + -3087.028, + 204.646, + 0.0, + 111.56, + -0.0 + ], + [ + -2914.31, + -2969.975, + 188.103, + 0.0, + 111.56, + -0.0 + ], + [ + -2960.56, + -2852.922, + 186.428, + 0.0, + 111.56, + -0.0 + ], + [ + -3006.81, + -2735.869, + 186.428, + 0.0, + 111.56, + -0.0 + ], + [ + -3006.81, + -2735.869, + 186.428, + 0.0, + 136.56, + -0.0 + ], + [ + -3098.196, + -2649.329, + 186.428, + 0.0, + 136.56, + -0.0 + ], + [ + -3189.582, + -2562.789, + 193.599, + 0.0, + 136.56, + -0.0 + ], + [ + -3189.582, + -2562.789, + 193.599, + 0.0, + 136.56, + -0.0 + ] + ], + "Rationale": [ + "I am facing a decayed brick wall with boarded windows and a heap of garbage bags right in front of me, and there is no ladder anywhere on this surface. Since this corner is closed off and offers no route, I will turn right to begin a consistent scan for a wall that might carry a mounted ladder.", + "The rotation has brought open ground and a second structure with a low roof into the right side of the view, but the wall in front of me still shows only boarded openings and no ladder. I will keep turning right in the same direction to bring more of that open yard and its building facades into view.", + "A yard with a large metal gate and a passage between buildings is now opening on the right, which is the kind of industrial area where an exterior wall ladder would be mounted. Nothing ladder-like is visible yet on the walls in front of me, so I will continue the same rightward scan toward that yard.", + "The courtyard is now mostly ahead of me, with the garage gate and taller brick buildings framing the far side, but the ladder is still not in view. I will turn right once more to sweep the remaining facades on that side of the yard.", + "On the right edge of the view I can now see a slim vertical metal ladder with a safety cage running up the corner of the tall brick building. I will turn right one more step to bring that ladder closer to the center of my view before moving toward it.", + "The caged metal ladder is now clearly ahead of me, climbing the corner of the brick building on the right side of the yard. The ground between us is open pavement, so I will walk forward to close the distance toward it.", + "My forward step has enlarged the courtyard view and the ladder on the brick corner still sits ahead and slightly right of my heading. The lane between the two buildings remains clear, so I will keep walking forward toward the ladder.", + "The brick building on my right is growing larger and the ladder's rungs and support frame are now more distinct as I close in. The path ahead is still open ground, so I will continue walking forward to get within reach of the ladder.", + "The tall vertical ladder is fixed to the dark brick wall on my right, rising toward the roofline, and it is still set back some distance ahead of me. The open yard between the puddles is clear, so I will keep walking forward along the alley to close the gap before turning toward the wall. This should bring the ladder's lower rungs within reach of my final approach.", + "I have advanced far enough that the ladder on the right brick wall now sits near the edge of my view rather than in front of me. Turning right should swing my heading onto that wall so the ladder and its base line up with my path of travel.", + "After the turn, the metal ladder on the brick wall is directly ahead and slightly right, with its rails running from the ground up past the roof edge. The path along the wall is open, so I will step forward to close the remaining distance to its base.", + "The ladder now fills much of the right side of my view, its rungs clearly resolved against the brick, so I am close but not yet standing at it. One more step forward should place me right beside the ladder's lower section.", + "The wall-mounted metal ladder stands directly beside me, its rungs within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa27e27310bb2c8ebc9474062f05d824b43072db --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the long wooden boards leaning against the brick wall between two brick columns.", + "Type": 0, + "Start_Pose": [ + -3614.411, + -3194.147, + 227.628, + 0.0, + 140.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3614.411, + -3194.147, + 227.628, + 0.0, + 140.16, + -0.0 + ], + [ + -3711.05, + -3113.516, + 198.149, + 0.0, + 140.16, + -0.0 + ], + [ + -3807.689, + -3032.885, + 201.386, + 0.0, + 140.16, + -0.0 + ], + [ + -3904.328, + -2952.254, + 199.326, + 0.0, + 140.16, + -0.0 + ], + [ + -4000.967, + -2871.623, + 199.583, + 0.0, + 140.16, + -0.0 + ], + [ + -4097.607, + -2790.992, + 198.149, + 0.0, + 140.16, + -0.0 + ], + [ + -4097.607, + -2790.992, + 198.149, + 0.0, + 140.16, + -0.0 + ] + ], + "Rationale": [ + "Ahead of me in the dim hall I can make out long wooden boards propped at an angle against the brick wall, set back in the recess between two brick columns. My heading already lines up with that gap, so I will step forward to begin closing the distance.", + "The leaning boards now read more clearly, with their cross bracing visible against the brickwork just left of the near column. My path across the flagstones stays clear, so I will keep advancing straight toward them.", + "The braced boards and the wooden trestle beside them fill more of my view, confirming I am closing on the right recess between the columns. Only scattered bricks lie on the floor ahead, so I will continue forward.", + "I am close enough now that the boards rise nearly the full height of my view, still slightly left of the column corner in front of me. A few more steps should bring me right up to them, so I will advance again.", + "The leaning boards are directly in front of me, their planks and diagonal braces nearly at arm's length beside the brick column. One more short step should place me at the boards themselves.", + "The long wooden boards and their braces are right against me, wedged in the brick recess beside the column. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f85903a25e5528aef6d19ca48cd5bc0460aec7fb --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the cable spool resting on the ground.", + "Type": 0, + "Start_Pose": [ + -3614.411, + -3194.147, + 227.628, + 0.0, + 140.16, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3614.411, + -3194.147, + 227.628, + 0.0, + 140.16, + -0.0 + ], + [ + -3711.05, + -3113.516, + 198.149, + 0.0, + 140.16, + -0.0 + ], + [ + -3711.05, + -3113.516, + 198.149, + 0.0, + 165.16, + -0.0 + ], + [ + -3832.711, + -3081.281, + 198.287, + 0.0, + 165.16, + -0.0 + ], + [ + -3954.372, + -3049.046, + 199.356, + 0.0, + 165.16, + -0.0 + ], + [ + -4076.033, + -3016.811, + 201.286, + 0.0, + 165.16, + -0.0 + ], + [ + -4197.694, + -2984.576, + 199.572, + 0.0, + 165.16, + -0.0 + ], + [ + -4319.355, + -2952.34, + 201.189, + 0.0, + 165.16, + -0.0 + ], + [ + -4319.355, + -2952.34, + 201.189, + 0.0, + -169.84, + 0.0 + ], + [ + -4443.24, + -2974.542, + 201.189, + 0.0, + -169.84, + 0.0 + ], + [ + -4567.126, + -2996.743, + 199.572, + 0.0, + -169.84, + 0.0 + ], + [ + -4691.011, + -3018.944, + 201.357, + 0.0, + -169.84, + 0.0 + ], + [ + -4814.896, + -3041.145, + 201.189, + 0.0, + -169.84, + 0.0 + ], + [ + -4938.782, + -3063.347, + 201.182, + 0.0, + -169.84, + 0.0 + ], + [ + -5062.667, + -3085.548, + 201.182, + 0.0, + -169.84, + 0.0 + ], + [ + -5062.667, + -3085.548, + 201.182, + 0.0, + 165.16, + -0.0 + ], + [ + -5184.328, + -3053.313, + 198.149, + 0.0, + 165.16, + -0.0 + ], + [ + -5305.989, + -3021.078, + 198.149, + 0.0, + 165.16, + -0.0 + ], + [ + -5427.65, + -2988.843, + 198.149, + 0.0, + 165.16, + -0.0 + ], + [ + -5427.65, + -2988.843, + 198.149, + 0.0, + 165.16, + -0.0 + ], + [ + -5427.65, + -2988.843, + 198.149, + 0.0, + 165.16, + -0.0 + ] + ], + "Rationale": [ + "From this dim brick hall I cannot yet pick out any cable spool, but the paved floor opens up ahead and to the right toward brighter light. I will step forward into that open space so more of the yard beyond the pillars comes into view.", + "Straight ahead of me is the brick wall with the leaning plank and workbench, so there is no useful route or target in that direction. The passable, lit stretch of floor lies off to my right, so I will turn that way to face down the open yard.", + "Now that I am facing down the long open yard, I can make out low round shapes resting on the ground near the far brick wall, one of which looks like a large flat spool. The floor between me and them is clear paving, so I will advance along it to close the distance and confirm the target.", + "The round flat-topped object by the far wall is holding steady slightly right of center and is growing larger, which supports it being the cable spool on the ground. My heading is still good and nothing blocks the paving, so I will keep walking forward.", + "The wooden drum shape near the rear wall is clearer now, sitting flat on the ground beside a darker heap. I will continue straight to keep reducing the remaining distance before I fine-tune my heading.", + "The spool and the debris pile beside it are noticeably nearer, though the brick pier on my left is starting to crowd the near side of my view. The lane along the right side remains open, so I will step forward again toward the target.", + "The flat round spool top is now plainly visible on the ground ahead beside the low concrete troughs. I will advance once more along the clear paving to keep shortening the gap.", + "As I have closed in, the spool has drifted off to the right of my view while the brick pier and troughs now fill the space directly ahead of me. I will turn right to bring the spool back toward the center of my heading before continuing the approach.", + "The large wooden cable spool is now sitting ahead of me on the ground at the far end of this brick courtyard, near the base of the wall under the barred window. My heading points down the open paved lane toward it with no clutter in the way, so I will step forward to begin closing the distance.", + "The spool has grown slightly larger and stays near the center of my view, which tells me my heading is still good. The ground between us is clear apart from the electrical box against the left wall, so another step forward should keep shrinking the gap.", + "From here the spool and the stacked pallets beside it are clearly resolved against the rear wall, and I am still well short of them. The lane remains walkable, so I continue advancing along the same heading.", + "The spool now stands out plainly in the middle distance with its round wooden drum resting flat on the ground. There is still several paces of open floor before I reach it, so I keep moving forward.", + "The spool sits slightly left of center now, but it is still comfortably within my view and the sandy ground ahead is unobstructed. I will take another step forward before worrying about fine heading adjustment.", + "The spool is close enough that I can read the planking on its flange, yet it still lies a couple of paces beyond arm's reach. Another forward step should bring me to a proper standing position beside it.", + "As I have closed in, the spool has drifted toward the left side of my view while the pallet stack and the second leaning drum now fill the right. Turning left should bring the ground spool back to the center of my heading so my remaining steps carry me straight to it.", + "The cable spool now sits near the center of my view, resting flat on the sandy ground with clear floor between us. With my heading squared onto it, I will step forward to close the last of the distance.", + "The wooden cable spool now stands just right of center in my view, resting flat on the sandy ground with its drum clearly visible. My heading is aimed straight at it and the ground between us is open, so I will step forward again to close the remaining gap.", + "The spool now fills a large part of the lower right of my view, so only a short distance remains before I stand beside it. I will advance one more step to bring myself right up to it rather than stopping short.", + "I am now directly beside the spool, and its upper rim is cut off at the lower part of my view while my gaze still falls on the brick wall above. Tilting my head down should place the spool and the ground it rests on fully in view to confirm I have reached it.", + "The cable spool lies directly in front of me on the sandy ground, within arm's reach. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c9a7e7cdeb7b382daeb95df0c1944c9029a430ed --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-003614_y-003194_z000228_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the green bell pepper at the base of the wooden pallets stacked against the wall.", + "Type": 5, + "Start_Pose": [ + -3614.411, + -3194.147, + 227.628, + 0, + 140.16, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "TurnLeft", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3614.411, + -3194.147, + 227.628, + 0, + 140.16, + 0 + ], + [ + -3711.05, + -3113.516, + 198.149, + 0.0, + 140.16, + -0.0 + ], + [ + -3711.05, + -3113.516, + 198.149, + 0.0, + 165.16, + -0.0 + ], + [ + -3832.711, + -3081.281, + 198.287, + 0.0, + 165.16, + -0.0 + ], + [ + -3954.372, + -3049.046, + 199.356, + 0.0, + 165.16, + -0.0 + ], + [ + -4076.033, + -3016.811, + 201.286, + 0.0, + 165.16, + -0.0 + ], + [ + -4197.694, + -2984.576, + 199.572, + 0.0, + 165.16, + -0.0 + ], + [ + -4319.355, + -2952.34, + 201.189, + 0.0, + 165.16, + -0.0 + ], + [ + -4319.355, + -2952.34, + 201.189, + 0.0, + 165.16, + -0.0 + ], + [ + -4441.016, + -2920.105, + 201.189, + 0.0, + 165.16, + -0.0 + ], + [ + -4441.016, + -2920.105, + 201.189, + 0.0, + 140.16, + -0.0 + ], + [ + -4441.016, + -2920.105, + 201.189, + 0.0, + 140.16, + -0.0 + ], + [ + -4441.016, + -2920.105, + 201.189, + 0.0, + 140.16, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4507.167, + -2797.833, + 136.968, + 18.637, + -87.019, + -94.444 + ], + [ + -4453.832, + -2936.137, + 171.493, + -28.202, + -169.695, + 1.862 + ], + [ + -4453.832, + -2936.137, + 171.493, + -28.202, + -169.695, + 1.862 + ] + ], + "PD_Dist_2D": [ + 976.8, + 856.4, + 856.4, + 731.6, + 607.2, + 483.6, + 361.5, + 243.2, + 243.2, + 139.0, + 139.0, + 20.5, + 20.5 + ], + "Rationale": [ + "The green bell pepper is visible far ahead on the open floor beside the brick piers and leaning timber boards. It is far too distant to reach, so I will walk straight forward across the paved floor to close the gap before refining my heading.", + "From here the pepper sits right of my heading, partly crowded by the brick pier and the propped boards on my left. Turning right should put me on the open aisle running between the two brick walls, giving a clear straight approach lane toward the pepper's corner.", + "The wide aisle between the brick walls now opens straight ahead with nothing blocking the ground. The pepper rests at the wall base slightly left of my path, so walking forward along this clear lane should bring me steadily nearer to it.", + "The pepper has grown noticeably larger beside the low concrete trough on my left, confirming I am on the right line. Still several strides away and well outside grabbing range, I will keep walking forward down this open aisle.", + "The pepper is now clearly resting on the ground at the corner near the trough, but it remains ahead and to my left, too far for my hands. Another step forward should bring it close enough that I can turn in and reach it.", + "The green bell pepper sits ahead on my left, resting against the low concrete trough at the base of the brick pier, and it is still several strides away. My path down the open floor is clear of debris, so I will keep walking forward to close that gap.", + "The pepper has grown noticeably larger and now sits low on my left, but it is still beyond comfortable arm's reach. Another step forward should bring me close enough alongside it to attempt a grasp.", + "The green pepper now fills the lower left of my view, close beside the concrete trough, and my hands are empty. It looks near enough to take, so I will reach out and try to pick it up.", + "My reach came up empty, so the pepper was not actually within grasping range. I should shorten that gap before trying again, so I will step forward toward the trough where it lies.", + "After closing in, the pepper has slipped out of my view past the left edge, with only the brick pier and the empty trough ahead of me. Turning left should swing my facing back onto the pepper so a reach can be aimed properly.", + "My earlier grab attempt left my hands empty and the green bell pepper still lying on the ground. Now the pepper fills the lower left of my view, close beside the concrete trough at the base of the wall. From this range I will try the grasp again.", + "The green bell pepper is now held in my hand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd457a9bd932df86e37f93d0cd5a465f0bd01a2a --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the green dumpster, then approach the gas cylinders cluster.", + "Type": 3, + "Start_Pose": [ + -3802.843, + -1525.655, + 205.803, + 0.0, + 127.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3802.843, + -1525.655, + 205.803, + 0.0, + 127.68, + -0.0 + ], + [ + -3879.774, + -1426.046, + 185.158, + 0.0, + 127.68, + -0.0 + ], + [ + -3956.706, + -1326.436, + 172.999, + 0.0, + 127.68, + -0.0 + ], + [ + -4033.637, + -1226.827, + 172.999, + 0.0, + 127.68, + -0.0 + ], + [ + -4107.313, + -1126.877, + 205.517, + 0.0, + 127.68, + -0.0 + ], + [ + -4184.245, + -1027.267, + 202.216, + 0.0, + 127.68, + -0.0 + ], + [ + -4184.245, + -1027.267, + 202.216, + 0.0, + 127.68, + -0.0 + ], + [ + -4184.245, + -1027.267, + 202.216, + 0.0, + 152.68, + -0.0 + ], + [ + -4184.245, + -1027.267, + 202.216, + 0.0, + 177.68, + -0.0 + ], + [ + -4184.245, + -1027.267, + 202.216, + 0.0, + -157.32, + 0.0 + ], + [ + -4184.245, + -1027.267, + 202.216, + 0.0, + -132.32, + 0.0 + ], + [ + -4184.245, + -1027.267, + 202.216, + 0.0, + -107.32, + 0.0 + ], + [ + -4221.714, + -1147.419, + 204.39, + 0.0, + -107.32, + 0.0 + ], + [ + -4250.511, + -1258.92, + 211.348, + 0.0, + -107.32, + 0.0 + ], + [ + -4250.511, + -1258.92, + 211.348, + 0.0, + -107.32, + 0.0 + ] + ], + "Rationale": [ + "The green skip sits ahead of me across the open yard, with the cluster of gas cylinders off to its right. I will walk forward along the concrete to close the distance to the dumpster first.", + "The green skip has grown larger and stays centered in my view, so my heading is good. I will keep walking straight toward it.", + "The dumpster now fills much of the middle of my view and its rusted green side is clearly resolved. Still some yard between us, so I will advance again.", + "The skip's flank dominates my view and I can see the sacks piled at its base, but I am not yet beside it. Another step forward should bring me right up to it.", + "The green container's rim and rusted edge are close in front of me now, though I am still a stride short of standing at it. I will step forward once more to reach its side.", + "The battered green dumpster is right in front of me, its open rim and peeling paint within arm's reach. I have reached it. I mark reaching the green dumpster before setting off toward the cluster of gas cylinders standing off to my right.", + "I am standing at the green dumpster, and the gas cylinders are not in front of me but off to my right side. I will turn right to swing my heading toward them.", + "Turning has brought a single gas cylinder into view on the right beside the dumpster, and more of the yard is opening that way. I will keep turning right to bring the whole cylinder cluster in front of me.", + "The green skip now sits behind my left shoulder and the yard opens toward the brick workshop, where a lone cylinder stands ahead and more dark bottles lie further right along the wall. I will keep turning right to bring that cylinder cluster into the middle of my view.", + "Several grey gas cylinders are now visible on pallets against the brick wall to my right, still off to the side of my heading. Another turn right should place that group squarely in front of me before I walk toward it.", + "The cylinder group by the shuttered brick facade sits just right of centre, with more bottles at the right edge of my view. One more turn right should line my body up with the middle of the cluster for a straight walk in.", + "The gas cylinders are now spread directly ahead of me, standing on pallets along the brick wall beneath the shutter. With my heading set on them, I will walk forward to close the remaining open ground.", + "The cylinders have grown large in front of me, the nearest ones already at the bottom of my view beside the pallets. A final step forward should bring me right up among them at the wall.", + "A gas cylinder stands at arm's length beside me against the brick wall. I am at the cylinder cluster, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e04fe303f58c3e26ae2eccfc0136b6ffa828f41 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the cluster of gas cylinders, then reach the green dumpster.", + "Type": 3, + "Start_Pose": [ + -3802.843, + -1525.655, + 205.803, + 0.0, + 127.68, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3802.843, + -1525.655, + 205.803, + 0.0, + 127.68, + -0.0 + ], + [ + -3802.843, + -1525.655, + 205.803, + 0.0, + 152.68, + -0.0 + ], + [ + -3915.001, + -1468.993, + 173.014, + 0.0, + 152.68, + -0.0 + ], + [ + -4026.821, + -1411.229, + 186.456, + 0.0, + 152.68, + -0.0 + ], + [ + -4137.588, + -1361.314, + 209.354, + 0.0, + 152.68, + -0.0 + ], + [ + -4137.588, + -1361.314, + 209.354, + 0.0, + 152.68, + -0.0 + ], + [ + -4137.588, + -1361.314, + 209.354, + 0.0, + 127.68, + -0.0 + ], + [ + -4180.747, + -1363.611, + 198.318, + 0.0, + 127.68, + -0.0 + ], + [ + -4252.29, + -1331.151, + 198.318, + 0.0, + 127.68, + -0.0 + ], + [ + -4192.398, + -1386.899, + 198.149, + 0.0, + 127.68, + -0.0 + ], + [ + -4127.912, + -1386.902, + 209.377, + 0.0, + 127.68, + -0.0 + ], + [ + -4064.948, + -1441.899, + 197.134, + 0.0, + 127.68, + -0.0 + ], + [ + -4064.948, + -1441.899, + 197.134, + 0.0, + 102.68, + -0.0 + ], + [ + -4080.623, + -1328.014, + 192.168, + 0.0, + 102.68, + -0.0 + ], + [ + -4089.359, + -1213.969, + 194.319, + 0.0, + 102.68, + -0.0 + ], + [ + -4089.359, + -1213.969, + 194.319, + 0.0, + 127.68, + -0.0 + ], + [ + -4166.291, + -1114.359, + 202.006, + 0.0, + 127.68, + -0.0 + ], + [ + -4166.291, + -1114.359, + 202.006, + 0.0, + 152.68, + -0.0 + ], + [ + -4277.869, + -1059.771, + 200.422, + 0.0, + 152.68, + -0.0 + ], + [ + -4277.869, + -1059.771, + 200.422, + 0.0, + 152.68, + -0.0 + ] + ], + "Rationale": [ + "The gas cylinders are grouped on the open concrete apron to my right, past the low steps, while the green dumpster sits further left along the same yard. Since the cylinders are my first stop, I will turn right to bring that cluster nearer the center of my heading before walking out.", + "The gas cylinders now sit close to the middle of my view, standing on the concrete beyond the low step, with clear open ground between me and them. I will walk forward along this heading to close the gap toward that cluster.", + "The cylinders have grown noticeably larger and are still directly ahead of me, so my heading is good and the route stays clear. I will keep walking forward to reach the group.", + "The nearest cylinders now fill the lower part of my view and the rest of the cluster spreads out just beyond them to the right. A few more steps should put me among the cylinders themselves, so I will advance again.", + "The grey gas cylinders now stand right beside me, ringing my position on the concrete and pallets in the near foreground. I have reached the cluster of cylinders. I mark arriving here before setting off toward the green dumpster over on my left.", + "I am standing right among the gas bottles and pallets, so my attention now shifts to the long green dumpster sitting off to my left against the pale warehouse wall. My current heading points past it into the open yard. Turning left should bring that dumpster in front of me before I set off toward it.", + "The green dumpster now sits ahead and slightly left, with clear open concrete between me and it. Nothing blocks the lane apart from a single bottle near its flank. I will walk forward to close that gap.", + "The dumpster has grown noticeably larger and its rusted green side is clearly ahead of me, though still a few strides off. The concrete apron in front stays clear of debris. Another step forward should bring me up beside it.", + "I have come in too close and too far along, so the dumpster's near end is cut off at my left shoulder and only its flank fills the view. From here I cannot judge my standing position relative to it properly. Backing up should restore enough distance to see the whole container again.", + "The dumpster is more fully in view now, but it still lies off to my left rather than in front, so my heading remains skewed past it. Cylinders crowd the ground close to my right. Stepping back again should open enough room to reorient cleanly toward the container.", + "Pressing straight ahead earlier carried me alongside the green dumpster rather than onto it, and it still hangs off to my left behind a low kerb while cylinders crowd my near ground. One more step back should open enough distance to swing my heading cleanly toward it.", + "With room regained, the green dumpster still sits off my left shoulder rather than in front of me, so walking straight would only skim past it again. Turning left should bring it into the center of my path and leave the cylinder cluster behind my right side.", + "The green dumpster now lies ahead of me, slightly right, with flat yard between us and only a low concrete lip in the way. Walking forward should close that gap along a lane that no longer runs past it.", + "The dumpster's green flank has grown noticeably larger and sits just right of my path, so this heading is finally gaining ground on it. I will step forward again to bring myself alongside it.", + "I am now close to the dumpster, but it fills the right edge of my view while my heading points at the brick building and the sacks ahead. Turning right should put its green body squarely in front of me for the last short approach.", + "The green dumpster now sits squarely ahead of me across the open concrete, with only the bagged rubble off to my left side. Nothing blocks the straight line to its near end, so I will walk forward to close the remaining gap.", + "I am now right up against the dumpster's near corner, and its bulk fills the left and centre of my view so I cannot continue straight into it. Turning right should swing the open paved strip along its flank in front of me for a usable final approach.", + "The green dumpster now lies along my left with clear paving running forward beside it. I will step ahead along that strip to draw level with the container.", + "The green dumpster is immediately beside me, its rim within arm's reach at my left. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0bb3be7533194dd2193b6f0236227fd52e6aa565 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Navigate to the stacked black bags, then proceed to the gas cylinders.", + "Type": 3, + "Start_Pose": [ + -3802.843, + -1525.655, + 205.803, + 0.0, + 127.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3802.843, + -1525.655, + 205.803, + 0.0, + 127.68, + -0.0 + ], + [ + -3879.774, + -1426.046, + 185.158, + 0.0, + 127.68, + -0.0 + ], + [ + -3956.706, + -1326.436, + 172.999, + 0.0, + 127.68, + -0.0 + ], + [ + -4033.637, + -1226.827, + 172.999, + 0.0, + 127.68, + -0.0 + ], + [ + -4033.637, + -1226.827, + 172.999, + 0.0, + 102.68, + -0.0 + ], + [ + -4061.264, + -1104.037, + 179.983, + 0.0, + 102.68, + -0.0 + ], + [ + -4082.446, + -995.689, + 192.57, + 0.0, + 102.68, + -0.0 + ], + [ + -4082.446, + -995.689, + 192.57, + 0.0, + 102.68, + -0.0 + ], + [ + -4082.446, + -995.689, + 192.57, + 0.0, + 102.68, + -0.0 + ], + [ + -4082.446, + -995.689, + 192.57, + 0.0, + 127.68, + -0.0 + ], + [ + -4082.446, + -995.689, + 192.57, + 0.0, + 152.68, + -0.0 + ], + [ + -4082.446, + -995.689, + 192.57, + 0.0, + 177.68, + -0.0 + ], + [ + -4082.446, + -995.689, + 192.57, + 0.0, + -157.32, + 0.0 + ], + [ + -4082.446, + -995.689, + 192.57, + 0.0, + -132.32, + 0.0 + ], + [ + -4165.235, + -1089.024, + 201.271, + 0.0, + -132.32, + 0.0 + ], + [ + -4165.235, + -1089.024, + 201.271, + 0.0, + -107.32, + 0.0 + ], + [ + -4202.704, + -1209.176, + 225.495, + 0.0, + -107.32, + 0.0 + ], + [ + -4202.704, + -1209.176, + 225.495, + 0.0, + -107.32, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the yard I can pick out the heap of black bags sitting on the pavement beside the green skip, with the gas cylinders clustered further right. The bags are my first destination, so I walk forward across the open ground to close the gap.", + "The bag pile beside the skip has grown larger ahead of me and the ground between us is clear, flat concrete. I keep walking forward to shorten the remaining distance.", + "The black bags now spread clearly across the lower left of my view, just past the low steps in front of the green skip. Another step forward should bring me up onto that level with them.", + "The stacked bags have drifted off to my left while the skip sits squarely in front of me. I turn left so my heading points at the bag pile instead of the container beside it.", + "With the bags now lying ahead of me on the paved strip beside the skip, the way is open. I step forward to bring myself right up beside the pile.", + "The bags are close now, filling the bottom of my view where the paving meets the skip. One more step should place me right at the edge of the pile.", + "The bags have slipped below the bottom edge of my view, which means they are practically at my feet. I look down to bring the pile back into sight and confirm I am standing at it.", + "The heap of black bags lies directly below me, close enough to touch, with the green skip at my shoulder. I have reached the stacked bags. I mark arriving here before setting off across the yard toward the gas cylinders.", + "The heap of black bags is right beside me at the foot of the skip, so nothing more is needed here. The gas bottles stood off across the yard to my right when I first surveyed this place, so I will turn right to swing my heading away from the bags and toward that side.", + "My view now covers the green skip and the pale workshop fronts, but no gas bottles have come into it yet. I will keep turning right to carry the sweep further around the yard toward the open ground beyond the skip.", + "A single dark gas bottle has appeared on the pavement past the right end of the skip, which tells me the cluster lies further round that way. I will turn right again to bring more of that ground into view.", + "Bottles are now showing along the paved strip ahead and to my right, in front of the brick building. Another right turn should put that cluster nearer the middle of my view before I set off.", + "The main group of gas bottles sits on the right against the brick wall, still off to the side of my heading. I will turn right once more so they lie straight in front of me and the walk in is direct.", + "The gas bottles now stand ahead of me on the pallets beside the shuttered brick wall, with clear paving between us. I will walk forward to cut down that gap.", + "From this closer position the bottles have spread across the lower left and right of my view, so my heading is running past them rather than into them. A small right turn should bring the cluster squarely in front for the last few steps.", + "The gas bottles are now grouped just ahead of me on both sides of the shuttered opening, only a short stretch of sand away. I will step forward to close that last distance and stand among them.", + "The gas cylinders stand right beside me at arm's length along the brick wall. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003821_y-001017_z000217_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003821_y-001017_z000217_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8986e41b35ae08c1b3e18d0238777eefee1f803a --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-003821_y-001017_z000217_t0_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Walk to the large blue metal door at the end.", + "Type": 0, + "Start_Pose": [ + -3821.441, + -1017.357, + 216.717, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3821.441, + -1017.357, + 216.717, + 0.0, + -89.28, + 0.0 + ], + [ + -3819.859, + -1143.206, + 217.252, + 0.0, + -89.28, + 0.0 + ], + [ + -3818.278, + -1269.055, + 217.252, + 0.0, + -89.28, + 0.0 + ], + [ + -3816.696, + -1394.904, + 217.252, + 0.0, + -89.28, + 0.0 + ], + [ + -3815.115, + -1520.753, + 205.144, + 0.0, + -89.28, + 0.0 + ], + [ + -3813.533, + -1646.602, + 192.163, + 0.0, + -89.28, + 0.0 + ], + [ + -3811.952, + -1772.451, + 192.518, + 0.0, + -89.28, + 0.0 + ], + [ + -3810.37, + -1898.3, + 192.629, + 0.0, + -89.28, + 0.0 + ], + [ + -3807.776, + -1945.798, + 192.629, + 0.0, + -89.28, + 0.0 + ], + [ + -3804.416, + -1945.887, + 192.629, + 0.0, + -89.28, + 0.0 + ], + [ + -3782.851, + -1954.523, + 192.629, + 0.0, + -89.28, + 0.0 + ], + [ + -3782.851, + -1954.523, + 192.629, + 0.0, + -89.28, + 0.0 + ], + [ + -3782.851, + -1954.523, + 192.629, + 0.0, + -64.28, + 0.0 + ], + [ + -3724.875, + -2064.703, + 192.679, + 0.0, + -64.28, + 0.0 + ], + [ + -3670.256, + -2178.092, + 192.679, + 0.0, + -64.28, + 0.0 + ], + [ + -3670.256, + -2178.092, + 192.679, + 0.0, + -89.28, + 0.0 + ], + [ + -3668.674, + -2303.941, + 195.116, + 0.0, + -89.28, + 0.0 + ], + [ + -3667.093, + -2429.79, + 204.731, + 0.0, + -89.28, + 0.0 + ], + [ + -3667.093, + -2429.79, + 204.731, + 0.0, + -89.28, + 0.0 + ] + ], + "Rationale": [ + "The large blue metal door sits at the far end of this brick alley, roughly straight ahead and just left of my heading. Nothing blocks the paved strip in front of me, so I will move forward to begin closing the long distance to it.", + "The door and its flanking windows now appear slightly larger, confirming my heading is carrying me toward the target. The lane ahead is still open, with the rubble and sacks off to my left, so another forward step should keep shrinking the gap.", + "The blue door remains near the middle of my view and the courtyard beyond the alley is opening up, so my current heading is still good. I will continue forward rather than adjust, since the target has not drifted off center.", + "I can now see the stone step and threshold at the base of the blue metal door, which means I am well inside the courtyard. The ground between me and the door looks passable apart from scattered bricks and a dark patch, so I will press forward.", + "The riveted blue door now fills a large part of my view, with its two windows on either side clearly resolved, so I am getting close. It still lies a little left of straight ahead, but the remaining distance is the main issue, so I will take another step forward.", + "The large blue metal door is clearly ahead of me, slightly left of center in the courtyard wall, and my heading is close enough to keep it in view. A dark water-filled hollow and a heap of bags lie to my left, but the ground straight ahead looks passable, so I will continue forward to close the remaining distance.", + "The door now fills much more of my view, confirming that my current heading leads straight to it. The dark depression in the ground sits mostly to my left front, so I will push forward again to keep shrinking the gap.", + "I am close enough that the door and its two flanking windows dominate my view, with the raised threshold step just beyond the dark hollow in front of me. I will move forward once more to reach the paved strip immediately before the door.", + "My last step advanced much less than the earlier ones, and the door has barely grown in my view, which suggests the low rim of the sunken ground is holding me back. I will attempt another forward step to see whether I can still edge closer to the door.", + "That last attempt gained almost nothing, since the door and its flanking windows look nearly unchanged, so the depression edge in front of me is resisting my advance. I will try forward again in the hope of clearing the rim and regaining ground toward the door.", + "The blue metal door is now filling the wall right in front of me, but one of my recent forward steps barely moved me at all, so something near my feet may be limiting the straight approach. I will tilt my view downward to inspect the ground immediately ahead, since the courtyard here looks broken and darkly flooded. That should tell me whether the last stretch to the door is walkable or has to be skirted.", + "With my view lowered I can see a wide dark water-filled depression with loose rubble spread across the ground directly between me and the door threshold, which explains why a forward push gained almost nothing. The drier paved strip lies off to my right side of this pit, so I will turn right to take up a heading that may let me travel around the flooded ground instead of into it. The door stays close on my left as a reference while I reroute.", + "Now that I am angled off the flooded hollow, the pavement ahead of me looks solid and clear, with the blue metal door sitting on my left along the brick facade. I will move forward along this drier line to get past the water and rubble that stalled my direct approach. This should carry me alongside the door rather than into the pit.", + "The last step moved me cleanly along the pavement, and the blue metal door has grown larger at the left edge of my view while the pallets stacked against the wall mark the far side of the flooded ground. I will take another forward step to finish clearing the water and draw level with the door. After that I should be close enough to turn back toward it.", + "I have moved past the flooded hollow and the stacked pallets are now beside me, with the blue metal door pushed to the left edge of my view. I will turn left to bring the door back to the center of my heading so I can close the final distance straight onto its threshold. That should put the target squarely in front of me again.", + "The large blue metal door with its rusted diamond bracing now sits squarely ahead of me, with the pallet stack safely off to my right. Since my heading is centered on the door panel, I will step forward to close the remaining gap along the paved strip in front of it.", + "The rusted blue door panel now fills most of my view and the brick jamb beside it is close enough to show individual bricks, so only a short gap remains. I will take one more forward step to bring myself right up against the door as the task requires.", + "The rusted blue metal door and its brick jamb fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003821_y-001017_z000217_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003821_y-001017_z000217_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20c4e0b40ebb6a49bae712b65bf040c22a149540 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-003821_y-001017_z000217_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the pile of dark garbage bags on the ground.", + "Type": 0, + "Start_Pose": [ + -3821.441, + -1017.357, + 216.717, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3821.441, + -1017.357, + 216.717, + 0.0, + -89.28, + 0.0 + ], + [ + -3819.859, + -1143.206, + 217.252, + 0.0, + -89.28, + 0.0 + ], + [ + -3818.278, + -1269.055, + 217.252, + 0.0, + -89.28, + 0.0 + ], + [ + -3816.696, + -1394.904, + 217.252, + 0.0, + -89.28, + 0.0 + ], + [ + -3815.115, + -1520.753, + 205.144, + 0.0, + -89.28, + 0.0 + ], + [ + -3815.115, + -1520.753, + 205.144, + 0.0, + -114.28, + 0.0 + ], + [ + -3866.867, + -1635.48, + 192.593, + 0.0, + -114.28, + 0.0 + ], + [ + -3918.62, + -1750.206, + 177.954, + 0.0, + -114.28, + 0.0 + ], + [ + -3918.62, + -1750.206, + 177.954, + 0.0, + -114.28, + 0.0 + ] + ], + "Rationale": [ + "From this end of the narrow brick yard I can already pick out a heap of dark garbage bags on the ground ahead, slightly left of center against the far left wall. The paved lane between the two buildings runs straight toward it with no obstruction in my path, so I will move forward to start closing that distance.", + "The pile of bags is noticeably larger in view now and still sits ahead and a bit to my left, so my heading remains usable. The ground in front stays clear gravel and pavement, so I will keep moving forward rather than adjust direction yet.", + "I can now make out individual bags in the heap along the left wall, which confirms I am on the right line toward the target. There is still a good gap of open ground before I reach it, so another forward step is the efficient move.", + "The bag pile is close on my left side and the stacked pallets stay well clear to my right, so I have room to continue straight. I will advance once more to bring myself alongside the heap before fine tuning my heading.", + "The heap of dark bags now lies to my left rather than straight ahead, so continuing forward would carry me past it toward the metal door. I will turn left to bring the pile into the center of my view and align my heading for a direct final approach.", + "After the turn the pile of bags is centered ahead of me at the foot of the brick wall, so my heading is now pointed straight at the target. I will move forward to close the remaining gap.", + "The bags now fill much of the lower half of my view but there is still a short stretch of stone ground before them. One more forward step should place me directly at the edge of the pile.", + "The dark garbage bags now fill the foreground directly in front of me, within arm's reach. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..38b7a7b7710d44bf3ffad35b03b868e9983ab167 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_a/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Walk to the pile of garbage bags.", + "Type": 0, + "Start_Pose": [ + -4144.795, + -461.051, + 180.545, + 0.0, + -18.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4144.795, + -461.051, + 180.545, + 0.0, + -18.24, + 0.0 + ], + [ + -4025.26, + -500.445, + 194.957, + 0.0, + -18.24, + 0.0 + ], + [ + -3905.725, + -539.838, + 201.315, + 0.0, + -18.24, + 0.0 + ], + [ + -3786.19, + -579.232, + 205.113, + 0.0, + -18.24, + 0.0 + ], + [ + -3786.19, + -579.232, + 205.113, + 0.0, + -18.24, + 0.0 + ] + ], + "Rationale": [ + "I can see the pile of dark garbage bags ahead near the base of the brick factory wall, slightly left of center in my view. My heading already points down the open yard toward it, so I will step forward to begin closing the gap.", + "The garbage bags now appear larger and lower in my view, confirming that my previous step brought me closer along the correct line. The path ahead is still clear ground, so I will keep advancing without adjusting my heading.", + "The pile of bags and the cardboard boxes beside it now fill much of the left side of my view, so I am close but not yet standing at them. One more forward step should place me directly beside the pile.", + "The pile of garbage bags is right beside me, filling the near left of my view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..58a49514793705d1959aa7d1bf2d12555d5a2419 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the wooden pallet leaning against the structure.", + "Type": 0, + "Start_Pose": [ + -4144.795, + -461.051, + 180.545, + 0.0, + -18.24, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4144.795, + -461.051, + 180.545, + 0.0, + -18.24, + 0.0 + ], + [ + -4025.26, + -500.445, + 194.957, + 0.0, + -18.24, + 0.0 + ], + [ + -4025.26, + -500.445, + 194.957, + 0.0, + 6.76, + -0.0 + ], + [ + -3900.276, + -485.63, + 202.551, + 0.0, + 6.76, + -0.0 + ], + [ + -3775.292, + -470.815, + 205.491, + 0.0, + 6.76, + -0.0 + ], + [ + -3775.292, + -470.815, + 205.491, + 0.0, + 31.76, + -0.0 + ], + [ + -3668.279, + -404.567, + 211.634, + 0.0, + 31.76, + -0.0 + ], + [ + -3561.266, + -338.32, + 228.709, + 0.0, + 31.76, + -0.0 + ], + [ + -3561.266, + -338.32, + 228.709, + 0.0, + 31.76, + -0.0 + ] + ], + "Rationale": [ + "From this spot at the mouth of the yard I can see stacked timber and pallet boards along the raised platform to my right, but the leaning pallet itself is still partly hidden behind rubble and debris. I will move forward into the open yard to shorten the distance and get a clearer look at that pile.", + "Now that I am further into the yard, the wooden pallets and planks are clearly stacked along the loading platform to my right while my heading points down the alley between the brick buildings. I will turn right to bring that pallet stack and the platform toward the center of my view before advancing.", + "The pallets are now visible ahead on the right, with one board leaning up against the yellow and black striped platform edge. The paved ground between me and them is clear, so I will move forward to close the gap.", + "The leaning pallet against the striped platform wall is bigger in my view now, but still several steps off to my right front. I will keep moving forward along the open paving to continue closing the distance.", + "The pallets and the leaning board are now close but sitting well off to my right, while my heading still runs down the yard past them. I will turn right so the leaning pallet against the platform is squarely in front of me for a straight final approach.", + "The leaning pallet is now centered in front of me, propped against the striped concrete platform with flat pallets stacked at its base. I will step forward to close the remaining short distance to it.", + "I am nearly beside the leaning pallet, and it fills a good part of my lower left view against the platform wall. One more forward step should bring me right up to it.", + "The wooden pallet is directly in front of me, leaning against the striped platform wall within arm's reach. The navigation task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67fb0050cf6e1e1a5e0b91f9f9eb414b882fbfd4 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t5_a_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Pick up the metal bucket beside the pile of garbage bags.", + "Type": 5, + "Start_Pose": [ + -4144.795, + -461.051, + 180.545, + 0, + -18.24, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3739.296, + -569.114, + 123.685, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4144.795, + -461.051, + 180.545, + 0, + -18.24, + 0 + ], + [ + -4025.26, + -500.445, + 194.957, + 0.0, + -18.24, + 0.0 + ], + [ + -3905.725, + -539.838, + 201.315, + 0.0, + -18.24, + 0.0 + ], + [ + -3905.725, + -539.838, + 201.315, + 0.0, + -18.24, + 0.0 + ], + [ + -3905.725, + -539.838, + 201.315, + 0.0, + -18.24, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3739.296, + -569.114, + 123.685, + 0.0, + 0.0, + 0.0 + ], + [ + -3739.296, + -569.114, + 123.685, + 0.0, + 0.0, + 0.0 + ], + [ + -3739.296, + -569.114, + 123.685, + 0.0, + 0.0, + 0.0 + ], + [ + -3899.621, + -519.366, + 168.644, + -28.202, + 31.905, + 1.862 + ], + [ + -3899.621, + -519.366, + 168.644, + -28.202, + 31.905, + 1.862 + ] + ], + "PD_Dist_2D": [ + 419.7, + 294.1, + 169.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The metal bucket stands ahead in the yard, right next to the heap of garbage bags along the brick wall. It is far too distant to reach from here, so I will walk straight forward to close that gap while my heading already points at it.", + "The bucket now sits noticeably larger and lower in my view, but it is still a few paces off and outside grasping range. I will keep walking straight ahead to bring it close enough for an interaction attempt.", + "The metal bucket now fills the lower center of my view, directly in front of me with the garbage bags at its left, so it should be within arm's reach. My hands are empty, so I will attempt to grasp it now rather than step closer.", + "The metal bucket is now held in my hands, no longer resting on the ground. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cce0d136c813bbf9a121e2004bb412f9648169f4 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the tall stacks of wooden pallets near the doorway and pillar; once found, approach them.", + "Type": 1, + "Start_Pose": [ + -4317.441, + -3015.454, + 201.386, + 0, + 99.84, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4317.441, + -3015.454, + 201.386, + 0, + 99.84, + 0 + ], + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 74.84, + -0.0 + ], + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 49.84, + -0.0 + ], + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 24.84, + -0.0 + ], + [ + -4203.226, + -2962.583, + 199.409, + 0.0, + 24.84, + -0.0 + ], + [ + -4203.226, + -2962.583, + 199.409, + 0.0, + -0.16, + 0.0 + ], + [ + -4077.367, + -2962.934, + 201.167, + 0.0, + -0.16, + 0.0 + ], + [ + -3951.509, + -2963.285, + 199.377, + 0.0, + -0.16, + 0.0 + ], + [ + -3951.509, + -2963.285, + 199.377, + 0.0, + 24.84, + -0.0 + ], + [ + -3837.294, + -2910.414, + 198.149, + 0.0, + 24.84, + -0.0 + ], + [ + -3723.079, + -2857.542, + 198.149, + 0.0, + 24.84, + -0.0 + ], + [ + -3723.079, + -2857.542, + 198.149, + 0.0, + 49.84, + -0.0 + ], + [ + -3680.175, + -2791.812, + 199.858, + 0.0, + 49.84, + -0.0 + ], + [ + -3680.175, + -2791.812, + 199.858, + 0.0, + 49.84, + -0.0 + ] + ], + "Rationale": [ + "My view is filled by a close brick pillar and a dark brick wall with a shuttered window, and I see no stacked pallets or doorway from here. I will turn left to begin a consistent scan of this interior for the pallet stacks named in the task.", + "The rotation has brought a timber brace and another brick pier into view, but still no tall pallet stacks and no clear opening. I will keep turning left in the same direction to extend the scan across the unseen part of the room.", + "Daylight now leaks in through windows on the far left and I can make out loose boards leaning near a pier, which suggests the open side of the hall lies further left. I will continue the same leftward scan to bring that bright opening and the timber area fully into view.", + "A large bright doorway is now open ahead on my left, with a brick pillar beside it and pale wooden boards leaning against that pillar. Since this matches the doorway and pillar described in the task, I will walk forward to close distance and see the stacked pallets more clearly.", + "The lit doorway sits off to my left while the brick pillar and the stacked boards crowd the center of my view. I will turn left to line my heading up with the doorway passage so I can advance straight toward the pillar area holding the pallets.", + "The doorway is now centered in my view, and I can see pale wooden pallets propped and stacked along the walls to either side of the passage. I will walk forward along this open floor to get near those stacks by the pillar.", + "The pallet stacks on the right side of the passage have grown noticeably larger and are clearly tall piles of wooden pallets against the brick. The floor ahead is still clear, so I will keep walking forward to bring myself alongside them.", + "The tall stacks of wooden pallets are now close on my right, piled against the wall beside the pillar next to the lit doorway, while my heading still points out through the opening. I will turn right to face those stacks directly instead of walking past them.", + "The tall stacks of wooden pallets are now clearly in view ahead and slightly right, piled against the brick pillar beside the open doorway that lets daylight in on the left. The floor between me and them looks clear, so I will walk forward to close the distance on the stacks.", + "The pallet stacks now fill much more of my view, with a leaning pallet propped in front of the tall pile beside the pillar. I am still a few paces short of them, so I will step forward again to get right up to the stacks.", + "I am now close beside the pallet piles, but the bulk of the tall stacks sits to my right along the wall while my heading still points past the pillar and window. I will turn right to face the stacked pallets squarely before making my final step toward them.", + "The stacked pallets now fill the view directly ahead, with the leaning pallet and the deep piles against the wall right in front of me. I will take one short step forward to stand directly at the stacks.", + "The tall wooden pallet stacks fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..158ea7deb9826a6ccc321ed0582f76bc656f2f81 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Discover where several small metal cabinets are stacked together, then navigate to that location.", + "Type": 1, + "Start_Pose": [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 99.84, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 99.84, + -0.0 + ], + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 124.84, + -0.0 + ], + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 149.84, + -0.0 + ], + [ + -4426.262, + -2952.22, + 201.386, + 0.0, + 149.84, + -0.0 + ], + [ + -4426.262, + -2952.22, + 201.386, + 0.0, + 174.84, + -0.0 + ], + [ + -4551.611, + -2940.901, + 199.572, + 0.0, + 174.84, + -0.0 + ], + [ + -4676.96, + -2929.582, + 201.108, + 0.0, + 174.84, + -0.0 + ], + [ + -4802.309, + -2918.262, + 201.332, + 0.0, + 174.84, + -0.0 + ], + [ + -4802.309, + -2918.262, + 201.332, + 0.0, + 174.84, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a brick pillar close in front of me, dark walls, and a long concrete trough, with no stacked metal cabinets anywhere in sight. I will turn right to begin a consistent scan of this enclosed yard and open up the area hidden beyond the pillar.", + "The corner ahead shows the trough against two brick walls, and at the far right edge a pale boxy object with a vertical seam is just entering view. I will continue turning right in the same direction to bring that promising metal object fully into sight.", + "Now I can see past the pillar into an open corridor of the yard, and a pale metal cabinet-like unit stands against the brickwork ahead on the right, with more clutter beyond it. I will walk forward to close distance and confirm whether several cabinets are stacked there.", + "The large brick pillar now fills the center of my view and pushes the pale metal unit toward its right edge. I will turn right to place that cabinet and the open passage beside it in front of me before advancing further.", + "The corridor is now open in front of me with the pale metal unit standing along the left wall further down. I will walk forward along this clear stone floor to get close enough to judge how many cabinets are stacked there.", + "The metal unit on my left is noticeably larger now and looks like more than one boxy cabinet body set together against the wall. I will keep walking forward to reach it and resolve the stacking clearly.", + "I can now distinguish at least two small metal cabinets set one on top of another against the left wall, matching the target description. I will step forward once more to stand directly beside the stack.", + "The stacked small metal cabinets fill the left side of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..729fe1005b1e5dca987f82227c4173b0b24f2042 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004317_y-003015_z000201_t1_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search for the wooden cable reel rack and, once you identify it, reach that area.", + "Type": 1, + "Start_Pose": [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 99.84, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 99.84, + -0.0 + ], + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 124.84, + -0.0 + ], + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 149.84, + -0.0 + ], + [ + -4317.441, + -3015.454, + 201.386, + 0.0, + 174.84, + -0.0 + ], + [ + -4442.79, + -3004.135, + 201.386, + 0.0, + 174.84, + -0.0 + ], + [ + -4568.139, + -2992.815, + 199.572, + 0.0, + 174.84, + -0.0 + ], + [ + -4693.488, + -2981.496, + 201.262, + 0.0, + 174.84, + -0.0 + ], + [ + -4818.837, + -2970.176, + 201.247, + 0.0, + 174.84, + -0.0 + ], + [ + -4944.186, + -2958.857, + 201.303, + 0.0, + 174.84, + -0.0 + ], + [ + -5069.535, + -2947.538, + 200.078, + 0.0, + 174.84, + -0.0 + ], + [ + -5069.535, + -2947.538, + 200.078, + 0.0, + -160.16, + 0.0 + ], + [ + -5187.923, + -2990.253, + 198.149, + 0.0, + -160.16, + 0.0 + ], + [ + -5306.312, + -3032.969, + 198.149, + 0.0, + -160.16, + 0.0 + ], + [ + -5424.292, + -3070.748, + 198.149, + 0.0, + -160.16, + 0.0 + ], + [ + -5424.292, + -3070.748, + 198.149, + 0.0, + -160.16, + 0.0 + ] + ], + "Rationale": [ + "From this starting corner I only see brick walls, a timber brace on my left, and a metal trough, with no wooden cable reel anywhere in view. I will turn right to begin a steady scan of the surrounding space in one consistent direction.", + "The new heading still shows a closed brick corner with the long trough and a shuttered window, so the target is not here either. I will keep turning right to continue the scan and check whether the space opens up beyond this wall.", + "Past the brick pier on my right the space opens into a lit yard, and near its far wall I can make out a low round drum shape that could be a cable reel. I will turn right once more to bring that opening and the round object into the centre of my heading.", + "The yard is now straight ahead with a clear paved lane between the brick pier on my left and the wall on my right, and the round spool sits near the far end. I will walk forward along this open lane to close distance and confirm that shape is the wooden cable reel.", + "The round drum near the far wall has grown larger and a second curved panel now shows beside it, which fits stacked reel material. The floor ahead is still clear, so I will keep walking forward toward that cluster.", + "I can now see the round spool clearly on its axis with leaning discs behind it, which supports it being the cable reel area. The lane past the cabinets on my left remains open, so I will continue advancing.", + "The plank-topped spool and the large discs stacked against the right wall are now plainly wooden cable reels, so this is the area I need to reach. I will step forward again to close the remaining gap across the open yard.", + "The wooden reels and the pallet stack beside them fill much of the view ahead, confirming the target area, though I am still several paces short of standing among them. I will keep walking forward over the open sandy floor to reach that group.", + "The wooden cable reels are clearly visible ahead against the far brick wall, with one standing upright and others leaning beside the stacked pallets. The open sandy floor between me and them is clear, so I will keep walking forward to close the remaining distance to that reel area.", + "From here the reel cluster sits slightly right of my heading, with the leaning reels and pallet stack pushed toward the right edge of my view. I will turn right so the whole wooden reel group is centered ahead before continuing to close in.", + "The turn has brought the cluster of wooden cable reels and the pallet stack squarely in front of me against the corner wall. The ground ahead is open, so I will step forward to reach that reel area.", + "The reels now fill much of my view, the flat-lying one on the left and the upright rack of reels and pallets directly ahead. I am still a few paces short of standing at the pile, so I will continue walking forward.", + "I am close enough now that the wooden reel faces and their planked rims dominate the view, with the stacked pallets just to the right. One more short step forward should place me right at the reel rack area the task asks me to reach.", + "The wooden cable reels and their pallet rack are 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/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dd63babff8ca458877bc98b8ad178344cfb976c8 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the green dumpster near the stairs.", + "Type": 0, + "Start_Pose": [ + -4333.728, + -614.734, + 160.356, + 0.0, + 171.84, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4333.728, + -614.734, + 160.356, + 0.0, + 171.84, + -0.0 + ], + [ + -4458.313, + -596.87, + 147.119, + 0.0, + 171.84, + -0.0 + ], + [ + -4458.313, + -596.87, + 147.119, + 0.0, + -163.16, + 0.0 + ], + [ + -4578.775, + -633.331, + 140.876, + 0.0, + -163.16, + 0.0 + ], + [ + -4699.236, + -669.793, + 140.876, + 0.0, + -163.16, + 0.0 + ], + [ + -4819.698, + -706.254, + 140.876, + 0.0, + -163.16, + 0.0 + ], + [ + -4940.16, + -742.715, + 143.658, + 0.0, + -163.16, + 0.0 + ], + [ + -5046.489, + -798.784, + 146.013, + 0.0, + -163.16, + 0.0 + ], + [ + -5166.951, + -835.245, + 151.386, + 0.0, + -163.16, + 0.0 + ], + [ + -5287.412, + -871.706, + 163.335, + 0.0, + -163.16, + 0.0 + ], + [ + -5287.412, + -871.706, + 163.335, + 0.0, + -138.16, + 0.0 + ], + [ + -5358.733, + -887.956, + 170.828, + 0.0, + -138.16, + 0.0 + ], + [ + -5358.733, + -887.956, + 170.828, + 0.0, + -138.16, + 0.0 + ] + ], + "Rationale": [ + "I can pick out a green dumpster far off to the right, sitting beside a short flight of steps between the brick buildings, while the red warehouse doors fill the left of my view. A wide puddle and some gas cylinders lie ahead, but the open yard gives me room to advance. I will move forward to close part of that distance and get a clearer line on the dumpster.", + "The green dumpster is still well off to my right, near the stairs by the brick building, while my heading points at the warehouse wall on the left. Continuing straight would drift me past the target. I will turn right to bring the dumpster closer to the center of my view before pushing on.", + "After turning, the green dumpster now sits ahead and slightly right, with the short stairs just beside it, confirming it as the target described. The gravel strip between the cable spool and the puddle looks passable. I will move forward along this heading to shorten the gap.", + "The green dumpster has grown noticeably larger ahead of me and the steps to its left are now clearly visible. Nothing blocks the gravel lane between the spool on my left and the timber on my right. I will keep moving forward to continue closing the distance.", + "My heading still points squarely at the green dumpster beside the stairs, and it keeps expanding in my view as I advance. There is plenty of open ground before it, so no course change is needed yet. I will move forward again.", + "The dumpster now occupies a good part of the middle of my view, with the stone steps just to its left, but I am not yet close enough to call myself at it. The path between the pallet stacks and the loose planks stays walkable. I will step forward once more to keep narrowing the gap.", + "The green dumpster fills much of the right-center of my view and its rusted rim is easy to read, so I am nearly there. Only a short stretch of rubble-strewn gravel separates us, with the pallet stack safely to my left. I will continue forward toward it.", + "The dumpster is now large and just right of my centerline, with a brick lying in the gravel between us. A little more forward travel should bring me alongside it rather than leaving me short. I will move forward again.", + "The green dumpster now fills the right side of my view and the stacked pallets and stair steps sit along the left wall, confirming I am in the correct corner of the yard. I am still offset back from it, so I will push forward again over the gravel to close the remaining gap.", + "I am now close beside the dumpster, but its body runs off toward the right edge of my view while my heading points down the yard past it. Turning right should swing the green container into the center of my view so I face it squarely for the last step.", + "The green dumpster is now centered directly ahead with its open rim clearly in front of me, and the pallets sit off to my left rather than in my path. One more short forward step should bring me right up against it at a proper stopping distance.", + "The green dumpster is directly in front of me, filling my view at arm's length beside the stairs. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..938a8eb184d992f3a7e4a60597188d8246b8e35a --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the wooden cable spool on the ground.", + "Type": 0, + "Start_Pose": [ + -4333.728, + -614.734, + 160.356, + 0.0, + 171.84, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4333.728, + -614.734, + 160.356, + 0.0, + 171.84, + -0.0 + ], + [ + -4458.313, + -596.87, + 147.119, + 0.0, + 171.84, + -0.0 + ], + [ + -4458.313, + -596.87, + 147.119, + 0.0, + -163.16, + 0.0 + ], + [ + -4578.775, + -633.331, + 140.876, + 0.0, + -163.16, + 0.0 + ], + [ + -4699.236, + -669.793, + 140.876, + 0.0, + -163.16, + 0.0 + ], + [ + -4819.698, + -706.254, + 140.876, + 0.0, + -163.16, + 0.0 + ], + [ + -4819.698, + -706.254, + 140.876, + 0.0, + 171.84, + -0.0 + ], + [ + -4921.067, + -693.44, + 142.879, + 0.0, + 171.84, + -0.0 + ], + [ + -4921.067, + -693.44, + 142.879, + 0.0, + 171.84, + -0.0 + ] + ], + "Rationale": [ + "Across the yard I can pick out the large wooden cable spool lying on the ground just beyond the row of gas cylinders, a bit right of straight ahead. It is still far off, so I will step forward over the open gravel to close some of that gap and get a clearer read on the ground around it.", + "Straight ahead of me the cluster of gas cylinders and pallets sits right against the spool, so pushing directly onward would put me into that clutter. I will turn right toward the open yard between the shed wall and the green skip, which looks like the clear lane for approaching the spool from its near side.", + "With the yard now opening ahead of me, the spool sits on my left beside the cylinders and the pale wall. I will walk forward along this clear stretch to bring myself level with it.", + "The spool's flat wooden disc is noticeably larger on my left now, so my heading through this open yard is working. I will keep advancing to shorten the remaining distance before I swing toward it.", + "The spool is close on my left, with its upper rim and the pallets under it clearly in view. One more step forward should carry me alongside it so a left turn puts it squarely in front of me.", + "The spool has slid to the far left edge of my view, almost past me, while I am facing down the yard toward the skip. I will turn left to bring the spool back to the center of my heading before making my final step in.", + "The wooden spool is now centered right in front of me, resting on its pallets with the cylinders off to the left. A short step forward should place me directly at it, close enough to count as reached.", + "The wooden spool's planked face fills the near ground immediately in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_d/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d414e27fbd0278776d6b788b5f78ad455ff9b41c --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_d/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Navigate to the cluster of gas cylinders near the wall.", + "Type": 0, + "Start_Pose": [ + -4333.728, + -614.734, + 160.356, + 0.0, + 171.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4333.728, + -614.734, + 160.356, + 0.0, + 171.84, + -0.0 + ], + [ + -4458.313, + -596.87, + 147.119, + 0.0, + 171.84, + -0.0 + ], + [ + -4582.898, + -579.006, + 140.138, + 0.0, + 171.84, + -0.0 + ], + [ + -4707.482, + -561.141, + 141.139, + 0.0, + 171.84, + -0.0 + ], + [ + -4832.067, + -543.277, + 141.139, + 0.0, + 171.84, + -0.0 + ], + [ + -4832.067, + -543.277, + 141.139, + 0.0, + 171.84, + -0.0 + ] + ], + "Rationale": [ + "I can see the cluster of gas cylinders sitting on pallets against the pale wall beside the red doors, slightly left of my center of view but well within my forward path. The distance is still considerable across the open gravel yard, so I will move forward to begin closing on them.", + "The cylinder cluster has grown noticeably larger and remains near the center-left of my view, so my heading is still aligned with the target. Nothing blocks the ground between me and the pallets, so I will continue straight ahead.", + "The cylinders now fill much of the lower center of my view with the wall and cable spool framing them, confirming I am approaching the right spot. I am still a few steps short of standing at the cluster, so I will advance again.", + "The nearest cylinders are close but still a short gap of ground lies in front of them, and the wall behind is clearly near. One more forward step should place me right at the cluster without pushing into it.", + "The gas cylinder cluster fills the foreground directly in front of me against the wall. The task is complete, so I stop here rather than crowd into the cylinders." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..102655223ae064567010c6034bd5c0bb2fc2a10e --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_a_p/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Grab the plate at the base of the green dumpster near the stairs.", + "Type": 5, + "Start_Pose": [ + -4333.728, + -614.734, + 160.356, + 0, + 171.84, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -5204.744, + -1070.811, + 139.337, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4333.728, + -614.734, + 160.356, + 0, + 171.84, + 0 + ], + [ + -4458.313, + -596.87, + 147.119, + 0.0, + 171.84, + -0.0 + ], + [ + -4458.313, + -596.87, + 147.119, + 0.0, + -163.16, + 0.0 + ], + [ + -4578.775, + -633.331, + 140.876, + 0.0, + -163.16, + 0.0 + ], + [ + -4699.236, + -669.793, + 140.876, + 0.0, + -163.16, + 0.0 + ], + [ + -4699.236, + -669.793, + 140.876, + 0.0, + -138.16, + 0.0 + ], + [ + -4793.003, + -753.747, + 140.876, + 0.0, + -138.16, + 0.0 + ], + [ + -4886.769, + -837.702, + 141.867, + 0.0, + -138.16, + 0.0 + ], + [ + -4886.769, + -837.702, + 141.867, + 0.0, + -163.16, + 0.0 + ], + [ + -5007.231, + -874.163, + 141.047, + 0.0, + -163.16, + 0.0 + ], + [ + -5127.693, + -910.624, + 147.94, + 0.0, + -163.16, + 0.0 + ], + [ + -5127.693, + -910.624, + 147.94, + 0.0, + -138.16, + 0.0 + ], + [ + -5127.693, + -910.624, + 147.94, + 0.0, + -113.16, + 0.0 + ], + [ + -5145.69, + -986.847, + 172.874, + 0.0, + -113.16, + 0.0 + ], + [ + -5145.69, + -986.847, + 173.927, + 0.0, + -113.161, + 0.0 + ], + [ + -5145.69, + -986.847, + 173.927, + 0.0, + -113.161, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5204.744, + -1070.811, + 139.337, + 90.0, + 0.0, + 0.0 + ], + [ + -5125.817, + -994.685, + 136.628, + -28.202, + -63.016, + 1.862 + ], + [ + -5125.817, + -994.685, + 136.628, + -28.202, + -63.016, + 1.862 + ] + ], + "PD_Dist_2D": [ + 983.2, + 884.2, + 884.2, + 763.7, + 645.3, + 645.3, + 519.7, + 394.3, + 394.3, + 278.7, + 177.8, + 177.8, + 177.8, + 102.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The green dumpster sits far ahead on the right, beside the steps at the far end of this yard, so the plate I need must be down at its base. Nothing blocks the gravel in front of me, so I walk forward to cut down that long distance before refining my heading.", + "Now that I am closer, the red warehouse doors fill the left of my view while the green dumpster and the steps sit off to my right. My current heading would carry me into the building wall instead of the target. I turn right to swing my facing toward the dumpster corner of the yard.", + "With the turn done, the green dumpster and the steps beside it are now framed ahead across the open yard. The gravel strip past the gas cylinders gives me a clear line, so I walk forward to close distance toward it.", + "The dumpster and the pale round tank next to it have grown noticeably larger, confirming my heading is still good. I am not close enough for any object at its base to be reachable, so I keep walking forward along this line.", + "Straight ahead the ground drops into a wide sheet of standing water with scattered planks, which is a poor line to keep walking. The drier gravel lane runs to my right along the brick building and leads down to the dumpster and its steps. I turn right to take that side.", + "From this heading the green dumpster and the round tank sit ahead on the left, with open gravel between me and them. I walk forward along this drier lane to keep closing on the dumpster base where the plate should be.", + "The dumpster, the tank and the long planks leaning near the steps are all much closer now, but still too far for a grab. The path in front stays clear of the water, so I continue forward.", + "The green dumpster has slid well over to the left edge of my view while the brick facade and its doorway take up the center. Continuing on this heading would carry me past the target. I turn left to bring the dumpster and the ground at its base back in front of me.", + "The green dumpster sits ahead of me with the pale round plate propped against the debris just to its right, and my heading now lines up with that gap. I still have several strides of open gravel between us, so I will walk forward to close the distance before attempting any grasp.", + "The dumpster and the plate beside it have grown noticeably larger, confirming I am closing on the right spot. The plate is still out at arm's reach beyond a stretch of rubble, so another step forward should bring me into interaction range.", + "I am now close beside the dumpster, but my heading has drifted so that the plate has slipped past the right edge of my view and only the container's side fills the frame. Turning right should swing the plate back into view where I can line up on it.", + "The plate is back in sight, standing on the pallet at the far right of my view while the dumpster still occupies the left. One more turn to the right should place it near the center of my heading so I can step straight at it.", + "The plate now stands directly ahead of me on the boards beside the dumpster, centered in my path. It is still a stride away, so I will walk forward to bring it within reach for the grab.", + "The plate now fills the lower center of my view, close enough that its rim is right in front of me beside the dumpster. This is the object named in the task, so I will attempt to pick it up.", + "The plate is in my hands, held securely rather than resting by the dumpster. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004374_y-003145_z000201_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004374_y-003145_z000201_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7798e1b8ec6aeaba87ae963c3d324d97825145 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004374_y-003145_z000201_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the electrical box on the brick wall.", + "Type": 0, + "Start_Pose": [ + -4374.448, + -3144.585, + 201.183, + 0.0, + 175.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4374.448, + -3144.585, + 201.183, + 0.0, + 175.68, + -0.0 + ], + [ + -4499.95, + -3135.104, + 199.572, + 0.0, + 175.68, + -0.0 + ], + [ + -4499.95, + -3135.104, + 199.572, + 0.0, + 150.68, + -0.0 + ], + [ + -4609.686, + -3073.473, + 199.572, + 0.0, + 150.68, + -0.0 + ], + [ + -4719.422, + -3011.841, + 201.0, + 0.0, + 150.68, + -0.0 + ], + [ + -4829.158, + -2950.21, + 201.385, + 0.0, + 150.68, + -0.0 + ], + [ + -4829.158, + -2950.21, + 201.385, + 0.0, + 150.68, + -0.0 + ] + ], + "Rationale": [ + "I can see a pale metal electrical cabinet mounted against the brick wall on the left side of this narrow yard, well ahead of me. I will move forward along the open stone floor to close the gap before I refine my heading toward it.", + "After advancing, the electrical box sits noticeably off to my left against the brick wall while my heading still points down the middle of the yard. I will turn left to bring the box closer to the center of my view so a straight approach becomes possible.", + "The electrical cabinet now sits near the middle of my view against the left brick wall, with unobstructed floor between us. I will move forward along this heading to reduce the remaining distance.", + "The cabinet has grown larger and its panel details are becoming visible, so my heading is carrying me correctly toward it. I will continue forward since I am still several steps short of being right up against it.", + "The box now fills a large part of the left side of my view, but a short gap of floor still separates me from the wall it is mounted on. I will take one more step forward to stand directly at the cabinet.", + "The electrical box on the brick wall now stands directly before me, close enough to read its worn label plate. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004374_y-003145_z000201_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004374_y-003145_z000201_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..397719898478e0c7a5b69a2a210d1e33d6d9ec51 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004374_y-003145_z000201_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the trash bag directly below the electrical box on the brick wall.", + "Type": 5, + "Start_Pose": [ + -4374.448, + -3144.585, + 201.183, + 0, + 175.68, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -4937.383, + -2961.34, + 100.077, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4374.448, + -3144.585, + 201.183, + 0, + 175.68, + 0 + ], + [ + -4499.95, + -3135.104, + 199.572, + 0.0, + 175.68, + -0.0 + ], + [ + -4625.451, + -3125.624, + 200.822, + 0.0, + 175.68, + -0.0 + ], + [ + -4750.953, + -3116.143, + 200.943, + 0.0, + 175.68, + -0.0 + ], + [ + -4750.953, + -3116.143, + 200.943, + 0.0, + 150.68, + -0.0 + ], + [ + -4860.689, + -3054.512, + 198.149, + 0.0, + 150.68, + -0.0 + ], + [ + -4860.689, + -3054.512, + 198.149, + 0.0, + 150.68, + -0.0 + ], + [ + -4860.689, + -3054.512, + 198.149, + 0.0, + 150.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4937.383, + -2961.34, + 100.077, + 0.0, + 0.0, + 0.0 + ], + [ + -4937.383, + -2961.34, + 100.077, + 0.0, + 0.0, + 0.0 + ], + [ + -4937.383, + -2961.34, + 100.077, + 0.0, + 0.0, + 0.0 + ], + [ + -4937.383, + -2961.34, + 100.077, + 0.0, + 0.0, + 0.0 + ], + [ + -4937.383, + -2961.34, + 100.077, + 0.0, + 0.0, + 0.0 + ], + [ + -4937.383, + -2961.34, + 100.077, + 0.0, + 0.0, + 0.0 + ], + [ + -4870.613, + -3073.429, + 168.256, + -28.202, + -159.175, + 1.862 + ], + [ + -4870.613, + -3073.429, + 168.256, + -28.202, + -159.175, + 1.862 + ] + ], + "PD_Dist_2D": [ + 592.0, + 470.7, + 352.5, + 242.3, + 242.3, + 120.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The dark trash bag sits on the ground ahead on the left, directly beneath the gray electrical box mounted on the brick wall. It is still far down the yard, so I will walk forward to close the distance along this open path.", + "The bag beneath the electrical box now appears larger and lower on the left side, confirming I am closing on the correct target. Nothing blocks the ground between us, so I will keep walking forward.", + "The bag is now clearly near the base of the left wall under the boxes, but still several paces off to my left front. I will advance again to get within grasping range before adjusting my heading.", + "My forward heading has carried the bag out to the far lower-left corner of my view, where I cannot approach it straight on. Turning left should swing the bag and the electrical box above it back toward the center of my view for a direct final approach.", + "The turn worked: the trash bag now sits centered in front of me on the ground, with the gray electrical cabinet on the brick wall just above it. It is still a step or two away, so I will walk forward to bring it within reach.", + "I have closed to the wall beside the shelving and the electrical box, and the bag has dropped below the bottom edge of my view, which means it lies right at my feet. My hands are still empty, so I will attempt to grasp it now.", + "The trash bag is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..973bb9fb576764e8336ad8395c3ccafeb9c6358b --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the red door marked number 8.", + "Type": 0, + "Start_Pose": [ + -4476.771, + -369.999, + 140.29, + 0.0, + 124.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4476.771, + -369.999, + 140.29, + 0.0, + 124.8, + -0.0 + ], + [ + -4548.6, + -266.65, + 140.699, + 0.0, + 124.8, + -0.0 + ], + [ + -4620.43, + -163.301, + 139.663, + 0.0, + 124.8, + -0.0 + ], + [ + -4692.259, + -59.952, + 139.514, + 0.0, + 124.8, + -0.0 + ], + [ + -4764.089, + 43.397, + 141.972, + 0.0, + 124.8, + -0.0 + ], + [ + -4835.918, + 146.746, + 153.793, + 0.0, + 124.8, + -0.0 + ], + [ + -4835.918, + 146.746, + 153.793, + 0.0, + 99.8, + -0.0 + ], + [ + -4857.341, + 270.769, + 141.302, + 0.0, + 99.8, + -0.0 + ], + [ + -4878.763, + 394.791, + 141.302, + 0.0, + 99.8, + -0.0 + ], + [ + -4900.185, + 518.813, + 141.302, + 0.0, + 99.8, + -0.0 + ], + [ + -4900.185, + 518.813, + 141.302, + 0.0, + 99.8, + -0.0 + ] + ], + "Rationale": [ + "From the open yard I can see the row of red doors along the workshop wall, with the one marked 8 to the left of the numbered pair 4 and 6. It stands well ahead across the gravel, so I will move forward to begin closing that distance while keeping it in view.", + "Door 8 has grown slightly larger and remains left of center, confirming my heading is still usable. The ground straight ahead past the puddle is clear, so I will continue forward toward the wall.", + "The wall with doors 8 and 4 now fills much of my view, so I am steadily gaining ground. Nothing blocks the route between the stacked pipes on my left and the low bushes on my right, so another forward step should bring me closer.", + "Door 8 is close enough now that its number is clearly legible on the left side of my view, while the wall corner sits ahead. I will keep advancing to shorten the remaining gap before fine-tuning my heading.", + "I am nearly at the recessed corner, with door 8 occupying the left half of my view and door 4 to the right of the corner. One more forward step should place me within the door's immediate area before I straighten onto it.", + "My heading points into the corner between the two doors, so target door 8 is offset to the left rather than centered. I will turn left to bring the red door marked 8 to the middle of my view before advancing again.", + "The turn worked, and the red door with the number 8 now sits squarely in front of me with its full width visible. I will move forward to close the last of the distance to its face.", + "Door 8 fills most of my view and the painted 8 is large and clear on its left panel, so I am only a short step away. I will advance once more to stand directly at the door.", + "The peeling red door with the painted 8 now fills nearly my whole view, with its central seam just right of center and the ground still visible at the bottom edge. A short step forward should close the last bit of gap and put me directly in front of the marked door.", + "The red door's weathered panels and central seam fill my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e21e9c0566eeadcc83a7752fb3fc188e6df7f84f --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the red door marked number 6.", + "Type": 0, + "Start_Pose": [ + -4476.771, + -369.999, + 140.29, + 0.0, + 124.8, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4476.771, + -369.999, + 140.29, + 0.0, + 124.8, + -0.0 + ], + [ + -4476.771, + -369.999, + 140.337, + 0.0, + 149.8, + -0.0 + ], + [ + -4585.548, + -306.689, + 140.233, + 0.0, + 149.8, + -0.0 + ], + [ + -4694.325, + -243.38, + 141.137, + 0.0, + 149.8, + -0.0 + ], + [ + -4803.101, + -180.07, + 139.112, + 0.0, + 149.8, + -0.0 + ], + [ + -4803.101, + -180.07, + 139.112, + 0.0, + 174.8, + -0.0 + ], + [ + -4928.442, + -168.663, + 135.933, + 0.0, + 174.8, + -0.0 + ], + [ + -4982.717, + -178.882, + 137.305, + 0.0, + 174.8, + -0.0 + ], + [ + -5002.651, + -206.562, + 148.356, + 0.0, + 174.8, + -0.0 + ], + [ + -5166.936, + -239.493, + 141.119, + 0.0, + 174.8, + -0.0 + ], + [ + -5166.936, + -239.493, + 141.119, + 0.0, + 174.8, + -0.0 + ] + ], + "Rationale": [ + "From here I can see two red doors along the far wall, and the one marked 6 sits well off to my right beyond the corner. My heading currently points at the door marked 8, so I will turn right to bring number 6 toward the center of my view before advancing.", + "The red door marked 6 now sits in the right half of my view with open, mostly flat ground between us. I will move forward to close the large gap toward that wall.", + "The wall has grown noticeably larger and the numeral 6 is clearly legible on the red door to my right. The ground straight ahead is still open, so I will continue forward to keep closing distance.", + "I am now fairly close to the wall, with the pile of blue bags sitting to the right of center in front of door 6 and clear ground on my current line. I will move forward again to shorten the remaining distance to the door.", + "Door 6 has drifted to the right edge of my view as I approached, while the neighboring door and the concrete pillar now sit ahead of me. I will turn right to bring the numeral 6 back to the center of my heading before the final approach.", + "The red door with the painted 6 is now centered directly ahead, with the bag pile offset to my left and open gravel on my line of travel. I will move forward to close the last stretch to the door.", + "The rusted red panel and its number 6 now dominate my view, and only a short stretch of gravel remains in front of it. I will step forward again to get right up to the door.", + "I am very close now, with the numeral 6 high on the left and the door's pitted metal filling nearly the whole view. I will advance a little more to settle directly in front of the marked door.", + "The red door bearing the number 6 now fills most of my view, with its marking just left of center and the bag pile safely off to my left edge. There is still a short gap of open ground between me and the door panel, so I will move forward once more to close that last bit of distance.", + "The red door panel now fills my entire view at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24dc18ba8d79188bbbc8ed7c132ac4902dd5066a --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the red door marked six, then reach the red door marked with number four.", + "Type": 3, + "Start_Pose": [ + -4481.79, + -145.862, + 150.72, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4481.79, + -145.862, + 150.72, + 0.0, + 178.56, + -0.0 + ], + [ + -4607.609, + -142.699, + 139.556, + 0.0, + 178.56, + -0.0 + ], + [ + -4733.429, + -139.536, + 139.556, + 0.0, + 178.56, + -0.0 + ], + [ + -4859.248, + -136.373, + 137.546, + 0.0, + 178.56, + -0.0 + ], + [ + -4967.467, + -138.977, + 134.486, + 0.0, + 178.56, + -0.0 + ], + [ + -4978.848, + -168.923, + 136.274, + 0.0, + 178.56, + -0.0 + ], + [ + -4978.848, + -168.923, + 136.274, + 0.0, + -156.44, + 0.0 + ], + [ + -5053.483, + -231.362, + 139.033, + 0.0, + -156.44, + 0.0 + ], + [ + -5053.483, + -231.362, + 139.033, + 0.0, + -156.44, + 0.0 + ], + [ + -4968.7, + -195.028, + 137.024, + 0.0, + -156.44, + 0.0 + ], + [ + -4884.002, + -158.095, + 135.861, + 0.0, + -156.44, + 0.0 + ], + [ + -4884.002, + -158.095, + 135.861, + 0.0, + 178.56, + -0.0 + ], + [ + -4884.002, + -158.095, + 135.861, + 0.0, + 153.56, + -0.0 + ], + [ + -4884.002, + -158.095, + 135.861, + 0.0, + 128.56, + -0.0 + ], + [ + -4955.599, + -57.745, + 130.881, + 0.0, + 128.56, + -0.0 + ], + [ + -5009.517, + 51.036, + 151.361, + 0.0, + 128.56, + -0.0 + ], + [ + -5087.97, + 149.452, + 142.568, + 0.0, + 128.56, + -0.0 + ], + [ + -5166.422, + 247.868, + 141.064, + 0.0, + 128.56, + -0.0 + ], + [ + -5166.422, + 247.868, + 141.064, + 0.0, + 128.56, + -0.0 + ] + ], + "Rationale": [ + "Two red doors face me across the open yard, and the one with the six painted on it stands to the right of centre. It is still far off, so I will walk forward to close the gap toward that door first.", + "The six on the red door is larger and clearer now, roughly ahead of me, with the trash bags heaped low against the wall to its left. Nothing blocks the ground in front of my feet, so I keep walking straight toward that door.", + "The door with the six now fills much of my view, but I am still several paces short of it. I continue forward, keeping to the right of the piled bags so they stay out of my path.", + "The bags crowd the lower left of my view while the red panel with the six rises directly ahead. There is still open gravel to my right side, so I press forward to get close to that door.", + "The numbered panel is very near, its rust and the small latch clearly readable, and only a short strip of ground remains before the wall. I take one more short step forward to stand right at the door with the six.", + "I am close under the red door bearing the six, but the bags press against my left and the wall face runs off to my right. Turning right should swing my heading onto the clear gravel beside the door so I can step in along it.", + "With my heading swung along the wall, the red door panels and their latch fill the view and the ground ahead is clear gravel beside the gas cylinders. I walk forward to bring myself right up against this six-marked door.", + "The weathered red door I was heading for is now directly in front of me, close enough to touch its peeling panels and latch. I have arrived at it. I mark reaching it, then set off for the other red door, the one painted with a four back along this wall.", + "I am standing right against the rusted red door I came here for, so close that its panels fill nearly everything ahead of me. To set off for the other red door, the one marked four along this same wall, I need room to see and swing around, so I will step back from the metal.", + "Backing off has opened the view, and I can now see the door edge, the corner wall, and the gas cylinders to my right. I am still too close and too tight against this corner to turn cleanly toward the other red door, so I will keep stepping back.", + "From here the numeral six is visible again on the door face to my left, which means the door marked four lies farther along the wall in that same leftward direction. I will turn left to swing my heading away from this corner and toward the rest of the facade.", + "The turn has brought the six-marked door back in front of me, but the neighbouring door I want is still out of sight beyond the left edge. I will turn left again to bring more of the wall into view.", + "The wall now shows both doors, with the six on the right and another red door bearing a four on the left. My heading still points between them, so one more left turn should put the four-marked door ahead of me.", + "I am now facing along the wall with the far red doors ahead and the rubbish bags off to my right rather than in my path. With the way across the open ground clear, I will walk forward toward the door marked four.", + "The red door with the faint four is closer now, just past the pale wall section on my right. The ground between us is open, so I will keep walking straight at it.", + "The door marked four now stands close on my right, its number visible near the frame edge. I am not yet alongside it, so I will step forward again to close the last of the gap.", + "The red door bearing the faint number four now fills the right side of my view, with its white edge column just ahead of me. I am close but still short of standing at it, so I will walk one more step forward to close that last gap.", + "The red door marked four stands directly before me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-005421_y-002328_z000198_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-005421_y-002328_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8e7034add0c2e172f0e6aab4c3fe79bc9623ebd --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-005421_y-002328_z000198_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search for a small white metal door inside the room; once identified, proceed to its location.", + "Type": 1, + "Start_Pose": [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -148.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -123.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -98.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -73.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -48.8, + 0.0 + ], + [ + -5338.428, + -2422.241, + 201.339, + 0.0, + -48.8, + 0.0 + ], + [ + -5255.526, + -2516.939, + 199.459, + 0.0, + -48.8, + 0.0 + ], + [ + -5172.624, + -2611.638, + 198.149, + 0.0, + -48.8, + 0.0 + ], + [ + -5115.673, + -2704.274, + 201.386, + 0.0, + -48.8, + 0.0 + ], + [ + -5115.673, + -2704.274, + 201.386, + 0.0, + -48.8, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see a dark brick wall, stacked gas cylinders and leaning timber beams, with no sign of a small white metal door. Since nothing here matches the target, I will turn right to begin a steady scan of the room in one consistent direction.", + "The new heading still shows only shuttered windows, brick masonry and old wooden framing along a cluttered corner. No white metal door has appeared yet, so I will keep rotating right to continue the scan without breaking direction.", + "The room opens up on this side, with brick pillars and a bright floor area beyond the debris, which suggests more of the room is worth sweeping. I still cannot see a small white metal door in this heading, so I will turn right again to bring the open bay fully into view.", + "A pale white metal door with a small placard is now visible at the right edge of my view, set in the brick wall of the open bay. I will turn right once more to bring that door closer to the center of my heading before advancing toward it.", + "The small white metal door now sits ahead of me in the brick wall, roughly centered in my heading, with clear open floor between us. I will walk forward to close that distance.", + "The white door has grown larger and its rusted lower edge and sign are clearer, so my heading is carrying me straight at it. I will keep stepping forward since the floor ahead is still clear.", + "The door now fills much of the view, with its warning plate readable and the brick pier beside it close on my left. I am not yet at its face, so I will take another step forward.", + "I am nearly at the white metal door, its surface and sign dominating my view with only a short gap of floor left. One more step forward should place me directly at its location.", + "The white metal door fills my view at arm's length in its brick frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-005421_y-002328_z000198_t1_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-005421_y-002328_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..938602b0e262ff5c83115e4a8bc74abef41b86a5 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x-005421_y-002328_z000198_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Identify where black garbage bags are piled up, then head over to that spot.", + "Type": 1, + "Start_Pose": [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -148.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -123.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -98.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -73.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -48.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + -23.8, + 0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + 1.2, + -0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + 26.2, + -0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + 51.2, + -0.0 + ], + [ + -5421.33, + -2327.543, + 198.149, + 0.0, + 76.2, + -0.0 + ], + [ + -5391.308, + -2205.317, + 199.3, + 0.0, + 76.2, + -0.0 + ], + [ + -5391.308, + -2205.317, + 199.3, + 0.0, + 101.2, + -0.0 + ], + [ + -5415.755, + -2081.855, + 201.386, + 0.0, + 101.2, + -0.0 + ], + [ + -5440.201, + -1958.393, + 198.32, + 0.0, + 101.2, + -0.0 + ], + [ + -5440.201, + -1958.393, + 198.32, + 0.0, + 126.2, + -0.0 + ], + [ + -5514.534, + -1856.83, + 198.32, + 0.0, + 126.2, + -0.0 + ], + [ + -5514.534, + -1856.83, + 198.32, + 0.0, + 126.2, + -0.0 + ] + ], + "Rationale": [ + "I am facing a dark brick wall with gas cylinders and stacked timber in front of me, and there is no sign of piled black garbage bags anywhere in this view. I will turn right to begin a consistent scan of this derelict interior for the bag pile.", + "The view has shifted along the same wall and now shows more scaffolding timbers and a shuttered window, still with no black bags in sight. I will keep rotating right in the same direction to sweep further around the room.", + "A brick pillar now splits the view and an open floor area with a doorway opens up to the right, which looks more promising than the cluttered corner behind me. I will continue turning right to bring that open space fully into view.", + "I can see an open bay with a metal door and a bricked archway, but the floor here is bare and there is still no pile of black bags. I will keep the rotation going to the right to inspect the next section of wall and floor.", + "This part of the room is just a closed metal door and empty paving, so nothing here matches the piled garbage bags I am looking for. I will continue the same rightward sweep to cover the remaining unseen walls.", + "I am now looking straight at a flat brick wall with a louvred window and nothing on the ground in front of it. I will turn right again to move past this blank wall and keep searching for the bag pile.", + "The wall continues ahead, but a lighter gap is appearing at the right edge that suggests an opening into another space. I will keep turning right toward that gap since unexplored openings are the likeliest place to find piled bags.", + "A large arched passage with daylight beyond has come into view on the right side, and the ground near it looks cluttered with debris. I will turn right once more to face that passage and the area beside it, where refuse may well be piled.", + "My scan has opened up an interior bay with a bright doorway ahead, but I still see no pile of black bags along this brick wall. I will keep turning right in the same direction to sweep the remaining part of this room, where the lighter window wall may reveal stacked refuse.", + "Turning right has brought a dim corner into view where dark sacks and pallets sit against the window wall on my right side. That clutter is the best cue for the piled black bags, so I will walk forward into the open floor to get close enough to confirm it.", + "From this closer position the heap of dark bags and pallets is off to my right, near the tall barred window, while my heading still points at the far doorway. I will turn right to put that pile in front of me so I can walk straight at it.", + "The turn has brought the pile of black garbage bags into clear view ahead and slightly right, stacked beside a cardboard box and wooden pallets under the window. I will walk forward across the open floor to close the remaining distance to it.", + "The black bags are now plainly visible piled in the corner to the right of the tall window, and nothing blocks the floor between us. I will keep walking forward to shorten the gap to that pile.", + "I am close to the bags now, but they sit at the right edge of my view while the window and wall fill the center. I will turn right to center the pile so my final step should take me straight to it.", + "The heap of black garbage bags is now centered in front of me in the corner, with a cardboard box resting on top. I will step forward once more to stand right at the pile.", + "The pile of black garbage bags fills the corner directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000000_y000624_z000209_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000000_y000624_z000209_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac77e6516fbfa08f446ba3f4955fbf0d09700859 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000000_y000624_z000209_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Explore the area and navigate to a large iron gate covered entirely in orange-red rust.", + "Type": 1, + "Start_Pose": [ + -0.187, + 623.862, + 208.976, + 0.0, + -65.28, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -0.187, + 623.862, + 208.976, + 0.0, + -65.28, + 0.0 + ], + [ + -0.187, + 623.862, + 208.976, + 0.0, + -40.28, + 0.0 + ], + [ + -0.187, + 623.862, + 208.976, + 0.0, + -15.28, + 0.0 + ], + [ + -0.187, + 623.862, + 208.976, + 0.0, + 9.72, + -0.0 + ], + [ + -0.187, + 623.862, + 208.976, + 0.0, + 34.72, + -0.0 + ], + [ + -0.187, + 623.862, + 208.976, + 0.0, + 59.72, + -0.0 + ], + [ + -0.187, + 623.862, + 208.976, + 0.0, + 84.72, + -0.0 + ], + [ + -0.187, + 623.862, + 208.976, + 0.0, + 109.72, + -0.0 + ], + [ + -42.655, + 742.34, + 211.082, + 0.0, + 109.72, + -0.0 + ], + [ + -85.123, + 860.817, + 206.686, + 0.0, + 109.72, + -0.0 + ], + [ + -127.59, + 979.295, + 202.843, + 0.0, + 109.72, + -0.0 + ], + [ + -170.058, + 1097.773, + 214.29, + 0.0, + 109.72, + -0.0 + ], + [ + -212.526, + 1216.251, + 220.547, + 0.0, + 109.72, + -0.0 + ], + [ + -212.526, + 1216.251, + 220.547, + 0.0, + 109.72, + -0.0 + ] + ], + "Rationale": [ + "From this spot I mostly see a brick workshop wall with boarded windows and a plain wooden door, nothing resembling a large rusted iron gate. The open yard with rails and gantry structures continues off to my right, so I will turn right to begin a consistent scan of that side of the industrial yard.", + "The yard ahead now shows gantry towers, rails and distant sheds, but still no large iron gate covered in orange-red rust. I will keep turning right in the same direction to bring more of the unseen buildings on that side into view.", + "A pale-walled workshop and green-red containers fill this heading, and none of these surfaces is the wide rusted gate I need. Continuing the same rightward rotation should reveal the facades further along this row.", + "Ahead I see stacked rusty pipes and a brick building with a small door and window, but no large gate panel. I will turn right again to sweep past the pipe stack toward the taller brick facades on that side.", + "The brick hall on my right is closer now, but the openings I can see are boarded with pale panels rather than rusted metal. Another right turn should bring the rest of this hall's frontage into view.", + "Turning this way has brought the gabled brick hall almost fully in front of me, and near its right edge a large panel shows a strong orange-red discoloration unlike the pale boarded doors beside it. I will turn right once more to bring that promising rusted panel toward the center of my view.", + "The wide rust-stained gate is now clearly visible in the brick wall, still sitting right of my heading. One more right turn should center it so I can walk straight toward it.", + "The large iron gate covered in orange-red rust is now roughly centered ahead of me in the brick wall. The ground between us is open apart from the bagged debris on my left, so I will walk forward to close the distance.", + "The wide metal gate set into the brick wall ahead is now clearly showing its orange-red rust staining, matching the target described in my task. It still sits well back across the open dirt yard, so I will keep walking straight toward it while my heading stays centered on it.", + "The rusted gate panel now fills a larger part of my view and its orange-red corrosion is unmistakable against the surrounding brickwork. The ground in front of me is still clear apart from scattered weeds, so I will step forward again to close the remaining distance.", + "The rusted iron gate now dominates my forward view, with its corroded orange-red surface reaching from the ground to the lintel above. I am still a few paces short of standing right at it, so I will continue walking straight ahead.", + "I am now very close to the large iron gate, with its rusted panels filling nearly everything in front of me. One more step forward should bring me right up against it so I can confirm I have reached the target.", + "I am standing directly against the large iron gate, its surface entirely covered in orange-red rust. The task target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000132_y-002871_z000198_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000132_y-002871_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0277b799d5f8db16884df22e423596a16a466900 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000132_y-002871_z000198_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "There is an exit already visible in this room; locate the other exit that is not the one currently in view, then make your way to it.", + "Type": 1, + "Start_Pose": [ + 132.095, + -2870.576, + 198.148, + 0.0, + -44.16, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -44.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -69.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -94.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -119.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -144.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -169.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + 10.06, + -2839.787, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + -111.975, + -2808.998, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + -234.01, + -2778.209, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + -356.045, + -2747.42, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + -478.08, + -2716.631, + 198.053, + 0.0, + 165.84, + -0.0 + ], + [ + -594.308, + -2714.496, + 198.393, + 0.0, + 165.84, + -0.0 + ], + [ + -716.343, + -2683.707, + 211.761, + 0.0, + 165.84, + -0.0 + ], + [ + -838.378, + -2652.918, + 208.849, + 0.0, + 165.84, + -0.0 + ], + [ + -838.378, + -2652.918, + 208.849, + 0.0, + 165.84, + -0.0 + ] + ], + "Rationale": [ + "The green metal door filling my view is the exit I already know about, so it cannot be my goal. I will turn left to sweep the walls behind me and look for a second way out of this room.", + "Turning has only brought me a boarded panel with a keep out sign over crumbling brick, which is solid wall rather than a passage. I will keep rotating left to bring more of the room's perimeter into view.", + "A grimy window sits in this stretch of plaster and brick, but a window is not a way out. I will continue turning left to inspect the wall further round.", + "This wall runs on with more window openings and rubble along its base, still offering no passage. I will turn left again to reach the far end of the room where the wall may break.", + "I can now see the room open up to the left, with sacks and stacked pallets on the floor and a darker recess beyond them. I will turn left once more to bring that far end of the room fully in front of me.", + "An arched doorway with a green door stands at the far end of the room, and daylight from the yard shows through it, so this is a second way out and not the door I started facing. I will turn left once more to line my heading up with that archway before walking.", + "The lit archway now sits near the middle of my view with a clear stretch of floor leading to it, the crates to my left and the sacks and pallets to my right. I will walk forward and commit to closing the distance to that doorway.", + "The archway has grown larger and stays straight ahead, so my heading is good and nothing blocks the lane between the crates and the piled sacks. I will keep walking toward it.", + "The doorway keeps swelling dead ahead and the bright yard beyond it is clearer with every step, so my line into it is holding. The open floor between the boxes on my left and the pallets on my right remains wide enough to pass. I will keep advancing.", + "From here the green door leaf inside the arch is distinct and daylight spills onto the floor just short of the threshold, confirming this opening leads outside. Nothing stands between me and it except empty ground. I will continue walking straight at it.", + "The arch now spans a good part of my view and the sacks that were on my right have dropped back to the near edge, so I am close and still clear of them. My heading needs no correction. Another step forward should bring the threshold within reach.", + "The opening is wide in front of me, its door swung inward to the right, leaving the gap free to walk through. I can pick out the yard's buildings and a rusted tank through it. I will press on toward the threshold.", + "The brick jambs frame my view now and the cobbles of the outer yard start just a pace or two ahead. I am aimed through the free half of the opening rather than at the door leaf. Stepping forward should carry me under the arch.", + "I am standing in the opening itself, with sky, the yard's far buildings and the tank filling the view and the door leaf hard against my right shoulder. One more step should take me clear of the threshold and out of the room.", + "I stand out in the open yard with the archway's brickwork now beside me. This second exit has been reached, so nothing further is needed." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000132_y-002871_z000198_t1_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000132_y-002871_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0e77c8d4618def40ed1c8c79e6af267031b69a3d --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000132_y-002871_z000198_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search for a stack of wooden pallets or wooden shelving within the room; once identified, navigate to that structure.", + "Type": 1, + "Start_Pose": [ + 132.095, + -2870.576, + 198.148, + 0.0, + -44.16, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -44.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -69.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -94.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -119.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -144.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + -169.16, + 0.0 + ], + [ + 132.095, + -2870.576, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + 10.06, + -2839.787, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + -111.975, + -2808.998, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + -234.01, + -2778.209, + 198.148, + 0.0, + 165.84, + -0.0 + ], + [ + -234.01, + -2778.209, + 198.148, + 0.0, + -169.16, + 0.0 + ], + [ + -234.01, + -2778.209, + 198.148, + 0.0, + -144.16, + 0.0 + ], + [ + -342.042, + -2821.046, + 198.148, + 0.0, + -144.16, + 0.0 + ], + [ + -342.042, + -2821.046, + 198.148, + 0.0, + -144.16, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a boarded door with a keep out sign, crumbling brickwork, and a slice of open yard, with no wooden pallets or shelving anywhere in view. I will turn left to begin a steady scan in one consistent direction, opening up the darker interior side of this ruined structure. This should reveal whether stacked timber is sitting along the walls I cannot currently see.", + "The view now holds only a shuttered window over patched brick and plaster, so no pallet stack or timber shelf has appeared yet. I will keep rotating left at the same pace to sweep the next slice of wall without breaking my scan direction. More of this interior side may hold stored wooden material.", + "Another stretch of ruined wall with a dark broken window has come into view, and still nothing resembling stacked pallets or wooden racking. I will continue the left rotation to keep uncovering unseen parts of the room. The darker corner developing on the left edge is the direction most likely to open into storage space.", + "I can now see a row of window openings along this wall and the ground clearing toward the left, which suggests the space widens in that direction. I will turn left again to bring that opening area into the centre of my view. Any stored pallets are more likely on that open floor than against this bare facade.", + "Piles of sacks and an exposed roof truss have appeared on the left, and further along that side I can make out low horizontal slats that may be stacked timber. I will turn left once more to bring that promising storage area properly into view. Centering it should let me confirm whether it is a pallet stack.", + "The room has opened into a long derelict hall with an archway ahead, sacks along the floor, and what clearly looks like layered wooden pallets stacked near the right wall. I will turn left one more step to square my heading with the length of the hall. That should give me a clean forward path toward the timber stack.", + "My heading is now down the length of the hall, with the lit archway ahead and a stack of wooden pallets standing against the right wall past the sacks. The floor between me and it looks clear of obstacles, so I will walk forward to close the distance. Advancing should also make the pallet stack easier to confirm.", + "The pallet stack on the right has grown noticeably larger and its individual boards are now distinct, confirming I am closing on it. The path ahead past the crates and sacks is still unobstructed, so I will keep walking forward. A few more steps should bring me level with the structure.", + "The stacked wooden pallets leaning against the right-hand brick wall are now clearly visible and much larger than before, so my heading down this ruined hall is correct. I will keep walking forward along the open floor between the crate on my left and the refuse bags on my right to close the remaining distance.", + "I have advanced far enough that the pallet stack now sits off to my right side rather than ahead of me, while my current heading points at the far doorway. I will turn right to bring the wooden pallets back toward the center of my view before continuing.", + "The wooden pallet stack against the wall is now on the right side of what I can see, so my heading is still not squared onto it. Another right turn should place the structure directly in front of me for a straight final approach.", + "The stack of wooden pallets is now centered ahead of me against the brick wall, with only a short stretch of debris-free floor between us. I will step forward to close that last gap and stand at the structure.", + "The stack of wooden pallets fills the view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85ef684f5c5fec3cbc7bdfc2f8e36508ab835b0b --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Move to the base of the leftmost gantry support post.", + "Type": 2, + "Start_Pose": [ + 427.576, + 285.708, + 203.686, + 0.0, + 168.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 427.576, + 285.708, + 203.686, + 0.0, + 168.96, + -0.0 + ], + [ + 304.046, + 309.809, + 206.602, + 0.0, + 168.96, + -0.0 + ], + [ + 180.516, + 333.911, + 209.676, + 0.0, + 168.96, + -0.0 + ], + [ + 180.516, + 333.911, + 209.676, + 0.0, + 143.96, + -0.0 + ], + [ + 78.746, + 407.96, + 211.308, + 0.0, + 143.96, + -0.0 + ], + [ + -23.024, + 482.009, + 210.258, + 0.0, + 143.96, + -0.0 + ], + [ + -124.795, + 556.058, + 211.655, + 0.0, + 143.96, + -0.0 + ], + [ + -124.795, + 556.058, + 211.655, + 0.0, + 118.96, + -0.0 + ], + [ + -185.736, + 666.179, + 211.655, + 0.0, + 118.96, + -0.0 + ], + [ + -246.677, + 776.301, + 212.219, + 0.0, + 118.96, + -0.0 + ], + [ + -307.617, + 886.422, + 215.337, + 0.0, + 118.96, + -0.0 + ], + [ + -368.558, + 996.543, + 215.337, + 0.0, + 118.96, + -0.0 + ], + [ + -368.558, + 996.543, + 215.337, + 0.0, + 143.96, + -0.0 + ], + [ + -461.782, + 1076.179, + 197.174, + 0.0, + 143.96, + -0.0 + ], + [ + -554.541, + 1155.382, + 197.203, + 0.0, + 143.96, + -0.0 + ], + [ + -612.876, + 1189.157, + 197.532, + 0.0, + 143.96, + -0.0 + ], + [ + -612.876, + 1189.157, + 197.532, + 0.0, + 143.96, + -0.0 + ] + ], + "Rationale": [ + "The overhead gantry crosses the yard on a row of riveted lattice legs, and counting them from here the leftmost is the one planted beside the tall brick workshop on the left, near its rusted doorway. The legs all look alike, so I hold onto that building as its marker. I walk forward along the tracks to close the open distance.", + "The gantry now fills more of my view and the leg beside the left brick workshop is still well off to my forward left, past the green skip. The paving straight ahead remains clear, so another step forward is the cheapest way to shorten the gap before I swing toward that side.", + "Walking straight would carry me down the middle of the yard toward the far sheds, while the leg I want stands off to my left by the brick workshop with the rusted door. I turn left to put that side of the yard in front of me so my next steps head at the post rather than past it.", + "The turn has brought the left-hand workshop with its rusted orange door squarely ahead, with the gantry leg I am after standing on the open ground before it. The route across the paving past the green skip looks unobstructed, so I step forward to close on the post.", + "The skip and its heap of rubbish bags have grown noticeably, confirming I am gaining ground on the wall where my post stands. Nothing blocks the paving in front of my feet, so I keep walking rather than adjusting my heading yet.", + "I am now beside the skip, with the workshop wall close on my left and the lattice ironwork rising at the edge of my view. The gap between the skip and the building is still ahead of me, so I advance again to reach the ground where the post is footed.", + "The skip has swung across the right of my view and my heading now points along it instead of at the post, whose ladder-braced lattice stands off to my left against the brick wall. I turn left to bring that post back into the middle of my view before stepping in.", + "The turn has centered the ladder-braced lattice post standing hard against the workshop wall, just right of the rusted orange door. The strip of sand and paving between me and its footing is open, with the skip clear to my right, so I walk straight in toward its base.", + "The brickwork with its stained orange door has swelled across my view, and the ironwork with the caged ladder is now only a short strip of sand away, just left of the skip's green flank. The gap between skip and wall is still walkable, so I take another step in.", + "The skip's rim now crowds the right of my view while the ironwork sits just beyond it, close enough that its rungs and bracing read individually. Nothing stands between my feet and that footing, so I keep walking.", + "The gantry stand rises directly ahead against the workshop wall, its ladder and struts filling the upper middle of my view, with loose bricks scattered on the sand below it. Another step should put me within arm's reach of that footing.", + "Up this close the brick pier and window dominate the left of my view, and the iron stand has slid over to my right edge rather than sitting in front of me. I turn right to square onto its legs before stepping the last stretch.", + "The turn has set the iron stand back in the middle of my view, its bolted uprights running down to the sand between the wall and the skip. That short lane is clear, so I walk in toward the footing.", + "The riveted base plate and the lower brace of the stand are now plainly in front of me, sitting on the sand a couple of paces off with only a scatter of bricks between. I step forward again to stand right at that footing.", + "The lattice legs and their riveted strap now span my whole view, with the brick wall right behind them. One short step should carry me in among the legs and put me hard against the base.", + "I am standing in among the riveted legs of the gantry stand beside the workshop wall, its footing at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000918_y-002869_z000198_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000918_y-002869_z000198_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..966719b8a8f8f1ccd0675c106c79cac5100fc38a --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000918_y-002869_z000198_t0_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the small green door beneath the concrete canopy on the weathered white building.", + "Type": 0, + "Start_Pose": [ + 918.263, + -2868.548, + 198.157, + 0.0, + 31.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 918.263, + -2868.548, + 198.157, + 0.0, + 31.68, + -0.0 + ], + [ + 1025.368, + -2802.45, + 198.148, + 0.0, + 31.68, + -0.0 + ], + [ + 1132.474, + -2736.352, + 198.148, + 0.0, + 31.68, + -0.0 + ], + [ + 1132.474, + -2736.352, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1201.61, + -2631.182, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1270.746, + -2526.013, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1339.882, + -2420.843, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1409.018, + -2315.673, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1409.018, + -2315.673, + 198.148, + 0.0, + 81.68, + -0.0 + ], + [ + 1427.23, + -2191.139, + 198.148, + 0.0, + 81.68, + -0.0 + ], + [ + 1445.442, + -2066.604, + 198.148, + 0.0, + 81.68, + -0.0 + ], + [ + 1445.442, + -2066.604, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1514.579, + -1961.435, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1583.715, + -1856.265, + 198.766, + 0.0, + 56.68, + -0.0 + ], + [ + 1652.851, + -1751.095, + 223.446, + 0.0, + 56.68, + -0.0 + ], + [ + 1721.987, + -1645.925, + 205.781, + 0.0, + 56.68, + -0.0 + ], + [ + 1721.987, + -1645.925, + 205.781, + 0.0, + 56.68, + -0.0 + ] + ], + "Rationale": [ + "From the initial task view I can pick out the small green door set back under a concrete canopy on the weathered white and brick building ahead, past the rubble and scattered bags in the courtyard. The ground straight in front of me is open, so I will step forward to begin closing the long distance to that doorway.", + "The green door under the canopy is now noticeably larger and sits a bit right of my center, and the way across the courtyard remains clear. I will keep walking forward to shorten the distance before making any heading correction.", + "My heading has drifted so the long white wall and its windows fill most of my view while the green door has slipped toward the right side. I will turn right to bring that doorway back toward the middle of my view before advancing further.", + "After the turn the green door under the concrete canopy sits closer to the center of my view, with the open courtyard and scattered pallets off to my right. I will move forward along this heading to close distance on the doorway.", + "The doorway and its concrete canopy are growing in front of me, and the bags and pallets remain to either side of my line rather than in it. Another step forward should keep shrinking the gap without needing a heading change yet.", + "The green door is clearly resolved now beneath its concrete lintel, slightly left of center as I walk along the weathered wall. The ground ahead is still passable, so I will advance again to get within a few steps of it.", + "I am close enough to make out the door's panels and the low steps in front of its recessed alcove, with a pile of bags stacked against the wall to my left. I will step forward once more to bring myself level with the canopy.", + "I am now running almost parallel to the weathered wall, with the bag pile and an open manhole cover crowding the ground close on my left and the door recessed in its alcove beside me rather than in front. I will turn right toward the open courtyard so I can move out from the wall and later face the doorway squarely instead of brushing along it.", + "The weathered white wall runs down the left side of my view, and the small green door under its heavy concrete canopy is set back in shadow at that wall. The open gravel yard ahead of me is clear of clutter, so I will step forward to close distance along the wall before squaring up to the door.", + "The green door and its canopy have grown larger at the left of my view, confirming I am closing on the right part of the building. The ground straight ahead is still open, so another step forward should bring me nearly level with the doorway.", + "I am now roughly abreast of the recessed green door, which sits off to my left while my heading points down the yard past it. I will turn left to bring the doorway and its concrete canopy into the center of my view for a straight approach.", + "The turn has put the small green door and the concrete canopy above it clearly in the middle-left of my view, with the shallow step and a wooden ladder lying on the ground in front. I will move forward to close the remaining distance toward the doorway.", + "The green door is noticeably nearer and its panels and frame are now distinct against the weathered white wall. Nothing blocks the short stretch of sandy ground ahead, so I continue forward toward it.", + "The green door now dominates the center of my view, with the concrete canopy overhead and the recess beside it in deep shadow. I will step forward again to bring myself directly in front of the door.", + "The weathered green door panel is only a step away and fills most of my view under its canopy. One more short advance should place me right at the door, close enough to count as arrived.", + "The weathered green door panel fills my view at arm's length beneath the canopy. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ad84feffe3c5170a2c10c224ebb1e4cba5574db2 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach to the rightmost red garage door.", + "Type": 2, + "Start_Pose": [ + 979.853, + -574.376, + 205.277, + 0.0, + 48.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 979.853, + -574.376, + 205.277, + 0.0, + 48.96, + -0.0 + ], + [ + 1090.33, + -472.264, + 203.613, + 0.0, + 48.96, + -0.0 + ], + [ + 1172.967, + -377.334, + 203.613, + 0.0, + 48.96, + -0.0 + ], + [ + 1172.967, + -377.334, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1207.743, + -256.375, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1242.519, + -135.416, + 218.023, + 0.0, + 73.96, + -0.0 + ], + [ + 1277.295, + -14.457, + 212.626, + 0.0, + 73.96, + -0.0 + ], + [ + 1312.07, + 106.502, + 212.316, + 0.0, + 73.96, + -0.0 + ], + [ + 1346.846, + 227.462, + 207.804, + 0.0, + 73.96, + -0.0 + ], + [ + 1389.096, + 338.735, + 209.76, + 0.0, + 73.96, + -0.0 + ], + [ + 1446.574, + 444.557, + 211.124, + 0.0, + 73.96, + -0.0 + ], + [ + 1481.432, + 565.489, + 204.667, + 0.0, + 73.96, + -0.0 + ], + [ + 1481.432, + 565.489, + 204.667, + 0.0, + 73.96, + -0.0 + ] + ], + "Rationale": [ + "Weathered red garage doors line the two walls of this yard, and counting across them, the one I want is the last on the right-hand wall, the one standing beside the green skip and the heap of rubbish bags. The open concrete between us is clear, so I step forward to start closing that gap.", + "The door beside the green skip and bag pile is still far down the yard and sits well to my right of my current heading. The paving ahead remains open, so I keep walking to cut distance before adjusting my heading.", + "My heading points at the inside corner where the two walls meet, while the door I am after, the one with the skip and rubbish bags beside it, lies off to my right. I will turn right so that door comes into the centre of my view for a straight approach.", + "The turn has brought the door with the faint painted 6 on the white pilaster beside it, the one flanked by the green skip and bag heap, into view ahead of me. The slabs between us are open, so I walk forward toward it.", + "The marked door has grown in my view, with the skip and rubbish bags still holding their place at its right, so I am tracking the one I picked. Nothing stands on the paving in my line, and I continue forward.", + "Several strides of open yard still lie between me and the door marked with the 6, and the bag pile sits clear of my walking line. I step forward again to keep closing on it.", + "The far end of the wall has slid out of my view as I close in, but the door with the 6 beside it and the bag heap at its right edge is plainly the one I chose. The ground in front of it is clear, so I keep advancing.", + "The marked door and its white pilaster now dominate my view, yet a couple of strides of paving still separate me from its face. I walk forward again to stand directly in front of it.", + "The painted 6 and the white pilaster beside my door fill the left of my view, and the bag heap sits off to my right, clear of my line. A little paving still separates me from the door face, so I step forward again.", + "The door's flaking red panel now spreads across most of my view, with the weeds at the base of the pilaster nearly within reach. I am close but not yet at the wall, so I advance once more.", + "Only the red panel and the white pilaster edge with its faint 6 remain in view, the ground below them barely a stride away. One more step should put me right up against the door face.", + "The flaking red door panel with the painted 6 on the pilaster beside it fills my view at arm's length. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..99852af241a5e564491f081e700ef763d2a6feb7 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the green dumpster on the far right.", + "Type": 2, + "Start_Pose": [ + 979.853, + -574.376, + 205.277, + 0.0, + 48.96, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 979.853, + -574.376, + 205.277, + 0.0, + 48.96, + -0.0 + ], + [ + 1007.692, + -567.193, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1042.468, + -446.234, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1077.244, + -325.275, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1112.02, + -204.315, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1146.796, + -83.356, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1181.572, + 37.603, + 212.854, + 0.0, + 73.96, + -0.0 + ], + [ + 1181.572, + 37.603, + 212.854, + 0.0, + 98.96, + -0.0 + ], + [ + 1161.97, + 161.926, + 212.221, + 0.0, + 98.96, + -0.0 + ], + [ + 1142.368, + 286.249, + 204.126, + 0.0, + 98.96, + -0.0 + ], + [ + 1117.751, + 388.324, + 209.476, + 0.0, + 98.96, + -0.0 + ], + [ + 1117.751, + 388.324, + 209.476, + 0.0, + 98.96, + -0.0 + ] + ], + "Rationale": [ + "Two green dumpsters stand along this yard, and the one I want is the far right one, a rust-lidded bin set against the brick wall with heaps of garbage bags piled beside it. It lies well to the right of my current heading, so I turn right to bring it in front of me.", + "The rust-lidded green dumpster with its bags now sits ahead of me, just right of center, but far across the open concrete. Nothing blocks the flat ground between us, so I walk forward to close that distance.", + "The lidded dumpster and the bags stacked at its side have grown noticeably larger and stay near the middle of my view, so my heading is still good. I keep walking forward to shorten the remaining gap.", + "The dumpster with the rusted peaked cover is clearly framed ahead, its bag piles now distinct on both sides. The ground in between is flat and clear, so I continue forward without adjusting my heading.", + "The other green bin has slipped out of my view at the left edge, but the rust-topped dumpster against the brick wall is the one I am tracking and it fills much more of my view now. I step forward again to keep closing.", + "The lidded dumpster now dominates the right side of my view and its rusted panels are readable from here. A few more paces should bring me right up beside it, so I walk forward.", + "At this range the dumpster has drifted off to the right half of my view, with the loading wall filling the left. I turn right to put the bin squarely in front of me before making the final approach.", + "The rust-lidded green dumpster is now centered ahead with its bag piles spread on either side, so my heading is right. Only a short stretch of gravel remains, so I step forward to reach it.", + "The dumpster's stenciled number and rusted peaked lid are readable from here, and it sits centered with only a couple of paces of gravel left. Bag piles flank it but leave the middle open, so I walk forward again.", + "The bin now looms over most of my view, its corrugated side and lid edge close enough to touch in another step. I move forward once more to stand right against it.", + "The rust-lidded green dumpster's flank fills my view at arm's length. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_d/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d66f83554bcf1796f52c57ed0339fcfcd6422c12 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Navigate to the leftmost red garage door.", + "Type": 2, + "Start_Pose": [ + 979.853, + -574.376, + 205.277, + 0.0, + 48.96, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 979.853, + -574.376, + 205.277, + 0.0, + 48.96, + -0.0 + ], + [ + 1007.692, + -567.193, + 203.613, + 0.0, + 23.96, + -0.0 + ], + [ + 1122.706, + -516.082, + 203.613, + 0.0, + 23.96, + -0.0 + ], + [ + 1237.72, + -464.971, + 203.613, + 0.0, + 23.96, + -0.0 + ], + [ + 1352.733, + -413.859, + 203.613, + 0.0, + 23.96, + -0.0 + ], + [ + 1467.747, + -362.748, + 203.613, + 0.0, + 23.96, + -0.0 + ], + [ + 1582.761, + -311.637, + 203.613, + 0.0, + 23.96, + -0.0 + ], + [ + 1582.761, + -311.637, + 203.613, + 0.0, + -1.04, + 0.0 + ], + [ + 1708.599, + -313.922, + 203.613, + 0.0, + -1.04, + 0.0 + ], + [ + 1834.437, + -316.206, + 214.105, + 0.0, + -1.04, + 0.0 + ], + [ + 1834.437, + -316.206, + 214.105, + 0.0, + 23.96, + -0.0 + ], + [ + 1881.797, + -323.403, + 212.957, + 0.0, + 23.96, + -0.0 + ], + [ + 1997.274, + -306.902, + 209.456, + 0.0, + 23.96, + -0.0 + ], + [ + 2116.479, + -285.883, + 211.386, + 0.0, + 23.96, + -0.0 + ], + [ + 2235.684, + -264.864, + 213.683, + 0.0, + 23.96, + -0.0 + ], + [ + 2327.362, + -248.698, + 212.422, + 0.0, + 23.96, + -0.0 + ], + [ + 2327.362, + -248.698, + 212.422, + 0.0, + 23.96, + -0.0 + ] + ], + "Rationale": [ + "Scanning the long wall of red garage doors, I settle on the one at the far left end of the row, marked with a painted white 8 beside the canopy shelter. My body faces the middle of the courtyard, so that marked door sits off to my left. I will turn left to put it ahead of me.", + "The red door with the painted 8 now lies ahead of me across the open yard, with the rusty canopy and green skip just short of it. The paved ground in front is clear of obstacles. I will walk forward to close that distance.", + "The marked red door is still well ahead and only slightly larger in my view, so I am not yet near it. Nothing blocks the stretch of cracked paving directly in front of my feet. I keep walking forward toward that door.", + "The wall is growing steadily and the door carrying the 8 stands just left of the canopy roof ahead. There is still a good gap of yard to cover before I reach it. I advance again on the same line.", + "The canopy structure and the green skip now fill much of the middle ground, but the red door with the painted 8 remains visible just to their left. My heading still points at that part of the wall. I step forward once more.", + "I am close enough now that the canopy dominates my view, yet the faded 8 on the red door shows above and left of its roof. The ground ahead of me is still open, so I have room to keep closing in. I walk forward again.", + "The rusted canopy now sits squarely on my heading and would carry me past the wall section I want, while the door with the painted 8 has slipped to my left. Turning left should swing that bulk aside and put the marked door back on my line of travel.", + "The red door with the painted 8 is now ahead of me with the canopy pushed off to my right, so my heading is on it again. Open paving runs up to the low step at the base of that wall. I will move forward to close the remaining gap.", + "The painted 8 on the red panel stands clear ahead with the rusty canopy crowded off my right shoulder, and open paving leads to the low step at the wall's base. Nothing interrupts that line, so I stride forward again.", + "The marked door has slid into the right half of my view while empty alley, scaffolding and a far brick facade fill the left, so my heading is drifting past it. A small turn right should bring the painted 8 back onto my line before the final stretch.", + "The red panel with its 8 now sits square on my heading, and the green skip runs alongside my right without crossing my path. A short walk forward should take me over the paving toward the base of that door.", + "The panel and its white numeral loom larger, yet I am still out on the cracked slabs a few paces short of the wall. My line stays true along the skip's flank, so I continue walking in.", + "Individual seams and blistered paint on the red door are readable now, which puts me within a couple of strides of it. The ground between me and its base is still bare, so I press on.", + "The 8 has climbed toward the upper part of my view as the door's surface spreads across most of the frame, a sign I am nearly against it. One more step forward should close the last of that gap.", + "The flaking red surface and the painted 8 are barely an arm's length off, with only the skip's corner sharing the frame. A final short step should bring me flush with this door.", + "The blistered red surface of the door marked 8 fills my view at touching distance. I am standing at the intended door, so nothing further is needed." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4e36c137a8e92df7f268f0b261984ae888812a --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Grab the metal bucket beside the green dumpster on the far right.", + "Type": 5, + "Start_Pose": [ + 979.853, + -574.376, + 205.277, + 0, + 48.96, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1177.202, + 363.741, + 135.128, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 979.853, + -574.376, + 205.277, + 0, + 48.96, + 0 + ], + [ + 1007.692, + -567.193, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1042.468, + -446.234, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1077.244, + -325.275, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1112.02, + -204.315, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1146.796, + -83.356, + 203.613, + 0.0, + 73.96, + -0.0 + ], + [ + 1181.572, + 37.603, + 212.854, + 0.0, + 73.96, + -0.0 + ], + [ + 1181.572, + 37.603, + 212.854, + 0.0, + 98.96, + -0.0 + ], + [ + 1161.97, + 161.926, + 212.221, + 0.0, + 98.96, + -0.0 + ], + [ + 1161.97, + 161.926, + 212.221, + 0.0, + 98.96, + -0.0 + ], + [ + 1161.97, + 161.926, + 212.221, + 0.0, + 98.96, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1177.202, + 363.741, + 135.128, + 0.0, + 0.0, + 0.0 + ], + [ + 1140.972, + 157.998, + 179.844, + -28.202, + 149.105, + 1.862 + ], + [ + 1140.972, + 157.998, + 179.844, + -28.202, + 149.105, + 1.862 + ] + ], + "PD_Dist_2D": [ + 946.2, + 946.2, + 821.1, + 696.2, + 571.8, + 448.1, + 326.2, + 326.2, + 202.4, + 21.4, + 21.4 + ], + "Rationale": [ + "From this corner of the yard I can see a green dumpster far off to the right side of the lot, but my heading points at the middle of the building wall. I will turn right to bring that right-hand dumpster and the containers beside it into the center of my view before walking out across the open ground.", + "The green dumpster with refuse piled around it now sits ahead and slightly right, with clear paved ground between me and it. Nothing blocks the lane, so I will walk forward to close the long distance toward that container and the metal bucket standing beside it.", + "The dumpster is noticeably larger now and a dark cylindrical metal bin is becoming visible at its left side, which matches the bucket I need. The ground ahead remains open, so I will keep walking forward to shorten the gap.", + "I can now clearly make out the metal drum standing just left of the green dumpster among the piled bags. I am still several strides away and out of reach, so I will continue walking straight toward it.", + "The bucket beside the dumpster is clearly framed slightly right of center and getting close, but not yet within arm's reach. The paved strip ahead is clear, so I will step forward again to keep closing in.", + "The metal bucket now stands out plainly in front of the dumpster with the trash bags to its left. It is still a couple of strides off, so I will advance again to bring it into grabbing range.", + "The bucket sits right of my current heading, sharing the frame with the wall and bag pile on the left. I will turn right so the bucket and the dumpster behind it are centered, giving me a straight line in for the final approach.", + "The metal bucket is now centered just left of the dumpster and directly along my heading. It remains a stride too far to reach, so I will step forward to close the last of the gap before attempting a grasp.", + "The metal bucket stands right at the near edge of my view, close beside the green dumpster on this side of the yard, and nothing blocks the space between us. This is the target named in the task and it is within arm's reach, so I will attempt to grasp it now.", + "The metal bucket is now held in my hands rather than resting beside the dumpster. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t3_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c588a53c635d89f0c021b13e962f2021d7bb89 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Walk to the green door in the wall opening, then approach the short vertical pipe on the wall.", + "Type": 3, + "Start_Pose": [ + 1114.007, + -2488.283, + 198.148, + 0.0, + 31.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1114.007, + -2488.283, + 198.148, + 0.0, + 31.68, + -0.0 + ], + [ + 1221.112, + -2422.185, + 198.148, + 0.0, + 31.68, + -0.0 + ], + [ + 1221.112, + -2422.185, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1290.248, + -2317.015, + 221.281, + 0.0, + 56.68, + -0.0 + ], + [ + 1365.714, + -2240.325, + 218.676, + 0.0, + 56.68, + -0.0 + ], + [ + 1434.851, + -2135.155, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1503.987, + -2029.985, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1503.987, + -2029.985, + 198.148, + 0.0, + 81.68, + -0.0 + ], + [ + 1522.199, + -1905.451, + 198.148, + 0.0, + 81.68, + -0.0 + ], + [ + 1540.411, + -1780.917, + 198.148, + 0.0, + 81.68, + -0.0 + ], + [ + 1540.411, + -1780.917, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1609.547, + -1675.747, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1609.547, + -1675.747, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1558.79, + -1752.958, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1558.79, + -1752.958, + 198.148, + 0.0, + 31.68, + -0.0 + ], + [ + 1558.79, + -1752.958, + 198.148, + 0.0, + 6.68, + -0.0 + ], + [ + 1558.79, + -1752.958, + 198.148, + 0.0, + -18.32, + 0.0 + ], + [ + 1558.79, + -1752.958, + 198.148, + 0.0, + -43.32, + 0.0 + ], + [ + 1558.79, + -1752.958, + 198.148, + 0.0, + -68.32, + 0.0 + ], + [ + 1605.285, + -1869.914, + 210.138, + 0.0, + -68.32, + 0.0 + ], + [ + 1650.668, + -1986.41, + 199.831, + 0.0, + -68.32, + 0.0 + ], + [ + 1646.31, + -2082.609, + 204.692, + 0.0, + -68.32, + 0.0 + ], + [ + 1692.805, + -2199.565, + 198.584, + 0.0, + -68.32, + 0.0 + ], + [ + 1736.899, + -2316.407, + 198.928, + 0.0, + -68.32, + 0.0 + ], + [ + 1736.748, + -2430.737, + 215.362, + 0.0, + -68.32, + 0.0 + ], + [ + 1736.748, + -2430.737, + 215.362, + 0.0, + -68.32, + 0.0 + ] + ], + "Rationale": [ + "The weathered green door set in the wall opening stands well ahead of me, past the sacks and rubble along the building front. The ground straight ahead is open, so I will walk forward to cut down that distance before worrying about fine alignment.", + "After closing some ground, the green doorway sits right of my heading, while my current line would carry me along the blank stretch of wall and the weeds on the left. A small turn to the right should put the door nearer the centre of my path.", + "The green door now sits closer to my heading with clear stony ground running toward it. I will step forward along this line to keep closing on it.", + "The doorway with its green panelled door is noticeably larger and the sacks lie off to my left, clear of my line. Another step forward should bring me nearer without needing any change of heading.", + "The green door and its concrete lintel now fill a good part of the wall ahead of me, but I am still several paces short of it. The gravel between us is clear, so I keep walking forward.", + "The green door is close on my left front, with only a short stretch of rubble and a fallen ladder between us. I will advance again to draw level with the opening.", + "I am nearly against the building face, and the wall with the green door runs away to my left rather than lying square in front of me. Turning right should swing my heading off the wall and onto the open yard lane that runs past the doorway.", + "The turn opened a clear lane of yard ahead, with the green door and its red gate now beside me on the left. Walking forward along this lane should carry me level with the doorway rather than into the wall.", + "The tall green door set in the wall opening stands off to my left, still a fair distance back along that wall. The open gravel ahead of me is clear, so I will keep walking forward to draw level with it before angling in.", + "Walking straight has pushed the green door out to the far left edge of my view, with only the red garage fronts across the yard lying ahead of me. Turning left should bring that door back in front of me so I can close on it directly.", + "The green door in the wall opening now sits ahead and slightly to my left, a couple of strides away with nothing between us but bare ground. I will step forward to come right up beside it.", + "The weathered green door fills the left of my view at arm's length, its panels and the wall opening close enough to touch. I have reached the green door. I mark reaching it, and now I turn my attention to the short vertical pipe on the wall.", + "Standing this tight against the green door leaves the wall and its corner crowding most of my view, with no room to swing around cleanly. Backing up a short step should open enough space to face back across the yard toward the wall where the pipe stands.", + "With a little clearance from the green door I can now pivot without scraping the wall. The pipe I want is not anywhere in this forward view, so I will turn left to begin sweeping my heading back around the yard.", + "The green door has swung over to the right side of my view and I am facing into the shadowed passage beside it. That is still not the wall I want, so I will keep turning left to bring more of the yard around.", + "My view is now filled by the recessed opening and its concrete pillar, with the green door reduced to a sliver on my right. No pipe shows on any surface in front of me, so I will continue rotating left.", + "Having marked reaching the green door, I am now swinging my heading around to hunt for the short pipe on the wall. Right now only a blank stretch of plastered brick, a concrete pillar and some rubbish bags fill my view. Another left turn should bring the open yard and more of the facade into sight.", + "The long facade with its boarded windows now runs away to my left, with open yard beyond it. One more left turn should set that wall along my right side so I can walk beside it and inspect it for the short vertical pipe.", + "The facade with its windows and rubbish bags is now on my right and the yard ahead is clear except for a manhole cover and scattered planks. I will walk forward along this wall to bring more of its surface within inspection range for the pipe.", + "The bagged rubbish beside the wall is drawing level with me and the ground ahead stays open. I keep walking forward to work my way along the facade toward the stretch where a pipe could stand.", + "I am passing the last of the bags, with weeds and crumbling brick close on my right and nothing blocking my line of travel. Another step forward should reveal the next section of wall where the short pipe may be fixed.", + "The wall curves close along my right and the windows above it slide past, but no fitting stands out yet at ground level. I continue forward to bring the far end of this facade into clear view.", + "A dark vertical pipe now stands against the pale wall just ahead on the left of my path, with a stubbier one beside it. I will step forward to close the remaining gap to it.", + "The pipe against the wall is close now, its dark shaft rising through the weeds just to the left of my heading. One more short step forward should put me right beside it.", + "The short vertical pipe on the wall stands directly beside me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t5_a_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..654024990e3af292ffff40e3fe781b5668c7451e --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t5_a_pd/infos.json @@ -0,0 +1,601 @@ +{ + "Instruction": "Grab the wicker basket at the green door in the wall opening, then set it down below the short vertical pipe.", + "Type": 5, + "Start_Pose": [ + 1114.007, + -2488.283, + 198.148, + 0, + 31.68, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1675.116, + -1643, + 148.313, + 90, + 51.68, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "TurnLeft", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1114.007, + -2488.283, + 198.148, + 0, + 31.68, + 0 + ], + [ + 1221.112, + -2422.185, + 198.148, + 0.0, + 31.68, + -0.0 + ], + [ + 1221.112, + -2422.185, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1290.248, + -2317.015, + 221.281, + 0.0, + 56.68, + -0.0 + ], + [ + 1365.714, + -2240.325, + 218.676, + 0.0, + 56.68, + -0.0 + ], + [ + 1365.714, + -2240.325, + 218.676, + 0.0, + 81.68, + -0.0 + ], + [ + 1410.467, + -2134.717, + 198.528, + 0.0, + 81.68, + -0.0 + ], + [ + 1428.679, + -2010.183, + 198.148, + 0.0, + 81.68, + -0.0 + ], + [ + 1446.891, + -1885.648, + 198.148, + 0.0, + 81.68, + -0.0 + ], + [ + 1446.891, + -1885.648, + 198.148, + 0.0, + 56.68, + -0.0 + ], + [ + 1516.027, + 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[ + 1621.135, + -2270.492, + 198.07, + 0.0, + -68.32, + 0.0 + ], + [ + 1667.63, + -2387.448, + 207.424, + 0.0, + -68.32, + 0.0 + ], + [ + 1711.757, + -2500.298, + 212.993, + 0.0, + -68.32, + 0.0 + ], + [ + 1685.159, + -2433.392, + 211.564, + 0.0, + -68.32, + 0.0 + ], + [ + 1685.159, + -2433.392, + 211.564, + 0.0, + -68.32, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1675.116, + -1643.0, + 148.313, + 90.0, + 51.68, + 0.0 + ], + [ + 1574.021, + -1658.072, + 168.254, + -28.202, + 81.825, + 1.862 + ], + [ + 1582.833, + -1655.838, + 168.527, + -28.189, + 56.837, + 1.872 + ], + [ + 1598.793, + -1651.41, + 168.04, + -14.175, + 23.872, + 6.959 + ], + [ + 1599.277, + -1659.768, + 167.929, + -28.208, + 6.822, + 1.851 + ], + [ + 1603.513, + -1667.663, + 168.597, + -28.198, + -18.174, + 1.867 + ], + [ + 1651.315, + -1783.899, + 182.276, + -28.198, + -18.174, + 1.862 + ], + [ + 1697.883, + -1901.044, + 177.271, + -28.202, + -18.178, + 1.86 + ], + [ + 1698.382, + -1909.581, + 178.473, + -28.197, + -43.177, + 1.87 + ], + [ + 1659.172, + -2020.048, + 173.975, + -28.199, + -43.174, + 1.866 + ], + [ + 1649.774, + -2145.577, + 168.885, + -28.195, + -43.173, + 1.864 + ], + [ + 1642.471, + -2271.42, + 167.679, + -28.202, + -43.178, + 1.86 + ], + [ + 1641.737, + -2261.43, + 168.882, + -28.195, + -18.175, + 1.872 + ], + [ + 1687.129, + -2378.704, + 169.043, + -28.211, + -18.182, + 1.853 + ], + [ + 1731.48, + -2492.087, + 182.605, + -28.191, + -18.17, + 1.864 + ], + [ + 1711.019, + -2498.44, + 176.564, + 90.0, + -68.32, + 0.0 + ], + [ + 1711.019, + -2498.44, + 176.564, + 90.0, + -68.32, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1014.6, + 901.8, + 901.8, + 776.2, + 672.7, + 672.7, + 558.4, + 442.2, + 333.1, + 333.1, + 210.3, + 210.3, + 95.6, + 95.6, + 20.5, + 19.6, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 20.2, + 21.4, + 21.4, + 21.4, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green door set in the wall opening stands well ahead of me across the open yard, and no basket is yet distinguishable at this range. Nothing blocks the gravel between me and that facade, so I will walk forward to cut the distance and get a clearer look at the doorway.", + "After closing some distance, the green doorway sits noticeably right of my heading, so walking straight would drift me along the wall past it. I will turn right to bring that doorway toward the center of my view before continuing.", + "The green door now sits near the middle of my view with clear ground leading toward it. I will step forward to keep closing on the wall opening where the wicker basket should be.", + "The doorway and the round wicker object leaning beside it are growing larger ahead, confirming my heading is good. Sacks and rubble stay off to the left of my line, so I will keep walking forward to shorten the remaining gap.", + "The green door and the wicker basket beside it are now close on my left, but my heading runs into the building wall and the sacks banked against it, so pressing straight ahead would jam me into that corner. I will turn right to face the open yard lane and keep a passable approach.", + "The green door sits in the wall opening ahead on my left, with the round wicker basket propped against the wall beside it. The open courtyard lane in front of me is clear of debris, so walking straight ahead should close the remaining distance to the door. I will step forward.", + "The green door and the woven basket leaning near it have grown noticeably larger on my left, confirming I am closing on the target. Nothing blocks the gravel lane between me and that wall. Another step forward should bring the basket within reach range.", + "The basket is now close along the left wall beside the green door, but it is still too far to my side for a grasp from here. The lane ahead remains open, so I will continue advancing to shorten the gap before turning toward it.", + "My forward heading has pushed the green door and the leaning basket to the far left edge of my view, where the basket is nearly cut off. Continuing straight would carry me past them rather than toward them. I will turn left to bring the door and basket back in front of me.", + "The turn has put the green door and the wicker basket squarely ahead of me, the basket resting upright against the wall. It is still several paces off, too distant to take hold of. I will walk forward to reach grasping range.", + "The wicker basket is standing against the wall just beside the green door in the wall opening, exactly the target I was sent for. It looks close enough ahead of me, so I will try to grab it now rather than step nearer first.", + "My hands are empty, so that grab did not take hold. The reach was made from too great a distance to have any chance of closing on the basket. I will walk forward to shorten that gap before trying again.", + "I am now right up against the doorway wall, and only the rim of the wicker basket shows at the lower left of what I can see. With it that far off to one side, a straight reach is unlikely to catch it. I turn left to bring the basket squarely in front of me.", + "The wicker basket now sits centered and close at the bottom of my view, against the doorframe beside the green door. This is a much better reach line than my earlier attempt from further back. I will try to grab it.", + "The basket is in my hands now, lifted clear of the ground where it stood. I still face this wall and doorway, which gives me no line toward a short vertical pipe. I turn left to swing my heading into the open yard and search for the drop spot.", + "The wicker basket is now in my hands, so the pickup at the green door is done and only the carry remains. Straight ahead the open door frames a dark interior, which is not where the short vertical pipe stands, so I keep rotating left off this doorway. This turn should swing my heading further toward the open yard.", + "My heading now shows the blank plaster and brick corner of the building with the doorway pushed to my right, so there is still no walkable line toward the pipe. Carrying the basket, I continue turning left to sweep past this wall face. Another step of rotation should bring the open courtyard into view.", + "The courtyard is starting to appear on the left with the long wall, refuse bags and open ground, while the wall corner still blocks the middle of my view. I turn left once more so that the open lane along the facade sits ahead of me rather than off to the side. That heading should let me walk out with the basket.", + "I am now facing along the long white wall with clear ground, a manhole cover and scattered bricks ahead, and the pipe destination lies further along this side of the yard. With the basket held, I step forward into that open lane. This should carry me away from the door and toward the wall stretch where the short pipe stands.", + "The wall keeps running to my right and the yard ahead is still open apart from the bag pile hugging the base of the wall. I continue walking forward with the basket to close distance along this facade. Further along should bring me nearer the section where the short vertical pipe is fixed.", + "The wicker basket is still in my hands, so the carry is holding. Straight ahead the wall closes in and a heap of sacks sits against its base, leaving no usable line, so I turn left to face the open yard running alongside this building. That heading should let me keep following the wall toward the short vertical pipe.", + "With the basket carried and the yard now open in front of me, the ground ahead is clear of the sack pile. I step forward along the building wall on my right, since the drop spot below the short pipe lies further along this facade.", + "The route stays open, with only weeds and scattered bricks between me and the far dumpster. No short vertical pipe is yet distinguishable on the wall beside me, so I keep walking forward to bring more of that facade into view.", + "I am still carrying the basket and the wall on my right continues past me without the target pipe in reach. The way forward remains passable beside the weeds, so I advance another step to close on the section of wall where the pipe should stand.", + "Walking straight now only carries me past the facade, and the wall I need is off to my right side rather than in front. I turn right to bring that wall face squarely into view so I can find the short vertical pipe and the ground beneath it.", + "The basket is still in my hands, and the short vertical pipe running down the pale wall is now off to my right front after the turn. The weeds and rubble in between mean I still need to close ground before I can set it down. I step forward along the wall toward the pipe's base.", + "The short vertical pipe is now clearly ahead of me on the wall, but I am still standing back among the dry weeds rather than at its foot. Carrying the basket, I want the ground directly beneath the pipe within reach before releasing it. One more step forward should bring me right up to that spot.", + "I am now right at the wall with the short vertical pipe rising directly in front of me and its base within arm's reach. The basket is still in my hands and this patch of ground is exactly the place named for setting it down. I release it here so it should come to rest below the pipe.", + "The wicker basket now rests on the ground directly below the short vertical pipe, and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d614c261a08e1a8387f30da4c6b90c97d840907c --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the vertical drainpipe on the leftmost wall section.", + "Type": 2, + "Start_Pose": [ + 1149.665, + -2675.134, + 198.148, + 0.0, + 34.56, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1149.665, + -2675.134, + 198.148, + 0.0, + 34.56, + -0.0 + ], + [ + 1253.314, + -2603.738, + 198.148, + 0.0, + 34.56, + -0.0 + ], + [ + 1253.314, + -2603.738, + 198.148, + 0.0, + 9.56, + -0.0 + ], + [ + 1377.425, + -2582.835, + 198.148, + 0.0, + 9.56, + -0.0 + ], + [ + 1501.536, + -2561.933, + 201.922, + 0.0, + 9.56, + -0.0 + ], + [ + 1625.647, + -2541.03, + 213.039, + 0.0, + 9.56, + -0.0 + ], + [ + 1625.647, + -2541.03, + 213.039, + 0.0, + 9.56, + -0.0 + ] + ], + "Rationale": [ + "The long factory wall runs off to my left, and at its far left section I can pick out a slim rust-brown pipe running vertically down the whitewashed brick beside the leftmost pair of windows, half screened by dry weeds. That pipe is my target, and I will keep to it by its rusty color rather than by counting the wall bays. I step forward first to close the open yard distance before angling toward it.", + "From here the rusty vertical pipe sits well off to my left edge, while my heading still points along the wall toward the green door and the yard beyond. A modest left turn should swing that pipe and its stretch of wall into the center of my path.", + "The turn has brought the rusty drainpipe into the middle of my view, running from the roofline down past the windows to a short stub post at ground level. Nothing but low weeds and loose gravel lies between me and that stretch of wall, so I walk straight ahead to close on it.", + "The drainpipe is noticeably nearer now, its rusted seams and the stub post at its foot clearly resolved against the crumbling plaster. I am still several paces short of the wall, so I continue straight forward through the weeds.", + "The drainpipe now fills a good part of my view with the wall's broken plaster right behind it, but the weeds in front tell me there is still a short gap left. One more step forward should bring me right up beside it.", + "The rusted vertical drainpipe stands directly before me, close enough to fill my view against the plastered wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96037c1a82d921e194ead2076dc8cf63bbbd53f4 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the black garbage bags near the far center.", + "Type": 2, + "Start_Pose": [ + 1149.665, + -2675.134, + 198.148, + 0.0, + 34.56, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1149.665, + -2675.134, + 198.148, + 0.0, + 34.56, + -0.0 + ], + [ + 1253.314, + -2603.738, + 198.148, + 0.0, + 34.56, + -0.0 + ], + [ + 1253.314, + -2603.738, + 198.148, + 0.0, + 59.56, + -0.0 + ], + [ + 1317.079, + -2495.227, + 198.148, + 0.0, + 59.56, + -0.0 + ], + [ + 1380.843, + -2386.717, + 198.148, + 0.0, + 59.56, + -0.0 + ], + [ + 1444.608, + -2278.206, + 198.148, + 0.0, + 59.56, + -0.0 + ], + [ + 1444.608, + -2278.206, + 198.148, + 0.0, + 34.56, + -0.0 + ], + [ + 1548.257, + -2206.81, + 198.148, + 0.0, + 34.56, + -0.0 + ], + [ + 1651.906, + -2135.414, + 200.117, + 0.0, + 34.56, + -0.0 + ], + [ + 1651.906, + -2135.414, + 200.117, + 0.0, + 34.56, + -0.0 + ] + ], + "Rationale": [ + "Two heaps of bags are in the yard: a near one at the right beside the wooden pallet bench, and the darker pile further off at the center of the yard against the factory wall. That far center heap is my target, so I walk forward across the open gravel to close the distance.", + "My heading is angled into the plastered wall and weeds, while the bag heap I want sits slightly right of my path, deeper along the building. I will turn right so the open yard and that pile line up ahead of me instead of the wall.", + "The yard now opens ahead with the green door and the loading bays visible, and the bag heap against the building stands out on the left of my path. Another cluster of bags lies close on my right, but it is not the one I am going to, so I keep walking forward.", + "The heap by the wall is noticeably larger now and still ahead and a little to my left, with clear gravel between us. I keep stepping forward to shorten that gap.", + "The bags beside the green door are close enough that individual sacks are distinct, but I am still several strides short of them. Nothing blocks the ground in front of me, so I advance again.", + "The heap of bags has slid to the left edge of my view against the wall, while my heading points down the open yard past it. I will turn left so the pile sits squarely in front of me before I step in.", + "The heap of bags now sits centered ahead of me beside the manhole cover and the wall. With my line of travel straight onto it, I walk forward to close the last of the gap.", + "The bags fill the lower half of my view and I can see the creases in the plastic, so only a short step remains. I move forward once more to stand right at the pile.", + "The bag pile against the factory wall is right at my feet, filling the near view. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001258_y-002450_z000198_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001258_y-002450_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7df0589ba643618f7f7acbbb6cccc943ef0a3b25 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001258_y-002450_z000198_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Search for a sealed wooden window that bears a yellow warning notice; after locating it, make your way over to it.", + "Type": 1, + "Start_Pose": [ + 1258.357, + -2449.58, + 198.148, + 0, + 153.6, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1258.357, + -2449.58, + 198.148, + 0, + 153.6, + 0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 128.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 103.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 78.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 53.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 28.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 3.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + -21.4, + 0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + -46.4, + 0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + -71.4, + 0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + -96.4, + 0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + -121.4, + 0.0 + ], + [ + 1192.783, + -2557.007, + 198.148, + 0.0, + -121.4, + 0.0 + ], + [ + 1127.21, + -2664.434, + 198.148, + 0.0, + -121.4, + 0.0 + ], + [ + 1061.636, + -2771.861, + 198.148, + 0.0, + -121.4, + 0.0 + ], + [ + 996.062, + -2879.288, + 198.468, + 0.0, + -121.4, + 0.0 + ], + [ + 930.488, + -2986.715, + 208.192, + 0.0, + -121.4, + 0.0 + ], + [ + 870.636, + -3033.068, + 212.008, + 0.0, + -121.4, + 0.0 + ], + [ + 870.636, + -3033.068, + 212.008, + 0.0, + -121.4, + 0.0 + ], + [ + 870.636, + -3033.068, + 212.008, + 0.0, + -121.4, + 0.0 + ] + ], + "Rationale": [ + "In front of me there is only a heap of black refuse bags against a brick facade whose windows are large glass panes, not boarded wood with a yellow notice. Since nothing here matches the sealed window I need, I will turn left to begin a steady scan of the surrounding yard.", + "The rotation has opened up a wooden pallet and more of the same brick wall with a shuttered metal opening, still with no boarded window or yellow placard. I will keep turning left in the same direction to sweep further around the yard.", + "An open yard with red gates and distant buildings has come into view on the left, which suggests more wall surfaces lie further around. None of these surfaces show a planked window with a yellow notice, so I will continue rotating left.", + "A pale plastered building with a green door and low windows is now entering the left side of my view, a promising facade for a posted notice. I will turn left again to bring that wall fully in front of me.", + "The whitewashed wall with several small windows is now centered, and I can make out a small pale placard beside one of them, though it does not read clearly and those windows appear glazed rather than planked over. I will turn left once more to inspect the rest of this wall.", + "Facing this crumbling plaster and brick wall directly, the small sign sits far to the right edge and the nearby openings still look like dark glazed frames rather than a sealed wooden one. I will continue the leftward sweep to check the remaining stretch of the yard.", + "Further left the wall continues past dry weeds toward a dark corner with dumpsters and stacked refuse, and no yellow placard is visible on this section. I will keep turning left to reveal the unseen part of the courtyard beyond that corner.", + "The green dumpster and cardboard boxes now occupy most of my view, and the wall behind them carries only barred or open windows without any yellow sign. I will maintain the same leftward rotation to bring the still unexamined side of the courtyard into view.", + "Ahead of me are a row of green dumpsters and a stretch of plaster and brick wall whose windows are dark and bare, with no yellow notice anywhere on them. Since nothing here matches the sealed window I need, I will keep rotating left in the same steady direction to sweep the rest of this yard.", + "The dumpster block now sits near the center of my view and the wall behind it carries only plain dark openings, none of them boarded or marked. I will continue the same leftward sweep so the wall further around the courtyard comes into view.", + "On the wall to the left of the dumpsters I can now pick out planked-over windows, and one of them shows a small bright yellow patch that looks like a posted notice. I will turn left once more to bring that boarded window closer to the center of my view before committing to an approach.", + "The boarded window with the yellow notice is now roughly ahead of me across the open, puddled yard, with only loose bricks on the ground between us. I will walk forward toward that wall to close the distance and confirm the sign at closer range.", + "The wall has grown larger in front of me and the yellow placard on the sealed, plank-covered window is clearer now, still slightly left of center. The path across the gravel remains clear, so I will keep stepping forward toward it.", + "I can now read the target as a wooden-boarded window with a yellow warning card fixed to its frame, directly ahead of my heading. Only some dry weeds stand between me and the base of the wall, so I will continue advancing.", + "The sealed window and its yellow notice are close and clearly in front of me, though I am still standing back across the weeds. I will step forward again to bring myself right up to the wall beneath it.", + "The boarded window with its yellow warning sign fills much of my view now and the wall is only a short step away. I will move forward once more to close the remaining gap and stand directly at the window.", + "The boarded window with its yellow \"WARNING: DANGER\" notice now fills the upper part of my view, and the brick sill is directly ahead of me. I will take one more short step forward to close the last bit of distance and stand right at the wall beneath it.", + "Standing this close to the wall, my view is filled by the brick sill and plaster, and the boarded window has slipped above my line of sight. I will tilt my gaze upward so the planked window and its yellow notice come back into view for confirmation.", + "The planked-over window with its yellow WARNING DANGER notice is directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001258_y-002450_z000198_t1_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001258_y-002450_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0a5973bffaf177725a42af14b816b7eff9c73c5 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001258_y-002450_z000198_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the pair of vertical standing pipes of differing lengths positioned side by side, then navigate toward them.", + "Type": 1, + "Start_Pose": [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 153.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 153.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 128.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 103.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 78.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 53.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 28.6, + -0.0 + ], + [ + 1258.357, + -2449.58, + 198.148, + 0.0, + 3.6, + -0.0 + ], + [ + 1383.968, + -2441.677, + 198.148, + 0.0, + 3.6, + -0.0 + ], + [ + 1509.578, + -2433.775, + 198.148, + 0.0, + 3.6, + -0.0 + ], + [ + 1509.578, + -2433.775, + 198.148, + 0.0, + -21.4, + 0.0 + ], + [ + 1626.76, + -2479.698, + 212.91, + 0.0, + -21.4, + 0.0 + ], + [ + 1714.429, + -2498.558, + 212.993, + 0.0, + -21.4, + 0.0 + ], + [ + 1714.429, + -2498.558, + 212.993, + 0.0, + -46.4, + 0.0 + ], + [ + 1714.429, + -2498.558, + 212.993, + 0.0, + -46.4, + 0.0 + ] + ], + "Rationale": [ + "My view is filled with a heap of dark refuse sacks against a brick facade and a tall grid window, with no vertical standing pipes anywhere in sight. Since nothing here matches the pair of upright pipes of different heights, I will turn left to begin a steady scan of the surrounding yard.", + "The rotation has brought a wooden pallet and more sacks into view along the same brick wall, and still no standing pipes appear. I will keep turning left in the same direction to sweep further around the yard.", + "An open courtyard with distant red gates and a walkable stretch of ground is now emerging on the left, which looks far more promising than the sack pile behind me. No paired upright pipes are visible yet, so I will continue turning left to bring that open area fully into view.", + "The courtyard is now clear ahead with a green doorway and shed walls, but I still see no pair of vertical pipes standing side by side. I will keep the scan going to the left to inspect the plastered building face on that side.", + "The long whitewashed wall with its row of windows now dominates my view, and small bagged bundles sit at its base rather than any standing pipework. Continuing the same leftward sweep should expose the remaining section of that wall.", + "I am facing the weathered wall almost squarely now, with weeds and rubble along its base and no clear pipe pair yet resolved at this distance. I will turn left once more to settle the wall section that seems to carry vertical fittings into the center of my view.", + "A dark vertical pipe now stands out against the plastered wall slightly left of center, running from the ground up past the window line, which fits the kind of standing pipework the task describes. It is still far off, so I will walk forward to close distance and see whether a second, shorter pipe stands beside it.", + "The advance has brought the wall noticeably closer and the vertical pipe on the left is now sharper and taller in my view. I will step forward again to reach it and confirm the neighboring shorter pipe at its base.", + "Most of what I can see now is the peeling white and brick wall directly ahead, but a dark vertical pipe rises against that wall at the far left of my sight. Since the pipes I am looking for stand to my left, I will turn left to bring that pipe area into the center before advancing.", + "The turn has brought the standing pipe into the middle of my sight, running from the weeds up along the wall, and the ground between us is open dirt and dry grass. I will step forward to close the distance toward it.", + "The pipe is noticeably larger and closer now, with its jointed collar and base clearly visible slightly left of straight ahead. I will keep walking forward to finish closing the remaining gap to the pipes at the wall.", + "I am now right up against the plastered wall, so close that only cracked white surface and brick fill what is ahead, and the pipe has slipped out of sight to my left. I will turn left to bring the standing pipes back in front of me at this close range.", + "Directly before me stand the two vertical pipes of unequal height side by side against the brick wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001303_y-000993_z000198_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001303_y-000993_z000198_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8eba037c53d0cd1344ecb5623b5a06bc4dcadd53 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001303_y-000993_z000198_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Navigate to the large red door.", + "Type": 0, + "Start_Pose": [ + 1302.795, + -993.339, + 198.148, + 0.0, + -37.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1302.795, + -993.339, + 198.148, + 0.0, + -37.44, + 0.0 + ], + [ + 1425.639, + -1099.005, + 198.148, + 0.0, + -37.44, + 0.0 + ], + [ + 1525.57, + -1175.518, + 203.571, + 0.0, + -37.44, + 0.0 + ], + [ + 1625.501, + -1252.032, + 198.561, + 0.0, + -37.44, + 0.0 + ], + [ + 1725.432, + -1328.545, + 205.895, + 0.0, + -37.44, + 0.0 + ], + [ + 1725.432, + -1328.545, + 205.895, + 0.0, + -37.44, + 0.0 + ] + ], + "Rationale": [ + "The large red double door sits ahead of me in the center of the weathered industrial wall, roughly in line with my current heading. Since nothing blocks the open gravel yard between us, I will step forward to begin closing the distance without needing to turn.", + "The red door now fills more of my view and remains slightly right of center, close enough to my heading that no turn is needed. I will keep advancing straight to shorten the remaining gap across the clear ground.", + "The rusted red door panels now dominate my view and I can read the markings low on the right leaf, so I am only a short distance away. The path in front of me stays clear, so I will move forward again to close in on the door.", + "The red door surface fills nearly my whole view and its lower edge is very near, so one more short step should bring me right up to it. I will advance forward to finish closing the last of the distance.", + "The large red door's weathered metal surface is directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..95807e2a5c63748f2657069cf331ac917b9dd2be --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the green dumpster, then head toward the dried plant clump.", + "Type": 3, + "Start_Pose": [ + 1517.627, + -82.314, + 207.469, + 0.0, + 67.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1517.627, + -82.314, + 207.469, + 0.0, + 67.2, + -0.0 + ], + [ + 1517.627, + -82.314, + 207.307, + 0.0, + 42.2, + -0.0 + ], + [ + 1610.864, + 2.228, + 212.698, + 0.0, + 42.2, + -0.0 + ], + [ + 1704.101, + 86.77, + 209.613, + 0.0, + 42.2, + -0.0 + ], + [ + 1797.338, + 171.312, + 212.688, + 0.0, + 42.2, + -0.0 + ], + [ + 1890.575, + 255.854, + 208.315, + 0.0, + 42.2, + -0.0 + ], + [ + 1890.575, + 255.854, + 208.315, + 0.0, + 42.2, + -0.0 + ], + [ + 1890.575, + 255.854, + 208.315, + 0.0, + 67.2, + -0.0 + ], + [ + 1890.575, + 255.854, + 208.315, + 0.0, + 92.2, + -0.0 + ], + [ + 1890.575, + 255.854, + 208.315, + 0.0, + 117.2, + -0.0 + ], + [ + 1833.045, + 367.795, + 212.691, + 0.0, + 117.2, + -0.0 + ], + [ + 1833.045, + 367.795, + 212.691, + 0.0, + 142.2, + -0.0 + ], + [ + 1733.597, + 444.935, + 200.871, + 0.0, + 142.2, + -0.0 + ], + [ + 1733.597, + 444.935, + 200.871, + 0.0, + 142.2, + -0.0 + ] + ], + "Rationale": [ + "The green skip sits far off at the left edge of my view, mostly cut off by the frame. I will turn left so it comes into the center of my path before I start walking toward it.", + "The green skip now sits ahead and slightly left, with open paving stones between me and it. I will walk forward to close that gap.", + "The skip has grown noticeably larger and its rusted rim is now clearly readable, so my heading is good. The ground ahead is still open paving, so I will keep walking toward it.", + "The green skip now occupies the left half of my view and its near corner is close, but I am not yet beside it. Another step forward should bring me right up alongside it.", + "The skip's side panel now looms large at my left and I can see its interior lip, so I am nearly level with it. One more step should place me directly at its flank.", + "The battered green skip is right at my shoulder, its rusted side filling the whole left of my view at arm's length. I have arrived at it. I mark reaching the green skip, and now I set off for the clump of dried weeds growing along the yard.", + "With the skip beside me I am facing into the wall corner, and the dry weed clump lies back out along the yard to my right. I will turn right to begin swinging my heading away from this corner toward it.", + "I am still looking at blank patched wall with only the skip's edge left in frame, so the dried weeds are not yet in sight. I will turn right again to keep sweeping my view along the yard toward them.", + "The blank patched wall still fills most of my view, but a clump of dry brittle stalks shows at the right edge. I will turn right again to swing that thin dead growth toward the middle of my view so I can walk straight at it.", + "The dried plant clump now stands ahead of me at the base of the wall, with open paving slabs between us. Nothing blocks that stretch, so I will walk forward to cut the distance to it.", + "The dried weeds are close now, low on the paving just ahead, but the wall stands square in front of me and would stop a straight approach. I will turn right onto the open pavement so I can step in beside the clump rather than into the wall.", + "The dried plant clump is off to my left along the wall corner, and the pavement ahead is clear of the sacks and the container further out. A step forward should bring me level with those dry stalks.", + "The clump of dried stalks stands right beside me at arm's length by the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2603e8f701f89fb30352e10a671f3e979221b3fe --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Navigate to the red panel marked six, then approach the green dumpster.", + "Type": 3, + "Start_Pose": [ + 1517.627, + -82.314, + 207.469, + 0.0, + 67.2, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1517.627, + -82.314, + 207.469, + 0.0, + 67.2, + -0.0 + ], + [ + 1566.399, + 33.711, + 209.303, + 0.0, + 67.2, + -0.0 + ], + [ + 1615.172, + 149.736, + 210.266, + 0.0, + 67.2, + -0.0 + ], + [ + 1615.172, + 149.736, + 210.266, + 0.0, + 92.2, + -0.0 + ], + [ + 1610.34, + 275.502, + 211.184, + 0.0, + 92.2, + -0.0 + ], + [ + 1605.509, + 401.268, + 200.976, + 0.0, + 92.2, + -0.0 + ], + [ + 1600.677, + 527.034, + 198.128, + 0.0, + 92.2, + -0.0 + ], + [ + 1595.846, + 652.801, + 198.128, + 0.0, + 92.2, + -0.0 + ], + [ + 1595.846, + 652.801, + 198.128, + 0.0, + 92.2, + -0.0 + ], + [ + 1599.393, + 560.469, + 198.128, + 0.0, + 92.2, + -0.0 + ], + [ + 1599.393, + 560.469, + 198.128, + 0.0, + 67.2, + -0.0 + ], + [ + 1599.393, + 560.469, + 198.128, + 0.0, + 42.2, + -0.0 + ], + [ + 1599.393, + 560.469, + 198.128, + 0.0, + 17.2, + -0.0 + ], + [ + 1599.393, + 560.469, + 198.128, + 0.0, + -7.8, + 0.0 + ], + [ + 1599.393, + 560.469, + 198.128, + 0.0, + -32.8, + 0.0 + ], + [ + 1705.186, + 492.29, + 198.128, + 0.0, + -32.8, + 0.0 + ], + [ + 1810.979, + 424.111, + 206.071, + 0.0, + -32.8, + 0.0 + ], + [ + 1916.771, + 355.932, + 212.701, + 0.0, + -32.8, + 0.0 + ], + [ + 1916.771, + 355.932, + 212.701, + 0.0, + -32.8, + 0.0 + ] + ], + "Rationale": [ + "Across the yard I can read a faint six chalked on the right-hand red panel of the far wall, and a green dumpster sits off to my left. The red panel is my first destination, so I walk straight ahead to close the open stretch of paving between us.", + "The wall has grown larger and the panel bearing the six still lies ahead and to my right, so I am gaining on it. I keep walking forward to cut down the remaining distance before I worry about fine heading.", + "From here the panel carrying the six sits off to the right of my heading, while the plain white strip and a different panel fill the middle of my view. I turn right so that marked panel comes toward the center and I can walk at it directly.", + "The panel with the six now sits near the middle of my view with the weeds and cracked slabs between me and the wall. With the heading good, I walk forward to close on that marked red panel.", + "The six and the white strip beside it are much larger now, filling most of my view, so only a short stretch of paving remains. I step forward again to bring myself right up to that panel.", + "The red plaster and the chalked six now fill nearly the whole view and the wall base with its weeds is just in front of me. I advance once more to stand directly at this marked panel.", + "The rough red surface with its six is right in front of me and the white strip has slipped to the edge of my view. One more step should put me flush against this panel rather than a pace short of it.", + "Nothing but coarse red plaster fills my view, so I am standing right against the panel that carries the six. I have reached it. I mark arriving here, then turn my attention to the green dumpster waiting back across the yard.", + "The red panel fills my whole view, so I am pressed too close to the plaster to see anything else in the yard. I will step back to open some distance from the wall, which should give me room to swing my heading toward the green dumpster.", + "Backing off has restored some context: I can see the faint six on the red panel and the white strip beside it, but no sign of the green dumpster ahead. It sat off to my left along this wall, so I will turn left to begin swinging my view that way.", + "My view has shifted onto the white band of the wall, and the green dumpster is still outside the frame to my left. I will keep turning left to bring more of the yard into view.", + "The wall is now angling away to my left and open pavement appears at the far left edge, so my heading is sweeping off the plaster. Another left turn should carry my view further along the yard toward the green dumpster.", + "The green dumpster has just come into view at the far left edge of my sight, with the open yard between us. I will turn left again to bring it nearer the middle of my view before walking.", + "The green dumpster now sits clearly in the left half of my view across the paved yard. One more left turn should put it squarely in front of me so I can walk straight at it.", + "The green dumpster is centered ahead of me with unobstructed paving in between. I will walk forward to close the gap toward it.", + "The green dumpster has grown noticeably larger and still lies straight ahead, so my heading remains good. I will step forward again to bring myself close beside it.", + "The green skip fills most of my view now, its near corner just ahead and slightly left of my heading. A short step more should bring me right up against its side rather than leaving a gap of open paving between us.", + "The green dumpster's rusted side wall fills my view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_d_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_d_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b947387af69e14d97ca8e48f0a53879cbb63a323 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_d_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Lift the wicker basket beside red panel six, then put it down near red panel four.", + "Type": 5, + "Start_Pose": [ + 1517.627, + -82.314, + 207.469, + 0, + 67.2, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1469.188, + 538.15, + 161.021, + 90, + 87.2, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1517.627, + -82.314, + 207.469, + 0, + 67.2, + 0 + ], + [ + 1517.627, + -82.314, + 207.307, + 0.0, + 92.2, + -0.0 + ], + [ + 1512.796, + 43.452, + 207.436, + 0.0, + 92.2, + -0.0 + ], + [ + 1507.964, + 169.218, + 212.579, + 0.0, + 92.2, + -0.0 + ], + [ + 1503.133, + 294.985, + 208.252, + 0.0, + 92.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 92.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 92.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 67.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 42.2, + -0.0 + ], + [ + 1591.538, + 505.293, + 198.21, + 0.0, + 42.2, + -0.0 + ], + [ + 1684.774, + 589.836, + 198.21, + 0.0, + 42.2, + -0.0 + ], + [ + 1684.774, + 589.836, + 198.21, + 0.0, + 17.2, + -0.0 + ], + [ + 1805.005, + 627.054, + 206.185, + 0.0, + 17.2, + -0.0 + ], + [ + 1925.235, + 664.272, + 203.075, + 0.0, + 17.2, + -0.0 + ], + [ + 1925.235, + 664.272, + 203.075, + 0.0, + 42.2, + -0.0 + ], + [ + 1871.897, + 615.908, + 204.579, + 0.0, + 42.2, + -0.0 + ], + [ + 1871.897, + 615.908, + 204.579, + 0.0, + 42.2, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1469.188, + 538.15, + 161.021, + 90.0, + 87.2, + 0.0 + ], + [ + 1469.188, + 538.15, + 161.021, + 90.0, + 87.2, + 0.0 + ], + [ + 1469.188, + 538.15, + 161.021, + 90.0, + 87.2, + 0.0 + ], + [ + 1469.188, + 538.15, + 161.021, + 90.0, + 87.2, + 0.0 + ], + [ + 1469.188, + 538.15, + 161.021, + 90.0, + 87.2, + 0.0 + ], + [ + 1469.188, + 538.15, + 161.021, + 90.0, + 87.2, + 0.0 + ], + [ + 1476.986, + 419.321, + 181.231, + -28.202, + 142.345, + 1.862 + ], + [ + 1479.255, + 428.09, + 181.503, + -28.189, + 117.357, + 1.872 + ], + [ + 1484.866, + 435.801, + 180.836, + -28.215, + 92.328, + 1.849 + ], + [ + 1576.977, + 520.918, + 167.674, + -28.202, + 92.342, + 1.858 + ], + [ + 1670.101, + 605.356, + 167.936, + -28.208, + 92.342, + 1.852 + ], + [ + 1678.188, + 609.105, + 168.591, + -28.2, + 67.345, + 1.865 + ], + [ + 1798.209, + 647.308, + 168.06, + -28.194, + 67.349, + 1.865 + ], + [ + 1918.625, + 684.58, + 171.486, + -28.202, + 67.342, + 1.859 + ], + [ + 1909.526, + 680.392, + 172.691, + -28.194, + 92.347, + 1.873 + ], + [ + 1923.753, + 662.928, + 169.579, + 90.0, + 42.2, + 0.0 + ], + [ + 1923.753, + 662.928, + 169.579, + 90.0, + 42.2, + 0.0 + ] + ], + "PD_Dist_2D": [ + 622.4, + 622.4, + 496.6, + 371.0, + 245.5, + 121.0, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 20.4, + 21.4, + 21.4, + 22.5, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket rests against the wall on the right, near the red panel marked six, while my heading points more toward the middle of the yard. I will turn right so the basket sits ahead of me and I can walk straight at it.", + "The basket now sits close to the center of my view against the wall with the panel marked six, with open paving between us. I will walk forward to close that distance before attempting any grasp.", + "The basket has grown larger and stays near the center of my view, so my heading remains good. I will keep walking forward, since I am still several paces short of reaching range.", + "The basket is now clearly resolved against the red panel and the bags of debris stay off to my right, clear of my path. I will step forward again to bring it within reach.", + "The basket fills much of the lower center of my view, but it still looks a step too far for a comfortable grasp. I will advance once more so it sits directly in front of me before I try to lift it.", + "The wicker basket is now immediately in front of me at the base of the red panel marked six, close enough that it dominates the lower part of my view. My hands are empty, so I will attempt to pick it up now.", + "The grasp worked: the wicker basket is now held in my hands instead of resting on the paving. The delivery spot near red panel four lies back along the wall to my left, so I will turn left to begin heading that way.", + "I still carry the basket, and my view now shows the panel marked six with the white strip beside it, so I am facing the wall rather than a walkable line. I will turn left again to swing my heading further toward the panels beyond it and open a clear path.", + "The basket is in my hands, so the pickup beside panel six is settled and I only need to carry it. My heading now runs along the panelled wall with clear paving ahead, so I step forward to close distance toward the panel four end.", + "Carrying the basket, I see the wall sliding past on my right and the corner of the yard opening further ahead. Nothing blocks the paving in front of me, so another step forward should bring me nearer the stretch of panels I need.", + "The pale wall now fills most of my view close on the right, while the usable open floor lies to my left. Still holding the basket, I turn left to swing my heading off the wall face and back along the run of panels toward my drop area.", + "After the turn the corner of the yard and the next painted panels are in front of me with the wall angled off to the right. The basket is still in my hands, so I walk forward to reach the panel section where it belongs.", + "The red panel and the white joint strip are close ahead on my left, so I am nearly at the placement zone. I take one more step forward to bring the basket right up beside that panel before setting it down.", + "I am standing at the panelled wall with its marked face angled across my view rather than squarely in front. I turn right to square my body onto the panel surface and the ground at its base, which should give a clean spot for releasing the basket.", + "I am now facing the marked panel from close range with the paving at its base directly before me, and the basket is still held. This is the placement spot the task asks for, so I release it here and expect it to settle on the ground beside the panel.", + "The wicker basket now rests on the ground beside the marked red panel and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba811b82512049ee5543b897110a8fb9cb23968 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the area and approach the red door marked with the number 4.", + "Type": 1, + "Start_Pose": [ + 1555.61, + -365.804, + 203.613, + 0, + -75.84, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1555.61, + -365.804, + 203.613, + 0, + -75.84, + 0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + -50.84, + 0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + -25.84, + 0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + -0.84, + 0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + 24.16, + -0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + 49.16, + -0.0 + ], + [ + 1637.915, + -270.587, + 203.613, + 0.0, + 49.16, + -0.0 + ], + [ + 1637.915, + -270.587, + 203.613, + 0.0, + 74.16, + -0.0 + ], + [ + 1672.269, + -149.507, + 207.179, + 0.0, + 74.16, + -0.0 + ], + [ + 1706.622, + -28.427, + 209.727, + 0.0, + 74.16, + -0.0 + ], + [ + 1740.976, + 92.653, + 205.268, + 0.0, + 74.16, + -0.0 + ], + [ + 1775.329, + 213.733, + 208.315, + 0.0, + 74.16, + -0.0 + ], + [ + 1809.683, + 334.812, + 210.275, + 0.0, + 74.16, + -0.0 + ], + [ + 1844.036, + 455.892, + 205.1, + 0.0, + 74.16, + -0.0 + ], + [ + 1878.39, + 576.972, + 200.661, + 0.0, + 74.16, + -0.0 + ], + [ + 1912.271, + 669.098, + 202.802, + 0.0, + 74.16, + -0.0 + ], + [ + 1912.271, + 669.098, + 202.802, + 0.0, + 74.16, + -0.0 + ] + ], + "Rationale": [ + "I am standing in an open industrial yard with brick workshops, dumpsters and rubbish bags around me, and no red door bearing the number 4 is anywhere ahead. I will turn right to begin a steady scan of the surrounding facades for a numbered red door. Sweeping consistently in one direction should let me cover the yard without missing a wall.", + "The heading now shows a long grey workshop wall with a green skip and scattered rubbish, but still no red door with a number on it. I will keep rotating right to continue the same scan into the yet unseen part of the yard. The brighter opening toward the right side suggests more buildings there worth checking.", + "A large red panelled door with a faint numeral appears at the right edge of my view on the tall hall wall, which is a strong cue that this facade carries the numbered doors. I will turn right again to bring that red wall fully in front of me and read its markings. If more red doors line up there, the one numbered 4 is likely among them.", + "The red door marked 8 is now clearly in front of me, so this wall is indeed the numbered row, but 8 is not my target. I will turn right once more to follow the row and look for lower numbers further along. A rusty container sits in the middle of the yard, so I also want a clearer line toward the doors.", + "Turning has revealed more of the red panelled row, with 8 now on my left and another numeral appearing on the right end of the wall. I will turn right again to face the far stretch of doors where the remaining numbers should be readable. This keeps my scan moving in one consistent direction along the facade.", + "I am now facing the recessed courtyard with the row of red doors, and the door marked 6 stands out on the right side of the wall. The rusty container and green skip clutter the near ground, so I will walk forward to close distance and get a readable line on the numerals. Getting nearer should let me tell which panel carries the number 4.", + "From this closer position the door numbered 6 sits to my right and the container now blocks much of the left side of the courtyard. Since the numbers appear to fall as I look rightward, I will turn right to bring the neighbouring panels into the centre ahead of me. That should reveal whether the door marked 4 is in that part of the row.", + "The red doors are now squarely ahead, with 6 on the right and another panel to its left that I still cannot read clearly from here. I will walk forward across the paved courtyard to close in on that row. Approaching should make the numerals legible so I can settle on the door marked 4.", + "The red door marked 4 is now clearly visible ahead and slightly left of center, with the number 6 door further right along the same wall. Since the target is identified, I will keep walking straight toward it to close the remaining distance across the open yard.", + "Door 4 stays in view slightly left of my heading and the wall detail is growing larger, so my heading is still good. I will step forward again to reduce the gap before making any fine alignment.", + "The marked door 4 fills more of my view and the yellow stencil text beside it is now legible, confirming I am closing on the right target. I will continue straight ahead rather than turn, since the door remains near my forward axis.", + "Door 4 now dominates the left half of my view with its numeral clearly readable, so the approach line is correct. I will advance again to bring myself close enough to stand directly at the door.", + "I am close to the wall now, with the marked red door and its numeral just left of my heading and the white pilaster on the right. A further step should place me squarely in front of door 4 rather than off to its side.", + "The weathered red panel of door 4 fills most of my view with its numeral still visible at the left, so I am nearly at the door face. I will take another short step to stand right up against it.", + "Only the flaking red surface of the target door and the adjacent white wall remain in view, meaning I am within a step of contact. I will move forward once more to settle at arm's length from door 4.", + "I am standing directly against the red surface of the door marked 4. The approach task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c78eafeafa0eb31c3a32fcafa3602db518214c6 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the area and head toward the red door labeled number 6.", + "Type": 1, + "Start_Pose": [ + 1555.61, + -365.804, + 203.613, + 0, + -75.84, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1555.61, + -365.804, + 203.613, + 0, + -75.84, + 0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + -50.84, + 0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + -25.84, + 0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + -0.84, + 0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + 24.16, + -0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + 49.16, + -0.0 + ], + [ + 1555.61, + -365.804, + 203.613, + 0.0, + 74.16, + -0.0 + ], + [ + 1589.963, + -244.724, + 203.613, + 0.0, + 74.16, + -0.0 + ], + [ + 1624.317, + -123.644, + 215.398, + 0.0, + 74.16, + -0.0 + ], + [ + 1624.317, + -123.644, + 215.398, + 0.0, + 99.16, + -0.0 + ], + [ + 1604.281, + 0.61, + 212.29, + 0.0, + 99.16, + -0.0 + ], + [ + 1584.245, + 124.864, + 210.266, + 0.0, + 99.16, + -0.0 + ], + [ + 1564.21, + 249.118, + 212.578, + 0.0, + 99.16, + -0.0 + ], + [ + 1544.174, + 373.372, + 212.634, + 0.0, + 99.16, + -0.0 + ], + [ + 1524.138, + 497.626, + 204.059, + 0.0, + 99.16, + -0.0 + ], + [ + 1504.102, + 621.88, + 203.463, + 0.0, + 99.16, + -0.0 + ], + [ + 1504.102, + 621.88, + 203.463, + 0.0, + 99.16, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the open industrial yard I can see brick sheds, a green skip and refuse sacks, but no red door carrying a number. I will turn right to begin a steady scan of the surrounding facades for the labeled door six.", + "The wall now facing me is grey plaster and brick with small windows and a loading bay, none of it a red numbered door. Keeping the same rightward sweep, I will turn right again to bring the next stretch of building into view.", + "At the right edge of my view a large red panel with a painted number has appeared on the tall hall wall, which is exactly the kind of labeled door the task describes. I will continue turning right to bring that row of numbered red doors fully in front of me.", + "The red door marked eight is now clearly ahead, so the numbered doors run along this hall wall and door six should lie further along the same row. I will keep turning right to reveal more of that wall and look for the six.", + "Turning has opened up the corner of the hall, with the eight on the left and another red door with a faint numeral appearing on the right past the crate. I will turn right once more to read the doors on that side of the wall.", + "On the right portion of the wall I can now make out a red door marked six, so the search target is finally in sight. I will turn right to put that door near the center of my heading before walking toward it.", + "The row of red doors is squarely ahead of me, with the four to the left and the six just right of center, and the paved ground between us looks clear apart from the skip well off to my left. I will walk forward to close the distance toward door six.", + "The wall has grown noticeably larger and the six on the red door right of center is easier to read, so my heading is carrying me toward the correct door. I will step forward again to keep closing in on it.", + "The row of red doors is close now, and the one marked 6 sits toward the right side of my view while the door marked 4 is centered ahead. I will turn right to put the number 6 door directly in front of me before closing the remaining distance.", + "The turn has brought the red door with the number 6 into the middle of my view, with open paving between me and it. I will walk forward along that clear stretch to close the gap toward the door.", + "The number 6 door is growing larger and stays centered in my view, so my heading is still good. I continue stepping forward across the flat slabs, since nothing blocks the direct line to the door.", + "The red panel with the painted 6 now fills much of my forward view, confirming I am closing on the correct door. Another step forward should bring me to the threshold area in front of it.", + "I am nearly at the door, with the number 6 marking plainly visible slightly left of center on the red panel. I will keep walking forward to reach the door itself rather than stopping short in the yard.", + "The red surface and its painted 6 now dominate my view and the base of the door is close under me. I will take another step forward to stand right at the target door.", + "Only the weathered red panel with its painted 6 remains in front of me, so I am essentially at the door face. One final short step forward should place me directly against the target door.", + "I am standing directly against the red door's panel, filling my whole view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001585_y-001729_z000198_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001585_y-001729_z000198_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4190ff37a23352cd1049779d87cb1a691f77370b --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001585_y-001729_z000198_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the wooden pallet near the trash bags.", + "Type": 0, + "Start_Pose": [ + 1585.306, + -1728.643, + 198.148, + 0.0, + -108.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1585.306, + -1728.643, + 198.148, + 0.0, + -108.48, + 0.0 + ], + [ + 1545.412, + -1848.012, + 198.148, + 0.0, + -108.48, + 0.0 + ], + [ + 1505.518, + -1967.381, + 198.148, + 0.0, + -108.48, + 0.0 + ], + [ + 1505.518, + -1967.381, + 198.148, + 0.0, + -133.48, + 0.0 + ], + [ + 1418.914, + -2058.706, + 198.148, + 0.0, + -133.48, + 0.0 + ], + [ + 1418.914, + -2058.706, + 198.148, + 0.0, + -108.48, + 0.0 + ], + [ + 1414.822, + -2167.842, + 198.148, + 0.0, + -108.48, + 0.0 + ], + [ + 1414.822, + -2167.842, + 198.148, + 0.0, + -133.48, + 0.0 + ], + [ + 1358.092, + -2269.501, + 198.148, + 0.0, + -133.48, + 0.0 + ], + [ + 1358.092, + -2269.501, + 198.148, + 0.0, + -133.48, + 0.0 + ] + ], + "Rationale": [ + "From the initial task position I can see the long line of dark trash bags heaped along the wall to my left, with loose wooden boards lying on the open ground beyond them. The wooden pallet I need should be in that cluttered strip, so I will move forward to close the large gap across the yard.", + "The trash bag pile has grown noticeably larger and I can now make out flat wooden slats resting on the ground just beside it. Nothing blocks the open gravel in front of me, so another forward step should bring the pallet into clearer reach.", + "My heading is pointed down the middle of the yard toward the green dumpster, while the wooden slats next to the trash bags sit off to my left. I will turn left so my facing lines up with that pallet area instead of the open center.", + "With my heading swung left, the trash bag mound and the slatted wooden pallet beside it now lie roughly in front of me. The ground between us is clear packed dirt, so I will step forward to shorten the distance.", + "Now that I am close, the bag pile and the brick building crowd the left side of my heading, and the pallet planks sit lower and more to the right of where I face. I will turn right to square up with the open ground so my approach line stays clear.", + "Ahead of me the yard opens into clear gravel running alongside the trash bag pile, with the pallet boards low on the left side of my heading. I will move forward along this clear lane to draw level with the pallet.", + "I am now beside the trash bag heap, and the wooden pallet slats lie low and to my left rather than in front of my heading. I will turn left to bring that pallet squarely in front of me.", + "The plank pallet is now directly in front of me, right at the foot of the trash bag pile. Only a short stretch of ground remains, so I will step forward to arrive at it.", + "The wooden pallet lies directly at my feet beside the piled trash bags. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d63ce8b34e072819b05ea566b523e793884fb85d --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Head toward the red door marked with number eight, then reach the green dumpster with a plank leaning on it.", + "Type": 3, + "Start_Pose": [ + 1750.086, + -485.382, + 205.251, + 0.0, + -19.2, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1750.086, + -485.382, + 205.251, + 0.0, + -19.2, + 0.0 + ], + [ + 1750.086, + -485.382, + 205.177, + 0.0, + 5.8, + -0.0 + ], + [ + 1875.301, + -472.663, + 214.189, + 0.0, + 5.8, + -0.0 + ], + [ + 2000.515, + -459.944, + 210.918, + 0.0, + 5.8, + -0.0 + ], + [ + 2000.515, + -459.944, + 210.918, + 0.0, + 30.8, + -0.0 + ], + [ + 2108.623, + -395.499, + 208.975, + 0.0, + 30.8, + -0.0 + ], + [ + 2216.731, + -331.054, + 216.254, + 0.0, + 30.8, + -0.0 + ], + [ + 2324.839, + -266.609, + 213.358, + 0.0, + 30.8, + -0.0 + ], + [ + 2324.839, + -266.609, + 213.358, + 0.0, + 30.8, + -0.0 + ], + [ + 2245.471, + -313.921, + 215.681, + 0.0, + 30.8, + -0.0 + ], + [ + 2245.471, + -313.921, + 215.681, + 0.0, + 5.8, + -0.0 + ], + [ + 2245.471, + -313.921, + 215.681, + 0.0, + -19.2, + 0.0 + ], + [ + 2245.471, + -313.921, + 215.681, + 0.0, + -44.2, + 0.0 + ], + [ + 2245.471, + -313.921, + 215.681, + 0.0, + -69.2, + 0.0 + ], + [ + 2245.471, + -313.921, + 215.681, + 0.0, + -94.2, + 0.0 + ], + [ + 2236.253, + -439.442, + 210.98, + 0.0, + -94.2, + 0.0 + ], + [ + 2227.036, + -564.963, + 214.284, + 0.0, + -94.2, + 0.0 + ], + [ + 2217.818, + -690.484, + 214.284, + 0.0, + -94.2, + 0.0 + ], + [ + 2208.6, + -816.005, + 214.284, + 0.0, + -94.2, + 0.0 + ], + [ + 2203.587, + -938.486, + 214.284, + 0.0, + -94.2, + 0.0 + ], + [ + 2209.06, + -956.452, + 214.308, + 0.0, + -94.2, + 0.0 + ], + [ + 2209.06, + -956.452, + 214.308, + 0.0, + -94.2, + 0.0 + ] + ], + "Rationale": [ + "From this yard the wide red panelled wall stands off to my right, and that is where a numbered door would be. My current heading points across the open cobbles instead, so I will turn right to bring that red facade into the centre of my view and check its markings.", + "The red painted door now sits ahead of me with a faint pale marking on its surface, though it is still too far off to read clearly. The cobbled ground between us is open, so I will walk forward to close distance and confirm the number.", + "The marking on the red door is becoming legible as a pale figure, which matches the number I am looking for. The route stays clear apart from the weeds by the steel trestle on my left, so I will keep walking straight toward it.", + "I have drawn close enough that the red door has slid over to the right half of my view, with the brick gable and trestle taking up the centre. Turning right should square my heading onto the marked door so the last stretch is a straight walk.", + "The red door with its pale eight now sits straight ahead of me, framed between the white wall on my left and a rusted green skip on my right. The gap between them is wide enough to pass, so I will walk forward toward the door.", + "The eight on the red door is clearly readable now and the panel is filling much of my view, but I am still a few paces short of standing at it. I will keep advancing along the strip of paving beside the skip.", + "The red door surface and its faded eight now dominate my view at close range, with only a short gap of ground left in front of me. One more step forward should put me right at the door face.", + "The rough red paint of the door marked eight fills my whole view at arm's length, with nothing left between me and it. I have reached the red door. I mark arriving here, then set off for the green dumpster with the plank leaning against it back across the yard.", + "The red door panel fills my whole view because I am pressed right up against it, and from here I can see nothing of the yard behind me. I will step back to open up some distance so the surroundings come into view again and I can swing my heading toward the green dumpster with the plank.", + "Backing off has given me room, and I can again make out the red wall with its faded marking and the rusted green bin edge crowding my right. The open yard lies off to my left, so I will turn that way to start bringing the plank-leaning dumpster back into view.", + "My view is still nothing but the white and red wall faces of this building, so I have not yet swung far enough to see into the yard. I will keep rotating left to continue sweeping my heading away from this wall.", + "The wall corner and drainpipe now sit ahead, and a sliver of the wider yard with a distant building is opening at my left edge. Another left turn should carry that opening toward the centre of my view.", + "The yard is now half in view on my left, with a green container and stacked timber under the brick facade, while the white wall still takes up my right. I will turn left once more to clear that wall and put the container squarely ahead.", + "I can now see the long green skip against the brick wall with a wooden plank propped against its side, sitting left of my centre. One more left turn should line my heading up with it before I walk across the yard.", + "The green dumpster with the plank leaning against its front is now centred ahead of me across the open paving, with nothing in between. I will walk forward to close the distance to it.", + "The skip has grown noticeably larger and the plank against its side is clearly outlined, so my heading is good and the path stays open. I will keep walking straight ahead to close the remaining gap.", + "The green dumpster stands squarely ahead against the cracked brick wall, with the pale wooden plank propped against its front panel. My heading is already centered on it, so I will walk forward to cut the remaining distance across the paving.", + "The dumpster now fills much of my view and the leaning plank is clearly resolved against its green side, confirming this is the container I want. Nothing blocks the paving between us, so another step forward should bring me close enough to count as arrived.", + "I am close enough now that the rusted lids and green flanks of the dumpster span my whole view, with the plank resting against its near corner. A further step forward should place me right at its side.", + "The green metal wall of the dumpster is directly in front of me, with only its rim and a sliver of the building above still in view. I will take one last short step to press right up against the container.", + "I stand right against the green dumpster's rim with the plank propped at its edge. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t5_a_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a86f10609d9599f33b17156288248aabf6a20a85 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Grab the trash bag beside the green dumpster with the leaning plank, then drop it at the base of the metal scaffolding.", + "Type": 5, + "Start_Pose": [ + 1750.086, + -485.382, + 205.251, + 0, + -19.2, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2085.699, + -817.769, + 114.263, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1750.086, + -485.382, + 205.251, + 0, + -19.2, + 0 + ], + [ + 1868.944, + -526.773, + 214.178, + 0.0, + -19.2, + 0.0 + ], + [ + 1868.944, + -526.773, + 214.178, + 0.0, + -44.2, + 0.0 + ], + [ + 1959.174, + -614.517, + 214.178, + 0.0, + -44.2, + 0.0 + ], + [ + 1959.174, + -614.517, + 214.178, + 0.0, + -44.2, + 0.0 + ], + [ + 2049.404, + -702.262, + 214.178, + 0.0, + -44.2, + 0.0 + ], + [ + 2049.404, + -702.262, + 214.178, + 0.0, + -44.2, + 0.0 + ], + [ + 2049.404, + -702.262, + 214.178, + 0.0, + -44.2, + 0.0 + ], + [ + 2049.404, + -702.262, + 214.178, + 0.0, + -19.2, + 0.0 + ], + [ + 2049.404, + -702.262, + 214.178, + 0.0, + 5.8, + -0.0 + ], + [ + 2174.618, + -689.543, + 214.178, + 0.0, + 5.8, + -0.0 + ], + [ + 2174.618, + -689.543, + 214.178, + 0.0, + 30.8, + -0.0 + ], + [ + 2282.726, + -625.097, + 214.178, + 0.0, + 30.8, + -0.0 + ], + [ + 2390.834, + -560.652, + 215.992, + 0.0, + 30.8, + -0.0 + ], + [ + 2328.989, + -597.519, + 214.506, + 0.0, + 30.8, + -0.0 + ], + [ + 2328.989, + -597.519, + 214.506, + 0.0, + 30.8, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2085.699, + -817.769, + 114.263, + 0.0, + 0.0, + 0.0 + ], + [ + 2085.699, + -817.769, + 114.263, + 0.0, + 0.0, + 0.0 + ], + [ + 2085.699, + -817.769, + 114.263, + 0.0, + 0.0, + 0.0 + ], + [ + 2085.699, + -817.769, + 114.263, + 0.0, + 0.0, + 0.0 + ], + [ + 2085.699, + -817.769, + 114.263, + 0.0, + 0.0, + 0.0 + ], + [ + 2085.699, + -817.769, + 114.263, + 0.0, + 0.0, + 0.0 + ], + [ + 2085.699, + -817.769, + 114.263, + 0.0, + 0.0, + 0.0 + ], + [ + 2063.853, + -686.527, + 184.415, + -28.202, + 5.945, + 1.862 + ], + [ + 2056.159, + -680.988, + 184.688, + -28.189, + 30.957, + 1.872 + ], + [ + 2047.28, + -679.838, + 184.02, + -28.215, + 55.928, + 1.849 + ], + [ + 2172.17, + -668.326, + 183.834, + -28.202, + 55.941, + 1.858 + ], + [ + 2162.424, + -670.627, + 185.034, + -28.198, + 80.945, + 1.865 + ], + [ + 2271.105, + -607.164, + 184.751, + -28.2, + 80.945, + 1.865 + ], + [ + 2379.466, + -542.563, + 184.22, + -28.194, + 80.948, + 1.865 + ], + [ + 2389.116, + -561.676, + 174.506, + 0.0, + 30.8, + -0.0 + ], + [ + 2389.116, + -561.676, + 174.506, + 0.0, + 30.8, + -0.0 + ] + ], + "PD_Dist_2D": [ + 472.4, + 362.9, + 362.9, + 239.4, + 239.4, + 121.1, + 121.1, + 21.4, + 22.3, + 22.5, + 21.4, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green dumpster with the plank leaning against it stands well ahead on my left, and the black trash bag sits on the ground beside it. From here the bag is far outside grasping range, so I will walk forward to close the gap across the open yard.", + "The trash bag and its dumpster sit off to my left while my heading still points down the yard toward the far buildings. Turning left should bring the bag closer to the center of my view so my next steps carry me straight to it.", + "The trash bag now sits near the middle of my view, in front of the plank leaning on the green dumpster. It is still several paces off, so I will step forward to bring it within reach before attempting a grab.", + "The trash bag is directly ahead of me at the foot of the leaning plank and looks close enough to handle. I will try to pick it up now, since grabbing it is the first half of the task.", + "My hands are still empty and the bag was not lifted, so that grab attempt did not take hold. The most likely reason is that I was still short of proper reach, so I will step forward to stand right over it before trying again.", + "My hands are still empty after the earlier grab attempt near the dumpster, so the bag was never taken. From this closer stance the bag has dropped out of my forward line of sight below the leaning plank, so I will look down to bring the ground just ahead into sight.", + "With my gaze lowered the black trash bag sits plainly in front of me at the foot of the green dumpster, right beside the leaning plank. The earlier attempt from farther back left my hands empty, but the bag is now within arm's reach, so I will try the grab again.", + "The grab worked this time, since the bag is now held against me instead of resting on the pavement. The metal scaffolding tower stands off to my right across the yard, so I will turn right to swing my heading toward it before carrying the bag over.", + "The bag is secure in my hands and the yard is back in view, with the wooden scaffolding frame only at the far right edge of what I can see. One more turn to the right should place that tower and the open lane toward it squarely ahead of me.", + "The tall timber scaffolding now stands ahead and slightly right, with unobstructed paving between it and me. Carrying the bag, I will walk forward to close that gap toward its base.", + "I still have the trash bag with me, and the timber scaffolding tower stands just right of my current heading, with the alley narrowing between the green skip and the pale wall. Walking straight now would carry me past its base rather than to it, so I will turn right to put the scaffolding legs squarely ahead.", + "The scaffolding tower is now centered in front of me, its lower legs and cross braces clearly visible above the weeds. I am still holding the bag but am too far from the base to set it down there, so I will walk forward to close that gap.", + "The scaffolding frame now fills much of my view, yet its footings sit slightly beyond my reach behind the weeds. I will step forward once more so I stand right at the base before releasing the bag.", + "I am now pressed right up against the timber scaffolding, with its braced legs and footing directly in front of me. This is the base the task named as the delivery point, so I will drop the trash bag here.", + "The trash bag now rests on the ground at the foot of the scaffolding and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t5_b_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..722d26d52192bc23022786d4b128b12b0c3f903c --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t5_b_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Lift the wicker basket from the metal scaffolding base, then leave it near the green dumpster with the leaning plank.", + "Type": 5, + "Start_Pose": [ + 1750.086, + -485.382, + 205.251, + 0, + -19.2, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2323.953, + -517.189, + 160.953, + 90, + -39.2, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1750.086, + -485.382, + 205.251, + 0, + -19.2, + 0 + ], + [ + 1868.944, + -526.773, + 214.178, + 0.0, + -19.2, + 0.0 + ], + [ + 1987.803, + -568.164, + 214.178, + 0.0, + -19.2, + 0.0 + ], + [ + 1987.803, + -568.164, + 214.178, + 0.0, + 5.8, + -0.0 + ], + [ + 2113.017, + -555.445, + 214.178, + 0.0, + 5.8, + -0.0 + ], + [ + 2238.232, + -542.726, + 214.178, + 0.0, + 5.8, + -0.0 + ], + [ + 2238.232, + -542.726, + 214.178, + 0.0, + 5.8, + -0.0 + ], + [ + 2238.232, + -542.726, + 214.178, + 0.0, + -19.2, + 0.0 + ], + [ + 2238.232, + -542.726, + 214.178, + 0.0, + -44.2, + 0.0 + ], + [ + 2238.232, + -542.726, + 214.178, + 0.0, + -69.2, + 0.0 + ], + [ + 2238.232, + -542.726, + 214.178, + 0.0, + -94.2, + 0.0 + ], + [ + 2229.014, + -668.247, + 214.178, + 0.0, + -94.2, + 0.0 + ], + [ + 2219.797, + -793.768, + 214.178, + 0.0, + -94.2, + 0.0 + ], + [ + 2210.579, + -919.289, + 214.178, + 0.0, + -94.2, + 0.0 + ], + [ + 2215.852, + -847.482, + 214.178, + 0.0, + -94.2, + 0.0 + ], + [ + 2215.852, + -847.482, + 214.178, + 0.0, + -94.2, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2323.953, + -517.189, + 160.953, + 90.0, + -39.2, + 0.0 + ], + [ + 2323.953, + -517.189, + 160.953, + 90.0, + -39.2, + 0.0 + ], + [ + 2323.953, + -517.189, + 160.953, + 90.0, + -39.2, + 0.0 + ], + [ + 2323.953, + -517.189, + 160.953, + 90.0, + -39.2, + 0.0 + ], + [ + 2323.953, + -517.189, + 160.953, + 90.0, + -39.2, + 0.0 + ], + [ + 2323.953, + -517.189, + 160.953, + 90.0, + -39.2, + 0.0 + ], + [ + 2235.467, + -521.543, + 184.415, + -28.202, + 55.945, + 1.862 + ], + [ + 2244.36, + -523.257, + 184.688, + -28.189, + 30.957, + 1.872 + ], + [ + 2252.409, + -528.372, + 184.02, + -28.215, + 5.927, + 1.849 + ], + [ + 2265.373, + -538.221, + 184.201, + -14.175, + -27.008, + 6.959 + ], + [ + 2259.194, + -543.87, + 184.09, + -28.208, + -44.058, + 1.851 + ], + [ + 2250.368, + -669.115, + 184.511, + -28.189, + -44.042, + 1.869 + ], + [ + 2241.161, + -794.36, + 184.894, + -28.205, + -44.065, + 1.859 + ], + [ + 2231.955, + -919.836, + 185.047, + -28.191, + -44.05, + 1.872 + ], + [ + 2210.725, + -917.294, + 179.178, + 90.0, + -94.2, + 0.0 + ], + [ + 2210.725, + -917.294, + 179.178, + 90.0, + -94.2, + 0.0 + ] + ], + "PD_Dist_2D": [ + 574.7, + 455.1, + 340.0, + 340.0, + 214.4, + 89.4, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket sits against the metal scaffolding base on the far right of the yard, still a long way off across the cobbles. I will walk forward to close that gap before worrying about fine alignment.", + "The basket leaning at the scaffolding base is now larger and clearer to my right, so my heading is still usable. I will keep walking forward to reduce the remaining distance before turning toward it.", + "From here the basket sits well off to my right, near the base of the scaffolding tower, while my body still points down the yard toward the skip. I will turn right to bring the basket closer to the center of my view for a straight approach.", + "The basket now sits near the middle of my view at the foot of the scaffolding, with clear paving between us. I will step forward along this heading to get within reach.", + "The basket is close now, low in my view against the scaffolding leg and weeds, but still a step too far for a confident grasp. I will advance once more to stand right over it.", + "The wicker basket is immediately in front of me at the scaffolding base, filling the lower part of my view within arm's reach. I will attempt to pick it up so I can carry it toward the green dumpster with the leaning plank.", + "The grasp worked and the wicker basket is in my hands rather than resting at the scaffolding base. The green dumpster with the plank leaning against it lies well behind my current heading, so I will turn left to begin swinging around toward it.", + "I am still carrying the basket, and the view ahead shows the skip and the workshop wall, not the dumpster with the plank propped against it. Only its edge shows at the far left, so I will turn left again to bring it properly into view.", + "The wicker basket is in my hands, and only the near corner of a green container clips the far left of my view while pallets and open yard take up the rest. The dumpster with the boards leaning on it still lies further round to my left, so I keep rotating left.", + "The green dumpster with its rusted lids is now in the left half of my view, with the pale planks propped against its side. It is still off center for a straight walk, so another left turn should bring it squarely ahead while I carry the basket.", + "The green dumpster is centered ahead now, the leaning boards clearly resting against its front. With the basket still held, I walk forward to close the remaining distance to that drop area.", + "The dumpster now fills more of my view but its base is still a couple of paces off. I keep stepping forward with the basket to get within setting-down range of the leaning boards.", + "The green flank of the dumpster and the propped boards are close, yet not quite at arm's length for placing the basket. One more forward step should bring me right against its base.", + "I am right up against the green dumpster's side, with the leaning boards just off to my left and the basket still in my hands. This is the place the task names for it, so I release the basket here and expect it to settle at the dumpster base.", + "The wicker basket now sits on the ground at the green dumpster, right beside the leaning planks. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d6ead05ba2d13faf43911cd834fc77020093ada8 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the central brick pillar's base.", + "Type": 2, + "Start_Pose": [ + 1947.653, + -1302.833, + 202.572, + 0.0, + -43.2, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1947.653, + -1302.833, + 202.572, + 0.0, + -43.2, + 0.0 + ], + [ + 2039.4, + -1388.989, + 204.158, + 0.0, + -43.2, + 0.0 + ], + [ + 2039.4, + -1388.989, + 204.158, + 0.0, + -68.2, + 0.0 + ], + [ + 2086.14, + -1505.848, + 204.158, + 0.0, + -68.2, + 0.0 + ], + [ + 2132.88, + -1622.706, + 203.923, + 0.0, + -68.2, + 0.0 + ], + [ + 2179.62, + -1739.564, + 204.216, + 0.0, + -68.2, + 0.0 + ], + [ + 2179.62, + -1739.564, + 204.216, + 0.0, + -68.2, + 0.0 + ] + ], + "Rationale": [ + "The one brick column that stands free on the open floor, rather than the piers bonded into the walls, rises to my left of center. The cracked concrete between us is clear, so I will walk forward to close some of that distance before correcting my heading.", + "After stepping forward, the free-standing brick column now sits well off to my left while my heading points into the far wall with its doorways. I will turn left to swing that column toward the middle of my view so I can walk straight at it.", + "The turn brought the free-standing brick column near the center of my view, with open floor running up to it. Stacked cartons sit off to my left and do not block that lane, so I will step forward along it.", + "The brick column has grown noticeably and its base is now visible on the paving ahead of me, but I am still several strides short of it. The route stays clear, so I will keep walking straight toward it.", + "The brick column now fills the middle of my view and its foot rests just a short walk away on the paving. One more forward step should bring me right up against its base.", + "The free-standing brick column's base is directly before me, its masonry filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b11d9f3aa402ae2050b18bf72c3f601c8719dfe3 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the stacked boxes on the far left.", + "Type": 2, + "Start_Pose": [ + 1947.653, + -1302.833, + 202.572, + 0.0, + -43.2, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1947.653, + -1302.833, + 202.572, + 0.0, + -43.2, + 0.0 + ], + [ + 1947.653, + -1302.833, + 202.572, + 0.0, + -68.2, + 0.0 + ], + [ + 1994.393, + -1419.691, + 204.367, + 0.0, + -68.2, + 0.0 + ], + [ + 2041.133, + -1536.55, + 202.572, + 0.0, + -68.2, + 0.0 + ], + [ + 2087.873, + -1653.408, + 198.148, + 0.0, + -68.2, + 0.0 + ], + [ + 2134.613, + -1770.266, + 204.294, + 0.0, + -68.2, + 0.0 + ], + [ + 2134.613, + -1770.266, + 204.294, + 0.0, + -93.2, + 0.0 + ], + [ + 2127.587, + -1895.929, + 207.907, + 0.0, + -93.2, + 0.0 + ], + [ + 2120.562, + -2021.592, + 208.247, + 0.0, + -93.2, + 0.0 + ], + [ + 2120.562, + -2021.592, + 208.247, + 0.0, + -118.2, + 0.0 + ], + [ + 2091.119, + -2123.592, + 204.68, + 0.0, + -118.2, + 0.0 + ], + [ + 2091.119, + -2123.592, + 204.68, + 0.0, + -118.2, + 0.0 + ] + ], + "Rationale": [ + "Among the stored goods around this hall, the leftmost pile is the group of pale cardboard cartons crowded against the side wall, clearly different from the wooden pallet stacks in the middle and on the right. They sit at the very edge of my view, so heading straight ahead would carry me past them. I turn left to bring those cartons into the center of my path.", + "The stacked cartons now sit ahead on my left, beside the dark sacks and the low wall, with open broken floor between us. Nothing blocks the lane, so I walk forward to close that distance.", + "The cartons have grown larger and their printed labels are becoming readable, so my heading is still carrying me toward them. The gap between the brick column and the left wall stays open. I step forward again.", + "The nearest carton of the pile now fills much of the lower left of my view, so I am closing on the stack. The floor slabs directly ahead remain clear of debris. Another step forward should bring me alongside them.", + "The brick column has swung to my right and the cartons stand close on my left, confirming I am moving down the correct side of the hall. There is still a stretch of open floor before I reach the wall. I keep walking forward.", + "The column has crowded into the right half of my view while the carton stack has drifted to the far left, so my heading is drifting off the target. Turning left should put the cartons back in front of me before I advance again.", + "The carton stack is centered again, standing against the wall with the pallet piles beyond it to the right. The floor between us is open. I walk forward to close on the boxes.", + "The tall labelled cartons now loom large on my left with only a short stretch of ground remaining. I step forward once more to draw right up beside the stack.", + "The cartons have slid into the left edge while the pallet piles fill the right half of my view, so walking straight would take me between them instead of up to the boxes. I turn left to swing the stack back in front of me.", + "The labelled cartons now sit squarely ahead, close enough to read the print on the upper box. Only a short strip of floor separates me from them, so I take a last step forward to stand right at the stack.", + "The printed carton face fills my view at arm's length. I have reached the stacked boxes, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001975_y-001359_z000204_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001975_y-001359_z000204_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8672d8bac2d9dec1567c894ffe64eab757eccaea --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001975_y-001359_z000204_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the white door on the brick wall.", + "Type": 0, + "Start_Pose": [ + 1975.496, + -1359.132, + 204.386, + 0.0, + -48.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1975.496, + -1359.132, + 204.386, + 0.0, + -48.96, + 0.0 + ], + [ + 2058.133, + -1454.061, + 204.386, + 0.0, + -48.96, + 0.0 + ], + [ + 2140.77, + -1548.991, + 205.172, + 0.0, + -48.96, + 0.0 + ], + [ + 2223.408, + -1643.92, + 204.248, + 0.0, + -48.96, + 0.0 + ], + [ + 2306.045, + -1738.849, + 204.248, + 0.0, + -48.96, + 0.0 + ], + [ + 2388.682, + -1833.779, + 198.301, + 0.0, + -48.96, + 0.0 + ], + [ + 2471.319, + -1928.708, + 201.48, + 0.0, + -48.96, + 0.0 + ], + [ + 2471.319, + -1928.708, + 201.48, + 0.0, + -23.96, + 0.0 + ], + [ + 2586.333, + -1979.819, + 200.191, + 0.0, + -23.96, + 0.0 + ], + [ + 2682.757, + -2039.902, + 198.371, + 0.0, + -23.96, + 0.0 + ], + [ + 2682.757, + -2039.902, + 198.371, + 0.0, + -23.96, + 0.0 + ] + ], + "Rationale": [ + "From this open hall floor I can already pick out the pale white door set into the brick wall ahead and slightly right of the central pillar. My heading is roughly toward it with clear stone ground in between, so I will move forward to start closing that distance.", + "The white door is a little larger in view now and still sits to the right of the brick pillar, confirming my heading is usable. Nothing blocks the slab floor in front of me, so I will keep advancing straight toward the wall.", + "The pillar is drifting toward my left side while the white door stays framed in the right half of my view, so straight travel is still bringing me nearer the target. I will continue forward to keep shrinking the gap to the brick wall.", + "I am now passing close beside the brick pillar on my left, and the white door with its small sign is clearly visible in the recessed brick wall ahead. Since the path between me and that wall is still open, I will press forward.", + "The door panel and its rust streaks are becoming distinct, meaning I am within a few steps of the brick wall. Stacked boxes sit off to my left and do not obstruct my lane, so I will keep moving forward.", + "The white door now fills a good part of my view just right of the near brick corner, so a further step should bring me almost to the wall. I will advance once more before adjusting my heading.", + "At this range the brick column edge cuts across the middle of my view and the white door lies to its right, so my current heading is not squarely on the target. I will turn right to bring the door into the center of my view and open a clean line into the doorway recess.", + "After the turn the white door stands clearly in the left-center of my view with the passage beside it open, so my heading now points into the doorway alcove. I will step forward to close the last of the distance to the door face.", + "The white door set into the brick wall now fills the left side of my view, so only a short gap remains between me and it. I will step forward once more to close that last bit of distance and bring myself right up beside the door.", + "The white door on the brick wall is directly at my side, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001975_y-001359_z000204_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001975_y-001359_z000204_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf5058bf2334805ff23ef70b9d5ef53aebe8818a --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x001975_y-001359_z000204_t0_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the base of the freestanding brick column beside the stacked wooden boards.", + "Type": 0, + "Start_Pose": [ + 1975.496, + -1359.132, + 204.386, + 0.0, + -48.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1975.496, + -1359.132, + 204.386, + 0.0, + -48.96, + 0.0 + ], + [ + 2058.133, + -1454.061, + 204.386, + 0.0, + -48.96, + 0.0 + ], + [ + 2140.77, + -1548.991, + 205.172, + 0.0, + -48.96, + 0.0 + ], + [ + 2140.77, + -1548.991, + 205.172, + 0.0, + -73.96, + 0.0 + ], + [ + 2175.546, + -1669.95, + 204.297, + 0.0, + -73.96, + 0.0 + ], + [ + 2209.289, + -1783.052, + 204.368, + 0.0, + -73.96, + 0.0 + ], + [ + 2209.289, + -1783.052, + 204.368, + 0.0, + -73.96, + 0.0 + ] + ], + "Rationale": [ + "The freestanding brick column stands ahead of me in the open hall, with the stacked wooden boards visible against the wall to its left. Its base is still several strides away across the slab floor, so I will move forward to begin closing that gap.", + "The column now looms larger and slightly left of my heading, and the wood board stacks beside it are clearer, confirming this is the right target. The floor between us is still clear, so another forward step should bring me nearer its base.", + "The column has drifted to the left portion of my view while my heading points into the open bay and doorway to the right of it. I will turn left to place the column and the wooden board stacks squarely in front of me before continuing.", + "After the turn the brick column is centered in my view with the stacked boards and crates flanking it on the left. Its base is still a couple of strides ahead on clear ground, so I will advance straight toward it.", + "The column's brickwork now fills the right half of my view and I can see its lower courses meeting the floor just ahead. One more short forward step should place me right at its base.", + "The column's brick face and its base are directly against me, with the stacked boards beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd26ea9723fe7adf3fc72f461c34dc4cc0be638c --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Walk to the stack of cardboard boxes near the right corner, then approach the brick pillar.", + "Type": 3, + "Start_Pose": [ + 2095.577, + -1302.739, + 213.09, + 0, + -91.2, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.577, + -1302.739, + 213.09, + 0, + -91.2, + 0 + ], + [ + 2095.577, + -1302.739, + 212.998, + 0.0, + -66.2, + 0.0 + ], + [ + 2146.367, + -1417.895, + 204.633, + 0.0, + -66.2, + 0.0 + ], + [ + 2197.157, + -1533.051, + 202.479, + 0.0, + -66.2, + 0.0 + ], + [ + 2197.157, + -1533.051, + 202.479, + 0.0, + -41.2, + 0.0 + ], + [ + 2291.855, + -1615.953, + 204.016, + 0.0, + -41.2, + 0.0 + ], + [ + 2386.553, + -1698.855, + 204.33, + 0.0, + -41.2, + 0.0 + ], + [ + 2481.251, + -1781.757, + 201.466, + 0.0, + -41.2, + 0.0 + ], + [ + 2481.251, + -1781.757, + 201.466, + 0.0, + -66.2, + 0.0 + ], + [ + 2532.041, + -1896.913, + 198.332, + 0.0, + -66.2, + 0.0 + ], + [ + 2532.041, + -1896.913, + 198.332, + 0.0, + -91.2, + 0.0 + ], + [ + 2529.405, + -2022.744, + 200.344, + 0.0, + -91.2, + 0.0 + ], + [ + 2526.769, + -2148.576, + 202.569, + 0.0, + -91.2, + 0.0 + ], + [ + 2530.252, + -2213.59, + 202.569, + 0.0, + -91.2, + 0.0 + ], + [ + 2565.359, + -2231.026, + 200.829, + 0.0, + -91.2, + 0.0 + ], + [ + 2565.359, + -2231.026, + 200.829, + 0.0, + -91.2, + 0.0 + ], + [ + 2565.359, + -2231.026, + 200.829, + 0.0, + -116.2, + 0.0 + ], + [ + 2565.359, + -2231.026, + 200.829, + 0.0, + -141.2, + 0.0 + ], + [ + 2565.359, + -2231.026, + 200.829, + 0.0, + -166.2, + 0.0 + ], + [ + 2565.359, + -2231.026, + 200.829, + 0.0, + 168.8, + -0.0 + ], + [ + 2565.359, + -2231.026, + 200.829, + 0.0, + 143.8, + -0.0 + ], + [ + 2463.796, + -2156.693, + 203.703, + 0.0, + 143.8, + -0.0 + ], + [ + 2362.233, + -2082.36, + 202.326, + 0.0, + 143.8, + -0.0 + ], + [ + 2362.233, + -2082.36, + 202.326, + 0.0, + 118.8, + -0.0 + ], + [ + 2301.6, + -1972.069, + 204.207, + 0.0, + 118.8, + -0.0 + ], + [ + 2301.6, + -1972.069, + 204.207, + 0.0, + 118.8, + -0.0 + ] + ], + "Rationale": [ + "From the middle of the hall I can see cardboard boxes stacked along the far wall, but the heavy brick pillar sits directly in my forward line. I will turn right to open the clearer floor on that side so I can work toward the right-hand corner where the boxes are piled.", + "The floor ahead is broad and clear of debris, with the pillar now offset to my left rather than blocking me. I will walk forward to cover ground into the hall toward the far corner where the boxes stand.", + "The pillar has grown larger and the far wall with its doorway is closer, so my heading is carrying me deeper into the hall as intended. The path in front stays unobstructed, so I will step forward again to keep closing the distance on the boxed corner.", + "I am now level with the pillar, and the deep bay along the right-hand brick wall opens off to my right. I will turn right to swing my heading into that side bay, which leads toward the corner where the cartons are stacked.", + "Facing into the right-hand bay, I can see the cartons sitting low against the wall on the left side of my view with clear paving between us. I will walk forward to enter this bay and shorten the gap to that stack.", + "The boxes and the metal door beside them have grown noticeably larger, confirming this heading takes me into the corner area. I will keep walking forward while the ground in front remains open.", + "The corner is close now, with the boxes edging into the left of my view and the brick face filling the right. I will advance once more to bring myself alongside that stacked cardboard.", + "The brick wall and the recessed metal door now fill almost all of my forward view, while the cardboard stack has slipped to the very left edge. I will turn left to put those boxes back in front of me so I can walk straight at them.", + "The corner opening is now clear of the brick wall that was crowding my right, and the stacked cardboard boxes sit against the far wall ahead of me. I will walk forward to close the open floor between us before making any finer heading correction.", + "After stepping in, the box stack has drifted to the left side of my view while a brick corner and metal door take up the right. I will turn left to swing my heading back onto the boxes so the remaining approach is straight.", + "The cardboard stack now sits near the middle of my view with stacked pallets to my left and clear ground between. With the heading lined up, I will walk forward to shorten the distance to the boxes.", + "The boxes have grown noticeably larger and still fall within the center of my view, so my line is good. I will keep walking forward to bring myself close to the corner stack.", + "The stack now fills much of my view, with the topmost carton above eye level and the lower ones spreading toward the corner. A further step forward should place me right at the boxes rather than a stride short.", + "I am nearly against the cardboard, with one large carton spanning the lower part of my view and the labeled box above it very close. One more short step forward should bring me fully up to the stack.", + "The stacked cardboard boxes fill my view at arm's length, wedged into the right corner with the brick wall right behind them. I have come all the way to them. I mark reaching this box stack and now set off for the brick pillar standing out in the hall.", + "Standing this close, the cartons block nearly everything ahead of me, so I cannot see the brick pillar from this heading. I will turn left to sweep my view back out into the open hall where that pillar stands.", + "Having marked the boxes in this corner, I now need the brick pillar, and my view here is still filled with pallet stacks and the crates beside me. No pillar is anywhere in this narrow corner view, so I will keep swinging left to sweep more of the hall open.", + "The rotation has opened up the wall with its high windows and the tall pallet stacks, but there is still no brick column in front of me. I will turn left again to bring more of the open floor into view where a pillar could stand.", + "More of the hall is opening ahead, with a doorway, scattered crates and the pallet stacks now sliding to my right, yet no brick column has appeared. Another left turn should carry my gaze toward the middle of the hall where the pillar stood.", + "A brick column has just edged into the far left of my view, its rough red face rising past the ceiling beams. I will turn left once more to bring that pillar properly in front of me before walking toward it.", + "The brick pillar now stands clearly ahead of me, slightly left, with open stone floor running up to its base. Nothing blocks that lane, so I will walk forward to close the distance toward it.", + "The pillar has grown noticeably larger and its brickwork now fills much of the left half of my view, so I am closing on it. The floor ahead remains clear, and I will step forward again to shorten the gap.", + "The pillar has drifted to the left edge of my view as I advanced, so walking straight on would take me past its side. I will turn left to put its brick face squarely in front of me.", + "The pillar's brick face is centered ahead of me now, only a short stretch of floor away. I will take one more step forward to stand right at it.", + "The brick pillar fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0fd94b2b45f994a43c3b720f4a8856d91c2655bd --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_c/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Navigate to the pile of trash bags in the room, then proceed to the iron door doorway.", + "Type": 3, + "Start_Pose": [ + 2095.577, + -1302.739, + 213.09, + 0.0, + -91.2, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.577, + -1302.739, + 213.09, + 0.0, + -91.2, + 0.0 + ], + [ + 2092.941, + -1428.57, + 204.579, + 0.0, + -91.2, + 0.0 + ], + [ + 2092.941, + -1428.57, + 204.579, + 0.0, + -116.2, + 0.0 + ], + [ + 2037.374, + -1541.498, + 202.572, + 0.0, + -116.2, + 0.0 + ], + [ + 1981.806, + -1654.427, + 198.174, + 0.0, + -116.2, + 0.0 + ], + [ + 1926.239, + -1767.355, + 204.367, + 0.0, + -116.2, + 0.0 + ], + [ + 1874.084, + -1860.161, + 211.655, + 0.0, + -116.2, + 0.0 + ], + [ + 1874.084, + -1860.161, + 211.655, + 0.0, + -116.2, + 0.0 + ], + [ + 1874.084, + -1860.161, + 211.655, + 0.0, + -91.2, + 0.0 + ], + [ + 1874.084, + -1860.161, + 211.655, + 0.0, + -66.2, + 0.0 + ], + [ + 1874.084, + -1860.161, + 211.655, + 0.0, + -41.2, + 0.0 + ], + [ + 1920.98, + -1846.852, + 211.655, + 0.0, + -41.2, + 0.0 + ], + [ + 1920.981, + -1846.852, + 211.655, + 0.0, + -41.2, + 0.0 + ], + [ + 1873.504, + -1782.738, + 204.386, + 0.0, + -41.2, + 0.0 + ], + [ + 1873.504, + -1782.738, + 204.386, + 0.0, + -16.2, + 0.0 + ], + [ + 1873.504, + -1782.738, + 204.386, + 0.0, + 8.8, + -0.0 + ], + [ + 1992.42, + -1756.09, + 204.386, + 0.0, + 8.8, + -0.0 + ], + [ + 2116.798, + -1736.836, + 203.64, + 0.0, + 8.8, + -0.0 + ], + [ + 2241.175, + -1717.581, + 204.334, + 0.0, + 8.8, + -0.0 + ], + [ + 2241.175, + -1717.581, + 204.334, + 0.0, + -16.2, + 0.0 + ], + [ + 2362.037, + -1752.694, + 204.334, + 0.0, + -16.2, + 0.0 + ], + [ + 2362.037, + -1752.694, + 204.334, + 0.0, + -41.2, + 0.0 + ], + [ + 2456.735, + -1835.596, + 202.314, + 0.0, + -41.2, + 0.0 + ], + [ + 2551.433, + -1918.498, + 198.148, + 0.0, + -41.2, + 0.0 + ], + [ + 2634.9, + -2002.678, + 198.922, + 0.0, + -41.2, + 0.0 + ], + [ + 2634.9, + -2002.678, + 198.922, + 0.0, + -41.2, + 0.0 + ] + ], + "Rationale": [ + "From the entrance I can see the dark heap of trash bags slumped against the left wall beside the stacked cardboard boxes. It is still far across the open concrete floor, and nothing blocks the direct line, so I will walk forward to close that gap.", + "The bag pile now sits off to the left of my heading, while my current facing points at the boxes and the far stairs. I will turn left so the bags come toward the middle of my view before I continue walking.", + "After the turn the pile of trash bags sits ahead of me against the plaster wall, with clear floor between us. I will step forward along this heading to keep closing on it.", + "The bags have grown larger and the wall on my left is closer, so my heading is still carrying me toward the heap. There is nothing in the way, so I will walk forward again.", + "The bags now fill much of the lower right of my view, but I am not yet standing at them and the boxes remain beyond. A short walk forward should bring me right up to the heap.", + "The heaped trash bags now fill the lower right of my view, with the plastered wall tight on my left. One more short step should bring me level with the pile instead of stopping short of it.", + "The dark plastic sacks are heaped immediately at my feet on the right, close enough to touch, with the wall pressing in on my left. I am standing at the pile of trash bags, so I mark reaching it and set off for the iron door doorway next.", + "Standing at the bag pile, my view is blocked by the plaster wall a step in front of me, so nothing of the room is usable from this heading. I will turn right to swing my gaze off the wall and back into the open hall where the iron door should lie.", + "The turn has brought stacked cartons and the far brick wall into view, but the wall corner still crowds my left and no iron door is in front of me. I will keep turning right to sweep further across the hall toward the openings on that side.", + "The hall is now open ahead, with crates in the middle and a metal door set in the wall over to my right. Another turn right should place that doorway and the clear floor lane in front of me before I start walking.", + "With the bags behind me, my heading now takes in the open floor and the metal door recessed in the far brick wall beyond the pillar. That gap is still a long way off across the slab floor, so I will walk forward to close the distance toward it.", + "My last step gained only a short bit of ground, and a broad crate surface now crowds the bottom right of my view while the metal doorway still sits far ahead beyond the pillar. I will try another step forward to keep closing on that doorway.", + "That last step gained nothing at all, and the view is unchanged, so the crate at my right front is holding me in place. I will back up to open some clearance from it before trying a different line to the doorway.", + "Backing off has revealed the whole crate sitting squarely across my forward line, which is why my step stalled earlier. The floor to its right side is open toward the far wall, so I will turn right to swing my heading off the crate and onto that clear ground.", + "The crate has shifted toward the left of my view, but its bulk still sits under my forward path and the tall brick pillar stands directly ahead. Another turn right should carry my heading fully into the open bay beside them.", + "A moment ago a forward step gained me nothing because a crate blocked my line, but after backing clear and swinging around, the floor in front of me is open bare concrete. The far brick wall with its dark openings sits straight ahead, so I will walk forward along this unobstructed lane.", + "The route held clear on that step and the brick pier has slid past on my left, leaving the far wall growing larger ahead. Nothing blocks the stone floor between me and it, so I keep walking forward to close the remaining distance.", + "The brick wall ahead now fills much of my view, with a recessed bay in its middle and stacked pallets off to the right. I am still a few strides short of being able to judge which opening is the metal door, so I advance again.", + "Straight in front of me is solid brickwork and a pier, with no way through on this heading. The building continues to my left, so I turn left to bring that stretch of wall and any doorway on it into view.", + "The turn brought a pale iron door into view, set into the brick wall ahead and slightly to my left. The paved floor between us is clear, so I walk forward to close on that doorway.", + "The rusted pale iron door sits well off to my left edge while a blank brick pier fills the space straight ahead of me. Walking on this heading would only carry me into that wall, so I will turn left to bring the doorway into the center of my view.", + "The iron door now sits near the middle of my view with open, sunlit floor between me and it. Nothing blocks that lane, so I will walk forward to close the remaining distance to the doorway.", + "The pale iron door has grown much larger and its recessed frame is clearly visible just left of center. I am still a couple of paces short of the opening, so I will keep walking forward toward it.", + "The iron door now dominates my view with the brick jamb and the threshold gap just to its right. One more step forward should place me right at the doorway itself.", + "I am standing right at the iron door, its labeled panel and threshold within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_d/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c18048bf602ebd21d60f4e10a8ea6d20fd6285d --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Move to the brick pillar, then head toward the iron door doorway.", + "Type": 3, + "Start_Pose": [ + 2095.577, + -1302.739, + 213.09, + 0.0, + -91.2, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.577, + -1302.739, + 213.09, + 0.0, + -91.2, + 0.0 + ], + [ + 2092.941, + -1428.57, + 204.579, + 0.0, + -91.2, + 0.0 + ], + [ + 2092.941, + -1428.57, + 204.579, + 0.0, + -66.2, + 0.0 + ], + [ + 2143.731, + -1543.726, + 204.935, + 0.0, + -66.2, + 0.0 + ], + [ + 2194.521, + -1658.882, + 204.239, + 0.0, + -66.2, + 0.0 + ], + [ + 2245.311, + -1774.038, + 204.239, + 0.0, + -66.2, + 0.0 + ], + [ + 2245.311, + -1774.038, + 204.239, + 0.0, + -66.2, + 0.0 + ], + [ + 2245.311, + -1774.038, + 204.239, + 0.0, + -41.2, + 0.0 + ], + [ + 2335.095, + -1788.789, + 203.801, + 0.0, + -41.2, + 0.0 + ], + [ + 2430.138, + -1871.174, + 202.905, + 0.0, + -41.2, + 0.0 + ], + [ + 2524.836, + -1954.076, + 201.541, + 0.0, + -41.2, + 0.0 + ], + [ + 2619.534, + -2036.978, + 198.319, + 0.0, + -41.2, + 0.0 + ], + [ + 2619.534, + -2036.978, + 198.319, + 0.0, + -41.2, + 0.0 + ] + ], + "Rationale": [ + "The tall brick pillar rises just right of center in this open hall, still a fair distance off across the rubble-strewn floor. The lane ahead of me is clear of the stacked cartons and debris, so I will walk forward to close on it.", + "After stepping forward, the brick pillar now sits noticeably to the right of my heading, so walking straight would carry me past it toward the far stairs. I will turn right to put the pillar closer to the center of my view before advancing again.", + "The brick pillar now stands squarely ahead of me, its base clearly on the open stone floor. Nothing blocks the path between us, so I will walk forward to shorten the gap.", + "The pillar has grown wider in my view and its brickwork detail is sharper, but I am still several paces short of standing at it. I will keep walking straight forward along the same clear line.", + "The pillar now dominates the middle of my view and splits the hall in two, yet I am not quite beside it. One more step forward should bring me right up against its brick face.", + "The weathered red brickwork of the pillar fills my view at arm's length, its mortar courses close enough to touch. I have reached the brick pillar. I mark arriving here, and now the pale iron door standing open in the wall to my right is where I am heading.", + "The pillar's brick face blocks most of my forward view, while the pale iron door and its opening sit off to my right along the far wall. I will turn right to bring that doorway into the center of my view before moving.", + "The turn has brought the pale iron door and the dark opening beside it into clear view ahead, with sunlit stone floor between us. I will walk forward to close on that doorway.", + "The pale iron door with its metal plate stands ahead in the brick wall, with the dark opening beside it. The floor between me and that wall is clear, so I will keep walking straight to close the remaining distance.", + "The iron door now fills much more of my view, and the passage beside it reads clearly as a way through. Nothing blocks the ground in front of me, so another step forward should bring me nearly to the threshold.", + "The rusted iron door panel is only a stride away, with the brick jamb at its left edge and the inner room lit through the window on the right. I will step forward once more to stand right at the doorway.", + "The iron door and its lettered plate are directly before me at the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t5_a_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f06634a0213f0b99f6a878c21c6d899f86a72c7 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Pick up the jerry can beside the pile of trash bags, then place it at the iron doorway.", + "Type": 5, + "Start_Pose": [ + 2095.577, + -1302.739, + 213.09, + 0, + -91.2, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2142.576, + -2075.135, + 122.421, + 0, + -30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2095.577, + -1302.739, + 213.09, + 0, + -91.2, + 0 + ], + [ + 2092.941, + -1428.57, + 204.579, + 0.0, + -91.2, + 0.0 + ], + [ + 2090.305, + -1554.402, + 203.628, + 0.0, + -91.2, + 0.0 + ], + [ + 2090.305, + -1554.402, + 203.628, + 0.0, + -66.2, + 0.0 + ], + [ + 2141.095, + -1669.558, + 204.374, + 0.0, + -66.2, + 0.0 + ], + [ + 2141.095, + -1669.558, + 204.374, + 0.0, + -91.2, + 0.0 + ], + [ + 2138.459, + -1795.389, + 204.374, + 0.0, + -91.2, + 0.0 + ], + [ + 2135.824, + -1921.221, + 208.982, + 0.0, + -91.2, + 0.0 + ], + [ + 2135.824, + -1921.221, + 208.982, + 0.0, + -91.2, + 0.0 + ], + [ + 2135.824, + -1921.221, + 208.982, + 0.0, + -66.2, + 0.0 + ], + [ + 2135.824, + -1921.221, + 208.982, + 0.0, + -41.2, + 0.0 + ], + [ + 2135.824, + -1921.221, + 208.982, + 0.0, + -16.2, + 0.0 + ], + [ + 2211.642, + -1972.443, + 204.373, + 0.0, + -16.2, + 0.0 + ], + [ + 2332.504, + -2007.556, + 204.373, + 0.0, + -16.2, + 0.0 + ], + [ + 2453.365, + -2042.669, + 201.009, + 0.0, + -16.2, + 0.0 + ], + [ + 2574.227, + -2077.781, + 200.669, + 0.0, + -16.2, + 0.0 + ], + [ + 2693.422, + -2096.111, + 200.752, + 0.0, + -16.2, + 0.0 + ], + [ + 2624.281, + -2076.024, + 200.752, + 0.0, + -16.2, + 0.0 + ], + [ + 2624.281, + -2076.024, + 200.752, + 0.0, + -16.2, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2142.576, + -2075.135, + 122.421, + 0.0, + -30.0, + 0.0 + ], + [ + 2142.576, + -2075.135, + 122.421, + 0.0, + -30.0, + 0.0 + ], + [ + 2142.576, + -2075.135, + 122.421, + 0.0, + -30.0, + 0.0 + ], + [ + 2142.576, + -2075.135, + 122.421, + 0.0, + -30.0, + 0.0 + ], + [ + 2142.576, + -2075.135, + 122.421, + 0.0, + -30.0, + 0.0 + ], + [ + 2142.576, + -2075.135, + 122.421, + 0.0, + -30.0, + 0.0 + ], + [ + 2142.576, + -2075.135, + 122.421, + 0.0, + -30.0, + 0.0 + ], + [ + 2142.576, + -2075.135, + 122.421, + 0.0, + -30.0, + 0.0 + ], + [ + 2157.186, + -1921.057, + 178.587, + -28.202, + -41.055, + 1.862 + ], + [ + 2155.989, + -1911.652, + 178.859, + -28.189, + -16.043, + 1.872 + ], + [ + 2150.775, + -1904.375, + 178.192, + -28.215, + 8.928, + 1.849 + ], + [ + 2148.479, + -1897.257, + 178.205, + -14.092, + 26.144, + 6.87 + ], + [ + 2217.222, + -1951.83, + 169.276, + -28.209, + 33.936, + 1.854 + ], + [ + 2338.201, + -1986.964, + 173.93, + -28.185, + 33.955, + 1.872 + ], + [ + 2458.868, + -2022.032, + 168.187, + -28.207, + 33.937, + 1.854 + ], + [ + 2579.451, + -2057.065, + 171.015, + -28.208, + 33.94, + 1.856 + ], + [ + 2698.404, + -2075.321, + 171.448, + -28.191, + 33.949, + 1.876 + ], + [ + 2691.501, + -2095.553, + 150.752, + 0.0, + -16.2, + 0.0 + ], + [ + 2691.501, + -2095.553, + 150.752, + 0.0, + -16.2, + 0.0 + ] + ], + "PD_Dist_2D": [ + 773.8, + 648.5, + 523.3, + 523.3, + 405.6, + 405.6, + 279.8, + 154.1, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the entrance of this ruined hall I can see the dark pile of trash bags on the left and a rusty can standing near the stacked pallets ahead. The target area is still far across the open floor, so I will walk forward to close that gap and get a clearer look.", + "The bag pile and the reddish can beside the cartons have grown larger, confirming I am heading the right way. The can is still well beyond arm's reach, so I keep walking straight to shorten the remaining distance.", + "A large cardboard carton now sits squarely in my straight path, with more boxes and the bag pile crowding the left side. I will turn right so my heading opens onto the clear stretch of floor beside that carton instead of running into it.", + "With my heading shifted right, the floor ahead is clear of the stacked cartons and the rusty can stands to the left of the brick column near the pallets. I will step forward along this open line to gain ground toward it.", + "The brick column now fills the middle of my view and the jerry can sits off to its left, near the pallet stacks. I will turn left to bring the can back toward the centre of my heading and keep the column out of my line of travel.", + "The turn has placed the rusty jerry can in front of me, past the boxes and beside the pile of dark bags on the left. The way between the cartons and the column looks clear, so I will walk forward to close in on it.", + "The jerry can is squarely ahead of me on the floor in front of the pallet stacks, but it is still a few paces off. I will take another step forward to bring it within grabbing range.", + "The jerry can now stands directly in front of me at the bottom of my view, close enough that its handle and rusted body fill much of the near floor. My hands are empty, so I will attempt to grasp it and lift it for carrying.", + "The grasp worked, since the jerry can is now in my hands rather than resting beside the trash bags. The delivery point is the iron doorway, which is not in front of me from this heading. I will turn right to bring that side of the hall into view.", + "I still hold the jerry can, and this heading only shows the stacked pallets and boxes along the far brick wall. The iron doorway must lie further around to my right. I will keep turning right to bring it into view.", + "The dark doorway with the machinery behind it now shows at the right edge of my view, still well off my heading. Another right turn should place that opening near the center so I can walk straight to it. I will turn right again with the can in hand.", + "The iron doorway is now roughly ahead of me, with the brick pillar cleared to my right side. Distance is the only thing left between me and the drop point. I will step forward toward the opening while carrying the jerry can.", + "The doorway has grown larger and stays aligned with my heading, so no turn is needed. The floor ahead is open, with the boxes safely off to my left. I will keep walking forward toward the opening with the can.", + "I can now see through the iron doorway to the metal cabinets in the room beyond, so my line of travel is correct. The threshold is still a few paces off. I will advance again to close that remaining gap.", + "The doorway frame now fills much of my view and the jerry can is still in my hands. I am close but not yet at the threshold where the drop belongs. I will step forward once more toward the opening.", + "The whitewashed door edge is right beside me and the cabinets inside are plainly visible, so I am at the very edge of the iron doorway. A short further step should put me squarely in the opening before releasing the can. I will move forward.", + "The jerry can is still in my hands and I have just come through the iron doorway, with its rusted white frame right beside me and the metal cabinets ahead. This is the placement spot named in the task, so I will release the can here. It should come to rest at the doorway.", + "The jerry can now sits on the ground at the iron doorway and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f867d8e5d50294957039d788820bf99b1833053 --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the doorway at the far end of the hall.", + "Type": 0, + "Start_Pose": [ + 2812.06, + -1631.678, + 200.739, + 0.0, + 179.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2812.06, + -1631.678, + 200.739, + 0.0, + 179.52, + -0.0 + ], + [ + 2686.205, + -1630.624, + 209.212, + 0.0, + 179.52, + -0.0 + ], + [ + 2560.351, + -1629.569, + 208.997, + 0.0, + 179.52, + -0.0 + ], + [ + 2434.496, + -1628.515, + 208.449, + 0.0, + 179.52, + -0.0 + ], + [ + 2308.642, + -1627.46, + 204.386, + 0.0, + 179.52, + -0.0 + ], + [ + 2182.787, + -1626.406, + 204.386, + 0.0, + 179.52, + -0.0 + ], + [ + 2056.933, + -1625.352, + 198.148, + 0.0, + 179.52, + -0.0 + ], + [ + 1931.078, + -1624.297, + 198.148, + 0.0, + 179.52, + -0.0 + ], + [ + 1855.244, + -1646.472, + 212.036, + 0.0, + 179.52, + -0.0 + ], + [ + 1855.244, + -1646.472, + 212.036, + 0.0, + 179.52, + -0.0 + ] + ], + "Rationale": [ + "Looking down the hall, I can see a dark rectangular doorway in the far wall, roughly straight ahead just right of the large red sliding door. My heading already lines up with that opening, and the slab floor in front of me looks clear of obstacles, so I will move forward to begin closing the distance.", + "The far wall and its doorway now fill more of my view, confirming that straight-line travel is closing the gap. Nothing blocks the lane ahead, with pallets off to my left and a crate to my right, so I will keep moving forward without changing heading.", + "The doorway remains a bit right of my view center but well within a straight approach corridor, and I can now see through it to a lit area beyond. The floor between me and the wall is only rubble strewn, not obstructed, so another forward step should bring me closer.", + "The far wall now dominates my view and the doorway frame is clearly resolved with brickwork visible inside. I still have several body lengths of open floor to cover, so I continue forward on the same heading.", + "I am close enough that the red sliding door on the left and the doorway on the right of my view are at near range, and the opening sits slightly right of center. My path into it is still clear, so I will step forward again to keep reducing the remaining distance.", + "The doorway is now directly in front of me and I can see through the threshold to the courtyard floor beyond. A short forward move should carry me up to and through the opening rather than stopping short of it.", + "I am right at the doorway with its jambs framing my view on both sides and the exterior brick facade visible ahead. Moving forward should place me in the opening itself, which is the position the task asks for.", + "I am inside the doorway now, with the left jamb still cutting across part of my view and the open yard ahead. One more short step should clear me through the threshold and settle me at the doorway itself.", + "The doorway frame is now behind me and the open outer yard fills my view. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3d87c3da826e4d80de748289e3389a3c40d1f9de --- /dev/null +++ b/dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the base of the brick column beside the stacked cardboard boxes.", + "Type": 0, + "Start_Pose": [ + 2812.06, + -1631.678, + 200.739, + 0, + 179.52, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2812.06, + -1631.678, + 200.739, + 0, + 179.52, + 0 + ], + [ + 2812.06, + -1631.678, + 200.835, + 0.0, + -155.48, + 0.0 + ], + [ + 2697.551, + -1683.911, + 208.307, + 0.0, + -155.48, + 0.0 + ], + [ + 2583.043, + -1736.144, + 207.36, + 0.0, + -155.48, + 0.0 + ], + [ + 2468.534, + -1788.377, + 202.359, + 0.0, + -155.48, + 0.0 + ], + [ + 2355.835, + -1840.552, + 198.148, + 0.0, + -155.48, + 0.0 + ], + [ + 2355.835, + -1840.552, + 198.148, + 0.0, + -155.48, + 0.0 + ] + ], + "Rationale": [ + "Across the hall to my right I can see stacked cardboard boxes standing beside a tall brick column, while my current heading points at the far doorway instead. I will turn right to bring that column and the boxes toward the center of my view so I can walk straight at them.", + "The brick column now rises near the middle of my view with the stacked boxes clustered just to its right, so my heading is well aligned with the target. The floor slabs ahead look clear, so I will step forward to begin closing the gap.", + "The column and the boxes beside it have grown larger and stay near the center of my view, confirming I am heading straight toward the target. I will keep advancing since a fair stretch of open floor still separates me from its base.", + "The brickwork of the column now dominates the middle of my view and the nearest boxes sit close beside it, so I am only a couple of steps away. I will move forward again to close the remaining distance to its base.", + "The column's corner is now directly in front of me, its bricks spanning most of my view with the boxes just past its right edge. One more step forward should bring me right up against the base of this column.", + "The column's brick base is directly against me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..385a65eb555c946d5db70c8c55506931308d644a --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the utility pole base, then proceed to the bikes.", + "Type": 3, + "Start_Pose": [ + -1048.07, + -1091.21, + -931.85, + 0, + -164.16, + 0 + ], + "Action": [ + "LookUp", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1048.07, + -1091.21, + -931.85, + 0, + -164.16, + 0 + ], + [ + -1048.07, + -1091.21, + -931.85, + 0.0, + -164.16, + 0.0 + ], + [ + -1169.15, + -1125.563, + -931.85, + 0.0, + -164.16, + 0.0 + ], + [ + -1169.15, + -1125.563, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1264.367, + -1207.869, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1359.584, + -1290.174, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1454.801, + -1372.479, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1550.019, + -1454.785, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1645.236, + -1537.09, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1740.453, + -1619.396, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1835.67, + -1701.701, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1930.888, + -1784.006, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -2026.105, + -1866.312, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -2026.105, + -1866.312, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -2026.105, + -1866.312, + -931.85, + 0.0, + -114.16, + 0.0 + ], + [ + -2026.105, + -1866.312, + -931.85, + 0.0, + -89.16, + 0.0 + ], + [ + -2026.105, + -1866.312, + -931.85, + 0.0, + -64.16, + 0.0 + ], + [ + -2026.105, + -1866.312, + -931.85, + 0.0, + -39.16, + 0.0 + ], + [ + -1928.515, + -1945.79, + -931.85, + 0.0, + -39.16, + 0.0 + ], + [ + -1854.251, + -2010.823, + -922.466, + 0.0, + -39.16, + 0.0 + ], + [ + -1854.251, + -2010.823, + -922.466, + 0.0, + -39.16, + 0.0 + ] + ], + "Rationale": [ + "My gaze sits low on the road markings, so most of what I can see is empty pavement. I need to find the tall utility pole carrying the overhead wires before I can pick a route toward it. I will look up to open the view along the buildings and cables.", + "With my view raised I can see the wire-laden pole standing beyond the corner building, on the far side of the open junction. The pavement in front of me is clear all the way to that opening. I will step forward to close some of that gap.", + "From here the pole with its bundled wires sits off to my right, in front of the red-shuttered storefront, while my heading points at the corner building instead. Walking straight would carry me past it. I will turn right to bring the pole and the street beside it into the center of my path.", + "The turn has put the utility pole and its wires almost straight ahead across the open road, with parked bicycles leaning near the shuttered shop beyond it. The junction surface between us is flat and empty. I will walk forward along this heading to close the distance.", + "The pole has grown noticeably taller in my view and the shuttered frontage behind it is filling more of the scene, so my heading is good. Nothing crosses the roadway in front of me. I will keep walking forward toward the pole.", + "The pole now rises directly ahead of me beside the red shutters, and the bicycles parked further along the curb are becoming distinct. There is still a stretch of open street between us. Another forward step should bring me closer to its base.", + "I am into the side street now, with the pole standing just ahead on the raised sidewalk and the blue sign fixed beside it. The lane in front of me remains clear of traffic and obstacles. I will advance again to reach the foot of the pole.", + "The pole's striped yellow and black guard at its base is clearly visible now, only a short way ahead along the curb. My heading runs straight down the open lane toward it. I will step forward once more to keep closing on the base.", + "The utility pole with the yellow and black striped base stands on the sidewalk ahead on my right, still several strides off. The roadway in front of me is open and flat, so I will keep walking straight to close that gap.", + "The striped pole and the blue arrow sign beside it have grown noticeably larger and sit just right of my heading. Nothing blocks the lane, so another step forward should bring me nearer to that pole base.", + "The pole now rises tall in front of me with its striped lower section clearly visible against the shuttered storefront. I am not yet level with it, so I will walk forward again to draw alongside its base.", + "The pole fills much of my view now, but its base still sits a short step ahead of me at the curb. One more forward step should put me right at the foot of it.", + "The striped foot of the utility pole is directly beside me at the curb, close enough to touch. I have reached the pole base. I mark arriving here and now turn my attention to the parked bicycles along this shopfront.", + "Standing at the pole foot, my heading still runs up the empty street, while the bicycles I glimpsed leaning against the shuttered shopfront lie off to my right. I will turn right to swing my view toward that frontage.", + "The turn has brought the red shutters and the pole into the center of my view, but no bicycles are showing yet along this stretch of frontage. I will keep rotating right to bring the parked bikes into view.", + "I am now square onto the shutter panels with the pole shaft crossing my view, and still nothing of the bikes appears at either edge. Another right turn should carry my heading further along the sidewalk toward where they lean.", + "Parked bicycles have come into the right edge of my view, leaning against the tiled wall past the shuttered storefront. My heading still faces mostly into the shutters, so I will turn right once more to bring the bikes into the center of my path.", + "The bicycles now sit squarely ahead of me along the sidewalk, with clear pavement between us. I will walk forward to close that remaining gap.", + "The nearest bicycle now fills much of my view, its frame and handlebars close on my right. A short step further should bring me right alongside the parked bikes.", + "The parked bicycles are right beside me at arm's length. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e2a2fb3d2537ab16228cad4d84ad114e66baf7 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Navigate to the gray utility pole with yellow-and-black stripes around its base.", + "Type": 0, + "Start_Pose": [ + -1120.784, + 2098.544, + -931.85, + 0.0, + 95.04, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1120.784, + 2098.544, + -931.85, + 0.0, + 95.04, + -0.0 + ], + [ + -1120.784, + 2098.544, + -931.85, + 0.0, + 120.04, + -0.0 + ], + [ + -1183.79, + 2207.497, + -931.85, + 0.0, + 120.04, + -0.0 + ], + [ + -1246.795, + 2316.45, + -931.85, + 0.0, + 120.04, + -0.0 + ], + [ + -1246.795, + 2316.45, + -931.85, + 0.0, + 145.04, + -0.0 + ], + [ + -1349.943, + 2388.568, + -931.85, + 0.0, + 145.04, + -0.0 + ], + [ + -1453.091, + 2460.686, + -931.85, + 0.0, + 145.04, + -0.0 + ], + [ + -1556.239, + 2532.804, + -931.85, + 0.0, + 145.04, + -0.0 + ], + [ + -1659.387, + 2604.921, + -931.85, + 0.0, + 145.04, + -0.0 + ], + [ + -1762.535, + 2677.039, + -931.85, + 0.0, + 145.04, + -0.0 + ], + [ + -1762.535, + 2677.039, + -931.85, + 0.0, + 145.04, + -0.0 + ] + ], + "Rationale": [ + "Scanning the open intersection ahead, the only utility pole I can pick out is the tall gray one at the far right edge of my view, and its lower section carries the yellow-and-black striping described in the task. It sits too far to the side for me to walk straight at it, so I will turn right to bring that pole into the middle of my view. This should give me a clean heading before I start closing distance.", + "The striped utility pole now stands ahead in the right half of my view, rising past the overhead wires with its yellow-and-black banded base above the curb. The pavement between us is flat and clear, so I will step forward along it to cut down the separation. Each advance should make the striping easier to confirm as I get nearer.", + "The pole has grown noticeably taller in my view and its banded base near the sidewalk edge is clearer, which tells me my heading is still carrying me toward it. I am not close enough for the pole to be within reach, so I will keep advancing on this same line. The street surface ahead remains open, so another forward step should be straightforward.", + "From here the striped pole has drifted into the right portion of my view as I closed in, so walking straight ahead would take me past it toward the storefronts on the left. I will turn right to place the pole back near the center of my view and face along the street that runs beside it. That should let the remaining approach be a straight walk.", + "The gray pole with the yellow-and-black striped base now stands roughly centered in my view where the curb bends, and the street runs open behind it. With my heading corrected, I will step forward to close the remaining gap. The wide pavement gives me a clear path toward its base.", + "The pole continues to grow ahead of me and its striped band is now clearly legible against the curb, confirming this is the target from the task. There is still a stretch of open pavement before I reach it, so I will advance again. Holding this heading should keep the pole centered as I come nearer.", + "The striped pole now dominates the middle of my view with the curb line curving away to its right, so my heading is holding well. I am close but not yet standing beside it, so I will take another step forward. This should bring me within arm's length of its banded base.", + "The pole is very close now, tall enough to span my whole view, with the yellow-and-black striping plainly visible on its lower section just beyond the curb. One more step forward should place me right at its base. I will advance to finish closing that last bit of distance.", + "The gray utility pole now stands just left of center in my view, with its yellow-and-black striped band clearly visible near the curb. It is still a short gap ahead of me, so I will take one more step forward along the open pavement to close that remaining distance.", + "The gray pole's yellow-and-black striped base is directly in front of me, filling the near left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27614082fb389878b81449b43a5d714acac28db9 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the yellow U-shaped bollard, then head toward the trash bin.", + "Type": 3, + "Start_Pose": [ + -1253.522, + -1298.14, + -931.85, + 0.0, + 60.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1253.522, + -1298.14, + -931.85, + 0.0, + 60.48, + -0.0 + ], + [ + -1191.508, + -1188.62, + -931.85, + 0.0, + 60.48, + -0.0 + ], + [ + -1129.494, + -1079.099, + -931.85, + 0.0, + 60.48, + -0.0 + ], + [ + -1067.479, + -969.579, + -931.85, + 0.0, + 60.48, + -0.0 + ], + [ + -1067.479, + -969.579, + -931.85, + 0.0, + 60.48, + -0.0 + ], + [ + -1067.479, + -969.579, + -931.85, + 0.0, + 35.48, + -0.0 + ], + [ + -963.185, + -903.026, + -922.274, + 0.0, + 35.48, + -0.0 + ], + [ + -860.696, + -829.976, + -922.274, + 0.0, + 35.48, + -0.0 + ], + [ + -758.492, + -765.249, + -922.725, + 0.0, + 35.48, + -0.0 + ], + [ + -758.492, + -765.249, + -922.725, + 0.0, + 60.48, + -0.0 + ], + [ + -758.492, + -765.249, + -922.725, + 0.0, + 60.48, + -0.0 + ] + ], + "Rationale": [ + "The yellow U-shaped bollard stands ahead of me at the curb edge, near the corner of the brick building. It is still several paces off, so I will walk forward along the pavement to close that gap.", + "The yellow bollard has grown larger and sits just ahead and slightly right of my heading, with clear pavement in between. I will keep walking forward to reach it.", + "The bollard is now close on my lower right, but I am not yet standing beside it. One more step forward should bring me level with it.", + "The yellow U-shaped bollard now fills the bottom right of my view, right beside my feet at the curb. I have reached it, so I mark arriving at the bollard before setting off toward the dark trash bin standing against the brick wall to my left.", + "The dark trash bin sits by the brick wall to my left, off my current heading, which points down the roadway. I will turn left to bring the bin in front of me for a straight approach.", + "The trash bin is now roughly centered ahead beside the bicycle and the stairs, with open pavement between us. I will walk forward to close the distance.", + "The bin has grown noticeably and sits slightly right of center against the wall, still a couple of paces away. I keep walking forward to draw up to it.", + "The trash bin now looms large on my right with its lid opening clearly visible, but I am still slightly short of standing beside it. One more step forward should place me right at it.", + "The dark trash bin has closed to arm's length but sits crowded against the right edge of my view, with the bicycle and stairs filling the center. Turning right by a small amount should swing my heading onto the bin so it sits squarely in front of me.", + "The trash bin now fills the center of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1c41c379685c9aaa68703b356ae2472cd4a44c23 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the right double door.", + "Type": 2, + "Start_Pose": [ + -1687.058, + 2660.331, + -931.85, + 0.0, + 73.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1687.058, + 2660.331, + -931.85, + 0.0, + 73.92, + -0.0 + ], + [ + -1652.198, + 2781.266, + -922.332, + 0.0, + 73.92, + -0.0 + ], + [ + -1617.337, + 2902.201, + -922.332, + 0.0, + 73.92, + -0.0 + ], + [ + -1617.337, + 2902.201, + -922.332, + 0.0, + 98.92, + -0.0 + ], + [ + -1636.852, + 3026.538, + -922.332, + 0.0, + 98.92, + -0.0 + ], + [ + -1656.367, + 3150.875, + -931.85, + 0.0, + 98.92, + -0.0 + ], + [ + -1675.883, + 3275.211, + -931.85, + 0.0, + 98.92, + -0.0 + ], + [ + -1675.883, + 3275.211, + -931.85, + 0.0, + 73.92, + -0.0 + ], + [ + -1675.883, + 3275.211, + -931.85, + 0.0, + 73.92, + -0.0 + ] + ], + "Rationale": [ + "Two glazed double doors line this row of shopfronts, and the right one is the pair set under the green awning, while the left one sits beneath the faded pink awning. It stands well ahead of me across the open pavement, so I will walk forward to close that distance.", + "The frosted double door under the green awning is noticeably larger now and sits ahead and slightly right of my heading. Nothing blocks the pavement between us, so I will keep walking straight to close more of the gap before adjusting my heading.", + "The double door under the green awning now sits off to the right side of my view rather than in front of me, so walking straight would carry me past its frontage. I will turn right to bring the door toward the center of my heading before advancing again.", + "The turn worked, and the double door beneath the green awning is now roughly centered ahead of me with clear paving in between. I will step forward to shorten the remaining distance to its entrance.", + "The double door and its handles are clearly resolved just ahead, with the awning edge above and the dumpster well off to my right side. I am still a few paces short of the entrance, so I will continue walking forward.", + "The door now fills much of the left side of my view as I come alongside the storefront, but I am not yet standing at its threshold. I will take another step forward to bring myself right up to the entrance.", + "At this close range the door has slipped past the left edge of my view and I am mostly facing the window and wall panel beside it. I will turn left to bring the double door squarely in front of me.", + "The frosted double door with its handles fills my view at arm's length, squarely in front of me. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16ceaedab979b24c8c7dd230de09ac415a8d6d28 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_b/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Head toward the street utility post, then proceed to the blue crates on the right side.", + "Type": 3, + "Start_Pose": [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ], + [ + -3102.648, + -1738.646, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2977.653, + -1753.373, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2852.659, + -1768.101, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2727.665, + -1782.829, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2602.67, + -1797.556, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2477.676, + -1812.284, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2477.676, + -1812.284, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2370.617, + -1878.457, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2263.558, + -1944.63, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2263.558, + -1944.63, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2342.156, + -1896.049, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2342.156, + -1896.049, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2342.156, + -1896.049, + -931.85, + 0.0, + 18.28, + -0.0 + ], + [ + -2342.156, + -1896.049, + -931.85, + 0.0, + 43.28, + -0.0 + ], + [ + -2342.156, + -1896.049, + -931.85, + 0.0, + 68.28, + -0.0 + ], + [ + -2342.156, + -1896.049, + -931.85, + 0.0, + 93.28, + -0.0 + ], + [ + -2342.156, + -1896.049, + -931.85, + 0.0, + 118.28, + -0.0 + ], + [ + -2401.785, + -1785.212, + -931.85, + 0.0, + 118.28, + -0.0 + ], + [ + -2401.785, + -1785.212, + -931.85, + 0.0, + 143.28, + -0.0 + ], + [ + -2502.67, + -1709.96, + -931.85, + 0.0, + 143.28, + -0.0 + ], + [ + -2603.554, + -1634.708, + -922.389, + 0.0, + 143.28, + -0.0 + ], + [ + -2603.554, + -1634.708, + -922.389, + 0.0, + 143.28, + -0.0 + ] + ], + "Rationale": [ + "The alley runs straight ahead with a tall utility post rising from the left kerb under the tangle of overhead wires. The roadway between the shopfronts is clear of obstacles, so I walk forward to close the distance toward that post.", + "The post on the left kerb sits nearer now and the yellow bin beside the shop wall has slid past my left. The lane stays open ahead, so another step forward should keep shortening the gap to the post.", + "The red shuttered shopfront on my left is drawing level and the utility post ahead of it keeps growing in my view. Nothing blocks the centre of the street, so I continue walking straight toward the post.", + "The thick grey post now stands well up in the left half of my view, with parked bicycles just beyond it along the kerb. The road surface remains clear, so I step forward again to keep closing on it.", + "The post is close enough that its base and the kerb beside it are clearly visible on my left, and the street opens into a wider junction beyond. Walking forward once more should bring me alongside the post.", + "The post stands large along the left kerb and the bicycles leaning near it are only a short way ahead. The lane in front of me is still clear, so I take another step forward to draw level with the post.", + "The utility post has drifted to the far left edge of my view as I approach the open junction, and my heading points past it down the road. I turn left to swing the post back into the centre of my view before advancing on it.", + "The grey post now stands squarely ahead of me beside the kerb, with the shuttered shopfront on my left and bicycles just past it. With my heading set on it, I walk forward to close the last of the gap.", + "The tall utility post on the sidewalk edge is now only a couple of paces ahead of me, its banded metal shaft clearly visible past the shuttered storefront. I will walk forward again to close the last bit of distance and stand right at its base.", + "The street utility post fills the middle of my view, its banded shaft an arm's length away at the curb. I have arrived at it, so I mark reaching the post and now set off toward the blue crates stacked along the right side of the street.", + "Standing this close, the post's shaft blocks most of my forward view and leaves me pinched against the curb and shutters. Backing up a short distance should open space around me and widen the view so I can pick out the crates on the right side of the street.", + "With a little clearance from the post, my heading still runs along the shuttered storefront on my left, where no crates are in sight. Turning right should swing my view off this facade and toward the open roadway on the right side of the street.", + "The junction and the wide roadway are opening on my right, but I am still angled down the lane past the parked bicycles. Another turn to the right should bring more of that right-hand street frontage into view where crates would be stacked.", + "I am now looking across the open junction toward the elevated structure, with a shuttered building edging into the right of my view. I will keep turning right to bring that right-side frontage squarely ahead of me.", + "The curb sweeps to the right in front of me and the shuttered facade running down that side is only partly in view, with no crates yet visible along it. I will turn right again to follow that frontage further around.", + "I am facing the roller shutters of the building on this side, and the sidewalk beside them still runs out of view to my right. One more turn right should carry my heading along that walkway where the blue crates should sit.", + "Swinging my heading around, a cluster of blue crates has just edged into the right margin of my view, sitting on the sidewalk beside the shuttered frontage. I will turn right once more to bring that stack of crates properly into the middle of my view before walking on.", + "The blue crates now sit clearly ahead of me on the sidewalk in front of the pink storefront, with more of them further along by the corner. They are still some distance off, so I will walk forward along the open pavement to close on them.", + "I am closer now, but the crates and the shopfront they lean against are drifting across my view while the shutter wall fills my left side. A right turn should line my heading up with the sidewalk that runs past the crates so I can walk straight at them.", + "My heading now runs down the sidewalk with the blue crates plainly in front of me, stacked against the pink shopfront, and a further pair beyond them. Nothing blocks the pavement, so I will walk forward to reach them.", + "The crates have grown large in my view, sitting just ahead against the pink wall, though I am not yet beside them. One more step forward should put me right at the stack.", + "The blue crates are directly beside me at the foot of the pink storefront, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cdbf85412ed19e77e4bc3c2f9b40e3239236262c --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_c/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Head toward the dark double door near the yellow-black striped bollard, then proceed to the parked bicycle.", + "Type": 3, + "Start_Pose": [ + -4475.538, + -1557.575, + -922.252, + 0.0, + -43.2, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4475.538, + -1557.575, + -922.252, + 0.0, + -43.2, + 0.0 + ], + [ + -4383.791, + -1643.731, + -926.4, + 0.0, + -43.2, + 0.0 + ], + [ + -4383.791, + -1643.731, + -926.4, + 0.0, + -68.2, + 0.0 + ], + [ + -4337.051, + -1760.59, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -4290.311, + -1877.448, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -4243.571, + -1994.306, + -930.855, + 0.0, + -68.2, + 0.0 + ], + [ + -4201.044, + -2055.134, + -922.252, + 0.0, + -68.2, + 0.0 + ], + [ + -4162.729, + -2055.134, + -922.252, + 0.0, + -68.2, + 0.0 + ], + [ + -4162.729, + -2055.134, + -922.252, + 0.0, + -68.2, + 0.0 + ], + [ + -4197.043, + -1969.342, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -4197.043, + -1969.342, + -931.85, + 0.0, + -43.2, + 0.0 + ], + [ + -4197.043, + -1969.342, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -4077.481, + -2008.652, + -923.459, + 0.0, + -18.2, + 0.0 + ], + [ + -3957.918, + -2047.962, + -922.286, + 0.0, + -18.2, + 0.0 + ], + [ + -3957.918, + -2047.962, + -922.286, + 0.0, + 6.8, + -0.0 + ], + [ + -3913.281, + -2037.534, + -922.252, + 0.0, + 6.8, + -0.0 + ], + [ + -3913.281, + -2037.534, + -922.252, + 0.0, + 6.8, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the recessed dark double doors set into the building on my left, with the yellow and black striped pole standing right beside them. The bicycle leaning against the railing sits further down the same sidewalk. I will walk forward along the street to close the gap toward that entrance.", + "The striped pole and the dark double doors behind it now sit off to my left rather than ahead of me, so walking straight would carry me past them down the street. I will turn left to bring that entrance into the center of my view before advancing again.", + "The doors and the striped pole are now squarely ahead across the road and sidewalk, with clear open pavement between me and them. Nothing blocks the line, so I will step forward to close on that entrance.", + "The frosted double doors and the striped pole have grown noticeably larger, so my heading is carrying me straight at them. I am still out on the road with the curb ahead, so I will keep walking forward toward the entrance.", + "The doorway now fills much of the view with its handles clearly visible, and the striped pole stands just to its right on the sidewalk. There is still a stretch of pavement between me and the threshold, so I will continue walking forward.", + "I am up on the sidewalk with the double doors directly in front of me and the striped pole close on my right. A short remaining gap still separates me from the entrance, so I will step forward again to stand at it.", + "The double doors now span almost the whole view and the interior light shows through the frosted glass, so I am nearly at the threshold. I will take one more short step forward to settle right at the entrance.", + "The dark double doors stand immediately in front of me, their handles and frosted panels within arm's reach beside the yellow and black striped pole. I have reached this entrance. I mark arriving here before turning back along the sidewalk toward the bicycle parked at the railing.", + "The double door fills my whole view at arm's length, so I have no room to turn toward the bicycle from here. I will step back along the sidewalk to open up space and bring the striped bollard and the street back into view.", + "Backing off has restored a wider view, with the striped bollard now on my right and the open street beyond it. Turning right should swing my heading away from the doorway and toward the sidewalk where the bicycle stands.", + "The turn brought the bicycle into the right edge of my view, parked against the railing beyond the building corner. Another right turn should center it ahead of me so I can walk straight down the sidewalk toward it.", + "The bicycle is now clearly ahead beside the guardrail, with clear pavement running toward it along the shop wall. I will walk forward to close that distance.", + "The parked bicycle has grown noticeably larger just ahead on my right along the railing. I keep walking forward to reach its position beside the curb.", + "I am now level with the bicycle, but it sits off to my right against the railing while my heading points down the empty sidewalk. A right turn should face me squarely at it.", + "The bicycle is directly ahead of me at the railing, its saddle and front wheel filling the near view. A short step forward should bring me right up alongside it.", + "The parked bicycle stands immediately in front of me at the railing, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fcae11275fe88c7527a5f64e10a81a4503886110 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the round no-turning sign on the post.", + "Type": 0, + "Start_Pose": [ + 60.606, + -1582.299, + -931.85, + 0, + 2.88, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 60.606, + -1582.299, + -931.85, + 0, + 2.88, + 0 + ], + [ + 186.306, + -1575.975, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 312.006, + -1569.652, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 437.706, + -1563.328, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 563.406, + -1557.004, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 689.106, + -1550.68, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 689.106, + -1550.68, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 800.357, + -1491.826, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 911.607, + -1432.972, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 1022.857, + -1374.117, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 1134.108, + -1315.263, + -922.253, + 0.0, + 27.88, + -0.0 + ], + [ + 1134.108, + -1315.263, + -922.253, + 0.0, + 27.88, + -0.0 + ] + ], + "Rationale": [ + "From the mouth of this narrow street I can already pick out the round red and white no-turning sign on a slim post on the right side, standing near a parked bicycle beside the grey brick wall. It is still far off, so I will step forward along the open roadway to begin closing that gap.", + "The circular sign on its post is a little larger now and remains on the right side of my view, so my current heading is still carrying me toward it. I will keep advancing straight along the clear centre of the street.", + "The sign face is now clearly readable as the round no-turning marker, and its post base is visible above the kerb on my right. Nothing blocks the roadway in front of me, so another forward step should keep shrinking the distance.", + "The signpost sits ahead and to my right, and the kerb line beside it is curving closer as I gain ground. I will continue straight to bring myself level with that stretch of pavement.", + "The sign now hangs noticeably higher and larger toward the right edge of my view, meaning I am nearly abreast of it rather than far short. One more forward step should place the post within easy reach of a small heading adjustment.", + "The no-turning sign has drifted well over to the right side of my view while my body still faces down the street, so walking straight would carry me past it. I will turn slightly right to put the post nearer the centre of my view and line up my heading with it.", + "After the slight right turn, the round no-turning sign and its post now sit ahead of me along the kerb rather than off to the side. With that alignment in place, I will step forward to close the remaining distance.", + "The signpost stands just ahead beside the raised kerb, with the circular no-turning plate clearly above me on my present heading. I will advance again to come right up alongside the post.", + "The round no-turning sign with its red circle and curved arrow now stands large ahead on my right, mounted on its grey post at the curb edge. I am still a couple of paces short of being alongside it, so I will step forward again to close that remaining gap.", + "The sign face has risen to the top edge of my view and its post now reads as a tall vertical bar just right of center, so I am nearly level with it. One more forward step should bring me directly beside the post at arm's reach.", + "The sign's post stands immediately beside me at arm's reach, its plate directly overhead. The task is complete, so I stop here rather than move past the target." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_a_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b59f3ce13b3df97359d9ba3c3ee609127ed698cc --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the wicker basket near the red hand cart in the street.", + "Type": 5, + "Start_Pose": [ + 60.606, + -1582.299, + -931.85, + 0, + 2.88, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 820.011, + -1620.795, + -988.85, + 90, + 22.88, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 60.606, + -1582.299, + -931.85, + 0, + 2.88, + 0 + ], + [ + 186.306, + -1575.975, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 312.006, + -1569.652, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 437.706, + -1563.328, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 563.406, + -1557.004, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 689.106, + -1550.68, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 689.106, + -1550.68, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 689.106, + -1550.68, + -931.85, + 0.0, + 2.88, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 820.011, + -1620.795, + -988.85, + 90.0, + 22.88, + 0.0 + ], + [ + 820.011, + -1620.795, + -988.85, + 90.0, + 22.88, + 0.0 + ], + [ + 820.011, + -1620.795, + -988.85, + 90.0, + 22.88, + 0.0 + ], + [ + 820.011, + -1620.795, + -988.85, + 90.0, + 22.88, + 0.0 + ], + [ + 820.011, + -1620.795, + -988.85, + 90.0, + 22.88, + 0.0 + ], + [ + 820.011, + -1620.795, + -988.85, + 90.0, + 22.88, + 0.0 + ], + [ + 687.424, + -1529.384, + -961.744, + -28.202, + 53.025, + 1.862 + ], + [ + 687.424, + -1529.384, + -961.744, + -28.202, + 53.025, + 1.862 + ] + ], + "PD_Dist_2D": [ + 760.4, + 635.3, + 510.6, + 386.6, + 264.4, + 148.5, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the red hand cart down the alley with a large wicker basket resting beside it, but both are still far ahead of me. I will walk forward along the open street to close that distance before any grasp is possible.", + "The basket beside the red cart now appears slightly larger, confirming my heading is taking me straight toward it. Nothing blocks the roadway, so I continue walking forward to keep shrinking the gap.", + "The wicker basket and the red hand cart are clearly resolved on the left side of the lane, yet still too distant for my reach. Another step forward should bring me nearer to a workable grasping position.", + "The basket fills a good part of my view now and sits just left of my path next to the cart. I keep walking forward since I am not yet close enough to reach down and take it.", + "The wicker basket is very close, low and to my left beside the red cart frame. One more step forward should place it directly at my feet so a pick attempt has a chance to connect.", + "The wicker basket is now right in front of me at ground level, near enough that its rim dominates the lower part of my view. I will reach down and attempt to grab it, which should put it in my hands.", + "The wicker basket is now held in my hands rather than resting on the street. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-001675_y-000011_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-001675_y-000011_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..926fad96393bb5a6ae4176387cd8b21ad1f49f69 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-001675_y-000011_z000118_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the front end of the yellow forklift in the warehouse; after locating it, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + -1674.979, + -10.986, + 118.099, + 0.0, + 120.791, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1674.979, + -10.986, + 118.099, + 0.0, + 120.791, + -0.0 + ], + [ + -1674.979, + -10.986, + 118.099, + 0.0, + 145.791, + -0.0 + ], + [ + -1674.979, + -10.986, + 118.099, + 0.0, + 170.791, + -0.0 + ], + [ + -1674.979, + -10.986, + 118.099, + 0.0, + -164.209, + 0.0 + ], + [ + -1784.312, + -62.12, + 118.099, + 0.0, + -164.209, + 0.0 + ], + [ + -1784.312, + -62.12, + 118.099, + 0.0, + -139.209, + 0.0 + ], + [ + -1879.599, + -144.344, + 118.099, + 0.0, + -139.209, + 0.0 + ], + [ + -1974.887, + -226.568, + 118.099, + 0.0, + -139.209, + 0.0 + ], + [ + -1974.887, + -226.568, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + -2026.498, + -341.358, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + -2078.108, + -456.149, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + -2129.719, + -570.939, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + -2181.329, + -685.73, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + -2181.329, + -685.73, + 118.099, + 0.0, + -139.209, + 0.0 + ], + [ + -2276.617, + -767.954, + 118.099, + 0.0, + -139.209, + 0.0 + ], + [ + -2276.617, + -767.954, + 118.099, + 0.0, + -139.209, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see storage tanks along the far wall, scattered wooden crates and the open floor, with no yellow forklift anywhere ahead. I will turn right to begin a steady scan of the warehouse in one consistent direction. Sweeping toward the brighter side of the hall should reveal parts of the bay that are currently hidden behind the columns.", + "The new heading brings a red wall panel, a shuttered doorway and more crates into sight, but still no yellow forklift. I will keep rotating right in the same direction rather than reversing my scan, so coverage stays systematic. The remaining unseen sector to my right is the most likely place for warehouse machinery to be parked.", + "At the far right edge of what I can see there is a hint of yellow bodywork beside the columns, which may be the forklift I am looking for. I will turn right once more to bring that machine fully into sight before committing to it. If it is the forklift, this small rotation should confirm it and give me a heading to approach.", + "The yellow forklift is now clearly in sight, standing to the right of center with its mast and forks raised above the floor. The distance is still large and low crates lie off to the sides, so I will walk forward along the open concrete to close the gap. Getting nearer should also let me judge which side of the machine its front end faces.", + "After advancing, the forklift sits well to my right rather than straight ahead, so walking on this heading would carry me past it. I will turn right to place the machine closer to my direction of travel. That alignment should let me approach it directly across the open floor.", + "The yellow forklift now sits roughly ahead of me with clear concrete in between and the pallets well off to the side. I will walk forward to reduce the remaining distance toward it. Closing in should make its mast and fork end easier to identify.", + "The forklift has grown noticeably larger and I can now make out its wheels, cab and upright mast, yet I am still several strides away. I will keep walking forward since nothing blocks the ground between us. Another step should bring me close enough to work out where its front end points.", + "I am now close to the forklift, but I am looking at its flank, with the mast and forks pointing off toward my right side rather than at me. I will turn right so my heading runs toward the space in front of the machine instead of into its side. That should open a clear route to the fork end I need to reach.", + "The yellow forklift now sits clearly ahead on my left, and the mast with its forks is on the near side facing my line of travel. I will walk forward to close the remaining open floor between me and that front end.", + "The forklift has grown noticeably larger on my left, which confirms I am closing on it along a clear path. Since the mast and fork carriage are still several strides away, I will keep walking forward toward that front end.", + "The forklift is now close on my left, with the wheel and mast filling that side of my view, but I am still level with its cab rather than its front. I will step forward again to bring myself alongside the fork end of the machine.", + "Only the mast and the forks remain at the far left edge of my view, so I am nearly past the machine's front face. Another step forward should place me level with the fork tips where I can turn and face the front end squarely.", + "I have walked past the fork tips, which now lie low on the floor at my left, while my heading points into empty hall space. Turning left should swing my view back onto the forklift's front end so I can face it directly.", + "The turn brought the forklift's front squarely into view, with the mast, fork carriage, and extended tines directly in front of me and slightly left. I will take one more step forward to stand right at that front end.", + "The yellow forklift's mast and fork carriage fill the near left of my view at arm's length. The task is complete, so I stop here at its front end." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-001675_y-000011_z000118_t1_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-001675_y-000011_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b20ec589defe213cc376dbe3e60de5df1247509 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-001675_y-000011_z000118_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Identify the wide metal staircase beside the yellow forklift that leads to the elevated walkway, then head toward it.", + "Type": 1, + "Start_Pose": [ + -1674.979, + -10.986, + 118.099, + 0.0, + 120.791, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1674.979, + -10.986, + 118.099, + 0.0, + 120.791, + -0.0 + ], + [ + -1674.979, + -10.986, + 118.099, + 0.0, + 145.791, + -0.0 + ], + [ + -1674.979, + -10.986, + 118.099, + 0.0, + 170.791, + -0.0 + ], + [ + -1674.979, + -10.986, + 118.099, + 0.0, + -164.209, + 0.0 + ], + [ + -1674.979, + -10.986, + 118.099, + 0.0, + -139.209, + 0.0 + ], + [ + -1674.979, + -10.986, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + -1726.59, + -125.776, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + -1778.2, + -240.567, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + -1829.811, + -355.357, + 130.285, + 0.0, + -114.209, + 0.0 + ], + [ + -1881.421, + -470.148, + 127.137, + 0.0, + -114.209, + 0.0 + ], + [ + -1881.421, + -470.148, + 127.137, + 0.0, + -89.209, + 0.0 + ], + [ + -1879.684, + -595.995, + 126.68, + 0.0, + -89.209, + 0.0 + ], + [ + -1877.946, + -721.842, + 131.833, + 0.0, + -89.209, + 0.0 + ], + [ + -1877.946, + -721.842, + 131.833, + 0.0, + -89.209, + 0.0 + ] + ], + "Rationale": [ + "From here I only see storage tanks, crates and a light catwalk stair far off against the back wall, and there is no yellow forklift anywhere in front of me. I will turn right to sweep this large hall for the forklift and the wide staircase named in my task.", + "The sweep has brought a pink wall and a slim stair on the far left into view, but still no yellow forklift and nothing that looks like a wide metal staircase to the walkway. I will keep turning right to bring the unseen part of the hall into view.", + "A patch of yellow machinery is just appearing at the right edge of my view beyond the scattered crates, which is promising for the forklift I need. I will continue turning right so that machine and whatever stands beside it come fully into sight.", + "The yellow forklift now sits clearly in the right half of my view, so I am looking at the right area of the hall. The tall stair structure is still cut off at the far right edge, so I will turn right again to see it whole.", + "I can now see a wide metal staircase climbing to the elevated walkway on my right, with the yellow forklift parked to its left, which matches the target described in my task. One more turn right should place that staircase near the center of my heading before I walk toward it.", + "The wide metal staircase rising to the walkway is now roughly ahead of me with the yellow forklift beside it, so the identification is settled and searching is over. I will walk forward across the open floor to close the distance toward it.", + "The staircase and the forklift beside it have grown larger, confirming my heading is carrying me toward the target. The floor ahead is clear apart from a flat pallet off to the left, so I will keep walking forward.", + "The wide staircase to the elevated walkway now fills much of my view ahead, with the yellow forklift off to my left. I am still several paces short of its base, so I will continue advancing toward it.", + "The wide metal staircase climbing to the elevated walkway stands clearly ahead and slightly right, with the yellow forklift off to my left confirming it is the one I want. The open floor between me and its base is clear, so I will keep walking straight to close the remaining distance.", + "Now that I am close, the staircase sits toward the right side of my view rather than centered, so walking straight would carry me past its base. I will turn right to bring the steps squarely in front of me before continuing.", + "The staircase is now centered in my view, its lower steps and railings squarely ahead beneath the elevated walkway. With the heading committed, I will walk forward to close on the foot of the stairs.", + "The bottom steps and both handrails now fill much of my view, so only a short gap remains before I stand at the staircase. I will step forward once more to arrive right at its base.", + "The wide metal staircase rising to the elevated walkway fills my view directly ahead, within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..02123851bb0e1616ce11349840274f3762c4bd81 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Approach the wooden pallet near the metal staircase on the ground, then move to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -2228.512, + 276.854, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2183.572, + 159.292, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2138.633, + 41.729, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2093.693, + -75.833, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2048.753, + -193.395, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2003.813, + -310.958, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1958.874, + -428.52, + 132.504, + 0.0, + -69.08, + 0.0 + ], + [ + -1913.934, + -546.083, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1913.934, + -546.083, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1913.934, + -546.083, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -1913.934, + -546.083, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -1913.934, + -546.083, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2015.859, + -619.918, + 118.19, + 0.0, + -144.08, + 0.0 + ], + [ + -2117.784, + -693.754, + 118.19, + 0.0, + -144.08, + 0.0 + ], + [ + -2219.71, + -767.59, + 118.19, + 0.0, + -144.08, + 0.0 + ], + [ + -2219.71, + -767.59, + 118.19, + 0.0, + -144.08, + 0.0 + ] + ], + "Rationale": [ + "From here the metal staircase stands to my right against the far wall, with a wooden pallet lying on the floor beside its foot, while the yellow forklift sits off to my left. My heading points too far left to walk straight at that pallet. I will turn right so the staircase and the pallet on the ground line up ahead of me.", + "The staircase now sits ahead of me and the wooden pallet on the floor near its base is roughly in front, though still a long stretch of open concrete away. The floor between us looks clear of clutter. I will walk forward to close that distance.", + "The staircase and the pallet lying on the concrete beside it have both grown larger, so my heading is carrying me straight toward them. Nothing blocks the stretch of floor in between. I will keep walking forward.", + "The wooden pallet on the ground is now clearly resolved just ahead and to the right of the staircase, but it is still several strides off. My line of travel remains good, so no turn is needed. I will advance again.", + "The pallet lies plainly on the concrete ahead of me, near the bottom of the metal stairs, and its planks are now distinct. I am still too far back to call myself beside it. Another step forward should bring me closer.", + "One pallet now sits large in the near foreground on my right and more pallets are scattered at the foot of the staircase just ahead. I want to be right at that cluster by the stairs rather than passing wide of it. I will step forward again.", + "The pallets on the ground are now spread directly in front of the staircase, a couple of strides ahead of me. The route stays clear of the concrete column on my right. I will keep moving forward to reach them.", + "The staircase now towers immediately ahead and a wooden pallet lies on the concrete right at my feet-level in the near view, with another to the left. One more step should put me squarely at the pallet beside the stairs. I will advance.", + "The wooden pallets lie flat on the floor right at my feet, at the base of the metal staircase that rises directly in front of me. I have arrived at the pallet by the staircase, so I mark reaching it before turning away toward the yellow forklift parked across the hall.", + "Standing at the pallets by the stairs, my view is filled by the staircase and the concrete column, with no sight of the yellow forklift. I will turn left to sweep my heading back across the open hall where that machine should stand.", + "The stairway has shifted toward my right and more of the open floor is opening up, but the forklift is still outside my view. Another left turn should continue swinging my heading toward the far side of the hall where it sits.", + "The yellow forklift has now come into view at the far left edge, still cut off by the frame. One more left turn should bring it squarely ahead so I can walk straight at it.", + "The yellow forklift now sits clearly ahead and slightly left, with clear floor between us. I will walk forward to close that gap.", + "The forklift is noticeably larger and its mast and wheels are resolving, so my heading is carrying me straight onto it. I will keep walking forward to shorten the remaining distance.", + "The forklift now fills much of the left side of my view and its forks reach toward the floor near me, yet a short gap remains. One more step forward should put me right beside the machine.", + "The yellow forklift stands immediately beside me, its mast and forks within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a5374743e5f58558f62907711bf1cdf721c54c0c --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Head toward the pillar near the staircase, then reach the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -2228.512, + 276.854, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2183.572, + 159.292, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2138.633, + 41.729, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2138.633, + 41.729, + 118.099, + 0.0, + -44.08, + 0.0 + ], + [ + -2048.219, + -45.826, + 118.099, + 0.0, + -44.08, + 0.0 + ], + [ + -1957.806, + -133.381, + 118.099, + 0.0, + -44.08, + 0.0 + ], + [ + -1867.393, + -220.937, + 118.099, + 0.0, + -44.08, + 0.0 + ], + [ + -1776.98, + -308.492, + 118.099, + 0.0, + -44.08, + 0.0 + ], + [ + -1776.98, + -308.492, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1732.04, + -426.054, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1687.1, + -543.617, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1687.1, + -543.617, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1687.1, + -543.617, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -1687.1, + -543.617, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -1687.1, + -543.617, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -1687.1, + -543.617, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -1810.68, + -567.459, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -1934.26, + -591.302, + 122.174, + 0.0, + -169.08, + 0.0 + ], + [ + -2057.84, + -615.144, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2181.42, + -638.987, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2305.0, + -662.829, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2423.042, + -680.954, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2423.042, + -680.954, + 118.099, + 0.0, + -169.08, + 0.0 + ] + ], + "Rationale": [ + "From this spot the steel staircase and the heavy concrete column beside it sit well to my right, while my heading points across the empty middle of the hall. I turn right so that stair and its neighbouring pillar move toward the centre of my view before I start walking.", + "The staircase and the columns flanking it now sit ahead of me with clear, open concrete floor in between. Nothing blocks the first stretch, so I walk forward to cut down the distance to that pillar area.", + "The staircase has grown noticeably larger and the tall column beside it is closer, which tells me my heading is carrying me the right way. I keep walking forward across the bare floor to close more of the gap.", + "Walking straight on would take me past the stair on its far side, and the pallets lying on the floor sit in that line. I turn right to line up with the open lane of concrete running toward the heavy columns standing beside the staircase.", + "The new heading opens a clean stretch of floor toward the row of square concrete columns, with the staircase now off to my left. I step forward along this lane to approach the pillar standing near those stairs.", + "The nearest column is widening in front of me and the stair railings on my left are drawing level, so the gap is shrinking as intended. I continue walking forward, keeping the loose pallets to my left.", + "I am now inside the columned bay, with the stair structure close on my left and the tall pillar filling much of the view ahead. The floor between me and it is still clear, so I walk forward again.", + "The column beside the staircase is close enough now that its base and the crates around it are plainly separate, but I am still a few paces short of standing at it. I take another step forward to draw right up beside that pillar.", + "The tall square concrete pillar I want sits left of my heading, with the steel staircase further off to that same side and mostly out of view. Turning left should bring both the pillar and the stair flight in front of me so I can walk straight at them.", + "The staircase now rises clearly on my left and the broad concrete pillar stands ahead of me with clear floor between us. I will walk forward to close that gap toward the pillar standing beside the stairs.", + "The pillar has grown much taller in front of me and the stair treads on my left are close enough to count. Another step forward should bring me right up beside that pillar next to the staircase.", + "The concrete pillar now fills the view an arm's length away, with the staircase landing and its lower flight immediately to my left. I am standing at the pillar beside the staircase, so I mark reaching it and turn my attention to finding the yellow forklift.", + "Standing this close, the pillar's face blocks most of the hall and I see no yellow machine anywhere in the narrow strip of floor left to me. I will turn left to sweep my view across the open bay and search for the forklift.", + "The turn has swung the pillar to my right edge and put the stair flight across my view, but there is still no yellow machine in sight. I will keep rotating left to uncover more of the hall floor.", + "I now face the staircase head on with open floor and pallets around its base, and no yellow bodywork has appeared yet. Continuing the left rotation should carry my view further around the bay where the machine may be parked.", + "The yellow forklift has come into view on the left side of my field, parked on the open floor before the red wall panels. I will turn left once more to put it straight ahead so I can walk directly at it.", + "The yellow forklift now sits ahead of me in the open bay, roughly centered in my view with clear floor between us. My heading is good enough to close distance directly, so I will walk forward toward it.", + "The forklift has grown noticeably larger and stays near the middle of my view, confirming the previous step carried me toward it. Distance still remains, so I keep walking straight ahead.", + "The forklift's cab and mast now fill a wide part of my view, and its wheels are clearly resolved, so I am well inside the bay. I still need to be right beside it, so I step forward again.", + "The machine is close enough that its rusted tires and yellow chassis dominate the frame, yet a few strides of floor still separate us. I continue walking straight at it to close the remaining gap.", + "The forklift now spans most of my view with its mast rising past the top of the frame, so only a short gap is left. Another forward step should bring me right up against its side.", + "I am nearly touching the forklift's flank, with the fender and rear wheel filling the lower right of my view. One last short step forward should put me directly at the machine.", + "The yellow forklift's body fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8afdae1d2fc44b20aa61ea48e3c28da90cf37813 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t3_c/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Move to the base of the metal staircase, then approach the pillar near the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -2228.512, + 276.854, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2183.572, + 159.292, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2138.633, + 41.729, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2093.693, + -75.833, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2048.753, + -193.395, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2003.813, + -310.958, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1958.874, + -428.52, + 132.504, + 0.0, + -69.08, + 0.0 + ], + [ + -1913.934, + -546.083, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1868.994, + -663.645, + 132.486, + 0.0, + -69.08, + 0.0 + ], + [ + -1868.994, + -663.645, + 132.486, + 0.0, + -69.08, + 0.0 + ], + [ + -1901.987, + -577.336, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -1901.987, + -577.336, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -1901.987, + -577.336, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -1901.987, + -577.336, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2003.912, + -651.172, + 127.269, + 0.0, + -144.08, + 0.0 + ], + [ + -2105.837, + -725.008, + 118.104, + 0.0, + -144.08, + 0.0 + ], + [ + -2207.763, + -798.843, + 118.104, + 0.0, + -144.08, + 0.0 + ], + [ + -2259.407, + -818.386, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2277.963, + -802.816, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2203.134, + -748.609, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2128.305, + -694.402, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2128.305, + -694.402, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2128.305, + -694.402, + 118.099, + 0.0, + 165.92, + -0.0 + ], + [ + -2250.383, + -663.784, + 118.099, + 0.0, + 165.92, + -0.0 + ], + [ + -2372.461, + -633.165, + 118.099, + 0.0, + 165.92, + -0.0 + ], + [ + -2494.538, + -602.547, + 118.099, + 0.0, + 165.92, + -0.0 + ], + [ + -2588.969, + -541.916, + 118.099, + 0.0, + 165.92, + -0.0 + ], + [ + -2588.969, + -541.916, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2693.635, + -541.759, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2817.216, + -565.601, + 118.515, + 0.0, + -169.08, + 0.0 + ], + [ + -2872.851, + -561.879, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2968.185, + -546.221, + 118.099, + 0.0, + -169.08, + 0.0 + ], + [ + -2968.185, + -546.221, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2968.185, + -546.221, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -3032.277, + -583.335, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -3032.277, + -583.335, + 118.099, + 0.0, + -119.08, + 0.0 + ] + ], + "Rationale": [ + "The metal staircase against the far wall sits off to the right of my heading, while the open floor ahead of me leads nowhere useful. I will turn right to bring that staircase closer to the center of my view before walking out across the slab.", + "The staircase now stands roughly ahead of me across a wide, clear stretch of concrete floor. Nothing blocks that lane except a loose pallet well off to the side, so I will walk forward to close the long distance toward its base.", + "The staircase and its landing have grown noticeably larger, confirming my heading is carrying me toward it. The floor directly ahead remains clear of crates and racking, so I will keep walking forward.", + "The stair treads and handrail are clearly resolved now, but I am still several strides short of where the bottom step meets the floor. The concrete between us is open apart from a pallet lying to my right, so I will continue forward.", + "The staircase now fills much of the view ahead and the lowest steps are becoming distinct, yet I am not yet standing at its foot. I will step forward again to shrink the remaining gap to the base.", + "The metal staircase stands ahead and slightly left, with its lower steps and the loose pallets around them still several strides away. The floor between me and those steps is open concrete, so I will keep walking straight to close that gap.", + "The staircase now looms larger and its lowest treads sit near the centre of my view, so my heading is carrying me straight onto them. Nothing but flat floor and a few flat pallets lies in the way, so I will advance again.", + "The stair stringers and handrails now fill much of my view, yet the bottom steps still sit a little ahead of me rather than at my feet. I will step forward again to bring myself right up to the foot of the staircase.", + "I am nearly at the stairs, with the wide bottom treads and both handrails close in front of me. One more step should place me directly at the base of the metal staircase.", + "The lowest treads of the metal staircase rise directly at my feet, with the rusted handrail within arm's reach beside me. I have arrived at the base of this staircase. I mark reaching it, then turn my attention to the pillar standing beside the yellow forklift.", + "I am standing right at the foot of the metal stairs, with the treads and handrail filling most of my view, so this destination is behind me now. My next goal is the pillar beside the yellow forklift, which is nowhere ahead of me here. I will step back off the stairs to gain room to swing around.", + "Backing off has given me a clear view of the whole stair flight ahead, and the open floor toward the forklift lies away to my left. Turning left should start bringing that side of the hall into view.", + "The stairs are still square in front of me and only bare wall and windows have come into view on the left. That is not far enough around to face the forklift side of the hall, so I will keep rotating left.", + "The staircase has swung to my right edge and a dark machine shape is just appearing at the far left of my view. Another left rotation should bring that machine and the columns near it toward the middle of my view.", + "The yellow forklift now sits ahead and slightly left, with a heavy concrete pillar rising directly behind it. The floor between us is open, so I will walk forward to close that gap toward the pillar beside it.", + "The yellow forklift now sits close on my left, with the concrete pillar it stands beside rising just behind its mast. The floor straight ahead is open, so I will keep walking forward to close the remaining gap to that pillar.", + "The forklift has grown much larger on my left and the pillar beside it is nearly abreast of me. Another step forward should bring me level with that column rather than stopping short of it.", + "The forklift's mast and forks are right at my left shoulder, and the pillar next to it is at the very edge of my view. I will step forward once more to settle in beside that column.", + "My last step barely changed the scene, so the forklift's frame on my left is likely checking my movement. I will try one more forward step to see whether I can still slide past it toward the pillar.", + "Two forward steps have gained almost nothing and the forklift's dark frame now fills my entire left side, so I am wedged against it. Backing up should open clearance so I can find a way around to the pillar instead of pushing into the machine.", + "My last forward steps barely gained ground with the forklift's mast and forks crowding the left of my view, so I am still too tight against the machine. I will back up once more to open clearance before changing heading toward the concrete columns beside it.", + "I now have space between me and the forklift, but its body still sits squarely across the line I was walking. I will turn left to swing off that obstructed heading and bring the open floor beyond the machine into view.", + "The forklift has swung to the middle of my view and clear floor with the pink wall bay is opening along my left. A second left turn should put a passable lane in front of me instead of the machine itself.", + "The forklift now sits off to my right and bare concrete runs ahead past the scattered crates. I will walk forward along this clear lane to close on the concrete columns standing beside the machine.", + "The yellow machine is sliding past on my right and the floor in front of me is still open. I will keep walking forward to bring the columns rising alongside it within reach.", + "The yellow forklift now sits close along my right side rather than blocking my path, so this lane is open. I walk forward to draw level with and past its body, keeping the concrete columns standing just beyond it in reach.", + "Only the forklift's rear counterweight remains at the right edge, so I have nearly cleared it. I step forward again to open floor space between myself and the machine before I swing toward the columns beside it.", + "I have walked clear of the forklift and now face the distant shutter wall, which leaves the heavy concrete columns off to my right instead of in front of me. I turn right to bring that pillar cluster into the center of my path.", + "The turn has put the broad concrete pillars ahead of me, with crates spread across the floor between us. I walk forward toward them, aiming for the near column while keeping the boxes to my side.", + "The nearest pillar has grown noticeably and its base is still several strides off. I keep walking forward along the clear strip left of the open cartons to close the remaining gap to it.", + "The heavy concrete pillar stands close on my right with cartons stacked against its base, and open floor still lies between me and it. I walk forward again to shorten that gap and bring the pillar alongside me rather than far ahead.", + "My last step gained only a short distance, likely because the cartons at the pillar base crowd my path on the right. The pillar row is now beside me and the lane ahead past the boxes is still open, so I step forward once more to draw level with the column.", + "I am now level with the pillar, but it sits off to my right while my heading points down the empty bay toward the far pink door. I turn right to swing the column into the front of my view instead of passing it by.", + "The turn has brought the pillar into view, but its face still fills the right half while open floor and crates run off to the left. I turn right once more to square my heading onto the column itself.", + "The pillar now stands centered in front of me with a tall crate at its right side, and nothing blocks the short stretch of floor between us. I walk forward to close the last of that distance and stand right at its base.", + "The concrete pillar fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t5_a_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..068fca6762607a43bb6907dac370a25c8cc17203 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Grab the tomato at the wooden pallet near the metal staircase, then set it down near the yellow forklift.", + "Type": 5, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0, + -94.08, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1925.173, + -356.496, + 93.099, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2228.512, + 276.854, + 118.099, + 0, + -94.08, + 0 + ], + [ + -2228.512, + 276.854, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2183.572, + 159.292, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2138.633, + 41.729, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2093.693, + -75.833, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2048.753, + -193.395, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2048.753, + -193.395, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2048.753, + -193.395, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -2048.753, + -193.395, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2109.924, + -303.389, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2171.095, + -413.383, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2232.265, + -523.377, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2293.436, + -633.37, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2352.383, + -740.205, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2317.39, + -677.281, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2317.39, + -677.281, + 118.099, + 0.0, + -119.08, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1925.173, + -356.496, + 93.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1925.173, + -356.496, + 93.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1925.173, + -356.496, + 93.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1925.173, + -356.496, + 93.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1925.173, + -356.496, + 93.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1925.173, + -356.496, + 93.099, + 0.0, + 0.0, + 0.0 + ], + [ + -2029.025, + -185.201, + 88.206, + -28.202, + -18.935, + 1.862 + ], + [ + -2028.359, + -194.233, + 88.478, + -28.189, + -43.923, + 1.872 + ], + [ + -2031.198, + -203.337, + 87.811, + -28.215, + -68.952, + 1.849 + ], + [ + -2091.119, + -313.514, + 87.625, + -28.202, + -68.938, + 1.858 + ], + [ + -2152.217, + -423.373, + 87.887, + -28.208, + -68.938, + 1.852 + ], + [ + -2213.255, + -533.144, + 88.309, + -28.189, + -68.921, + 1.867 + ], + [ + -2274.301, + -642.891, + 88.689, + -28.207, + -68.945, + 1.857 + ], + [ + -2333.324, + -749.859, + 88.58, + -28.204, + -68.939, + 1.866 + ], + [ + -2351.412, + -738.457, + 133.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2351.412, + -738.457, + 133.099, + 0.0, + -119.08, + 0.0 + ] + ], + "PD_Dist_2D": [ + 702.2, + 702.2, + 576.9, + 451.8, + 327.4, + 204.6, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red tomato sits on a wooden pallet by the metal staircase, off to the right edge of my view, while the yellow forklift is over on the left. I will turn right so the pallet and tomato come toward the center of my heading before I start walking.", + "The tomato on its pallet now sits near the middle of my view with open concrete floor between us. Nothing blocks the lane, so I will walk forward to close the long gap to the pickup spot.", + "The tomato has grown noticeably larger and stays roughly ahead of me, so my heading is still good. I will keep walking forward since I am still far outside grasping range.", + "The pallet and its tomato are clearly ahead and the staircase behind them confirms I am aimed at the right spot. The gap is still too wide for a grasp, so I will step forward again.", + "The tomato now fills a large part of the lower view but is still a couple of paces away from arm's reach. I will advance once more to bring it close enough to attempt a grasp.", + "The tomato is right in front of me on the pallet, dominating the lower right of my view at close range. My hands are empty and nothing stands between me and it, so I will attempt to pick it up.", + "The grasp worked: the tomato is now in my hands rather than resting on the pallet. The yellow forklift, my drop destination, lies well to my left from this heading, so I will turn left to swing toward it.", + "Carrying the tomato, I can see the yellow forklift only at the far left edge of my view with the staircase still ahead of me. One more left turn should bring the forklift closer to the center of my heading before I walk over.", + "The tomato is secured with me and the yellow forklift now sits ahead and slightly left in my view, so my heading is usable. I will walk forward to close the still considerable gap toward it. The open concrete floor between us looks clear of obstacles.", + "The forklift has grown noticeably larger in front of me, confirming the previous step closed distance along a good line. I am still several strides short of a sensible release spot beside it. I will keep walking forward while carrying the tomato.", + "The forklift's body and wheels now fill much of the left side of my view, so I am getting close but not yet alongside it. Advancing once more should bring me into the immediate area beside the machine where the tomato belongs. The floor ahead remains clear.", + "I am now nearly level with the forklift's front wheel and mast on my left, which means I am at the edge of the target zone rather than inside it. One more step forward should place me squarely beside the machine before releasing the tomato. Nothing blocks that short advance.", + "The forklift's mast and tire dominate the near left of my view, so I am right against the machine's side. A final short step should settle me in the open floor space next to it, giving room to set the tomato down without it resting under the frame.", + "I am standing immediately beside the yellow forklift's forks and mast, with clear floor right in front of me. This is the intended placement area named in the task, so I will release the tomato here. It should come to rest next to the machine.", + "The tomato now rests on the floor right beside the yellow forklift. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t5_b_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b2602c2d6b52faf23e162d9283cc15807acf0bca --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-002229_y000277_z000118_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the ceramic vase beside the pillar near the staircase, then place it near the yellow forklift.", + "Type": 5, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0, + -94.08, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1891.162, + -542.549, + 38.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2228.512, + 276.854, + 118.099, + 0, + -94.08, + 0 + ], + [ + -2237.467, + 151.314, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -2237.467, + 151.314, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2192.527, + 33.752, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2147.587, + -83.811, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2102.648, + -201.373, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2057.708, + -318.936, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2012.768, + -436.498, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2012.768, + -436.498, + 118.099, + 0.0, + -44.08, + 0.0 + ], + [ + -2012.768, + -436.498, + 118.099, + 0.0, + -44.08, + 0.0 + ], + [ + -2012.768, + -436.498, + 118.099, + 0.0, + -69.08, + 0.0 + ], + [ + -2012.768, + -436.498, + 118.099, + 0.0, + -94.08, + 0.0 + ], + [ + -2012.768, + -436.498, + 118.099, + 0.0, + -119.08, + 0.0 + ], + [ + -2012.768, + -436.498, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2114.693, + -510.334, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2216.619, + -584.17, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2318.544, + -658.005, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2395.064, + -704.556, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2336.756, + -662.317, + 118.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2336.756, + -662.317, + 118.099, + 0.0, + -144.08, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1891.162, + -542.549, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -1997.643, + -420.259, + 88.206, + -28.202, + 6.065, + 1.862 + ], + [ + -1993.11, + -428.11, + 88.478, + -28.189, + -18.923, + 1.872 + ], + [ + -1992.104, + -437.698, + 87.811, + -28.215, + -43.953, + 1.849 + ], + [ + -1995.771, + -445.754, + 88.734, + -28.205, + -68.941, + 1.861 + ], + [ + -2001.34, + -461.524, + 87.992, + -14.175, + -101.888, + 6.959 + ], + [ + -2101.575, + -527.2, + 88.432, + -28.198, + -93.935, + 1.865 + ], + [ + -2203.739, + -601.212, + 87.894, + -28.191, + -93.921, + 1.871 + ], + [ + -2305.771, + -675.114, + 87.613, + -28.214, + -93.95, + 1.852 + ], + [ + -2381.878, + -721.377, + 88.468, + -28.19, + -93.924, + 1.87 + ], + [ + -2393.445, + -703.383, + 58.099, + 0.0, + -144.08, + 0.0 + ], + [ + -2393.445, + -703.383, + 58.099, + 0.0, + -144.08, + 0.0 + ] + ], + "PD_Dist_2D": [ + 886.1, + 775.5, + 775.5, + 650.3, + 525.5, + 401.4, + 278.8, + 161.4, + 161.4, + 22.2, + 21.4, + 20.7, + 19.4, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The vase is not yet distinguishable from here, but the staircase and its supporting pillars stand across the hall on the right, which is where the task says the vase waits. The floor ahead is open bare concrete with no obstruction. I will walk forward to close that distance and get a clearer look.", + "The staircase and the pillars beside it sit well to the right of my current heading, while my forward path points at the empty wall and the forklift stays off to the left. Turning right should place the staircase area near the center of my view so I can walk straight toward it.", + "The staircase now sits ahead of me with a pale slender object standing near the pillar at its base, which likely is the ceramic vase. The intervening floor is clear apart from flat pallets off to the side. I will walk forward to shorten the distance and confirm the object.", + "The pale object beside the pillar has grown larger and now reads as a tall ceramic vase with faint floral markings. It is still several strides away and too far to reach. I will keep walking forward along this clear lane toward it.", + "The ceramic vase is clearly identifiable now, standing on the concrete just right of the staircase against the pillar. My heading still points slightly left of it, but the gap is the main problem. I will advance again to bring it within grasping range.", + "The vase now fills a good part of the right side of my view, so only a short stretch of open floor separates us. Nothing blocks the direct line except the low pallets lying flat to the left. Another step forward should bring me close enough to reach it.", + "The vase stands close on my right against the pillar, but it is drifting toward the edge of my view as I near it. One more step should put me level with it so a grasp becomes feasible. I will move forward before adjusting my heading.", + "I am now standing right beside the ceramic vase, but it hangs at the far right margin of my view while my body faces the staircase. Turning right should square me onto the vase and center it for a reliable grasp.", + "The ceramic vase stands directly in front of me, centered and close beside the concrete pillar at the foot of the staircase. Nothing blocks my reach, so this is the moment to grasp it. I will attempt the pick and expect the vase to come into my hands.", + "The grasp worked and the vase is now held in my hands rather than standing on the floor. The yellow forklift is nowhere in my current heading, since I am facing the staircase area where the vase stood. I will turn left to begin swinging my heading back across the hall toward the forklift.", + "I still face the staircase and its scattered pallets, with no sign of the yellow forklift in this heading. The delivery point lies further around to my left. Another left turn should continue rotating me toward the open floor where the forklift sits.", + "The staircase has swung over to the right side of my view and only empty floor and wall lie ahead, so I am not yet aimed at the drop location. The forklift must be further left still. I will turn left again to keep bringing it into view.", + "The yellow forklift has come into the left portion of my view, but it sits off to the side rather than straight ahead. One more left turn should center it so I can walk a straight line to it while carrying the vase.", + "The yellow forklift is now roughly centered ahead of me across the open concrete floor, with no clutter along the path. Carrying the vase, I will step forward to close the gap toward the placement spot.", + "The forklift has grown larger and stays centered, so my heading is good but I am still several paces short of it. I will keep walking forward to bring the vase close to the machine.", + "The forklift now fills much of my view, its wheels and mast clearly close ahead. A further step forward should put me right alongside it, near enough to set the vase down beside the machine.", + "The vase is still in my hands and the yellow forklift now fills most of my view, its wheel and mast only a step away. I will take one more short step so that I stand directly beside the machine rather than slightly off to its side. That should put the vase within a clean release distance of the forklift.", + "I am now pressed right against the forklift's frame and wheel, with the carried vase still in my hands and no further gap worth closing. This is the placement spot the task asks for, so I will release the vase here beside the machine. It should come to rest on the floor next to the forklift.", + "The ceramic vase now stands upright on the floor directly against the yellow forklift, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003188_y001963_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003188_y001963_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c3528e206dcf6d91ed877f6d2ab596f04d6738a --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003188_y001963_z000118_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Discover the blue two-wheeled pushcart sitting on the concrete floor of this industrial room, then approach it.", + "Type": 1, + "Start_Pose": [ + -3188.458, + 1963.242, + 118.099, + 0.0, + 100.791, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3188.458, + 1963.242, + 118.099, + 0.0, + 100.791, + -0.0 + ], + [ + -3188.458, + 1963.242, + 118.099, + 0.0, + 125.791, + -0.0 + ], + [ + -3188.458, + 1963.242, + 118.099, + 0.0, + 150.791, + -0.0 + ], + [ + -3188.458, + 1963.242, + 118.099, + 0.0, + 175.791, + -0.0 + ], + [ + -3313.978, + 1972.479, + 118.099, + 0.0, + 175.791, + -0.0 + ], + [ + -3439.497, + 1981.717, + 118.099, + 0.0, + 175.791, + -0.0 + ], + [ + -3565.017, + 1990.954, + 118.099, + 0.0, + 175.791, + -0.0 + ], + [ + -3565.017, + 1990.954, + 118.099, + 0.0, + -159.209, + 0.0 + ], + [ + -3682.68, + 1946.279, + 118.099, + 0.0, + -159.209, + 0.0 + ], + [ + -3800.343, + 1901.604, + 118.099, + 0.0, + -159.209, + 0.0 + ], + [ + -3918.006, + 1856.929, + 118.099, + 0.0, + -159.209, + 0.0 + ], + [ + -4035.67, + 1812.254, + 118.099, + 0.0, + -159.209, + 0.0 + ], + [ + -4035.67, + 1812.254, + 118.099, + 0.0, + -159.209, + 0.0 + ] + ], + "Rationale": [ + "A large concrete pillar fills the left half of my view and the only open sightline is the bright yard beyond the shed opening, so I cannot see any blue two-wheeled pushcart from here. I will turn right to begin a consistent scan of the interior floor space instead of staring at the blocked side. This should reveal more of the industrial hall where such a cart would plausibly stand.", + "Now I am facing the wide roller opening with the outdoor container yard beyond it, and there is still no blue pushcart on the concrete floor in front of me. Continuing in the same rightward direction keeps the scan consistent and brings the darker interior bay on my right into view. I will turn right again to check that unseen part of the hall.", + "At the far right edge of my view I can now make out a small two-wheeled cart parked against the inner wall of the hall, which matches the target description. It sits too far to the side for a clean approach heading, so I will turn right once more to bring it toward the center of my view. That should let me commit to it directly without completing a full rotation.", + "The blue two-wheeled pushcart is now roughly centered ahead of me, standing on the concrete under the steel stairway. The floor between us is flat and clear of obstructions, so I will walk forward to close the distance. Each step should make the cart larger and confirm the identification.", + "The cart has grown noticeably in my view and its wheel and purple-blue body are clearer, confirming I am on a good line toward it. Nothing blocks the stretch of floor between me and it. I will keep walking forward to reduce the remaining distance.", + "The two-wheeled cart is plainly in front of me now, with its single visible wheel and blue tub resolved against the concrete wall. There is still a fair gap of open floor before I would be close enough to count as reaching it. I will continue stepping forward along this line.", + "As I have closed in, the pushcart has drifted to the right of my view center, so walking straight ahead would carry me past its left side. I will turn right to put the cart back on my forward axis. That should give me a cleaner straight approach for the remaining distance.", + "The turn has swung the blue pushcart back into a workable part of my view, sitting on the open concrete a short walk ahead. The floor between us is clear, with the support columns well off to either side. I will step forward to close the last of the gap.", + "The blue two-wheeled pushcart stands clearly ahead of me on the concrete floor, slightly left of my heading, with open floor between us. Nothing blocks the path, so I will keep walking forward to close the remaining distance.", + "The cart now fills a much larger part of my view, its wheel and blue bed clearly resolved, so my forward walking is steadily closing the gap. The floor ahead is still clear, so I will step forward again to get nearer.", + "The blue cart is now only a short distance away and slightly left, with its tow bar and wheel plainly visible on the bare floor. I will take one more step forward to come right up beside it.", + "The blue two-wheeled pushcart fills the near view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac544b047e84ef0b3d2d67d66fef3bbf9e602c22 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the wooden crate on the ground.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3398.189, + -150.551, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3503.599, + -81.783, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3609.009, + -13.014, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3609.009, + -13.014, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3675.481, + 93.86, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3741.952, + 200.734, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3808.424, + 307.608, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3874.895, + 414.482, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3874.895, + 414.482, + 118.099, + 0.0, + 121.88, + -0.0 + ] + ], + "Rationale": [ + "I can see a small pale wooden crate sitting on the ground far ahead to my left, near the base of the metal staircase. It is well beyond reach across this open concrete floor, so I will move forward along my current heading to begin closing that distance.", + "The crate near the stairs has grown slightly larger and the stair structure fills more of my view, so my forward motion is gaining ground on the target. The floor ahead is still clear, so I will continue straight before adjusting my heading.", + "The wooden crate is clearly resolved now on the left side of my view, resting on the ground beside the stairway supports. Since it is still a fair distance away and nothing blocks my path, I will keep advancing straight to shorten the gap further.", + "The crate has drifted toward the left edge of my view as I closed in, so walking straight ahead would carry me past it. I will turn left to bring the crate closer to the center of my heading before continuing.", + "After the turn the wooden crate now sits near the middle of my view on the ground beneath the staircase landing. With my heading pointed at it and clear floor between us, I will move forward to close the remaining distance.", + "The crate is holding steady near the center of my view and appears noticeably larger, confirming my heading is good. I will step forward again since I am still several paces short of standing beside it.", + "The wooden crate now sits low and large in the lower part of my view, its planks and painted bands clearly visible on its pallet. I am close but not yet directly beside it, so I will advance one more time.", + "The crate fills the lower left foreground and is only about a step away on the ground. I will move forward once more to bring myself right up alongside it.", + "The wooden crate now fills the lower left of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..185465ad0920375ac247cceaf88f2b6b494ed133 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the base of the metal staircase.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3398.189, + -150.551, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3503.599, + -81.783, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3609.009, + -13.014, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3714.42, + 55.755, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3819.83, + 124.523, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3925.241, + 193.292, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4030.651, + 262.06, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4030.651, + 262.06, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4097.123, + 368.934, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4163.594, + 475.808, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4163.594, + 475.808, + 118.099, + 0.0, + 121.88, + -0.0 + ] + ], + "Rationale": [ + "From this open concrete floor I can see the metal staircase with its yellow railings ahead on the left side of the hall, rising against the grey wall. It is still far off across the bay, so I will move forward to begin closing that distance.", + "The staircase and the crate beneath it now appear slightly larger, confirming my heading is carrying me toward that side of the hall. The floor ahead is clear, so I will keep advancing.", + "The stair treads and the diagonal stringer are becoming clearer on the left, and the wooden crate below them is now easy to distinguish. There is still a long stretch of bare floor before I reach the bottom step, so I continue forward.", + "The staircase now fills much more of the left half of my view, so the distance is shrinking steadily. I will press forward again while the route across the slab stays open.", + "I can make out individual steps and the support columns under the landing, but the base of the stairs sits farther to my left than straight ahead. Another forward step should bring me closer to the level of that base before I adjust my heading.", + "The lower flight and its handrail are close now on my left, while the red wall passes on my right with clearance. I will keep moving forward to draw level with the foot of the stairs.", + "The bottom steps are close on my left and the concrete pillar sits ahead, so I still need a little more forward travel to reach the open area in front of the stair base. I will advance once more along this clear strip of floor.", + "The staircase has slid to the left edge of my view while my heading points at the blank concrete pillar and red wall ahead. I will turn left so the foot of the stairs sits centered in front of me before I close the last few steps.", + "The metal staircase now sits squarely ahead of me with its lowest steps and side stringer visible near the center of my view, so my heading is well aligned with the base. The floor between me and those bottom steps is clear open concrete, so I will move forward to close the remaining distance.", + "The bottom steps have grown noticeably larger and the handrail now cuts across the lower part of my view, confirming I am closing on the base. A short further advance should place me right at the foot of the staircase, so I will step forward once more.", + "The lowest treads and handrail post of the metal staircase are 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/Old_Factory_01/task_x-003293_y-000219_z000118_t0_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13f841625f3a8651553a2487f7ba379437e9224d --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_c/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Approach the front of the red truck visible through the large opening.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3398.189, + -150.551, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3503.599, + -81.783, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3503.599, + -81.783, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3628.196, + -64.006, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3752.793, + -46.228, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3877.391, + -28.451, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4001.988, + -10.674, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4126.585, + 7.103, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4251.182, + 24.88, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4375.779, + 42.657, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4500.377, + 60.435, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4624.974, + 78.212, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4749.571, + 95.989, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4874.168, + 113.766, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4998.765, + 131.543, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5123.363, + 149.321, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5247.96, + 167.098, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5372.557, + 184.875, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5372.557, + 184.875, + 118.099, + 0.0, + 171.88, + -0.0 + ] + ], + "Rationale": [ + "From inside this concrete hall I can already see a red truck parked outside, beyond the tall gap in the dark red wall to my right. The open floor ahead of me is clear of crates and stair supports, so I will step forward to begin closing the long distance to that opening.", + "The gap in the red wall and the truck behind it have grown slightly, confirming my forward steps are shortening the distance. The path ahead remains clear, so I will continue straight before adjusting my heading.", + "The opening with the red truck sits well to the right of my current heading, while straight ahead only leads toward the blank concrete wall and stairs. I will turn right to bring the gap and the truck toward the center of my view so I can walk straight through it.", + "The tall gap in the red wall is now centered ahead of me, with the red truck visible straight through it. With my heading lined up, I will move forward toward the opening.", + "The red wall panels now fill more of my view and the sunlit ground inside the gap is wider, so I am clearly nearing the doorway. The truck stays centered in the opening, so I will keep walking straight.", + "My heading still points straight at the gap and the truck's cab and front wheel are becoming easier to make out beyond it. Nothing blocks the floor between me and the threshold, so another forward step should bring me closer.", + "The opening now spans a large part of my view and the red truck sits just beyond it in the yard. I will continue forward to reach and pass through the threshold.", + "I am close to the threshold, with the truck's front and the building behind it clearly visible through the gap and still centered on my heading. I will step forward again to continue toward the truck without changing direction.", + "The red truck stays centered in the gap between the two large panels ahead, so my heading is still correct for a straight approach. I am still inside the building with the opening a few paces off, so I will step forward again to close distance toward the doorway.", + "The truck's cab and front wheels now read more clearly through the opening, confirming I am gaining ground on it. Nothing blocks the ground between me and the threshold, so another forward step should carry me closer to the doorway.", + "The opening has widened enough that I can see the yard surface and the shed roof behind the truck, so I am nearly at the threshold. I will keep walking straight since the truck remains ahead of my heading.", + "I have passed the opening and now see the truck in the open yard with its trailer to its left and the shed wall behind. It is still several paces off and slightly left of my heading, so I will continue forward to close the gap.", + "The truck's front end and its grille are clearly in view ahead with unobstructed ground between us. Since the front of the truck is what I need to reach, I will keep advancing straight toward it.", + "The truck now fills a good portion of my view slightly left of center, with the front bumper facing my approach line. Distance still remains, so I will step forward again to bring myself nearer to its front.", + "I am close enough to make out the broken windshield and the worn front bumper, but I am not yet standing right at the truck's front. Continuing forward should place me directly before it.", + "The truck's cab and front now loom large just ahead of me, so only a short remaining gap separates me from its front face. I will take another step forward to finish closing that gap.", + "The red truck's cab and front bumper now fill much of my view just ahead and slightly left, with clear open ground between us. I will step forward again to close the remaining gap toward its front end.", + "I am now very close to the truck, with its front wheel, bumper, and headlight filling most of my view. One more step forward should bring me right up to the front of the cab.", + "The red truck's front cab, wheel, and bumper fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_d/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9632de15c793bfbb0cc86e019481a2b0b9db6b85 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Navigate to the large industrial doorway between the two red metal door panels.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3398.189, + -150.551, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3398.189, + -150.551, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3522.786, + -132.774, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3647.383, + -114.997, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3771.98, + -97.22, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3896.577, + -79.443, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4021.175, + -61.666, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4145.772, + -43.888, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4270.369, + -26.111, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4394.966, + -8.334, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4519.563, + 9.443, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4519.563, + 9.443, + 118.099, + 0.0, + 171.88, + -0.0 + ] + ], + "Rationale": [ + "From this open shop floor I can see the bright gap between the two large red metal panels off to my right, with daylight and a parked truck beyond it. The floor straight ahead is clear of the stairs and crates on my left, so I will step forward to close some of the distance before refining my heading toward that opening.", + "After stepping forward, the red panels and their gap still sit to the right of my heading while the concrete pillars and stairway fill the center of my view. I will turn right to bring the industrial doorway opening onto my forward axis so the remaining approach can be a straight walk.", + "The tall red panels are now centered in front of me with the doorway slot between them lining up on my forward axis. The ground toward it looks flat and unobstructed, so I will walk forward to begin closing the long remaining distance.", + "The gap between the panels has widened slightly and the roof and truck beyond it are clearer, confirming my heading is aimed into the opening. Nothing blocks the path, so I continue forward rather than adjusting the angle.", + "The two red panels now rise past the top of my view and the daylight slot between them stays centered, so my alignment still holds. I will take another step forward to keep shrinking the gap to the doorway.", + "I am close enough now that the panel edges dominate the sides of my view and the truck beyond the threshold looks noticeably larger. The centered opening needs no heading change, so I keep moving straight toward it.", + "The rusted panel faces are close enough that their surface texture and base blocks are distinct, and the doorway slot remains squarely in front of me. I will step forward again to bring myself nearer the threshold between the panels.", + "The two red panels now flank me on either side and the yard with the parked truck opens through the gap directly ahead. I am not yet standing in the doorway itself, so I continue forward to reach the position between the panels.", + "The gap between the two red metal panels stays centered ahead of me, with the rusted truck and the far shed roof visible straight through it. My heading needs no correction, so I will step forward again to keep closing the remaining distance to the opening.", + "The red panels now rise tall on both sides of me and their inner edges have spread wider, showing that the doorway is only a short distance ahead. The lit ground through the gap looks clear, so another step forward should bring me right up to the threshold.", + "I am standing at the doorway with the two red panels flanking me closely and the yard beyond fully open. One more step forward should place me squarely in the industrial doorway between the panels.", + "I stand in the industrial doorway with the red metal panel edge beside me and the open yard ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_e/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2cc91834471dd4eda0d35e46c6d3591ddd237f80 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t0_e/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Proceed to the concrete pillar near the staircase and the red doors.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3398.189, + -150.551, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3503.599, + -81.783, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3609.009, + -13.014, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3714.42, + 55.755, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3819.83, + 124.523, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3925.241, + 193.292, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4030.651, + 262.06, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4136.062, + 330.829, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4241.472, + 399.598, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4346.883, + 468.366, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4452.293, + 537.135, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4452.293, + 537.135, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4518.764, + 644.009, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4518.764, + 644.009, + 118.099, + 0.0, + 121.88, + -0.0 + ] + ], + "Rationale": [ + "From the open concrete floor I can already pick out the target: the ribbed concrete pillar standing where the grey wall meets the large red door panels, just right of the metal staircase. My heading points almost straight at that corner, so no turn is needed yet and I will step forward to begin closing the long gap.", + "The staircase and the pillar beside the red panels have grown slightly larger, confirming my heading is carrying me toward the target corner. The floor ahead is still open cracked concrete, so I will continue walking forward.", + "The pillar at the junction of the grey wall and the red doors sits near the middle of my view and the crate by the stairs is becoming distinct, so my line of travel is good. I will keep stepping forward to shorten the remaining distance.", + "The red wall panels and the doorway opening beyond them now fill much more of my view, showing steady progress toward the corner pillar. Nothing blocks the stretch of floor in front of me, so another forward step is the efficient continuation.", + "The staircase is drifting toward my left edge while the tall concrete pillar next to the red doors stays ahead of me, which matches the approach I want. I will continue forward since the pillar is still several strides away.", + "I can now see the base of the red panelled wall resting on timber blocks and the pillar's grooved face clearly, so I am getting close to the target corner. There is still open floor between me and it, so I will take another step forward.", + "The pillar next to the red wall now stands tall directly in front of me with the stair treads close on my left. I will move forward again to reduce the last of the distance to the pillar.", + "The concrete pillar and the red panelled wall dominate my view, and the stair stringer is right beside me, so I am nearly at the target location. I will step forward once more to bring myself right up beside the pillar.", + "The concrete pillar with its stepped corner stands just ahead of me, with the staircase and caged equipment to my left and the red wall panels filling the right side. My heading is already aimed at that pillar, so I will keep walking forward to shorten the remaining gap.", + "The pillar's ribbed corner now dominates the left-center of my view and the red panelled wall is close on my right, so I am clearly inside the target area but still a few paces short. I will step forward again to close that remaining distance.", + "The pillar's vertical edge and base moulding are now only a short distance ahead, and the caged equipment near the staircase has slid to my left periphery. Another forward step should bring me right up beside the concrete pillar.", + "I am now very close to the pillar, but its corner sits left of my heading while the red wall occupies most of my right side. I will turn slightly left to square myself onto the pillar face before making the last step.", + "After the slight turn, the pillar's two faces and corner are centered in front of me, with the staircase structure visible past its left side. One more short step forward should place me directly at the concrete pillar.", + "The concrete pillar's corner surface fills my view at arm's length. The task is complete, so I stop here rather than push into the concrete." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t5_a_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e56a4b52d30082b5a4cd291b5db2e925f46f194b --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the metal bucket at the wooden crate on the ground.", + "Type": 5, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0, + 146.88, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3961.795, + 376.503, + 58.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3292.778, + -219.32, + 118.099, + 0, + 146.88, + 0 + ], + [ + -3398.189, + -150.551, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3503.599, + -81.783, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3609.009, + -13.014, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3714.42, + 55.755, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3714.42, + 55.755, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3780.891, + 162.628, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3847.363, + 269.502, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3847.363, + 269.502, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3847.363, + 269.502, + 118.099, + 0.0, + 121.88, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3961.795, + 376.503, + 58.099, + 0.0, + 0.0, + 0.0 + ], + [ + -3961.795, + 376.503, + 58.099, + 0.0, + 0.0, + 0.0 + ], + [ + -3961.795, + 376.503, + 58.099, + 0.0, + 0.0, + 0.0 + ], + [ + -3961.795, + 376.503, + 58.099, + 0.0, + 0.0, + 0.0 + ], + [ + -3961.795, + 376.503, + 58.099, + 0.0, + 0.0, + 0.0 + ], + [ + -3961.795, + 376.503, + 58.099, + 0.0, + 0.0, + 0.0 + ], + [ + -3961.795, + 376.503, + 58.099, + 0.0, + 0.0, + 0.0 + ], + [ + -3961.795, + 376.503, + 58.099, + 0.0, + 0.0, + 0.0 + ], + [ + -3865.173, + 257.706, + 88.206, + -28.202, + 172.025, + 1.862 + ], + [ + -3865.173, + 257.706, + 88.206, + -28.202, + 172.025, + 1.862 + ] + ], + "PD_Dist_2D": [ + 895.9, + 771.6, + 648.1, + 525.5, + 405.1, + 405.1, + 280.1, + 156.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The task is to pick up the metal bucket at the wooden crate, and far ahead on the left I can make out a pale crate with a dark object beside it near the stairs. That distance is far too great for any grasp. I will walk forward to close the gap and confirm the bucket.", + "The crate and the dark cylindrical object beside it have grown slightly larger near the base of the stairs, so my heading is useful. They are still many strides away across the bare concrete. I will keep walking forward to shorten the distance.", + "The dark object beside the wooden crate now reads clearly as a rounded metal bucket standing on the floor by the stair landing. It remains well beyond arm's reach. I will continue forward toward it.", + "The metal bucket beside the wooden crate is clearly visible, with its rim and body distinct, but it sits left of my heading and still several paces off. Closing more ground first is more efficient than turning now. I will step forward again.", + "The bucket is now close, but it sits well left of the center of my view, so walking straight ahead would carry me past its side. I need my heading pointed at it before the final approach. I will turn left to bring the bucket toward the middle of my view.", + "After the turn the metal bucket and the wooden crate sit near the middle of my view, so my heading now points at the target. The bucket is still a couple of paces beyond reach. I will walk forward to close in on it.", + "The bucket now fills a good part of the lower center of my view, its handle and ribbed body plainly in front of me, with the crate to the left. It is still slightly too far for a confident grasp. One more step forward should put it within reach.", + "The metal bucket is directly in front of me, filling the lower view with its rim and side handle within arm's reach, and the wooden crate sits beside it as described in the task. Nothing blocks my hands. I will attempt to pick up the bucket now.", + "The metal bucket is now held in my hands rather than resting by the crate. The pickup task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t5_b_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53321b332b65ec611c8a21f967c81598903a0b08 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003293_y-000219_z000118_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the trash bag near the base of the metal staircase.", + "Type": 5, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0, + 146.88, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -4166.677, + 419.672, + 28.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3292.778, + -219.32, + 118.099, + 0, + 146.88, + 0 + ], + [ + -3398.189, + -150.551, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3503.599, + -81.783, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3609.009, + -13.014, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3714.42, + 55.755, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3819.83, + 124.523, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3925.241, + 193.292, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4030.651, + 262.06, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4030.651, + 262.06, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4030.651, + 262.06, + 118.099, + 0.0, + 146.88, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4166.677, + 419.672, + 28.099, + 0.0, + 0.0, + 0.0 + ], + [ + -4166.677, + 419.672, + 28.099, + 0.0, + 0.0, + 0.0 + ], + [ + -4166.677, + 419.672, + 28.099, + 0.0, + 0.0, + 0.0 + ], + [ + -4166.677, + 419.672, + 28.099, + 0.0, + 0.0, + 0.0 + ], + [ + -4166.677, + 419.672, + 28.099, + 0.0, + 0.0, + 0.0 + ], + [ + -4166.677, + 419.672, + 28.099, + 0.0, + 0.0, + 0.0 + ], + [ + -4166.677, + 419.672, + 28.099, + 0.0, + 0.0, + 0.0 + ], + [ + -4166.677, + 419.672, + 28.099, + 0.0, + 0.0, + 0.0 + ], + [ + -4041.808, + 243.842, + 88.206, + -28.202, + -162.975, + 1.862 + ], + [ + -4041.808, + 243.842, + 88.206, + -28.202, + -162.975, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1082.6, + 956.9, + 831.3, + 705.8, + 580.5, + 455.4, + 331.0, + 208.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The metal staircase stands far ahead on the left side of this hall, and a small dark lump sits on the floor near its base, which matches the trash bag I need. It is too distant to interact with from here, and my heading already points into the open concrete floor. I will walk forward to close that gap.", + "The dark bag beside the stair landing has grown slightly larger and the staircase now fills more of my view, so my current heading is taking me toward it. Nothing blocks the cracked floor between us. I will keep walking forward.", + "The trash bag at the foot of the stairs is now clearly distinguishable from the wooden crate to its left, confirming my target. It still sits well beyond arm's reach and remains near the center-left of my view, so no turn is needed. I will continue advancing.", + "The bag near the staircase base is closer and its rounded shape is now obvious against the pale concrete. My heading keeps it slightly left of center, which is fine as the remaining distance shrinks. I will step forward again.", + "The trash bag now reads as a distinct sack on the ground just past the bottom step, and the space between us is plain open floor. It is still several strides away, too far for a grasp. I will continue walking straight at it.", + "The bag fills a noticeable part of the lower view and the staircase railing towers close on my left, so I am nearly at the stair base. A grasp from this range would still be a stretch. I will take another step forward to close in.", + "The trash bag sits large and centered just ahead of me at the foot of the metal stairs, but there is still a short gap of floor before it. One more step should bring it within reach for a grasp. I will move forward.", + "The trash bag now dominates the bottom of my view, right at my feet beside the base of the metal staircase, with nothing between us. This is the closest usable position for a grasp. I will attempt to pick it up.", + "The trash bag is now in my hands rather than resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..022d79f88a0e254013a0ccec6519e76069e27cd8 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_a/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Walk to the base of the metal staircase, then head toward the red truck's front.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3516.403, + -73.429, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3621.814, + -4.661, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3727.224, + 64.108, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3832.635, + 132.877, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3938.045, + 201.645, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3938.045, + 201.645, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4004.517, + 308.519, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4070.988, + 415.393, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4140.101, + 512.402, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4140.101, + 512.402, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4091.3, + 433.94, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4091.3, + 433.94, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4091.3, + 433.94, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4091.3, + 433.94, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4211.737, + 397.394, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4211.737, + 397.394, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4305.444, + 313.374, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4399.152, + 229.354, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4492.859, + 145.334, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4586.567, + 61.314, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4586.567, + 61.314, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4586.567, + 61.314, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4711.164, + 79.091, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4835.762, + 96.869, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4960.359, + 114.646, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5084.956, + 132.423, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5209.553, + 150.2, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5334.15, + 167.977, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5436.187, + 197.547, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5436.187, + 197.547, + 118.099, + 0.0, + 171.88, + -0.0 + ] + ], + "Rationale": [ + "The metal staircase stands well ahead on the left side of this hall, and the red truck sits far off beyond the open gap in the pink wall. Since the staircase is the closer of my two destinations, I will walk straight ahead to cut down that distance first.", + "The stairway and its support frame have grown noticeably larger on my left, confirming my heading is carrying me toward it. The concrete floor ahead is still clear, so another step forward should keep closing the gap.", + "The staircase and the wooden crate beside it now fill much more of my left view, so I am still some distance short of the steps themselves. I will keep walking forward across the open bay before adjusting my heading.", + "The stair treads and handrails are close enough now that I can see individual steps, but the base still sits off to my left rather than in front of me. Another forward step should bring me level with the structure before I swing toward it.", + "The staircase now dominates the left edge of my view and the pink wall panel is sliding past on my right, so I am nearly abreast of the structure. I will advance once more to reach the ground area beside the lowest steps.", + "The staircase has slid so far to my left that its lower steps are running out of my view, while my heading points at the bare concrete wall ahead. Turning left should swing the flight and its bottom landing back into the center of my view so I can walk straight at it.", + "The turn worked, and the full flight of metal stairs now sits centered ahead of me with its lowest step resting on the open floor. With a clear run at it, I will step forward to close on the foot of the stairs.", + "The staircase is much nearer, its handrails rising on both sides and the bottom step clearly ahead of me on the floor. I am still a few paces short of standing at its base, so I will continue forward.", + "The lowest treads of the metal staircase now fill most of my view and only a short strip of floor remains between me and them. I will take one more step forward to stand right at the bottom of the stairs.", + "The lowest tread rises immediately in front of me and the steel stringer and rail crowd both sides, so I am standing at the base of the metal staircase. I have arrived here. I mark reaching it and turn my attention to the front of the red truck out beyond the wall opening.", + "I am right up against the bottom tread with the stringer and handrail boxing in my view, which leaves me almost no room to swing my heading around. Stepping back should open enough floor to reorient comfortably toward the truck's side of the yard.", + "With a little clearance behind me, the staircase still occupies the whole view ahead while the way out toward the truck lies off to my right past the red panelled wall. I will turn right to start swinging my heading off the stairs.", + "The staircase has slid toward my left and the weathered red wall is filling the middle of my view, but I still do not see the gap that leads out into the yard. Another turn right should carry my heading further around toward it.", + "Now the red panel wall covers most of what I see, with only the corner of the staircase left behind my shoulder, and the opening toward the outdoor yard is still beyond my right edge. One more right turn should bring that passage into view.", + "The gap between the tall red panels is open ahead of me, showing sunlit ground and buildings out in the yard where the truck stands. I will walk forward to close the distance to that opening.", + "The opening sits slightly right of my current heading, so continuing straight would carry me into the left panel instead of through the gap. I will turn right to line myself up with the middle of the passage.", + "The gap between the two tall red panels lines up ahead of me and opens onto the bright yard beyond. Walking straight through it should carry me out of this hall toward the open ground where the red truck stands.", + "The opening between the red panels is wider in front of me now and the yard beyond is clearer. I keep stepping forward since the passage stays unobstructed and leads out to the open area.", + "I am nearly level with the red panel on my right and the yard is opening wide to the left. Another step forward should take me clear of these panels so the whole yard comes into view.", + "Past the panel edge a red truck cab has come into view at the far left of the yard. I step forward again to get fully out into the open ground before turning toward it.", + "I am out in the open yard, but the red truck sits far off at the left margin of my view while the panel wall still blocks my right. Turning left should swing my heading toward the truck.", + "The red truck is now clearly in view but still sits left of center against the workshop wall. One more turn to the left should put its cab and front squarely ahead of my walking direction.", + "The red truck is centered ahead of me with its cab and front angled my way, and the yard between us is flat and clear. I walk straight forward to close that distance.", + "The truck has grown larger and stays centered, with its front end facing slightly toward me. I continue straight ahead since more distance still separates me from its front.", + "The rusted red truck stands squarely ahead across the open yard, its cab and front end filling the middle of my view with clear concrete between us. Nothing blocks the straight line, so I will keep walking forward to close the remaining distance toward its front.", + "The truck now looms larger and its front wheel and bumper are clearly readable, so my heading is still true. I am not yet close enough to stand at its front, so I take another step forward along the same line.", + "The cab now dominates the view and the grille sits just right of my center line, confirming I am bearing on the truck's front rather than its flank. A few strides of open ground remain, so I keep moving forward.", + "The front bumper, headlight and near wheel are close enough to see their detail, and the ground ahead is still clear. I advance again to bring myself right up to the front of the truck.", + "The truck's front corner now fills nearly the whole view, with the bumper and front wheel arch an arm's length off. One short step forward should place me directly at the vehicle's front.", + "I am standing right against the red truck's front fender and wheel, close enough to touch the paint. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27e32a07779477d1b9e73c2e5e0f26a84a8a4f32 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_b/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Approach the large red gate entrance, then move to the wooden crate.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3410.993, + -142.198, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3535.59, + -124.421, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3660.187, + -106.644, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3784.785, + -88.866, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3909.382, + -71.089, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4033.979, + -53.312, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4158.576, + -35.535, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4283.173, + -17.758, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4407.77, + 0.019, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4532.368, + 17.797, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4532.368, + 17.797, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4532.368, + 17.797, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -4532.368, + 17.797, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -4532.368, + 17.797, + 118.099, + 0.0, + 96.88, + -0.0 + ], + [ + -4532.368, + 17.797, + 118.099, + 0.0, + 71.88, + -0.0 + ], + [ + -4532.368, + 17.797, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4446.339, + 109.664, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4360.311, + 201.532, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4360.311, + 201.532, + 118.099, + 0.0, + 21.88, + -0.0 + ], + [ + -4243.518, + 248.435, + 118.099, + 0.0, + 21.88, + -0.0 + ], + [ + -4126.725, + 295.338, + 118.099, + 0.0, + 21.88, + -0.0 + ], + [ + -4126.725, + 295.338, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4040.697, + 387.205, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -3954.669, + 479.073, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -3954.669, + 479.073, + 118.099, + 0.0, + 46.88, + -0.0 + ] + ], + "Rationale": [ + "The tall red gate panels with their open gap sit well right of my current heading, while the stairs and concrete bay fill the view ahead. Turning right should bring that opening near the center of my view so I can walk straight at it.", + "The red gate now stands squarely ahead with its central gap directly in front of me and the truck framed inside it. The floor between me and the panels is clear, so I will walk forward to close the distance.", + "The red panels have grown wider in my view and the gap between them is a little taller, confirming my heading is carrying me straight at the entrance. I am still several strides short of it, so I will keep walking forward.", + "The gate now rises past the top of my view and the truck beyond the gap reads more clearly, so I am closing steadily. Nothing blocks the stretch of floor in front of me, and another step forward continues the approach.", + "The concrete pillars that flanked the gate have slid to the edges of my view, leaving the red panels dominating the scene. The entrance is still ahead of me rather than at my position, so I keep advancing along the same line.", + "The wooden blocks at the bases of the red panels are now visible and the sunlit strip of ground beyond the gap is widening. I am close but not yet at the entrance, so I will step forward again.", + "Through the widening gap I can now see the truck's wheels and the blue roofed building across the yard, meaning the doorway is only a short walk off. My path stays clear, so I continue straight toward the opening.", + "The two red panels now flank me on either side with the opening broad in front, so I am nearly at the threshold of the entrance. One more step forward should bring me right up to it.", + "The two towering red gate panels now frame my view on both sides, with the open yard and the rusted truck straight ahead through the gap. I am nearly level with the opening but not yet in it, so I will keep walking straight along the centre of the passage.", + "The red panels have swung out to the far edges of my view and the yard beyond the entrance now dominates, meaning I am right in the threshold. One more step forward should place me properly at the gate opening rather than just short of it.", + "Only the edge of one huge red gate panel remains beside me while the open yard, the truck and the far shed spread out ahead, so I am standing in the big red gate entrance. I have arrived at it. I mark reaching this entrance and now turn my attention to the wooden crate inside the hall.", + "Facing out into the yard leaves the wooden crate behind me inside the hall, and the open floor lies back past the red panel on my left. I will turn left to begin swinging my heading away from the yard and back toward the building interior.", + "The red gate panel now takes up the left half of my view and the yard still fills the right, so my heading remains pointed outward. Another left turn should carry my facing further around toward the hall floor where the crate stands.", + "The gate panel now fills the centre of my view, but grey columns and interior structure have appeared past its left edge. Turning left again should bring that interior floor in front of me instead of the panel.", + "The panel has slid to my right and the hall interior with its steel staircase is opening up on the left, though I still cannot see the wooden crate. I will turn left once more to bring more of that inner floor into view.", + "The pale wooden crate is now visible on the open floor to the left of the staircase, well off toward the edge of my view. A final left turn should bring it closer to the centre of my heading so I can walk straight at it.", + "I now face the open interior hall, with the tall red gate behind me and a pale wooden crate sitting on a pallet out on the floor ahead, left of the steel staircase. That crate is my remaining destination, so I walk forward to cut the distance across the clear concrete.", + "The wooden crate has grown noticeably larger and its pallet base is now readable, confirming I am closing on it. Nothing blocks the stretch of floor between us, so I keep walking forward.", + "The staircase and its railing now crowd the right side of my view while the wooden crate sits ahead and slightly to my left. Turning left should swing me clear of that structure and put the crate in the open lane I intend to walk.", + "With the stairs now off my right shoulder, the pale crate on its pallet stands in the open a short way ahead on that side. The floor between us is clear, so I step forward to close in on it.", + "The crate is clearly nearer, its planks and pallet now distinct, though it still sits off to my right rather than dead ahead. I take another step forward to keep shrinking the gap before fine-tuning my heading.", + "I am close to the crate, but it now sits well to the right of my facing, so walking straight would carry me past it. Turning right should bring it back into the middle of my view for a straight final approach.", + "The wooden crate is now squarely centered in front of me on its pallet, only a few paces off. I walk forward along that line to reach it.", + "The crate now fills the lower part of my view, its lid and pallet slats plainly close. One more step forward should bring me right up against it.", + "The wooden crate's lid fills the bottom of my view, right at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0281b3d6d85b81cdbfa8aca0236480d5b5422636 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_c/infos.json @@ -0,0 +1,436 @@ +{ + "Instruction": "Navigate to the red truck's front, then proceed to the staircase base.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3516.403, + -73.429, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3516.403, + -73.429, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3641.001, + -55.652, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3765.598, + -37.875, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3890.195, + -20.098, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4014.792, + -2.321, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4139.389, + 15.457, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4263.987, + 33.234, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4388.584, + 51.011, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4513.181, + 68.788, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4637.778, + 86.565, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4762.375, + 104.342, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4886.973, + 122.12, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5011.57, + 139.897, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5136.167, + 157.674, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5260.764, + 175.451, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5385.361, + 193.228, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5385.361, + 193.228, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5293.888, + 180.177, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5293.888, + 180.177, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -5293.888, + 180.177, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -5293.888, + 180.177, + 118.099, + 0.0, + 96.88, + -0.0 + ], + [ + -5293.888, + 180.177, + 118.099, + 0.0, + 71.88, + -0.0 + ], + [ + -5293.888, + 180.177, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -5293.888, + 180.177, + 118.099, + 0.0, + 21.88, + -0.0 + ], + [ + -5293.888, + 180.177, + 118.099, + 0.0, + -3.12, + 0.0 + ], + [ + -5168.215, + 173.327, + 118.099, + 0.0, + -3.12, + 0.0 + ], + [ + -5168.215, + 173.327, + 118.099, + 0.0, + -28.12, + 0.0 + ], + [ + -5057.212, + 114.007, + 118.099, + 0.0, + -28.12, + 0.0 + ], + [ + -4946.209, + 54.687, + 118.099, + 0.0, + -28.12, + 0.0 + ], + [ + -4946.209, + 54.687, + 118.099, + 0.0, + -3.12, + 0.0 + ], + [ + -4820.537, + 47.837, + 118.099, + 0.0, + -3.12, + 0.0 + ], + [ + -4820.537, + 47.837, + 118.099, + 0.0, + 21.88, + -0.0 + ], + [ + -4703.744, + 94.74, + 118.099, + 0.0, + 21.88, + -0.0 + ], + [ + -4586.951, + 141.643, + 118.099, + 0.0, + 21.88, + -0.0 + ], + [ + -4586.951, + 141.643, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4500.923, + 233.511, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4414.895, + 325.378, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4328.866, + 417.246, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4242.838, + 509.113, + 118.099, + 0.0, + 46.88, + -0.0 + ], + [ + -4242.838, + 509.113, + 118.099, + 0.0, + 46.88, + -0.0 + ] + ], + "Rationale": [ + "The red truck stands out in the yard beyond the wide doorway in the pink wall to my right, well across the hall from me. Nothing blocks the open floor ahead, so I will walk forward to cut down that distance before lining up with the opening.", + "After closing some distance, the doorway with the red truck behind it sits off to my right rather than straight ahead. I will turn right so that gap and the truck fall into the middle of my view before I keep walking.", + "The turn has put the tall gap between the pink panels squarely ahead, with the red truck framed inside it. The floor between me and the opening is clear, so I will walk straight toward it.", + "The truck through the opening is still small and distant, so I have not yet reached it. My heading remains centered on the gap, and I will keep walking forward.", + "The pink panels are widening at the edges of my view, a sign the doorway is drawing nearer while the truck beyond it grows only slightly. I will continue straight ahead through the gap toward the truck.", + "The truck's cab and front wheel are now clearer through the opening, but I am still inside this hall. The path through the gap stays clear, so I will keep advancing.", + "The doorway now fills much of my view and the red truck sits just past the threshold, angled with its front toward me. I will walk forward again to pass through and close on it.", + "I am nearly at the threshold, with the shaded ground of the opening right in front of my feet and the truck's grille and front wheel plainly visible beyond. Stepping forward should carry me through into the yard and closer to the truck's front.", + "The red truck sits straight ahead through the gap between the two pink wall panels, and the gap is wide enough to walk through without turning. I will keep walking forward so the doorway edges fall away and the truck grows in front of me.", + "The truck now shows its cab and near wheel clearly beyond the opening, and the panel edges are widening around me as I close in. My heading still points at it, so another forward step should carry me out of the gap and nearer the truck.", + "I am nearly clear of the panels, with only the left one still cutting into my view, while the truck and the tank trailer behind it stand in the open yard ahead. Walking on should put me fully into the yard with the truck ahead and slightly left.", + "The gate panels are behind me and the yard is fully open, with the red truck standing ahead against the warehouse wall. Its front end faces roughly toward me, so I keep advancing straight rather than adjusting my heading.", + "The truck fills more of my view now and its front corner is roughly centered ahead of me. Ground between us is flat and empty, so a further step should shorten the gap toward its front.", + "The truck's windscreen, grille and near front wheel are clearly resolved, telling me I am within a few strides of its nose. I continue straight forward since the front face I want to reach lies directly along my heading.", + "The cab now dominates my view and its bumper sits just right of center, so I am close but not yet at the truck's front. Another step forward should bring me up against that front end.", + "The truck's nose and headlight are only a stride or two away and the cab towers over my line of sight. I will step forward again to stand right at the front of the red truck.", + "The red truck's bumper, headlight and front wheel now fill most of my view, so only a short gap remains before I stand at its front. I will take one more step forward to close that last bit of distance.", + "The red truck's bumper, headlight and front wheel arch are right in front of me, close enough to touch. I am standing at the front of the red truck. I mark reaching it, then set off for the staircase back inside the building.", + "The truck's bodywork is pressed so close that nothing else is visible, leaving me no room to swing around toward the staircase. Stepping back should open enough clearance from the bumper for a clean turn without scraping the cab.", + "With a little clearance gained, the truck's front still dominates my view and the staircase lies back inside the hall behind me. I will begin swinging left to bring the yard and the building opening back into sight.", + "My view has swung along the truck's flank to the tanker trailer beside it, but the way back into the building is still not in front of me. I continue rotating left to keep bringing the open yard around.", + "The tanker trailer and the green silo are now coming into view as my heading sweeps away from the truck, yet the building I need is still further round. Another left turn should keep carrying my facing toward it.", + "I am now facing the green silo and the concrete wall of the hall, with the tanker trailer pushed off to my right. The staircase sits deeper inside that building, so I keep turning left to line up with its wall and opening.", + "The pink panelled wall of the building is sliding into view on my left while the silo drifts right, but the gap I need to walk through is not yet ahead of me. I will turn left again to bring that wall and its opening square in front.", + "Ahead of me there is only blank red panelling, grey concrete wall and the green silo legs, with no way through toward the stairs I need. I will keep swinging left to bring the rest of the yard and any building entrance into view.", + "Swinging further left has uncovered a gap at the edge of the red panel wall, and through it I can see a covered hall with yellow overhead beams. Another left turn should place that opening closer to straight ahead so I can walk into it.", + "The gap between the two red panels is now roughly in front of me and the hall floor beyond it is clear of clutter. I will walk forward to close the distance to that entrance while the route stays open.", + "I am nearer the entrance, but the opening sits a little off my heading and the near red panel would clip my path. A small left turn should square me with the gap before I step through.", + "From here the interior of the hall with its columns and overhead cranes is visible past the panel edge, so the way in is genuinely open. I will step forward to bring myself up to the threshold.", + "The opening keeps widening as I get closer and I can now make out crates and a forklift on the hall floor inside. Another step forward should carry me level with the panel edge and into the entrance.", + "The red panel now fills the left half of my view while the whole hall interior lies off to my right, so my heading points along the wall rather than into the building. Turning right should aim me straight down the opening.", + "I am framed squarely in the doorway with the long column-lined hall running straight ahead of me. I will walk forward to pass inside and search the far side of this space for the stairs.", + "From inside the wide hall I see only columns, crates and the far bay ahead, with no stairway in this heading. The metal stair I am heading for should stand against the side wall out of my current view, so I will turn right to sweep that side of the hall.", + "A tall panel now blocks the right edge of my view, hiding whatever stands along that wall. The floor ahead is clear, so I will walk forward to move past the panel and open up the right side of the hall.", + "The steel staircase with its handrails is now visible against the right wall, still some distance off across the open floor. I will keep walking forward to close that gap.", + "The staircase sits well off to my right while my heading still points down the empty middle of the hall. Turning right should bring the stair and its lower steps into the center of my view for a straight approach.", + "The staircase now sits near the middle of my view with its lower flight and the crate beside it clearly ahead. With the path between us open, I will walk forward toward it.", + "The stair fills more of my view and I can pick out the lowest steps and the handrail post where the flight meets the floor. I will keep advancing to close the remaining distance to that base.", + "The flight of steps now dominates the view and the bottom tread is only a short walk ahead and slightly right. Another step forward should place me almost at the foot of the stair.", + "The lowest steps and the railing are right in front of me, filling the lower right of my view. One more short step forward should bring me level with the foot of the staircase.", + "The bottom steps and handrail of the staircase rise directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_d/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c5723f49157e115db9a8c84c8623a4df888895e6 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_d/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Head toward the wooden crate on the floor, then reach the red gate doorway.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3516.403, + -73.429, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3516.403, + -73.429, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3582.875, + 33.445, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3649.346, + 140.319, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3715.818, + 247.192, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3782.289, + 354.066, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3848.875, + 451.011, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3848.875, + 451.011, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3848.875, + 451.011, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3848.875, + 451.011, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3848.875, + 451.011, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -3969.311, + 414.466, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4089.748, + 377.92, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4089.748, + 377.92, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4183.455, + 293.9, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4277.163, + 209.88, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4370.871, + 125.86, + 118.099, + 0.0, + -138.12, + 0.0 + ], + [ + -4370.871, + 125.86, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4491.307, + 89.315, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4611.743, + 52.769, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4611.743, + 52.769, + 118.099, + 0.0, + -163.12, + 0.0 + ] + ], + "Rationale": [ + "I can see the wooden crate sitting on the floor far ahead near the base of the metal stairs, well off to my left, while the red gate stands open to my right. Since the crate is my first destination, I will walk forward to close the wide gap across this open hall floor.", + "The crate near the foot of the stairs sits left of my current heading, so walking straight would carry me past it toward the gate opening instead. I will turn left to put the crate in front of me before continuing.", + "The crate now sits roughly ahead of me at the foot of the staircase, with clear cracked floor between us. I will walk forward to shorten that distance.", + "The crate is growing in my view and stays close to the center of my path, so my heading is good. I will keep walking toward it across the open concrete.", + "I am closer now, with the crate clearly ahead of me on the floor beneath the stair landing. I will continue walking straight to reach it.", + "The crate now fills a good part of the lower view, so only a short stretch of floor remains. I will step forward again to draw right up beside it.", + "The crate sits just ahead and slightly left, close enough that one more step should bring me right up to it. I will move forward to finish closing that last gap.", + "The wooden crate is right at my feet, filling the bottom of my view under the steel staircase. I have arrived at it, so I mark reaching the crate and now set off for the open red gate.", + "The wooden crate sits right at my feet in the lower left, so my business here is done and the red gate is nowhere in my forward view, which is filled by the steel stairway and concrete wall. I turn right to swing my heading back toward the painted panels I passed on that side. This should start bringing the gateway into view.", + "A strip of the weathered red wall has appeared at the far right edge, so my heading is rotating the correct way but is still mostly aimed at the stairs. I continue turning right to bring that red panelling toward the centre of my view. The doorway opening should emerge as the sweep continues.", + "The red panelling now fills the right half of my view and I can see daylight and the yard beyond past its far edge, so the opening lies just further right. One more turn in the same direction should place that gap ahead of me. Then I can walk straight at it.", + "The two red panels now frame a clear gap straight ahead, with open ground and the far yard building showing through it. My heading is on that opening, so I walk forward to close the distance. The floor between me and the threshold looks clear.", + "The red panels have grown taller in my view and the gap between them is still open in front of me, so my last step gained ground on the gateway. I keep walking forward along the same line. The threshold should come within a stride or two.", + "I am close enough now that the left panel's face lies almost on my forward line, while the actual passage sits slightly to its right. I turn right so my walking line clears that panel edge and runs into the open gap instead of into the door. The opening should sit comfortably ahead after the turn.", + "With my heading adjusted, the open passage now shows to my left front and the near panel stands clear off my right shoulder. I step forward to move up on the threshold along this line. Nothing blocks the ground between me and the gap.", + "The gateway edge is drawing past on my right and more of the yard, including the far shed wall, is opening up through the gap on my left. I continue walking forward to reach the doorway itself. The route stays clear on this line.", + "The tall red gate leaf stands close on my right and the gap beside it has widened, showing the yard and the far shed. I will walk forward again to draw level with that opening rather than stopping short of it.", + "I am now beside the red leaf, facing along its flat face instead of through the gate, and the passage between the panels sits off to my left. Turning left should swing that opening around to sit squarely ahead of me.", + "The gap between the two red leaves is now centered in front of me, with the rusted truck and the far wall framed inside it. I will step forward into that clear line toward the doorway.", + "The right red leaf has slid past my shoulder and the open ground of the yard spreads ahead with nothing blocking my path. One more step forward should carry me through the doorway itself.", + "I have come through the red gate doorway and stand in the open yard beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_e/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d79d06828bf072787791d6b98ceada233f7452a --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003411_y-000142_z000118_t3_e/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Move to the wooden crate on the floor, then approach the red truck's front.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3410.993, + -142.198, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3477.464, + -35.324, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3543.936, + 71.55, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3610.407, + 178.424, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3676.879, + 285.298, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3743.35, + 392.172, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3743.35, + 392.172, + 118.099, + 0.0, + 121.88, + -0.0 + ], + [ + -3743.35, + 392.172, + 118.099, + 0.0, + 146.88, + -0.0 + ], + [ + -3743.35, + 392.172, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -3743.35, + 392.172, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -3863.786, + 355.626, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -3984.223, + 319.081, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4104.659, + 282.535, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4225.096, + 245.99, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4345.532, + 209.444, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4465.968, + 172.899, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4586.405, + 136.353, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4706.841, + 99.808, + 118.099, + 0.0, + -163.12, + 0.0 + ], + [ + -4706.841, + 99.808, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4831.438, + 117.585, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -4956.035, + 135.362, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5080.633, + 153.14, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5205.23, + 170.917, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5329.827, + 188.694, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5444.018, + 211.246, + 118.099, + 0.0, + 171.88, + -0.0 + ], + [ + -5444.018, + 211.246, + 118.099, + 0.0, + 171.88, + -0.0 + ] + ], + "Rationale": [ + "From here the wooden crate sits low on the floor near the stairs, off to my left, while my heading points at the open bay doors ahead. I will turn left so the crate lands near the center of my view before I start walking.", + "The wooden crate now sits ahead of me on the open floor beneath the steel staircase, with clear cracked concrete between us. I will step forward to close that gap.", + "The crate has grown slightly larger and stays just right of my center line, so my heading is still usable. I will keep walking toward it across the open bay floor.", + "I can see the crate more clearly now as a boxy wooden container resting on the floor in front of the stair landing. Nothing blocks my line to it, so I will continue advancing.", + "The crate fills more of my view and its edges and seams are becoming distinct, so I am closing in but still several strides short. I will take another step forward toward it.", + "The crate is close now, sitting just ahead and slightly left with its wooden panels clearly visible. One more step forward should bring me right up beside it.", + "The wooden crate fills the bottom of my view, close enough that I can read the label on its side. I have reached it, standing right at its edge on the bay floor. I mark reaching this crate before setting off for the red truck's front.", + "Standing at the crate, my view is filled by the staircase and the inner wall, with no sign of the red truck in this direction. Since the truck sits out beyond the open bay doors to my right, I will turn right to swing my heading that way.", + "The wooden crate now sits low at my left, so my business with it is done and I need the red truck instead. My heading still faces the staircase, with only the edge of the pink gate wall at the right of my view. I will turn right again to bring the yard opening toward the middle of my view.", + "The gap between the pink panels has come into view on my right, with daylight and open yard beyond it. That gateway is the way out toward the red truck, but it still sits off to the side of my heading. One more turn right should place the opening straight ahead of me.", + "The gap between the two pink panels is now centered in front of me, showing sunlit ground and a distant blue-roofed shed. Nothing blocks the floor between me and that opening. I will walk straight forward toward the gateway to reach the yard where the red truck stands.", + "The pink panels have grown taller in my view, confirming the last step carried me closer to the gateway. The passage between them stays open and directly ahead. I will keep walking forward toward it.", + "The panels now tower on either side and the strip of yard between them is brighter and nearer. My line of travel still passes cleanly through the middle of the gap. Another step forward should bring me almost to the threshold.", + "I am nearly level with the base of the panels and the concrete outside is spreading open ahead of me. The far wall and its shuttered bay are becoming distinct through the gap. I will step forward again to pass out into the yard.", + "The gateway has widened and I can now see the open yard, the sun and the far building with its loading front. The red truck stood out in this yard when I first surveyed the scene, so continuing straight should bring it into view. I will keep moving forward.", + "I am passing between the panels with the yard opening up in front of me, though the red truck is still hidden behind the left panel. Advancing further should clear that edge and expose more of the yard to my left. I will walk forward again.", + "Past the tall red panels the open yard is clear ahead, and a rusty red truck cab has come into view beyond the left edge of the gate. Nothing blocks the gap, so I walk forward to clear the doorway and bring that truck fully into sight.", + "I am out in the open yard now and the red truck stands plainly to my left front, its cab and front wheels facing partly toward me. It is still a long way off across the concrete, so I keep walking forward to close the gap.", + "The red truck sits well to the left of my heading, so walking straight on would carry me past its nose toward the warehouse wall instead. I turn left to put its front squarely ahead of me before continuing.", + "The turn has placed the red truck near the middle of my view with its front end angled toward me. The ground between us is open concrete, so I step forward to shorten the distance to its front.", + "The truck's cab and front wheel are growing larger and remain centered in my path. I am still several strides short of its nose, so I continue walking straight ahead.", + "The front bumper and grille of the red truck are now clearly readable ahead and slightly left, with nothing in between. I keep advancing to bring myself right up to its front.", + "The truck now fills much of my view, its cab door and front wheel close on the left and the bumper just ahead. I am not yet at its front, so another step forward should close the remaining gap.", + "The red truck's front end towers directly in front of me, with the headlight and bumper only a stride or two away. I take one more step forward to stand right at its front.", + "The red truck's nose and front wheel now fill most of my view, with its bumper and headlamp just ahead of me. One more short step should bring me right up against the front of the cab, close enough to count as standing at it.", + "The red truck's front fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003533_y-000063_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003533_y-000063_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e7132c1dd9f2e25a293acffa9aa3f03087e046 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003533_y-000063_z000118_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the yellow metal staircase situated near a large red door; after locating it, proceed to the bottom of those stairs.", + "Type": 1, + "Start_Pose": [ + -3532.608, + -63.077, + 118.099, + 0.0, + -159.209, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3532.608, + -63.077, + 118.099, + 0.0, + -159.209, + 0.0 + ], + [ + -3532.608, + -63.077, + 118.099, + 0.0, + 175.791, + -0.0 + ], + [ + -3532.608, + -63.077, + 118.099, + 0.0, + 150.791, + -0.0 + ], + [ + -3642.463, + -1.658, + 118.099, + 0.0, + 150.791, + -0.0 + ], + [ + -3752.319, + 59.761, + 118.099, + 0.0, + 150.791, + -0.0 + ], + [ + -3862.174, + 121.179, + 118.099, + 0.0, + 150.791, + -0.0 + ], + [ + -3862.174, + 121.179, + 118.099, + 0.0, + 125.791, + -0.0 + ], + [ + -3935.78, + 223.271, + 118.099, + 0.0, + 125.791, + -0.0 + ], + [ + -4009.387, + 325.362, + 118.099, + 0.0, + 125.791, + -0.0 + ], + [ + -4082.993, + 427.453, + 118.099, + 0.0, + 125.791, + -0.0 + ], + [ + -4157.508, + 528.576, + 135.161, + 0.0, + 125.791, + -0.0 + ], + [ + -4157.508, + 528.576, + 135.161, + 0.0, + 125.791, + -0.0 + ] + ], + "Rationale": [ + "From here I mainly see a large red door panel ahead and stacked crates with scaffolding to my right, but no yellow metal staircase yet. I will turn left to scan the unseen portion of this hall, since the right side is already largely visible and shows no stairway.", + "The red door panels are now centered ahead, and at the far left edge I can just make out pale metal railings and a landing structure against the concrete wall. I will continue turning left in the same direction to bring that possible staircase fully into view.", + "The yellow metal staircase is now clearly in view on the left, rising along the concrete wall right beside the tall red door. With the target identified, I will walk forward to close the distance toward it instead of scanning further.", + "The staircase with its yellow handrails is larger in the left part of my view, so my heading is still carrying me toward that side of the hall. I will keep walking forward to shorten the remaining gap before adjusting my facing.", + "The stairway now fills much of my left side and its lower steps are visible near the concrete pillar, but I am still a few paces short of it. I will advance again over the clear floor to draw level with the base of the stairs.", + "The staircase has drifted to the far left edge of my view while my heading points past it toward the red panel and the truck beyond. I will turn left to bring the stairway back into the center of my view so I can walk straight at its base.", + "The yellow railed staircase is now centered ahead with its bottom steps clearly facing me. I will step forward along this heading to approach the foot of the stairs.", + "The stairway dominates my view now and the lowest steps sit just ahead and slightly left, so I am close but not yet at their base. I will keep walking forward to reach the bottom of these stairs.", + "The yellow railed metal staircase now fills most of my view, with its lowest step still a short distance ahead of me and the red panelled wall visible off to the right. I will keep walking straight toward the foot of the flight to close that remaining gap.", + "I am nearly at the staircase, with the bottom steps and the yellow handrails spread wide across my view but the first tread still slightly ahead of my feet. One more step forward should place me right at the base of the flight.", + "I stand directly at the lowest tread of the yellow railed metal staircase, its steps rising immediately in front of me. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003533_y-000063_z000118_t1_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003533_y-000063_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ca40c5da5c8683c02f598622f7b5b09fe2f8f285 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003533_y-000063_z000118_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Identify the cube-shaped object wrapped in mesh netting close to the dumpsters, then head over to it.", + "Type": 1, + "Start_Pose": [ + -3532.608, + -63.077, + 118.099, + 0.0, + -159.209, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3532.608, + -63.077, + 118.099, + 0.0, + -159.209, + 0.0 + ], + [ + -3532.608, + -63.077, + 118.099, + 0.0, + -134.209, + 0.0 + ], + [ + -3532.608, + -63.077, + 118.099, + 0.0, + -109.209, + 0.0 + ], + [ + -3574.017, + -181.929, + 118.099, + 0.0, + -109.209, + 0.0 + ], + [ + -3615.427, + -300.781, + 118.099, + 0.0, + -109.209, + 0.0 + ], + [ + -3656.836, + -419.632, + 118.099, + 0.0, + -109.209, + 0.0 + ], + [ + -3656.836, + -419.632, + 118.099, + 0.0, + -84.209, + 0.0 + ], + [ + -3644.137, + -544.849, + 118.099, + 0.0, + -84.209, + 0.0 + ], + [ + -3660.293, + -635.54, + 118.099, + 0.0, + -84.209, + 0.0 + ], + [ + -3652.726, + -760.67, + 118.099, + 0.0, + -84.209, + 0.0 + ], + [ + -3640.027, + -885.887, + 118.099, + 0.0, + -84.209, + 0.0 + ], + [ + -3627.328, + -1011.103, + 118.099, + 0.0, + -84.209, + 0.0 + ], + [ + -3627.328, + -1011.103, + 118.099, + 0.0, + -109.209, + 0.0 + ], + [ + -3668.737, + -1129.955, + 118.099, + 0.0, + -109.209, + 0.0 + ], + [ + -3710.147, + -1248.807, + 118.099, + 0.0, + -109.209, + 0.0 + ], + [ + -3710.147, + -1248.807, + 118.099, + 0.0, + -109.209, + 0.0 + ] + ], + "Rationale": [ + "From here I mostly face a blank red wall panel with a narrow gap showing a parked truck, and I see no dumpsters or any cube wrapped in mesh netting. The open bay with scaffolding and stacked crates on my right looks like the more promising storage area, so I will turn right to bring that side into view. This should start a consistent scan toward the part of the yard most likely to hold the netted cube.", + "The turn has opened up the interior hall with cardboard crates and a dark green container back near the far wall, but I still cannot make out a cube wrapped in mesh netting. Continuing the scan in the same direction should reveal more of that container area rather than doubling back over the wall I already checked. I will turn right again to keep the sweep consistent.", + "Now the whole hall is in front of me, with the green skip-style container to the left of centre and a pale, boxy object sitting on a pallet beside it that could be the netted cube. It is far too distant to confirm the mesh pattern from here, so I will walk forward to close range and get a clearer look. The floor between the scattered crates looks open enough for a straight advance.", + "The pale caged box beside the green container has grown noticeably and now shows a grid-like lattice over its sides, which matches the mesh-wrapped cube I am looking for. Nothing blocks the lane directly ahead of me, so another step forward should keep tightening the distance. I will keep advancing before committing to a final heading.", + "The caged cube on its pallet is clearly separate from the surrounding cardboard crates and sits just right of the green dumpster ahead of me. I still have plenty of open floor between the crates flanking my path, so I will continue walking straight to close the gap. Getting nearer should also make it easier to judge how much I need to correct my heading.", + "A large crate now stands close in front of me on the left while the netted cube sits off to the right of my current heading, past the dumpster. Turning right should both open a clear lane past that crate and swing the cube nearer the middle of my view. I will make a small right turn before pressing on.", + "After the turn the mesh-wrapped cube on its pallet is visible ahead to my left, with the green dumpster right beside it, and the floor between me and it is open apart from crates I can pass. This is the object described in the task, so I will commit and walk toward it. Each step should bring the netting into clearer detail.", + "A tall crate now fills the right side of my view at close range, but the lane to its left stays open and the netted cube is still in sight beside the dumpster. I will keep walking forward, passing that crate on my right, to continue closing on the target. The cube should keep growing in view as I advance.", + "The caged, mesh-wrapped cube sitting on a pallet is clearly visible ahead and slightly left, right beside the green dumpster bins and some cardboard boxes. It matches the target description, so I will keep walking forward to close the still considerable distance across the open floor.", + "The netted cube next to the dumpster has grown noticeably larger in view, confirming I am closing on it. It still sits well ahead and off to my left, so another forward step should continue shortening the gap.", + "The mesh-wrapped cube on its pallet is now distinctly framed at the left side of my view, with the dumpster just beyond it. Since my heading still passes near it, I will step forward again to keep reducing distance before adjusting my facing.", + "The netted cube is now close but sitting well to the left of my forward heading, so continuing straight would carry me past it. I will turn left to bring the target back toward the center of my view before advancing further.", + "The turn has brought the mesh-caged cube near the middle of my view, with the dumpsters just to its left as described in the task. With the heading now pointing at it, I will step forward to close the remaining gap.", + "The netted cube fills much of the center of my view now and its pallet base is plainly visible, so I am only a short distance away. One more forward step should bring me right up beside it.", + "The mesh-caged cube beside the dumpster now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003623_y-000040_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003623_y-000040_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..502522d6ab60249ae8d1fabd43eafd3f8e56983a --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003623_y-000040_z000118_t1_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Explore the area until you identify the red truck cab visible through the warehouse opening, then head toward that location.", + "Type": 1, + "Start_Pose": [ + -3622.894, + -40.25, + 118.099, + 0.0, + -70.08, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3622.894, + -40.25, + 118.099, + 0.0, + -70.08, + 0.0 + ], + [ + -3622.894, + -40.25, + 118.099, + 0.0, + -95.08, + 0.0 + ], + [ + -3622.894, + -40.25, + 118.099, + 0.0, + -120.08, + 0.0 + ], + [ + -3622.894, + -40.25, + 118.099, + 0.0, + -145.08, + 0.0 + ], + [ + -3622.894, + -40.25, + 118.099, + 0.0, + -170.08, + 0.0 + ], + [ + -3746.871, + -61.932, + 118.099, + 0.0, + -170.08, + 0.0 + ], + [ + -3870.849, + -83.614, + 118.099, + 0.0, + -170.08, + 0.0 + ], + [ + -3994.826, + -105.296, + 118.099, + 0.0, + -170.08, + 0.0 + ], + [ + -4118.803, + -126.978, + 118.099, + 0.0, + -170.08, + 0.0 + ], + [ + -4118.803, + -126.978, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -4240.328, + -94.234, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -4361.853, + -61.49, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -4483.378, + -28.745, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -4604.903, + 3.999, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -4726.428, + 36.744, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -4847.953, + 69.488, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -4969.477, + 102.233, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -5091.002, + 134.977, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -5212.527, + 167.721, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -5334.052, + 200.466, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -5455.577, + 233.21, + 118.099, + 0.0, + 164.92, + -0.0 + ], + [ + -5455.577, + 233.21, + 118.099, + 0.0, + 164.92, + -0.0 + ] + ], + "Rationale": [ + "From where I stand inside the warehouse I only see concrete walls, scattered crates, and a yellow forklift, with no red truck cab anywhere in front of me. I will turn left to begin a steady scan of the hall in one consistent direction and look for an opening that leads outside.", + "This part of the hall shows more crates, scaffolding and a tarp-covered load, but still no red truck cab and no gap in the wall. I will keep rotating left in the same direction so the scan stays consistent and covers the remaining sides of the building.", + "A large red panel wall has entered the left side of my view, which looks like a big sliding gate rather than plain concrete. I will continue turning left to bring that promising section fully into view and check whether it opens to the outside.", + "Past the red gate panel on my left I can now glimpse daylight and the front of a red truck cab parked outside. I will turn left once more to place that opening and the truck near the center of my heading before moving.", + "The gate is now open ahead of me and the red truck cab is clearly visible through the gap, so the target is identified and I no longer need to keep scanning. I will walk forward toward the opening to close distance with the truck.", + "The red truck cab stays visible through the gate gap and has grown slightly larger, confirming I am closing on it. I will keep walking forward along this heading to reach the opening.", + "The gate panels now fill more of my view and the truck cab beyond them appears larger, so my heading through the gap is still good. I will step forward again to continue closing the distance to the opening.", + "I am close to the gate now and the red cab with its trailer sits just beyond the threshold, slightly toward the left side of the gap. I will move forward once more to pass through the opening before adjusting my heading toward the truck.", + "The red truck cab is confirmed through the gap ahead, but it sits far to the left edge of my view while a large rusty panel fills most of what is in front of me. I will turn left to bring the opening and the truck into the center of my heading so the passage is clear to walk through. That should give me a straight line toward the target instead of facing the closed panel.", + "The turn has centered the doorway gap, and the red truck cab now sits squarely between the two panels straight ahead of me. The floor through the opening looks clear, so I will step forward to close distance toward the truck.", + "The truck cab has grown noticeably larger in the middle of the opening, which tells me my heading is carrying me straight at it. Nothing blocks the ground between me and the doorway, so I will keep walking forward.", + "I can now make out the truck's cab windows and the dark trailer beside it, so the target identification is solid. The gap between the panels is still framing my path, and I will advance again to reach the yard where the truck stands.", + "The doorway edges have widened to the sides of my view, meaning I am nearly through the opening with the red cab directly ahead. The open yard beyond looks free of obstacles, so I will continue forward toward the truck.", + "I am out in the open yard now with the red truck cab standing unobstructed a short distance ahead of me. The paved ground between us is flat and clear, so I will keep stepping toward it.", + "The red cab now fills a large part of my view, with its wheels and grille clearly readable, confirming it is the truck I was sent to reach. I am still several paces short of it, so I will advance again to close the remaining gap.", + "The truck cab dominates the center of my view and its front wheel and bumper are only a few steps away. I will move forward once more to bring myself right up beside the target.", + "The red truck cab now fills much of my view straight ahead, with the tanker trailer parked off to my left and open pavement between me and the cab. Nothing blocks the ground in front of me, so I will keep walking forward to close the remaining gap to the truck.", + "The cab has grown noticeably larger and its front wheel and bumper are now clearly resolved just ahead of me, confirming I am closing on the target. I will step forward again to bring myself right up beside the truck.", + "I am now only a few paces from the red cab, which towers over the right half of my view with its door and fender clearly in reach range. A further step forward should place me directly at the truck rather than short of it.", + "The red bodywork and wheel arch now dominate almost the entire view, so I am essentially alongside the truck cab. I will take one more short step to settle firmly at the truck's side before considering the approach done.", + "The red truck cab fills my view at arm's length, confirming I have reached it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3291e4c3b898139b23280f682883a112a9d90da3 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_a/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Walk to the green tank, then head toward the large blue cylindrical tank.", + "Type": 3, + "Start_Pose": [ + -3698.682, + 3306.16, + 118.099, + 0.0, + -132.458, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3698.682, + 3306.16, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3783.643, + 3213.305, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3868.604, + 3120.449, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3953.565, + 3027.594, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4038.526, + 2934.739, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4123.487, + 2841.883, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4208.448, + 2749.028, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4208.448, + 2749.028, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4324.691, + 2700.779, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4440.935, + 2652.529, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4557.178, + 2604.28, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4673.421, + 2556.03, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4673.421, + 2556.03, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4758.382, + 2463.175, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4843.553, + 2372.046, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4843.553, + 2372.046, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4843.553, + 2372.046, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4843.553, + 2372.046, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -4969.297, + 2377.444, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5095.04, + 2382.842, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5220.783, + 2388.239, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5346.526, + 2393.637, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5472.27, + 2399.035, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5598.013, + 2404.432, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5723.756, + 2409.83, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5849.499, + 2415.228, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5975.242, + 2420.625, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -6100.986, + 2426.023, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -6100.986, + 2426.023, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6217.229, + 2377.774, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6333.472, + 2329.524, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6449.715, + 2281.275, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6565.958, + 2233.026, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6682.202, + 2184.776, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6726.706, + 2141.473, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6726.706, + 2141.473, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6726.706, + 2141.473, + 118.099, + 0.0, + -157.458, + 0.0 + ] + ], + "Rationale": [ + "The tall green-streaked tank stands ahead of me, just left of the big concrete wall with the ladder. Nothing blocks the open concrete yard between us, so I will walk straight forward to begin closing that gap.", + "The green tank has grown slightly larger and its ladder-lined side is still ahead of me, so my heading is good. I will keep walking forward across the open ground to cut down the remaining distance.", + "The green tank now shows its full tapered body ahead of me and the concrete building is sliding past on my right. The lane between the building and the yard stays clear, so another forward step should bring me closer.", + "The green tank keeps rising in front of me with its support legs becoming visible near the ground. Nothing stands between me and it along this line, so I will advance again.", + "The green tank is close enough now that only its lower cone and green-mottled skin fill that part of my view. Continuing straight ahead should carry me nearly to its base.", + "The green tank's cone and its green support columns are close on my left while the concrete wall crowds my right. I will take one more step forward to reach the edge of the tank's structure.", + "The concrete wall with its ladder now fills the right half of my view and the green tank is tucked close beside it, so walking straight would only press me into the wall. Turning left should swing my heading into the open yard alongside the tank's frame.", + "The turn opened the yard: the green tank now sits ahead on my right with its legged frame clear of the concrete corner. With flat ground in front of me, I will walk forward along that opening toward the tank's base.", + "The green-stained tank now sits clearly ahead on my right, its conical base and support legs growing larger. The concrete slab between us is open and unobstructed, so I will keep walking forward to cut down the remaining distance.", + "The green tank's mottled shell now dominates the upper right of my view and its steel legs are resolving into separate members, confirming I am gaining on it. Nothing blocks the ground ahead, so another step forward should bring me nearer.", + "The green tank's cone and cross-braced legs are close now, spanning the right half of what I see, with its shadow stretching across the slab toward me. I will continue walking forward to draw level with its base.", + "I am nearly beside the green tank, but it hangs off to my right while my heading points past it into the open yard. Turning right should swing my line of travel onto the tank's legs so I can walk straight in under it.", + "The turn has put the green tank's cone and its green support frame squarely in front of me. With clear floor between my feet and those legs, I will step forward to close the last of the gap.", + "The green tank now towers over me, its cone and cross-bracing filling most of my view and its legs only a short walk away. One more step forward should place me right at its base.", + "The green tank's weathered green shell and steel legs stand directly in front of me, close enough that its frame fills my view. I have reached the green tank. I mark arriving here before setting off toward the large blue cylindrical tank.", + "Standing at the green tank, its cone and bracing block most of what lies beyond, and the wide blue cylindrical tank sits off toward my left along the far wall. I will turn left to open that direction up and put the blue tank into my path.", + "The green silo and its support legs still fill the right of my view, while the open yard and the dark blue cylindrical tank against the far building lie further left. One more left turn should swing my heading off the silo frame and put that blue tank ahead of me.", + "My heading now looks straight down the open concrete yard, with the large blue cylindrical tank standing against the far building ahead and slightly right. The ground between us is clear, so I will walk forward to start closing that gap.", + "The blue tank on its yellow ladder platform has grown slightly and the last green support column has slid to the edge of my view. Nothing blocks the flat yard ahead, so another step forward should keep shrinking the distance.", + "The blue cylindrical tank and the ladder beside it are clearly nearer, sitting right of my heading against the concrete wall. The yard remains empty in front of me, so I will keep walking forward toward it.", + "I am still well short of the blue tank, which now shows its full curved body above the ladder platform. My path across the open concrete stays clear, so I continue advancing.", + "The blue tank keeps growing ahead and slightly to the right, while the small yellow vehicle and crates stay off to my left and out of my line. I will take another step forward to close in.", + "The blue cylinder and its yellow access ladder are now distinctly closer, though the tank sits a little right of where I am pointed. The ground ahead is still open, so I will keep walking to reduce the remaining distance.", + "The large blue tank now dominates the right portion of my view with its ladder and support frame clearly readable, but I am not yet beneath it. Another forward step should bring me nearer to its base.", + "The large blue cylindrical tank sits on its concrete stand ahead and slightly right, with the yellow ladder climbing its side. Open, flat yard lies between me and it, so I will keep walking straight to close that gap.", + "The blue tank and its ladder now fill more of the view than a moment ago, confirming I am gaining ground on it. The path stays clear, so another step forward should bring me nearer.", + "I can already make out the tank's rusted end cap and the metal platform under it, so I am well within the yard's open stretch. Nothing blocks my line, and I will step forward again toward the tank.", + "The blue tank has drifted off to the right of my heading while the empty yard fills the center of my view. Turning right should swing my facing onto the tank so I can walk straight in at it.", + "The turn placed the blue tank and its spiral ladder squarely in front of me. With the ground between us clear, I will walk straight ahead to close on it.", + "The tank's dark blue drum and the frame holding it are noticeably closer and still dead ahead. I keep my heading and step forward again.", + "The curved blue body now spans much of the upper view and the ladder rungs are clearly separated, so only a short stretch of yard remains. I advance once more toward the base of the stand.", + "I am nearly under the blue tank, with its support frame and ladder rising directly in front of me. A further step should put me right at the stand.", + "The big blue cylindrical tank now fills the upper part of my view, resting on its steel cradle just ahead of me. I will step forward again to close the last of the gap to its supporting frame.", + "I am right under the curved belly of the blue tank, with its cradle beams and ladder immediately in front of me. One more short step forward should bring me flush against the structure holding it.", + "I am standing right at the frame of the big blue cylindrical tank, so close that my level gaze catches mostly the cradle beams and ladder. I will look up to bring the tank body itself clearly into view and confirm I am at it.", + "The large blue cylindrical tank looms directly overhead, within arm's reach of its support frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4be6792faa3eb6a3a4effa4a6c1414294eda7567 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_b/infos.json @@ -0,0 +1,406 @@ +{ + "Instruction": "Head toward the green cylindrical tank, then reach the yellow ladder attached to the large blue cylindrical tank.", + "Type": 3, + "Start_Pose": [ + -3698.682, + 3306.16, + 118.099, + 0.0, + -132.458, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3698.682, + 3306.16, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3783.643, + 3213.305, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3868.604, + 3120.449, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3953.565, + 3027.594, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4038.526, + 2934.739, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4123.487, + 2841.883, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4208.448, + 2749.028, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4293.409, + 2656.173, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4378.37, + 2563.317, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4463.331, + 2470.462, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4463.331, + 2470.462, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4579.575, + 2422.213, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4694.913, + 2399.554, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4809.805, + 2373.946, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4925.384, + 2341.124, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4925.384, + 2341.124, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -5005.215, + 2298.256, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -5005.215, + 2298.256, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -5005.215, + 2298.256, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5118.756, + 2298.221, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5118.756, + 2298.221, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5244.499, + 2303.618, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5370.242, + 2309.016, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5495.985, + 2314.414, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5621.729, + 2319.811, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5621.729, + 2319.811, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5737.972, + 2271.562, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5737.972, + 2271.562, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5863.715, + 2276.96, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5989.458, + 2282.357, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -6115.201, + 2287.755, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -6115.201, + 2287.755, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6231.445, + 2239.506, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6347.688, + 2191.256, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6463.931, + 2143.007, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6580.174, + 2094.758, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6580.174, + 2094.758, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -6705.917, + 2100.155, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -6705.917, + 2100.155, + 118.099, + 0.0, + 177.542, + -0.0 + ] + ], + "Rationale": [ + "From this corner of the yard I can pick out the green stained cylindrical tank standing ahead and a little left, past the tall concrete silo on my right. The open concrete ground between us is clear, so I will walk straight ahead to begin closing that distance.", + "The green tank has grown slightly and now sits just left of the pale silo face, confirming my heading is carrying me toward it. Nothing blocks the paved stretch in front of me, so I will keep walking forward.", + "The green tank now rises noticeably higher in view, its supporting legs and the smaller vessels beside it becoming distinct. My line of travel still points at it, so another step forward is the simplest way to keep gaining ground.", + "The green tank keeps expanding on the left side of my view while the concrete silo and its yellow wall ladder slide toward my right shoulder. That drift is what I expect while walking straight past the silo, so I will continue forward.", + "The green tank's upper drum now reaches near the top of my view, so I am getting close to it. The ground ahead remains open along the silo wall, and I will step forward again.", + "The green tank stands close now, its mottled surface and green support frame clear beyond the corner of the concrete wall on my right. Continuing straight should bring me alongside it rather than into the wall.", + "The green tank is high in the upper left, close enough that only part of it fits my view, while the concrete face takes up my right. The lane between them is still walkable, so I will press forward toward the tank's base.", + "The green tank and its legs are now just off to my left, very near, with the concrete silo wall crowding my right side. A further step should carry me level with the tank and out past this wall into the open yard beyond.", + "The green-streaked tank and its green support legs still sit ahead on my left, beyond the corner of this tall concrete silo whose yellow wall ladder is now beside me. Walking on should carry me past this flank and bring the green tank into open view.", + "Walking along this flank has brought the grey concrete face so close that it fills most of my view, leaving only a strip of yard and the green tank's legs at the far left. Turning left should swing my heading off the wall and put that green tank back in front of me.", + "The turn has opened the yard ahead, with the green tank's painted shell and green steel legs standing just to my right front and clear ground between us. I will walk forward to close that distance.", + "The green tank's legs and its rusty green body are noticeably larger and nearer on my right, so the gap is closing steadily. Another step forward should bring me alongside its supporting frame.", + "I am now practically at the green tank, with its mottled green hoppers and cross-braced legs filling the right half of my view. Continuing forward should place me right at the base of that structure.", + "The green tank's lower cone and its green legs loom close on my right, and the open floor still runs straight ahead of me. One more step should bring me level with the near leg of that frame.", + "My heading has carried me level with the green tank, which now sits off to my right rather than in front of me, its green legs and cone crowding that side of my view. Turning right should square me onto the structure so I can step in under it.", + "The turn has put the green tank squarely in front of me, its cone and braced green legs dominating the view at close range. A short step forward should bring me right in among its supports.", + "The mottled green tank's cone bottom and its green steel legs now stand directly over me, close enough to touch the bracing rail. I have arrived at the green cylindrical tank, so I mark reaching it and turn my attention to the yellow ladder on the large blue cylindrical tank across the yard.", + "Standing under the green tank, its legs and hopper block most of what lies ahead of me. I will turn left so the open concrete yard and the large blue tank swing into the middle of my view, giving me a heading toward its yellow ladder.", + "The yard ahead is clear flat concrete, with the green tank's legs now edging off to my right. A dark blue cylindrical tank with a pale ladder against it sits well ahead on the left, so I will walk forward to close that gap.", + "A green upright of the frame stands right in front of my line of travel, and the blue tank with its yellow ladder lies off to my left. I will turn left to put that ladder near the center of my view and clear the post from my path.", + "The blue cylindrical tank with the yellow ladder bolted to its side now sits ahead of me across open ground, with only the green pole at my right edge. Nothing stands between us, so I will step forward to shorten the distance.", + "The blue tank and its yellow ladder have grown noticeably and stay centered in my view, confirming my heading is good. I will keep walking straight across the open yard to close in on the ladder.", + "The ladder rungs on the blue tank are becoming distinct and the platform railing above them is clear, so I am still well aligned. The concrete between us is empty, and I will continue forward.", + "The blue tank fills much more of my view now and its yellow ladder rises straight ahead of me. I am not yet within reach of the rungs, so I will advance again.", + "The blue cylindrical tank with its yellow ladder now stands ahead of me and a little to the right, raised behind a line of concrete block stacks. My current heading points me at the blocks rather than at the open concrete beside them, so I will turn right to swing my facing toward the tank and the clear ground on that side.", + "With my heading swung right, the tank and its yellow ladder now sit ahead on my left and the concrete apron in front of me is empty. I will walk forward to close ground and pass clear of the block stacks before correcting my line.", + "The yellow ladder on the blue tank has drifted to the left side of my view while a parked tanker fills the right. I will turn left to bring the ladder back to the middle of my view so my next steps carry me straight at it.", + "The blue cylindrical tank and its yellow ladder are now centered in front of me across open, unobstructed concrete. I will step forward to close the remaining distance on that ladder.", + "The tank has grown noticeably larger and the yellow ladder rungs are getting easier to pick out against its support frame. My heading still lines up with it, so I will keep walking forward.", + "The yellow ladder now rises clearly from the platform under the blue tank a short way ahead of me. I will advance again to bring myself close enough to stand at its foot.", + "At this range the ladder and its platform sit slightly right of my center while the tank's rounded belly leans over the left of my path. I will turn right so my facing settles on the ladder side of the frame rather than the curved tank body.", + "The yellow ladder against the blue tank is now close ahead on my left with clear floor between us. I will step forward to cover that last stretch toward its base.", + "The large blue cylindrical tank now fills the left of my view, and the yellow ladder running up its support frame is clearly visible just left of center. A stretch of open concrete still separates me from the base of that ladder, so I will keep walking straight ahead to close it.", + "The yellow ladder and the steel platform beneath the blue tank have grown noticeably larger and sit ahead of me with a clear path. I am still short of reaching distance, so another step forward should bring me nearer the ladder's foot.", + "The tank's curved blue body now looms overhead and the yellow ladder stands just ahead and slightly left, close enough that I can pick out individual rungs. A short remaining gap keeps me from the ladder itself, so I will advance once more.", + "My forward walking has carried the yellow ladder over to the far left edge of my view, with the crate wall now taking up the center. Turning left should swing the ladder and its supporting frame back in front of me for a straight final approach.", + "The yellow ladder is now squarely centered ahead, rising from the concrete through the steel frame under the blue tank. Only a short stretch of floor remains, so I will step forward to bring myself right up to it.", + "The yellow ladder on the blue cylindrical tank's frame stands directly before me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0ba5915d180cf89559c30e0a42d2d89dc2bb5a83 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-003699_y003306_z000118_t3_c/infos.json @@ -0,0 +1,406 @@ +{ + "Instruction": "Move to the rusty white electrical box, then approach the large blue cylindrical tank.", + "Type": 3, + "Start_Pose": [ + -3698.682, + 3306.16, + 118.099, + 0.0, + -132.458, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3698.682, + 3306.16, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3783.643, + 3213.305, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3868.604, + 3120.449, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -3868.604, + 3120.449, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -3906.363, + 3000.388, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -3944.121, + 2880.326, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -3981.88, + 2760.265, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -4019.638, + 2640.203, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -4057.397, + 2520.141, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -4057.397, + 2520.141, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -4029.676, + 2608.285, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -4029.676, + 2608.285, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -4029.676, + 2608.285, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -4029.676, + 2608.285, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -4155.419, + 2613.683, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -4281.162, + 2619.081, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -4406.906, + 2624.478, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -4532.649, + 2629.876, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -4658.392, + 2635.274, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -4784.135, + 2640.671, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -4909.878, + 2646.069, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5035.622, + 2651.467, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5161.365, + 2656.864, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5287.108, + 2662.262, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5412.851, + 2667.66, + 118.099, + 0.0, + 177.542, + -0.0 + ], + [ + -5412.851, + 2667.66, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5529.094, + 2619.411, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5645.338, + 2571.161, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5761.581, + 2522.912, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5877.824, + 2474.662, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -5994.067, + 2426.413, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6110.311, + 2378.164, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6226.554, + 2329.914, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6342.797, + 2281.665, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6459.04, + 2233.415, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6575.283, + 2185.166, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6691.527, + 2136.917, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6726.706, + 2093.613, + 118.099, + 0.0, + -157.458, + 0.0 + ], + [ + -6726.706, + 2093.613, + 118.099, + 0.0, + -157.458, + 0.0 + ] + ], + "Rationale": [ + "The weathered white metal cabinet sits against the tall concrete wall ahead and slightly to my right, still a long way off across the open yard. The ground in front of me is clear, so I will walk straight ahead to cut that distance.", + "The rusty white cabinet has grown slightly larger against the concrete wall, confirming my heading is bringing me closer. Nothing blocks the paved stretch between us, so I will keep walking forward.", + "The white cabinet now sits well right of my heading, so continuing straight would carry me past it along the wall. I will turn right to bring it toward the middle of my view before advancing again.", + "The turn has put the rusty white cabinet near the center of my view, with the ladder and concrete wall framing it. With the alignment good and the ground open, I will walk straight toward it.", + "The cabinet's doors and stained panels are becoming clearer as the gap narrows, and it stays centered ahead of me. I will continue forward without adjusting my heading.", + "The white box now dominates the lower center of my view and I can make out its latch and concrete plinth. Still several strides short of standing at it, so I will keep advancing.", + "The cabinet fills much of my view and its rusted door seams are sharp, though there is still a short stretch of floor before me. I will step forward again to close the last of that gap.", + "I am nearly at the rusty white cabinet now, its two stained doors and handles filling the frame directly in front of me. One more step forward should put me right up against it.", + "The rusty white electrical box now fills my whole view, its stained double doors and latch plate close enough to touch. I have arrived at it, so I mark reaching this cabinet and then set off toward the big blue cylindrical tank standing out in the yard.", + "Pressed this close, the cabinet's doors block everything and I cannot see the yard or the blue tank anywhere. I will step back to open up distance from the wall so the surroundings come back into view and I have room to swing my heading toward the tank.", + "With some clearance restored, the cabinet and the concrete wall still occupy the whole frame ahead of me. The blue cylindrical tank lies out in the open yard off to my left, so I will turn left to sweep my view away from this wall toward that open ground.", + "The turn has opened the yard along the left edge, where a blue horizontal tank sits near the distant buildings. It is still far off to the side of my heading, so I will keep turning left to bring it closer to the center of my view.", + "The blue tank now shows clearly in the left part of my view across the open concrete yard, but my heading still points along the wall. Another left turn should bring it near enough to straight ahead that I can simply walk toward it.", + "My heading is now clear of the wall, and the blue cylindrical tank sits ahead across the open yard beside the pale concrete building. The ground between us is flat and unobstructed, so I will start walking forward to close that distance.", + "The blue tank stays ahead of me and has grown slightly as the silo on my right slides past. Nothing blocks the open concrete between us, so I will keep walking straight toward it.", + "The blue cylindrical tank is more distinct now, with its yellow ladder beside it against the building wall. I am still well short of it, so I will continue advancing across the open yard.", + "The blue cylindrical tank on its stand sits ahead and slightly right, still small against the far workshop wall with plenty of open yard between us. My heading down this concrete apron is clear of the stacked panels on the left and the green silo legs on the right. I will keep walking forward to cut the distance.", + "The blue tank and its yellow access ladder are growing in view just right of my path, confirming my heading is good. Nothing blocks the stretch of yard in front of me. Another step forward should continue closing the gap.", + "The tank now reads clearly as a dark blue cylinder on legs beside the yellow ladder, still a fair way off across the yard. My current line keeps it comfortably within the right half of my view, so no turn is needed yet. I will advance again.", + "The blue tank stays fixed on the right side of my view while the concrete block stacks pass on the left, showing steady progress along the yard. The gap is still too large to be at the tank. I continue walking forward.", + "The tank's rusted body and the ladder frame in front of it are becoming distinct, so I am gaining on it. The open lane between the block stacks and the parked tanker on the right remains passable. Stepping forward again should bring me nearer.", + "The blue tank sits ahead to my right, noticeably larger now, mounted against the workshop wall. There is still a good stretch of bare concrete between me and it, and nothing in the way. I keep moving forward toward it.", + "The tank and the yellow ladder clamped to it now stand out clearly ahead on my right, and the rail tanker has slid off toward the edge of my view. My line still points into the open apron in front of them. Another forward step should shorten the remaining distance.", + "The blue cylindrical tank is close enough now that its supports and the ladder rungs are plainly readable, but it still sits off to my right rather than straight ahead. The ground between us is open, so more distance can be taken first. I will walk forward again.", + "Across the open yard I can now pick out the big blue cylindrical tank on its stand, sitting to the right of my current heading beside the tall wall. Walking straight would carry me past it, so I turn right to bring it nearer the middle of my view before advancing.", + "The blue tank with its yellow stair cage now sits close to the center of my view, and the concrete apron between us is open and flat. I walk forward to start closing the gap on it.", + "The tank has grown slightly larger and stays lined up ahead of me, so my heading is still good. Nothing blocks the lane except the parked machinery well off to my left, so I keep walking forward.", + "The blue drum and the yellow stairway beneath it are clearly resolved now, but I am still a long stretch of yard away. I continue forward along the same line to shorten that distance.", + "The tank keeps expanding in my view and remains just left of straight ahead, close enough to my heading that no correction is needed. I step forward again toward its supporting frame.", + "I can now make out the rust streaks on the blue cylinder and the individual rungs of the yellow spiral ladder wrapped around it. The ground ahead is still clear, so I keep advancing.", + "The tank now fills a good share of my view, with its steel cradle and stair platform standing plainly in front of me. I am not yet at its base, so I walk forward again.", + "The blue cylinder looms large above its supporting legs and the yellow ladder rises right in front of me. A short stretch of concrete still separates me from the frame, so I take another step toward it.", + "The large blue cylindrical tank on its steel cradle stands directly ahead, its yellow ladder centered in my view, and the open concrete yard between us is clear. I will walk forward to keep shrinking that gap.", + "The blue tank now fills much of the upper view and its support legs are clearly resolved, so I am noticeably nearer than a moment ago. The ground ahead remains flat and free, so another step forward should continue closing on it.", + "The tank's blue drum now looms above the steel frame and the ladder rungs are close enough to count. I am still a few paces short of standing at the tank itself, so I will keep advancing straight toward it.", + "I am right at the tank's support structure, with the blue cylinder curving overhead and the frame beams spanning my view. A short step more should bring me fully alongside the tank.", + "The tank's underside and its rusted steel legs are within arm's reach, and the yellow ladder is immediately beside me. I will edge forward one last time to settle right at the tank.", + "The large blue cylindrical tank hangs directly above me on its steel frame, within touching distance. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005188_y-001230_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005188_y-001230_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf322e64e7b5546a79fa2aa77b48e9749a3f9deb --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005188_y-001230_z000118_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search for the yellow forklift parked near the warehouse crates; after locating it, head over to it.", + "Type": 1, + "Start_Pose": [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 30.262, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 30.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 55.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 80.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 130.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 155.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + -179.738, + 0.0 + ], + [ + -5313.488, + -1229.055, + 118.099, + 0.0, + -179.738, + 0.0 + ], + [ + -5439.345, + -1229.63, + 118.099, + 0.0, + -179.738, + 0.0 + ], + [ + -5565.203, + -1230.206, + 118.099, + 0.0, + -179.738, + 0.0 + ], + [ + -5691.061, + -1230.781, + 118.099, + 0.0, + -179.738, + 0.0 + ], + [ + -5816.919, + -1231.357, + 118.099, + 0.0, + -179.738, + 0.0 + ], + [ + -5942.776, + -1231.932, + 118.099, + 0.0, + -179.738, + 0.0 + ], + [ + -6068.634, + -1232.508, + 118.099, + 0.0, + -179.738, + 0.0 + ], + [ + -6068.634, + -1232.508, + 118.099, + 0.0, + -179.738, + 0.0 + ] + ], + "Rationale": [ + "My view is filled almost entirely by a weathered wooden wall directly in front of me, so I cannot see any yard, crates, or vehicles from here. I will turn right to swing my view off this blocking surface and begin a consistent scan for the yellow forklift.", + "The turn has opened up the scene a little, revealing a green tank and industrial structures past the right edge of the wooden barrier, but no forklift yet. I will keep turning right in the same direction to bring more of that open yard into view.", + "Open paved yard is now visible on the right with a red truck cab parked near the industrial buildings, which suggests this is the working area worth scanning. Since the yellow forklift is still not in sight, I will continue turning right toward the more open part of the yard.", + "The yard now stretches out ahead with warehouse walls and a large doorway, but the forklift is still outside my view. I will keep rotating right to sweep the remaining stretch of yard along the warehouse frontage.", + "I can see the warehouse wall and its wide entrance, with stacked crate piles beginning to appear at the right edge, which matches the area the task describes. I will turn right once more to bring that crate area fully into view.", + "The yellow forklift is now visible, parked beside stacked crates against the warehouse wall on the right side of my view. I will turn right once more to center it before walking toward it.", + "The yellow forklift is now roughly centered ahead of me, standing next to the crate stacks along the warehouse wall. The pavement between us looks clear, so I will step forward to close the distance.", + "The forklift has grown noticeably larger and stays centered, confirming my heading is good. I will keep walking straight ahead to get closer to it.", + "The yellow forklift stands slightly left of center against the warehouse wall, flanked by the stacked wooden crates the task mentioned, and it is still some distance away across the open concrete. My heading is already lined up with it and the ground ahead is clear, so I will keep walking straight toward it. Each step should make the machine larger in view and close the remaining gap.", + "The forklift now fills more of my view and its wheels and mast are clearly resolved, confirming I am steadily closing on it. Nothing blocks the flat yard between us, so I will continue advancing on the same heading. I expect the target to keep growing in front of me.", + "The yellow forklift and the crate stacks beside it are noticeably nearer, but I am still standing well back in the open yard rather than beside the machine. My heading still points at it, so another forward step is the direct way to shorten the distance. I should end up appreciably closer without needing to reorient.", + "The forklift now dominates the middle of my view and I can pick out details like the fork carriage and the tank behind the seat, so only a short gap remains. I will keep stepping straight ahead to bring myself right up beside it. A couple more steps should place me at the machine.", + "I am nearly at the forklift, with its front tire and mast filling the near left of my view and the crates just behind it. One more step forward should place me directly at the vehicle rather than a stride short of it. I will advance to close that last bit of distance.", + "The yellow forklift fills my view at arm's length, parked beside the warehouse crates. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005188_y-001230_z000118_t1_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005188_y-001230_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d2fc5724664565a4c660a19a945ac0bdfd04e738 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005188_y-001230_z000118_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Identify the red truck cab situated in the industrial yard, then proceed toward it.", + "Type": 1, + "Start_Pose": [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 30.262, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 30.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 55.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 80.262, + -0.0 + ], + [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5235.718, + -1144.569, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5268.848, + -1023.149, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5301.978, + -901.729, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5335.108, + -780.308, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5368.239, + -658.888, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5401.369, + -537.468, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5434.499, + -416.048, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5467.629, + -294.627, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5500.76, + -173.207, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5533.89, + -51.787, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5558.162, + 53.41, + 118.099, + 0.0, + 105.262, + -0.0 + ], + [ + -5558.162, + 53.41, + 118.099, + 0.0, + 105.262, + -0.0 + ] + ], + "Rationale": [ + "My view is almost entirely filled by a weathered wooden wall right in front of me, so I cannot see any part of the yard or the red truck cab. Turning right should sweep my view off this planking toward the more open ground I glimpse at the edges. I will begin a consistent rightward scan to find the target.", + "My scan has opened up the right side of the view, where I now see a green industrial silo, scaffolding, and sky above the fence, but the truck cab is still not in sight. Since the yard clearly continues in that direction, I will keep turning right in the same direction to bring more of it into view. Another step of rotation should reveal the ground level beyond this timber wall.", + "I can now see a red truck cab parked out on the open concrete ahead to my right, matching the target described in the task. It still sits near the right edge with a wooden partition intruding on the left of my view, so one more rightward turn should center it. I will commit to this truck rather than continue a full scan.", + "The red truck cab is now near the center of my view, standing in the open industrial yard with clear cracked concrete between us. Nothing blocks the lane ahead of me, so stepping forward should close the distance while keeping the target framed. I will walk straight toward it.", + "The truck cab appears slightly larger and remains directly ahead, confirming that my heading is carrying me toward it. The yard surface in front of me is open apart from small debris well off to the sides. I will continue walking forward to close more of the gap.", + "The red cab is still squarely in front of me and the walls of the yard are opening out on both sides as I advance down this lane. There is no need to adjust my heading since the target stays centered. I will take another step forward toward the truck.", + "The truck's grille and windscreen are becoming clearly detailed, so I am steadily closing on it while holding a straight heading. The concrete between us is still free of anything that would block my walk. I will keep moving forward.", + "The red cab now fills a noticeably larger part of my view, with its front wheels and bumper distinct, indicating I am getting close. My path stays clear, so no turn is needed to maintain alignment. I will advance again to reach the truck.", + "The weathered red truck cab stands squarely ahead of me in the open yard, framed between the green silo on the left and the warehouse wall on the right. My heading is already centered on it and the concrete surface between us is clear apart from small debris, so I will keep walking straight to close the remaining distance.", + "The cab now fills more of my view and its grille and windscreen are clearly resolved, confirming I am steadily closing on the target. Nothing blocks the lane in front of me, so another step forward should continue shrinking the gap without any need to reorient.", + "The red cab dominates the center of my view now, with its bumper and front wheels plainly visible and a loose drum lying off to the right of my path. Since the target remains directly ahead and clear of that debris, I will step forward again to keep approaching it.", + "I am close enough that the cab's grille and headlights span much of my view, yet a short stretch of cracked concrete still separates me from it. I will walk forward once more to bring myself right up against the front of the truck.", + "The red bumper and lower grille now occupy nearly the whole view, so only a small distance remains before I stand at the truck. Another forward step should place me directly at the cab's front.", + "The rusted red panels and grille slats of the cab are now at arm's length, filling my view almost entirely. One last short step forward should bring me flush against the truck to complete the approach.", + "The red cab's bodywork fills my entire view at contact range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e37433e5882c9d59bd3731f07f7f76732903da0 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t3_a/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Walk to the large open warehouse entrance, then head toward the yellow ladder.", + "Type": 3, + "Start_Pose": [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -20.138, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -5095.074, + 3396.267, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4976.909, + 3352.936, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4858.744, + 3309.605, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4740.58, + 3266.274, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4622.415, + 3222.943, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4504.25, + 3179.612, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4386.085, + 3136.281, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4267.921, + 3092.95, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4149.756, + 3049.618, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4149.756, + 3049.618, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4060.975, + 2960.409, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -3972.194, + 2871.199, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -3883.413, + 2781.989, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -3794.631, + 2692.779, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -3794.631, + 2692.779, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -3751.87, + 2574.407, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -3709.109, + 2456.035, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -3709.109, + 2456.035, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -3740.502, + 2542.938, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -3771.896, + 2629.842, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -3771.896, + 2629.842, + 118.018, + 0.0, + -95.138, + 0.0 + ], + [ + -3771.896, + 2629.842, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -3771.896, + 2629.842, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -3771.896, + 2629.842, + 118.018, + 0.0, + -170.138, + 0.0 + ], + [ + -3895.895, + 2608.285, + 118.018, + 0.0, + -170.138, + 0.0 + ], + [ + -4019.894, + 2586.729, + 118.018, + 0.0, + -170.138, + 0.0 + ], + [ + -4143.893, + 2565.172, + 118.018, + 0.0, + -170.138, + 0.0 + ], + [ + -4267.892, + 2543.615, + 118.018, + 0.0, + -170.138, + 0.0 + ], + [ + -4267.892, + 2543.615, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4371.164, + 2471.674, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4371.164, + 2471.674, + 118.018, + 0.0, + -145.138, + 0.0 + ] + ], + "Rationale": [ + "From the open yard I can see the wide dark opening under the sagging canopy in the long concrete wall ahead and slightly left, which matches the big warehouse entrance I need to reach first. The paved ground between us is clear of clutter, so I will walk straight forward to begin closing that distance.", + "The sheltered entrance and its metal awning have grown slightly larger, confirming my heading is carrying me toward it rather than toward the green silos on the right. Nothing blocks the open concrete in front of me, so another step forward should keep shrinking the gap.", + "The awning beams and the shuttered upper panel above the doorway are now clearly resolved, so the big opening is still comfortably ahead of me. The yard remains empty along my line, and I will keep walking to bring the entrance closer.", + "The dark doorway is wider in my view and the black tank and small crates parked beside it are close enough to read, so I still have ground to cover before I am at the entrance itself. Walking forward again is the direct way to keep closing.", + "Through the opening I can now make out faint interior structure beyond the threshold, which tells me the entrance is genuinely open and reachable on foot. It sits ahead and to my left with clear paving in between, so I continue forward.", + "The canopy over the doorway now looms high in my view and the concrete block beside the silos has swung to my right, so I am drawing close to the entrance. I will step forward again to keep pressing toward that opening.", + "The corrugated shutter and the dark threshold have shifted toward the left side of my view as I close in, meaning my heading runs a little right of the opening. The floor ahead is still clear, so I keep walking to gain ground before correcting that alignment.", + "The opening is now large on my left with the interior columns and the black tank visible inside, so only a short stretch of yard separates me from the threshold. I will advance again to reach the mouth of that entrance.", + "The wide shuttered warehouse opening is now clearly to my left front, its dark interior with a stairway and pipework visible past the rolled-up door. The concrete yard ahead of me is clear of the silos and formwork blocks on the right, so another walking step should close the gap toward that entrance.", + "Walking straight has carried me level with the entrance, and the wide opening now sits well off to my left while my heading points at the blank wall and the silos. I will turn left to bring that entrance into the centre of my path before continuing.", + "The turn has put the tall roll-up opening near the middle of my view, with its raised shutter and the columns beyond visible through it. The floor between me and the threshold is open, so I will walk ahead to close on that entrance.", + "The opening has grown noticeably wider and the corrugated shutter above it now fills more of my upper view, confirming I am closing on it. Nothing stands between me and the threshold, so I continue walking forward.", + "Through the gap I can now make out the interior floor, the dark cylindrical tank and the row of columns, so the entrance is only a short walk away. I keep advancing to reach the threshold of the opening.", + "The shutter and its steel frame now tower over the left half of my view and the interior bays are bright and open beyond the threshold. Another step forward should bring me right up to the entrance mouth.", + "I am at the mouth of the opening, but my heading is skewed so that the doorway runs off to my left and the solid wall with the bins fills the right of my view. Turning left should square me with the gap so I can walk straight through it.", + "The turn has centred the wide entrance in front of me, with both jambs framing the interior columns and the dark tank inside. The way through is clear, so I walk forward to enter the opening.", + "The rolling shutter frame is right beside me and the wide column-lined floor of the hall spreads open just ahead. One more step forward should carry me through the big opening so I am properly at the warehouse entrance rather than still short of it.", + "The tall shutter opening is behind me and the vast column-lined floor of the warehouse now surrounds me on all sides. I am standing at the large open entrance. I mark reaching it, and now I turn my attention to the yellow ladder on the building's outer wall.", + "Nothing in this hall shows the yellow ladder, which stands out on the building's exterior, back the way the opening leads. Instead of turning around in the middle of the floor, I will step straight backward toward the entrance, which should start returning me to open ground.", + "The dark door jamb has reappeared along the left edge of my view, so I am nearly back at the threshold. Another backward step should take me clear of the opening and leave room to swing my heading toward the outside of the building.", + "I am back in the shutter opening with the concrete pier close on my left and clear floor behind me, so I have room to rotate. I will turn left to pull my heading off the doorway and begin bringing the building's outer flank around into view.", + "A blank concrete wall now fills most of my view, with only a sliver of the hall left on the right, so my heading still points into structure rather than a route. I will keep turning left to swing past this wall toward the open ground outside.", + "I am now facing the exterior wall with the grey cabinet at its base, and yellow rungs climb the corner right at the left edge of my view. Turning left again should sweep that ladder and the ground beside the wall in front of me.", + "The open yard beside the building has come into view on the left, with the tall wall and its ladder rungs now ahead of me. One more left turn should line my heading down that clear strip of ground so I can walk toward the yellow ladder.", + "Back outside in the open yard, I can see the yellow ladder rungs climbing the tall concrete wall ahead on my right. The ground between me and that wall is clear apart from the grey cabinet hugging its base. I will walk forward to close that gap.", + "The yellow ladder on the wall to my right has grown larger and its rungs are now clearly separated, so my heading is carrying me toward it. Nothing blocks the strip of concrete I am walking along. I will keep advancing.", + "The ladder is still ahead and to my right, mounted flat against the wall, and I am not yet alongside it. The metal cabinet at the wall base is passing off to my side rather than standing in my path. Another step forward should bring me level with the ladder.", + "The yellow ladder now runs the full height of the wall close on my right, but I am still slightly short of it. The open concrete in front of me remains clear. I will take one more step forward to draw level with its base.", + "The yellow ladder is now beside me at the right edge of my view rather than in front of me, so walking straight would carry me past it. Turning right should swing the ladder into the middle of my view and point me at its base.", + "The yellow ladder is now squarely in front of me, its rungs bolted to the concrete wall a short distance away. A single step forward should bring me right up against it.", + "The yellow ladder fills the view directly in front of me, its rungs within arm's reach on the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a54d4867378ac78127ee5fbeaedb15383b8afe2 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t3_b/infos.json @@ -0,0 +1,356 @@ +{ + "Instruction": "Head toward the wooden crates near the silos, then reach the yellow ladder.", + "Type": 3, + "Start_Pose": [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -20.138, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -5095.074, + 3396.267, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4976.909, + 3352.936, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4858.744, + 3309.605, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4740.58, + 3266.274, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4740.58, + 3266.274, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -4615.174, + 3276.941, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -4489.767, + 3287.608, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -4364.361, + 3298.276, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -4238.955, + 3308.943, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -4113.549, + 3319.61, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -3988.143, + 3330.278, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -3862.737, + 3340.945, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -3737.331, + 3351.612, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -3611.925, + 3362.28, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -3611.925, + 3362.28, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -3611.925, + 3362.28, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -3611.925, + 3362.28, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -3611.925, + 3362.28, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -3611.925, + 3362.28, + 118.018, + 0.0, + -95.138, + 0.0 + ], + [ + -3611.925, + 3362.28, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -3675.116, + 3253.434, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -3738.308, + 3144.589, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -3801.5, + 3035.744, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -3864.692, + 2926.899, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -3927.884, + 2818.054, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -3927.884, + 2818.054, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4031.155, + 2746.112, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4134.426, + 2674.171, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4237.697, + 2602.23, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4340.969, + 2530.289, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4340.969, + 2530.289, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -4404.161, + 2421.443, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -4404.161, + 2421.443, + 118.018, + 0.0, + -120.138, + 0.0 + ] + ], + "Rationale": [ + "The two green silos stand ahead on the right side of the yard, with pale wooden crates stacked at their base. The open concrete ground between me and them is clear, so I will walk forward to close that distance.", + "The silos and the crate stacks below them have grown larger, confirming my heading is carrying me toward them. Nothing blocks the open ground, so I will keep walking forward.", + "The wooden crates beside the silos are still some distance off, sitting slightly right of my path. The yard remains open in front of me, so another step forward should keep shrinking the gap.", + "The crates and silos keep filling more of my view as I advance along the loading yard. I will step forward again to bring the crate stacks within close range.", + "The silos and the crates beneath them now sit off to my right rather than straight ahead, so walking on would drift me past them along the wall. I will turn right to put the crate stacks back in front of me.", + "After the turn the silos and the pale crates below them sit near the center of my view, so my heading is good. I will walk forward along the open lane toward them.", + "The crate stacks at the foot of the silos are noticeably nearer and still lined up with my heading. The lane between the building wall and the barriers on my right stays clear, so I will continue forward.", + "The wooden crates by the silos now dominate the middle of my view, close enough that a few more strides should bring me alongside them. I will keep walking straight ahead.", + "The pale wooden crates stacked at the foot of the green silos sit ahead and slightly left, still several strides off across the open concrete. The lane between them and the concrete barrier on my right is clear, so I will keep walking straight to close the gap.", + "The crates by the silos have grown noticeably in my view and the silo legs are now clearly separated from the wall behind them. Nothing blocks the ground ahead, so another step forward should bring me nearer to that stack.", + "The crate stack beneath the silos now occupies much of the left half of my view, and the container yard beyond has opened up on the right. I am still a few strides short of the stack, so I keep walking straight toward it.", + "The planked crates ahead of me are close enough now to read the individual boards, and the silos rise directly behind them. The path in front stays clear, so I continue forward to reach the stack itself.", + "The crate faces fill the left side of my view and the gap of open ground between me and them has shrunk to a stride or two. I step forward again to come right up alongside the stack under the silos.", + "The nearest crate is almost within reach, its weathered boards and cross beams filling most of my view with the green silo just past its edge. One more step should place me right at the stack.", + "The weathered planks of the crate stack are right at my shoulder, with the green silo rising immediately past its edge. I am at the wooden crates by the silos. I mark reaching them, and now I set off for the yellow ladder on the building wall.", + "Standing at the crates, the boards block nearly everything to my front and only the container yard is open to the right, which is not where the yellow ladder hangs. That ladder runs up the tall concrete wall of the building behind me on the left, so I turn left to swing my heading around toward it.", + "I am standing right against the stacked wooden crates, and their planks fill nearly my whole view, leaving no usable heading. I will keep turning left to sweep my gaze off the crate face and open up the yard beyond, where a yellow ladder should be findable.", + "The crates have slid to the right side of my view and open concrete with a shuttered bay in the hall wall is now visible on the left. I see no yellow ladder in that stretch yet, so I will turn left again to keep sweeping across the yard.", + "The shuttered loading bay and the pale open apron now sit ahead of me, with the crates falling away toward my right shoulder. Still nothing yellow along this section of wall, so another left turn should carry my view further along the building front.", + "Near the far left edge of my view a slim yellow ladder rises against the concrete wall, past the gray cabinet. One more left turn should bring that ladder toward the middle of my heading so I can walk straight at it.", + "The yellow ladder now runs up the concrete column just left of my heading, with flat, clear ground the whole way there. I will walk forward to close the distance to it.", + "The yellow rungs have grown larger and stay slightly left of straight ahead, so my line is still good. Nothing stands between me and the wall, so I will keep walking forward toward the ladder.", + "The ladder is clearly closer now, climbing the concrete beside the gray cabinet, and the apron between us remains empty. Another step forward should bring me nearer to its base.", + "I can now pick out individual rungs of the yellow ladder and the cabinet standing beside it, but I am still several paces short of the wall. I will continue walking forward to reach the foot of the ladder.", + "The yellow rungs running up the concrete wall are clearly visible ahead on my left, past the grey utility cabinet set against the same wall. I am still several strides short of the wall face, so I will keep walking forward to close that gap.", + "As I have closed on the wall, the yellow ladder has slid toward the left edge of my view while the cabinet fills the center. Turning left should swing my heading back onto the ladder so my next steps carry me straight at it.", + "The yellow ladder now sits well inside my view, climbing the wall just beyond the corner of the cabinet. With my heading set on it, I will walk forward to shorten the remaining distance.", + "The ladder's rungs are growing larger and its base is coming into view at the foot of the wall. Nothing blocks the pavement in front of me, so I will keep advancing toward it.", + "The yellow ladder now stands tall in front of me, though I am still a few paces from the wall it is bolted to. Another step forward should bring me close enough to stand at its base.", + "The ladder's bottom rung and its footing on the concrete are clearly in sight just ahead of me. I will move forward again to draw right up beside it.", + "I am nearly at the wall, but the ladder now hangs off to my right rather than straight ahead, so a step forward would carry me past it. Turning right should square my heading onto the rungs.", + "The yellow ladder is now centered in front of me with its rungs and footing plainly in reach of a short walk. I will step forward to bring myself right up against it.", + "The yellow ladder rungs are 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/Old_Factory_01/task_x-005213_y003440_z000118_t3_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5ec891e6050e213ba6cb53d1ff04c3c411420742 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t3_c/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Navigate to the yellow ladder on the concrete wall, then proceed to the crates near the silos.", + "Type": 3, + "Start_Pose": [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -20.138, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -5124.458, + 3350.388, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -5035.676, + 3261.178, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4946.895, + 3171.968, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4858.114, + 3082.759, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4769.333, + 2993.549, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4680.552, + 2904.339, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4591.771, + 2815.129, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4591.771, + 2815.129, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -4549.009, + 2696.757, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -4506.248, + 2578.385, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -4506.248, + 2578.385, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -4506.248, + 2578.385, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4506.248, + 2578.385, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4506.248, + 2578.385, + 118.018, + 0.0, + 4.862, + -0.0 + ], + [ + -4506.248, + 2578.385, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -4397.1, + 2641.052, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -4287.951, + 2703.718, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -4178.803, + 2766.385, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -4069.655, + 2829.052, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -3960.506, + 2891.719, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -3851.358, + 2954.385, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -3742.21, + 3017.052, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -3633.061, + 3079.719, + 118.018, + 0.0, + 29.862, + -0.0 + ], + [ + -3633.061, + 3079.719, + 118.018, + 0.0, + 29.862, + -0.0 + ] + ], + "Rationale": [ + "The yellow ladder bolted to the long concrete wall sits well off to my left, while my heading points across the open yard toward the green silos. I will turn left so that wall and its ladder come in front of me before I start walking. That should give me a clean straight approach.", + "The yellow ladder now stands ahead of me on the tall concrete wall, slightly left of my center, with flat open paving between us. Nothing blocks the line, so I will walk forward to close that distance.", + "The ladder rungs are noticeably larger and the wall face fills more of my view, so my heading is carrying me straight at it. I will keep walking forward rather than adjust, since the ladder is holding near the middle of my view.", + "The concrete wall with the yellow ladder keeps growing ahead of me and the ground stays clear of obstacles. There is still a good stretch of yard to cover, so I will take another step forward on the same line.", + "I can now make out individual rungs on the yellow ladder and the grey cabinet at the wall base beside it. The gap is shrinking steadily on this heading, so I will continue walking forward.", + "The ladder stretches nearly the full height of my view and sits just left of center, confirming I am tracking it well. The paving in front of me is open, so another forward step should bring me close to the wall.", + "The ladder's yellow rails and worn rungs are close and detailed now, though I am still several paces off the wall. I will walk forward again to finish closing on it.", + "The ladder has drifted toward the left edge of my view as the wall looms large, meaning I am nearly alongside it. One more step forward should put me level with the ladder at the wall.", + "The yellow ladder has slid to the far left edge of my view as I closed along this concrete wall, so walking straight would carry me past it. I will turn left to bring the ladder back in front of me before continuing.", + "The yellow ladder now sits centered on the concrete wall ahead with clear open pavement between us. I will walk forward to close that remaining gap.", + "The ladder's rungs are much larger now and the wall texture is resolving, but I am still a few paces short of standing at its base. I will step forward again to finish the approach.", + "The yellow ladder fills my view, its lowest rung nearly at my feet against the concrete wall. I am standing at it, so I mark reaching this ladder before setting off toward the crates beside the green silos.", + "Standing this close, the concrete wall and its ladder block my whole view, so I cannot see the yard where the silos stand. I will turn right to swing my heading away from the wall and open up the route toward the crates.", + "The turn has brought the gray cabinet and a sliver of the open yard into view, but the wall still dominates and the silos are not yet in sight. I will keep rotating right to sweep my heading further into the yard.", + "A green silo has just appeared at the right edge of my view beyond the shed roof, confirming the yard lies further around. I will turn right again to bring that silo area toward the center of my heading.", + "Both green silos now stand ahead and slightly right, with heavy concrete crates stacked in the yard beyond them. One more turn to the right should put that crate ground squarely in front of me before I walk out.", + "My heading now looks straight down the open yard, with the two green silos ahead and the grey concrete crates stacked at their base and along the right side. Nothing blocks the pavement between us, so I will walk forward to close that gap.", + "The silos and the crate blocks beside them have grown noticeably larger, confirming this heading leads onto them. The ground ahead is flat and unobstructed, so I keep walking forward.", + "The concrete crates ahead of me now sit clearly in front of the silo legs, roughly centered in my view. My line is good and the distance is still substantial, so another step forward is the direct way to close on them.", + "The crate stack in front of the silos is filling more of my view and I can pick out the individual blocks and their edges. Since I am still several strides short of them, I continue straight ahead.", + "The crates now stand tall in the middle of my view with the silos rising directly behind them. The pavement leading up to them is still clear, so I walk forward again to reduce the remaining distance.", + "I am close enough now that the crate faces show their plank texture and the silo bases loom just past them. A couple more strides should put me right beside the stack, so I step forward again.", + "The crate stack now dominates the center of my view, with the silos towering just above and behind it. There is still a short stretch of open ground before I am alongside the crates, so I advance once more.", + "The crates are directly in front of me, their upper edges above my sightline and the silo still visible off to the left. One more short step should bring me right up against the stack.", + "The large crates fill my view at arm's length, with the green silo rising just beside them. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t5_a_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b86dfe1943fffbd7e7ad97817d3e79072eb9f020 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005213_y003440_z000118_t5_a_pd/infos.json @@ -0,0 +1,544 @@ +{ + "Instruction": "Pick up the trash bag at the large open warehouse entrance, then set it down near the yellow ladder.", + "Type": 5, + "Start_Pose": [ + -5213.239, + 3439.598, + 118.018, + 0, + -20.138, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -3844.394, + 2615.278, + 38.096, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5213.239, + 3439.598, + 118.018, + 0, + -20.138, + 0 + ], + [ + -5095.074, + 3396.267, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4976.909, + 3352.936, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4858.744, + 3309.605, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4740.58, + 3266.274, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4622.415, + 3222.943, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4504.25, + 3179.612, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4504.25, + 3179.612, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4415.469, + 3090.402, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4326.688, + 3001.192, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4237.907, + 2911.982, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4149.126, + 2822.772, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -4149.126, + 2822.772, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -4030.961, + 2779.441, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -3912.796, + 2736.11, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -3912.796, + 2736.11, + 118.018, + 0.0, + -20.138, + 0.0 + ], + [ + -3912.796, + 2736.11, + 118.018, + 0.0, + -45.138, + 0.0 + ], + [ + -3912.796, + 2736.11, + 118.018, + 0.0, + -70.138, + 0.0 + ], + [ + -3912.796, + 2736.11, + 118.018, + 0.0, + -95.138, + 0.0 + ], + [ + -3912.796, + 2736.11, + 118.018, + 0.0, + -120.138, + 0.0 + ], + [ + -3912.796, + 2736.11, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4016.067, + 2664.169, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4119.339, + 2592.228, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4222.61, + 2520.286, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4325.881, + 2448.345, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4266.803, + 2489.501, + 118.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4266.803, + 2489.501, + 118.018, + 0.0, + -145.138, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3844.394, + 2615.278, + 38.096, + 0.0, + 0.0, + 0.0 + ], + [ + -3906.017, + 2756.369, + 88.206, + -28.202, + 30.007, + 1.862 + ], + [ + -3898.769, + 2750.938, + 88.478, + -28.189, + 5.019, + 1.872 + ], + [ + -3893.769, + 2742.817, + 87.811, + -28.215, + -20.011, + 1.849 + ], + [ + -3886.419, + 2728.29, + 87.992, + -14.175, + -52.946, + 6.959 + ], + [ + -3894.446, + 2725.913, + 87.881, + -28.208, + -69.996, + 1.851 + ], + [ + -3901.167, + 2719.987, + 88.549, + -28.198, + -94.992, + 1.867 + ], + [ + -4003.44, + 2646.938, + 88.019, + -28.198, + -94.992, + 1.862 + ], + [ + -4106.879, + 2574.883, + 87.632, + -28.202, + -94.996, + 1.86 + ], + [ + -4210.116, + 2502.963, + 87.747, + -28.201, + -94.993, + 1.857 + ], + [ + -4313.186, + 2431.168, + 88.124, + -28.206, + -94.999, + 1.858 + ], + [ + -4324.24, + 2449.489, + 78.018, + 0.0, + -145.138, + 0.0 + ], + [ + -4324.24, + 2449.489, + 78.018, + 0.0, + -145.138, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1597.9, + 1474.5, + 1351.6, + 1229.2, + 1107.7, + 987.2, + 868.3, + 868.3, + 742.9, + 617.7, + 492.8, + 368.7, + 368.7, + 248.5, + 138.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The large covered warehouse entrance lies well ahead across this open concrete yard, and any trash bag sitting there is still too far to resolve. Nothing blocks the ground between me and that opening, so I will walk straight forward to close the gap.", + "The entrance overhang and the roller door beneath it have grown slightly larger, confirming my heading is carrying me toward the target area. The path remains open, so I will keep walking forward rather than adjust my facing yet.", + "A small dark rounded shape is now discernible on the ground just outside the warehouse opening, which fits the trash bag I need to collect. It is still far off, so I will continue straight ahead to bring it within reach.", + "The dark bag near the roller door is holding steady slightly left of my heading as the entrance grows larger. The concrete apron in front of me is clear of clutter, so another forward step should keep shrinking the distance.", + "The entrance now fills much more of my view and the bag beside the dark tank is clearly a separate object on the ground. I am still several strides short of grasping range, so I will advance again before adjusting my facing.", + "The bag rests on the concrete just left of the open doorway, close enough now that I can see its shape clearly, but it is drifting toward the edge of my view as I close in. I will take another step forward before correcting my heading.", + "The trash bag and the warehouse opening now sit noticeably to the left of my forward direction, so continuing straight would carry me past them. I will turn left to bring the bag back toward the center of my view before advancing further.", + "The turn worked, and the trash bag now sits close to the center of my view on the open concrete before the warehouse entrance. With the line clear, I will walk forward to close the remaining distance for a grasp.", + "The dark trash bag sits on the open ground just short of the wide warehouse opening, roughly straight ahead of my current heading. Nothing blocks the stretch of concrete between us, so I will keep walking forward to close the remaining distance.", + "The bag has grown noticeably larger and stays near the middle of my view, confirming my heading still points at it. I am still several strides away from grasping range, so another forward step is the direct way to continue the approach.", + "The trash bag now stands out clearly on the open floor in front of the roller shutter and my path to it remains free. It is still too distant to reach, so I will advance again rather than adjust my facing yet.", + "At this shorter range the bag has drifted a little right of the center of my view, so walking straight would carry me past its left side. A small turn to the right should bring it back onto my heading before the final steps.", + "The bag now sits well within the central part of my view after the heading correction, framed against the open floor near the shutter. With the alignment good, I will step forward to close the last of the gap.", + "The bag fills much of the lower left of my view, so I am nearly on top of it but not yet close enough to take hold. One more step forward should place it directly at my feet for the grasp.", + "The trash bag has passed to the very edge of my view at the bottom, which means it is right beside me at grasping range. My hands are still empty, so I will attempt to pick it up now instead of stepping again and pushing past it.", + "The grasp worked and the trash bag is now held in my hands rather than resting on the ground. The yellow ladder on the outside wall lies well behind my current facing, so I will begin turning left to swing my heading around toward it before carrying the bag over.", + "The trash bag is secured in my hands, so the remaining job is to carry it to the yellow ladder. From this heading I only face the open shutter and the machinery inside, with no ladder anywhere in view. I will keep rotating left to sweep the yard wall where the ladder should stand.", + "Carrying the bag, I still see only the corrugated shutter and blank concrete panels, so the ladder remains outside my field of view. Another left rotation should continue the sweep along the wall line toward the yard where the ladder is likely mounted.", + "With the bag held, my view now shows the metal cabinet against the wall and the interior bays beyond, but the yellow ladder is still not in sight. I will turn left again to bring the outer wall face, where such ladders are fixed, into view.", + "The yellow ladder is finally visible, fixed to the wall on the left side of my view beside the cabinet. One more left rotation should place it near the center of my heading so I can walk straight to it with the bag.", + "The yellow ladder now sits roughly ahead of me along the concrete wall, with open ground between us. Holding the bag, I will walk forward to close that gap so I can set the load down close to the ladder base.", + "The ladder has grown larger ahead of me but I am still several paces short of its base, and the cabinet is passing on my right. I will keep walking forward with the bag to reach the drop area.", + "The ladder rungs are now clearly ahead against the wall, closer than before but not yet within arm's reach. Another forward step with the bag should bring me alongside its lower section.", + "The ladder is very close now, its rungs running down the wall just ahead and slightly to my right. One more step should put me directly at its base, a suitable spot to release the bag.", + "The trash bag is still held with me, and the yellow rungs of the ladder are now directly beside me on the wall at arm's length. This is the spot the task asks for, so I will release the bag here and it should come to rest right at the ladder.", + "The trash bag now rests on the ground at the foot of the yellow ladder, out of my hands. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005409_y001208_z000118_t5_a_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005409_y001208_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0540ee603194a7c239d1ab5208230345b95893a0 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005409_y001208_z000118_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Lift the green bell pepper at the red truck's front cab, then leave it near the entrance of the large red door.", + "Type": 5, + "Start_Pose": [ + -5409.328, + 1207.996, + 118.099, + 0, + -87.475, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5434.709, + 408.601, + 67.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5409.328, + 1207.996, + 118.099, + 0, + -87.475, + 0 + ], + [ + -5403.783, + 1082.259, + 118.099, + 0.0, + -87.475, + 0.0 + ], + [ + -5398.239, + 956.522, + 118.099, + 0.0, + -87.475, + 0.0 + ], + [ + -5392.694, + 830.786, + 118.099, + 0.0, + -87.475, + 0.0 + ], + [ + -5387.149, + 705.049, + 118.099, + 0.0, + -87.475, + 0.0 + ], + [ + -5381.604, + 579.312, + 118.099, + 0.0, + -87.475, + 0.0 + ], + [ + -5381.604, + 579.312, + 118.099, + 0.0, + -87.474, + 0.0 + ], + [ + -5381.604, + 579.312, + 118.099, + 0.0, + -62.474, + 0.0 + ], + [ + -5381.604, + 579.312, + 118.099, + 0.0, + -37.474, + 0.0 + ], + [ + -5281.72, + 502.738, + 118.099, + 0.0, + -37.474, + 0.0 + ], + [ + -5181.835, + 426.165, + 118.099, + 0.0, + -37.474, + 0.0 + ], + [ + -5081.95, + 349.591, + 118.099, + 0.0, + -37.474, + 0.0 + ], + [ + -4982.065, + 273.018, + 118.099, + 0.0, + -37.474, + 0.0 + ], + [ + -4882.18, + 196.444, + 118.099, + 0.0, + -37.474, + 0.0 + ], + [ + -4882.18, + 196.444, + 118.099, + 0.0, + -12.474, + 0.0 + ], + [ + -4759.293, + 169.258, + 118.099, + 0.0, + -12.474, + 0.0 + ], + [ + -4829.593, + 184.81, + 118.099, + 0.0, + -12.474, + 0.0 + ], + [ + -4829.593, + 184.81, + 118.099, + 0.0, + -12.474, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -5434.709, + 408.601, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -5434.709, + 408.601, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -5434.709, + 408.601, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -5434.709, + 408.601, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -5434.709, + 408.601, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -5434.709, + 408.601, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -5360.298, + 580.863, + 88.206, + -28.202, + -37.33, + 1.862 + ], + [ + -5362.103, + 590.171, + 88.478, + -28.189, + -12.318, + 1.872 + ], + [ + -5367.779, + 597.094, + 87.811, + -28.215, + 12.653, + 1.849 + ], + [ + -5268.958, + 519.864, + 87.625, + -28.202, + 12.667, + 1.858 + ], + [ + -5169.196, + 443.382, + 87.887, + -28.208, + 12.667, + 1.852 + ], + [ + -5069.512, + 366.972, + 88.309, + -28.189, + 12.684, + 1.867 + ], + [ + -4969.853, + 290.557, + 88.689, + -28.207, + 12.66, + 1.857 + ], + [ + -4869.995, + 214.014, + 88.838, + -28.192, + 12.674, + 1.872 + ], + [ + -4877.637, + 217.936, + 87.751, + -28.205, + 37.667, + 1.854 + ], + [ + -4755.27, + 190.235, + 88.131, + -28.207, + 37.663, + 1.858 + ], + [ + -4761.246, + 169.69, + 108.099, + 0.0, + -12.474, + 0.0 + ], + [ + -4761.246, + 169.69, + 108.099, + 0.0, + -12.474, + 0.0 + ] + ], + "PD_Dist_2D": [ + 799.8, + 674.4, + 549.1, + 424.3, + 300.2, + 178.8, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 22.0, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the ground just ahead of the red truck's front cab, but it is still far off across the open yard. My heading already lines up with it, so I will walk forward to close the gap before attempting any grasp.", + "The pepper has grown slightly larger and stays near the center of my view, confirming my heading is good. The ground between us is still clear, so I will keep walking straight toward the truck's cab.", + "The pepper is noticeably closer now, but it remains well beyond arm's reach at the base of the cab. I will continue advancing on this same line rather than adjusting my heading.", + "The pepper now sits low and near in front of me beside the truck's front wheel, yet still a couple of paces away. Another step forward should bring it within grasping range.", + "The pepper is very close, sitting just below and slightly left of my footing at the truck's front cab. One more short step should put it directly under my reach for a pick.", + "The green bell pepper is now right at my feet, filling the bottom of my view beside the truck's front cab, so nothing more is gained by stepping closer. I will attempt to pick it up so I can carry it toward the large red door.", + "The pepper is now held in my hands rather than resting on the ground, so the grasp worked. The large red door lies well off to my right from this heading, so I will turn right to begin facing the delivery side of the yard.", + "With the pepper secured in hand, I can see the tall red wall and its dark doorway opening to my right, still off to the side of my heading. I will turn right again to bring that entrance closer to the center of my view before walking toward it.", + "The bell pepper is in my hands, so the remaining job is to carry it to the large red door. From here the tall red wall stands ahead with its wide dark opening slightly left of my heading. I will step forward to close that distance toward the entrance.", + "The dark doorway in the red wall is now noticeably wider in view, confirming my heading leads toward it while I still carry the pepper. Nothing blocks the open concrete between me and that opening. Another step forward should bring me closer to the entrance.", + "Through the gap I can now make out crates on the floor inside, so I am closing on the red door's threshold. The pepper remains in my hands and the approach lane stays clear. I will keep walking straight toward that opening.", + "The doorway frame now fills much of my view and the interior columns are clearly visible, meaning I am nearly at the entrance. I am still short of the threshold where I want to set the pepper down. One more step forward should place me at the opening.", + "I am right at the wide red door with the hall visible beyond both panels, still holding the pepper. To leave it near the entrance rather than out on the open yard, I need to be level with the opening. I will advance one more step.", + "I have reached the red door opening, but my heading points straight into the hall rather than at the entrance area where the pepper should go. Turning right brings the right-hand door panel and the ground beside it into the center of my view. This should set up a placement close to the doorway.", + "After turning, the weathered red door panel now fills the right side of my view with clear floor beside it. That spot just inside the entrance is where the pepper belongs, and I am still slightly short of it. I will step forward to stand alongside the door before releasing.", + "I am now standing directly beside the red door panel with the entrance floor clear in front of me, and the pepper is still in my hands. This is the spot the task calls for, right at the large red door's entrance. I will release the pepper here.", + "The green bell pepper is resting on the ground at the large red door's entrance, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005512_y001711_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005512_y001711_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1dfb46aa83fb176aed599442fe65bf37d362f675 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005512_y001711_z000118_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Walk to the red truck's front cab, then head toward the entrance of the large red door.", + "Type": 3, + "Start_Pose": [ + -5512.301, + 1710.964, + 118.099, + 0, + -79.655, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5512.301, + 1710.964, + 118.099, + 0, + -79.655, + 0 + ], + [ + -5489.7, + 1587.151, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5467.099, + 1463.338, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5444.497, + 1339.525, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5421.896, + 1215.712, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5399.295, + 1091.899, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5376.694, + 968.086, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5354.093, + 844.272, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5331.492, + 720.459, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5331.492, + 720.459, + 118.099, + 0.0, + -104.655, + 0.0 + ], + [ + -5363.334, + 598.695, + 118.099, + 0.0, + -104.655, + 0.0 + ], + [ + -5395.176, + 476.931, + 118.099, + 0.0, + -104.655, + 0.0 + ], + [ + -5427.018, + 355.166, + 118.099, + 0.0, + -104.655, + 0.0 + ], + [ + -5427.018, + 355.166, + 118.099, + 0.0, + -104.655, + 0.0 + ], + [ + -5427.018, + 355.166, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5427.018, + 355.166, + 118.099, + 0.0, + -54.655, + 0.0 + ], + [ + -5427.018, + 355.166, + 118.099, + 0.0, + -29.655, + 0.0 + ], + [ + -5317.644, + 292.894, + 118.099, + 0.0, + -29.655, + 0.0 + ], + [ + -5208.27, + 230.622, + 118.099, + 0.0, + -29.655, + 0.0 + ], + [ + -5208.27, + 230.622, + 118.099, + 0.0, + -4.655, + 0.0 + ], + [ + -5082.826, + 220.408, + 118.099, + 0.0, + -4.655, + 0.0 + ], + [ + -4957.382, + 210.194, + 118.099, + 0.0, + -4.655, + 0.0 + ], + [ + -4831.938, + 199.979, + 118.099, + 0.0, + -4.655, + 0.0 + ], + [ + -4831.938, + 199.979, + 118.099, + 0.0, + -4.655, + 0.0 + ] + ], + "Rationale": [ + "The weathered red truck stands ahead on my left with its cab facing my way, and the open yard between us is flat and clear. I will walk forward to close that gap and reach the front of its cab.", + "The truck's cab has grown slightly larger and stays just left of my heading, so my current line still leads toward it. I will keep walking forward along the open yard.", + "The red cab now fills more of my left view, but it is still several strides off across the open concrete. Another step forward should bring me nearer its front end.", + "The truck's windscreen and bumper are clearly resolved now, and nothing stands between me and it. I continue forward to keep shrinking the distance to the cab.", + "The cab has slid further toward the left edge of my view as I draw level with it, which tells me I am closing along its side rather than its nose. I will step forward again to reach the front of the cab.", + "The red cab looms large on my left and the green silos and the tall red panelled wall now open up ahead. Walking forward should carry me up alongside the truck's front end.", + "I am nearly level with the truck's front wheel, so its nose is only a short distance further along my line of travel. I keep walking forward to draw even with the cab's front.", + "The cab is right beside me on the left and its bumper is just ahead, so one more step should put me at its front. I advance forward before turning to face the cab itself.", + "The red truck has slid to the left edge of my view, with only its flank and wheel still showing, so walking straight on would take me past its nose. I turn left to bring the cab front back into the middle of my view and line up a direct approach.", + "The red cab now sits square ahead and slightly left, its windscreen and front wheel clearly framed across open concrete. The ground between us is clear, so I walk forward to close on the front of the truck.", + "The cab has grown noticeably, filling the left half of my view with its door and front wheel arch, yet I am still a few paces short of its nose. I step forward again to keep closing on the front of the truck.", + "The peeling red bumper and the big front tyre now loom close on my left, but the nose of the cab still sits a stride ahead of me. One more step forward should put me right at the front of the truck.", + "The battered red bumper and front corner of the cab fill my view at arm's length, with the truck's nose right beside me. I have reached the front of the red truck. I mark reaching it before setting off for the entrance in the tall red door wall.", + "Standing at the truck's nose, my view is blocked by red bodywork on the left and shows only silos and yard walls ahead. The tall red-panelled building with its entrance lies well around to my right, so I begin swinging right to find it.", + "The turn has cleared most of the truck from my view, but I am still facing the silos and the low concrete barriers, with only the red wall creeping in at my right edge. I turn right again to keep bringing that red facade around in front of me.", + "The tall red panelled wall now occupies the right of my view and I can make out the shadowed opening into the hall past its edge. Another turn to the right should place that entrance straight ahead so I can walk toward it.", + "The tall red door panels now stand ahead of me with the dark gap between them showing the hall inside. Nothing blocks the flat concrete apron in front, so I will walk forward to close the distance to that opening.", + "The red panels have grown larger and the gap between them is wider, so I am nearing the entrance. I will keep walking forward to bring myself right up to the doorway.", + "I am close to the red panels, but the opening between them sits left of my heading while the right-hand panel dominates my view, meaning I am angled off the threshold. Turning right should swing my facing so the gap lines up more centrally for a straight walk in.", + "The entrance gap now reads clearly beside the red panel with the interior floor and columns open beyond it. I will step forward to bring myself onto the threshold of that opening.", + "The interior of the hall is opening wider on my left as I draw level with the red panel edge. Another step forward should place me right at the entrance itself.", + "The red panel is now at arm's reach on my right and the hall's floor, columns and forklift are fully open ahead. One more step should set me squarely in the doorway of this large red door.", + "I stand in the opening of the large red door with its panel at my shoulder and the hall interior directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005512_y001711_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005512_y001711_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1fb33b6ae79be20677c89a9298b2096e38ed61 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005512_y001711_z000118_t3_b/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Move to the stacked crates near the red doors, then proceed to the red truck cab.", + "Type": 3, + "Start_Pose": [ + -5512.301, + 1710.964, + 118.099, + 0, + -79.655, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5512.301, + 1710.964, + 118.099, + 0, + -79.655, + 0 + ], + [ + -5489.7, + 1587.151, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5467.099, + 1463.338, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5444.497, + 1339.525, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5421.896, + 1215.712, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5399.295, + 1091.899, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5376.694, + 968.086, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5354.093, + 844.272, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5331.492, + 720.459, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5308.891, + 596.646, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5286.29, + 472.833, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5263.688, + 349.02, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5241.087, + 225.207, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5218.486, + 101.394, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5195.885, + -22.419, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5173.284, + -146.232, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5150.683, + -270.045, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5128.082, + -393.858, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5105.481, + -517.671, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5082.879, + -641.485, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5060.938, + -753.272, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5060.938, + -753.272, + 118.099, + 0.0, + -79.655, + 0.0 + ], + [ + -5060.938, + -753.272, + 118.099, + 0.0, + -104.655, + 0.0 + ], + [ + -5060.938, + -753.272, + 118.099, + 0.0, + -129.655, + 0.0 + ], + [ + -5060.938, + -753.272, + 118.099, + 0.0, + -154.655, + 0.0 + ], + [ + -5060.938, + -753.272, + 118.099, + 0.0, + -179.655, + 0.0 + ], + [ + -5060.938, + -753.272, + 118.099, + 0.0, + 155.345, + -0.0 + ], + [ + -5060.938, + -753.272, + 118.099, + 0.0, + 130.345, + -0.0 + ], + [ + -5142.418, + -657.347, + 118.099, + 0.0, + 130.345, + -0.0 + ], + [ + -5223.897, + -561.423, + 118.099, + 0.0, + 130.345, + -0.0 + ], + [ + -5305.377, + -465.498, + 118.099, + 0.0, + 130.345, + -0.0 + ], + [ + -5386.857, + -369.573, + 118.099, + 0.0, + 130.345, + -0.0 + ], + [ + -5468.336, + -273.648, + 118.099, + 0.0, + 130.345, + -0.0 + ], + [ + -5468.336, + -273.648, + 118.099, + 0.0, + 105.345, + -0.0 + ], + [ + -5501.643, + -152.276, + 118.099, + 0.0, + 105.345, + -0.0 + ], + [ + -5534.949, + -30.904, + 118.099, + 0.0, + 105.345, + -0.0 + ], + [ + -5534.949, + -30.904, + 118.099, + 0.0, + 105.345, + -0.0 + ] + ], + "Rationale": [ + "The yard opens straight ahead between the parked truck cab on my left and the long red-panelled wall on my right, and the stack of crates I want lies far down that wall. The concrete apron is clear, so I walk forward to close the distance.", + "The red wall panels are sliding past on my right and the far end of the yard is opening up, which tells me my heading runs down the lane correctly. Nothing stands in the way, so I keep walking forward.", + "Green silos and pale concrete shapes at the far end of the yard are resolving beyond the parked cab, marking the area I am aiming for. The lane surface stays flat and open, so another forward step is the most direct progress.", + "The parked cab has drawn close on my left while the middle of the yard remains completely clear. The blocky concrete forms near the base of the red wall are still well ahead, so I continue walking toward them.", + "Ahead I can now pick out the low barrier wall and the pale stacked blocks sitting beside the red panelling. That is where I am heading, and the ground between is unobstructed, so I advance again.", + "The silos and the crate stack near the red wall are noticeably larger than a moment ago, so my straight heading is closing on them. I keep stepping forward rather than adjusting direction.", + "The stacked concrete crates against the red panelled wall ahead on my right are clearly distinguishable now, sitting just short of the doorway openings. Plenty of distance remains, so I walk forward again.", + "The crate stack beside the red wall is filling more of my view and the doorway beyond it is opening up, so my line is good. I continue forward to keep shrinking the remaining gap.", + "The parked cab is sliding off to my left and the open yard ahead is clear, with the gray stacked crates standing against the red panelled wall well in front of me. I will keep walking straight along this lane to close that distance.", + "The crate stack by the red wall now sits slightly right of my heading and is still far off across the yard. Nothing blocks the ground between us, so another step forward should shorten the gap.", + "The truck has passed out of my view entirely and the yard opens wide, leaving the crate stack beside the red wall as the only thing I need to reach. My heading still points at it, so I continue walking.", + "The crates are growing steadily larger ahead of me, which tells me each step is closing real distance. The green silos behind the far barrier remain much farther off, so I keep my line on the crates and advance.", + "I can now pick out the individual slab-sided crates in the stack sitting hard against the red wall. Ground between us is flat and empty, so another forward step should bring me nearer without any need to turn.", + "The crate stack has grown tall enough to sit clearly below the red wall panels, and it stays just right of my straight line. I keep walking toward it rather than adjusting my heading yet.", + "A lower crate is now distinguishable in front of the taller stack, showing I am getting close to the pile beside the red wall. There is still clear pavement between me and it, so I press forward.", + "The stacked crates now fill much of the view ahead and their shadowed bases are plainly visible, so only a short stretch of open ground remains. I continue straight to draw right up beside them.", + "The stacked concrete crates now sit squarely in the middle of my view, set against the faded red wall on my right, but a stretch of open yard still separates us. My heading is already lined up on that stack, so I walk forward to close the remaining gap.", + "The crate stack has grown to fill much of the right half of my view, its individual slabs now clearly separated, yet there is still bare ground in front of it. Nothing obstructs the route, so I keep advancing straight toward the stack.", + "The concrete slabs now tower ahead of me with their lifting lugs and vertical seams plainly readable, so only a short distance remains. I step forward again to bring myself right up beside the stack.", + "The stacked slabs now block nearly everything ahead, with the green silos showing only above the lower crate on my left, which tells me I am almost touching the stack. One more forward step should put me right at it.", + "Rough concrete crate faces fill my view from arm's length, with only a sliver of sky and one green silo top showing past their edge, so I am standing right at the stacked crates by the red doors. I have reached them, and I mark arriving here before setting off toward the red truck cab.", + "Standing this close, the crate slabs occupy almost my whole view and the red truck cab is nowhere in it. I turn left to swing my heading off the stack and begin sweeping the yard for that cab.", + "The first swing has only exposed more crate flank and the narrow shaded gap toward the building, still with no open yard or red cab in sight. I keep rotating left to carry my view further around toward the open ground.", + "Turning further has cleared the crate faces and now I see sky above a long low concrete wall with the blue-clad hall beyond, but no red cab in view yet. I continue turning left to bring the open yard ahead of me.", + "The stacked crates I came to are right beside me, their grey concrete faces filling the right half of my view, and only the pink shed doors and empty yard show to the left. No red truck cab is in sight from this heading, so I will keep swinging left to sweep more of the yard.", + "The turn has brought the pink shed doors square in front of me with the crate stack now sliding off to the right edge. Still no sign of a red truck cab in this arc, so I will rotate further left to open up the part of the yard I have not yet scanned.", + "A red truck cab has appeared at the far left edge of my view, sitting on the open apron in front of the blue-clad building. It is too far off to the side to walk straight at, so I will turn left once more to bring it toward the middle of my heading.", + "The red cab now sits close to the center of my view, front end facing me across open concrete. With nothing between me and it, I will start walking forward to close the distance.", + "The cab's grille and windscreen have grown slightly larger and stay just left of my center line, confirming my heading is good. The ground ahead remains flat and clear, so I will keep walking toward it.", + "The red cab keeps expanding in front of me and its wheels and bumper are clearly separated now, but it is still several strides off. I will continue advancing on it.", + "The cab now dominates the middle of my view with its headlights and grille plainly readable, so I am getting close. A gap of a few paces still remains, so I will step forward again.", + "The weathered red cab looms directly ahead, slightly left of center, with its bumper close enough to make out the dirt on it. I will move forward once more to finish closing the small remaining gap.", + "The red truck cab now fills much of my view but sits left of center, with its grille angled away from my heading. A small left turn should square me up with the front of the cab before I close the last few steps.", + "The red cab's grille is now centered squarely ahead of me with clear open ground between us. I will keep walking straight toward it to shorten the remaining gap.", + "The cab's bumper and grille now dominate my view, so only a short gap of ground remains. I will step forward once more to stand right at the front of the red truck cab.", + "The red truck cab's grille and bumper are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff10751c856d94a02648de07dcb4d3e8342463c --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the yellow construction vehicle with front forks, then navigate to the ends of its forks.", + "Type": 1, + "Start_Pose": [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 80.721, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 80.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 105.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -5784.312, + 7012.369, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -5899.04, + 7064.12, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6013.767, + 7115.87, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6128.494, + 7167.621, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6243.221, + 7219.372, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6282.726, + 7242.381, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6280.302, + 7249.041, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6280.302, + 7249.041, + 118.099, + 0.0, + 155.721, + -0.0 + ] + ], + "Rationale": [ + "A rail wagon fills most of my view and blocks the yard ahead, so I see no yellow machine with forks from here. The open ground and warehouse wall to my right offer somewhere new to look. I will turn right to sweep that side of the yard.", + "The turn brought the warehouse facade and some concrete panels into view, but still no yellow vehicle with front forks. The scan is not finished and more of the yard lies further right. I will keep turning right to continue searching.", + "A yellow machine with front forks has appeared at the far right of my view, close to the concrete wall. It sits too far off to the side for a straight walk toward it. I will turn right once more to bring it near the center of my heading.", + "The yellow machine with its front forks now sits roughly centered ahead of me across open concrete. Nothing stands between me and it, so searching is done and I can commit to closing the distance. I will step forward toward the forks.", + "The yellow forked machine has grown larger and stays centered, confirming my heading is good. It is still several strides away, with clear ground under my feet. I will keep walking straight toward it.", + "The machine's cab, wheels and yellow boom are clearly resolved now, and it remains squarely ahead. The fork tines are still not close enough to stand at, so I have distance left to cover. I will advance again along the same line.", + "The two fork tines are now visible extending toward me across the concrete, which is exactly where I need to end up. Their tips are still a few strides beyond my feet. I will step forward to reach the ends of the forks.", + "The vehicle now fills much of my view and the fork tines run toward me along the ground. I am close but not yet standing at the tips of those tines. I will move forward a bit more to settle at the fork ends.", + "The carriage and tines loom large enough that only a short gap of concrete separates me from the nearest tine ends. A small further advance should place me right at the tips rather than short of them. I will edge forward.", + "The tine ends now sit at the very bottom of my view, so I am practically standing over them with only a sliver of ground left. One last light step should settle me exactly at the fork tips.", + "The yellow forked machine's tine ends lie directly at my feet, filling the bottom of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cfbd5ae0792299a24297a0c4f94b9e5a7488682c --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Locate the green dumpster situated near the building wall and go toward it.", + "Type": 1, + "Start_Pose": [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 80.721, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 80.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 105.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + -179.279, + 0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + -154.279, + 0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + -129.279, + 0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + -104.279, + 0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + -79.279, + 0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + -54.279, + 0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + -29.279, + 0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + -4.279, + 0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 20.721, + -0.0 + ], + [ + -5551.867, + 7005.149, + 118.099, + 0.0, + 20.721, + -0.0 + ], + [ + -5434.149, + 7049.68, + 118.099, + 0.0, + 20.721, + -0.0 + ], + [ + -5316.432, + 7094.212, + 118.099, + 0.0, + 20.721, + -0.0 + ], + [ + -5198.714, + 7138.743, + 118.099, + 0.0, + 20.721, + -0.0 + ], + [ + -5113.577, + 7178.346, + 118.099, + 0.0, + 20.721, + -0.0 + ], + [ + -5113.577, + 7178.346, + 118.099, + 0.0, + 20.721, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, the view is dominated by a red railcar on its flatbed to the left and a warehouse facade with wooden gates ahead on the right, and no green dumpster is visible anywhere along that wall. Since the open yard clearly continues to my right, I will turn right to begin a steady scan of the building frontage in one consistent direction.", + "The rotation has brought more of the concrete warehouse wall and the wooden gate panels into view, but the only objects against it are crates and gates, not the green dumpster I need. I will keep turning right to sweep further along this wall line and check the yard sections still hidden behind my current field of view.", + "Ahead of me the tall concrete building runs across the view with wooden gate panels and a small yellow loader parked beside it, and still no green dumpster stands against that wall. Continuing the same rightward sweep should reveal the next stretch of yard and wall that is currently out of sight.", + "The loader now sits ahead of me against the concrete facade and a line of blue shipping containers has appeared on the right side of the yard, but nothing green and dumpster shaped is beside the wall here. I will turn right again to follow the container row and keep the scan moving in one direction.", + "This part of the yard is filled with blue containers and racked tank cylinders under a heavy yellow gantry leg, which blocks much of what lies beyond. Since the target is not here, I will continue the rightward sweep to look past this cluttered corner.", + "The gantry frame and stacked tank containers still occupy most of my view, with more container stacks appearing at the far right edge of the yard. I will keep turning right so the sweep passes this obstruction and exposes the wall sections behind it.", + "Looking past the gantry I can see rows of coloured shipping containers and a few barrels on the open concrete, but no green dumpster set against any building wall. I will maintain the same rightward turn to continue covering the yard systematically.", + "A tall stack of blue and yellow containers now stands close on my right and hides whatever lies behind it, while the rest of the visible yard holds only tanks and barrels. I will turn right again to bring that blocked area and the wall beyond it into view.", + "Ahead of me I only see the tank racks under the yellow gantry, a scatter of drums, and a wall of rusted shipping containers rising on my right, with no green dumpster anywhere along the building faces I can see. Since the container stack blocks the ground further right, I will keep turning in the same rightward direction to sweep the next slice of this yard.", + "The rusted blue container block now sits squarely in front of me and hides whatever lies behind it, so nothing resembling a green dumpster is exposed yet. I will continue the steady rightward scan to bring the far building wall past the edge of this stack into my sight.", + "Turning has opened up a tall concrete building wall with a ladder on it just right of the container row, which is exactly the kind of wall the task describes. I will keep rotating right to expose the ground along that wall where a dumpster would most plausibly be parked.", + "A green skip-style dumpster is now visible on the right, standing against the concrete building wall exactly as the task describes. I will turn right once more to bring it toward the center of my heading before walking to it.", + "The green dumpster now sits near the middle of my heading, backed against the concrete building wall, with clear paving between us and the red container and blue machine off to my right. I will step forward along this line to close the distance toward it.", + "The green dumpster has grown noticeably larger and stays aligned with my heading against the wall, so my approach line is good. I will keep walking forward since the ground between us is still open.", + "The green dumpster is directly ahead of me now, its full body and the shuttered door behind it clearly resolved against the concrete wall. I will take another step forward to bring myself close alongside it.", + "The green dumpster now spans most of what lies in front of me and I am only a short distance from its sloped side. I will advance once more to finish closing that gap and stand right at it.", + "The green dumpster now fills nearly my whole view, with its mossy side panel directly ahead and the concrete building wall and shutter rising just behind it. I am close but still a short gap away from standing right at it, so I will take one more step forward to close that remaining distance.", + "The green dumpster surface is directly in front of me at contact range, filling the view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd538b5b5bf0def839c730c8405289e2024524de --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005670_y006961_z000118_t1_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Track down the ladder with spiral cage protection beside the stacked crates near the yellow cart; once you identify its base, move to that spot.", + "Type": 1, + "Start_Pose": [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 80.721, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 80.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 105.721, + -0.0 + ], + [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -5751.692, + 7056.006, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -5833.8, + 7151.394, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -5915.907, + 7246.782, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -5998.015, + 7342.17, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -5998.015, + 7342.17, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6112.742, + 7393.921, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6227.469, + 7445.671, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6342.197, + 7497.422, + 118.099, + 0.0, + 155.721, + -0.0 + ], + [ + -6342.197, + 7497.422, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -6424.304, + 7592.81, + 118.099, + 0.0, + 130.721, + -0.0 + ], + [ + -6424.304, + 7592.81, + 118.099, + 0.0, + 130.721, + -0.0 + ] + ], + "Rationale": [ + "My view is dominated by the red railcar and its blue undercarriage, so I cannot see any caged ladder or the yellow cart from here. The open yard and concrete building with wooden gates lie off to my right, which is the more promising side for stacked crates and a wall-mounted ladder. I will turn right to sweep that open area into view.", + "Turning has already brought the concrete wall, the wooden gate panels, and what looks like a yellow caged ladder track at the far right edge into view. Since that candidate is still at the very edge of my field of view, I will turn right once more to bring it toward the center before committing to an approach.", + "The yellow caged ladder is now clearly centered on the concrete pillar ahead, with crate-like panels to its left and a yellow work machine parked to its right, matching the described scene. Nothing blocks the open ground between me and that wall, so I will walk forward to close the distance toward the ladder.", + "The caged ladder on the pillar has grown larger and stays near the center of my view, confirming I am heading toward it. The ground ahead remains clear, so I will keep walking forward to reduce the remaining distance.", + "The ladder's cage hoops and its base near the concrete plinth are now much more distinct, so my heading is still good. I will step forward again to bring myself closer to the foot of that ladder.", + "The wall with the caged ladder fills more of my view and the yellow machine has shifted toward my right side, indicating I am drawing near the target wall. I will advance once more to close in on the ladder before adjusting my heading.", + "I am close to the wall now, and the caged ladder has drifted toward the upper middle of my view while the wooden gate panels crowd my left. Turning right should square me with the pillar face and open the lane between the wall and the parked machine so I can reach the ladder base.", + "After the turn the caged ladder sits clearly on the wall to my left front, with a passable gap of ground between the wall and the parked machine. I will walk forward along that gap to bring myself level with the ladder's base.", + "The caged ladder with its spiral hoops is clearly on the concrete wall to my left, and the yellow loader sits in the open bay to my right, matching the cue in the task. The lane ahead along the wall is clear, so I will walk forward to close the remaining distance toward the ladder's footing.", + "The caged ladder has grown noticeably larger at the left edge of my view, confirming I am closing on it rather than drifting past. The strip of ground between me and the wall is still clear, so I will take another step forward to draw level with the ladder's lower rungs.", + "The ladder has slid to the far left margin of my view and is now nearly out of sight, while my heading points down the empty alley past it. I will turn left to bring the caged ladder and the wall it climbs back into the center of my view for a controlled final approach.", + "The caged ladder now sits squarely in front of me with its lowest rungs and the spiral hoop clearly visible, and I can see where its rails meet the ground at the wall. A short step forward should place me right at that base spot.", + "The caged ladder's rails and lowest rungs are directly beside me at arm's length, with its footing on the ground right here. The task is complete, so I stop." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..42e7058aa6a776d8c7cd6dfe28edd029609249ce --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the yellow ladder of the blue horizontal storage tank.", + "Type": 0, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6008.738, + 2430.289, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6131.836, + 2404.074, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6254.935, + 2377.859, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6378.034, + 2351.645, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6501.132, + 2325.43, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6624.231, + 2299.215, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6624.231, + 2299.215, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6724.717, + 2223.432, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6724.717, + 2223.432, + 118.099, + 0.0, + -142.978, + 0.0 + ] + ], + "Rationale": [ + "The blue horizontal tank stands ahead against the concrete building, and its yellow ladder runs up the near side of the support structure. My heading already lines up with that ladder across the open concrete yard, so I will step forward to begin closing the considerable distance.", + "The tank and its yellow ladder now appear larger and remain near my heading, confirming I am closing on the right target. The ground between us is still clear of debris in my path, so I continue straight forward.", + "The yellow ladder and the steel posts under the tank are clearly resolved now, still slightly right of my straight-ahead direction but well within reach of a direct walk. I will keep advancing rather than turning yet, since forward motion is still reducing the gap efficiently.", + "The tank now fills much of the upper part of my view and the yellow ladder rises just right of straight ahead. I am still several steps short of standing at the ladder, so another forward step is the right move.", + "I can see the ladder's lower rungs and its footing on the platform beneath the tank, so the base of the target is nearly within stepping range. I will move forward again to bring myself up to the support structure.", + "The tank's underside and the steel supports now dominate my view, and the yellow ladder is close enough that individual rungs and its yellow paint are distinct. One more forward step should place me right at the ladder rather than a stride short of it.", + "I am now directly beneath the tank's support structure, but the yellow ladder sits to the right of my straight-ahead direction, partly behind the nearer beams and posts. Turning right should place the ladder squarely in front of me for a clean final step in.", + "After the turn the yellow ladder stands centered ahead of me with its lower rungs and floor plate in plain view. A short forward step should close the last bit of distance and bring me right up beside the ladder.", + "The yellow ladder rungs of the blue tank stand directly before me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d37ef88725ee1c92bcb7a5142359db1940751f8 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the yellow forklift parked near the warehouse.", + "Type": 0, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6008.738, + 2430.289, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6131.836, + 2404.074, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6254.935, + 2377.859, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6254.935, + 2377.859, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6377.579, + 2406.124, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6500.223, + 2434.389, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6500.223, + 2434.389, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6599.431, + 2511.838, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6698.639, + 2589.286, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6698.639, + 2589.286, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6821.283, + 2617.551, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6943.927, + 2645.816, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7066.572, + 2674.081, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7189.216, + 2702.346, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7311.86, + 2730.611, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7311.86, + 2730.611, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7411.068, + 2808.06, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7510.276, + 2885.508, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7609.484, + 2962.957, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7609.484, + 2962.957, + 118.099, + 0.0, + 142.022, + -0.0 + ] + ], + "Rationale": [ + "From the open concrete yard I can already pick out the yellow forklift parked far ahead on the left, close to the warehouse wall beside the pale storage containers. The ground between us is clear apart from scattered debris, so I will step forward to begin closing that long distance.", + "The forklift has grown slightly larger on my left, which tells me the previous step gained real ground toward it. The lane in front of me is still unobstructed, so I will continue straight rather than turn this early.", + "The large blue tank on its supports and the yellow spiral stair are looming ahead of me while the forklift remains off to my left near the containers. Another straight step should bring me deeper into the yard before I commit to a heading change toward the target.", + "Straight ahead is now the tank structure and its stair supports, while the yellow forklift sits clearly to my left. I will turn left so my heading points toward the forklift instead of into that structure.", + "After the turn the yellow forklift sits in the middle-left of my view with open yard between us, and the tank structure has swung off to my right side. I will step forward along this cleaner line to shorten the distance.", + "The forklift and the container stacks beside it are noticeably closer, confirming this heading is taking me toward the target. Only a small barrel lies off to the side, so I will keep advancing straight.", + "The forklift has drifted to the left portion of my view while the tank supports and the barrel fill the space straight ahead of me. A left turn should place the forklift back near the center of my heading before I continue.", + "The yellow forklift now sits close to the middle of my view, parked between the concrete blocks on the left and the container stacks on the right. The open concrete lane between them looks passable, so I will walk forward toward it.", + "The yellow forklift stands in the open yard ahead of me, just right of my heading, with concrete barriers on my left and stacked plastic totes on my right. The lane between them is clear, so I will step forward again to keep closing the distance to the forklift.", + "After moving up, the forklift now sits noticeably right of the center of my view while the concrete block stacks dominate straight ahead. A turn to the right should place the forklift closer to the middle of my heading so my next steps go directly toward it.", + "The forklift is now roughly ahead of me across an open stretch of concrete, with the totes parked to my right and low walls to my left. With nothing in my path, I will move forward to shorten the remaining distance.", + "The forklift appears larger and its wheels and mast are clearer, confirming I am gaining ground on it. The way ahead past the tote stacks on my right is still open, so I will continue forward.", + "The forklift is close enough now that I can make out its rear tires and the red cylinder on its roof, and it remains slightly left of my heading. Another forward step should bring me nearer without needing any turn yet.", + "The stacked totes are passing close along my right side while the forklift sits ahead on my left, still a few strides away. I will keep moving forward through this gap to reduce the remaining distance.", + "I am nearly alongside the tote stacks and the forklift's yellow body fills a good part of my left view. One more step forward should put me almost beside it before I adjust my heading.", + "The tote stack now blocks most of the right half of my view while the yellow forklift sits off to my left. Turning left should bring the forklift back in front of me so I can finish the approach straight on.", + "The yellow forklift now sits close to the center of my view with open concrete between us, and the stacked liquid containers have shifted to my right side so they no longer stand in my path. I will step forward along this heading to keep closing the remaining gap to it.", + "The forklift is squarely ahead of me and noticeably larger than a moment ago, its rear wheels and overhead guard clearly visible with nothing between us. Another step forward should bring me within a few paces of the machine.", + "The forklift's yellow body, tires and red tank now fill much of my view, so I am nearly beside it. I will take one more short step forward to finish closing the last bit of distance and stand right at the machine.", + "The yellow forklift's body is directly in front of me at arm's length. The task is complete, so I stop here rather than crowd the machine further." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16dfecae6c7dfb93d422efa53b98e51bc68ebed1 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t0_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Proceed to the stacked white containers under the open shelter.", + "Type": 0, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6008.738, + 2430.289, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6131.836, + 2404.074, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6254.935, + 2377.859, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6254.935, + 2377.859, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6377.579, + 2406.124, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6500.223, + 2434.389, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6500.223, + 2434.389, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6599.431, + 2511.838, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6698.639, + 2589.286, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6698.639, + 2589.286, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6821.283, + 2617.551, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6821.283, + 2617.551, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6944.382, + 2591.337, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -7067.481, + 2565.122, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -7190.579, + 2538.907, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -7313.678, + 2512.692, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -7313.678, + 2512.692, + 118.099, + 0.0, + -167.978, + 0.0 + ] + ], + "Rationale": [ + "From the middle of this open concrete yard I can pick out a group of pale white containers stacked beside the yellow forklift, tucked under the dark canopy roof that juts from the building on my left. Nothing blocks the ground straight ahead, so I will step forward to shorten the distance and get a clearer read on that shelter area.", + "The white container stacks under the sheltered roof have grown a little larger and stay to the left of the large blue tank ahead of me. The yard in front is still clear, so I will keep walking forward to close more of the gap before adjusting my heading.", + "The blue tank with its spiral stair now fills much of my forward view, while the white containers under the canopy sit off to the left next to the forklift. Another step forward should bring me closer to that sheltered corner before I swing my heading toward the stacks.", + "Straight ahead is the tank platform and its stairs, while the white container stacks I want are offset to my left beneath the overhanging shelter. I will turn left to put those stacks nearer the middle of my view and open a straight walking line toward them.", + "After the turn the white containers and the forklift sit ahead of me under the dark canopy, with clear floor in between and the tank now off to my right. I will move forward along this heading to close the remaining distance to the sheltered stacks.", + "The row of white containers under the shelter is noticeably nearer and I can make out their individual cages beside the forklift. The path ahead past the small drum is still open, so I will continue forward.", + "The tank's steel support posts and the concrete wall now crowd the right edge of my view at close range, and the shelter's roof edge hangs just above me. I will turn left to swing my heading into the open yard lane so I can come at the container stacks from the front instead of brushing that near structure.", + "From this heading the open bay is in front of me, with the white container stacks lined up on my right under the shelter roof and the forklift parked beyond them. I will step forward into that open space to work my way alongside the stacks.", + "The stacked white containers sit under the overhanging roof on the right side of the yard, and the ground between me and them is clear apart from the forklift parked farther ahead. I will step forward again to close the remaining open distance before I refine my heading toward the stacks.", + "The container stacks now sit far over on my right edge while my heading still points across the open yard toward the concrete blocks and forklift. I will turn right to bring the sheltered stacks toward the middle of my view so my forward steps lead directly to them.", + "After turning, the two rows of white containers under the roof beams are now ahead of me and to the right of center, with clear paved ground in between. I will move forward to shorten that gap while keeping the stacks in view.", + "The stacks are noticeably closer now, but they still sit right of my straight-ahead direction, which would carry me past them toward the forklift. A small right turn should place the containers squarely in front of me for the final approach.", + "The white containers are now directly ahead under the open roof, with the concrete pillar and support posts to their right. I will step forward along this heading to keep closing on the stacks.", + "The three double-stacked containers on their pallets now fill much of my forward view, so my heading is good and only distance remains. I will continue forward toward them.", + "The containers are close now, filling the left and center of my view with the concrete wall and its ladder rungs on the right. Another step forward should bring me right up beside the sheltered stacks.", + "I am nearly against the stacked containers, with their caged tanks and pallets only a step away and the wall hemming me in on the right. I will take this last short step to stand directly at the stacks under the shelter.", + "The stacked white containers fill my view at arm's length beneath the shelter roof. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b87d1c5c6c70d77079ca052e963373e36ae1f0c7 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t3_a/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Walk to the yellow forklift, then head toward the ladder of the blue storage tank.", + "Type": 3, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6008.738, + 2430.289, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6131.836, + 2404.074, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6131.836, + 2404.074, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6254.481, + 2432.339, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6377.125, + 2460.604, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6499.769, + 2488.869, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6622.413, + 2517.134, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6745.057, + 2545.399, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6867.701, + 2573.664, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6990.345, + 2601.929, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7112.989, + 2630.194, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7235.633, + 2658.459, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7235.633, + 2658.459, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7334.841, + 2735.908, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7434.049, + 2813.356, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7533.257, + 2890.805, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + -117.978, + 0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + -92.978, + 0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + -67.978, + 0.0 + ], + [ + -7622.134, + 2956.501, + 118.099, + 0.0, + -42.978, + 0.0 + ], + [ + -7530.054, + 2870.701, + 118.099, + 0.0, + -42.978, + 0.0 + ], + [ + -7437.424, + 2787.423, + 118.099, + 0.0, + -42.978, + 0.0 + ], + [ + -7343.317, + 2705.564, + 118.099, + 0.0, + -42.978, + 0.0 + ], + [ + -7251.236, + 2619.763, + 118.099, + 0.0, + -42.978, + 0.0 + ], + [ + -7159.156, + 2533.963, + 118.099, + 0.0, + -42.978, + 0.0 + ], + [ + -7067.076, + 2448.163, + 118.099, + 0.0, + -42.978, + 0.0 + ], + [ + -7067.076, + 2448.163, + 118.099, + 0.0, + -67.978, + 0.0 + ], + [ + -7067.076, + 2448.163, + 118.099, + 0.0, + -92.978, + 0.0 + ], + [ + -7067.076, + 2448.163, + 118.099, + 0.0, + -92.978, + 0.0 + ] + ], + "Rationale": [ + "The yellow forklift stands well across the yard to my left, parked near the pale storage bins, while the blue tank with its spiral ladder rises closer on my right. My first destination is the forklift, so I need to cut the distance across this open concrete. I will step forward.", + "The forklift has grown slightly and the containers beside it are more distinct, so my heading is carrying me usefully toward it. Nothing blocks the stretch of concrete in front of me. I will keep walking forward.", + "The forklift sits noticeably left of where I am facing, while the tank and its ladder crowd the right side of my view. Walking straight would carry me past the machine rather than to it. I will turn left to bring the forklift nearer the center of my heading.", + "The turn has swung the yellow forklift toward the middle of my view, framed between the concrete barriers on my left and the tank supports on my right. That lane of open floor runs straight to it. I will advance along it.", + "The forklift is bigger and holds its place ahead of me, and the pale container stacks beside it are clearly separated now. My alignment still points straight at the machine. I will continue forward to close the gap.", + "The yellow machine keeps enlarging ahead, its wheels and cab now readable against the wall behind. Only flat open floor lies between us. I will take another step forward.", + "The tank has slid off to the upper right as I press deeper into the yard, leaving the forklift as the clear thing in front of me. It is still several strides away. I will walk on toward it.", + "The forklift's yellow body and red canister on top are now plainly visible, and the container stacks stand well clear to its right so my line remains open. I am not yet beside the machine. I will keep advancing.", + "The yellow forklift sits ahead and a little to my left, parked against the far wall with open concrete between us. Nothing blocks that lane, since the stacked white totes are set off to my right. I will keep walking forward to close the remaining distance to it.", + "The forklift has grown noticeably larger and its cab and red cylinder are now clearly readable, so my heading is carrying me toward it. The gap between the tote stacks and the left crates stays wide enough to walk through. I will step forward again.", + "I am now abreast of the first tote stack and the forklift stands a short way off, slightly left of my centreline. The floor in front of me is still clear of pallets and debris. Another step forward should bring me appreciably nearer the machine.", + "The forklift is close enough now that I can see its worn yellow bodywork and tyres, though it has drifted toward the left of my view as I pass the totes. The lane ahead remains open. I will advance once more before correcting my heading.", + "My current heading points straight into the tote stacks that now fill the right foreground, while the yellow forklift has slipped well over to the left side of my view. Walking on as I am aimed would take me past it. Turning left should bring the forklift back in front of me.", + "The turn has put the yellow forklift near the middle of my view with clear concrete running up to it. The tote stack has passed to my right side and no longer sits in my path. I will walk forward to close on the machine.", + "The forklift now fills a large part of my view, its rear wheels and mast plainly visible only a few paces off. I am still short of standing beside it. Another step forward should bring me right up to the machine.", + "I am nearly at the forklift, with its scuffed yellow body and the red cylinder on its frame filling the centre of my view. A final short step should place me directly at the machine rather than a stride behind it.", + "The yellow forklift now fills most of my view, its cab and gas cylinder close enough that I can read the rust on the bodywork. I am still a stride or two short of standing beside it, so I take one more step forward to close that last gap.", + "The battered yellow forklift is right against me now, its wheel and fender filling my view within arm's reach. I have reached it, and I mark arriving here before setting off toward the ladder on the blue storage tank.", + "Standing this close to the forklift, its yellow bodywork blocks nearly everything ahead of me and the blue tank with its ladder is nowhere in my view. I turn right to begin swinging my heading off the forklift and sweep the yard for that tank.", + "My view is still dominated by the forklift's hood and its red cylinder, with only slivers of the yard visible past it. Nothing resembling the blue tank's ladder has come into view yet, so I keep rotating right.", + "I now see the forklift's front sliding to the left of my view while stacked white containers and a concrete wall open up ahead of me on the right. I still cannot pick out the blue tank or its ladder, so I continue my rightward turn.", + "Only the corner of the forklift remains at my left edge, and the rest of what I face is a row of caged containers under the concrete wall. That is not the tank I want, so I keep turning right to bring more of the yard into view.", + "The forklift has passed completely out of my view and I am facing a solid bank of caged containers against the wall. The blue tank and its ladder still lie somewhere further round, so I turn right again.", + "Stacked containers fill my whole view and block any sight line toward the tank I am heading for. I continue turning right, expecting the open part of the yard beyond these stacks to come into view.", + "The forklift is behind me now and my sweep to the right has brought the dark rounded end of the big storage tank into view past the stacked totes. One more step of turning should place that tank and the open concrete lane leading to it near the middle of my view before I set off walking.", + "The large tank resting on its steel cradle now sits ahead of me across open concrete, with the tote stacks only along my left edge. The ground in front is clear, so I will walk forward to close the gap toward the tank and its access structure.", + "The tank's end cap has grown noticeably larger and the concrete pillar beside the totes is sliding past on my left, confirming I am gaining on the tank. I keep walking straight since my line still points at the tank's supporting frame.", + "I have cleared most of the tote stacks and the tank now looms ahead on my left with its cradle legs and platform visible beneath it. Another stride forward should bring me alongside that frame where the climbing access is.", + "The tank's dark belly and the steel supports under it now fill much of my left field, so I am close but not yet beside the structure. I advance again to reach the base of the frame rather than stopping short in the open yard.", + "The cradle uprights are now within a couple of paces on my left and the tank hangs above them. I step forward once more to draw level with the frame where its climbing structure rises.", + "I am nearly abreast of the support frame, and the curved rails of the tank's stairway are showing at the top of the structure beside me. One more forward step should put me at the foot of that access point.", + "I am standing right at the tank's support structure, but its frame and the ladder rails sit off to my left while I face out into the open yard. I turn left to bring the tank's climbing access squarely in front of me.", + "I am right up against the steel support cradle beneath the big dark tank, but my heading still favours the tanker trailer off to the right. One more turn to the left should bring the frame and its climbing rail squarely ahead of me.", + "The tank's support frame with its access ladder stands directly in front of me, within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9d591032221815e68f5de61a42a9fa81846b33a2 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t3_b/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Approach the ladder on the blue tank, then move to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "LookDown", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6008.738, + 2430.289, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6131.836, + 2404.074, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6254.935, + 2377.859, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6378.034, + 2351.645, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6501.132, + 2325.43, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6624.231, + 2299.215, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6726.564, + 2273.36, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6726.564, + 2273.36, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6726.564, + 2273.36, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6726.564, + 2273.36, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6726.718, + 2341.252, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6727.779, + 2409.577, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6813.877, + 2490.821, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6741.043, + 2433.962, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6741.043, + 2433.962, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6668.209, + 2377.103, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6668.209, + 2377.103, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6725.391, + 2489.222, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6782.573, + 2601.341, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6782.573, + 2601.341, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6881.781, + 2678.79, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6881.781, + 2678.79, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7004.425, + 2707.055, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7127.069, + 2735.32, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7249.713, + 2763.585, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7372.357, + 2791.85, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7495.001, + 2820.115, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7617.646, + 2848.38, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7617.646, + 2848.38, + 118.099, + 0.0, + 167.022, + -0.0 + ] + ], + "Rationale": [ + "The blue horizontal tank sits ahead against the concrete building, with a yellow ladder climbing its side, so my first destination is already in view and roughly straight ahead. The open yard between us is clear concrete, so I will walk forward to close that gap.", + "The tank and its yellow ladder have grown larger and remain near the center of my view, confirming my heading is good. Nothing blocks the ground ahead, so I will keep walking toward the ladder.", + "The ladder rungs and the steel frame under the tank are now clearly resolved slightly right of center, so I am closing in correctly. The yellow forklift is visible off to my left, but the ladder is my current goal, so I will step forward again.", + "The tank now fills much of the upper view and the yellow ladder rises directly ahead of me, so only a short stretch of open concrete remains. I will continue walking to bring myself right up to the ladder.", + "The tank's underside and the ladder's lower rungs are close in front of me, though I am not yet within reach of the ladder itself. A few more paces on the clear ground should put me right at its base, so I will step forward.", + "The blue tank now fills much of my view and its yellow ladder rises just right of center, close enough that only a short gap of open concrete remains. I will walk forward again to close that gap and stand at the ladder's base.", + "I am under the tank's steel support frame with the yellow ladder rails a couple of paces ahead on my right. One more step forward should put me directly at the foot of that ladder rather than short of it.", + "The yellow ladder rail stands right beside me and the blue tank's rusted belly hangs directly overhead, so I am at the ladder on the tank. I have reached it. I mark that arrival before setting off across the yard toward the yellow forklift parked by the stacked containers.", + "Standing this close, the tank's beams and posts block nearly everything ahead and the forklift is nowhere in my view. The yard with the stacked white containers opened to my left as I came in, so I will turn left to swing my heading off the tank and back toward that open area.", + "The yellow forklift has come into view on my left, sitting beside the stacked white containers, but it is still far off to that side and a support post cuts across my line to it. I will turn left again to bring it nearer the center of my view before walking.", + "Having turned away from the tank and its ladder, I now have the yellow forklift in view across the yard, parked beside the stacked white container racks. It is still far off, so I walk straight ahead to begin closing that distance.", + "The forklift has grown noticeably larger and sits just left of the container racks, confirming my heading is good. Nothing blocks the concrete floor ahead, so I keep walking toward it.", + "The yellow forklift is clearly nearer now, framed between the concrete barrier blocks on my left and the container racks on my right. The lane between them still looks open, so I advance again to keep closing.", + "My last step brought me in close, but the corridor here has tightened between the barrier blocks on my left and the container racks crowding in from the right, and the forklift sits off to the side of my line rather than straight ahead. I will step back to regain some room before adjusting my approach.", + "After backing off, the forklift stands to my right front with the container racks beside it, but my raised view hides the ground immediately in front of me. I will look down to check the floor and see how much clearance I actually have before committing to another approach.", + "My view is angled low onto the concrete, with only the upper frame of the yellow forklift clipping the top edge, so I cannot judge the approach from here. Backing up should open the distance and bring the whole machine back into my field of view.", + "The forklift now sits off to my right, but concrete barrier walls and pallets of stacked totes crowd the ground on the direct line toward it. I will turn left toward the open stretch of yard so I can work around that clutter instead of pressing straight in.", + "The ground straight ahead is clear, with the concrete block walls to my left and the yellow forklift standing far over on my right. Walking forward here should carry me along the open lane and past the crowded ground beside the stacked totes.", + "Open concrete still lies in front of me, and the forklift has slid further toward my right shoulder as I pass the barrier walls. Another step forward should take me clear of these blocks before I swing back toward the machine.", + "I have cleared the line of concrete barriers, and the yellow forklift now sits at the right edge of my view beside the stacked totes. Turning right should bring it back in front of me so I can walk straight at it.", + "The yellow forklift now stands clear ahead of me, just right of center, with open concrete floor between us and the barrier walls safely off to my left. Nothing blocks this lane, so I will walk straight ahead to cut down the remaining distance to it.", + "After stepping closer, the forklift has drifted toward the right side of my view rather than sitting in front of me. A small turn to the right should put it back near the center of my heading before I continue closing in.", + "The forklift is now squarely ahead in my view, with the stacked water totes well clear on my right and the barrier wall on my left. With the lane between them open, I will keep walking forward toward the machine.", + "The forklift's rear wheels and yellow body fill more of my view, so my heading is carrying me right at it. I am still several paces short of standing beside it, so I will step forward again.", + "The yellow forklift dominates the middle of my view now, close enough that its tires and mast are clearly detailed. A few more paces should bring me right up beside it, so I will continue forward along this clear stretch of floor.", + "The yellow forklift now stands clearly ahead of me, slightly left, with open concrete between us and the stacked tote cages passing on my right. Nothing blocks the lane, so I will step forward again to close the remaining gap to it.", + "The forklift's rear wheels and body now fill much of the left half of my view, so I am only a short walk away. I will keep advancing to bring myself right up beside it.", + "The yellow machine looms directly in front and to my left, its tires and red tank clearly within a step or two. One more forward step should place me right at its side rather than still short of it.", + "The yellow forklift's bodywork fills the left of 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/Old_Factory_01/task_x-005886_y002457_z000118_t3_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe1f219ce0e850c5fed7fd7b05201cfbfaf39f8f --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t3_c/infos.json @@ -0,0 +1,346 @@ +{ + "Instruction": "Navigate to the white crates near the building, then reach the forklift.", + "Type": 3, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -5986.126, + 2380.721, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6086.612, + 2304.939, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6187.098, + 2229.157, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6287.585, + 2153.374, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6388.071, + 2077.592, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6488.557, + 2001.809, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6589.044, + 1926.027, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6689.313, + 1860.098, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6689.313, + 1860.098, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6615.54, + 1915.734, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6541.768, + 1971.37, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6541.768, + 1971.37, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6541.768, + 1971.37, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -6541.768, + 1971.37, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6541.768, + 1971.37, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6598.95, + 2083.489, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6656.131, + 2195.608, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6713.313, + 2307.727, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6730.057, + 2417.238, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6787.238, + 2529.357, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6844.42, + 2641.477, + 118.099, + 0.0, + 117.022, + -0.0 + ], + [ + -6844.42, + 2641.477, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -6943.628, + 2718.925, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7042.836, + 2796.374, + 118.099, + 0.0, + 142.022, + -0.0 + ], + [ + -7042.836, + 2796.374, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7165.48, + 2824.639, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7288.125, + 2852.904, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7410.769, + 2881.169, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7533.413, + 2909.434, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7650.52, + 2932.721, + 118.099, + 0.0, + 167.022, + -0.0 + ], + [ + -7650.52, + 2932.721, + 118.099, + 0.0, + 167.022, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead I only face the concrete building wall and the blue tank, while the pale stacked crates sit off toward my right along that wall. I will turn right so those crates come into the middle of my view and give me a clean line to walk.", + "The heading now points at the run of pale crates stacked against the building face, with open concrete apron between me and them. Nothing blocks that lane, so I will walk forward to start closing the gap.", + "The crate stacks along the wall have grown noticeably larger, confirming my heading is carrying me toward them. The apron ahead is still empty, so another step forward should keep shrinking the distance.", + "The stacked crates now occupy the right half of my view and their individual planks are becoming readable, but they are still several strides off. I keep walking forward on this same line.", + "The nearest crate block sits directly ahead of me with a smaller crate at its base, and the gap is clearly shorter than a moment ago. Continuing forward should bring me right up beside that stack.", + "The crate stack now fills much of the frame and its top edge has risen well above my eye line, so I am within a few paces. I will step forward again to draw right up to the crates by the building.", + "The tall crate block is close enough that only its lower boards and the corner are visible, with the wall receding on my left. A further step forward should place me right at the face of these crates.", + "I am now almost against the crate stack, its warning triangle plainly legible and its planks filling the right side of my view. One more step forward should bring me fully up to these crates beside the building.", + "The pale planked crates stacked against the building now fill nearly my whole view, with only a narrow strip of ground left between me and their corner. One more short step forward should put me right up against them.", + "The weathered planks of the pale crates stacked along the building wall are right in front of me, close enough to touch. I have arrived at these crates, so I mark reaching them here before setting off across the yard toward the yellow forklift.", + "Pressed this close, the crate boards block almost everything and I cannot see the yard where the forklift stands. Stepping back should open some distance and restore a usable view before I change heading.", + "The crate corner still looms large ahead and its neighbours crowd the right side, leaving little room to swing around. Another step back should give me enough clearance to turn freely toward the open yard.", + "I now have space behind the crates, but the stack still blocks the view straight ahead of me. Turning left should swing my heading off the crate wall and toward the open yard beside the blue tank, where the forklift stood.", + "The crates have slid to my right and the blue tank with its ladder now edges into the left of my view. Continuing to turn left should bring the open yard beyond the tank in front of me.", + "The tank and its yellow ladder sit squarely ahead, and past its left side I can make out the yard with a small yellow vehicle near the far building. Turning left again should bring that open lane into the centre of my view.", + "The tank has moved to my right and the yard now stretches open on the left, with grey crate blocks and a yellow machine in the middle distance. One more left turn should point me straight down that open ground toward the forklift.", + "The yard in front of me is wide open, and the yellow forklift stands far off near the shed, just right of my heading, beside the pale tank stacks. Nothing blocks the concrete between us, so I step forward to begin closing that distance.", + "The forklift reads slightly larger now, still ahead and to the right in front of the white tanks. The lane between the crate stacks on the left and the tanker frame on the right stays clear, so I keep walking forward.", + "I can now pick out the forklift's yellow body and its mast by the loading bay ahead on the right. The stacked crates stay well to my left and the ground in front is empty, so I continue advancing.", + "The forklift keeps enlarging off to my right, parked in front of the white tanks under the roofline. A wide stretch of bare concrete still separates us, so another stride straight ahead is the most direct way to shorten it.", + "The forklift now shows its wheels and the red cylinder on its frame, sitting to the right of my line of travel. The route straight ahead past the crate wall remains unobstructed, so I keep moving before adjusting my heading.", + "The forklift is close enough that its cage and tires are distinct, though it sits noticeably right of where I am pointed. One more step forward should bring me level with the end of the crate row before I swing toward it.", + "My forward line now runs past the crate row, and the forklift has slipped to the right edge of my view, partly screened by the concrete panels. I turn right to bring it back in front of me for a straight approach.", + "The forklift now sits squarely ahead in the open lane between the crate wall on my left and the white tanks on my right. With clear ground between us, I walk forward to close on it.", + "The yellow forklift sits ahead and slightly right, still a good distance across the open yard with the concrete barrier stacks lining my left. The ground between us is clear, so another step forward should shorten the gap without needing a heading change yet.", + "The forklift has drifted toward the right half of my view as I closed in, so walking straight would carry me past its side. Turning right should bring it back near the center of my heading before I continue.", + "The forklift now sits close to the middle of my view with the white tank crates stacked on my right and the barriers on my left. That lane between them is clear, so I will walk straight ahead to close the remaining distance.", + "The forklift is growing larger and stays centered in my path, its mast and red gas cylinder clearly visible. Nothing blocks the ground ahead, so I keep walking toward it.", + "I can now make out the forklift's tires and body panels distinctly, but it is still several strides off. I continue straight to bring myself right up beside it.", + "The forklift now fills much of the center of my view, though I am not yet close enough to be standing at it. Another step forward should put me directly at the machine.", + "The forklift's front end and cylinder loom just ahead, filling nearly the whole view. One more step should place me right against it.", + "The forklift's yellow bodywork fills my view at arm's length, so I am standing right at it. The task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t5_a_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f5e9361fea6434a022b9ed9824ff6198c6dc1fc --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-005886_y002457_z000118_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Lift the wicker basket beside the yellow ladder of the blue storage tank.", + "Type": 5, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0, + -167.978, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -6743.558, + 2094.899, + 68.099, + 90, + -127.978, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5885.639, + 2456.504, + 118.099, + 0, + -167.978, + 0 + ], + [ + -6008.738, + 2430.289, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6131.836, + 2404.074, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6254.935, + 2377.859, + 118.099, + 0.0, + -167.978, + 0.0 + ], + [ + -6254.935, + 2377.859, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6355.421, + 2302.077, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6455.908, + 2226.295, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6556.394, + 2150.512, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6556.394, + 2150.512, + 118.099, + 0.0, + -142.978, + 0.0 + ], + [ + -6556.394, + 2150.512, + 118.099, + 0.0, + -142.978, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -6743.558, + 2094.899, + 68.099, + 90.0, + -127.978, + 0.0 + ], + [ + -6743.558, + 2094.899, + 68.099, + 90.0, + -127.978, + 0.0 + ], + [ + -6743.558, + 2094.899, + 68.099, + 90.0, + -127.978, + 0.0 + ], + [ + -6743.558, + 2094.899, + 68.099, + 90.0, + -127.978, + 0.0 + ], + [ + -6743.558, + 2094.899, + 68.099, + 90.0, + -127.978, + 0.0 + ], + [ + -6743.558, + 2094.899, + 68.099, + 90.0, + -127.978, + 0.0 + ], + [ + -6743.558, + 2094.899, + 68.099, + 90.0, + -127.978, + 0.0 + ], + [ + -6743.558, + 2094.899, + 68.099, + 90.0, + -127.978, + 0.0 + ], + [ + -6543.049, + 2133.83, + 88.206, + -28.202, + -92.833, + 1.862 + ], + [ + -6543.049, + 2133.83, + 88.206, + -28.202, + -92.833, + 1.862 + ] + ], + "PD_Dist_2D": [ + 931.0, + 807.7, + 685.4, + 564.6, + 564.6, + 440.0, + 316.2, + 195.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the blue storage tank with its yellow ladder ahead of me, and the round wicker basket rests against the platform at the ladder's base. It is still far across the open yard, so I will walk straight forward to close that distance.", + "The tank and its yellow ladder now fill more of my view, so my forward walking is closing on the target area. The wicker basket beside the ladder base is still too distant to reach, so I will keep advancing.", + "The basket beside the ladder is now clearly resolved as a round wicker disc leaning near the platform, confirming my target. I am still several strides short of grasping range, so I continue walking straight ahead.", + "Walking straight would carry me to the left side of the tank rather than toward the basket, which now sits toward the right of the ladder in my view. I will turn right to put the basket and the ladder foot closer to my heading before advancing further.", + "After the turn, the ladder and the wicker basket sit in the middle of my view with open floor in front of me. I will walk forward along this heading to close the remaining gap to the basket.", + "The wicker basket is noticeably larger and low in my view, so I am nearly within reach of the ladder foot. I will take another step forward to stand close enough for a grasp.", + "I am now right at the ladder, with the wicker basket leaning just ahead and slightly left of me. One more step forward should place the basket directly within my grasping range.", + "The wicker basket is directly in front of me at the foot of the yellow ladder, filling the lower part of my view within arm's reach. My hands are empty, so I will attempt to grasp and lift it now.", + "The wicker basket is now held in my hands rather than resting on the ground. The lift task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-006360_y002667_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-006360_y002667_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..de5296a75776f0e5535700a5f8d412b548f04a91 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-006360_y002667_z000118_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the yellow ladder attached to the large blue cylindrical tank; after locating it, proceed to the base of that ladder where it meets the ground.", + "Type": 1, + "Start_Pose": [ + -6360.168, + 2667.096, + 118.099, + 0.0, + 140.721, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6360.168, + 2667.096, + 118.099, + 0.0, + 140.721, + -0.0 + ], + [ + -6360.168, + 2667.096, + 118.099, + 0.0, + 165.721, + -0.0 + ], + [ + -6360.168, + 2667.096, + 118.099, + 0.0, + -169.279, + 0.0 + ], + [ + -6360.168, + 2667.096, + 118.099, + 0.0, + -144.279, + 0.0 + ], + [ + -6462.349, + 2593.615, + 118.099, + 0.0, + -144.279, + 0.0 + ], + [ + -6462.349, + 2593.615, + 118.099, + 0.0, + -119.279, + 0.0 + ], + [ + -6523.902, + 2483.834, + 118.099, + 0.0, + -119.279, + 0.0 + ], + [ + -6585.455, + 2374.054, + 118.099, + 0.0, + -119.279, + 0.0 + ], + [ + -6647.008, + 2264.274, + 118.099, + 0.0, + -119.279, + 0.0 + ], + [ + -6647.008, + 2264.274, + 118.099, + 0.0, + -144.279, + 0.0 + ], + [ + -6726.715, + 2191.802, + 118.099, + 0.0, + -144.279, + 0.0 + ], + [ + -6726.715, + 2191.802, + 118.099, + 0.0, + -144.279, + 0.0 + ] + ], + "Rationale": [ + "From this yard I can see concrete barriers, stacked crates and a yellow forklift, but no blue cylindrical tank or yellow ladder anywhere in front of me. The open ground continues toward the right side of the industrial building, so I will turn right to scan that unseen sector for the tank.", + "Turning has brought a large dark blue curved surface into the upper right corner, which looks like the top of a big cylindrical tank. I will continue turning right in the same direction to bring that tank and any ladder on it fully into view.", + "The blue cylindrical tank is now clearly visible on its support frame ahead to the right, and I can see yellow ladder rails running up beside it near the right edge of my view. I will keep turning right so the tank and its yellow ladder sit centered ahead of me before I approach.", + "The blue tank and the yellow ladder climbing its support structure are now centered ahead of me, with clear concrete floor in between. I will walk forward to close the distance toward the ladder's base.", + "I am closer now and the yellow ladder sits slightly right of my heading, with the tank filling the left part of my view. I will turn right to line my heading up with the ladder and the ground beneath it.", + "The yellow ladder and the tank's support frame are now on my left, with open floor running alongside them. I will step forward to draw level with the lower part of the ladder.", + "The ladder rails are larger and closer on my left, but I am still short of the point where they meet the ground. I will continue walking forward to reach the level of the ladder's footing.", + "The yellow ladder now dominates the left of my view and I can see its rails running down to the concrete floor. One more forward step should bring me alongside that base before I turn to face it.", + "The yellow ladder is now close but sitting at the far left edge of my view, with its lower rungs and footing partly cut off. I will turn left to bring the ladder and the ground where its legs land back into the center of my view before closing the last of the distance.", + "The yellow ladder is now centered ahead of me with the blue tank looming just behind it, and I can see the ladder rails running down to the concrete floor. I will step forward to close the short remaining gap and stand at the point where the ladder meets the ground.", + "The yellow ladder on the blue tank fills my view and its feet meet the concrete right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3659026d3e960465b4c2dbba26512e0b004f42 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Walk to the yellow forklift, then head toward the orange forklift.", + "Type": 3, + "Start_Pose": [ + -6753.382, + 4055.272, + 118.099, + 0.0, + -147.848, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6753.382, + 4055.272, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -6859.939, + 3988.294, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -6966.496, + 3921.316, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7073.053, + 3854.338, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7179.611, + 3787.36, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7179.611, + 3787.36, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7247.878, + 3681.624, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7316.146, + 3575.888, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7384.413, + 3470.153, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7452.68, + 3364.417, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7520.948, + 3258.681, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7520.948, + 3258.681, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7627.505, + 3191.703, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7627.505, + 3191.703, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7627.505, + 3191.703, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7627.505, + 3191.703, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7627.505, + 3191.703, + 118.099, + 0.0, + 137.152, + -0.0 + ], + [ + -7719.78, + 3277.294, + 118.099, + 0.0, + 137.152, + -0.0 + ], + [ + -7812.055, + 3362.886, + 118.099, + 0.0, + 137.152, + -0.0 + ], + [ + -7904.33, + 3448.477, + 118.099, + 0.0, + 137.152, + -0.0 + ], + [ + -7996.604, + 3534.068, + 118.099, + 0.0, + 137.152, + -0.0 + ], + [ + -7996.604, + 3534.068, + 118.099, + 0.0, + 112.152, + -0.0 + ], + [ + -7996.604, + 3534.068, + 118.099, + 0.0, + 87.152, + -0.0 + ], + [ + -7990.351, + 3659.771, + 118.099, + 0.0, + 87.152, + -0.0 + ], + [ + -7984.097, + 3785.475, + 118.099, + 0.0, + 87.152, + -0.0 + ], + [ + -7977.844, + 3911.179, + 118.099, + 0.0, + 87.152, + -0.0 + ], + [ + -7977.844, + 3911.179, + 118.099, + 0.0, + 62.152, + -0.0 + ], + [ + -7919.052, + 4022.462, + 118.099, + 0.0, + 62.152, + -0.0 + ], + [ + -7919.052, + 4022.462, + 118.099, + 0.0, + 62.152, + -0.0 + ] + ], + "Rationale": [ + "From the open yard I can already pick out the yellow forklift parked ahead on the right, near the stacked white totes against the far wall. The ground between us is clear concrete, so I will walk straight ahead to cut down that distance.", + "The yellow forklift has grown slightly larger ahead and to my right, confirming my heading is bringing me closer to it. Nothing blocks the stretch of yard in front of me, so I will keep walking forward.", + "The tote stacks on my left are sliding past and the yellow forklift now sits clearly beyond them under the overhead rail. I still have plenty of open ground between us, so another step forward should keep closing the gap.", + "The yellow forklift is noticeably nearer now, its wheels and body clearly readable against the wall behind it. It is still off to my right rather than dead ahead, but I can continue straight for the moment and keep gaining ground.", + "The yellow forklift sits right of my current heading, so walking straight would carry me past it toward the tote stacks on my left. I will turn right to bring the forklift into the middle of my view before advancing again.", + "The turn has put the yellow forklift near the center of my view with clear floor leading up to it. A concrete panel stands off to my right, but it does not intrude on the lane ahead, so I will step forward.", + "The yellow forklift is filling more of my view and its mast and front wheels are plainly visible straight ahead. My heading remains good, so I will keep walking toward it.", + "The yellow forklift now dominates the center of my view, though there is still a stretch of bare concrete between me and its wheels. I will advance again to get properly alongside it.", + "The yellow forklift now stands large in front of me, with clear open concrete between us and the pallets of containers behind it. Nothing blocks the lane, so I walk forward again to shrink the remaining gap to that machine.", + "The yellow forklift has grown across most of my view, its tires and mast clearly resolved, yet I am still a few paces short of standing beside it. I step forward once more to close on it.", + "At this range the yellow forklift has drifted into the left portion of my view, with its cab already cut off by the frame edge while empty floor sits ahead of me. I turn left to bring the machine back to the center of my heading before advancing further.", + "The yellow forklift now sits squarely centered in my view, its full side profile facing me from close range. One more step forward should put me right up at it.", + "The yellow forklift's chipped paint, tires and cab fill my whole view at arm's length, with nothing left between us. I have arrived at the yellow forklift, so I mark reaching it before setting off toward the orange forklift.", + "Pressed this close, the yellow forklift's bodywork blocks nearly everything ahead of me and no orange machine is anywhere in sight. I turn left to swing my view off this bulk and open up the yard so I can search for the orange forklift.", + "Rotating has cleared part of the view, showing a shuttered wall and a small yellow object on the ground, but the forklift's front wheel still crowds my right side and no orange machine appears. I keep turning left to sweep more of the yard.", + "More of the yard is open now, with roller doors along the far wall and only a small yellow item near them, so the orange forklift is still outside my view. I turn left once more to bring the rest of the yard into sight.", + "Having marked reaching the yellow forklift, my heading now looks out across the open concrete yard toward the long shuttered warehouse wall. Nothing orange stands anywhere in this stretch yet, so I walk forward to cross the empty ground and open up more of the yard.", + "The tote stacks are sliding past on my left and the pavement ahead stays clear of obstacles. The orange forklift is still not in sight along this wall, so another step forward should bring more of the yard's far corners into view.", + "More of the far left corner is opening up, showing small machinery and yellow drums rather than the orange forklift I want. The route straight ahead remains unobstructed, so I keep walking to gain a wider look across the yard.", + "The wall ahead of me is solid with closed shutters and holds nothing that looks like an orange machine. A few more paces into the middle of the yard should give me a clean vantage before I commit to a new heading.", + "Straight ahead is only the shuttered warehouse face, which offers nothing orange and no way through. I turn left to swing my view toward the unexplored side of the yard where the machinery and stacks stand.", + "The first turn brought the rusty tank cluster and the tote stacks into the left of my view, with open lane beyond them. I turn left once more to put that corridor squarely in front of me before advancing.", + "I now face down the lane between the tote stacks on my left and the stacked steel tanks ahead, with a small orange patch showing low near the base of those tanks. I walk forward to close the gap and confirm whether that is the orange forklift.", + "The orange bodywork beside the tank stack is clearer now and reads as a machine rather than a drum or crate. I keep walking down the lane to close the remaining distance to it.", + "The orange forklift now stands close on my left, its body and mast filling the near edge of my view beside the stacked tank containers. A further step along this open lane should carry me level with it rather than leaving it behind my shoulder. I will keep walking forward.", + "The orange forklift is right beside me but sits low in the left part of my view, so I am facing past it down the yard. Turning left should swing my heading onto it and put its frame squarely ahead. I will make that turn now.", + "The turn has brought the orange forklift into the middle of my view, its forks and orange body directly in front of me with clear ground between us. One more step should close that last gap and place me right at the machine. I will move forward.", + "The orange forklift stands immediately in front of me, filling the near view within arm's reach. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00e8b7581fb842ecad2955c980b393a87a1fa218 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the stacked white containers, then move to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -6753.382, + 4055.272, + 118.099, + 0.0, + -147.848, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6753.382, + 4055.272, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -6859.939, + 3988.294, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -6859.939, + 3988.294, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -6984.819, + 3972.624, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7109.699, + 3956.955, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7234.578, + 3941.285, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7359.458, + 3925.615, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7472.667, + 3910.161, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7472.667, + 3910.161, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7472.667, + 3910.161, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7472.667, + 3910.161, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7472.667, + 3910.161, + 118.099, + 0.0, + -97.848, + 0.0 + ], + [ + -7472.667, + 3910.161, + 118.099, + 0.0, + -72.848, + 0.0 + ], + [ + -7435.55, + 3789.899, + 118.099, + 0.0, + -72.848, + 0.0 + ], + [ + -7398.433, + 3669.638, + 118.099, + 0.0, + -72.848, + 0.0 + ], + [ + -7398.433, + 3669.638, + 118.099, + 0.0, + -97.848, + 0.0 + ], + [ + -7398.433, + 3669.638, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7466.701, + 3563.902, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7534.968, + 3458.166, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7603.236, + 3352.431, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7671.503, + 3246.695, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7671.503, + 3246.695, + 118.099, + 0.0, + -122.848, + 0.0 + ] + ], + "Rationale": [ + "The stacked white containers stand across the open concrete yard, still far off, with the yellow forklift parked beyond them to the right. Since my heading already points into that open ground, walking straight ahead should cut the distance to the container stack before I refine my bearing.", + "After closing some distance, the white container stack now sits left of my view center while my path runs off toward the open bay doors on the right. A turn to the left should place the stack squarely ahead so my next steps carry me straight to it.", + "The stacked white containers now sit near the middle of my view with clear concrete between us. With the heading corrected, stepping forward should shrink that gap directly.", + "The container stack has grown noticeably larger and stays centered in front of me, so my line of travel is still good. Another step forward should keep closing the remaining distance.", + "The six caged white tanks now dominate the middle of my view, and the rusty pallet lift sits well clear to my left. Continuing straight ahead should bring me within a few paces of the stack.", + "The caged tanks now tower over the right half of my view and their pallet bases are plainly visible, so only a short gap remains. I will step forward again to close on them.", + "The white tanks and their steel cages now fill nearly my entire view, with individual cage bars and the pallet slots distinct just ahead. One more short step should put me right up against the stack.", + "The pale translucent walls and steel cage bars of the stacked white containers fill my whole view at arm's length. I have arrived at the stacked white containers. I mark reaching them and now turn my attention to the yellow forklift parked across the yard.", + "I am right up against the stacked white containers, and their frames and pallets fill my whole view with no path ahead. Since I still need to get to the yellow forklift, I will turn right to swing my heading off this stack and open up the yard again.", + "The turn has only shifted me along the same wall of totes, which still blocks nearly everything in front of me. I will turn right again to keep sweeping my view off the stack and look for the open ground where the forklift stands.", + "Open yard and distant concrete structures are now appearing past the right edge of the tote stack, so I am nearly clear of it. Another right turn should bring that open ground fully in front of me instead of the container faces.", + "The stack has slid to my left and a wide concrete-walled yard lies ahead, but my heading still hugs the containers. I will turn right once more to line up with the open lane so I can walk out and search for the yellow forklift.", + "I am now clear of the tote stack with unobstructed pavement between me and the concrete barriers ahead. I will step forward to move out into the yard and expose more of the area where the forklift should be parked.", + "The yellow forklift has come into view at the far left of the yard, parked beside a low pallet of white totes. The ground straight ahead is still clear, so I will keep walking forward to close the remaining distance toward it.", + "The forklift is now only clipped at the extreme left border of my view while the concrete barriers occupy the center. I will turn left to bring the machine back into the middle of my view so I can head straight at it.", + "The yellow forklift is fully visible now, but it still sits left of my center with open yard on my right. One more left turn should square my heading onto it before I close the last stretch on foot.", + "The yellow forklift now sits squarely ahead of me in the open yard, clear of the concrete barriers on my right. With the heading settled on it, I will walk straight forward to cut down the remaining distance.", + "The forklift has grown larger and stays centered, so my line toward it is good. I am still several strides short of standing beside it, so I will keep walking forward.", + "The forklift's tires and mast are clearly resolved now, but there is still a stretch of bare floor before I reach it. I will advance again along the same straight line.", + "The forklift dominates my view from its forks to its rear wheel, yet I am not quite alongside it. One more step forward should bring me right up to the machine.", + "The yellow forklift fills my view at arm's length, with the white containers standing just beyond it. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6820b74cdafb3d7af448301fdc2e85c967221a03 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t3_c/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Head toward the orange forklift, then walk to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -6753.382, + 4055.272, + 118.099, + 0.0, + -147.848, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6753.382, + 4055.272, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -6753.382, + 4055.272, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -6878.262, + 4039.602, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7003.141, + 4023.933, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7128.021, + 4008.263, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7252.901, + 3992.593, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7252.901, + 3992.593, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7372.703, + 4031.168, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7492.504, + 4069.743, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7612.306, + 4108.318, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7612.306, + 4108.318, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7524.353, + 4079.998, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7436.4, + 4051.678, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7348.447, + 4023.358, + 118.099, + 0.0, + 162.152, + -0.0 + ], + [ + -7348.447, + 4023.358, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7348.447, + 4023.358, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7348.447, + 4023.358, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7348.447, + 4023.358, + 118.099, + 0.0, + -97.848, + 0.0 + ], + [ + -7365.632, + 3898.678, + 118.099, + 0.0, + -97.848, + 0.0 + ], + [ + -7382.818, + 3773.998, + 118.099, + 0.0, + -97.848, + 0.0 + ], + [ + -7400.003, + 3649.318, + 118.099, + 0.0, + -97.848, + 0.0 + ], + [ + -7400.003, + 3649.318, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7468.271, + 3543.582, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7536.538, + 3437.846, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7604.806, + 3332.11, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7673.073, + 3226.375, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7673.073, + 3226.375, + 118.099, + 0.0, + -122.848, + 0.0 + ] + ], + "Rationale": [ + "From here the rusty orange lift truck stands far off to my left, near the shuttered wall, while the yellow one sits off to my right beyond the caged tanks. My first destination is the orange machine, so I turn left to swing it toward the middle of my view before setting off.", + "The orange lift truck now sits ahead of me beside the doorway, with the stacked caged tanks off to its right. The open concrete between us is clear, so I walk forward to close that gap.", + "The orange lift truck has grown a little larger against the shuttered wall, so my heading is carrying me straight at it. Nothing blocks the lane on this side of the tank stacks, so I keep walking forward.", + "The orange machine's mast and forks are now clearly readable, but it is still a good distance off across the yard. I advance again to keep shrinking that gap while the tank stacks pass on my right.", + "The orange lift truck is noticeably bigger and has drifted slightly left as I come alongside the tall caged tanks. There is still open floor in front of me, so I take another step forward toward it.", + "Passing the caged tanks has pushed the orange lift truck out to the left edge of my view instead of straight ahead. I turn left to bring it back in front of me so my next steps close on it directly.", + "The orange lift truck now sits squarely ahead between the tank stacks on my right and the pallets on my left. With that heading corrected, I walk forward to close the remaining distance.", + "The orange lift truck fills much more of my view now, its forks and rusted body plain in front of me. It is still a few strides off, so I step forward again to reach it.", + "The rusty orange forklift now fills the middle of my view, its mast and forks close enough to read every dent. A short step forward should bring me right up against its frame so my arrival at this machine is unambiguous. The ground ahead is open concrete, so I walk on.", + "The orange forklift's mast rails and battered orange body are directly in front of me, filling my view at arm's length. I have arrived at the orange forklift. I mark reaching it, and now I set off toward the yellow forklift standing over on the far side of the yard.", + "Standing this close, the orange forklift's mast blocks nearly everything ahead, leaving me no view of the yard I need to cross next. Backing up a step should open distance from the machine and give me room to swing my heading toward the yellow forklift without scraping past it.", + "The orange machine has dropped back into full view, but the pallet stacks crowd close on my right and the yard beyond is still narrow. Another step back should widen my standoff so I can rotate freely toward the far side where the yellow forklift sits.", + "I can now see the whole orange forklift with open floor around it, yet the caged totes on my right still sit near my shoulder. One more step back should clear that corner so a turn to the right has room to carry me toward the yellow forklift.", + "I have enough standoff now, and my body is still aimed at the orange machine I have already reached. The yellow forklift lies off to my right, past the caged tote stacks along that side of the yard. Turning right begins swinging my heading that way.", + "The rotation has pushed the orange forklift to my left and brought the tall wall of caged totes across the front of my view. The yellow machine is still further around to my right, so I keep turning in the same direction to clear these stacks from my line of sight.", + "A patch of yellow bodywork has just come into the right edge of my view beyond the corner of the tote stacks. Another turn in the same direction should bring that yellow forklift clear of the cages and into the middle of my view before I walk toward it.", + "Past the right edge of the tote stacks I can now see the yellow forklift standing against the far wall, still well off to my right. One more turn in that direction should place it and the open aisle floor squarely ahead of me.", + "The yellow forklift now sits ahead of me in the gap between the tote stacks and the concrete panels, with clear floor running toward it. I will walk forward along this open lane to cut the distance.", + "The yellow forklift has grown noticeably larger and its mast and front wheels are now distinct, so my heading down this lane is good. I keep walking straight to close more of the remaining gap.", + "I am past the tote stacks and the yellow forklift stands plainly ahead and slightly left, parked beside the white containers. Another step forward should bring me within a short distance of it.", + "The yellow forklift has drifted toward the left edge of my view while the concrete barrier fills the right side. Turning left should recenter the machine so I can walk straight at it.", + "The yellow forklift is now centered in front of me with clear floor leading up to it. I step forward to close the remaining distance to that machine.", + "The yellow forklift's chipped bodywork and tires are clearly resolved directly ahead, confirming I am lined up on it. A further step should bring me close alongside the machine.", + "The yellow forklift now dominates my view, though a few paces of open concrete still separate us. I keep walking straight ahead to stand right at it.", + "The yellow forklift now fills most of my view, its body and wheels centered just ahead of me. A short step more should close the last bit of gap and put me right beside it.", + "The yellow forklift stands directly in front of me, close enough to touch its body. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t5_a_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..887e3e5feb3189899afafac718684733e56b4ab7 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t5_a_pd/infos.json @@ -0,0 +1,677 @@ +{ + "Instruction": "Grab the trash bag at the yellow forklift, then set it down near the orange forklift.", + "Type": 5, + "Start_Pose": [ + -6753.382, + 4055.272, + 118.099, + 0, + -147.848, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -7869.793, + 3389.519, + 38.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6753.382, + 4055.272, + 118.099, + 0, + -147.848, + 0 + ], + [ + -6859.939, + 3988.294, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -6966.496, + 3921.316, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7073.053, + 3854.338, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7179.611, + 3787.36, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7286.168, + 3720.382, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7392.725, + 3653.404, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7499.282, + 3586.426, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7605.839, + 3519.448, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7712.397, + 3452.47, + 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-28.189, + 87.31, + 1.869 + ], + [ + -7525.784, + 3608.874, + 88.796, + -28.191, + 87.301, + 1.877 + ], + [ + -7424.056, + 3675.027, + 88.752, + -28.187, + 87.309, + 1.878 + ], + [ + -7430.06, + 3668.584, + 87.946, + -28.208, + 112.288, + 1.854 + ], + [ + -7433.499, + 3659.713, + 88.468, + -28.207, + 137.29, + 1.862 + ], + [ + -7437.061, + 3653.62, + 87.865, + -14.092, + 154.495, + 6.87 + ], + [ + -7477.376, + 3766.406, + 88.432, + -28.198, + 162.297, + 1.865 + ], + [ + -7492.524, + 3881.887, + 87.689, + -28.196, + 162.298, + 1.862 + ], + [ + -7507.651, + 3996.621, + 87.801, + -28.206, + 162.293, + 1.853 + ], + [ + -7502.767, + 3988.162, + 88.638, + -28.207, + -172.714, + 1.861 + ], + [ + -7594.408, + 4074.585, + 88.142, + -28.188, + -172.697, + 1.873 + ], + [ + -7586.501, + 4069.162, + 88.522, + -28.206, + -147.712, + 1.855 + ], + [ + -7683.535, + 4132.726, + 88.836, + -28.194, + -147.702, + 1.87 + ], + [ + -7675.012, + 4131.596, + 87.759, + -28.208, + -122.709, + 1.852 + ], + [ + -7675.976, + 4153.615, + 78.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7675.976, + 4153.615, + 78.099, + 0.0, + -172.848, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1299.8, + 1174.0, + 1048.2, + 922.4, + 796.6, + 670.9, + 545.2, + 419.6, + 294.2, + 169.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 22.1, + 23.1, + 27.1, + 21.4, + 21.4, + 21.4, + 22.4, + 21.4, + 22.3, + 21.4, + 22.0, + 70.0, + 70.0 + ], + "Rationale": [ + "The yellow forklift sits far ahead across the yard, near the right side of the open concrete area, and the trash bag I need is not yet resolvable at this distance. My heading already points down the open lane between the stacked water tanks and the building wall, so I will walk forward to close the gap.", + "The yellow forklift has grown slightly larger and stays near the center-right of my view, confirming my heading is good. Nothing blocks the concrete lane ahead, so I keep walking to reach the pickup area.", + "The tank stacks on my left are sliding past as the yellow forklift keeps growing ahead, so the approach line is working. I am still too far to identify the trash bag beside it, so I continue forward.", + "The yellow forklift is now clearly in view with open floor in front of it, but no bag is yet distinguishable on the ground near it. I step forward again to bring that area within recognizable range.", + "A small dark object is now visible on the concrete just left of the yellow forklift, which likely is the trash bag I must collect. The route to it remains clear past the tank stack, so I keep advancing.", + "The dark trash bag beside the yellow forklift is clearly identifiable now and sits slightly left of my heading. It is still several steps away, so I continue walking to bring it within reach.", + "The trash bag is centered just ahead and the yellow forklift now looms large to its right, so I am in the correct part of the yard. The bag is still beyond grasping distance, so I walk forward again.", + "The trash bag now sits close and slightly left of center, with clear floor between us and no obstruction from the forklift on the right. One more step forward should place it directly at my feet for a grasp attempt.", + "The trash bag sits on the ground just ahead of me, slightly left of my heading, with the yellow forklift looming to my right. It is still a couple of paces out, so I will walk forward again to close that last gap and bring the bag within reach.", + "The bag now fills the near ground directly in front of me at the yellow forklift, with nothing between us. This is close enough to grasp it, so I will attempt to pick it up before carrying it toward the orange forklift.", + "The bag is in my hands now, so the grab at the yellow forklift worked. No orange forklift appears anywhere along my current heading, so I will turn left to sweep the yard and find the delivery side.", + "Ahead of me are only the shuttered wall, stacked drums and the green skip, with no orange forklift among them. Carrying the bag, I will turn left again to keep scanning for the drop-off area.", + "This heading shows the same warehouse wall with drums, and the caged totes now edging into the left of my view. Nothing orange is visible here, so another left turn should reveal more of the yard.", + "The stacked totes now block a large part of what lies beyond them on this side. Since I still have not sighted the orange forklift, I will keep rotating left to bring the hidden portion of the yard into view.", + "Only the caged totes stand in front of me now, so this heading tells me nothing about where the orange forklift is. Turning left again should swing my view past the stack toward more open ground.", + "The tote stack fills my entire forward view, leaving no useful sightline for spotting the orange forklift. I will turn left once more so the open part of the yard can come into view while I hold the bag.", + "The bag is in my hands and the stacked liquid totes still crowd the front of my view, but the yard has opened up on my left with a clear lane past the gantry crane. One more left turn should swing my heading fully into that open lane instead of into the pallets. I keep rotating left to clear the tote stacks before walking.", + "My heading now runs down the open lane, with the tote stacks safely off to my right and concrete blocks well clear on the left. Carrying the bag, I have no reason to keep turning. I step forward along this corridor to cross the yard toward the far side where the orange forklift should stand.", + "The lane ahead is still unobstructed, with only the tote stack brushing past my right shoulder. Nothing in front blocks a walking step. I continue forward to close distance across this container yard while holding the trash bag.", + "The green locomotive has come alongside on my right, and the ground straight ahead remains flat and clear. I am still holding the bag and have not yet reached a place to set it down. Another forward step should carry me further along this open stretch.", + "Continuing straight would only take me deeper toward the far containers, while the route toward the far side of the yard runs off to my right past the locomotive. I turn right to begin swinging my heading that way. The bag stays with me for the drop.", + "The locomotive now fills the view broadside, so my heading is not yet along a walkable line. I keep rotating right to bring the open pavement beyond the rail cars into the front of my view. The bag remains held while I finish this reorientation.", + "The locomotive has slid toward my left and open ground with tank containers is appearing on the right, so the rotation is bringing a passable line into view. One more right turn should point me down the gap alongside the stacked totes. I still carry the bag for the drop.", + "I am now aimed down the corridor between the rail cars on my left and the tote stacks on my right, with clear pavement between them. Turning further would only face me into the totes. I step forward along this gap to keep carrying the bag toward the orange forklift area.", + "The trash bag is still with me as I carry it away from the yellow forklift area. A tall stack of totes crowds my right and the parked locomotive lines the left, so the open lane straight ahead is the only clear route onward. I step forward to pass this stack and open the view toward the orange forklift.", + "Past the totes the yard opens up, with the tank container frame ahead and the locomotive alongside on my left. No orange forklift is in sight yet, so I keep pushing along this clear lane with the bag. Another step should bring more of the yard's right side into view.", + "An orange machine body has just come into view at the right edge of my sight, which matches the orange forklift I need to reach. My current heading points along the rails and tank containers instead. I turn right to bring that forklift in front of me before advancing further.", + "The orange forklift now stands clearly ahead of me with its mast and forks facing my way, and the ground between us is flat and empty. Carrying the bag, I still need to close that gap before releasing it nearby. I walk forward toward the forklift.", + "My forward step has carried me alongside the orange forklift, which now sits low on my right rather than in front. To place the bag close beside it I need the machine centered again. I turn right to face it directly.", + "The orange forklift is squarely in front of me with its counterweight and mast filling the middle of my view. I am close but not yet at the spot right beside it where the bag belongs. I step forward to tighten that distance.", + "That step brought me right up beside the orange forklift, whose body now sits at the lower right of my view while I face the open yard. Before setting the bag down I want the forklift squarely in front so the drop lands close to it. I turn right to square up on the machine.", + "The orange forklift is now directly in front of me, its mast and orange body filling the near view, and the bag is still in my hands. This is the intended placement spot beside the machine. I release the trash bag here so it should come to rest near the orange forklift.", + "The trash bag now rests on the ground right beside the orange forklift, and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t5_b_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a542aa02af8a461c0bab585a6bc1ae8f6ce41f --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-006753_y004055_z000118_t5_b_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the green bell pepper at the stacked white containers, then place it near the yellow forklift.", + "Type": 5, + "Start_Pose": [ + -6753.382, + 4055.272, + 118.099, + 0, + -147.848, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -7469.36, + 3894.363, + 67.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6753.382, + 4055.272, + 118.099, + 0, + -147.848, + 0 + ], + [ + -6859.939, + 3988.294, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -6966.496, + 3921.316, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7073.053, + 3854.338, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7073.053, + 3854.338, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7197.933, + 3838.668, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7322.813, + 3822.999, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7322.813, + 3822.999, + 118.099, + 0.0, + -172.848, + 0.0 + ], + [ + -7322.813, + 3822.999, + 118.099, + 0.0, + -147.848, + 0.0 + ], + [ + -7322.813, + 3822.999, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7391.081, + 3717.263, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7459.349, + 3611.528, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7527.617, + 3505.793, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7595.886, + 3400.058, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7664.154, + 3294.322, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7732.422, + 3188.587, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7693.368, + 3249.075, + 118.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7693.368, + 3249.075, + 118.099, + 0.0, + -122.848, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -7469.36, + 3894.363, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -7469.36, + 3894.363, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -7469.36, + 3894.363, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -7469.36, + 3894.363, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -7469.36, + 3894.363, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -7469.36, + 3894.363, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -7469.36, + 3894.363, + 67.099, + 0.0, + 0.0, + 0.0 + ], + [ + -7319.549, + 3801.887, + 88.206, + -28.202, + -122.704, + 1.862 + ], + [ + -7310.417, + 3804.436, + 88.478, + -28.189, + -97.692, + 1.872 + ], + [ + -7303.974, + 3810.653, + 87.811, + -28.215, + -72.721, + 1.849 + ], + [ + -7372.982, + 3705.925, + 87.625, + -28.202, + -72.707, + 1.858 + ], + [ + -7441.169, + 3600.319, + 87.887, + -28.208, + -72.707, + 1.852 + ], + [ + -7509.29, + 3494.797, + 88.309, + -28.189, + -72.69, + 1.867 + ], + [ + -7577.418, + 3389.3, + 88.689, + -28.207, + -72.714, + 1.857 + ], + [ + -7645.658, + 3283.594, + 88.838, + -28.192, + -72.7, + 1.872 + ], + [ + -7714.028, + 3177.72, + 88.607, + -28.206, + -72.71, + 1.864 + ], + [ + -7731.337, + 3190.267, + 108.099, + 0.0, + -122.848, + 0.0 + ], + [ + -7731.337, + 3190.267, + 108.099, + 0.0, + -122.848, + 0.0 + ] + ], + "PD_Dist_2D": [ + 733.8, + 616.6, + 503.6, + 398.3, + 398.3, + 277.1, + 163.0, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the ground at the base of the stacked white containers well ahead of me, and the yellow forklift stands off to the right. Nothing blocks the open concrete between us, so I will walk straight forward to close that distance.", + "The container stack and the green pepper beside it now fill more of my view, confirming my heading is good. I am still far too distant to reach the pepper, so I will keep walking forward.", + "The pepper is clearly resolved at the left front corner of the container stack, but it is still several strides away and drifting toward my left as I advance. I will take another step forward to keep closing in before adjusting my heading.", + "My forward motion has pushed the green pepper out to the far left of my view, close to the edge of what I can see. Turning left should swing the pepper back toward the center so my remaining approach runs straight at it.", + "The pepper now sits near the middle of my view at the front left corner of the container stack, so my heading is right. The floor between us is clear, and I will step forward to get within reach.", + "The pepper has grown large and low in my view but remains beyond arm's length in front of me. One more step forward should bring it close enough to grasp.", + "I am now right up against the container stack with the green pepper at the very bottom left of my view, within reach. My hands are empty, so I will attempt to pick it up.", + "The grasp worked, and the green pepper is now held in my hands rather than resting on the ground. The yellow forklift, my delivery point, lies well around to my right past the container stack. I will turn right to begin facing it.", + "The pepper is in my hands and no longer sits beside the containers, so the grasp held. The yellow forklift is still off to my right, partly screened by the container stack edge. I will turn right once more to put it near the centre of my view before walking over.", + "The forklift now sits roughly ahead of me with open concrete between us, so my heading is good enough to carry the pepper straight there. The container stack has shifted to my left edge and no longer blocks the lane. I will step forward to close the gap.", + "The forklift has grown noticeably larger and stays centred, confirming I am tracking straight toward it while holding the pepper. The ground ahead is clear concrete with nothing in the way. I will keep walking to shorten the remaining distance.", + "The forklift now fills much of the middle of my view, but I am still several strides short of a placement position beside it. Nothing obstructs the approach lane. I will advance again to get close enough for a controlled release.", + "The forklift's wheels and mast are clearly resolved ahead, yet the gap is still wider than a comfortable placing distance. The floor in front remains open. I will step forward once more to tighten that gap.", + "I am close to the forklift's side now, with its front wheel and forks filling the left half of my view. A little more distance should put the pepper genuinely beside the machine rather than short of it. I will take another step forward.", + "The forklift's tyre and yellow body are almost within arm's reach on my left and ahead. One more step should bring me right against the machine so the pepper lands clearly next to it. I will move forward.", + "The forklift's yellow bodywork and wheel now fill my view at touching distance, so I am standing right beside the target machine. This is the spot the task asks for, and holding the pepper any longer gains nothing. I will release it here so it comes to rest near the forklift.", + "The green bell pepper now rests on the ground right beside the yellow forklift, out of my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-007187_y000434_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-007187_y000434_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b1bcc13357969ddfd9936bcb2924a2da2e111de --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-007187_y000434_z000118_t3_a/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Walk to the forklift, then head toward the red truck cab.", + "Type": 3, + "Start_Pose": [ + -7186.817, + 434.444, + 118.099, + 0.0, + -43.178, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7186.817, + 434.444, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -7095.037, + 348.323, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -7003.256, + 262.202, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -6911.476, + 176.08, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -6819.696, + 89.959, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -6727.915, + 3.838, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -6636.135, + -82.283, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -6636.135, + -82.283, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6589.35, + -199.123, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6542.565, + -315.964, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6495.78, + -432.804, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6448.995, + -549.645, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6402.211, + -666.485, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6355.426, + -783.325, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6308.641, + -900.166, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6308.641, + -900.166, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -6308.641, + -900.166, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -6308.641, + -900.166, + 118.099, + 0.0, + -18.178, + 0.0 + ], + [ + -6308.641, + -900.166, + 118.099, + 0.0, + 6.822, + -0.0 + ], + [ + -6308.641, + -900.166, + 118.099, + 0.0, + 31.822, + -0.0 + ], + [ + -6308.641, + -900.166, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -6239.766, + -794.825, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -6170.89, + -689.484, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -6102.015, + -584.143, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -6033.14, + -478.802, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -5964.264, + -373.462, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -5895.389, + -268.121, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -5826.514, + -162.78, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -5757.638, + -57.439, + 118.099, + 0.0, + 56.822, + -0.0 + ], + [ + -5757.638, + -57.439, + 118.099, + 0.0, + 56.822, + -0.0 + ] + ], + "Rationale": [ + "The yellow forklift sits far off to my left near the green silos and concrete blocks, while the red truck cab waits by the warehouse wall on my right. I will walk forward across the open yard to close the large gap toward the forklift first.", + "The forklift by the silos has grown slightly larger, so my forward line is shortening the distance to it. The pavement ahead is clear of clutter, so I will keep walking forward.", + "The forklift is still well off to my left front, but each stride brings the silo row and block stacks nearer. Nothing blocks the ground between me and that side of the yard, so I continue advancing.", + "The forklift's mast and yellow body are now clearly resolved beside the silos, confirming it is the machine I want. I will keep stepping forward, since straight travel still closes distance before I need to correct my heading.", + "The forklift keeps drifting toward the left edge as I advance, which tells me I am passing slightly to its side. Distance is still the bigger problem, so I will move forward again before adjusting my facing.", + "The forklift is much closer now, sitting low on my left with the silos behind it. One more forward step should bring me within a short walk of it before I swing my heading over.", + "The forklift now sits at the far left of my view, close enough that walking straight ahead would carry me past it. I will turn left to bring the machine into the center of my view before continuing.", + "The turn has placed the yellow forklift near the middle of my view with clear pavement between us. I will walk forward to close the remaining distance to it.", + "The yellow forklift sits just left of my heading with clear, flat concrete between us, so nothing blocks a direct walk. I will step forward again to close that remaining gap toward it.", + "The forklift has grown noticeably larger and its mast and tires are now clearly resolved ahead of me. My heading still points at it, so another step forward should keep shrinking the distance.", + "The forklift now dominates the middle of my view, its cage and front wheels close and the green silos rising behind it. I am not yet beside it, so I will keep walking straight ahead.", + "Only a short stretch of concrete separates me from the forklift's forks and front tire now. Another forward step should bring me right up alongside the machine.", + "The forklift's mast towers close in front of me and its body has drifted toward my left side as I close in. I will advance once more to reach the machine itself.", + "The forklift is now very near, its steel forks and wheels filling the left half of my view. One more step should place me right at the machine rather than short of it.", + "The forklift's forks, mast and heavy front tire loom immediately beside me, close enough to touch. I have reached the forklift. I mark arriving here before setting off toward the red truck cab across the yard.", + "Standing at the forklift, my view is filled by its frame and the silos, with no sign of the red truck cab that stood over by the red-panelled building. Turning right should swing my heading back across the open yard toward that side.", + "The forklift I reached now sits off at my left shoulder, and ahead of me I only see the long concrete wall and its row of stacked blocks. The red truck cab is not yet in view, so I will keep swinging my heading further right to bring the open yard on that side into sight.", + "My view has cleared the forklift and now faces the grey wall with its window band and the line of concrete blocks. Still no sign of the red cab, so I will continue rotating right to sweep further along the yard toward the pink loading doors side.", + "The pink shutter panels and the open bay between them are now in front of me, which is the stretch of building the red cab was parked beside. Since the cab itself is still beyond my right edge, I will turn right again to bring it into view.", + "The red truck cab has come into sight at the right side of my view, standing near the green tanks past the pink doors. One more turn to the right should put it close to the center of my heading before I start walking.", + "The red truck cab now sits ahead of me across open concrete, roughly on my heading with clear ground between us. I will walk forward to start closing that gap.", + "The red cab has grown slightly larger and stays near the middle of my view, so my line toward it is good. The yard in front of me remains empty, so I will keep walking straight ahead.", + "The cab's windscreen and front wheels are now clearly readable, meaning I have cut a good part of the distance. Nothing blocks the ground between us, so another step forward should bring me closer still.", + "The red cab fills a good part of my view and its door and grille are close to my heading. I am not yet beside it, so I will keep advancing toward its front.", + "The weathered red truck cab now fills much of my view slightly right of center, but there is still open concrete between me and its front bumper. I will keep walking straight ahead to cut that remaining gap.", + "The cab's grille and near front wheel are clearly resolved now, yet a few strides of bare ground still separate me from the vehicle. Continuing forward should bring me right up beside the red cab.", + "The red cab door and window now tower over the left portion of my view, so I am close but not yet at its front corner. One more step forward should place me directly at the truck.", + "The rusted red bumper and front wheel are almost within arm's reach, filling nearly the whole view. A final short step should put me right against the cab.", + "The red truck cab's rusted bumper and wheel stand immediately in front of me, filling my view. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-007187_y000434_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-007187_y000434_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d1574c83583b1b7bc77ae84582351a902f3bbf4 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-007187_y000434_z000118_t3_b/infos.json @@ -0,0 +1,396 @@ +{ + "Instruction": "Navigate to the red truck cab, then proceed to the forklift.", + "Type": 3, + "Start_Pose": [ + -7186.817, + 434.444, + 118.099, + 0.0, + -43.178, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7186.817, + 434.444, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -7186.817, + 434.444, + 118.099, + 0.0, + -18.178, + 0.0 + ], + [ + -7067.239, + 395.18, + 118.099, + 0.0, + -18.178, + 0.0 + ], + [ + -6947.662, + 355.915, + 118.099, + 0.0, + -18.178, + 0.0 + ], + [ + -6828.084, + 316.651, + 118.099, + 0.0, + -18.178, + 0.0 + ], + [ + -6708.506, + 277.387, + 118.099, + 0.0, + -18.178, + 0.0 + ], + [ + -6588.929, + 238.123, + 118.099, + 0.0, + -18.178, + 0.0 + ], + [ + -6588.929, + 238.123, + 118.099, + 0.0, + 6.822, + -0.0 + ], + [ + -6463.961, + 253.073, + 118.099, + 0.0, + 6.822, + -0.0 + ], + [ + -6338.993, + 268.023, + 118.099, + 0.0, + 6.822, + -0.0 + ], + [ + -6214.025, + 282.973, + 118.099, + 0.0, + 6.822, + -0.0 + ], + [ + -6089.057, + 297.923, + 118.099, + 0.0, + 6.822, + -0.0 + ], + [ + -5964.089, + 312.874, + 118.099, + 0.0, + 6.822, + -0.0 + ], + [ + -5964.089, + 312.874, + 118.099, + 0.0, + 6.822, + -0.0 + ], + [ + -5964.089, + 312.874, + 118.099, + 0.0, + -18.178, + 0.0 + ], + [ + -5964.089, + 312.874, + 118.099, + 0.0, + -43.178, + 0.0 + ], + [ + -5964.089, + 312.874, + 118.099, + 0.0, + -68.178, + 0.0 + ], + [ + -5964.089, + 312.874, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -5971.067, + 187.208, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -5978.044, + 61.543, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -5985.021, + -64.123, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -5991.999, + -189.788, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -5998.976, + -315.454, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -6005.954, + -441.119, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -6012.931, + -566.784, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -6019.908, + -692.45, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -6026.886, + -818.115, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -6026.886, + -818.115, + 118.099, + 0.0, + -118.178, + 0.0 + ], + [ + -6086.318, + -929.058, + 118.099, + 0.0, + -118.178, + 0.0 + ], + [ + -6098.528, + -956.996, + 118.099, + 0.0, + -118.178, + 0.0 + ], + [ + -6095.944, + -958.488, + 118.099, + 0.0, + -118.178, + 0.0 + ], + [ + -6052.311, + -877.039, + 118.099, + 0.0, + -118.178, + 0.0 + ], + [ + -6052.311, + -877.039, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -6053.102, + -999.774, + 118.099, + 0.0, + -93.178, + 0.0 + ], + [ + -6053.102, + -999.774, + 118.099, + 0.0, + -118.178, + 0.0 + ], + [ + -6053.102, + -999.774, + 118.099, + 0.0, + -143.178, + 0.0 + ], + [ + -6089.281, + -1082.808, + 118.099, + 0.0, + -143.178, + 0.0 + ], + [ + -6089.281, + -1082.808, + 118.099, + 0.0, + -143.178, + 0.0 + ] + ], + "Rationale": [ + "The red truck cab sits over on the right side of the yard, parked against the pink wall of the shed, while my heading points across the open concrete toward the tanks. I will turn right so the cab moves toward the middle of my view and gives me a straight line to walk.", + "The red truck cab now stands roughly ahead of me in front of the pink wall, and the concrete between us is flat and clear. I will walk forward to close that gap.", + "The cab and its chassis have grown slightly larger ahead of me, so my heading is carrying me toward it. Nothing blocks the yard between us, so I will keep stepping forward.", + "The truck is still some distance off, its wheels and frame only partly filling my view against the wall. I will continue walking straight ahead to shorten the remaining distance.", + "The red cab now looms noticeably larger and its front wheel is clearly resolved, so my line of travel is good. I am not yet close enough to be beside it, so I will take another step forward.", + "The red truck cab now fills a good part of my view against the pink warehouse wall, but there is still open concrete between me and it. Nothing blocks the ground ahead, so I will keep walking straight toward the cab to close the remaining gap.", + "The red cab has drifted to the right side of my view as I have come closer, so walking straight now would carry me past its front rather than up to it. I will turn right to bring the cab back toward the middle of my heading.", + "The red cab now sits squarely ahead of me with its door and front wheel facing my path. With the ground between us clear, I will step forward to keep closing on it.", + "The cab has grown noticeably and its side panel and windows dominate the middle of my view, so my heading remains good. I am still a few strides short of standing beside it, so I will continue walking forward.", + "The red cab is close enough that its front wheel and lower body take up much of my view, yet I am not yet right up against it. I will take another step forward to finish closing the last of the distance.", + "The red truck cab now fills most of my view, its front wheel and door only a short walk ahead and slightly left. Nothing blocks the open concrete between us, so I step forward again to close the remaining gap to the cab.", + "I am nearly alongside the red cab, with its side panel and fender filling the left of my view and the fuel tank close on my right. One more step should bring me right up against the cab rather than beside its chassis.", + "The weathered red cab and its chassis rail are right in front of me, close enough to touch. I have reached the red truck cab, so I mark arriving here before turning away toward the forklift parked across the yard.", + "Standing this close, the red cab blocks nearly everything I can see, so I cannot pick out the forklift from here. I turn left to swing my view off the truck and back toward the open yard where the forklift should be.", + "The truck's cab still takes up the right of my view, but the yard and the far walls are beginning to open on the left. I keep turning left so the open ground beyond the truck comes fully into view and the forklift can be spotted.", + "The red cab's flank still fills the right half of my view, and only the open yard with the green silos has come into sight on the left. I have already reached this cab, so I need the rest of the yard visible to locate the forklift. I will turn further left to swing my heading off the truck and across the open ground.", + "The yard is now open ahead and I can pick out the yellow forklift standing far off at the left edge, near the concrete blocks below the silos. My heading still leans toward the truck on my right, so it is not yet a straight line to that machine. I will turn left again to bring the forklift closer to the center of my view.", + "The truck is behind me now and the forklift sits ahead, slightly left of center, with a clear stretch of concrete yard between us. Nothing blocks the lane, so distance is the only thing left to close. I will walk forward to start closing on it.", + "The forklift has grown noticeably larger and stays just left of my heading, so my line of travel remains usable. The ground ahead is still flat and clear of stacked blocks. I will keep walking forward rather than spend a turn correcting such a small offset yet.", + "The forklift is clearly nearer, its mast and forks now distinct against the wall of blocks on the left. The open yard still gives me a straight, unobstructed path toward it. I will continue walking forward to cut down the remaining distance.", + "The forklift stands ahead and slightly left of my heading, still small against the concrete barrier and silos, with open yard between us. Nothing blocks the flat ground in front of me, so I will keep walking straight to close that gap.", + "The forklift has grown noticeably larger and its mast is now clearly separated from the wall behind it, confirming my heading is carrying me toward it. The intervening ground is still empty, so another step forward should shorten the distance further.", + "The forklift's tyres and counterweight are now distinguishable, so I am well within the near half of the yard. It sits a little left of my line of travel but not enough to need a turn yet, so I continue advancing.", + "The forklift now fills a good portion of the left side of my view, with its forks and mast plainly visible above the ground. I am still several paces short of standing beside it, so I press forward again.", + "The forklift is close enough that its forks and front wheels dominate the left of my view, but I am not yet level with it. One more step forward should bring me alongside the machine.", + "The forklift now stands close on my left, its mast and forks clearly resolved against the concrete wall. Another walking step along this line should carry me level with it before I swing my heading over. The open yard ahead is clear, so advancing costs nothing.", + "I have drawn level with the forklift, but it has slid to the far left edge of my view and its frame is partly cut off. Turning left should bring the machine back into the middle of my view so I can walk straight at it. Continuing forward on this heading would only take me past it.", + "The forklift now sits squarely ahead of me, forks and counterweight facing my line of travel. With the heading corrected, a step forward should close the remaining gap to the machine. The ground between us looks flat and unobstructed.", + "The forklift fills most of my view now, its mast towering directly in front of me. One more step should bring me right up beside the machine rather than leaving me short of it. Nothing else stands between us.", + "My last step barely changed my view; the forklift's mast and forks sit almost exactly where they did, so I have come up against the machine itself. I will try one more forward step to see whether any ground remains to be gained here. If it also stalls, I am as close as this line allows.", + "The forklift's mast and forks fill the near view and my last step forward gained almost nothing, so I am pressed right up against it. I will back up a short distance to open clearance in front of me and give myself room to reorient toward a passable approach.", + "With a little space regained, the forklift still blocks the line straight ahead, while the yard to my right is wide open concrete. I will turn right to face that clear ground and look for a way around the machine's forks instead of pushing into them again.", + "Now the forklift sits off to my left and empty concrete stretches ahead toward the silo wall. I will walk forward along this open lane to get past the protruding forks before turning back in on the machine.", + "I have moved clear of the spot where the forks stopped me, and the forklift now sits behind my left shoulder at the wall. I will turn left to bring it back into the middle of my view and set up a fresh heading onto it.", + "The forklift has swung into view on my left but its body still sits off center, angled away from my heading. I will turn left once more so the machine is squarely in front of me before stepping in.", + "The forklift now fills the center of my view with its mast and front wheel squarely ahead, and the ground between us is open after my earlier press forward stalled against its body. From this reopened heading a single step should close the small remaining gap and put me right beside it.", + "The forklift stands directly beside me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8098dc4ca35db42127bb905083685b37d422bd97 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the first concrete pillar from left.", + "Type": 2, + "Start_Pose": [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7409.254, + 9842.003, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7313.325, + 9923.478, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7217.396, + 10004.952, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7121.467, + 10086.427, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7121.467, + 10086.427, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -7000.093, + 10119.727, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6878.719, + 10153.027, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6757.346, + 10186.326, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6757.346, + 10186.326, + 118.099, + 0.0, + -9.658, + 0.0 + ], + [ + -6633.27, + 10165.211, + 118.099, + 0.0, + -9.658, + 0.0 + ], + [ + -6633.27, + 10165.211, + 118.099, + 0.0, + -9.658, + 0.0 + ] + ], + "Rationale": [ + "Counting the concrete pillars along the left wall from the left end, the first one is the slab standing right at the left edge of the rusty roller shutter, so that is the column I will keep on. It stands well ahead of me across open floor, and I will walk forward to close that distance.", + "The pillar beside the rusty shutter has grown slightly larger and shifted left in my view, confirming I am closing on it. The floor between us is still clear, so I will keep walking forward.", + "The shutter now fills much of the left half of my view and the pillar at its left edge is clearly nearer. There is still a sizeable gap of open floor, so another step forward is the direct way to cut it.", + "My target pillar beside the shutter is drifting toward the left edge of my view as I draw level with that bay, but I am not yet beside it. I will advance again while the floor ahead stays clear.", + "My heading is carrying me past the bay rather than into it, since the shutter and the pillar on its left sit off to my left. I will turn left to bring that pillar back toward the centre of my view before continuing.", + "The turn has squared me up with the shutter bay, and the concrete pillar at its left edge now stands ahead of me with clear floor between. I will step forward to close in on that pillar.", + "The pillar on the near side of the shutter is noticeably larger and closer to my left, so my heading is good. A further step forward should bring me nearly alongside it.", + "The shutter texture is close enough to read rust and paint detail, and the pillar I am heading for stands just off to my left with a short gap of floor remaining. I will walk forward once more to draw level with it.", + "The shutter now dominates the right of my view and the concrete pillar at its near side has slid out to my left edge, so walking on would carry me along the shutter face instead of up to the column. I will turn left to swing that pillar back into the middle of my view.", + "The pillar now stands squarely in front of me with only a short strip of floor at its base still between us. One more step forward should put me right up against it.", + "The concrete pillar beside the rusty shutter now fills my view at arm's length. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf7d9a5169c45fdb8de88c356edfb90dbee2c68a --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the second pillar along the wall from left.", + "Type": 2, + "Start_Pose": [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7409.254, + 9842.003, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7313.325, + 9923.478, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7217.396, + 10004.952, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7121.467, + 10086.427, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7025.538, + 10167.902, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -6929.609, + 10249.376, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -6833.68, + 10330.851, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -6737.751, + 10412.326, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -6641.822, + 10493.8, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -6641.822, + 10493.8, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6589.314, + 10608.183, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6536.805, + 10722.565, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6536.805, + 10722.565, + 118.099, + 0.0, + 65.342, + -0.0 + ] + ], + "Rationale": [ + "A line of pillars runs away from me along this wall, and counting from its left end, the second one stands at the right edge of the rusty roller shutter. That shutter-side pillar is my target, still far down the hall. I walk forward across the open floor to begin closing that distance.", + "The shutter and the pillar bracing its right edge are still well down the wall on my left. The concrete floor between us is empty, so another stride forward keeps me tracking straight toward that pillar.", + "The shutter is broadening on my left, which tells me I am gaining ground on the pillar that closes off its right edge. Nothing stands in the open bay between me and it, so I continue walking forward.", + "The left end of the wall has now slipped out of my view, so I hold onto the pillar flanking the right side of the rusty shutter as the thing I am following. It sits clearly ahead along my line of travel. I keep moving forward.", + "The shutter now fills much of my left side, and the pillar at its right edge stands ahead of me down the wall. The gap is still too large to stop here, so I take another step forward.", + "The pillar closing off the right side of the shutter is noticeably nearer and sits a little right of my heading. The floor stays clear, so I keep walking forward rather than committing to a turn yet.", + "The rusty shutter is sliding past on my left and the pillar at its far edge stands just ahead of me. I am still a few strides short of being alongside it, so I continue forward.", + "The seam where the shutter meets the concrete pillar is close ahead on my left, confirming I am nearly abreast of the pillar I picked out. A little more forward travel should bring me level with it.", + "The shutter's right edge and the concrete column it butts against are now very close on my left, though I am not yet level with the column's near face. Another stride forward should bring me alongside it before I need to change heading.", + "I am now even with the shutter's edge, and the column I have been tracking sits off to my right of my straight-ahead line rather than in front of me. A small turn to the right should put its face in the middle of my view for a clean final approach.", + "The turn brought the column squarely into my path, with its full height and the wall bay behind it now open in front of me. Open floor lies between us, so I step forward to close in on it.", + "The column now dominates the left of my view and I can pick out the bolt and seam on its near face, so only a short gap remains. One more step should place me right up against it.", + "The column beside the shutter's right edge fills my view at arm's length. I have arrived at it, so the task is complete and no further approach is needed." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e86589c7a188a3e6a7eb38a3a3ba5852233bced --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Navigate to the leftmost pillar supporting the roof beam.", + "Type": 2, + "Start_Pose": [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7409.254, + 9842.003, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7313.325, + 9923.478, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7313.325, + 9923.478, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -7191.951, + 9956.777, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -7070.577, + 9990.077, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6949.204, + 10023.377, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6827.83, + 10056.677, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6706.456, + 10089.977, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6585.082, + 10123.276, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6585.082, + 10123.276, + 118.099, + 0.0, + 15.342, + -0.0 + ] + ], + "Rationale": [ + "Counting the concrete pillars carrying the roof beam from where I stand, the row runs away to my right, so the one at the left end is the near pillar standing just beside the big rusty rolling shutter. The pillars are otherwise identical, so I will hold onto that shutter as its marker. I step forward to close the open floor between us.", + "The shutter and the pillar beside it have grown slightly but are still well ahead and off to my left. Nothing blocks the concrete floor between us, so another straight step is the cheapest progress. I keep walking forward.", + "The pillar I am heading for, the one bordering the near rolling shutter, sits left of my current heading while my view drifts down the far end of the hall. A modest left turn should place it near the center of my path. I turn left before advancing further.", + "The turn worked: the rusty shutter and the pillar on its left now sit squarely ahead of me. The floor between us is bare concrete with nothing in the way. I walk forward along this heading.", + "The shutter now fills much more of my view and the pillar beside it stands clearly to its left, confirming my heading is still true. I am close but not yet at the column. Another forward step should shorten the gap.", + "The column beside the shutter is now tall enough to run off the top of my view, so only a couple of paces remain. My line is straight onto it and the floor stays open. I keep advancing.", + "At this range the rest of the hall has slid out of my view and only this pillar and the shutter it borders remain, which is exactly the column I chose. It still stands a stride or two off to my left front. I step forward to draw right up beside it.", + "The pillar beside the shutter now stands directly in front of me, its concrete face broad and close. One more short step should bring me right against it. I move forward.", + "The concrete column and the shutter edge beside it fill nearly my whole view, so I am within one pace of the column face. A single short step should press me right up against it. I move forward.", + "The pillar's rough concrete face is right against me, filling my view beside the shutter it borders. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_d/infos.json b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..134e50cde210974474bcdead108be98da70067ea --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t2_d/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the third pillar along the wall from left.", + "Type": 2, + "Start_Pose": [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7409.254, + 9842.003, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7409.254, + 9842.003, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -7356.746, + 9956.385, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -7304.237, + 10070.768, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -7251.729, + 10185.15, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -7199.22, + 10299.533, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -7146.712, + 10413.915, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -7094.203, + 10528.298, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -7041.695, + 10642.68, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6989.186, + 10757.063, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6936.678, + 10871.445, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6884.169, + 10985.828, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6831.661, + 11100.21, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6779.152, + 11214.592, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6726.644, + 11328.975, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6674.135, + 11443.357, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6621.627, + 11557.74, + 118.099, + 0.0, + 65.342, + -0.0 + ], + [ + -6621.627, + 11557.74, + 118.099, + 0.0, + 65.342, + -0.0 + ] + ], + "Rationale": [ + "A row of concrete pillars recedes along the wall to my left, and counting from that wall's left end, the third one stands at the far edge of the wide brown roller shutter; that pillar is what I follow from here. It sits far down the hall, so I walk forward to close distance before adjusting my heading.", + "My heading cuts across the hall rather than running along it, so the wall and its pillars sit at an awkward angle off to my left. A modest turn to the right should swing my facing down the length of the aisle, giving me a straight, unobstructed line toward my pillar.", + "After the turn the aisle now opens straight in front of me with the pillared wall running along my left side. With the lane clear, I walk forward to cut into the distance still separating me from the pillar at the far edge of the shutter.", + "The shutter face is sliding past on my left while the darker shutter opening further down the wall, next to my target pillar, is still distant. The floor ahead stays empty, so I keep walking along the same line.", + "The dark shutter opening partway down the left wall is noticeably larger now, which tells me my pillar remains ahead rather than beside me. I continue forward along the open aisle.", + "The nearest pillars are now passing behind me, so the wall's left end has dropped out of my view and I can no longer read the row as a countable line. I hold onto the pillar standing at the edge of that distant shutter opening and keep walking toward it.", + "The shutter opening and the pillar beside it have grown clearly, yet they are still several strides down the hall. Nothing stands in the lane, so I keep advancing.", + "The pillar flanking the shutter opening on my left now resolves plainly, but I am not yet abreast of it. I step forward again to bring myself alongside it.", + "The dark shutter bay on my left has widened, and the concrete pillar bordering its near edge is the one I am walking to. The gap between us is still more than a stride or two, and the floor is bare, so I press on.", + "The wall on my left now fills much of my view, yet my pillar and the shutter bay beside it remain slightly ahead of my shoulder line. Nothing blocks the lane, so another step forward should bring me nearer to standing level with it.", + "The bay's dark interior and the small dark object standing inside it are becoming legible, a sign the distance is dropping steadily. My pillar still sits forward and left rather than beside me, so I keep walking on the same line.", + "The pillar beside the shutter bay now rises tall in the left half of my view, though its base is still ahead of me on the floor. I continue straight rather than turning, since walking on is what shortens the remaining gap.", + "A nearer column has slid into the left foreground, but the one I want is the pillar hard against the shutter opening further down, and it is still a few paces off. The lane stays open, so I keep advancing toward it.", + "Daylight and painted wall are now visible through the shutter bay, which means I am close enough to see straight into it. My pillar stands at its right-hand jamb and remains slightly ahead, so I step forward again.", + "The teal painted panel beyond the opening has come into focus and the pillar flanking that bay looms just off my left shoulder. A short advance should put me squarely alongside it rather than a step short.", + "Lettering on the painted wall inside the bay is readable now, and the pillar at its edge stands very near on my left. I take another step to draw fully level with that pillar before I settle.", + "The bay's right jamb and the concrete column standing against it sit just forward of my shoulder, close enough that its base edge reads clearly on the floor. One more stride should place me level with that column rather than a half pace behind it.", + "The pillar beside the shutter bay now stands immediately at my left shoulder, within arm's reach. I am at the target, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t5_a_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6c02a8afc869298b9df501a130063b2048ef7b7 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-007505_y009761_z000118_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the ceramic vase at the first concrete pillar from the left.", + "Type": 5, + "Start_Pose": [ + -7505.183, + 9760.528, + 118.099, + 0, + 40.342, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6646.138, + 10132.793, + 48.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7505.183, + 9760.528, + 118.099, + 0, + 40.342, + 0 + ], + [ + -7409.254, + 9842.003, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -7409.254, + 9842.003, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -7287.88, + 9875.303, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -7166.506, + 9908.603, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -7045.133, + 9941.902, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6923.759, + 9975.202, + 118.099, + 0.0, + 15.342, + -0.0 + ], + [ + -6923.759, + 9975.202, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -6827.83, + 10056.677, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -6827.83, + 10056.677, + 118.099, + 0.0, + 40.342, + -0.0 + ], + [ + -6827.83, + 10056.677, + 118.099, + 0.0, + 40.342, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6646.138, + 10132.793, + 48.099, + 0.0, + 0.0, + 0.0 + ], + [ + -6842.118, + 10072.558, + 88.206, + -28.202, + 90.487, + 1.862 + ], + [ + -6842.118, + 10072.558, + 88.206, + -28.202, + 90.487, + 1.862 + ] + ], + "PD_Dist_2D": [ + 936.2, + 816.6, + 816.6, + 691.5, + 566.6, + 442.3, + 319.2, + 319.2, + 197.0, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the small ceramic vase far ahead on the floor, standing at the base of the first concrete pillar on the left beside the roller shutter. It is far too distant to reach, so I will walk forward to close the gap and keep it in view.", + "After advancing, the vase and its pillar sit well left of my heading while my path points down the open hall. I will turn left so the target moves toward the center of my view and my walking direction leads straight to it.", + "The vase now sits near the middle of my view at the foot of the pillar beside the shutter, so my heading is usable. I will walk forward to reduce the remaining distance across the open concrete floor.", + "The vase has grown slightly larger and stays centered ahead of me, confirming I am tracking straight toward it. It is still several strides away, so I will continue walking forward.", + "The vase is clearly closer now, its painted pattern visible against the pillar and shutter, but it remains out of arm's reach. I will step forward again to keep closing in.", + "The vase fills a good part of the lower view and I can make out its rim clearly, yet it is still a few steps off. I will advance once more to bring it within grasping range.", + "At this short range the vase has drifted slightly right of my facing while the pillar dominates the center. I will turn right to square my body onto the vase so a grasp attempt lines up properly.", + "The vase now stands directly ahead in the lower part of my view with clear floor in front of it. One more step forward should bring it close enough for my hands to reach.", + "The white ceramic vase at the base of the first concrete pillar now stands close in front of me, filling the near left of my view at arm's reach. Nothing separates me from it, so I will attempt the grasp now rather than step closer and risk knocking it over.", + "The ceramic vase 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/Old_Factory_01/task_x-008003_y004263_z000118_t0_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..41b5e2299adfe086a3af721fe3e4d1a1cee4909e --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the yellow barrel lying on its side in front of the upright barrels.", + "Type": 0, + "Start_Pose": [ + -8002.712, + 4263.497, + 118.099, + 0.0, + -108.458, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8002.712, + 4263.497, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8042.56, + 4144.113, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8082.408, + 4024.728, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8122.256, + 3905.344, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8162.105, + 3785.96, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8201.953, + 3666.575, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8201.953, + 3666.575, + 118.099, + 0.0, + -133.458, + 0.0 + ], + [ + -8288.521, + 3575.217, + 118.099, + 0.0, + -133.458, + 0.0 + ], + [ + -8375.09, + 3483.859, + 118.099, + 0.0, + -133.458, + 0.0 + ], + [ + -8461.659, + 3392.5, + 118.099, + 0.0, + -133.458, + 0.0 + ], + [ + -8461.659, + 3392.5, + 118.099, + 0.0, + -158.458, + 0.0 + ], + [ + -8461.659, + 3392.5, + 118.099, + 0.0, + -158.458, + 0.0 + ] + ], + "Rationale": [ + "From the initial view I can pick out the yellow barrel lying on its side just ahead of the cluster of upright barrels along the left wall, but it is far across the open floor. The concrete apron between me and it looks clear, so I will move forward to begin closing that distance.", + "The toppled yellow barrel now reads slightly larger on the left side of my view, confirming I am gaining on it. The lane ahead is still empty, so another forward step should keep shrinking the gap.", + "The barrel row and its tipped yellow member sit off to my left, still several body lengths away. Since my heading keeps them in view and nothing blocks the path, I will continue straight to close more distance before adjusting my facing.", + "The lying yellow barrel is clearly resolved now, resting against the upright drums to my left, though it is drifting toward the edge of my view as I advance. Distance is still the limiting factor, so I will push forward again.", + "The barrel on its side is close to my left, but I am not yet beside it and my heading points past it into the open bay. One more forward step should bring me level with the barrel group before I correct my facing.", + "I am now close to the barrel stack, but the yellow barrel lying on its side has slipped to the far left edge of my view and my heading is carrying me past it. I will turn left to bring the target back toward the center of my view and aim my approach directly at it.", + "The turn worked, and the toppled yellow barrel now sits near the middle of my view in front of the upright drums. The floor between us is clear, so I will step forward to close the remaining gap.", + "The lying yellow barrel is close and low in my view, with its label markings clearly visible against the drum stack behind it. I am still a step short of standing right beside it, so I will move forward again to finish the approach.", + "The yellow barrel lying on its side now fills the lower left of my view, just ahead of the row of upright drums and crates. I still have a short gap of open floor before I am truly beside it, so I will step forward once more to close that remaining distance.", + "I am now right up against the barrel group, but the toppled yellow barrel has slipped to the very bottom left edge of my view where only its rim is visible. Turning left should swing my heading back onto it so it sits centered in front of me.", + "The toppled yellow barrel lies directly before me, centered against the row of upright barrels. The approach task is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t0_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7207972b1fd566dad8e8dadf24b26d2bfb95c868 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Navigate to the forklift.", + "Type": 0, + "Start_Pose": [ + -8002.712, + 4263.497, + 118.099, + 0.0, + -108.458, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8002.712, + 4263.497, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8042.56, + 4144.113, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8082.408, + 4024.728, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8082.408, + 4024.728, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8068.069, + 3899.689, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8053.73, + 3774.649, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8039.39, + 3649.61, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8025.051, + 3524.57, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8010.712, + 3399.531, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8010.712, + 3399.531, + 118.099, + 0.0, + -58.458, + 0.0 + ], + [ + -8008.988, + 3373.975, + 118.099, + 0.0, + -58.458, + 0.0 + ], + [ + -8008.988, + 3373.975, + 118.099, + 0.0, + -58.458, + 0.0 + ] + ], + "Rationale": [ + "Scanning this open concrete yard, I can pick out a forklift standing against the far wall to the right, partly hidden behind the stacked liquid containers. It is far off, so I will step forward across the clear floor to shorten that distance and get a better look at it.", + "The forklift now reads more clearly ahead and to my right, its mast and yellow body standing out beside the pale storage containers. Nothing blocks the ground between us, so I will keep walking forward to close more of the gap before adjusting my heading.", + "The forklift sits well off to my right side while my heading still points at the empty wall and the green skip ahead. I will turn right so the forklift moves toward the middle of my view and my walking direction lines up with it.", + "After turning, the forklift sits close to the center of my view with open floor leading straight to it between the skip on the left and the containers on the right. I will walk forward along this lane to close the remaining distance.", + "My heading stays on the forklift, which is now larger and clearly separated from the wall behind it. The ground in front of me is flat and unobstructed, so I will continue forward toward it.", + "The forklift now dominates the middle of my view, its mast and wheels clearly resolved a short way ahead. I am still not close enough to call this arrival, so I will take another step forward.", + "The forklift's forks and lift mast are close in front of me now, aligned with my walking direction. A further step forward should bring me right up beside the machine.", + "I am nearly at the forklift, with its forks resting on the ground just ahead and the mast rising above me. One more forward step should place me directly at the machine before I settle my heading on it.", + "The forklift is now very close, but its mast and forks sit off to my right edge while empty pavement and the pallet tanks take up the left of my view. Turning right by a small step should bring the machine back to the center of my heading so I can finish closing on it straight.", + "The forklift is now centered ahead of me with its forks resting on the ground just a short step away. I will take one short step forward to close the last bit of distance and stand directly at the machine.", + "The forklift stands directly in front of me, its forks and mast within arm's reach. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t5_a_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9b9cadbdde00cd34814c98b603c0175583b95421 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Grab the green bell pepper near the yellow barrels near the wall.", + "Type": 5, + "Start_Pose": [ + -8002.712, + 4263.497, + 118.099, + 0, + -108.458, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -8662.688, + 3626.412, + 73.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8002.712, + 4263.497, + 118.099, + 0, + -108.458, + 0 + ], + [ + -8042.56, + 4144.113, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8082.408, + 4024.728, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8122.256, + 3905.344, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8122.256, + 3905.344, + 118.099, + 0.0, + -133.458, + 0.0 + ], + [ + -8208.825, + 3813.986, + 118.099, + 0.0, + -133.458, + 0.0 + ], + [ + -8295.394, + 3722.627, + 118.099, + 0.0, + -133.458, + 0.0 + ], + [ + -8295.394, + 3722.627, + 118.099, + 0.0, + -158.458, + 0.0 + ], + [ + -8412.461, + 3676.414, + 118.099, + 0.0, + -158.458, + 0.0 + ], + [ + -8529.529, + 3630.201, + 118.099, + 0.0, + -158.458, + 0.0 + ], + [ + -8529.529, + 3630.201, + 118.099, + 0.0, + -158.458, + 0.0 + ], + [ + -8529.529, + 3630.201, + 118.099, + 0.0, + -158.458, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8662.688, + 3626.412, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8521.121, + 3610.563, + 88.206, + -28.202, + -108.314, + 1.862 + ], + [ + -8521.121, + 3610.563, + 88.206, + -28.202, + -108.314, + 1.862 + ] + ], + "PD_Dist_2D": [ + 917.3, + 807.8, + 703.8, + 608.2, + 608.2, + 491.1, + 379.7, + 379.7, + 255.2, + 133.2, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the green bell pepper sitting on the floor beside the yellow barrels against the far wall on my left side of the hall. It is still far away across the open concrete, so I will walk forward to close that gap before worrying about fine alignment.", + "The pepper and the yellow barrels now appear larger and lower in my view, so my heading is still carrying me toward that wall. I will keep walking forward to shorten the remaining distance.", + "The barrel stack ahead keeps growing, but the green pepper has drifted toward the left edge of my view as I advance. Another forward step should bring me nearer before I correct my heading toward it.", + "The green pepper has slipped almost out of the left side of my view, so continuing straight would carry me past it. I will turn left to swing my heading back onto the pepper and its yellow barrels.", + "The turn brought the green pepper back into view, standing beside the yellow barrels against the concrete wall ahead of me. With a usable heading, I will walk forward to close the remaining distance.", + "The pepper is clearly larger now and the barrel row fills more of my view, confirming I am closing in on the correct spot. I will step forward again to get within reach.", + "I am close to the barrels now, but the green pepper sits well left of my forward direction, so walking straight would pass to its right. I will turn left to place it centrally ahead before approaching further.", + "The turn has centered the green pepper in front of me with the yellow barrels right behind it at the wall. It is still a couple of paces off, so I will walk forward to get within grasping range.", + "The green bell pepper now sits large and low in my view, just left of the drum row against the far wall, but it is still a stride or two beyond arm's reach. I will step forward again to close that last gap and bring it directly in front of me. That should put me near enough to attempt the grasp.", + "The green bell pepper is now at the very bottom of my view, right at my feet beside the yellow and grey barrels along the wall, so no further approach is needed. My hands are still empty, so I will reach down and try to grab it now.", + "The green bell pepper is now held in my hands and no longer resting on the floor. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t5_b_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e987b1cca4ee0e749f9b647f6262c5bdd07289f --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008003_y004263_z000118_t5_b_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Lift the tomato at the forklift.", + "Type": 5, + "Start_Pose": [ + -8002.712, + 4263.497, + 118.099, + 0, + -108.458, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -8083.658, + 3240.071, + 88.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8002.712, + 4263.497, + 118.099, + 0, + -108.458, + 0 + ], + [ + -8042.56, + 4144.113, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8082.408, + 4024.728, + 118.099, + 0.0, + -108.458, + 0.0 + ], + [ + -8082.408, + 4024.728, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8068.069, + 3899.689, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8053.73, + 3774.649, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8039.39, + 3649.61, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8025.051, + 3524.57, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8010.712, + 3399.531, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8010.712, + 3399.531, + 118.099, + 0.0, + -83.458, + 0.0 + ], + [ + -8010.712, + 3399.531, + 118.099, + 0.0, + -83.458, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8083.658, + 3240.071, + 88.099, + 0.0, + 0.0, + 0.0 + ], + [ + -7989.566, + 3402.57, + 88.206, + -28.202, + -33.314, + 1.862 + ], + [ + -7989.566, + 3402.57, + 88.206, + -28.202, + -33.314, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1026.6, + 905.0, + 784.7, + 784.7, + 659.8, + 535.4, + 411.9, + 290.5, + 175.4, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the red tomato resting on the yard floor beside the forklift far ahead on the right side of the bay. The distance is large, so I will walk forward to close the open ground between us.", + "The tomato and the forklift behind it are noticeably larger now, confirming my heading is carrying me toward them. The floor ahead is clear, so I will keep walking forward to shorten the remaining gap.", + "The tomato and forklift sit right of my current heading, so walking straight would drift me past them toward the barrels and dumpster on the left. I will turn right to bring the target closer to the center of my view before continuing.", + "After the turn the tomato sits near the middle of my view with the forklift just behind it. The path across the open concrete is clear, so I will walk forward along this corrected heading.", + "The tomato is growing in view and stays slightly left of center, close enough to my heading that no further turn is needed yet. I will continue walking forward to close the remaining distance.", + "The tomato now fills a good part of the lower view beside the forklift, but it is still several strides away and out of reach. I will step forward again to get within grasping range.", + "The tomato sits just left of the forklift forks and is close, yet still beyond arm's reach from where I stand. I will advance one more step to bring it within reach.", + "The tomato is now very large at the lower left of my view, right beside the forklift's forks. One more forward step should place it directly in front of me so I can attempt the lift.", + "The tomato now fills the lower left of my view at arm's reach, right beside the forklift's forks, so no further approach is needed. I will reach out and attempt the grasp from this position, which should lift it off the ground.", + "The tomato is held in my hands, no longer resting on the ground by the forks. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008095_y004628_z000118_t0_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008095_y004628_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..570e7677d214f0b457a1d6c15315062c5928bf6b --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008095_y004628_z000118_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the wooden pallet on the ground.", + "Type": 0, + "Start_Pose": [ + -8095.44, + 4628.415, + 118.099, + 0, + -132.458, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8095.44, + 4628.415, + 118.099, + 0, + -132.458, + 0 + ], + [ + -8095.44, + 4628.415, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8133.198, + 4508.353, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8170.957, + 4388.292, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8208.715, + 4268.23, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8246.474, + 4148.169, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8284.233, + 4028.107, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8321.991, + 3908.046, + 129.098, + 0.0, + -107.458, + 0.0 + ], + [ + -8321.991, + 3908.046, + 129.098, + 0.0, + -107.458, + 0.0 + ], + [ + -8321.991, + 3908.046, + 129.098, + 0.0, + -107.458, + 0.0 + ] + ], + "Rationale": [ + "I can see the slatted wooden pallet lying flat on the concrete to the right of my current heading, past the barrels and the green skip. Since it sits off my forward axis, I will turn right to bring it toward the center of my view before advancing.", + "The pallet now sits near the middle of my view, small and far off across the open concrete yard. The floor ahead is clear of barrels and crates, so I will move forward to start closing the distance.", + "The pallet has grown slightly and stays centered ahead of me, confirming my heading is good. I will continue straight forward since nothing blocks the path across the open floor.", + "The pallet remains directly in front of me and its slats are becoming distinguishable, but it is still several steps away. Another forward step should keep reducing the gap without needing any turn.", + "The pallet is now clearly visible in the lower center of my view with its individual boards distinct, meaning I am roughly halfway across the yard. I will keep advancing straight toward it.", + "The pallet has dropped further toward the bottom of my view and fills a good part of the near floor, so I am getting close. I will take another step forward to bring it within arm's reach.", + "The pallet is now cut off at the bottom edge of my view, just in front of me. One more forward step should place me directly at its edge.", + "The pallet has slipped out of sight below my forward view, which suggests it is right at my feet. I will tilt my gaze down to confirm the pallet is directly in front of me before ending the approach.", + "The wooden pallet lies directly at my feet, filling the lower ego view within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008095_y004628_z000118_t5_a_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008095_y004628_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3786d775ad1a5b007897c517ca571bb13e5d7c8a --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008095_y004628_z000118_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the ceramic pot from the wooden pallet on the ground.", + "Type": 5, + "Start_Pose": [ + -8095.44, + 4628.415, + 118.099, + 0, + -132.458, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -8442.283, + 4013.959, + 43.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8095.44, + 4628.415, + 118.099, + 0, + -132.458, + 0 + ], + [ + -8180.401, + 4535.56, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -8265.362, + 4442.704, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -8350.323, + 4349.849, + 118.099, + 0.0, + -132.458, + 0.0 + ], + [ + -8350.323, + 4349.849, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8388.082, + 4229.788, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8425.84, + 4109.726, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8425.84, + 4109.726, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8425.84, + 4109.726, + 118.099, + 0.0, + -107.458, + 0.0 + ], + [ + -8425.84, + 4109.726, + 118.099, + 0.0, + -107.458, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8442.283, + 4013.959, + 43.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8442.283, + 4013.959, + 43.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8442.283, + 4013.959, + 43.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8442.283, + 4013.959, + 43.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8442.283, + 4013.959, + 43.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8442.283, + 4013.959, + 43.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8442.283, + 4013.959, + 43.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8442.283, + 4013.959, + 43.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8405.287, + 4103.902, + 88.206, + -28.202, + -57.314, + 1.862 + ], + [ + -8405.287, + 4103.902, + 88.206, + -28.202, + -57.314, + 1.862 + ] + ], + "PD_Dist_2D": [ + 705.6, + 583.7, + 463.8, + 348.3, + 348.3, + 222.5, + 97.2, + 97.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The reddish ceramic pot sits far ahead on the open concrete floor near the stacked barrels and the pallet. It is much too distant to reach from here, so I will walk forward to close that gap.", + "The pot has grown slightly larger ahead of me, confirming my heading points at it. The floor between us is clear of clutter, so I will keep walking forward to shorten the remaining distance.", + "The pot is now clearly rounded and the wooden pallet beside it is distinguishable, but both remain several strides away. I will advance again to bring the pot within a workable interaction range.", + "My forward path has drifted so the pot now sits well to the right of my heading, with the pallet even further right. A modest turn to the right should place the pot squarely in front of me before I close the last distance.", + "The pot now sits near the center of my view with the pallet just to its right, so my heading is good. It is still a few strides off, so I will walk straight forward toward it.", + "The pot is large and low in my view now, meaning I am close but likely still short of grasping range. One more step forward should bring it directly at my feet.", + "The pot has dropped out of my forward view, which means I am standing right over it with my gaze aimed too high. I will look down to bring the pot back into sight and confirm it is within reach.", + "With my gaze lowered the ceramic pot fills the near foreground, its open mouth just in front of me and the pallet alongside. This is close enough to grasp, 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/Old_Factory_01/task_x-008217_y004290_z000118_t0_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008217_y004290_z000118_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b4f06aa4ede112f86356a2e8827a41d4ed10a25 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008217_y004290_z000118_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the dark green dumpster against the concrete wall.", + "Type": 0, + "Start_Pose": [ + -8216.605, + 4289.642, + 118.099, + 0, + -84.458, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8216.605, + 4289.642, + 118.099, + 0, + -84.458, + 0 + ], + [ + -8204.451, + 4164.371, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8192.296, + 4039.101, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8180.141, + 3913.83, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8180.141, + 3913.83, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8222.066, + 3795.159, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8263.992, + 3676.489, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8305.918, + 3557.818, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8347.843, + 3439.147, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8389.769, + 3320.477, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8431.695, + 3201.806, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8473.62, + 3083.135, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8515.546, + 2964.464, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8515.546, + 2964.464, + 118.099, + 0.0, + -109.458, + 0.0 + ] + ], + "Rationale": [ + "I can see a dark green skip style dumpster sitting on the concrete apron to my left front, backed against the tall concrete wall of the plant. The yard ahead is open and flat apart from a pallet on the ground well off to my left, so I will step forward to begin closing that distance.", + "The dark green dumpster against the wall now appears slightly larger and has shifted a bit further to my left as I advance. My path across the concrete is still clear, so another step forward should keep reducing the gap.", + "I am still well short of the dumpster, which sits low against the wall to my left with the forklift and pallet stacks off to my right. Continuing straight ahead keeps me on open ground and brings me nearer before I need to adjust my heading.", + "My forward motion has pushed the dark green dumpster out toward the left part of my view, and I am now heading past it rather than at it. I will turn left to bring the dumpster and the concrete wall behind it back in front of me.", + "After the turn the dark green dumpster sits ahead of me near the middle of my view, resting against the concrete wall with barrels and stacked crates off to my left. The stretch of concrete between us is clear, so I will walk forward to close in.", + "The dumpster is noticeably nearer and still lined up ahead of me, its mossy green sides clearly separated from the pale concrete wall behind it. Nothing blocks the ground between us, so I keep stepping forward.", + "I am closer now, with the dumpster filling more of my view slightly left of straight ahead and the wall rising directly behind it. I will continue forward to shorten the remaining few paces.", + "The dark green dumpster is close and centered ahead of me, its stained upper rim and support feet now clearly visible against the concrete wall. Another step forward should bring me right up beside it.", + "The dark green dumpster now sits clearly ahead of me, backed against the concrete wall, and it has grown noticeably larger as I close in. The floor between us is open bare concrete, so I will keep walking straight to shorten the remaining gap.", + "The dumpster's mossy side panel and the wall behind it are clearer now, but I am still several strides short of standing beside it. My heading remains lined up on it, so another step forward should continue closing the distance.", + "The dumpster now fills much of the space in front of me and I can read its rusted rim and skid feet in detail. There is still a short stretch of concrete before I am right at it, so I will step forward again.", + "I am nearly at the dumpster, with its long green flank spanning across my view and the wall rising just beyond it. One more short step should bring me right up against its side.", + "The dumpster's mossy green wall and open interior are directly in front of me, with the concrete wall right behind it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008217_y004290_z000118_t5_a_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008217_y004290_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ffaa0915b0a8e498bafaa8e45b1c4e6a27aca710 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008217_y004290_z000118_t5_a_p/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Grab the ceramic pot near the dark green dumpster against the concrete wall.", + "Type": 5, + "Start_Pose": [ + -8216.605, + 4289.642, + 118.099, + 0, + -84.458, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -8369.017, + 2955.93, + 38.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8216.605, + 4289.642, + 118.099, + 0, + -84.458, + 0 + ], + [ + -8204.451, + 4164.371, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8192.296, + 4039.101, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8180.141, + 3913.83, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8167.986, + 3788.559, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8167.986, + 3788.559, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8209.912, + 3669.889, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8251.837, + 3551.218, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8293.763, + 3432.547, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8335.688, + 3313.877, + 118.099, + 0.0, + -109.458, + 0.0 + ], + [ + -8335.688, + 3313.877, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8323.534, + 3188.606, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8311.379, + 3063.335, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8311.379, + 3063.335, + 118.099, + 0.0, + -84.458, + 0.0 + ], + [ + -8311.379, + 3063.335, + 118.099, + 0.0, + -84.459, + 0.0 + ], + [ + -8311.379, + 3063.335, + 118.099, + 0.0, + -84.459, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8369.017, + 2955.93, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8290.183, + 3066.005, + 88.206, + -28.202, + -34.314, + 1.862 + ], + [ + -8290.183, + 3066.005, + 88.206, + -28.202, + -34.314, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1342.4, + 1219.6, + 1097.5, + 976.3, + 856.6, + 856.6, + 731.5, + 606.7, + 482.5, + 359.5, + 359.5, + 237.1, + 121.9, + 121.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From here I can pick out the dark green dumpster sitting against the far concrete wall on the left side of the yard, with a small reddish pot on the ground beside it. That is still a long way off across the open concrete. I will walk forward to close the gap before worrying about fine alignment.", + "The dumpster and the small ceramic pot beside it have grown slightly larger and shifted left as I advance, so my heading is still usable. The ground ahead is clear concrete with the pallet now off to my left. I will keep walking forward to shorten the remaining distance.", + "The reddish pot next to the mossy green dumpster is now clearly distinguishable near the left of my view, confirming the target. Nothing blocks the lane of concrete straight ahead of me. I will continue forward rather than turn yet, since more distance still needs to be covered.", + "The dumpster against the wall and the pot beside it keep drifting toward my left edge as I close in, but they are still well within reach of a straight approach. The forklift stays clear to my right. I will take another step forward before correcting my heading.", + "My forward motion has pushed the dumpster and its neighbouring pot out to the far left of my view, while the forklift now sits dead ahead. Continuing straight would carry me past the target. I will turn left to swing the pot back toward the middle of my view.", + "After the turn, the green dumpster and the small ceramic pot beside it sit near the center of my view against the concrete wall. The floor between us is open apart from the barrels stacked well to my left. I will walk forward along this corrected heading.", + "The pot beside the dumpster is noticeably larger and remains just right of the dumpster's edge, so my line of travel is still good. I am not yet close enough for a grasp. I will step forward again to keep closing on it.", + "The ceramic pot now stands out plainly on the concrete just right of the mossy dumpster, but it is still several paces away and low in my view. Nothing obstructs the approach lane. I will advance again to bring it within arm's reach.", + "The ceramic pot sits on the concrete floor just right of my heading, beside the mossy dark green dumpster along the wall. It is still several paces away, too far to reach. I will keep walking forward to close that gap.", + "From here the pot has drifted noticeably to the right of my forward heading, while the dumpster now fills the middle of my view. Walking straight would carry me past the pot on its left side. A turn to the right should put the pot directly ahead before I continue.", + "The pot now sits close to the middle of my view on the open concrete, with the dumpster to my left and the stacked totes to my right. My heading points straight at it and the floor between us is clear. I will step forward to shorten the remaining distance.", + "The pot has grown large in the lower part of my view and is only a short step away, slightly left of my line. It is still not near enough for a confident grasp. One more forward step should bring it within arm's reach.", + "I am now standing right over the pot, and it has dropped out of my forward view below the frame edge, with only the wall and totes ahead. I need it visible to reach for it. Looking down should bring the pot back into view at my feet.", + "With my gaze lowered, the ceramic pot is clearly in view close in front of me on the concrete, well inside reach. Nothing blocks it and my hands are empty. I will attempt to pick it up now.", + "The ceramic pot is now held in my hands rather than resting on the concrete. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008329_y004909_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008329_y004909_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3d4e6f7b53e146ce6416a45ce28365984de2f22 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008329_y004909_z000118_t3_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the forklift, then head toward the large brown rolling door.", + "Type": 3, + "Start_Pose": [ + -8329.145, + 4908.597, + 118.099, + 0.0, + 122.872, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8329.145, + 4908.597, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8397.456, + 5014.304, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8465.768, + 5120.011, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8534.08, + 5225.719, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8602.392, + 5331.426, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8602.392, + 5331.426, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8619.629, + 5456.099, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8636.867, + 5580.772, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8654.105, + 5705.445, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8671.342, + 5830.118, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8688.58, + 5954.791, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8705.818, + 6079.463, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8723.056, + 6204.136, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8723.056, + 6204.136, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8723.056, + 6204.136, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8723.056, + 6204.136, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -8723.056, + 6204.136, + 118.099, + 0.0, + 172.872, + -0.0 + ], + [ + -8723.056, + 6204.136, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -8842.841, + 6165.511, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -8962.627, + 6126.886, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9082.412, + 6088.261, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9202.198, + 6049.636, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9321.984, + 6011.011, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9441.769, + 5972.386, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9441.769, + 5972.386, + 118.099, + 0.0, + -162.128, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the yard I can see the yellow forklift parked against the far concrete wall on the left, with the wide brown rolling shutter further right along the same wall. The forklift is my first destination and the open paved ground in front of me is clear. I will walk forward to close that distance.", + "The forklift has grown slightly larger ahead of me, so my heading is carrying me toward it. Nothing blocks the stretch of open paving between us. I will keep walking forward.", + "The forklift and the crates beside it are noticeably closer, and the ribbed brown shutter stands out clearly further along the wall to my right. Still plenty of distance to cover before I reach the machine. I will advance again on the same line.", + "The forklift now sits well to my left of center, meaning my straight path is drifting past it, but there is still open ground to gain before any correction matters. Walking on shortens the remaining gap to the machine. I will step forward once more.", + "The forklift has slid clearly to the left side of my view while my heading points at empty wall and the rolling shutter further right. To reach the machine efficiently I need my body aimed at it. I will turn left to bring the forklift toward the center of my view.", + "The turn worked, and the yellow forklift now sits close to the middle of my view with clear ground running up to it. Nothing stands between me and the machine. I will walk forward along this heading.", + "The forklift's mast and cab are larger and still centered, so my heading remains good. I am not yet near enough to call myself at the machine. I will keep advancing straight toward it.", + "The forklift fills more of my view now, its forks and tires clearly detailed a short distance ahead, and the ground between us is flat and empty. A few more steps should put me right at the machine. I will move forward again.", + "The yellow forklift sits squarely ahead of me, its mast and forks clearly separated from the crates and wall behind it. My heading is good and open pavement lies between us, so I will keep walking straight to close the remaining gap.", + "The forklift now fills much more of my view, with its tyres and forks resolving in detail, so my last step brought me meaningfully nearer. It still stands a few paces off and remains centered, so another step forward should continue tightening the approach.", + "I am close enough now that the forklift's front wheel and fork carriage dominate the lower half of my view. Nothing blocks the last stretch of floor, so I will step forward again to draw right up beside the machine.", + "The forklift's mast and cab now tower across my whole view, so only a short distance remains. One more step should place me directly at the machine rather than short of it.", + "The yellow forklift is right in front of me, its seat, steering column and battered bodywork filling my view at arm's length. I have arrived at the machine. I mark reaching it, then set off for the large brown rolling door in the far wall.", + "Standing this close, the forklift blocks nearly everything ahead of me, and the tall brown rolling door lies well off to my right along the far wall. I will turn right to swing my heading away from the machine and toward that side of the yard.", + "The turn has slid the forklift to my left and opened up the crates and wall on the right, but the ribbed brown door is not in view yet. I will turn right again to keep sweeping my heading across toward it.", + "A sliver of the rusty brown shutter has just appeared at the right edge of my view, past the stacked crates. Another right turn should bring that door toward the center where I can walk straight at it.", + "The wide brown slatted rolling door now fills the right side of my view while the stacked wooden crates sit off to my left. One more turn to the right should bring the door squarely in front of me for a straight approach.", + "The large brown rolling door is now centered ahead of me with clear open concrete floor in between. With my heading settled, I will walk straight toward it.", + "The shutter has grown noticeably larger and still sits dead center in my view. Nothing blocks the floor ahead, so I keep walking toward it.", + "The ribbed brown door now spans much of the frame and its base line is dropping lower as I close in. I am still some distance off, so another step forward is warranted.", + "The shutter's slats are clearly resolved and its frame nearly fills my view, though a stretch of floor still separates us. I continue advancing to stand right at the door.", + "The brown door now covers almost the entire view, with only a narrow band of floor left at its foot. A short step more should put me directly against it.", + "Only the rusted slats of the rolling door are in front of me now, seen from close and slightly off to the side. One last step should bring me right up against its face.", + "The large brown rolling door's slats fill my whole view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008329_y004909_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008329_y004909_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..257cef79baace4cc5cd7c6db402109d9beaa3019 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008329_y004909_z000118_t3_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Move to the large brown rolling door, then reach the forklift.", + "Type": 3, + "Start_Pose": [ + -8329.145, + 4908.597, + 118.099, + 0.0, + 122.872, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8329.145, + 4908.597, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8397.456, + 5014.304, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8397.456, + 5014.304, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -8504.042, + 5081.238, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -8610.627, + 5148.171, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -8717.212, + 5215.104, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -8823.797, + 5282.038, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -8930.382, + 5348.971, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -9036.968, + 5415.905, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -9143.553, + 5482.838, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -9250.138, + 5549.771, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -9356.723, + 5616.705, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -9356.723, + 5616.705, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -9356.723, + 5616.705, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -9356.723, + 5616.705, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -9356.723, + 5616.705, + 118.099, + 0.0, + 72.872, + -0.0 + ], + [ + -9356.723, + 5616.705, + 118.099, + 0.0, + 47.872, + -0.0 + ], + [ + -9272.298, + 5710.048, + 118.099, + 0.0, + 47.872, + -0.0 + ], + [ + -9187.874, + 5803.391, + 118.099, + 0.0, + 47.872, + -0.0 + ], + [ + -9103.449, + 5896.734, + 118.099, + 0.0, + 47.872, + -0.0 + ], + [ + -9019.024, + 5990.077, + 118.099, + 0.0, + 47.872, + -0.0 + ], + [ + -8934.599, + 6083.42, + 118.099, + 0.0, + 47.872, + -0.0 + ], + [ + -8850.174, + 6176.763, + 118.099, + 0.0, + 47.872, + -0.0 + ], + [ + -8850.174, + 6176.763, + 118.099, + 0.0, + 47.872, + -0.0 + ] + ], + "Rationale": [ + "The wide brown rolling door is set into the far concrete wall ahead and slightly to my right, well across the open yard. Nothing blocks the cracked pavement between us, so I will walk forward to begin closing that distance before dealing with the forklift parked off to my left.", + "After stepping forward, the rolling door still sits off to the right of my heading while the empty yard fills the center of my view. A turn to the right should put the door squarely in front of me so my next steps carry me straight at it.", + "The turn has brought the brown rolling door into the middle of my view, with clear floor running toward it between the concrete barriers on the right and the forklift far off on my left. With the heading now good, I will walk forward to close on the door.", + "The ribbed brown door has grown larger and remains just left of my center line, so my heading is still workable. The stacked concrete slabs stay off to my right and leave the approach open, so I will keep walking forward.", + "The rolling door now spans a good part of the wall in front of me, its slats clearly resolved, yet I am still several strides short of it. The floor ahead stays clear, so another step forward should keep shrinking the gap.", + "The brown door keeps filling more of my view as the wall closes in, and it sits comfortably ahead without needing any turn. I will step forward again to bring myself nearer to it.", + "The rusted brown slats now dominate the wall directly ahead and slightly left, close enough that I can pick out individual seams. There is still open floor before the door, so I will keep advancing toward it.", + "The large brown rolling door now towers over most of my view, though its base is still a few strides off and I am angled a little to its left side. Another forward step should bring me right up against it.", + "The ribbed brown rolling door now spans most of my view and its base line is clearly visible ahead, so I am closing well on it. Nothing blocks the open concrete floor between me and its face. I will keep walking straight to shorten the remaining gap.", + "The corrugated door panel now dominates the frame and I can pick out rust streaks and individual slats, meaning I am only a short distance from its face. I am still not close enough to call myself standing at it. Another step forward should bring me right up to the door.", + "The brown door fills nearly the whole view and the strip of floor at its base has shrunk to a narrow band, so I am almost against it. One more step should place me directly at the door face.", + "The rusted brown slats of the big rolling door fill my entire view at arm's length, with only a sliver of floor left at its base. I have reached the large brown rolling door. I mark reaching it, then set off for the yellow forklift standing by the wall.", + "Pressed up against the rolling door, all I can see are its slats, so I need to swing my heading off this wall to find the forklift, which sits out in the yard on the door's left side. Turning left should start bringing that open ground into view.", + "The door has slid to the right edge of my view and the open yard with concrete barriers is opening up on the left. The forklift is still not in frame, so I continue turning left to sweep further across the yard.", + "The yellow nose and wheel of the forklift have just appeared at the far left edge of my view, beyond the barrier blocks. It is too far to the side to walk toward directly. Another left turn should bring it nearer the middle of my view.", + "The forklift now stands fully in view with its mast and yellow body clear, but it sits left of my heading with the door still filling my right side. One more left turn should line my facing up with it so I can walk straight over.", + "With the rolling door behind me, the yellow forklift now sits ahead near the middle of my view, parked against the concrete wall. The open yard between us is clear, so I will walk straight toward it to begin closing that gap.", + "The forklift has grown larger and stays nearly centered in front of me, confirming my heading is good. Nothing blocks the pavement between us, so another step forward should bring me closer.", + "I can now make out the mast and the wheels of the forklift clearly, so I am still several strides short of it. My path remains open, and I keep walking straight ahead.", + "The forklift's cab and tires fill more of my view and it remains slightly right of center, close enough to my heading that no turn is needed. I continue advancing to shorten the remaining distance.", + "The machine now dominates the middle of my view, with its side profile and lift mast plainly visible. A short gap of bare concrete still separates us, so I take another step toward it.", + "I am nearly against the forklift, close enough to see the rust on its tire rims and the tank behind the seat. One more step should place me right beside it.", + "The forklift is 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/Old_Factory_01/task_x-008329_y004909_z000118_t5_a_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008329_y004909_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..93d1b2a5635987bad969da265ab0dd6d4919b954 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008329_y004909_z000118_t5_a_pd/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Pick up the ceramic vase at the forklift, then set it down near the large brown rolling door.", + "Type": 5, + "Start_Pose": [ + -8329.145, + 4908.597, + 118.099, + 0, + 122.872, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -8747.778, + 6257.435, + 38.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8329.145, + 4908.597, + 118.099, + 0, + 122.872, + 0 + ], + [ + -8397.456, + 5014.304, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8397.456, + 5014.304, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8414.694, + 5138.977, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8431.932, + 5263.65, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8449.169, + 5388.323, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8466.407, + 5512.996, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8483.645, + 5637.669, + 118.099, + 0.0, + 97.872, + -0.0 + ], + [ + -8483.645, + 5637.669, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8551.957, + 5743.376, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8620.268, + 5849.083, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8688.58, + 5954.791, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8756.892, + 6060.498, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8756.892, + 6060.498, + 118.099, + 0.0, + 122.872, + -0.0 + ], + [ + -8756.892, + 6060.498, + 118.099, + 0.0, + 147.872, + -0.0 + ], + [ + -8756.892, + 6060.498, + 118.099, + 0.0, + 172.872, + -0.0 + ], + [ + -8756.892, + 6060.498, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -8876.677, + 6021.873, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -8996.463, + 5983.247, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9116.249, + 5944.622, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9236.034, + 5905.997, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9355.82, + 5867.372, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9470.631, + 5829.278, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9402.105, + 5851.374, + 118.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9402.105, + 5851.374, + 118.099, + 0.0, + -162.128, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8747.778, + 6257.435, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8774.495, + 6048.395, + 88.206, + -28.202, + 173.017, + 1.862 + ], + [ + -8768.235, + 6041.274, + 88.478, + -28.189, + -161.971, + 1.872 + ], + [ + -8759.839, + 6038.167, + 87.811, + -28.215, + -137.001, + 1.849 + ], + [ + -8753.949, + 6033.558, + 87.865, + -14.092, + -119.784, + 6.87 + ], + [ + -8869.43, + 6001.772, + 88.432, + -28.198, + -111.983, + 1.865 + ], + [ + -8989.497, + 5963.053, + 87.894, + -28.191, + -111.969, + 1.871 + ], + [ + -9109.405, + 5924.398, + 87.613, + -28.214, + -111.998, + 1.852 + ], + [ + -9229.103, + 5885.795, + 87.823, + -28.203, + -111.987, + 1.856 + ], + [ + -9348.65, + 5847.242, + 88.232, + -28.187, + -111.971, + 1.872 + ], + [ + -9463.11, + 5809.26, + 88.839, + -28.183, + -111.968, + 1.881 + ], + [ + -9468.728, + 5829.892, + 58.099, + 0.0, + -162.128, + 0.0 + ], + [ + -9468.728, + 5829.892, + 58.099, + 0.0, + -162.128, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1412.3, + 1291.5, + 1291.5, + 1167.0, + 1042.8, + 919.0, + 795.8, + 673.7, + 673.7, + 550.1, + 427.8, + 308.4, + 197.1, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The forklift stands across the open yard ahead and slightly left, and the ceramic vase I need must be at its base, still too far to resolve. The floor between us is clear concrete with no obstruction. I will walk forward to begin closing that gap.", + "The forklift sits noticeably left of my current heading, so walking straight would drift me past it toward the rolling door instead. Turning left should swing my facing onto the machine and the pale object beside it, giving me a straight approach line.", + "The forklift now sits near the middle of my view with the pale vase-sized object beside its wheels. Nothing blocks the stretch of floor between me and it, the tanks on their rack staying well off to my left. I will step forward along this heading.", + "The forklift is growing larger and stays centered, so my heading is still good for the vase at its base. There is plenty of open floor before I would reach the machine. Another forward step should shorten the distance.", + "The pale object next to the forklift is becoming distinct as I close in, confirming the pickup spot. My path remains clear concrete with the storage tanks safely to my left. I will keep advancing on this line.", + "The forklift and the white object beside its yellow bodywork are clearly ahead, but still several strides away, too far to reach. The floor stays open. I will continue walking toward the machine.", + "The forklift now fills a good part of my view and the pale vase stands just beside its front wheels, yet I am not close enough to grasp anything. Continuing straight should bring me into the working area around the machine.", + "On my current heading the forklift's mast and body sit squarely in my path, while the pale vase stands off its right side near the yellow counterweight. Turning right should aim me at the open floor beside the machine so I can walk up to the vase rather than into the forklift.", + "The white ceramic vase is standing beside the yellow forklift ahead and slightly left of my heading, and my heading now lines up with it. Nothing blocks the open concrete floor between us, so I will walk forward to close the remaining distance.", + "The vase beside the forklift has grown noticeably larger in view, confirming the last step brought me closer. It is still well beyond arm's reach, so another forward step should continue shrinking the gap.", + "The vase now sits clearly in front of the forklift's wheel, close to my left, but not yet close enough to grasp. The floor between us remains clear, so I will step forward again.", + "The vase stands tall at the left of my view against the forklift, only a short gap remaining. One more step forward should place it within reach for a grasp.", + "The ceramic vase is now immediately at my left side, brushing the edge of my view beside the forklift's yellow body, which means I am within grasping range. I will attempt to pick it up so I can carry it toward the large brown rolling door.", + "The vase is in my hands rather than resting beside the forklift, so the grasp succeeded. The large brown rolling door lay off to my right in this corner of the yard, so I will turn right to begin swinging my heading toward it.", + "With the vase carried, my view now shows the stacked crates ahead and the ribbed brown rolling door still off at the right edge. I will keep turning right to bring that door nearer the center of my heading.", + "The brown rolling door is now large in view but still sitting right of center, with the crates crowding my left. A final right turn should square my heading on the door so I can walk straight to it with the vase.", + "The vase is secured in my hands from the earlier grasp, and the large brown rolling door now sits squarely ahead across open concrete floor. With a clear, unobstructed lane toward it, I will walk forward to carry the vase closer to the drop area.", + "The corrugated door has grown noticeably larger in front of me, confirming my heading is carrying the vase toward it. The floor ahead remains clear, so I will keep walking forward to close the remaining distance.", + "The door panel now dominates my forward view and its base is clearly visible, but I am still several paces short of it. Another forward step should bring me nearer the wall so the vase can be set down close to the door.", + "Only the lower slats and the strip of floor at the door's foot remain in view, so I am close but not yet at the wall. I will step forward again to reach a position where the vase would clearly rest near this door.", + "The ribbed door surface now fills nearly the whole view with only a sliver of floor at its base, showing I am within a couple of paces. I will advance once more to stand right at the door before releasing the vase.", + "The blurred, magnified slats indicate I am almost touching the door face while still holding the vase. One last short step should place me directly at the door so the release lands the vase close against it.", + "I am standing right against the large brown rolling door with the ceramic vase still in my hands, which is exactly the placement the task requires. I will release it here so it should come to rest on the floor beside the door.", + "The ceramic vase stands on the floor directly against the large brown rolling door, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6ca27b4a9ba3f131519ff33d481bb0f15ccfac9f --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the orange forklift in this industrial yard and navigate over to it.", + "Type": 1, + "Start_Pose": [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -159.279, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -159.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -134.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -59.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -34.279, + 0.0 + ], + [ + -8456.011, + 4411.95, + 118.099, + 0.0, + -34.279, + 0.0 + ], + [ + -8352.013, + 4341.063, + 118.099, + 0.0, + -34.279, + 0.0 + ], + [ + -8248.015, + 4270.177, + 118.099, + 0.0, + -34.279, + 0.0 + ], + [ + -8144.017, + 4199.29, + 118.099, + 0.0, + -34.279, + 0.0 + ], + [ + -8144.017, + 4199.29, + 118.099, + 0.0, + -9.279, + 0.0 + ], + [ + -8019.805, + 4178.996, + 118.099, + 0.0, + -9.279, + 0.0 + ], + [ + -7901.248, + 4162.294, + 118.099, + 0.0, + -9.279, + 0.0 + ], + [ + -7901.248, + 4162.294, + 118.099, + 0.0, + -9.279, + 0.0 + ] + ], + "Rationale": [ + "I am facing a closed roller shutter on a blank concrete wall with only stacked crates to its right, and no forklift anywhere in this view. I will turn right to begin a steady scan of the yard toward the more open area beside the crates.", + "The view now shows more of the yard with crates and yellow barrels along the wall, but still no orange forklift. I will keep turning right in the same direction to extend the scan toward the brighter open space near the corner.", + "More of the yard has opened up, with barrels, a green skip and pallets, and something machine-like faintly at the far right edge, but nothing clearly identifiable as the orange forklift. I will continue the same rightward scan to bring that right-hand equipment area fully into view.", + "The yard now opens toward stacked white tanks and industrial machinery with a hint of colored equipment near the right border. I will keep rotating right in the same direction to fully expose that equipment cluster and check it for the orange forklift.", + "An orange machine is now clearly visible on the right side of the yard, standing beside the stacked white tanks, which matches the forklift I am looking for. I will turn right once more to bring it closer to the center of my heading before walking toward it.", + "The orange forklift now sits near the middle of my view, just right of the stacked white tanks, with clear open ground leading to it. I will walk forward to close the distance along this heading.", + "The orange forklift has grown larger and stays roughly ahead of me, so my heading is still good. I will keep walking forward across the open concrete to reduce the remaining distance.", + "The forklift now fills a good part of my view, with its mast and orange body clearly ahead and slightly right of center. I will step forward again to draw close enough to stand right beside it.", + "The orange forklift now stands clearly ahead and slightly right of center, its mast and body filling a good part of my view, so it is unmistakably the target. There is still open concrete between me and it, so I will step forward again to close that remaining gap.", + "The forklift has drifted toward the right edge of my view as I closed in, and it sits off my current heading. I will turn right to bring it back to the center of my view so my next steps carry me straight to it.", + "The orange forklift is now centered in my view with its mast directly ahead and clear ground leading up to it. I will walk forward to shorten the remaining distance and get right up beside it.", + "The forklift now dominates the lower center of my view, close enough that I can see the wear on its orange body and the handle on its mast. A short step forward should place me right at its side, which is what reaching it requires.", + "The orange forklift fills my view at arm's length, directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da3bd3a95aba9e4c234a953843fba97f645ddb33 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Determine where the crushed barrel is lying flat on the ground, then make your way to that spot.", + "Type": 1, + "Start_Pose": [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -159.279, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -159.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -134.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8547.463, + 4357.605, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8534.916, + 4232.373, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8522.37, + 4107.141, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8509.824, + 3981.908, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8497.278, + 3856.676, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8484.732, + 3731.444, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8484.732, + 3731.444, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8526.286, + 3612.643, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8567.841, + 3493.842, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8567.841, + 3493.842, + 118.099, + 0.0, + -109.279, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a closed roller shutter and stacked crates against the concrete wall, with no barrel of any kind in view. I will turn right to begin a steady scan of the yard for a crushed barrel lying flat on the ground.", + "Turning has brought yellow drums into the right side of my view, standing upright beside the crate stacks, so this side of the yard is the promising area. I will keep turning right in the same direction to bring that drum area toward the center and check whether any barrel is lying flat.", + "I can now make out a pale yellow drum resting on its side on the concrete, just right of the cluster of upright drums and near a green skip. Continuing the same rightward turn should place that fallen barrel closer to the middle of my view before I set off toward it.", + "The barrel lying flat on the concrete is now clearly ahead of me, slightly left of center, next to the upright yellow drums and the green skip. The floor between us is open, so I will walk forward to close the long distance to that spot.", + "The toppled yellow barrel has grown slightly larger ahead of me and is still roughly in line with my heading. I will continue walking straight since nothing blocks the concrete between me and it.", + "The barrel resting on its side by the drum cluster is clearly closer now, though still several strides away across the open yard. Another step forward should keep reducing that gap along my current heading.", + "The flat-lying yellow barrel is now well defined in front of me, sitting on the concrete just in front of the green skip. I will keep advancing, as the direct line to it remains open.", + "The fallen barrel is close enough now that its ribbed side and stained lid are easy to read, but it has drifted a little to my left as I advance. I will take another step forward to keep closing on that spot before making any heading adjustment.", + "The yellow drum lying on its side on the concrete is clearly the crushed barrel I need, and it now sits ahead and to my left, noticeably larger than a moment ago. I will keep walking straight to close the remaining gap before I fine tune my heading.", + "The toppled yellow barrel has drifted well off to the left side of my view as I advanced, so walking straight ahead would carry me past it toward the empty floor and the dumpster. Turning left by one step should bring the fallen drum back toward the center of my heading.", + "The turn worked, and the crushed barrel lying flat on the concrete now sits just left of center, close in front of the upright drums. I will step forward along this heading to shorten the distance to the spot where it lies.", + "The crushed barrel now fills a large part of the lower view, so I am only a short walk from where it rests on the ground. One more forward step should place me right at its position.", + "The crushed yellow barrel lying flat on the concrete is directly at my feet, filling the bottom of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28af5b19449091c41c30244dbf4a6d7f0927c80e --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008560_y004483_z000118_t1_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search for the dumpster in the area; once found, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -159.279, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -159.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -134.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8547.463, + 4357.605, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8534.916, + 4232.373, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8522.37, + 4107.141, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8509.824, + 3981.908, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8497.278, + 3856.676, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8484.732, + 3731.444, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8472.186, + 3606.212, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8459.639, + 3480.98, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8447.093, + 3355.748, + 118.099, + 0.0, + -84.279, + 0.0 + ], + [ + -8447.093, + 3355.748, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8488.648, + 3236.947, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8530.203, + 3118.146, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8571.757, + 2999.345, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8608.802, + 2963.321, + 118.099, + 0.0, + -109.279, + 0.0 + ], + [ + -8608.802, + 2963.321, + 118.099, + 0.0, + -109.279, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a closed roller shutter straight ahead and a stack of concrete blocks against the wall, with no dumpster anywhere in view. The yard clearly continues past the right edge of my view, so I will turn right to begin a consistent scan of the unseen part of the area.", + "The scan has opened up a wider industrial yard with stacked blocks and yellow drums along the wall, but still no dumpster in this sector. I will keep turning right in the same direction to extend the sweep toward the brighter open space on that side.", + "Near the far wall, past the drums, I can make out a low dark green boxy container that looks like the dumpster I am searching for, though it sits well off to the side and is small at this range. I will continue the same rightward turn to bring that candidate and the open floor in front of it into the middle of my view.", + "The green dumpster is now in view slightly left of center, resting against the far concrete wall beside the drums, and the wide concrete floor ahead of me is clear of obstacles. I will walk forward to close the distance toward it.", + "The dumpster has grown slightly larger and stays a little left of my heading, confirming I am closing on the right object. The path ahead is still unobstructed, so I will keep walking forward.", + "The green skip container is clearly resolving against the wall to my left front, with only empty concrete between us. I will continue advancing to reduce the remaining distance.", + "The dumpster keeps growing in my view just left of my heading, so my current direction is carrying me toward it. The lone tipped barrel and the parked forklift stay clear of my line, so I will step forward again.", + "I am now noticeably closer, with the dumpster's rim and dark side panel plainly visible ahead and to my left. Nothing blocks the concrete in front of me, so I will keep moving forward toward it.", + "The dark green industrial skip sitting against the concrete wall slightly left of center is clearly the dumpster I was told to find, and it keeps growing in my view as I close the gap. The open concrete floor ahead of me is clear apart from the yellow drum well off to my left, so I will keep walking straight toward it.", + "The dumpster is now noticeably larger and I can make out its rusted rim and side panels, confirming I am closing on the right object. Nothing stands between me and it on this stretch of floor, so I will continue advancing.", + "The dumpster now occupies a good part of the left half of my view, and the toppled yellow drum has slid to my lower left edge as I pass it. I still have open ground in front of me, so I will take another step forward to shorten the remaining distance.", + "The skip is close enough that I can see its open top and the support feet under its body, so my heading is still carrying me toward it. The floor between us remains clear, and I will keep moving forward to draw nearer.", + "The dumpster has drifted well over to the left side of my view while my current heading points at the empty wall and the stacked containers on the right. I will turn left to bring the skip back toward the center of my path before continuing to approach it.", + "The turn worked, and the dumpster now sits near the middle of my view with its mossy green sides and open bin clearly framed. With the target centered and the floor in front of me empty, I will walk forward to close the remaining distance.", + "The skip fills more of my view now and its rim and stained interior wall are plainly visible just ahead of me. I will step forward again to bring myself right up to it.", + "The dumpster now dominates my view, with its near wall and open top only a short distance in front of me. I will take one more step forward to finish closing on it.", + "The mossy green dumpster now fills nearly my whole view, with its rim and interior floor directly ahead of me. I will take one more short step forward to close the last bit of distance and stand right at its edge.", + "I am standing directly at the dumpster, its rim and interior filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..079e68270ab5159c87c916bca191277e81baff84 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the wooden crates near the right wall, then move to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -8768.433, + 5470.077, + 118.099, + 0, + 72.982, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8768.433, + 5470.077, + 118.099, + 0, + 72.982, + 0 + ], + [ + -8768.433, + 5470.077, + 118.099, + 0.0, + 97.982, + -0.0 + ], + [ + -8785.91, + 5594.717, + 118.099, + 0.0, + 97.982, + -0.0 + ], + [ + -8803.387, + 5719.356, + 118.099, + 0.0, + 97.982, + -0.0 + ], + [ + -8820.864, + 5843.996, + 118.099, + 0.0, + 97.982, + -0.0 + ], + [ + -8838.341, + 5968.636, + 118.099, + 0.0, + 97.982, + -0.0 + ], + [ + -8838.341, + 5968.636, + 118.099, + 0.0, + 122.982, + -0.0 + ], + [ + -8906.855, + 6074.212, + 118.099, + 0.0, + 122.982, + -0.0 + ], + [ + -8975.37, + 6179.787, + 118.099, + 0.0, + 122.982, + -0.0 + ], + [ + -9043.884, + 6285.363, + 118.099, + 0.0, + 122.982, + -0.0 + ], + [ + -9112.399, + 6390.939, + 118.099, + 0.0, + 122.982, + -0.0 + ], + [ + -9112.399, + 6390.939, + 118.099, + 0.0, + 122.982, + -0.0 + ], + [ + -9062.099, + 6313.43, + 118.099, + 0.0, + 122.982, + -0.0 + ], + [ + -9062.099, + 6313.43, + 118.099, + 0.0, + 97.982, + -0.0 + ], + [ + -9062.099, + 6313.43, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -9062.099, + 6313.43, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -9062.099, + 6313.43, + 118.099, + 0.0, + 22.982, + -0.0 + ], + [ + -8946.229, + 6362.571, + 118.099, + 0.0, + 22.982, + -0.0 + ], + [ + -8946.229, + 6362.571, + 118.099, + 0.0, + 22.982, + -0.0 + ] + ], + "Rationale": [ + "From here the yard opens ahead with the yellow forklift roughly centered, while the stacked wooden crates sit further right against the tall concrete wall. Since the crates are my first destination, I will turn right to bring that side of the wall into the middle of my view before walking out.", + "The crate stack against the right-hand wall is now clearly in view, but a wide stretch of open concrete still separates me from it. The floor ahead is flat and unobstructed, so I will walk forward to cut down that distance.", + "The crates on the right have grown noticeably and the forklift beside them is closer too, so my heading is carrying me into that corner of the yard. Nothing blocks the path, so I will keep stepping forward toward the crate stack.", + "The wooden crates now read as distinct planked boxes against the wall to my right, meaning I am well inside the yard. They are still several strides away, so I will continue walking to close the remaining gap.", + "The forklift has swung large across my left and the crate stack fills a good part of the right side, so I am close to that wall. I will take another step forward to bring myself alongside the crates.", + "My heading has taken me past the forklift, which now sits at my left edge, while the wooden crates sit off to the right and are drifting out of the center of my view. I will turn right so the crate stack sits squarely in front of me for the final approach.", + "The crate stack is now centered in front of me with clear floor between us. I will walk forward to bring myself right up beside the wooden crates at this wall.", + "The planked crates now dominate the middle of my view and their base edges are close to the bottom of my sight line. A couple more strides should put me right at them, so I will keep walking forward.", + "The stacked wooden crates against the right wall now fill the middle of my view, their planked faces close enough to read the grain. I will keep walking straight at them to close the last of the gap.", + "The crate stack has grown until its boards dominate almost the whole view, though a little floor still separates me from the nearest panel. One more step forward should bring me right up against the crates.", + "Weathered planks and a crate rail fill my whole view at arm's length, with no floor left between us. I am standing at the wooden crates by the right wall. I mark reaching them, and now I am heading for the yellow forklift out in the yard.", + "Pressed this close, the crate boards block everything and I cannot see the open yard where the yellow forklift stands. Backing up a step should give me clearance from the stack and room to swing around toward it.", + "With a little distance regained, the crate stack still occupies the front of my view and the open yard lies off to my left. I will turn left to swing my heading away from these boards and toward the space where the forklift sits.", + "The turn has slid the crate corner to my right and opened up the wall with its row of green bins on the left. The forklift is not in view yet, so I will keep rotating left across the yard.", + "The yellow bodywork and red lamp of the forklift have come into the left edge of my view, still cut off by the frame. Another turn left should bring the machine fully in front of me.", + "The forklift now shows its yellow flank and mast on my left, but it sits off to the side rather than straight ahead. I will turn left once more to bring it squarely in front of me before stepping in.", + "The yellow forklift now fills the center of my view, its front wheels and hood squarely ahead of me. A short walk straight on should close the last bit of open ground and put me right beside it, so I will step forward.", + "The yellow forklift's cab, steering wheel and hood are directly in front of me at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..41b3e2fb51b0b10f046e40e1b72351adba6e86c0 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_b/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Navigate to the rusty white electrical box, then proceed to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -8768.433, + 5470.077, + 118.099, + 0.0, + 72.982, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8768.433, + 5470.077, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8731.597, + 5590.425, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8694.762, + 5710.773, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8657.926, + 5831.121, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8621.091, + 5951.469, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8584.256, + 6071.817, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8591.544, + 6123.598, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8622.566, + 6149.628, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8649.609, + 6061.274, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8676.652, + 5972.92, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8676.652, + 5972.92, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8592.406, + 6066.425, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8506.482, + 6133.004, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8422.237, + 6226.509, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8422.237, + 6226.509, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8371.719, + 6334.901, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8334.884, + 6455.249, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8298.049, + 6575.597, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8261.213, + 6695.945, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8224.378, + 6816.293, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8224.378, + 6816.293, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8251.421, + 6727.939, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8251.421, + 6727.939, + 118.099, + 0.0, + 97.982, + -0.0 + ], + [ + -8251.421, + 6727.939, + 118.099, + 0.0, + 122.982, + -0.0 + ], + [ + -8251.421, + 6727.939, + 118.099, + 0.0, + 147.982, + -0.0 + ], + [ + -8251.421, + 6727.939, + 118.099, + 0.0, + 172.982, + -0.0 + ], + [ + -8251.421, + 6727.939, + 118.099, + 0.0, + -162.018, + 0.0 + ], + [ + -8371.132, + 6689.084, + 118.099, + 0.0, + -162.018, + 0.0 + ], + [ + -8490.843, + 6650.229, + 118.099, + 0.0, + -162.018, + 0.0 + ], + [ + -8490.843, + 6650.229, + 118.099, + 0.0, + -137.018, + 0.0 + ], + [ + -8582.918, + 6564.423, + 118.099, + 0.0, + -137.018, + 0.0 + ], + [ + -8582.918, + 6564.423, + 118.099, + 0.0, + -137.018, + 0.0 + ] + ], + "Rationale": [ + "My first destination is the rusty white electrical box, and from here the yard is wide open with only the concrete wall and its clutter far ahead. A pale cabinet-like shape sits at the base of that wall, left of the parked yellow forklift, so closing distance should let me identify it. I walk straight ahead across the open ground.", + "The far wall and the objects lined against it have grown slightly, but the boxy shapes near its base are still too small and washed out to confirm as the rusty white electrical box. The ground between me and them stays clear. I keep walking forward to bring that wall into useful detail.", + "The forklift now looms larger on the right, which tells me I am gaining ground on the wall behind it. The pale cabinets and bins along that wall are still ahead and slightly left of my heading, and nothing blocks the path. Another step forward should keep narrowing the gap to them.", + "The forklift's mast and wheels now fill much of the right side, while the stretch of wall with the grey cabinets and green bins stays open ahead and to my left. That wall is where the electrical box should be, so distance is still the thing to reduce. I advance again.", + "I am nearly alongside the forklift, its forks and body crowding my right, yet the ground straight ahead toward the cabinets and bins under the wall is still clear. Reaching the rusty white electrical box means continuing past this machine rather than around it yet. I step forward once more.", + "The pale cabinet standing against the concrete wall lies ahead of me, past the row of green bins, but the forklift's fork carriage now looms across the right half of my view. There is still open pavement straight ahead on my left, so I will step forward again to close on the cabinet.", + "My last step barely changed the scene, since the forklift's carriage still fills the right side at nearly the same size and the cabinet by the wall has hardly grown. The machine may be pressing against my path, but the lane on my left still looks clear, so I will try one more forward step.", + "Two forward steps have gained almost no ground, and the forklift's forks and frame are now pressed right up against me, blocking the straight line to the cabinet by the wall. Pushing ahead here is clearly not working, so I will back up to open some clearance from the machine.", + "Backing off has already pulled the forklift's mast and wheels into full view instead of pinning them across my path. I still need more room before I can swing around the machine toward the cabinet by the wall, so I will step back once more.", + "With the forklift squarely in front of me, the direct line to the cabinet along the wall stays blocked, but the yard opens out across my left toward the concrete barriers. Turning left should aim me into that clear ground so I can pass around the machine instead of into it.", + "The forklift's bulk that was crowding my view has been left off to my right, and the yard ahead is now clear open concrete along the tall grey wall. Since I still need to find the rusty white electrical box, I will walk forward along this open lane to bring the wall's fixtures into range.", + "The route stayed clear as I advanced, with the stacked concrete barriers well off to my left and the long grey wall on my right. Dark bins are becoming visible along the base of that wall, which is the kind of spot where a service cabinet would stand, so I will keep walking forward.", + "A pale boxy cabinet is now distinguishable against the wall to my right, just before the row of green bins. I am still too far off to make out its rusty staining, so I will step forward again to close the remaining distance.", + "My heading is carrying me past the wall rather than toward it, and the pale cabinet with the bins sits off on my right side. I will turn right so that cabinet comes into the middle of my view and I can walk straight at it.", + "The turn has put the pale, stained cabinet ahead of me against the wall, with the green bins lined up to its right. Nothing stands between me and it across the open concrete, so I will walk straight forward to close on it.", + "The rusty white box sits flat against the concrete wall directly ahead of me, just left of the row of green dumpsters. My heading already lines up with it and the ground between us is clear, so no turn is needed. I walk forward to cut the remaining distance.", + "The stained white box has grown noticeably larger and now sits near the middle of my view, confirming my line is good. Nothing blocks the pavement in front of me, so another straight step should close more of the gap. I continue walking toward it.", + "The two panelled doors and the concrete plinth under the white box are now clearly readable, so I am only a few paces short of it. My path stays clear of the dumpster on the right. I step forward again to keep closing.", + "The rust stained white box now fills most of my view with its latches at arm height, meaning only a short gap remains. One more step forward should bring me right up against it. I advance.", + "The rusty white electrical box fills my whole view, its two latches an arm's length in front of me. I am standing at it, so I have reached it. I mark arriving here before setting off for the yellow forklift.", + "The rusty white metal doors and their latches fill my entire view, so I am pressed right up against the box and can see nothing else of the yard. Having marked reaching it, I now need the yellow forklift, and stepping backward should open enough distance to take in my surroundings again.", + "Backing off has restored my view: the rusty white box sits ahead against the concrete wall, with a dumpster edging into the frame on my right. The forklift is not in front of me, so I will turn right to sweep along the wall line and pick it up.", + "The white box has slid to my left and a green dumpster now stands against the grey wall ahead, but there is still no yellow machine in sight. I will keep rotating right to continue scanning past the row of bins.", + "My view now runs down a line of green dumpsters along the wall, with the box barely clinging to the left edge. Nothing yellow has entered the frame yet, so another turn right should carry my heading further around toward the open part of the yard.", + "The bins have swung to my left and I can now see the corner of the shed with stacked concrete blocks ahead, yet the forklift is still outside my view. I will turn right once more to bring the remaining open ground into sight.", + "The yellow forklift has swung into the right edge of my view, still angled away from my heading while the row of green bins fills the left. One more turn to the right should bring the machine near the center so I can walk straight at it.", + "The yellow forklift now sits roughly ahead of me with clear open floor between us and no obstacle in the path. I will walk forward to close that gap.", + "The forklift has grown noticeably larger and its body and wheels are clearly ahead of me, so the remaining distance is short but not yet close enough. I will step forward again to bring myself right up beside the machine.", + "I am close to the forklift now, but its yellow body has drifted toward my right side while the empty concrete forms fill the left of my view. Turning right should square me up on the machine before I take the last step in.", + "The yellow forklift now fills the middle of my view from cab to mast, squarely in front of me. One more step forward should place me directly at the machine.", + "The yellow forklift fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..49d69a26749eb4b9a5099336ef5f87ff4ee228b8 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t3_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Move to the yellow forklift, then approach the rusty white electrical box.", + "Type": 3, + "Start_Pose": [ + -8768.433, + 5470.077, + 118.099, + 0.0, + 72.982, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8768.433, + 5470.077, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8731.597, + 5590.425, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8694.762, + 5710.773, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8657.926, + 5831.121, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8621.091, + 5951.469, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8584.256, + 6071.817, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8584.256, + 6071.817, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8584.256, + 6071.817, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8584.256, + 6071.817, + 118.099, + 0.0, + 22.982, + -0.0 + ], + [ + -8468.386, + 6120.958, + 118.099, + 0.0, + 22.982, + -0.0 + ], + [ + -8468.386, + 6120.958, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8384.141, + 6214.463, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8384.141, + 6214.463, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8347.305, + 6334.811, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8310.47, + 6455.159, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8273.635, + 6575.507, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8236.799, + 6695.855, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8199.964, + 6816.203, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8199.964, + 6816.203, + 118.099, + 0.0, + 72.982, + -0.0 + ] + ], + "Rationale": [ + "The yellow forklift stands ahead of me against the concrete wall across the open yard, roughly in line with my heading. The ground between us is flat and clear, so I will walk straight forward to close that gap.", + "The forklift has grown slightly larger and still sits near the middle of my view, so my heading remains good. Nothing blocks the pavement in front of me, and I will keep walking toward it.", + "The forklift's mast and yellow bodywork now read clearly ahead of me, but I am still several strides short of it. My path stays open, so another step forward should continue shrinking the distance.", + "The machine fills more of my view and has drifted to the right side as I close on it, yet it is still comfortably within reach of a straight walk. I will advance again rather than turn.", + "The forklift's forks and wheel now loom close on my right, so I am nearly beside it. One more step forward should bring me level with the machine.", + "The yellow forklift's rusted forks and mast tower right beside me, close enough to touch. I have arrived at it. I mark reaching the forklift, and now I set off across the yard to find the rusty white electrical box.", + "Standing at the forklift, its bulk crowds the right half of my view and hides most of the yard behind it. I will turn left to swing my gaze across the open ground and walls where a rusty white electrical box could be standing.", + "The yard has opened up ahead with concrete barriers and the rusty tanks off to my left, but no white electrical box is clearly in front of me yet. I will keep turning left to sweep more of this side of the site and pick a clear walking lane.", + "Facing back across the yard, my view is dominated by the rusty tanks on the left and a stack of concrete forms straight ahead, with no sign yet of a weathered electrical cabinet. I will walk forward into the open ground so I can pass the tanks and get a clearer line along the far walls where such a box would sit.", + "The tank frame now crowds my left shoulder and the concrete forms sit squarely in front of me, so this heading only leads into clutter. Turning right should swing my view toward the open pavement and the tall concrete wall, where a rusty white box would most likely stand.", + "The turn opened the yard, and against the base of the concrete wall on my right I can pick out a pale metal cabinet standing beside a green dumpster. I will walk forward across the open pavement to close the gap and see its stained surface more clearly.", + "The pale cabinet against the wall now sits well to the right of my heading, while the concrete forms take up the center of my view. A turn to the right should put that box near the middle of my view so I can walk straight at it.", + "The grey cabinet with its raised concrete plinth is now roughly centered ahead of me, with the dumpsters lined up beside it along the wall. The pavement between us is clear, so I will step forward to shorten that distance.", + "The cabinet has grown in my view and I can make out its dark stains and hinged door panel, which fits the rusty white electrical box I am after. Nothing stands between me and it, so I keep walking straight toward it.", + "From here the box clearly shows rust streaks over its whitish doors and the concrete pad it rests on. I am still several paces short of standing right at it, so I will continue forward.", + "The rusty white box now fills the middle of my view with its twin latches plainly visible, but I am not yet close enough to be standing directly at it. One more step forward should bring me right up against its front face.", + "The stained white cabinet with its twin latched doors now fills most of my view, squarely ahead against the concrete wall. One more step should bring me right up to its face, close enough to count as standing at it.", + "The rusty white box's latched doors fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t5_a_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..31a538d6acfde840d6c2f2a2250e204d9be041ad --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-008768_y005470_z000118_t5_a_pd/infos.json @@ -0,0 +1,582 @@ +{ + "Instruction": "Grab the green bell pepper at the wooden crates near the wall, then place it near the yellow forklift.", + "Type": 5, + "Start_Pose": [ + -8768.433, + 5470.077, + 118.099, + 0, + 72.982, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -8075.589, + 6697.169, + 73.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8768.433, + 5470.077, + 118.099, + 0, + 72.982, + 0 + ], + [ + -8731.597, + 5590.425, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8694.762, + 5710.773, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8694.762, + 5710.773, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8610.516, + 5804.278, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8526.271, + 5897.783, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8442.025, + 5991.288, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8357.78, + 6084.793, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8273.534, + 6178.298, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8189.289, + 6271.803, + 118.099, + 0.0, + 47.982, + -0.0 + ], + [ + -8189.289, + 6271.803, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8152.453, + 6392.151, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8115.618, + 6512.499, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + 72.982, + -0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + 72.981, + -0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + 97.981, + -0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + 122.981, + -0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + 147.981, + -0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + 172.981, + -0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + -162.019, + 0.0 + ], + [ + -8080.48, + 6626.532, + 118.099, + 0.0, + -137.019, + 0.0 + ], + [ + -8172.556, + 6540.727, + 118.099, + 0.0, + -137.019, + 0.0 + ], + [ + -8264.631, + 6454.921, + 118.099, + 0.0, + -137.019, + 0.0 + ], + [ + -8356.707, + 6369.115, + 118.099, + 0.0, + -137.019, + 0.0 + ], + [ + -8356.707, + 6369.115, + 118.099, + 0.0, + -162.019, + 0.0 + ], + [ + -8441.83, + 6364.029, + 118.099, + 0.0, + -162.019, + 0.0 + ], + [ + -8373.346, + 6386.256, + 118.099, + 0.0, + -162.019, + 0.0 + ], + [ + -8373.346, + 6386.256, + 118.099, + 0.0, + -162.019, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8075.589, + 6697.169, + 73.099, + 0.0, + 0.0, + 0.0 + ], + [ + -8101.078, + 6632.199, + 88.206, + -28.202, + 123.126, + 1.862 + ], + [ + -8102.491, + 6622.823, + 88.478, + -28.189, + 148.138, + 1.872 + ], + [ + -8099.458, + 6614.4, + 87.811, + -28.215, + 173.109, + 1.849 + ], + [ + -8099.189, + 6606.926, + 87.865, + -14.092, + -169.675, + 6.87 + ], + [ + -8082.67, + 6605.173, + 87.881, + -28.208, + -136.876, + 1.851 + ], + [ + -8073.032, + 6605.285, + 88.549, + -28.198, + -111.872, + 1.867 + ], + [ + -8064.973, + 6609.648, + 88.196, + -28.195, + -86.873, + 1.865 + ], + [ + -8157.333, + 6525.722, + 88.607, + -28.195, + -86.869, + 1.87 + ], + [ + -8249.314, + 6440.006, + 88.833, + -28.197, + -86.875, + 1.87 + ], + [ + -8341.474, + 6354.126, + 88.697, + -28.211, + -86.881, + 1.853 + ], + [ + -8349.994, + 6349.617, + 88.021, + -28.211, + -111.889, + 1.853 + ], + [ + -8434.247, + 6344.041, + 88.83, + -28.199, + -111.878, + 1.867 + ], + [ + -8439.927, + 6364.647, + 108.099, + 0.0, + -162.019, + 0.0 + ], + [ + -8439.927, + 6364.647, + 108.099, + 0.0, + -162.019, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1409.2, + 1286.6, + 1164.6, + 1164.6, + 1040.9, + 917.7, + 795.3, + 674.3, + 555.3, + 440.3, + 440.3, + 314.6, + 189.0, + 70.8, + 70.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 21.4, + 20.6, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the yard entrance I can see the small green bell pepper sitting on the ground beside the wooden crates against the far wall, well to the left of the yellow forklift. It is far away, so I will walk straight ahead to close distance before refining my heading.", + "The pepper is still a small green dot near the crates and the wall, and the forklift has grown slightly, confirming I am closing in on the whole scene. The ground ahead remains clear, so I will keep walking forward to shorten the remaining distance.", + "My current heading points at the forklift, while the green pepper lies noticeably off to the left beside the crates. I will turn left so my path leads to the pepper instead of the vehicle.", + "After the turn the green pepper sits near the middle of my view, ahead beside the concrete crates, with the rusted tanks safely off to my left. With the heading now suitable, I will walk forward to close on it.", + "The pepper is visibly larger and still near the center of my path, so my line of travel is good. I will continue stepping forward, keeping clear of the large tank frame on my left.", + "The pepper now reads clearly as a rounded green object on the ground in front of the crate wall, still centered in my heading. Nothing blocks the pavement between us, so another forward step should bring me closer.", + "I am close enough now that the pepper's stem is visible against the concrete blocks, and it stays slightly right of center along my path. I will keep advancing since I am still too far to reach it.", + "The pepper sits ahead and a little to my right, resting on the ground beside the gray cabinet, with the crate stack passing on my left. The gap is still too large for a grasp, so I will step forward again.", + "The green bell pepper sits on the ground to the right of the large concrete crate block, still several strides away. I will keep walking forward to close that gap before I worry about fine alignment.", + "The pepper now sits off to the right of my heading while the crate wall fills the left of my view. I will turn right to put it near the center of my path so my next steps run straight at it.", + "After the turn the pepper is centered ahead against the wall with the service cabinet behind it. The lane between the crates and the wall is clear, so I will step forward to shorten the remaining distance.", + "The pepper has grown noticeably larger and stays centered low in my view, so my heading is good. I will advance again to get within grabbing range.", + "The pepper now dominates the lower center of my view but is still a short step beyond arm's reach. One more step forward should bring it close enough to attempt a grasp.", + "I am now standing right over the spot where the pepper rests, and at eye level I only see the wall, doors and the cabinet. I will look down so the pepper comes back into view directly in front of my feet for the grab.", + "With my gaze lowered the green bell pepper fills the near foreground, clearly within reach. I will attempt to pick it up now so I can carry it toward the yellow forklift.", + "The grasp worked and the pepper is now held in my hands rather than sitting on the ground. The forklift lies well behind my current heading, so I will begin turning right to swing around toward it.", + "The bell pepper is secured in my hands, so the delivery point is what matters now. Ahead I only see the blank concrete wall, the grey utility cabinet and the first dumpster at the right edge, with no yellow forklift in sight. I will keep rotating right to sweep the yard for it.", + "The rotation has brought a row of green dumpsters along the wall into view, but the yellow forklift is still outside my heading. Carrying the pepper, I need the destination in front of me before I start walking. I will turn right again to continue the sweep.", + "A patch of yellow bodywork and a large wheel have just appeared at the right edge beyond the crates, which matches the forklift I must reach. It is still clipped by the frame border, so my heading is not usable for a straight walk. I will turn right once more to bring it properly into view.", + "The yellow forklift is now fully visible to the right of center, parked in front of the shutters. My body still points too far left of it for a direct approach across the open floor. I will turn right again to bring my heading onto that side of the yard.", + "The forklift now sits slightly left of center, close enough that walking straight would take me into its body rather than to a free spot beside it. Turning right shifts my heading onto the open apron to its side, which should give a clear lane for the carry. I will turn right once more.", + "My heading is now on the clear stretch of concrete beside the forklift, which stands off to my left with nothing in between. The pepper is still in my hands and the machine is far too distant for placing it nearby. I will walk forward to close that gap.", + "The forklift has grown noticeably larger on my left, so the previous step moved me along the intended lane. I am still short of being level with it, which is where I want to set the pepper down. I will step forward again.", + "The forklift's wheels and mast now fill the left edge of my view, so I am nearly level with it. One more step should bring me alongside its front where the pepper can be released close by. I will move forward again.", + "I am still carrying the green bell pepper, and the yellow forklift has slid off to the left edge of my view, with only its mast and fork carriage showing. Turning left should swing the machine back in front of me so I can judge a placement spot beside it.", + "The forklift now fills the left of my view with its forks stretching across the ground close ahead, so my heading is right. I will step forward a little to stand right beside the machine, close enough that releasing the pepper leaves it near the forklift.", + "I am standing directly alongside the forklift's mast and fork carriage, with the vehicle body filling the left of my view and clear ground at my feet. The pepper is still in my hands and this spot counts as near the forklift, so I will release it here.", + "The green bell pepper now rests on the ground right beside the yellow forklift, and my hands are empty. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af9e4f0860fb8a908df2ce94b96731bf62a51227 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the nearest pillar on the right side.", + "Type": 2, + "Start_Pose": [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10256.634, + 2677.308, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10256.634, + 2677.308, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10362.119, + 2745.963, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10467.604, + 2814.617, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10573.088, + 2883.272, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10678.573, + 2951.926, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10784.058, + 3020.581, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10889.543, + 3089.235, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10889.543, + 3089.235, + 118.099, + 0.0, + 146.942, + -0.0 + ] + ], + "Rationale": [ + "The right-hand wall carries a run of identical concrete buttresses, and the closest of them stands ahead and slightly to my right, so I fix that one as my target and keep it tied to the near end of that wall run. Nothing blocks the open floor between us, so I walk forward to close distance.", + "My heading still runs down the length of the hall, while the pillar I chose sits off to my right against the side wall. I turn right so that my path points straight at it rather than past it.", + "The turn has brought the near buttress on the side wall into the middle of my view, with clear floor leading up to it. I walk forward to shorten the remaining gap.", + "The pillar I am heading for has grown taller and its shaded side edge is now clearly separated from the wall behind it. I am still several strides short of it, so I keep walking straight ahead.", + "The base of my target pillar now meets the floor well inside my view, and its surface texture is becoming distinct. Distance remains, so I advance again along the same line.", + "The pillar ahead now occupies a large part of my view and its corner stands out sharply from the wall panels beside it. I am close but not yet beside it, so I step forward once more.", + "The other buttresses have slid out of my view and only the pillar I am going to still fills the frame, its near corner close enough to read the concrete grain. A short gap remains, so I keep walking toward it.", + "The pillar's face now towers directly in front of me with only a short stretch of floor left at its base. One more step forward should bring me right up against it.", + "The pillar's face fills my view at arm's length. I am standing at it, so the task is complete and there is nothing further to close." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..30b00503994c7cd822205b524d809535d4f9aec5 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the second pillar along the right wall.", + "Type": 2, + "Start_Pose": [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10256.634, + 2677.308, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10323.221, + 2784.11, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10389.808, + 2890.912, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10456.395, + 2997.714, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10522.982, + 3104.516, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10589.569, + 3211.318, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10656.156, + 3318.12, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10722.743, + 3424.922, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10789.33, + 3531.724, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10855.917, + 3638.526, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10922.504, + 3745.328, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10922.504, + 3745.328, + 118.099, + 0.0, + 121.942, + -0.0 + ] + ], + "Rationale": [ + "The right wall runs away from me in a row of buttress pillars that all look alike, so I settle the count now: my target is the second one from the near corner, the one standing just where the overhead truss crosses the wall. It sits well down the hall on my right. I will walk straight forward across the open floor to close that gap.", + "The pillars on my right have grown slightly wider in view, so the forward step is carrying me down the hall as intended. The buttress I picked as my target is still ahead of me on that wall. I will keep walking forward.", + "The nearest buttress is sliding toward the right edge of my view as I advance along the wall, and my target sits beyond it. Nothing blocks the bare concrete floor between me and it. I will continue forward.", + "More pillars keep opening up further down the hall as I move, so counting from where I now stand would mislead me; I stay on the same buttress I chose at the start. It is still ahead on my right and not yet abreast of me. I will keep stepping forward.", + "The wall face on my right fills more of my view with every step, which tells me I am steadily closing on the buttress I am heading for. The lane between the pillars and the open floor stays clear. I will walk forward again.", + "The corner I first counted from has dropped out of my view behind me, so I hold my target by what it stands next to rather than by any fresh count. That buttress is still ahead on my right and noticeably nearer. I will keep advancing toward it.", + "The pillar I am heading for now stands close on my right, its edge catching the light from the skylights. I am still a few paces short of drawing level with it. I will step forward to bring myself alongside.", + "The buttress fills the right of my view and its recess behind it is opening up, so I am nearly beside it. A little more distance remains before I am properly at it. I will continue walking forward.", + "Up close the wall no longer reads as a countable row, but the buttress I chose stands right there at my shoulder, its front face angled across my view. Another pace or two should put me squarely at it. I will keep moving forward.", + "The shadowed recess beside my buttress is now wide open and the floor line running to its base is only a short stretch away. I am close but not yet standing at it. One more step forward.", + "My buttress now towers over the right half of my view with its near corner almost within reach. A final short step should bring me level with its face. I walk forward once more.", + "The buttress I set out for fills my view from floor to ceiling, close enough to touch. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e4e4cce65a6a795bdd080efbadc7ba06b63fae2 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t2_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the third pillar along the right wall.", + "Type": 2, + "Start_Pose": [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10256.634, + 2677.308, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10323.221, + 2784.11, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10389.808, + 2890.912, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10456.395, + 2997.714, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10522.982, + 3104.516, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10589.569, + 3211.318, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10656.156, + 3318.12, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10722.743, + 3424.922, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10722.743, + 3424.922, + 118.099, + 0.0, + 96.942, + -0.0 + ], + [ + -10737.955, + 3549.858, + 118.099, + 0.0, + 96.942, + -0.0 + ], + [ + -10753.167, + 3674.794, + 118.099, + 0.0, + 96.942, + -0.0 + ], + [ + -10768.379, + 3799.731, + 118.099, + 0.0, + 96.942, + -0.0 + ], + [ + -10783.591, + 3924.667, + 118.099, + 0.0, + 96.942, + -0.0 + ], + [ + -10798.803, + 4049.603, + 118.099, + 0.0, + 96.942, + -0.0 + ], + [ + -10814.015, + 4174.54, + 118.099, + 0.0, + 96.942, + -0.0 + ], + [ + -10814.015, + 4174.54, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10880.602, + 4281.342, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10947.189, + 4388.144, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -11013.776, + 4494.946, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -11013.776, + 4494.946, + 118.099, + 0.0, + 121.942, + -0.0 + ] + ], + "Rationale": [ + "The right wall runs away from me in a line of identical concrete pillars, so I settle the count now: my target is the third one along that run, standing just past the two nearest buttresses. It lies well down the open floor, so I walk forward along the wall.", + "The pillars on my right have grown slightly wider in view, confirming I am closing along the wall toward the pillar I picked out. The lane of bare floor ahead is unobstructed, so another step forward should shorten the distance.", + "The nearest buttress on my right now fills much of that side, while the pillar I am heading for still sits further down the run. My heading stays parallel to the wall, so I keep walking forward.", + "The wall panels on my right are sliding past steadily, so my line of travel is holding straight down the hall. The pillar I chose is still ahead of me with open floor between, so I advance again.", + "The closest buttresses are beginning to fall behind my shoulder, so I stop reading the row as a count and simply keep following the pillar I already fixed on. It remains ahead along the right wall, so I step forward again.", + "My pillar is now noticeably nearer, standing where the wall run continues past the darker recess ahead. The floor between us is clear and level, so I keep walking straight toward it.", + "I am running close alongside the right wall now, with the pillar I am aiming for just ahead on that side. Nothing stands in the gap, so I continue forward to close it.", + "The pillar I am heading for now rises large just ahead on my right, but I am not yet level with it. One more step forward should bring me alongside its base.", + "Hugging the wall this closely has left my heading angled into the concrete face, with the near buttress crowding the middle of my view and the open floor pushed off to my left. A small swing to the left should put the lane back in front of me while keeping the pillar I am tracking on my right.", + "The hall has opened out again: the shuttered bays at the far end are visible and the pillar run stands off to my right instead of across my path. With clear floor in front, I walk on to keep closing on the pillar I chose.", + "The nearest pillar edges have slid a little further toward my shoulder, so the corrected heading is carrying me along the row rather than into it. Nothing interrupts the floor between me and the one I am aiming for, so I step on.", + "From this angle the pillars overlap into one broad mass of concrete on my right, so there is no clean row left to count off; I simply hold to the one I fixed on earlier. The lane beside it stays clear, so I keep walking.", + "The shuttered openings across the hall are growing, which tells me I am still gaining ground down the length of the building. My pillar sits along the wall to my right and I am not yet level with it, so I continue.", + "The near pillar face on my right is filling more of that side with each step, so my base is drawing close. I walk forward again to bring myself alongside it.", + "The gap between the pillar column and the wall beside it is beginning to open on my right, which means I am nearly abreast of it. One more stride forward should put me level with its base.", + "I am now level with the pillar I have been following, and it sits off my right shoulder where I can no longer walk straight at it. Turning right should square me onto its face so the last steps close the remaining gap directly.", + "The turn has put the pillar's near face and the wall corner beside it squarely in front of me, with clear floor still between us. I walk forward to eat into that remaining gap.", + "The pillar edge and the recessed wall behind it have widened noticeably, so my line into it is holding. A short distance of bare floor is left, so I step forward again.", + "The pillar now towers directly ahead with its corner against the wall filling most of my view, and only a stride of floor remains. I advance once more to stand right at its base.", + "The pillar's concrete face and its corner with the right wall fill my view at arm's length. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t5_a_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9071597b8b3f175423f1438778b37283cca4365a --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010190_y002571_z000118_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Lift the candelabra beside the nearest pillar on the right side.", + "Type": 5, + "Start_Pose": [ + -10190.047, + 2570.506, + 118.099, + 0, + 121.942, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + -10864.674, + 3025.608, + 33.099, + 0, + 30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10190.047, + 2570.506, + 118.099, + 0, + 121.942, + 0 + ], + [ + -10256.634, + 2677.308, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10323.221, + 2784.11, + 118.099, + 0.0, + 121.942, + -0.0 + ], + [ + -10323.221, + 2784.11, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10428.706, + 2852.765, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10534.191, + 2921.419, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10639.675, + 2990.074, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10639.675, + 2990.074, + 118.099, + 0.0, + 146.942, + -0.0 + ], + [ + -10639.675, + 2990.074, + 118.099, + 0.0, + 171.942, + -0.0 + ], + [ + -10764.292, + 3007.716, + 118.099, + 0.0, + 171.942, + -0.0 + ], + [ + -10764.292, + 3007.716, + 118.099, + 0.0, + 171.942, + -0.0 + ], + [ + -10764.292, + 3007.716, + 118.099, + 0.0, + 171.942, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10864.674, + 3025.608, + 33.099, + 0.0, + 30.0, + -0.0 + ], + [ + -10766.681, + 2986.487, + 88.206, + -28.202, + -137.913, + 1.862 + ], + [ + -10766.681, + 2986.487, + 88.206, + -28.202, + -137.913, + 1.862 + ] + ], + "PD_Dist_2D": [ + 813.8, + 700.7, + 592.9, + 592.9, + 469.0, + 346.5, + 227.8, + 227.8, + 227.8, + 102.0, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the candelabra standing at the foot of the pillar along the right-hand wall, but it is still far down the hall. Walking straight ahead closes most of that distance while keeping it in view, so I move forward.", + "The candelabra by the right-hand pillar has grown noticeably larger, confirming my heading is closing the gap. It is still well out of reach, so I continue walking forward before worrying about fine alignment.", + "The candelabra now sits near the right edge of my view, so continuing straight would carry me past it along the wall. I turn right to bring the target toward the center of my heading before advancing further.", + "The candelabra is now roughly centered ahead against the base of its pillar, so my heading points at it. With clear floor between us, I walk forward to shorten the distance toward grasping range.", + "The candelabra and its pillar are clearly larger and holding near the center of my view, so my line of travel is still good. It remains several paces away, too far to reach, so I keep walking toward it.", + "The candelabra stands on the floor at the base of the near pillar on my right, still several paces off. I will keep walking straight to close that gap until it is within arm's reach for a grasp.", + "The candelabra now sits low on my right, near the pillar corner and seemingly close enough to handle. I will attempt to grasp it here rather than spend more steps repositioning.", + "My hands are empty and the candelabra was not taken, so that grasp attempt did not connect. It was sitting off to the right edge of my heading, so I will turn right to bring it squarely in front of me before trying again.", + "The candelabra is now centered ahead against the pillar, but my earlier attempt from this distance came up empty. I will step forward to stand closer so the next grasp has a better chance.", + "The candelabra's candles now fill the bottom of my view, so I am standing right over it beside the pillar. From this much closer stance I will try the grasp again to lift it.", + "The candelabra is now held in my hands, lifted clear of the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d728c377fe2519a73b031b8bc46e2f0a2e68afb --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the base of the left staircase.", + "Type": 2, + "Start_Pose": [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -90.218, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10475.879, + 9124.703, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10476.358, + 8998.845, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10476.837, + 8872.987, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10477.316, + 8747.129, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10477.795, + 8621.271, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10477.795, + 8621.271, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10531.419, + 8507.407, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10585.043, + 8393.543, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10638.667, + 8279.68, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10692.291, + 8165.816, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10745.914, + 8051.952, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10745.914, + 8051.952, + 118.099, + 0.0, + -140.218, + 0.0 + ], + [ + -10842.635, + 7971.419, + 118.099, + 0.0, + -140.218, + 0.0 + ], + [ + -10842.635, + 7971.419, + 118.099, + 0.0, + -140.218, + 0.0 + ] + ], + "Rationale": [ + "Two steel flights climb to the mezzanine along the far wall, and the one I want is the left flight, the one rising beside the closed roller shutter door on that side. It is still far across an empty concrete floor with nothing in between. I will walk forward to close the distance.", + "The staircase beside the shutter door has grown slightly larger, confirming my heading carries me toward that side of the hall. The floor between us is still bare concrete. I will keep walking forward.", + "The mezzanine and its handrails now fill more of my view, but the stair I am heading for is still well ahead and off to my left. No turn is needed yet while I am gaining ground straight on. I will step forward again.", + "The stair treads and their yellow handrail are becoming clearly readable, so I am closing in on that flight. The path in front of me remains unobstructed open floor. I will continue forward.", + "The flight I am after now sits noticeably to the left of my straight-ahead line, with the shutter door directly in front of me instead. Another forward step should bring me nearer before I correct my heading. I will move forward.", + "My straight-ahead line now points at the shutter door, while the staircase I am walking to has drifted toward the left edge of my view and is close to leaving it. Continuing forward would carry me past its base. I will turn left to bring that flight back in front of me.", + "The turn worked, and the staircase with its lower steps meeting the floor now sits squarely in the middle of my view. Clear concrete separates me from its bottom step. I will walk forward along this heading.", + "The flight is much larger now, its handrail and stringer filling the centre-left of my view, but I am still several strides short of the bottom step. Nothing blocks the approach. I will keep walking toward it.", + "The bottom step and its yellow rail sit slightly left of centre, close enough that I can read individual treads. Open floor still runs right up to the stringer. I will keep advancing toward that base.", + "The flight now spans a large part of my view, with its lowest tread low and left of me and the shutter behind it to the right. A couple more strides should put me at the foot of it. I will step forward.", + "The stringer and handrail loom large, and the bottom steps have slid toward the left edge as I close in. I am nearly at the foot but not yet beside it. Another step forward should bring me level with the base.", + "I am right up against the flight now, but its lowest steps have swung out to my far left and the rail crowds my left edge. Facing the stair squarely will confirm I am standing at its base. I will turn left toward it.", + "The turn has put the whole flight in front of me with its bottom tread sitting just ahead on the floor. A short step should close the last of the gap and place me at the foot of it. I will move forward.", + "The lowest tread of this flight is directly ahead within arm's reach. I have reached the base, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d1a21fae2a5832b17ca52facc25569f9749c09f --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the base of the right staircase.", + "Type": 2, + "Start_Pose": [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -90.218, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -65.218, + 0.0 + ], + [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -10379.295, + 9169.295, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -10283.19, + 9088.028, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -10187.085, + 9006.761, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -10090.98, + 8925.494, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -9994.875, + 8844.227, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -9898.77, + 8762.96, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -9802.665, + 8681.693, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -9802.665, + 8681.693, + 118.099, + 0.0, + -65.218, + 0.0 + ], + [ + -9749.909, + 8567.425, + 118.099, + 0.0, + -65.218, + 0.0 + ], + [ + -9697.153, + 8453.156, + 118.099, + 0.0, + -65.218, + 0.0 + ], + [ + -9644.397, + 8338.888, + 118.099, + 0.0, + -65.218, + 0.0 + ], + [ + -9591.641, + 8224.619, + 118.099, + 0.0, + -65.218, + 0.0 + ], + [ + -9538.885, + 8110.351, + 118.099, + 0.0, + -65.218, + 0.0 + ], + [ + -9538.885, + 8110.351, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -9442.78, + 8029.084, + 118.099, + 0.0, + -40.218, + 0.0 + ], + [ + -9442.78, + 8029.084, + 118.099, + 0.0, + -40.218, + 0.0 + ] + ], + "Rationale": [ + "From this opening view the hall offers two flights up to the mezzanine, one against the far left wall and one against the far right wall, and I want the right-hand flight that climbs beside the tall right wall. It lies well off my current heading, far to my right. I turn right to bring it toward the middle of my view.", + "The right-wall staircase has swung closer to center but still sits in the right portion of my view, angled away from my heading. One more turn in the same direction should line my walking path onto it rather than onto the open floor beside it.", + "The staircase rising against the right wall now sits ahead in the right half of my view, with wide bare concrete between me and it. Nothing blocks the route, so I step forward to close that distance.", + "The flight along the right wall reads a little larger and its handrails are clearer, so my heading is carrying me toward it. The floor ahead remains empty apart from the pillar standing off to my left of the line. I keep walking forward.", + "The stairs by the right wall are still ahead and slightly to the right, and the gap of open concrete in front of me is shrinking steadily. There is no obstruction on this line, so another stride forward keeps closing on the base of that flight.", + "A second flight now shows plainly on my left beneath the mezzanine, but the one I am going to is the flight against the right wall, still ahead beyond the near pillar. The way in front of me stays clear, so I continue forward.", + "The broad pillar has grown large in the middle of my view, yet it stands to the side of my line and the staircase I want is still visible beyond it on the right. Floor space remains open past the pillar edge, so I step forward again.", + "I am close enough now that the treads and rails of the flight along the right wall stand out clearly past the pillar. The concrete in front of me is still unobstructed, so I keep advancing toward the foot of those stairs.", + "The pillar now fills much of the centre of my view, and the flight I am going to has slipped behind its right edge while the other stair stands clear on my left. Open concrete still runs along the near side of the pillar, so I take another stride forward to draw level with it.", + "Standing this close, the pillar face blocks the right side of my view and hides the flight climbing beside the right wall. Turning left swings my heading off the column so that stair should come back into view where I can walk to it.", + "With the column pushed to my right edge, the stair against the right wall is open in front of me again, its stringer running down to the floor. The concrete between us is clear, so I walk on toward its foot.", + "The flight is filling more of my view and I can pick out individual treads and the mezzanine landing it feeds. Nothing stands between me and its lower end, so I keep stepping forward.", + "The bottom steps are now well left of the wall corner and sit slightly right of my heading, still several strides off. I press forward to bring myself up to that lower end.", + "The stair's lowest tread and the post beside it are close enough that the structure spans most of my view. I continue walking to close the remaining gap to its base.", + "I am nearly abreast of the bottom steps, which now sit low and to the right of my centre. One more stride should put me right at the foot of this flight.", + "The base of the flight has drifted to the lower right of my view while my heading points past it into the open bay. I turn right to face the lowest treads squarely before closing the last of the distance.", + "The lowest treads and the end post of this flight now sit centred just below my line of sight, with only a short stretch of clear concrete left in front of them. A single stride should bring me right up against the bottom step.", + "The bottom step of the stair rising against the right wall is directly in front of me, within arm's reach. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9ae481639ab18432df6aad5e13ba4e9ff0810cab --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the nearest concrete pillar on the left.", + "Type": 2, + "Start_Pose": [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -90.218, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10529.024, + 9136.698, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10582.648, + 9022.834, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10636.272, + 8908.97, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10636.272, + 8908.97, + 118.099, + 0.0, + -140.218, + 0.0 + ], + [ + -10732.993, + 8828.437, + 118.099, + 0.0, + -140.218, + 0.0 + ], + [ + -10829.714, + 8747.904, + 118.099, + 0.0, + -140.218, + 0.0 + ], + [ + -10926.434, + 8667.371, + 118.099, + 0.0, + -140.218, + 0.0 + ], + [ + -10926.434, + 8667.371, + 118.099, + 0.0, + -140.218, + 0.0 + ] + ], + "Rationale": [ + "Straight ahead the hall opens onto the far wall with its shutters, while the closest concrete column on my left, the broad one with dark water stains down its face, is jammed against the edge of my view. I cannot walk toward it from this heading. I will turn left to bring that stained column into open view.", + "The stained concrete column now stands clear in front of me, slightly left of center, and it is plainly the closest one on that side. The floor between us is bare and unobstructed. I will walk forward to close the distance.", + "The stained column has grown noticeably wider and its base is now clearly readable on the floor, so my heading is carrying me toward it. Nothing blocks the stretch of concrete in front of me. I will keep walking forward.", + "The streaked column now rises through most of the frame height, but there is still several paces of open floor before I reach it. My line of travel is still good enough to keep closing. I will step forward again.", + "Up close, the stained column has drifted to the left half of my view, so walking straight would take me past its side rather than to it. A small turn toward it should put its face squarely ahead of me. I will turn left.", + "The turn has set the stained column directly ahead, its two faces meeting at the vertical edge near the middle of my view. Open floor still separates me from its base. I will walk forward to reach it.", + "The column now dominates the center of my view and its base still sits a short walk away on the concrete. My heading remains centered on it, so no further turning is needed. I will step forward again.", + "The stained concrete face fills nearly the whole frame, with only a narrow band of floor left at its foot. One more step should bring me right up against it. I will move forward.", + "The stained column's face fills my view at arm's length, its corner edge right before me. I am at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t5_a_p/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a71b4e6b8c543e461138fcb2f2436806dde0318 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010475_y009251_z000118_t5_a_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Grab the jerry can near the base of the left staircase.", + "Type": 5, + "Start_Pose": [ + -10475.4, + 9250.562, + 118.099, + 0, + -90.218, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -10941.033, + 7998.302, + 28.099, + 0, + 50, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10475.4, + 9250.562, + 118.099, + 0, + -90.218, + 0 + ], + [ + -10475.879, + 9124.703, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10476.358, + 8998.845, + 118.099, + 0.0, + -90.218, + 0.0 + ], + [ + -10476.358, + 8998.845, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10529.982, + 8884.982, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10583.606, + 8771.118, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10637.23, + 8657.254, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10690.854, + 8543.39, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10744.478, + 8429.526, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10798.102, + 8315.663, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10851.726, + 8201.799, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10905.35, + 8087.935, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10905.35, + 8087.935, + 118.099, + 0.0, + -115.218, + 0.0 + ], + [ + -10905.35, + 8087.935, + 118.099, + 0.0, + -115.218, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10941.033, + 7998.302, + 28.099, + 0.0, + 50.0, + -0.0 + ], + [ + -10885.771, + 8079.389, + 88.206, + -28.202, + -65.074, + 1.862 + ], + [ + -10885.771, + 8079.389, + 88.206, + -28.202, + -65.074, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1336.0, + 1218.7, + 1103.2, + 1103.2, + 977.3, + 851.5, + 725.6, + 599.8, + 473.9, + 348.1, + 222.2, + 96.5, + 21.4, + 21.4 + ], + "Rationale": [ + "From the middle of this warehouse floor I can pick out the small reddish jerry can sitting at the foot of the left-hand staircase, still a long way off. The open concrete floor ahead is clear, so I will walk forward to start closing that distance before worrying about fine alignment.", + "The staircases and the small red can at the left stair base now sit noticeably larger in view, confirming my forward heading is closing on the target. Nothing blocks the concrete floor between me and that side of the hall, so I will keep walking forward.", + "The jerry can and its staircase sit off to the left of my current heading, so continuing straight would carry me past them toward the shutter doors. I will turn left to bring the can nearer the center of my view before advancing further.", + "After the turn the staircase and the red can ahead sit much closer to the center of my view, so my heading now points into that corner of the hall. The floor between me and it is open, so I will walk forward to close in.", + "The can at the stair base is growing in view and remains close to my heading, so no additional turn is needed yet. I will take another step forward to keep shortening the gap.", + "The staircase now fills a good part of my view and the red can beneath it is clearly distinguishable, but it is still too far to reach. I will continue walking straight toward it.", + "The jerry can sits just in front of the lowest steps and is now plainly detailed, yet still several paces out of arm's reach. My heading points straight at it, so I will step forward again.", + "The can is now large and slightly right of my center line, but it stays comfortably within my forward path as I advance. Rather than turn, I will keep walking forward to bring it within reach.", + "The red jerry can sits squarely ahead at the foot of the left staircase, still a fair stretch of open floor away. My heading is already centered on it, so I will keep walking straight to close that gap.", + "The can now looms noticeably larger and remains right on my line of travel by the lowest steps. Nothing blocks the floor between us, so another step forward is the simplest way to shrink the remaining distance.", + "The jerry can fills much of the lower view now, just short of the bottom stair tread and slightly ahead of me. I am not yet close enough to reach it, so one more forward step should bring it within grasping range.", + "The jerry can has passed under my viewpoint and only its top edge shows at the bottom of my view, meaning it is directly at my feet by the staircase base. My hands are empty and the target is within reach, so I will attempt to grasp it now.", + "The red jerry can is now held in my hands rather than resting on the floor. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t3_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..891f8a83bdd088e85dd8023cd328f41c2cd59f73 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the concrete pillar, then head toward the metal staircase base.", + "Type": 3, + "Start_Pose": [ + -10520.75, + 8826.313, + 118.099, + 0.0, + -29.738, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10520.75, + 8826.313, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10411.466, + 8763.883, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10411.466, + 8763.883, + 118.099, + 0.0, + -4.738, + 0.0 + ], + [ + -10286.037, + 8753.487, + 118.099, + 0.0, + -4.738, + 0.0 + ], + [ + -10160.608, + 8743.091, + 118.099, + 0.0, + -4.738, + 0.0 + ], + [ + -10035.18, + 8732.695, + 118.099, + 0.0, + -4.738, + 0.0 + ], + [ + -9909.751, + 8722.299, + 118.099, + 0.0, + -4.738, + 0.0 + ], + [ + -9909.751, + 8722.299, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9800.467, + 8659.869, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9691.183, + 8597.439, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9691.183, + 8597.439, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9691.183, + 8597.439, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9659.764, + 8497.411, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9587.104, + 8394.645, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9514.443, + 8291.878, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9441.783, + 8189.112, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9369.123, + 8086.345, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9369.123, + 8086.345, + 118.099, + 0.0, + -54.738, + 0.0 + ] + ], + "Rationale": [ + "The tall concrete pillar rising from the middle of this hall floor is my first destination, and it stands well ahead of me across open ground. Nothing blocks the slab between us, so I will walk forward to begin closing that gap.", + "The pillar now sits off to the right of my heading rather than straight in front of me. I will turn right to bring it toward the middle of my view before continuing to close on it.", + "The pillar is now near the middle of my view with clear floor running up to it. With my heading set, I will step forward to shorten the distance to its base.", + "The column has grown noticeably wider and taller ahead of me, so my line of travel is good. I will keep walking forward to eat up the remaining stretch of floor.", + "The concrete column now dominates the center of my view but I am still several strides short of standing at its base. I will advance again along the same clear line.", + "The column's shaft fills much of my view and its base is close, though not yet within reach. Another step forward should bring me right up beside it.", + "At this range the column has drifted to the left half of my view, so I am no longer walking straight at it. I will turn left to square up on it before covering the last bit of floor.", + "The column now stands squarely in front of me with only a short span of floor left to its base. I will step forward to finish closing on it.", + "The concrete pillar now fills the right half of my view, its near face only a short walk away. One more step forward should bring me level with its base rather than leaving me short of it.", + "The pillar's grey concrete surface fills the whole right side of my view at arm's length, close enough to touch. I have reached the concrete pillar. I mark arriving here, and now I set off for the metal staircase standing off to my left.", + "The pillar blocks everything to my right, while the metal staircase sits far over at the left edge of my view. Turning left should swing that staircase toward the centre of my view so I can walk straight at its base.", + "The metal staircase and its landing are now ahead of me with the pillar edge cleared to my right. The floor between us is open concrete, so I will walk forward to begin closing that gap toward the stair base.", + "The staircase sits squarely ahead of me, its lowest steps still well across the floor. My heading looks good, so another step forward should cut the remaining distance without any turning.", + "The stair treads and handrails have grown noticeably larger and remain centred in my path. I will keep walking straight to draw nearer to the bottom of the flight.", + "The bottom stringer and lowest steps are now clearly resolved just ahead and slightly right of centre. A further step forward should put me almost at the foot of the flight.", + "The lowest tread and its side rail are close in front of me, filling the lower part of my view. One more step should place me right at the base of the metal staircase.", + "The bottom steps of the metal staircase fill the view directly ahead, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t3_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c9283efada083995cf4efeb67514386ec28af55 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t3_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Approach the metal staircase base, then move to the pillar.", + "Type": 3, + "Start_Pose": [ + -10520.75, + 8826.313, + 118.099, + 0.0, + -29.738, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10520.75, + 8826.313, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10411.466, + 8763.883, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10302.183, + 8701.453, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10192.899, + 8639.022, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10083.615, + 8576.592, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9974.331, + 8514.161, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9865.048, + 8451.731, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9755.764, + 8389.3, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9646.48, + 8326.87, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9537.197, + 8264.44, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9537.197, + 8264.44, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9464.536, + 8161.673, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9391.876, + 8058.907, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9391.876, + 8058.907, + 118.099, + 0.0, + -54.738, + 0.0 + ], + [ + -9391.876, + 8058.907, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9391.876, + 8058.907, + 118.099, + 0.0, + -4.738, + 0.0 + ], + [ + -9391.876, + 8058.907, + 118.099, + 0.0, + 20.262, + -0.0 + ], + [ + -9391.876, + 8058.907, + 118.099, + 0.0, + 45.262, + -0.0 + ], + [ + -9391.876, + 8058.907, + 118.099, + 0.0, + 70.262, + -0.0 + ], + [ + -9391.876, + 8058.907, + 118.099, + 0.0, + 95.262, + -0.0 + ], + [ + -9403.418, + 8184.235, + 118.099, + 0.0, + 95.262, + -0.0 + ], + [ + -9414.961, + 8309.564, + 118.099, + 0.0, + 95.262, + -0.0 + ], + [ + -9414.961, + 8309.564, + 118.099, + 0.0, + 120.262, + -0.0 + ], + [ + -9478.388, + 8418.272, + 118.099, + 0.0, + 120.262, + -0.0 + ], + [ + -9478.388, + 8418.272, + 118.099, + 0.0, + 120.262, + -0.0 + ] + ], + "Rationale": [ + "The metal staircase with its rusted railings stands well ahead on the left side of this hall, and a thick concrete pillar rises to my right. The floor between me and the stairs is open and clear, so I will walk forward to close that distance.", + "The staircase and its landing now sit slightly larger in my view, confirming my heading is carrying me toward it. Nothing blocks the bare floor, so I keep walking straight ahead.", + "The stair treads and their handrails are clearer now, but the base of the flight is still far off across the hall. My heading remains good, so another step forward is the simplest way to shrink the gap.", + "The staircase keeps growing on my left while the near pillar slides toward the right edge, so I am passing cleanly beside it. The route stays open, and I continue advancing toward the foot of the stairs.", + "The bottom step of the metal flight is now plainly visible where it meets the concrete floor, though still several strides away. The lane in front of me is empty, so I keep walking to bring that base within reach.", + "The pillar I was skirting has slipped out of view on my right, leaving the staircase as the dominant structure ahead-left. Its base still lies a good distance off, so I press forward.", + "The stair stringer and railings now dominate my left side and the treads read individually, showing I am closing in. The floor ahead is still clear, so I take another step toward the foot of the flight.", + "The staircase is close enough that the whole flight fills the left of my view from its base to the landing above. I am not yet beside the bottom step, so I continue advancing to reach it.", + "The metal staircase now fills the left side of my view, its lowest treads still several paces away across the open concrete floor. Nothing blocks the ground between me and it, so I will keep walking forward to close the remaining gap toward its base.", + "Walking straight has carried me past the line of the staircase, which now sits well off to my left with its bottom step near the edge of my view. I will turn left so the foot of the stairs comes back in front of me before I advance again.", + "The staircase and its lowest step are now set in front of me rather than off to the side, and the floor leading there is clear. I will step forward to shorten the distance to the base of the metal stairs.", + "The flight of steps has grown across my view and the bottom tread and handrail are close ahead. One more stride forward should bring me right up against the foot of the metal staircase.", + "The lowest tread and its side stringer stand immediately in front of me, with the flight rising steeply past my eye level. I am at the base of the metal staircase. I mark reaching it and now turn my attention to the tall concrete pillar out on the open floor.", + "Standing at the stair foot, my view is filled by treads and railing, and the wide open hall where the concrete pillar stands lies away to my right. I will turn right to begin swinging my heading off the stairs and toward that open floor.", + "The staircase has slid to my left edge and I am now looking at the mezzanine wall and its bracing, with no pillar yet in front of me. I will keep turning right to bring the deeper open floor into view.", + "Only the near wall and the underside of the elevated walkway face me, and the free-standing pillar is not yet in my heading. I will continue turning right to keep sweeping toward the open part of the hall.", + "My heading now sweeps past the mezzanine and its wall-mounted braces, but no free-standing column stands out ahead of me. I will keep pivoting right to open up the wider floor where a full-height pillar should come into view.", + "The long open bay of the hall is now spreading out in front of me, with rows of supports receding along the left wall. Nothing squarely ahead reads as a standing pillar yet, so another right pivot should bring more of the open floor into view.", + "A broad concrete pillar has appeared at the right edge of my view, standing clear of the walls on the open floor. Turning right once more should bring it toward the middle of my view so I can walk straight at it.", + "The free-standing concrete pillar now sits near the center of my view with clear floor leading to it. I will walk straight ahead to close the distance.", + "The pillar has grown noticeably taller and wider in front of me, so my heading is good and the gap is shrinking. I will step forward again to keep closing on its base.", + "I am close now, but the pillar's near face sits to the right of my heading and I would pass along its left side. A small pivot right should square me onto that face before the final step in.", + "The pillar's face now fills the middle of my view with only a short stretch of floor left. One more step forward should put me right at its base.", + "The pillar's concrete face fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t5_a_pd/infos.json b/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..acb00ed22f255682b5f1d5dd5fc85e71908e7f76 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-010521_y008826_z000118_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Lift the trash bag beside the concrete pillar, then leave it near the metal staircase base.", + "Type": 5, + "Start_Pose": [ + -10520.75, + 8826.313, + 118.099, + 0, + -29.738, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -9754.671, + 8482.526, + 38.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10520.75, + 8826.313, + 118.099, + 0, + -29.738, + 0 + ], + [ + -10411.466, + 8763.883, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10302.183, + 8701.453, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10192.899, + 8639.022, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -10083.615, + 8576.592, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9974.331, + 8514.161, + 118.099, + 0.0, + -29.738, + 0.0 + ], + [ + -9974.331, + 8514.161, + 118.099, + 0.0, + -4.738, + 0.0 + ], + [ + -9848.902, + 8503.765, + 118.099, + 0.0, + -4.738, + 0.0 + ], + [ + -9848.902, + 8503.765, + 118.099, + 0.0, + -4.739, + 0.0 + ], + [ + -9848.902, + 8503.765, + 118.099, + 0.0, + -29.739, + 0.0 + ], + [ + -9739.62, + 8441.333, + 118.099, + 0.0, + -29.739, + 0.0 + ], + [ + -9630.337, + 8378.901, + 118.099, + 0.0, + -29.739, + 0.0 + ], + [ + -9521.054, + 8316.469, + 118.099, + 0.0, + -29.739, + 0.0 + ], + [ + -9521.054, + 8316.469, + 118.099, + 0.0, + -54.739, + 0.0 + ], + [ + -9448.395, + 8213.702, + 118.099, + 0.0, + -54.739, + 0.0 + ], + [ + -9375.736, + 8110.934, + 118.099, + 0.0, + -54.739, + 0.0 + ], + [ + -9303.077, + 8008.167, + 118.099, + 0.0, + -54.739, + 0.0 + ], + [ + -9344.643, + 8066.957, + 118.099, + 0.0, + -54.739, + 0.0 + ], + [ + -9344.643, + 8066.957, + 118.099, + 0.0, + -54.739, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -9754.671, + 8482.526, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -9754.671, + 8482.526, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -9754.671, + 8482.526, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -9754.671, + 8482.526, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -9754.671, + 8482.526, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -9754.671, + 8482.526, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -9754.671, + 8482.526, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -9754.671, + 8482.526, + 38.099, + 0.0, + 0.0, + 0.0 + ], + [ + -9847.747, + 8525.097, + 88.206, + -28.202, + 45.406, + 1.862 + ], + [ + -9839.317, + 8521.785, + 88.478, + -28.189, + 20.418, + 1.872 + ], + [ + -9729.909, + 8460.381, + 88.789, + -28.193, + 20.41, + 1.872 + ], + [ + -9620.59, + 8397.925, + 88.787, + -28.198, + 20.411, + 1.868 + ], + [ + -9511.087, + 8335.372, + 88.424, + -28.196, + 20.408, + 1.865 + ], + [ + -9504.619, + 8328.719, + 88.309, + -28.189, + -4.58, + 1.867 + ], + [ + -9431.528, + 8226.827, + 88.689, + -28.207, + -4.604, + 1.857 + ], + [ + -9358.885, + 8124.097, + 88.838, + -28.192, + -4.591, + 1.872 + ], + [ + -9286.135, + 8021.183, + 88.607, + -28.206, + -4.601, + 1.864 + ], + [ + -9304.231, + 8009.8, + 78.099, + 0.0, + -54.739, + 0.0 + ], + [ + -9304.231, + 8009.8, + 78.099, + 0.0, + -54.739, + 0.0 + ] + ], + "PD_Dist_2D": [ + 839.7, + 714.5, + 589.7, + 465.3, + 342.1, + 221.9, + 221.9, + 96.6, + 21.4, + 20.4, + 21.4, + 21.4, + 21.4, + 20.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the dark trash bag resting on the floor just left of the tall concrete pillar, far ahead of me across the open hall. Nothing blocks the ground between us, so I will walk straight forward to close that long gap before I can reach the bag.", + "The bag and its pillar have grown slightly larger in front of me, confirming my heading is taking me toward the target. The floor ahead is still clear, so I will keep walking forward to shorten the remaining distance.", + "From where I stand the bag sits slightly left of my center, close to the base of the pillar, and it is noticeably nearer than before. I am still too far away to grasp it, so I will continue walking forward along this open lane.", + "The trash bag is now a distinct shape ahead of me with the pillar rising just behind it, but it remains well out of arm's reach. I will step forward again to keep closing in on it.", + "The bag now fills a good part of my lower view, sitting just left of the pillar, which tells me I am getting close but not yet within reach. I will advance once more to bring it near enough for handling.", + "The bag has drifted toward the lower right of my view as I approached, so walking straight would carry me past its left side. I will turn right to put the bag directly in front of me before stepping in.", + "The bag is now centered in front of me at the foot of the pillar with clear floor between us. I will take one more step forward so it comes within arm's reach for a grasp.", + "The trash bag is right at my feet at the bottom of my view, close beside the concrete pillar, so I am within reach of it. I will attempt to pick it up now so I can carry it toward the metal staircase.", + "The grasp worked, and the trash bag is now in my hands rather than resting on the floor beside the pillar. The delivery point is the metal staircase, which sat off to my left before I reached down for the bag. I will turn left to bring that staircase back into view and set up the carry.", + "With the bag in hand, the turn has put the long metal staircase and its landing in the left half of my view across an open concrete floor. Nothing blocks the span between me and it. I will walk forward to close that distance while carrying the bag.", + "The staircase and its lower steps now fill more of the left side of my view, so the previous step clearly shortened the gap. I am still well out on the open floor, far from the stair base. I will keep walking forward with the bag.", + "The steel stringer and handrails are noticeably closer, and the bottom step is now clearly visible toward the left. I am still short of the drop area at the base. Another forward stride should bring me into range of it.", + "Advancing straight has pushed the staircase toward the left edge of my view, so my heading now points past it rather than at its base. To place the bag near the bottom steps I need the stair base centered ahead of me. I will turn left to correct that alignment.", + "The turn has brought the staircase and its lowest steps squarely in front of me with clear floor between. I am still several strides from the base where the bag belongs. I will walk forward along this heading.", + "The lower steps and the near handrail have grown considerably, confirming I am closing on the staircase base. I am not yet close enough for the bag to count as left beside it. I will step forward again.", + "The bottom tread and the handrail post now dominate the lower part of my view, so I am nearly at the foot of the stairs. One more stride should put me right at the base where the bag should be released. I will move forward.", + "I am still carrying the trash bag and I now stand right at the foot of the metal staircase, with the lowest steps and the stringer directly in front of me. This is the delivery spot the task calls for, so I will release the bag here and it should settle on the floor beside the staircase base.", + "The trash bag now rests on the floor at the metal staircase base, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec1b7fe292ca3fba18b3b6b33658038a76b8a748 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the base of the leftmost staircase in the row beneath the windows.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14185.348, + 159.864, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14310.988, + 152.439, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14436.627, + 145.015, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14562.267, + 137.59, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14562.267, + 137.59, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14679.273, + 183.958, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14796.28, + 230.327, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14913.286, + 276.696, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -15030.292, + 323.064, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -15147.298, + 369.433, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -15264.304, + 415.801, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -15381.311, + 462.17, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -15498.317, + 508.538, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -15498.317, + 508.538, + 118.099, + 0.0, + 133.382, + -0.0 + ], + [ + -15584.764, + 600.011, + 118.099, + 0.0, + 133.382, + -0.0 + ], + [ + -15671.212, + 691.484, + 118.099, + 0.0, + 133.382, + -0.0 + ], + [ + -15671.212, + 691.484, + 118.099, + 0.0, + 133.382, + -0.0 + ] + ], + "Rationale": [ + "Across the open bay I can see the elevated walkway under the windows with several flights hanging off it; they look nearly identical, so I fix on the flight at the far left end of that run, nearest the left corner. The floor between us is clear, so I start walking straight toward it.", + "The staircases beneath the windows are still far ahead and small in my view. Nothing stands in the open floor between us, so I keep walking straight to cut down the distance before choosing a finer heading.", + "The walkway and its supports are noticeably larger now, and the flight I chose at the left end of the run still lies off to my left. A direct path forward is still open, so I keep advancing rather than turning this early.", + "I am roughly midway across the bay, with the walkway now filling much of my view and my chosen flight still sitting to the left of straight ahead. One more forward step should put me close enough that a modest turn will point me at it.", + "Holding this heading would carry me into the middle of the walkway rather than its left end, where the flight I chose stands. I turn left to swing that end of the run toward the center of my view.", + "The turn has brought the left end of the run into the left half of my view, with clear floor between me and it. I walk forward to keep closing on the base of that flight.", + "The flight I am heading for keeps growing ahead of me and the nearby column no longer hides it. The floor stays clear, so I continue walking toward its lower steps.", + "Another staircase has appeared high on the wall to my left, but it belongs to a different run, so I stay with the flight at the left end of the row under the windows. Its bottom step is still several paces off, so I keep advancing.", + "The flight I chose now occupies the left-of-centre part of my view, its stringer dropping toward open concrete, and the corner wall just beyond it confirms nothing of the run continues past it. The stretch of floor between us is unobstructed, so I press on.", + "Window light thrown across the concrete lets me judge the remaining gap to the stair foot, and it is still several paces. I take another stride to eat into it.", + "The flight has grown enough that its treads and railings read individually, and its lowest step stands out plainly against the bare floor. With clear ground still between us, I continue closing.", + "This close the walkway no longer reads as a countable row, since one flight now fills my view with the others crowded behind it; I stay with the one whose foot points out at me from the end near the corner. Another stride should bring me nearly to its bottom tread.", + "Rust on the handrails is visible now, and the lowest tread sits low and to my left. I advance once more to bring myself within a stride or two of the base.", + "Closing in has pushed the foot of the flight down to the left edge of my view, leaving me pointed at the empty bay beside the stairs. I turn left so the bottom steps come back toward the middle of my view for the final approach.", + "The turn has set the lowest treads and the stringer running up to the walkway squarely ahead of me. A short walk forward should carry me onto the ground directly in front of them.", + "Barely a pace of concrete separates me from the bottom tread, which now fills the lower centre of my view beneath the railings. I step once more to stand right at the base of this flight.", + "The lowest tread of the leftmost flight sits directly before me, railings close on either side. I am at its base, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b8749ccc9784a03673c22f2fc8bd95393878323b --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Approach the base of the rightmost staircase on the far wall.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14185.348, + 159.864, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14310.988, + 152.439, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14310.988, + 152.439, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14421.718, + 92.613, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14532.449, + 32.786, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14643.179, + -27.041, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14753.91, + -86.868, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14864.64, + -146.695, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14975.371, + -206.521, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -15086.101, + -266.348, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -15196.832, + -326.175, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -15196.832, + -326.175, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15322.471, + -333.6, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15448.111, + -341.025, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15573.751, + -348.449, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15573.751, + -348.449, + 118.099, + 0.0, + -176.618, + 0.0 + ] + ], + "Rationale": [ + "Several stair runs climb the far wall to the mezzanine, and the one farthest right, rising toward the walkway beside the tall corner column, is the one I want. The bay between me and that wall is open concrete, so I walk straight ahead to begin closing the distance.", + "The far wall and its mezzanine framing have grown larger, and the stair run I chose still sits ahead and somewhat right of my heading. Nothing stands in the open bay, so I keep walking forward.", + "Holding this heading would carry me toward the middle of the wall and leave my staircase off to the right. I turn right so the remaining crossing points at that stair run instead of passing beside it.", + "With my heading now swung across the bay, the route toward my staircase is open and only bare floor lies in front of me. I walk forward to cover ground toward the far wall.", + "The mezzanine steelwork is filling more of my view and the tall column stands clear of my path, off to my right. I keep walking forward toward the stair run I picked out.", + "As I close in, more of the wall's stair runs and support posts open up on my left, so counting from an end here would mislead me; I stay with the run I already chose. The floor remains clear, so I keep walking.", + "The far wall now reads as separate stair runs and bracing rather than a distant row, and my staircase still lies ahead past the line of columns. I step forward again to keep closing on it.", + "The staircase I am heading for is clearly nearer now, with its treads and handrail distinct beneath the walkway. Open floor still separates me from its base, so I continue advancing.", + "My staircase now shows its full flight and side rail against the wall ahead and slightly left, while the mezzanine deck and its support posts crowd the right of my view. That post line stands well clear of my line of travel, so I keep walking toward the stair.", + "Individual treads and the diagonal rail of my staircase are sharp now, and its footing under the walkway is what I am aiming for. Bare concrete still lies between me and that footing, so I advance again.", + "The flight has grown tall in my view and its lowest steps are visible where they meet the floor. I still have several strides of clear concrete before I would be standing at that footing, so I continue forward.", + "At this range my staircase sits distinctly left of where I am pointed, and holding straight would walk me past its foot into the post bay on my right. I turn left so my heading lands on the bottom of that flight.", + "The turn has put the flight squarely in front of me, its bottom step and both rails centered. With nothing between me and it, I walk forward to close the last of the gap.", + "The stair now dominates my view, with the lowest treads and their support standing plainly ahead. A short stretch of floor remains before I am at the foot, so I step forward once more.", + "The bottom step is only a stride or so away and the rails rise on either side of my line. One more forward step should put me right at the foot of the flight.", + "The lowest tread and both handrails of this staircase are directly before me, within reach. I am at its base, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5070de0e3d8dcfa0aa8e6c3e1eb53eaad8c64435 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the second pillar from the left in the foreground.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14059.708, + 167.289, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14170.438, + 107.462, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14281.169, + 47.635, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14391.899, + -12.191, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14502.63, + -72.018, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14613.36, + -131.845, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14724.091, + -191.672, + 118.099, + 0.0, + -151.618, + 0.0 + ], + [ + -14724.091, + -191.672, + 118.099, + 0.0, + -126.618, + 0.0 + ], + [ + -14799.163, + -292.69, + 118.099, + 0.0, + -126.618, + 0.0 + ], + [ + -14874.235, + -393.708, + 118.099, + 0.0, + -126.618, + 0.0 + ], + [ + -14949.307, + -494.727, + 118.099, + 0.0, + -126.618, + 0.0 + ], + [ + -14949.307, + -494.727, + 118.099, + 0.0, + -126.618, + 0.0 + ] + ], + "Rationale": [ + "From this opening view I count the heavy columns standing nearest me and fix on the second from the left, the square concrete one whose shaft climbs past the yellow crane beam. It lies off to the right of my current facing, so a right turn should set that column in front of me before I start walking.", + "The column I chose now stands ahead of me, just right of center, with bare concrete floor and nothing between us. I walk forward to begin closing that distance.", + "My column has grown noticeably wider and its base is clearer, confirming the heading is good. The floor stays empty, so I keep walking straight toward it.", + "The column still fills the same part of my view and is clearly nearer, so my line of travel is holding. I take another step forward across the open bay.", + "More slender supports under the mezzanine are opening up on both sides, so I stop treating the row as something to recount and simply stay on the broad concrete column I picked. It remains directly ahead, and I walk on toward it.", + "The target column now rises well above the mezzanine deck in my view and its surface detail is readable, so I am getting close. The path stays clear, and I keep advancing.", + "The column dominates the right half of my view but there is still a stretch of floor before its base. I step forward again to cut that remaining gap.", + "As I closed in, the column drifted off toward the right edge of my view rather than staying centered. I turn right so it sits squarely in front of me for the last few strides.", + "The broad concrete column now stands centered in my view with its base plainly visible on open floor. Nothing blocks the last stretch, so I walk straight at it.", + "The column's near face has widened enough that its edges frame most of my view, so my heading onto it is holding. A short span of floor still separates us, and I step forward again.", + "Only a couple of paces of bare floor remain before the column's corner, and its weathered surface is close enough to read grain and staining. I advance once more to stand right at it.", + "The concrete column I chose fills my view at arm's reach. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_d/infos.json b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e691c53bc853bdcb40b0cb780f640f3475b63b0c --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the second pillar from the right in the foreground.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14059.708, + 167.289, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14176.714, + 213.658, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14293.72, + 260.026, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14410.727, + 306.395, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14527.733, + 352.763, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14644.739, + 399.132, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14761.745, + 445.5, + 118.099, + 0.0, + 158.382, + -0.0 + ], + [ + -14761.745, + 445.5, + 118.099, + 0.0, + 133.382, + -0.0 + ], + [ + -14848.193, + 536.973, + 118.099, + 0.0, + 133.382, + -0.0 + ], + [ + -14934.64, + 628.447, + 118.099, + 0.0, + 133.382, + -0.0 + ], + [ + -14934.64, + 628.447, + 118.099, + 0.0, + 133.382, + -0.0 + ] + ], + "Rationale": [ + "Counting the near pillars in front of me from the right, the first is the broad one at the right edge and the next one stands well left of center, rising in front of the mezzanine stair framework. That second one is my target, and it lies off my current heading to the left. I turn left to bring it in line before walking.", + "The pillar I chose now sits close to the middle of my view, with wide empty concrete between me and its base. Nothing stands in the way, so I walk forward to begin closing that distance.", + "The column ahead has grown wider and its base has dropped lower in my view, so my heading is carrying me straight at it. I keep walking forward across the open slab.", + "The column still fills the middle of my view and its foot is clearly visible on the floor a good stretch away. There is nothing between us, so I take another stride forward.", + "The column now spans a broad band of my view and is drifting a little left of center as I close on it. The distance is still too great to stop here, so I continue walking forward.", + "My column sits left of center and towers well above the mezzanine rail, so I am getting close but not yet beside it. The floor in front of me stays clear, so I step forward again.", + "From this close the near pillars no longer read as a row I could count, so I simply keep following the tall column filling the left of my view. Its base is still a few strides off, so I walk forward once more.", + "The column I am following has slid out toward the left edge of my view as I closed on it, so walking straight now would take me past its side. I turn left to bring it back in front of me before covering the last stretch.", + "The column stands squarely in the centre of my view again, its near corner edge running straight down to a base that is still several strides of open floor away. With the heading corrected and nothing on the concrete between us, I walk forward to close the remaining gap.", + "The concrete shaft now dominates the middle of my view and its foot has come down near the bottom edge, but a short stretch of floor still separates us. One more stride forward should bring me right up beside it.", + "The column's weathered face fills my view at arm's length, its base right at my feet. I have arrived at it, so there is no reason to keep walking." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_e/infos.json b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..433ea2800f63f09319ec68e9b8e795f55ac96517 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x-014060_y000167_z000118_t2_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move to the base of the center staircase near the back.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14185.348, + 159.864, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14310.988, + 152.439, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14436.627, + 145.015, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14562.267, + 137.59, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14687.907, + 130.165, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14813.547, + 122.74, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -14939.187, + 115.316, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15064.826, + 107.891, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15190.466, + 100.466, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15316.106, + 93.041, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15441.746, + 85.616, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15567.386, + 78.192, + 118.099, + 0.0, + -176.618, + 0.0 + ], + [ + -15567.386, + 78.192, + 118.099, + 0.0, + -176.618, + 0.0 + ] + ], + "Rationale": [ + "Against the far wall I can pick out three stair runs, and the middle one is the only flight rising straight away from me into the mezzanine, with the other two angling up sideways to its left and right. That straight central flight is my target, and it lies directly along my heading. I will walk forward toward it.", + "The central staircase still sits squarely in the middle of my view, its lower steps small and far off across the open concrete floor. Nothing blocks the span between me and the back wall, so no turn is needed. I keep walking straight ahead.", + "The mezzanine deck and its supporting columns are noticeably larger now, confirming I am closing on the back wall. The straight central flight remains dead ahead between the two angled staircases. I continue forward without adjusting my heading.", + "My target flight is still centered, but its base is far enough away that the steps read as a narrow strip. The floor between us stays clear and level. Another step forward should bring the foot of the staircase closer.", + "The individual treads of the central staircase are beginning to separate, so I am well within the back half of the hall. It stays aligned with the middle of my view, framed by the angled flights on either side. I keep advancing toward its base.", + "The central flight now fills a good share of the view and the underside of the mezzanine is clearly visible above it. I am still short of its lowest step, so stopping here would leave me out in the open floor. I move forward again.", + "The handrails and stringers of the middle staircase are now distinct, and the flanking flights have spread toward the edges of my view as I close in. The base of the central run is still several paces off. I continue straight toward it.", + "The central staircase dominates my view, its bottom step visible on the floor just ahead of me and slightly left of center. I am close but not yet standing at its foot. I take another step forward to reach the base.", + "The middle flight's treads are now clearly counted from bottom to landing, and its lowest step sits a short distance ahead of my feet. A gap of open floor still separates me from that step. I step forward again to close it.", + "The flanking flights have slid to the edges of my view while the middle run stands alone ahead, its bottom tread now wide and low in front of me. I am close, but not yet standing at the foot. Another step forward should bring me right up to it.", + "The middle staircase's stringers and handrails now rise well above my eye line, so only a pace or two of concrete remains before its lowest tread. Nothing lies in that gap. I keep walking straight in.", + "The bottom step of the central flight is right at my feet, filling the lower part of my view with its rails on either side. One more short step should place me squarely at its base rather than just short of it.", + "The central flight's lowest steps and both handrails are immediately at my feet. I am standing at its base, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x000697_y-000252_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x000697_y-000252_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..47623235e106a26ad147367d7f2ca90d32b36257 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x000697_y-000252_z000118_t1_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Search for the orange forklift stationed by the wooden crates, then proceed to its fork prongs.", + "Type": 1, + "Start_Pose": [ + 697.351, + -251.817, + 118.099, + 0.0, + -139.209, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 697.351, + -251.817, + 118.099, + 0.0, + -139.209, + 0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + -89.209, + 0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + -64.209, + 0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + -39.209, + 0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + -14.209, + 0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + 10.791, + -0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + 35.791, + -0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + 60.791, + -0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + 85.791, + -0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + 110.791, + -0.0 + ], + [ + 697.351, + -251.817, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 607.135, + -164.058, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 516.919, + -76.3, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 426.703, + 11.459, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 336.488, + 99.218, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 246.272, + 186.976, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 156.056, + 274.735, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 156.056, + 274.735, + 118.099, + 0.0, + 160.791, + -0.0 + ], + [ + 80.185, + 285.444, + 118.099, + 0.0, + 160.791, + -0.0 + ], + [ + 80.185, + 285.444, + 118.099, + 0.0, + 160.791, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, a tall wooden crate fills most of my view and blocks any sight of an orange forklift beyond it. I see no forklift anywhere in this narrow opening, so I will turn right to begin a steady scan of the warehouse floor. This should swing my view past the crate wall and open up the bays on that side.", + "The crate wall still runs along my left and the newly revealed floor holds only pallets, plastic totes and cardboard boxes, with no orange forklift among them. I will keep turning right in the same direction to sweep further along this open bay. Continuing one consistent rotation should keep my coverage of the hall systematic.", + "This stretch of the hall shows an empty concrete floor with scattered pallets and stacked totes near the crate wall, and still no orange forklift. I will turn right again to bring the next section of the far wall into view. Holding the same scan direction should let me cover the room without revisiting ground I have already checked.", + "Ahead I see mostly bare floor, tall windows and support columns, with pallets and boxes off to my left but nothing resembling a forklift. I will continue turning right to sweep toward the brighter, more cluttered part of the hall. That side may hold the machinery and crate stacks I am looking for.", + "Turning has brought a dark cylindrical tank and some equipment near the far right wall into view, a sign that machinery is stored in that direction, but I still cannot make out an orange forklift. I will keep rotating right to bring that equipment area fully in front of me. The industrial clutter there is a promising place for a parked forklift.", + "I now see the tank, a red machine and several boxes across the middle of the hall, but none of them is the orange forklift I need. I will continue my rightward scan to reveal the area past those columns. The density of stored equipment on this side keeps this a reasonable direction to search.", + "Further right I can now see a green silo, a shutter door and a hint of stacked colored containers along with more machinery near the right wall, which looks like the storage end of the warehouse. Still no orange forklift stands out among that clutter. I will turn right again to bring that container and crate area fully into view.", + "The stacked shipping containers and a wooden crate stack are now clearly in front of me on the right side of the hall, exactly the kind of storage area where a forklift would be parked. I still cannot pick out an orange forklift among the boxes and containers here. I will keep turning right to sweep across the crate stacks and look for it there.", + "From this heading I see stacked shipping containers and a few scattered cardboard boxes, plus a tall wooden crate wall entering at the right edge, but no orange forklift yet. Those crates are the semantic cue the task mentions, so I will keep turning right in the same consistent direction to bring that storage corner fully into view.", + "The container stacks are now centered and a large wooden crate stands to their right, but the forklift I need is still not clearly identifiable in this part of the hall. Continuing the same rightward scan should sweep past that crate area where the target is most likely parked.", + "An orange machine now stands out on the right side of my view, sitting on the open floor just in front of the tall wooden crates. That matches the forklift described in the task, so one more turn right should place it near the center of my view before I start walking toward it.", + "The orange forklift is now roughly centered ahead of me, framed between the container racks on the left and the wooden crate stacks on the right. The floor between us looks open and clear, so I will walk straight forward to close the distance toward it.", + "The forklift has grown slightly larger and stays centered, confirming my heading is still pointed at it. I will keep stepping forward across the open floor since nothing blocks the lane between me and the crate area.", + "I can now make out the forklift's mast and its orange body more distinctly against the wooden crates behind it. It is still some distance off, so another forward step should continue narrowing the gap without needing any turn.", + "The forklift now fills a noticeable part of the view, with its upright mast and dark wheel base clearly visible in front of the crate wall. I will advance again to get close enough that the fork prongs at its base become the immediate focus.", + "I am close enough now to see the forklift's steering handle and the low prongs spreading out at floor level beneath its orange body. Another step forward should bring me right up to those fork prongs, which are the part of the machine I need to reach.", + "The rusty orange forklift now fills the center of my view, standing right against the tall wooden crate stacks, so this is clearly the machine the task describes. Its mast and the low fork prongs at floor level are still a couple of paces away, so I will keep walking straight in to close that remaining gap.", + "I am now very close to the forklift, but it sits slightly right of my heading with its body and the prong bases drifting toward the right edge of my view. A small turn to the right should center the mast and its fork prongs before I take the last step in.", + "The forklift's orange body and mast are now squarely in front of me with the fork prongs extending along the floor toward my feet. One more short step forward should bring me right up to those prongs as the task requires.", + "The orange forklift's fork prongs and rusty body fill the view at arm's length beside the wooden crates. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x001033_y007226_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x001033_y007226_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..680f46016a5d71aeb15cbe13056108d42664f914 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x001033_y007226_z000118_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Discover the yellow ladder mounted on the concrete wall, then reach the base where it meets the ground.", + "Type": 1, + "Start_Pose": [ + 1033.33, + 7226.182, + 118.099, + 0.0, + -79.209, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1033.33, + 7226.182, + 118.099, + 0.0, + -79.209, + 0.0 + ], + [ + 1033.33, + 7226.182, + 118.099, + 0.0, + -104.209, + 0.0 + ], + [ + 1033.33, + 7226.182, + 118.099, + 0.0, + -129.209, + 0.0 + ], + [ + 1033.33, + 7226.182, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 920.008, + 7171.422, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 806.686, + 7116.662, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 693.364, + 7061.902, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 580.043, + 7007.142, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 466.721, + 6952.382, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 353.399, + 6897.622, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 240.077, + 6842.862, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 240.077, + 6842.862, + 118.099, + 0.0, + -129.209, + 0.0 + ], + [ + 160.515, + 6745.341, + 118.099, + 0.0, + -129.209, + 0.0 + ], + [ + 160.515, + 6745.341, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 47.193, + 6690.581, + 118.099, + 0.0, + -154.209, + 0.0 + ], + [ + 47.193, + 6690.581, + 118.099, + 0.0, + -154.209, + 0.0 + ] + ], + "Rationale": [ + "From here I only see stacked shipping containers ahead with a concrete structure partly hidden behind them, and no yellow ladder is visible. I will turn left to begin a steady scan toward the open side of the yard where more concrete walls may be exposed.", + "The scan has brought a tall concrete structure into the left edge of my view, which is exactly the kind of wall the yellow ladder should be mounted on. I will keep turning left in the same direction to bring that concrete facade fully in front of me.", + "A slim yellow vertical line now stands out against the concrete wall on the left, which looks like the ladder I am searching for. I will continue the same leftward turn to center that wall and confirm the ladder rather than leaving it at the edge of my view.", + "The yellow ladder is now clearly visible running down the concrete wall ahead of me, with open pavement between us. I will walk forward along the wall to close that distance toward its base.", + "The ladder still reads small on the concrete facade, so I am not yet near the point where it meets the ground. I will keep stepping forward across the open concrete since nothing blocks the lane between the building and the container stacks.", + "The wall and its yellow ladder are noticeably larger and closer now, confirming I am heading the right way. I will advance again to keep shrinking the gap toward the ladder's foot.", + "The ladder now stands close to the building corner just ahead of me, and its lower rungs are within a few more paces. I will continue walking forward toward that corner to reach the base where the ladder meets the ground.", + "The yellow ladder is large in front of me now, with its rungs and lower end clearly resolved against the concrete. I will step forward once more to bring myself close to where it terminates at the ground.", + "The yellow ladder is clearly visible on the concrete wall ahead of me, and its lowest rungs and footing are now within sight near the wall base. The open concrete ground between me and the wall is clear, so I will keep walking straight to close the remaining distance.", + "The ladder now fills a larger part of my view and its bottom rung sits just above the pavement at the corner of the wall. I am still a few paces short of standing at that footing, so I will continue advancing along the open ground.", + "I am close to the wall now, but the ladder has drifted toward the left side of my view and my heading is skimming past the wall face rather than toward its base. Turning right should swing my body back toward the wall corner and the open lane beside it, giving me a straighter line to the ladder footing.", + "From this heading the wall corner and the open lane beside the containers are ahead of me, with the ladder running down the concrete on my left. I will step forward to bring myself level with the lower rungs where the ladder meets the ground.", + "I am now beside the wall, and the ladder sits well over on my left edge, almost out of view. Turning left should bring the ladder and its base back to the center of my view so I can face it directly.", + "The ladder is centered in front of me now and I can see its lowest rungs ending at the concrete floor. A short step forward should place me right at the base where the ladder meets the ground.", + "The yellow ladder fills my view at arm's length with its rungs and wall footing directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7dfde802f699ae604d2134b2f39e1d912c6939d --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the base of the large green cylindrical tank near the dumpster, then navigate to its bottom section.", + "Type": 1, + "Start_Pose": [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 65.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 90.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2349.706, + 925.244, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2294.946, + 1038.566, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2240.186, + 1151.887, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2185.426, + 1265.209, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2130.666, + 1378.531, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2130.666, + 1378.531, + 118.099, + 0.0, + 90.791, + -0.0 + ], + [ + 2128.929, + 1504.378, + 118.099, + 0.0, + 90.791, + -0.0 + ], + [ + 2127.439, + 1555.243, + 118.099, + 0.0, + 90.791, + -0.0 + ], + [ + 2126.15, + 1555.243, + 118.099, + 0.0, + 90.791, + -0.0 + ], + [ + 2126.15, + 1555.243, + 118.099, + 0.0, + 90.791, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I see a gantry crane, concrete columns and a dark skip container, but no green cylindrical tank and no dumpster anywhere ahead. I will turn right to begin a consistent scan of the hall, since the open bay on that side is the most likely place for bulk storage equipment.", + "A large green metal structure has just entered the right edge of my view, next to a wheeled dumpster, which matches the tank and dumpster described in my task. I will keep turning right to bring that green tank fully in front of me before committing to an approach.", + "The tall green cylindrical tank with its conical hopper and support legs is now clearly visible, with the dumpster parked right beneath it, so this is my target. It still sits slightly right of center behind the yellow crane leg, so I will turn right once more to line up a clear path toward its base.", + "The green tank now stands ahead and slightly left, with its legged base and hopper clearly visible above the dumpster, and the floor between us is open concrete. I will walk forward to close the distance toward the bottom section of the tank.", + "The tank has grown noticeably larger and its green support legs and cross bracing are easier to read, so my heading is carrying me toward it. I will continue walking forward since the concrete floor ahead remains unobstructed.", + "I am now close enough that the tank's hopper cone and its green legs fill much of the left side of my view, while the dumpster has slipped to my left. Another step forward should bring me nearer to the structure's bottom section.", + "The tank's ladder, cone and steel legs are close on my left, but the structure sits ahead-left rather than straight in front of me. I will step forward again to draw level with its base before adjusting my heading.", + "The hopper outlet and the platform under it are plainly visible just to my left, so I am nearly alongside the base of the tank. I will take one more step forward to reach the level of its lower support frame.", + "The green tank's conical bottom and its steel support legs now fill the left half of my view, while the right side is taken up by the white cabinet and containers. Turning left should center the tank's base and discharge cone directly ahead so I can walk straight into it.", + "The tank's support frame is now squarely centered, with the conical bottom and its discharge spout framed between the green legs. I will step forward to close the remaining floor gap to the base of the structure.", + "The green cross beam and legs have grown large enough to crop the top of the tank out of view, so I am close to the frame but still short of it. Another step forward should bring me right up against the bottom section.", + "The rusted discharge cone and its outlet flange are centered right in front of me with the green frame filling nearly the whole view. I will take one more short step to settle at the base of the tank, though the structure ahead may already limit further advance.", + "I stand directly at the green tank's bottom section, with its discharge cone and support legs filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b3776af6a2264a96614da6dc0ca1a9ad72117ae --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Discover the white electrical transformer box situated near the green tank; once found, approach it.", + "Type": 1, + "Start_Pose": [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 65.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 90.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2349.706, + 925.244, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2294.946, + 1038.566, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2294.946, + 1038.566, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 2197.425, + 1118.128, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 2099.904, + 1197.689, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 2002.382, + 1277.251, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 1904.861, + 1356.813, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 1807.34, + 1436.375, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 1807.34, + 1436.375, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 1752.58, + 1549.697, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 1697.82, + 1663.019, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 1643.06, + 1776.341, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 1643.06, + 1776.341, + 118.099, + 0.0, + 115.791, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I only see the gantry frame, empty bays of the hall, and a dark skip on the right, with no green tank or white transformer box anywhere in view. I will turn right to begin a consistent scan of the parts of the hall currently hidden beyond the edge of my view.", + "Turning has brought a large green painted structure into the right edge of my view, which matches the green tank cue mentioned in the task. I will keep turning right in the same direction to bring that green structure and its surroundings fully into view, where the white transformer box is likely to stand.", + "The green tank now stands clearly ahead of me, and near its right side I can make out a pale boxy cabinet against the wall beyond a wheeled bin. I will turn right once more to bring that white box closer to the centre of my view before moving toward it.", + "The white cabinet beside the green tank is now within my forward view, sitting on open floor between the tank and the stacked containers. The path in front of me is clear concrete, so I will walk forward to close distance toward it.", + "The green tank and the white transformer box beside it have grown larger, confirming I am closing in on the right area. The floor ahead remains unobstructed, so I will keep walking forward.", + "The white box now sits noticeably right of my heading while the tank fills the left of my view, so walking straight would carry me past the target. I will turn right to put the white cabinet nearer the centre of my path.", + "The white transformer box is now visible ahead of me against the wall, left of the stacked red containers. With clear floor between us, I will walk forward to reduce the remaining distance.", + "The white cabinet has grown larger and its panelled doors are becoming distinct, so my heading is still carrying me toward it. Nothing blocks the concrete between us, so I will continue walking forward.", + "The white transformer cabinet stands clearly ahead on the left side of the open bay, near the green silo structure behind me, so I have my target in sight. Nothing blocks the concrete floor between me and it, so I will keep walking forward to close the distance.", + "The white box has grown larger and its panelled doors are now readable, confirming it is the electrical transformer cabinet I am looking for. The floor ahead remains clear, so I will continue advancing toward it.", + "The transformer cabinet now fills a good portion of the left half of my view, but I am still several paces short of standing beside it. I will step forward again to keep reducing the gap.", + "The transformer box has drifted to the left edge of my view while the red containers dominate the center, so my heading is no longer pointed at the target. I will turn left to bring the cabinet back into the middle of my view before continuing.", + "The white transformer cabinet is now centered in front of me with the shutter door and containers framing it on either side. With the heading corrected, I will walk forward to close the remaining distance.", + "The cabinet is squarely ahead and noticeably closer, with its base plinth and door seams clearly visible. A few more steps should bring me right up to it, so I will keep moving forward.", + "The transformer box now dominates my view, though there is still a short stretch of floor before I am standing at its face. I will take one more step forward to finish the approach.", + "The white transformer cabinet's panelled face and latches fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_c/infos.json b/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..badffa33cf36fc2e7f9a384c182f65430ab71502 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x002404_y000812_z000118_t1_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for a dark blue two-wheeled handcart in the industrial area and reach its position.", + "Type": 1, + "Start_Pose": [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 65.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 90.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 115.791, + -0.0 + ], + [ + 2404.466, + 811.922, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 2306.945, + 891.484, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 2209.424, + 971.046, + 118.099, + 0.0, + 140.791, + -0.0 + ], + [ + 2209.424, + 971.046, + 118.099, + 0.0, + 165.791, + -0.0 + ], + [ + 2087.415, + 1001.939, + 118.099, + 0.0, + 165.791, + -0.0 + ], + [ + 1965.406, + 1032.832, + 118.099, + 0.0, + 165.791, + -0.0 + ], + [ + 1843.398, + 1063.726, + 118.099, + 0.0, + 165.791, + -0.0 + ], + [ + 1721.389, + 1094.619, + 118.099, + 0.0, + 165.791, + -0.0 + ], + [ + 1721.389, + 1094.619, + 118.099, + 0.0, + 165.791, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, I see only an empty concrete bay with a yellow gantry frame and a dark skip against the far wall, and no dark blue two-wheeled handcart anywhere in front of me. I will turn right to begin a steady scan of this industrial hall for the target.", + "The new heading brings a wheeled bin and a green tank edge into view, but still no dark blue two-wheeled handcart. I will keep rotating right in the same direction to sweep further along this wall of the hall.", + "I am now facing the green silo and a white cabinet, and the open floor ahead of me holds no handcart. I will continue turning right in the same consistent direction, since the hall appears to open further toward that side.", + "Past the silo I can now make out stacked shipping containers on the right, and beside them a dark blue wheeled object that could be the handcart I am looking for. I will turn right once more to bring that container area and the blue object nearer the center of my view.", + "The dark blue two-wheeled cart is now clearly ahead of me in front of the stacked containers, with open concrete floor between us. I will walk forward to close the distance toward it.", + "The blue handcart has grown larger and its tire is clearly visible, so my heading toward it is good. I will step forward again to keep closing the remaining gap.", + "The blue handcart sits to the right of my current heading, so walking straight would carry me past it. I will turn right to line my heading up with the cart before advancing further.", + "The dark blue two-wheeled cart is now centered ahead of me with its wheel and body plainly in view. I will move forward along this heading to close on its position.", + "The dark blue two-wheeled handcart stands clearly ahead of me near the stacked red containers, roughly centered in my view with its tyre and tow bar visible. The floor between us is open and free of clutter, so I will keep walking straight toward it to close the remaining distance.", + "The blue handcart now fills a larger part of my view, with its wheel and body clearly resolved, confirming I am steadily closing on it. It still sits a few strides away, so I will step forward again to bring myself right up to its position.", + "The blue cart's bed and tyre now dominate the lower half of my view, so I am only a short step from standing beside it. I will advance once more to place myself at the cart's position rather than stopping slightly short.", + "The dark blue two-wheeled handcart fills my view directly in front of me at arm's length. The task target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x002940_y-000108_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x002940_y-000108_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9788f6dee942c6800b81e04c30ff25047729e5fb --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x002940_y-000108_z000118_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the yellow vertical ladder mounted on the body of the red tank, then approach it.", + "Type": 1, + "Start_Pose": [ + 2939.607, + -107.9, + 118.099, + 0.0, + -79.209, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2939.607, + -107.9, + 118.099, + 0.0, + -79.209, + 0.0 + ], + [ + 2939.607, + -107.9, + 118.099, + 0.0, + -54.209, + 0.0 + ], + [ + 2939.607, + -107.9, + 118.099, + 0.0, + -29.209, + 0.0 + ], + [ + 2939.607, + -107.9, + 118.099, + 0.0, + -4.209, + 0.0 + ], + [ + 2939.607, + -107.9, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3057.27, + -63.225, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3174.933, + -18.55, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3292.597, + 26.125, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3410.26, + 70.8, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3527.923, + 115.475, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3645.586, + 160.15, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3716.223, + 194.943, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3716.223, + 194.943, + 118.099, + 0.0, + 20.791, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, the hall in front of me shows only bare concrete walls, catwalks and a large support column, with no red tank or yellow ladder anywhere in view. I will turn to the right to begin a consistent scan of the surrounding bay for the target structure.", + "Turning has brought industrial equipment into view, a large dark blue horizontal vessel with a yellow ladder against it, but that tank is not the red one named in the task. A hint of a reddish surface sits at the far right edge of my view, so I will keep turning in the same direction to bring that area into the center.", + "The blue vessel and its yellow ladder now sit near the center of my view, confirming this is not the red tank I am looking for. A red-colored body is still clipped at the right edge of my view, so I will continue turning right to bring it fully into sight.", + "I can now clearly see a tall red tank to the right of center with a yellow vertical ladder running up its body, which matches the target description. It is still offset to the right of my heading, so I will turn right once more to line my facing up with it before walking over.", + "The red tank with its yellow vertical ladder is now roughly centered ahead of me, standing between the stairways in the middle of the hall. The floor in front looks clear of crates, so I will walk forward to close the distance toward the ladder.", + "The red tank has grown noticeably larger and the yellow ladder on its body is now clearly resolved, so my heading is carrying me straight toward it. The path ahead remains open, so I will keep walking forward.", + "The red tank now dominates the middle of my view and the yellow ladder runs from the ground up its side, but I am still several strides short of it. I will continue walking forward to shorten the remaining gap.", + "The tank's red conical hopper and the yellow ladder bolted to it are close and centered slightly left of my heading, with the flanking stairways passing on either side. I will step forward again to bring myself right up to the base of the ladder.", + "The red tank stands directly ahead with its yellow vertical ladder running down the front of its body, clearly identified as my target. The floor between me and the tank base is open, with the flanking stairways set well to either side, so I will keep walking straight to close the remaining distance.", + "The yellow ladder now fills much of the center-left of my view and the tank's conical base and support legs are clearly resolved, confirming I am nearly on top of the target. Since the path in front of me is still unobstructed, I will step forward again to bring the ladder within arm's reach.", + "The yellow ladder is very close on the left half of my view, running from the floor plate up the red tank body. Only a short gap remains, so I will take one more measured step forward to settle at a proper standing distance beside the ladder.", + "The yellow vertical ladder on the red tank body now fills the near foreground at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x002940_y-000108_z000118_t1_b/infos.json b/dataset/trajectory/Old_Factory_01/task_x002940_y-000108_z000118_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..551fda9a306c299fb6edcbf261593cfd1829d870 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x002940_y-000108_z000118_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Discover the base of the staircase situated between the blue tank and the red tank; once found, reach that spot.", + "Type": 1, + "Start_Pose": [ + 2939.607, + -107.9, + 118.099, + 0.0, + -79.209, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2939.607, + -107.9, + 118.099, + 0.0, + -79.209, + 0.0 + ], + [ + 2939.607, + -107.9, + 118.099, + 0.0, + -54.209, + 0.0 + ], + [ + 2939.607, + -107.9, + 118.099, + 0.0, + -29.209, + 0.0 + ], + [ + 2939.607, + -107.9, + 118.099, + 0.0, + -4.209, + 0.0 + ], + [ + 2939.607, + -107.9, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3057.27, + -63.225, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3174.933, + -18.55, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3292.597, + 26.125, + 118.099, + 0.0, + 20.791, + -0.0 + ], + [ + 3292.597, + 26.125, + 118.099, + 0.0, + -4.209, + 0.0 + ], + [ + 3418.116, + 16.887, + 118.099, + 0.0, + -4.209, + 0.0 + ], + [ + 3543.636, + 7.65, + 118.099, + 0.0, + -4.209, + 0.0 + ], + [ + 3646.331, + 0.696, + 118.099, + 0.0, + -4.209, + 0.0 + ], + [ + 3646.331, + 0.696, + 118.099, + 0.0, + -4.209, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I can see the far wall, a support column, and some catwalk stairs on the right, but neither a blue tank nor a red tank is in view, so I cannot yet locate the staircase between them. I will turn right to begin a consistent scan of the hall and look for the two tanks.", + "A large dark blue tank has now come into the right side of my view, which is one of the two landmarks the task names. No red tank is visible beside it yet, so I will keep turning right in the same direction to bring the area past the blue tank into view.", + "The blue tank is now clearly centered ahead with staircases on both sides of it, but the second, red tank still is not in view. I will continue turning right to uncover the space to the right of the blue tank, where the paired tank and the staircase between them should appear.", + "Both landmarks are now visible, with the blue tank to the left and a red conical tank to its right, and a straight staircase rises in the gap between them. I will turn right once more to bring that staircase and its base closer to the center of my heading before walking toward it.", + "The red tank stands near the middle of my view with the blue tank off to the left, and the staircase between them is aligned close to my heading. The floor ahead is open, so I will walk forward to close the distance toward the base of that staircase.", + "The tanks and the stairs between them are noticeably larger than before, confirming I am closing in on the right area. The path ahead remains clear of crates, so I will keep walking forward toward the staircase base.", + "The red tank now fills much of the center and the blue tank edges into the left of my view, so the gap holding the target staircase is close ahead. I will take another step forward to bring the foot of that staircase within reach.", + "I am now close to the two tanks, and the staircase that sits between the blue tank and the red tank is offset to the left of my current heading rather than straight ahead. I will turn left to line my body up with the foot of that staircase before continuing forward.", + "The staircase now sits centered ahead of me, flanked by the blue tank on my left and the red tank on my right, which matches the target described in the task. Its lowest step is still several paces away across open floor, so I will walk forward to close that gap.", + "The bottom steps and both handrails fill more of my view now, confirming I am closing on the correct staircase between the two tanks. I am still standing short of its base, so I will keep walking straight ahead.", + "The first tread and the near handrail posts are directly in front of me, with the blue and red tanks close on either side. A short final step forward should place me right at the foot of this staircase.", + "I am standing at the bottom step of the staircase set between the blue and red tanks. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Old_Factory_01/task_x004248_y004324_z000118_t1_a/infos.json b/dataset/trajectory/Old_Factory_01/task_x004248_y004324_z000118_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..380a5fd350bac39a7007055e5a045083c11470f8 --- /dev/null +++ b/dataset/trajectory/Old_Factory_01/task_x004248_y004324_z000118_t1_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Locate the red ladder situated between the two horizontally placed red barrels, then navigate to its base.", + "Type": 1, + "Start_Pose": [ + 4247.785, + 4324.383, + 118.099, + 0.0, + -139.209, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + -139.209, + 0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + -114.209, + 0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + -89.209, + 0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + -64.209, + 0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + -39.209, + 0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + -14.209, + 0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + 10.791, + -0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + 35.791, + -0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + 60.791, + -0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + 85.791, + -0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + 110.791, + -0.0 + ], + [ + 4247.785, + 4324.383, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 4157.569, + 4412.141, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 4067.353, + 4499.9, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 3977.138, + 4587.659, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 3886.922, + 4675.418, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 3796.706, + 4763.176, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 3706.49, + 4850.935, + 118.099, + 0.0, + 135.791, + -0.0 + ], + [ + 3706.49, + 4850.935, + 118.099, + 0.0, + 110.791, + -0.0 + ], + [ + 3661.815, + 4968.598, + 118.099, + 0.0, + 110.791, + -0.0 + ], + [ + 3617.14, + 5086.261, + 118.099, + 0.0, + 110.791, + -0.0 + ], + [ + 3572.465, + 5203.925, + 118.099, + 0.0, + 110.791, + -0.0 + ], + [ + 3572.465, + 5203.925, + 118.099, + 0.0, + 110.791, + -0.0 + ] + ], + "Rationale": [ + "From my starting spot I only see a tall concrete warehouse wall ahead and some rusted yellow machinery close on my left, with no red barrels or ladder anywhere in sight. I will turn right to begin a consistent scan of the yard and open up the area hidden behind me.", + "The view has shifted along the same warehouse facade and still shows only concrete wall, windows and empty pavement, so the target is not here. I will keep turning right to continue the sweep in one steady direction.", + "I can now see the corner of the building on my left with open flat ground extending to the right, and there is still no sign of the paired red barrels. I will continue turning right to bring more of that open area into view.", + "Past the building corner the yard opens into bare pavement and sky with nothing red or ladder-like in it. I will hold the same rightward scan direction so I cover the remaining unseen sector without doubling back.", + "Now only empty concrete and sky are in front of me, with the last of the building gone from view. I will turn right again to keep sweeping toward the still unexamined part of the yard.", + "This heading shows nothing but flat ground and the shadow line across it, so there is no cue here pointing to the barrels or ladder. I will continue the rightward rotation, since the sector I have not yet inspected still lies further around.", + "Ahead is still empty apron with only my own shadow stretching onto it, giving no target and no landmark to approach. I will keep turning right at the same steady rate to finish covering the unseen ground.", + "The ground to my right now carries long striped shadows cast by some tall structure just outside my view, which is the first real cue since the yard opened up. I will turn right again to bring whatever is casting those shadows into the center of my view.", + "After sweeping past empty pavement and open sky, a rusted red cylindrical tank on a steel frame has just entered the right edge of my view, the first structure matching the red barrels in the task. I will keep rotating right to bring that structure fully into view and check whether a second barrel and a ladder stand beside it.", + "One horizontally mounted red barrel on a rusted steel frame is now clearly on my right, with hints of more structure behind it. Continuing to turn right in the same direction should reveal whether a second barrel sits alongside it and expose the space between them where the ladder should be.", + "Two horizontally placed red barrels on steel frames are now visible ahead to the right, with a narrow gap between them where a reddish stepped structure appears. I will turn right once more to place that gap closer to the center of my heading before starting to walk toward it.", + "The pair of red barrels now sits ahead and slightly to my left, with the container stacks framing an open yard lane straight in front of me. The ground between me and the barrels is clear concrete, so I will walk forward to close the considerable distance toward the gap between them.", + "The barrels have grown noticeably larger and the shaded space beneath their steel supports is becoming easier to read, confirming I am closing on them. Nothing blocks the pavement ahead, so I will keep walking forward toward the region between the two tanks.", + "The nearer barrel now fills much of my left field of view while the second one lies just beyond it, so I am nearly alongside the pair. I will continue stepping forward to reach the level of the gap between them where the ladder should stand.", + "I am close enough now to see the steel legs and cross bracing under both tanks, and faint reddish framing shows in the space between them. Another step forward should bring me level with that opening so the ladder becomes plainly visible.", + "A rusted red stepped ladder is now clearly visible on the left, rising in the space between the two horizontal barrels, which matches the target described in the task. I will walk forward again to draw level with it before turning toward its base.", + "The two big horizontal red barrels on their steel frames are now close on my left, and the rusty red ladder rising between them is clearly visible at the left edge of my view. I still have open concrete ahead, so I will keep walking forward to draw level with the gap between the barrels before turning in toward the ladder.", + "I am now roughly beside the pair of barrels, and the ladder sits off to my left rather than in front of me. I will turn left to bring the gap between the two barrels and the ladder into the center of my heading so I can walk straight in.", + "The turn has centered the red ladder in the gap between the two horizontally mounted barrels, directly ahead of me. I will walk forward along this clear lane to close the remaining distance to its base.", + "The ladder between the barrels is larger and still centered, but its lowest steps remain a few paces away. I will continue forward to bring myself right up against its base.", + "The bottom step of the red ladder now fills the lower center of my view, so I am nearly at its foot. I will take one more step forward to stand directly at the base between the two barrels.", + "The red ladder's lowest steps are directly in front of me between the two barrel frames. The task is complete, so I stop here at its base." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_b/000.jpg b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f14ad24532d3c50ac8cc0305aaefdd98b1b6b4f8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4165741233d2c2f79859b36ce5d4ff25e723621fd29fec2675ccc8e54bdbef6d +size 97717 diff --git a/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_b/001.jpg b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6a5b71997c0b61d5bac5f6ddb7dc3752e958a93d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_b/001.jpg @@ -0,0 +1,3 @@ +version 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"Start_Pose": [ + -12.223, + 2209.454, + 143.15, + 0.0, + 178.481, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12.223, + 2209.454, + 143.15, + 0.0, + 178.481, + -0.0 + ], + [ + -12.223, + 2209.454, + 143.15, + 0.0, + -156.519, + 0.0 + ], + [ + -12.223, + 2209.454, + 143.15, + 0.0, + -131.519, + 0.0 + ], + [ + -95.651, + 2115.219, + 143.15, + 0.0, + -131.519, + 0.0 + ], + [ + -179.079, + 2020.984, + 143.15, + 0.0, + -131.519, + 0.0 + ], + [ + -179.079, + 2020.984, + 143.15, + 0.0, + -106.519, + 0.0 + ], + [ + -214.865, + 1900.32, + 143.15, + 0.0, + -106.519, + 0.0 + ], + [ + -250.651, + 1779.655, + 143.15, + 0.0, + -106.519, + 0.0 + ], + [ + -286.437, + 1658.991, + 143.15, + 0.0, + -106.519, + 0.0 + ], + [ + -322.223, + 1538.327, + 143.15, + 0.0, + -106.519, + 0.0 + ], + [ + -331.193, + 1422.392, + 143.15, + 0.0, + -106.519, + 0.0 + ], + [ + -331.193, + 1422.392, + 143.15, + 0.0, + -106.519, + 0.0 + ] + ], + "Rationale": [ + "Straight ahead I only see a lit stone pillar, tall glazed windows and two empty benches, with no ticket machine anywhere in this narrow slice of the hall. I will turn right to sweep my view along the wall and open up the part of the concourse that is currently outside my field of view.", + "The rotation has revealed more of the bench row and a dark bin, and a pale boxy structure is just clipping the right edge of my view near the far wall. I will turn right again to bring that partly hidden object and the deeper stretch of the hall fully into sight.", + "Now the long arcade of the station hall is open ahead of me, with hanging lamps overhead and a cream free-standing cabinet standing against the wall further down the walkway. It looks like the ticket machine I am searching for, so I will walk forward along the clear paving to close distance and confirm it.", + "The cream cabinet has grown noticeably and its slanted upper panel and side face now read clearly as a ticket vending machine. The lane in front of me is still free of benches, so I will keep walking forward toward it.", + "The cream ticket machine now stands well to the right of my heading, roughly a fifth of the view width right of centre, while the bench row and the dark bin sit ahead and slightly to my left. I will turn right to square my heading directly onto the machine so that further forward steps carry me straight to it.", + "The ticket machine now sits essentially on my heading, close to the centre of my view against the wall of the arcade. With the target aligned and clear paving between us, I will walk forward to close the remaining distance.", + "The machine is clearly larger ahead of me, and I can already pick out its darker panel inserts and the coin fitting on its front face. My heading is still on it, so I will continue walking forward to bring myself up to its position.", + "The ticket machine now fills a large part of my view just ahead and slightly left, with the bench end passing on my near left side. A short further advance should place me right at its front face, so I will step forward again.", + "The cream ticket vending machine now fills a large part of the left half of my view, with its screen, card reader and coin slot already legible against the wall beside the bench. It is clearly the target I was told to find, and only a couple of paces of open paving separate me from its front face. I will step forward again to keep closing that remaining gap along the platform edge.", + "The machine's casing now dominates the left side of my view and its keypad and yellow button are close enough to read, so I am nearly at its position. A short further advance should bring me level with its front panel rather than alongside its rear corner. I will take one more forward step to settle right at the machine.", + "The ticket vending machine's lit screen and button panel stand directly at my side, within arm's reach. The task target has been located and reached, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000017_y001735_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000017_y001735_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8515ac3760c1401172c929c1a865d2224d2d7551 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000017_y001735_z000143_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the ticket machine.", + "Type": 0, + "Start_Pose": [ + -16.842, + 1735.167, + 143.15, + -0.05, + -140.361, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -16.842, + 1735.167, + 143.15, + -0.05, + -140.361, + -0.0 + ], + [ + -113.763, + 1654.875, + 143.15, + -0.05, + -140.361, + -0.0 + ], + [ + -210.685, + 1574.584, + 143.15, + -0.05, + -140.361, + -0.0 + ], + [ + -210.685, + 1574.584, + 143.15, + -0.05, + -115.361, + -0.0 + ], + [ + -264.593, + 1460.854, + 143.15, + -0.05, + -115.361, + -0.0 + ], + [ + -318.501, + 1347.125, + 143.15, + -0.05, + -115.361, + -0.0 + ], + [ + -318.501, + 1347.125, + 143.15, + -0.05, + -115.361, + -0.0 + ] + ], + "Rationale": [ + "The ticket machine labeled \"Tickets\" stands ahead of me against the station wall, just beyond the row of benches and slightly left of my heading. Nothing blocks the open paving between us, so I will move forward to close the gap.", + "The machine's screen and card slot are now larger and clearer in front of me, confirming I am closing on it. I still have several paces of free floor before reaching it, so another forward step should bring me near its front panel.", + "From this close range the machine has drifted to the left half of my view and I am angled toward the wall rather than along the walkway beside it. Turning right should straighten my heading along the concourse so I can step up alongside the machine's front instead of into the wall.", + "With my heading now along the open concourse, the ticket machine sits immediately to my left with its keypad and screen clearly visible. A forward step should bring me level with its front panel, within reach.", + "The machine's touch panel and card reader are now very close on my left, so I am nearly beside it. One more short step forward should place me directly at its interaction position.", + "The ticket machine's panel is right beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000017_y001735_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000017_y001735_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..563cb1b955c5ab2ff70ce28005b326d4dc7810de --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000017_y001735_z000143_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the second bench visible down the platform.", + "Type": 2, + "Start_Pose": [ + -16.842, + 1735.167, + 143.15, + -0.05, + -140.361, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -16.842, + 1735.167, + 143.15, + -0.05, + -140.361, + -0.0 + ], + [ + -16.842, + 1735.167, + 143.15, + -0.05, + -115.361, + -0.0 + ], + [ + -70.75, + 1621.437, + 143.15, + -0.05, + -115.361, + -0.0 + ], + [ + -124.658, + 1507.708, + 143.15, + -0.05, + -115.361, + -0.0 + ], + [ + -178.566, + 1393.978, + 143.15, + -0.05, + -115.361, + -0.0 + ], + [ + -232.474, + 1280.249, + 143.15, + -0.05, + -115.361, + -0.0 + ], + [ + -232.474, + 1280.249, + 143.15, + -0.05, + -140.361, + -0.0 + ], + [ + -329.395, + 1199.957, + 143.15, + -0.05, + -140.361, + -0.0 + ], + [ + -329.395, + 1199.957, + 143.15, + -0.05, + -140.361, + -0.0 + ] + ], + "Rationale": [ + "From here the covered walkway runs off to my right, with a bench close in front of me and, past the tall ticket kiosk, a second one set against the wall; that one beyond the kiosk is my target. My body is angled at the wall rather than along the platform. I will turn right to face down the walkway before setting off.", + "The turn has lined me up with the open paving that runs down the platform, and the bench past the ticket kiosk sits ahead along the left-hand wall. Nothing blocks the walkway in front of me. I will walk forward toward it.", + "The ticket kiosk has grown large on my left, and the bench standing just past it is now clearly in view against the wall. The paving ahead stays open. I will keep walking toward that bench.", + "I am drawing level with the ticket kiosk, and the bench immediately beyond it is close on my left, with further seating strung out down the platform behind it. That nearer one is the bench I am heading for. I will step forward again to close the gap.", + "The kiosk has slipped to the very edge of my view and the long bench beside it now runs along my left, still slightly ahead of me. A short step should bring me alongside its middle. I will move forward once more.", + "I am now beside the bench, but it lies off to my left while my heading still points straight down the platform. Turning left should square me up with the seat rather than walking past it. I will turn left.", + "The turn has put the bench squarely in front of me, its backrest and armrest facing my approach with clear paving between us. A single step should bring me right up to it. I will walk forward.", + "The bench beside the ticket kiosk now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000020_y-002685_z000143_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000020_y-002685_z000143_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1c05192874d0190575eacdb8a4ff84c19ead91c2 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000020_y-002685_z000143_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First, go to the left ticket machine, then go to the bench.", + "Type": 3, + "Start_Pose": [ + -19.736, + -2684.51, + 143.15, + -0.05, + -137.104, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -19.736, + -2684.51, + 143.15, + -0.05, + -137.104, + -0.0 + ], + [ + -111.939, + -2770.178, + 143.15, + -0.05, + -137.104, + -0.0 + ], + [ + -111.939, + -2770.178, + 143.15, + -0.05, + -162.104, + -0.0 + ], + [ + -231.708, + -2808.854, + 143.15, + -0.05, + -162.104, + -0.0 + ], + [ + -351.478, + -2847.529, + 143.15, + -0.05, + -162.104, + -0.0 + ], + [ + -351.478, + -2847.529, + 143.15, + -0.05, + -162.104, + -0.0 + ], + [ + -263.549, + -2819.135, + 143.15, + -0.05, + -162.104, + -0.0 + ], + [ + -263.549, + -2819.135, + 143.15, + -0.05, + -137.104, + -0.0 + ], + [ + -263.549, + -2819.135, + 143.15, + -0.05, + -112.104, + -0.0 + ], + [ + -263.549, + -2819.135, + 143.15, + -0.05, + -87.104, + -0.0 + ], + [ + -257.19, + -2944.833, + 143.15, + -0.05, + -87.104, + -0.0 + ], + [ + -257.19, + -2944.833, + 143.15, + -0.05, + -62.104, + -0.0 + ], + [ + -198.304, + -3056.067, + 143.15, + -0.05, + -62.104, + -0.0 + ], + [ + -139.419, + -3167.301, + 143.15, + -0.05, + -62.104, + -0.0 + ], + [ + -80.534, + -3278.535, + 143.15, + -0.05, + -62.104, + -0.0 + ], + [ + -80.534, + -3278.535, + 143.15, + -0.05, + -62.104, + -0.0 + ] + ], + "Rationale": [ + "Two ticket machines stand along this covered walkway, and the one on the left sits close to the brick wall beside me. I will walk forward along the tiled strip to close the gap before angling toward that left machine.", + "Advancing has pushed the left ticket machine to the very edge of my view, so it is now beside me rather than in front. I will turn left to bring its keypad and screen squarely ahead before I continue.", + "The turn has centered the left ticket machine, its screen and card slot facing me across a few paces of tile. I will step forward to close that remaining distance.", + "The machine's screen and buttons now fill most of my view, but there is still a short stretch of tile at its base. I will take one more step forward to stand right at its front panel.", + "The lit blue screen, coin slot and yellow button of the left ticket machine are directly in front of me, close enough to touch. I have reached this ticket machine, so I mark arriving here before turning away toward the bench by the station windows.", + "Standing this close to the machine leaves me with almost no view of the walkway, and the bench lies back out in the open concourse. I will back up a step to regain room and sightlines before swinging around toward the seating.", + "With clearance regained I can see the machine on my left and open tile with the green pillar to my right. The benches sit along the windowed wall in that direction, so I will turn right to begin swinging my heading around.", + "My view now shows the second ticket machine and the brick base under the tall windows, but no seating yet. I will keep turning right so the windowed wall where the benches stand comes fully into my heading.", + "Having marked the ticket machine, I now need the seating, and only the arm of a wooden bench shows at the far right edge of my view beside the brick wall. One more rotation to the right should swing that bench area into the center of my heading.", + "Two wooden benches now sit clearly ahead along the brick base of the station wall, with the ticket kiosk behind my left shoulder. The open paving between us is clear, so I will walk forward to cut the distance to the seating.", + "The nearer bench is closer now but still sits right of my heading, with the kiosk crowding the left side of my view. A small turn to the right should put the bench squarely in front of me before I close the last stretch.", + "The long wooden bench and its neighbor are now centered against the brick wall directly along my heading. With clear paving between us, I will step forward to close on the seating.", + "The bench slats and iron legs are much larger in my view, but a stretch of paving still separates me from the seat. Another step forward should bring me right up beside the bench.", + "The bench now fills the lower left of my view and the second one sits just to the right, with the ground light between them close by. One more step should place me directly at the seating.", + "I am standing right at the wooden bench, its armrest and seat immediately beside me under the station window. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000048_y-002530_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000048_y-002530_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2f627bce0d7974f0c038e97cb385f11c4387f2 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000048_y-002530_z000143_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the second bench from the left along the station building wall.", + "Type": 2, + "Start_Pose": [ + -48.086, + -2530.419, + 143.15, + -0.05, + -56.013, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -48.086, + -2530.419, + 143.15, + -0.05, + -56.013, + 0.0 + ], + [ + 22.27, + -2634.777, + 143.15, + -0.05, + -56.013, + -0.0 + ], + [ + 92.626, + -2739.134, + 143.15, + -0.05, + -56.013, + -0.0 + ], + [ + 162.981, + -2843.492, + 143.15, + -0.05, + -56.013, + -0.0 + ], + [ + 233.337, + -2947.85, + 143.15, + -0.05, + -56.013, + -0.0 + ], + [ + 303.693, + -3052.208, + 143.15, + -0.05, + -56.013, + -0.0 + ], + [ + 303.693, + -3052.208, + 143.15, + -0.05, + -81.013, + 0.0 + ], + [ + 323.353, + -3176.522, + 143.15, + -0.05, + -81.013, + 0.0 + ], + [ + 342.607, + -3289.467, + 143.15, + -0.05, + -81.013, + 0.0 + ], + [ + 342.607, + -3289.467, + 143.15, + -0.05, + -81.013, + 0.0 + ] + ], + "Rationale": [ + "Along the station building wall I can pick out two benches: one at the far left edge of my view and the next one to its right, standing against the brick base beside a dark litter bin. That litter bin marks my target bench, so I will follow it rather than any count. I step forward along the paving toward the wall.", + "The bench beside the litter bin sits ahead and to my left, still a good distance down the wall. Nothing blocks the open paving between us, so I continue walking forward to close the gap.", + "The bench at the far left end has slipped out of my view, but the bench with the litter bin at its right end is clearly in front of me, so I keep tracking that one. The route beside the building stays clear, and I advance again.", + "The bench with the litter bin is now noticeably larger on my left, its wooden slats catching the sun against the brick. I am still several paces short of it, so I walk forward once more.", + "The bench and its litter bin have drifted to the left portion of my view as I come alongside the wall, meaning I still have a little ground to cover before I am level with them. I step forward again to bring myself beside the bench.", + "The bench with the litter bin is now pressed against the left edge of my view while my heading still points down the platform. Turning left should swing my facing onto the bench so I can walk straight in on it.", + "The turn worked: the bench and the litter bin beside it now sit squarely in front of me against the brick base. A few paces of open paving remain, so I walk forward toward it.", + "The bench now fills the left half of my view with the litter bin close by its end, so I am nearly at it. One more short step forward should place me right at the bench.", + "The bench with the litter bin at its end is right beside me, within arm's reach. I have arrived at my target, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000109_y002803_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000109_y002803_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24b46654b878c7eb26617f9445b747b90f0fc150 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000109_y002803_z000143_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk towards the bin near the far wall.", + "Type": 0, + "Start_Pose": [ + -108.622, + 2803.092, + 143.15, + -0.05, + 107.761, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -108.622, + 2803.092, + 143.15, + -0.05, + 107.761, + 0.0 + ], + [ + -147.015, + 2922.952, + 143.15, + -0.05, + 107.761, + 0.0 + ], + [ + -185.408, + 3042.812, + 143.15, + -0.05, + 107.761, + 0.0 + ], + [ + -223.801, + 3162.673, + 143.15, + -0.05, + 107.761, + 0.0 + ], + [ + -262.194, + 3282.533, + 143.15, + -0.05, + 107.761, + 0.0 + ], + [ + -300.587, + 3402.393, + 143.15, + -0.05, + 107.761, + 0.0 + ], + [ + -338.98, + 3522.253, + 143.15, + -0.05, + 107.761, + 0.0 + ], + [ + -338.98, + 3522.253, + 143.15, + -0.05, + 107.761, + 0.0 + ] + ], + "Rationale": [ + "From this spot on the platform I can see a small dark bin standing against the station wall well ahead of me, roughly centered in my view. The tiled floor between us looks open, so I will move forward along my current heading to begin closing that distance.", + "The bin has grown slightly larger and remains near the middle of my view, so my heading is still good. I will continue straight forward across the open tiles to keep closing the gap.", + "The bin now sits clearly in front of me with the lit patch of floor beside it, and the bench has slid off to my right edge. Nothing blocks my path, so another forward step should bring me nearer the wall where the bin stands.", + "The bin is noticeably closer and the stone wall behind it fills more of my view, confirming I am approaching the far wall. I will keep advancing straight since the bin stays aligned with my heading.", + "I can now make out the bin's lid and the round detail on its front, so only a short gap remains. One more forward step should place me right beside it at the wall.", + "The bin is very close, filling the lower part of my view against the corner of the wall. I will take one more small step forward to stand directly at it.", + "The bin is directly in front of me at arm's length against the far wall. The task is complete, so I stop here rather than press into the wall." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..952458c06737f07e90b2e335e7383d404c0f51ca --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the gap between the two ticket vending machines and navigate into that space.", + "Type": 1, + "Start_Pose": [ + -185.73, + -1924.551, + 143.15, + 0.0, + 138.481, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -185.73, + -1924.551, + 143.15, + 0.0, + 138.481, + -0.0 + ], + [ + -185.73, + -1924.551, + 143.15, + 0.0, + 163.481, + -0.0 + ], + [ + -185.73, + -1924.551, + 143.15, + 0.0, + -171.519, + 0.0 + ], + [ + -310.213, + -1943.113, + 143.15, + 0.0, + -171.519, + 0.0 + ], + [ + -434.695, + -1961.675, + 143.15, + 0.0, + -171.519, + 0.0 + ], + [ + -559.178, + -1980.237, + 144.816, + 0.0, + -171.519, + 0.0 + ], + [ + -559.178, + -1980.237, + 144.816, + 0.0, + -146.519, + 0.0 + ], + [ + -664.153, + -2049.668, + 144.367, + 0.0, + -146.519, + 0.0 + ], + [ + -769.128, + -2119.1, + 144.367, + 0.0, + -146.519, + 0.0 + ], + [ + -874.103, + -2188.531, + 144.367, + 0.0, + -146.519, + 0.0 + ], + [ + -979.078, + -2257.962, + 144.367, + 0.0, + -146.519, + 0.0 + ], + [ + -1084.053, + -2327.394, + 144.367, + 0.0, + -146.519, + 0.0 + ], + [ + -1084.053, + -2327.394, + 144.367, + 0.0, + -146.519, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the station hall I can only see the platform edge, arches and a large riveted column ahead, with no ticket machines anywhere in view. I will turn right to sweep the ego view toward the unseen side of the concourse where vending machines are likely mounted along the wall.", + "Turning has brought two ticket machines into the right edge of my view, but the big riveted column still blocks much of that wall and the machines sit awkwardly at the frame border. I will turn right again to bring the pair of machines and the space between them closer to the center of my view.", + "The two ticket machines now sit clearly ahead of me against the far wall, with a visible narrow gap between them. With the target identified and the tiled floor open in front, I will walk forward to close the long distance toward that pair.", + "The machines have grown noticeably larger and the dark slot between their side panels is easier to make out. Since the route across the tiles stays clear, I will keep walking forward to shorten the remaining distance to that gap.", + "I am now well inside the ticketing alcove, with the two machines and the bench clearly ahead and slightly to my right. I will advance again to bring myself closer before fine tuning my heading onto the gap.", + "The two machines are close now, but they sit right of my heading, so walking straight would carry me past them toward the doors on the left. I will turn right to line my facing up with the narrow space between the two machines.", + "After turning, the pair of ticket machines is now centered in front of me with the dark gap between their cabinets visible at floor level. I will walk forward along this heading to close in on that gap.", + "The machines fill much more of my view and the gap between them lines up almost straight ahead over the tiled floor. I will step forward again to keep closing on that opening.", + "Both ticket vending machines now fill the view ahead, and the narrow dark gap between their side panels is clearly visible and roughly centered on my heading. I will keep walking forward to close the remaining tiled distance toward that gap.", + "The machines have grown noticeably larger and the slot between them stays aligned near the center of my view, so my heading is still good. I will step forward again to continue the committed approach into that gap.", + "I am now right at the machine fronts, with the dark opening between the two cabinets directly ahead of me. One more step forward should carry me into that narrow space rather than stopping short of it.", + "The two machine bodies now flank me on either side with the gap opening straight ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_b/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e0d8b76c03a3a4d9213bb70931597356c7f48de --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Determine where the bench beside the pair of ticket machines is situated, then make your way over to it.", + "Type": 1, + "Start_Pose": [ + -185.73, + -1924.551, + 143.15, + 0.0, + 138.481, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -185.73, + -1924.551, + 143.15, + 0.0, + 138.481, + -0.0 + ], + [ + -185.73, + -1924.551, + 143.15, + 0.0, + 163.481, + -0.0 + ], + [ + -185.73, + -1924.551, + 143.15, + 0.0, + -171.519, + 0.0 + ], + [ + -185.73, + -1924.551, + 143.15, + 0.0, + -146.519, + 0.0 + ], + [ + -290.705, + -1993.982, + 143.15, + 0.0, + -146.519, + 0.0 + ], + [ + -395.68, + -2063.414, + 143.15, + 0.0, + -146.519, + 0.0 + ], + [ + -500.655, + -2132.845, + 143.15, + 0.0, + -146.519, + 0.0 + ], + [ + -605.63, + -2202.277, + 144.291, + 0.0, + -146.519, + 0.0 + ], + [ + -710.605, + -2271.708, + 144.291, + 0.0, + -146.519, + 0.0 + ], + [ + -710.605, + -2271.708, + 144.291, + 0.0, + -121.519, + 0.0 + ], + [ + -776.402, + -2378.999, + 144.291, + 0.0, + -121.519, + 0.0 + ], + [ + -842.199, + -2486.289, + 144.291, + 0.0, + -121.519, + 0.0 + ], + [ + -842.199, + -2486.289, + 144.291, + 0.0, + -121.519, + 0.0 + ] + ], + "Rationale": [ + "From this spot on the concourse I only see an arched platform wall, a low barrier and a heavy riveted column, with no ticket machines or bench anywhere in front of me. The open floor continues off to my right, so I will turn right to sweep that side of the hall for the pair of ticket machines.", + "Two ticket machines have just come into view at the far right edge of my sight, but the tall column still blocks much of that corner and I cannot see whether a bench sits beside them. I will keep turning right to bring the machines and the space next to them fully into view.", + "Now I can see both ticket machines against the far wall, and a wooden bench stands just to their right in the same alcove. Since the target sits right of my current heading and the column still crowds my left, I will turn right once more to face the bench squarely before walking.", + "The two ticket machines and the bench next to them are now clearly ahead of me, with a wide stretch of open tile in between and nothing blocking the path. The bench is located, so I will start walking straight forward to close that distance.", + "The machines and the bench beside them have grown noticeably larger, confirming that I am closing on the right alcove. The floor ahead is still clear, so I will keep walking forward toward the bench.", + "The bench beside the two ticket machines is clearly resolved just right of them, and I am still several strides short of it. I will continue advancing along this straight, unobstructed line.", + "The two machines and the wooden bench now fill much of the view, but the bench is still a short distance away and slightly to my right. Another step forward should bring me close enough to stand right at it.", + "I am nearly at the alcove, with the labeled ticket machines on my left and the bench directly beside them to the right. I will step forward again to finish closing the last of the gap to the bench.", + "The pair of ticket machines now fills the left side of my view and the wooden bench sits just to their right against the stone wall, so the target is clearly identified but off to my right. I will turn right to place the bench near the center of my heading before closing the remaining distance.", + "The bench beside the ticket machine is now roughly centered ahead of me, with clear tiled floor leading up to it. I will walk forward to commit to the approach and shorten the gap to the bench.", + "The bench has grown much larger in front of me, its slats and legs clearly visible, but I am still a step or so short of standing right beside it. I will step forward once more to bring myself directly up to the bench.", + "The bench beside the ticket machines fills the near foreground directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000195_y-001872_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000195_y-001872_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..931aea7aeaabb410a1b847af4a07d8c62ccbdae9 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000195_y-001872_z000143_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the black trash bin beside the wooden bench near the two ticket machines.", + "Type": 0, + "Start_Pose": [ + -194.597, + -1871.649, + 143.15, + -0.05, + -133.199, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -194.597, + -1871.649, + 143.15, + -0.05, + -133.199, + 0.0 + ], + [ + -280.752, + -1963.398, + 143.15, + -0.05, + -133.199, + -0.0 + ], + [ + -366.907, + -2055.147, + 143.15, + -0.05, + -133.199, + -0.0 + ], + [ + -453.061, + -2146.895, + 143.15, + -0.05, + -133.199, + -0.0 + ], + [ + -539.216, + -2238.644, + 144.813, + -0.05, + -133.199, + -0.0 + ], + [ + -625.371, + -2330.393, + 144.291, + -0.05, + -133.199, + -0.0 + ], + [ + -625.371, + -2330.393, + 144.291, + -0.05, + -108.199, + -0.0 + ], + [ + -664.679, + -2449.956, + 144.291, + -0.05, + -108.199, + -0.0 + ], + [ + -703.447, + -2566.459, + 144.631, + -0.05, + -108.199, + -0.0 + ], + [ + -703.447, + -2566.459, + 144.631, + -0.05, + -108.199, + -0.0 + ] + ], + "Rationale": [ + "From the entrance area I can see the two ticket machines ahead on the left with the wooden bench beside them, and a dark bin standing right next to the bench against the wall. That bench-side bin is my target, so I will move forward along the tiled floor to close the large gap. The path across the open tiles looks clear of obstacles.", + "The ticket machines and the bench have grown slightly larger, confirming my heading is carrying me toward the target corner. The small bin tucked beside the bench is still far away, so I will continue straight forward. No obstruction stands between me and that stretch of floor.", + "The bench and the two ticket machines now fill more of my view on the left, and the dark bin beside the bench sits just past it against the pale wall. I am still several strides short of it, so another forward step should keep reducing the distance. The patterned tiles ahead remain open.", + "The bench slats and the bin beside it are now clearly resolved, but they are still a couple of body lengths away. I will keep advancing straight since my current heading points into that corner. Nothing blocks the floor between me and the bench.", + "The bench and the black bin next to it are close now, with only a short stretch of tile remaining before the raised step at the wall. One more forward step should bring me within a body length of the bin. I keep my heading steady rather than turning yet.", + "The black bin beside the bench now sits right of my view center while the bench and ticket machine crowd the left, so my heading is not pointed straight at it. I will turn right a little to bring the bin into the center of my view. That should let me finish the approach with a straight forward step.", + "The black bin is now near the middle of my view against the pale wall, with the bench edge trailing off to my left, so my heading is aligned with the target. I will step forward to close the last short gap. The floor and the low step in front of the bin look clear.", + "The bin fills a large part of my lower view and its lid and panels are plainly visible, so I am nearly beside it. One more short forward step should place me directly at the bin, next to the bench. I keep my heading as it is since the bin remains ahead of me.", + "The black trash bin now fills the lower left of my view at arm's length. The task is complete, so I stop here rather than move closer." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000195_y-001872_z000143_t5_a_p/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000195_y-001872_z000143_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87d159d2f0394edd7bbc6de2c3a53e3555c237ef --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000195_y-001872_z000143_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the ceramic vase from the wooden bench between the ticket machines and the archway.", + "Type": 5, + "Start_Pose": [ + -194.597, + -1871.649, + 143.15, + -0.05, + -133.199, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -858.594, + -2553.787, + 72.311, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -194.597, + -1871.649, + 143.15, + -0.05, + -133.199, + 0 + ], + [ + -280.752, + -1963.398, + 143.15, + -0.05, + -133.199, + -0.0 + ], + [ + -366.907, + -2055.147, + 143.15, + -0.05, + -133.199, + -0.0 + ], + [ + -453.061, + -2146.895, + 143.15, + -0.05, + -133.199, + -0.0 + ], + [ + -539.216, + -2238.644, + 144.813, + -0.05, + -133.199, + -0.0 + ], + [ + -625.371, + -2330.393, + 144.291, + -0.05, + -133.199, + -0.0 + ], + [ + -711.526, + -2422.141, + 144.291, + -0.05, + -133.199, + -0.0 + ], + [ + -711.526, + -2422.141, + 144.291, + 0.0, + -133.199, + 0.0 + ], + [ + -711.526, + -2422.141, + 144.291, + 0.0, + -133.199, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -858.594, + -2553.787, + 72.311, + 0.0, + 0.0, + 0.0 + ], + [ + -858.594, + -2553.787, + 72.311, + 0.0, + 0.0, + 0.0 + ], + [ + -858.594, + -2553.787, + 72.311, + 0.0, + 0.0, + 0.0 + ], + [ + -858.594, + -2553.787, + 72.311, + 0.0, + 0.0, + 0.0 + ], + [ + -858.594, + -2553.787, + 72.311, + 0.0, + 0.0, + 0.0 + ], + [ + -858.594, + -2553.787, + 72.311, + 0.0, + 0.0, + 0.0 + ], + [ + -858.594, + -2553.787, + 72.311, + 0.0, + 0.0, + 0.0 + ], + [ + -695.542, + -2436.314, + 114.397, + -28.202, + -83.055, + 1.862 + ], + [ + -695.542, + -2436.314, + 114.397, + -28.202, + -83.055, + 1.862 + ] + ], + "PD_Dist_2D": [ + 951.9, + 826.1, + 700.3, + 574.5, + 448.7, + 323.0, + 197.4, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the pair of ticket machines ahead on the left with a wooden bench beside them, set against the wall under the archway. The vase I need is far too distant to make out clearly from here, so I will walk forward along this open concourse to close the gap.", + "The bench beside the ticket machines is noticeably larger in my view now, so my heading is carrying me toward the target area. Nothing blocks the tiled floor in front of me, so I will keep walking forward.", + "The two ticket machines and the bench between them and the archway pier are now clearly framed slightly left of my path. I am still several strides away and cannot reach anything on that bench, so I continue advancing.", + "The bench and its pale slender vase are becoming distinguishable ahead on the left, confirming the target sits exactly where the task described. I keep stepping forward since the remaining gap is still well beyond arm's reach.", + "The bench now fills much of the left side of my view, with the tall ceramic vase standing at its near end beside the pillar. A couple more steps should bring the vase within grasping range, so I walk forward again.", + "I am nearly beside the bench, and the ceramic vase stands upright at its near end just ahead of me. One more step forward should place the vase close enough for me to reach it, so I advance.", + "The ceramic vase is now directly in front of me at the end of the wooden bench, well within arm's reach and unobstructed. My hands are empty, so I will attempt to grasp it and lift it from the bench.", + "The ceramic vase is now held in my hands and no longer resting on the bench. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000210_y-000438_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000210_y-000438_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..59b367ba2bbf7b0d521941015fe3efeaf85d6bb5 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000210_y-000438_z000143_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk towards the pillar next to the railing.", + "Type": 0, + "Start_Pose": [ + -210.227, + -437.739, + 143.15, + -0.05, + -93.914, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -210.227, + -437.739, + 143.15, + -0.05, + -93.914, + 0.0 + ], + [ + -218.818, + -563.304, + 143.15, + -0.05, + -93.914, + 0.0 + ], + [ + -227.409, + -688.87, + 143.15, + -0.05, + -93.914, + 0.0 + ], + [ + -227.409, + -688.87, + 143.15, + -0.05, + -118.914, + 0.0 + ], + [ + -288.261, + -799.04, + 143.15, + -0.05, + -118.914, + 0.0 + ], + [ + -349.114, + -909.21, + 143.15, + -0.05, + -118.914, + 0.0 + ], + [ + -349.114, + -909.21, + 143.15, + -0.05, + -143.914, + 0.0 + ], + [ + -450.561, + -956.129, + 143.15, + -0.05, + -143.914, + 0.0 + ], + [ + -450.561, + -956.129, + 143.15, + -0.05, + -143.914, + 0.0 + ] + ], + "Rationale": [ + "From the concourse floor I can see the metal railing along the left side of the hall, with a large riveted green pillar standing right beside it. I will move forward to close the open distance across the tiled floor before I angle toward that pillar.", + "The pillar next to the railing is noticeably larger in my view now, but still off to my left and several strides away. Another forward step should keep shortening the gap while the path ahead stays clear of the ticket gates.", + "Continuing straight would carry me into the row of ticket barriers rather than toward the railing pillar, which sits to my left. I will turn left to put that pillar and the railing more centrally in front of me.", + "With the railing and its adjacent green pillar now on my left-forward side, the lane between the barriers and the railing looks open. I will advance to bring myself alongside the pillar.", + "The pillar beside the railing now fills much of my left view, so I am close but not yet beside it. One more forward step should place me right at the pillar's base.", + "My view is now almost entirely blocked by the dark barrier casing directly in front of me, and the pillar with the railing lies further to my left. I will turn left to face the pillar and the railing rather than the machine.", + "Facing left, I can see the riveted green pillar and the curved railing structure just beside it a short step ahead. I will move forward to stand directly next to that pillar.", + "The riveted pillar fills my view at arm's length with the railing right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000242_y-002219_z000143_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000242_y-002219_z000143_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a7f65a6dcba1df06bc9b8e935d2645637522250 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000242_y-002219_z000143_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Go to the double ticket machines on the right first, then proceed to the green pillar.", + "Type": 3, + "Start_Pose": [ + -242.311, + -2219.034, + 143.15, + -0.05, + 157.989, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -242.311, + -2219.034, + 143.15, + -0.05, + 157.989, + 0.0 + ], + [ + -242.311, + -2219.034, + 143.15, + -0.05, + -177.011, + -0.0 + ], + [ + -367.999, + -2225.597, + 143.15, + -0.05, + -177.011, + -0.0 + ], + [ + -493.686, + -2232.16, + 143.15, + -0.05, + -177.011, + -0.0 + ], + [ + -619.374, + -2238.722, + 144.291, + -0.05, + -177.011, + -0.0 + ], + [ + -745.062, + -2245.285, + 144.291, + -0.05, + -177.011, + -0.0 + ], + [ + -870.75, + -2251.848, + 144.291, + -0.05, + -177.011, + -0.0 + ], + [ + -870.75, + -2251.848, + 144.291, + -0.05, + -152.011, + -0.0 + ], + [ + -981.888, + -2310.914, + 144.291, + -0.05, + -152.011, + -0.0 + ], + [ + -1093.026, + -2369.98, + 144.291, + -0.05, + -152.011, + -0.0 + ], + [ + -1093.026, + -2369.98, + 144.291, + -0.05, + -152.011, + -0.0 + ], + [ + -1093.026, + -2369.98, + 144.291, + -0.05, + -177.011, + -0.0 + ], + [ + -1093.026, + -2369.98, + 144.291, + -0.05, + 157.989, + -0.0 + ], + [ + -1093.026, + -2369.98, + 144.291, + -0.05, + 132.989, + 0.0 + ], + [ + -1093.026, + -2369.98, + 144.291, + -0.05, + 107.989, + 0.0 + ], + [ + -1093.026, + -2369.98, + 144.291, + -0.05, + 82.989, + 0.0 + ], + [ + -1093.026, + -2369.98, + 144.291, + -0.05, + 57.989, + 0.0 + ], + [ + -1026.311, + -2263.258, + 144.291, + -0.05, + 57.989, + 0.0 + ], + [ + -959.595, + -2156.536, + 144.291, + -0.05, + 57.989, + 0.0 + ], + [ + -959.595, + -2156.536, + 144.291, + -0.05, + 32.989, + 0.0 + ], + [ + -854.028, + -2088.009, + 144.291, + -0.05, + 32.989, + 0.0 + ], + [ + -748.46, + -2019.482, + 144.291, + -0.05, + 32.989, + 0.0 + ], + [ + -642.893, + -1950.954, + 144.832, + -0.05, + 32.989, + 0.0 + ], + [ + -642.893, + -1950.954, + 144.832, + -0.05, + 32.989, + 0.0 + ] + ], + "Rationale": [ + "The pair of ticket machines stands against the wall at the far right edge of my view, almost out of sight past the archways. I will turn right so that they sit ahead of me instead of off to the side, giving me a clean line to walk toward them.", + "The two ticket machines now sit in the right half of my view with open tiled floor between us and no obstruction in the way. I will walk forward to cut that distance down.", + "The machines have grown noticeably larger and their screens are becoming readable, so my heading is carrying me toward them. I will keep walking forward across the open concourse floor.", + "The word Tickets is now legible on both machine hoods and the bench beside them is clearly visible, confirming I am closing on the right pair. Nothing blocks the tiled path, so I will step forward again.", + "The two machines now fill a good part of the view with their card slots and keypads distinct, but I am still several paces short of standing at them. I will continue forward to close the remaining gap.", + "The blue arrow on the tiles runs toward the pair of ticket machines just ahead and slightly right, and their screens are now large and bright. Another step forward should bring me right up against them.", + "At this range the two machines are pushed into the right side of my view while the shuttered doorway takes the left. I will turn right so both machines sit squarely in front of me before I finish approaching them.", + "Both ticket machines are now centered directly ahead with their fronts squarely facing me. I will step forward to bring myself right up to them.", + "The pair of ticket machines now fills my view, with the right unit's screen and card slot directly ahead of me. A short step forward should bring me right up against them so I am unmistakably standing at this pair before I head for the green pillar.", + "The ticket machine's card slot, keypad screen and my own shadow on its panel are right in front of me at arm's length. I am at the pair of ticket machines on the right side of the hall. I mark reaching them and now set off for the green pillar out in the concourse.", + "Standing this close, the machine casing blocks nearly everything ahead of me, so I have no line of sight toward the open concourse. Turning left should begin swinging my heading off the machines and back toward the hall where the green pillar stands.", + "I have come round only as far as the machine's side edge and the dark recess beside it, which is not a route anywhere. Another step of rotation to the left should keep carrying my view toward the open floor of the hall.", + "The second machine's angled front is still square in front of me and the wall recess sits to its right, so I remain aimed at the ticket bank. I will keep turning left to bring the concourse into view.", + "The left edge of my view has finally opened onto the tiled hall and its brick archway, while the machine still takes up the whole right side. Continuing to turn left should clear the casing and put the concourse fully in front of me.", + "Most of the hall with its stairwell and lit arches is now open ahead, but a sliver of the machine still hangs at my right edge and my heading points across the floor rather than into it. One more turn left should square me toward the open concourse.", + "The ticket machines are behind me now and I look out over the tiled concourse toward the arches and the stairwell. The tall green ironwork columns lie further round to my left, so I will turn that way to line up on the green pillar before walking out.", + "I am now facing the open concourse where the tall green ironwork pillars rise under the arched roof, with the station clock and platform beyond. Nothing blocks the tiled floor ahead, so I will walk forward to close the distance toward those green pillars.", + "The green columns have grown noticeably larger and the turnstile row is drawing nearer on the left. The stairwell well opens to my right but my path stays on solid floor, so I will keep walking forward toward the pillars.", + "Straight ahead of me now is the sunken stairwell and its railing, while the heavy green riveted pillar I want stands off to my left. I will turn left to put that pillar in front of me and keep clear of the stair opening.", + "The turn has brought the broad green pillar into the middle of my view with open paving leading up to it. I will step forward along that clear stretch to close on it.", + "The green pillar now dominates the center of my view and its rivets are becoming distinct, so I am still a few paces short. I will continue walking straight at it.", + "The green column fills much of my view but I am not yet standing at its base. One more step forward should bring me right up against it.", + "The riveted green pillar stands directly in front of me at arm's reach, filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000360_y-002254_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000360_y-002254_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f913ed7aca9469bb8a66b1db437aedd708dfa88 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000360_y-002254_z000143_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the bench.", + "Type": 0, + "Start_Pose": [ + -360.419, + -2253.919, + 143.15, + 0.0, + 171.857, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -360.419, + -2253.919, + 143.15, + 0.0, + 171.857, + 0.0 + ], + [ + -360.419, + -2253.919, + 143.15, + 0.0, + -163.143, + 0.0 + ], + [ + -480.87, + -2290.416, + 143.15, + 0.0, + -163.143, + 0.0 + ], + [ + -601.321, + -2326.913, + 144.291, + 0.0, + -163.143, + 0.0 + ], + [ + -721.772, + -2363.41, + 144.291, + 0.0, + -163.143, + 0.0 + ], + [ + -721.772, + -2363.41, + 144.291, + 0.0, + -138.143, + 0.0 + ], + [ + -815.513, + -2447.393, + 144.291, + 0.0, + -138.143, + 0.0 + ], + [ + -815.513, + -2447.393, + 144.291, + 0.0, + -138.143, + 0.0 + ] + ], + "Rationale": [ + "I can see the wooden bench far off at the right edge of my view, beside the ticket machines against the wall. Turning right should bring it closer to the center of my heading so I can move straight toward it.", + "The bench now sits ahead and slightly right of center, with clear tiled floor between me and it. I will move forward to close the sizeable gap across the open concourse.", + "The bench and the ticket machines have grown noticeably larger, so my heading is carrying me toward the target. There is still open floor ahead, so I will continue forward to shorten the remaining distance.", + "The bench is clearly visible ahead to the right, its slats and legs now distinct, but I am still a few steps short of standing beside it. I will advance again to keep closing the distance.", + "I am close to the wall now and the bench has drifted to the right side of my view while the ticket machines dominate the front. Turning right should place the bench squarely ahead of me for the final step.", + "The bench is now centered in front of me, close to the wall and only about a step away. One more forward move should bring me right up beside it.", + "The bench 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/VictorianTrainStation/task_x-000372_y-002107_z000143_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000372_y-002107_z000143_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ece18788a77c457d2a60c81ad70537a5b935cccc --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000372_y-002107_z000143_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the rightmost trash bin first, then go to the ticket machines.", + "Type": 3, + "Start_Pose": [ + -372.296, + -2106.582, + 143.15, + -0.05, + -142.491, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -372.296, + -2106.582, + 143.15, + -0.05, + -142.491, + 0.0 + ], + [ + -372.296, + -2106.582, + 143.15, + -0.05, + -117.491, + -0.0 + ], + [ + -430.394, + -2218.229, + 143.15, + -0.05, + -117.491, + -0.0 + ], + [ + -430.394, + -2218.229, + 143.15, + -0.05, + -92.491, + -0.0 + ], + [ + -435.864, + -2343.969, + 143.15, + -0.05, + -92.491, + -0.0 + ], + [ + -441.334, + -2469.709, + 143.15, + -0.05, + -92.491, + -0.0 + ], + [ + -441.334, + -2469.709, + 143.15, + -0.05, + -92.491, + -0.0 + ], + [ + -441.334, + -2469.709, + 143.15, + -0.05, + -92.491, + -0.0 + ], + [ + -441.334, + -2469.709, + 143.15, + -0.05, + -117.491, + -0.0 + ], + [ + -441.334, + -2469.709, + 143.15, + -0.05, + -142.491, + -0.0 + ], + [ + -441.334, + -2469.709, + 143.15, + -0.05, + -167.491, + -0.0 + ], + [ + -564.205, + -2496.97, + 144.675, + -0.05, + -167.491, + -0.0 + ], + [ + -564.205, + -2496.97, + 144.675, + -0.05, + 167.509, + -0.0 + ], + [ + -687.085, + -2469.748, + 144.291, + -0.05, + 167.509, + -0.0 + ], + [ + -809.965, + -2442.527, + 144.291, + -0.05, + 167.509, + -0.0 + ], + [ + -932.845, + -2415.305, + 144.291, + -0.05, + 167.509, + -0.0 + ], + [ + -1055.725, + -2388.083, + 144.291, + -0.05, + 167.509, + -0.0 + ], + [ + -1055.725, + -2388.083, + 144.291, + -0.05, + -167.491, + -0.0 + ], + [ + -1158.693, + -2399.685, + 144.291, + -0.05, + -167.491, + -0.0 + ], + [ + -1158.693, + -2399.685, + 144.291, + -0.05, + -167.491, + -0.0 + ] + ], + "Rationale": [ + "Two trash bins stand along this wall, and the one furthest to my right sits out on the open paving near the right edge of my view. My heading points too far toward the ticket machines on the left, so I will turn right to bring that outermost bin into the middle of my path.", + "The tall dark bin on the open paving is now roughly ahead of me, past the bench and the corner of the wall. The tiled ground between us is clear, so I will walk forward to cut down that distance.", + "I am closer now, but the bin I want sits to the right of my heading, with the building corner filling the middle of my view. A small turn to the right should put that bin squarely in front of me before I keep walking.", + "The rightmost bin now stands clearly ahead of me on the open tiles, with the lit floor marker beside it. I will step forward along this line to close the remaining gap.", + "The bin has grown large just left of my path and the ground light sits at its base a short way ahead. One more step forward should bring me level with it.", + "The bin is right beside my shoulder and its body blocks most of my forward view, so I cannot tell from this height whether I am actually level with it. I will look down at the paving and the marker at its base to confirm my footing.", + "Below me the paving light glows right at the foot of the dark bin standing at the far right of this open stretch, close enough to touch. I am at that bin. I mark arriving here before heading for the ticket machines back along the wall.", + "With this bin reached, my next destination is the pair of ticket machines set back against the tiled wall behind and to my left. My view still faces the bin and the paving, so I will turn left to begin swinging my heading around toward them.", + "The corner masonry and the bin beside me fill most of my view, so nothing of the ticket machines is visible from this heading. I will turn left again to keep swinging my view back across the paved stretch toward the covered area where the ticket machines stand.", + "A ticket machine with its blue screen has come into the far left edge of my view, past the bench and the smaller bin. It sits too far to the side for a straight walk, so I will turn left once more to bring it nearer the centre of my heading.", + "Both ticket machines are now clearly in view ahead across the patterned tile floor, with the bench between us. My heading points down that open stretch, so I will walk forward to cut the distance to them.", + "The machines have grown larger but still sit left of centre, with the stone wall and its bin crowding my right side. I will turn left to square my heading onto the pair of ticket machines before advancing further.", + "The two ticket machines now sit close to the middle of my view under the departure board, with clear tiled floor between us. With my heading lined up, I will step forward to close on them.", + "The ticket machines are noticeably larger and their labels are legible, so I am on a good line but still several paces short. I will keep walking forward toward them.", + "Both machines now dominate the centre of my view, their screens and coin slots plainly visible, yet a short gap of tile remains. I will advance again to bring myself right up to them.", + "The pair of ticket machines fills most of my view at close range, though I am still a step off their fronts. I will take one more step forward to stand directly at them.", + "The ticket machine directly ahead now fills most of my view, and its neighbour sits off to my right with the gap between them cutting through the middle of my sight. I will turn right to bring the pair of machines squarely in front of me instead of standing skewed against one panel.", + "With the turn done, a ticket machine with its blue keypad and card slot stands centred right in front of me, only a short gap of paving away. I will step forward to close that last bit of distance and stand at its face.", + "I am standing right at the ticket machine's panel, its slot and reader filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000699_y-001928_z000149_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000699_y-001928_z000149_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e520694d2b11989ad63cedccc07c14c393702e9f --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000699_y-001928_z000149_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the wooden bench.", + "Type": 0, + "Start_Pose": [ + -699.471, + -1927.705, + 148.632, + -0.05, + -116.402, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -699.471, + -1927.705, + 148.632, + -0.05, + -116.402, + -0.0 + ], + [ + -755.436, + -2040.436, + 144.291, + -0.05, + -116.402, + -0.0 + ], + [ + -811.402, + -2153.168, + 144.291, + -0.05, + -116.402, + -0.0 + ], + [ + -867.367, + -2265.899, + 144.291, + -0.05, + -116.402, + -0.0 + ], + [ + -923.332, + -2378.631, + 144.291, + -0.05, + -116.402, + -0.0 + ], + [ + -978.453, + -2483.725, + 144.291, + -0.05, + -116.402, + -0.0 + ], + [ + -978.453, + -2483.725, + 144.291, + -0.05, + -116.402, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the tiled station hall I can already see the wooden bench ahead, set against the pale stone pier between the ticket machines and the waste bin. It sits close to the center of my heading, so no turn is needed and I will step forward to begin closing the long gap across the tiles.", + "The bench now appears larger and its slats and metal legs are clearer, which tells me my heading is carrying me straight toward it. The floor between us is still open tile, so I will keep walking forward to shorten the remaining distance.", + "The bench is clearly nearer now, sitting just right of straight ahead with the ticket machines to my left and the bin beside it. There is still a stretch of tile before I reach it, so another forward step is the direct way to continue.", + "The wooden bench now fills much of the space in front of me, with its backrest and armrest details plainly readable and the waste bin off to its right. I am close but not yet standing at it, so I will advance once more.", + "The bench seat and back now dominate the lower part of my view and the stone pier behind it is very close. One short step forward should bring me right up beside the bench and settle me at the target.", + "The wooden bench is directly in front of me at arm's length, its slats filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000744_y-000440_z-000257_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000744_y-000440_z-000257_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..369a8a56de0d16c895e62fb264fdcd24c5a6f00b --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000744_y-000440_z-000257_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move towards the green metal pillar frame standing near the stairs.", + "Type": 0, + "Start_Pose": [ + -744.084, + -439.589, + -257.177, + -0.05, + -135.285, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -744.084, + -439.589, + -257.177, + -0.05, + -135.285, + 0.0 + ], + [ + -833.521, + -528.141, + -259.056, + -0.05, + -135.285, + 0.0 + ], + [ + -922.959, + -616.693, + -259.056, + -0.05, + -135.285, + 0.0 + ], + [ + -1012.396, + -705.245, + -259.056, + -0.05, + -135.285, + 0.0 + ], + [ + -1101.833, + -793.797, + -259.056, + -0.05, + -135.285, + 0.0 + ], + [ + -1170.284, + -881.894, + -247.376, + -0.05, + -135.285, + 0.0 + ], + [ + -1170.284, + -881.894, + -247.376, + -0.05, + -110.285, + 0.0 + ], + [ + -1170.284, + -881.894, + -247.376, + -0.05, + -110.285, + 0.0 + ] + ], + "Rationale": [ + "I can see the green riveted metal pillar frame ahead beside the stone wall, right where the staircase begins. My heading already points down the tiled corridor toward it, so I will move forward to begin closing the distance.", + "The green pillar frame is now larger and its cross bracing is clearer at the foot of the stairs slightly right of my center view. The path along the wall stays open, so I will continue forward to keep shortening the gap.", + "The pale wall now dominates my left side while the green pillar stands just ahead near the stair edge. I am still a few steps short of it, so I will advance again along the wall.", + "The pillar's riveted flange and lattice are close enough to read individual bolt heads, but I am not yet beside it. One more forward step should bring me right up to the frame at the stair base.", + "The green pillar is now at arm's length on my right, with the wall pressing close on my left. I will take a short final step forward to stand directly at the frame near the stairs.", + "I am right up against the wall, and only a sliver of the green riveted column remains at the right edge of my view. I will turn right to bring the pillar frame and the adjacent stairs back into clear view in front of me.", + "The green riveted metal pillar frame stands directly in front of me at touching distance, with the stairs beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_a_p/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a510971a803fea1b6198294e030e820ba33b28 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the jerry can from the tiled floor near the red telephone booth.", + "Type": 5, + "Start_Pose": [ + -771.706, + 1197.122, + -688.939, + -0.05, + -11.279, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -56.057, + 1366.263, + -775.399, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -771.706, + 1197.122, + -688.939, + -0.05, + -11.279, + 0 + ], + [ + -648.278, + 1172.506, + -689.056, + -0.05, + -11.279, + 0.0 + ], + [ + -524.85, + 1147.889, + -689.056, + -0.05, + -11.279, + 0.0 + ], + [ + -524.85, + 1147.889, + -689.056, + -0.05, + 13.721, + -0.0 + ], + [ + -402.582, + 1177.742, + -689.056, + -0.05, + 13.721, + -0.0 + ], + [ + -280.315, + 1207.595, + -689.056, + -0.05, + 13.721, + -0.0 + ], + [ + -280.315, + 1207.595, + -689.056, + -0.05, + 38.721, + 0.0 + ], + [ + -182.12, + 1286.324, + -689.056, + -0.05, + 38.721, + 0.0 + ], + [ + -114.131, + 1359.432, + -689.056, + -0.05, + 38.721, + 0.0 + ], + [ + -114.131, + 1359.432, + -689.056, + -0.05, + 38.721, + 0.0 + ], + [ + -114.131, + 1359.432, + -689.056, + 0.0, + 38.721, + -0.0 + ], + [ + -114.131, + 1359.432, + -689.056, + 0.0, + 38.721, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -56.057, + 1366.263, + -775.399, + 0.0, + 0.0, + 0.0 + ], + [ + -127.964, + 1375.71, + -718.95, + -28.202, + 88.866, + 1.862 + ], + [ + -127.964, + 1375.71, + -718.95, + -28.202, + 88.866, + 1.862 + ] + ], + "PD_Dist_2D": [ + 735.4, + 623.1, + 517.2, + 517.2, + 394.5, + 274.7, + 274.7, + 149.3, + 58.5, + 58.5, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the jerry can sitting on the tiled floor ahead, just left of the red telephone booth, but it is still far down the covered walkway. I will walk forward along the open corridor to close that distance before worrying about fine alignment.", + "The jerry can now appears larger and lower in my view, confirming I am gaining on it, yet it remains several strides away toward the right side of the passage. I will keep walking forward while the floor ahead stays clear.", + "My straight heading is carrying me down the middle of the arcade while the jerry can sits off to my right near the wall. I will turn right to put the can closer to the center of my view so my next steps head toward it rather than past it.", + "After the turn, the jerry can and the red booth beside it are framed in front of me with open tiles between us. I will step forward along this heading to shorten the remaining gap.", + "I see the jerry can clearly ahead of me, noticeably nearer and resting on the tiles beside the booth, with nothing blocking my path. I will continue walking forward to get within reach before adjusting my stance.", + "The jerry can now sits slightly right of my heading and close to the wall, so walking straight would carry me alongside it instead of onto it. I will turn right to square my facing with the can before the final approach.", + "With the jerry can now centered in front of me and the tall red booth beside it, my heading points directly at the target. I will step forward to bring the can within grasping range.", + "The jerry can fills the lower part of my view and is only about a stride away on the tiles. I will take one more short step forward so it sits right at my feet and within comfortable reach for a grasp.", + "I am standing right beside the jerry can, but at this eye level it has dropped out of the bottom of my view and I only see the brick wall and green ironwork ahead. Tilting my gaze downward should bring the can back into view at my feet so I can confirm it is within reach before grasping.", + "With my gaze lowered, the jerry can now fills the lower part of my view directly in front of my feet, well inside grabbing range. I will attempt the grasp now, which should lift it off the tiled floor and into my hands.", + "The jerry can is now held in my hands rather than resting on the tiled floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_b_p/infos.json b/dataset/trajectory/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..49bbb48a0ac3f48e13d4c4bfbfbc6fd99dd7db7e --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the wicker basket from the closest wooden bench under the green arches.", + "Type": 5, + "Start_Pose": [ + -771.706, + 1197.122, + -688.939, + -0.05, + -11.279, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 43.422, + 954.183, + -759.573, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -771.706, + 1197.122, + -688.939, + -0.05, + -11.279, + 0 + ], + [ + -648.278, + 1172.506, + -689.056, + -0.05, + -11.279, + 0.0 + ], + [ + -524.85, + 1147.889, + -689.056, + -0.05, + -11.279, + 0.0 + ], + [ + -401.421, + 1123.273, + -689.056, + -0.05, + -11.279, + 0.0 + ], + [ + -277.993, + 1098.657, + -689.056, + -0.05, + -11.279, + 0.0 + ], + [ + -154.565, + 1074.04, + -689.056, + -0.05, + -11.279, + 0.0 + ], + [ + -31.137, + 1049.424, + -689.056, + -0.05, + -11.279, + 0.0 + ], + [ + -31.137, + 1049.424, + -689.056, + -0.05, + -36.279, + -0.0 + ], + [ + -31.137, + 1049.424, + -689.056, + 0.0, + -36.279, + 0.0 + ], + [ + -31.137, + 1049.424, + -689.056, + 0.0, + -36.279, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 43.422, + 954.183, + -759.573, + 90.0, + 0.0, + 0.0 + ], + [ + 43.422, + 954.183, + -759.573, + 90.0, + 0.0, + 0.0 + ], + [ + 43.422, + 954.183, + -759.573, + 90.0, + 0.0, + 0.0 + ], + [ + 43.422, + 954.183, + -759.573, + 90.0, + 0.0, + 0.0 + ], + [ + 43.422, + 954.183, + -759.573, + 90.0, + 0.0, + 0.0 + ], + [ + 43.422, + 954.183, + -759.573, + 90.0, + 0.0, + 0.0 + ], + [ + 43.422, + 954.183, + -759.573, + 90.0, + 0.0, + 0.0 + ], + [ + 43.422, + 954.183, + -759.573, + 90.0, + 0.0, + 0.0 + ], + [ + -19.341, + 1066.221, + -718.95, + -28.202, + 13.866, + 1.862 + ], + [ + -19.341, + 1066.221, + -718.95, + -28.202, + 13.866, + 1.862 + ] + ], + "PD_Dist_2D": [ + 850.6, + 725.3, + 600.4, + 475.9, + 352.4, + 231.4, + 121.0, + 121.0, + 20.5, + 20.5 + ], + "Rationale": [ + "From the mouth of the arcade I can see the green arches running ahead, and the nearest wooden bench sits on the left with a pale wicker basket beside it. That target is still far down the walkway, so I will walk forward along the open tiled floor to close the gap.", + "The bench on the left and the wicker basket resting at its end have grown slightly larger, confirming my heading leads toward them. The distance is still too great for any grasp, so I will keep walking forward down the arcade.", + "The wooden bench and the round wicker basket beside it now read clearly on my left under the green ironwork. They remain well out of arm's reach ahead of me, so another step forward should continue shortening the approach.", + "The nearest bench and its wicker basket have shifted further toward the left edge of my view as I close in, which is expected since they line the left side of the passage. I am still short of a comfortable grasping position, so I will advance again.", + "The basket now stands large in the lower left, propped at the near end of the first wooden bench. A couple more paces should bring it within reach rather than leaving it behind my shoulder, so I keep moving forward.", + "The basket has slipped to the very bottom left corner while the bench runs past my left side, so I am nearly level with the target. One more short step forward should place me directly beside it before I turn to face it.", + "I am now standing right beside the first wooden bench, but the wicker basket has fallen out of the front of my view because it sits to my left. Turning left should swing my body and gaze onto the basket so a grasp becomes possible.", + "The wicker basket now sits centered and close in front of me at the near end of the wooden bench, with nothing between us. This is the reachable position I wanted, so I will attempt to pick it up.", + "The wicker basket is now held in my hands, no longer resting on the bench. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000062_y003093_z000144_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000062_y003093_z000144_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8b7e5ce0f4c106da400ba5e7e6a96075a4b54ffc --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000062_y003093_z000144_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "First go to the bin, then proceed to the bench.", + "Type": 3, + "Start_Pose": [ + 61.801, + 3092.999, + 143.591, + -0.05, + 137.521, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 61.801, + 3092.999, + 143.591, + -0.05, + 137.521, + -0.0 + ], + [ + -31.023, + 3177.994, + 143.15, + -0.05, + 137.521, + -0.0 + ], + [ + -123.847, + 3262.989, + 143.15, + -0.05, + 137.521, + -0.0 + ], + [ + -216.671, + 3347.984, + 143.15, + -0.05, + 137.521, + -0.0 + ], + [ + -309.495, + 3432.979, + 143.15, + -0.05, + 137.521, + -0.0 + ], + [ + -309.495, + 3432.979, + 143.15, + -0.05, + 112.521, + 0.0 + ], + [ + -357.702, + 3549.24, + 143.15, + -0.05, + 112.521, + 0.0 + ], + [ + -357.702, + 3549.24, + 143.15, + -0.05, + 112.521, + 0.0 + ], + [ + -357.702, + 3549.24, + 143.15, + -0.05, + 137.521, + 0.0 + ], + [ + -357.702, + 3549.24, + 143.15, + -0.05, + 162.521, + -0.0 + ], + [ + -357.702, + 3549.24, + 143.15, + -0.05, + -172.479, + -0.0 + ], + [ + -357.702, + 3549.24, + 143.15, + -0.05, + -147.479, + 0.0 + ], + [ + -357.702, + 3549.24, + 143.15, + -0.05, + -122.479, + -0.0 + ], + [ + -357.702, + 3549.24, + 143.15, + -0.05, + -97.479, + -0.0 + ], + [ + -374.084, + 3424.452, + 143.15, + -0.05, + -97.479, + -0.0 + ], + [ + -390.467, + 3299.664, + 143.15, + -0.05, + -97.479, + -0.0 + ], + [ + -390.467, + 3299.664, + 143.15, + -0.05, + -97.479, + -0.0 + ] + ], + "Rationale": [ + "The dark bin stands ahead against the stone wall, well down the tiled walkway, and a wooden bench sits further right along the same facade. Since the bin is my first destination, I will walk straight forward to close the open distance to it.", + "The bin is noticeably larger and closer now, still slightly left of my heading with unobstructed tile between us. I will keep walking forward to shorten the remaining gap to it.", + "The bin now fills a good part of the view beside the brick corner, though several paces of tile still separate us. Another step forward should bring me nearly alongside it.", + "The bin sits just ahead on my left, close against the stone wall, and I am not yet level with it. I will step forward once more to draw even with it.", + "The bin has drifted to the far left edge of my view while my heading points into the brick wall and window. I will turn left to bring the bin back in front of me before covering the last step.", + "The bin is now centered ahead of me in the corner, only a short stretch of tile away. I will take one more step forward to stand right at it.", + "The bin fills the near view directly in front of me, its lid within arm's reach against the stone corner. I have reached the bin. I mark reaching it and now set off for the wooden bench along the building.", + "Standing at the bin, my view is filled by the corner masonry, so nothing of the walkway or the bench is in front of me. The bench lay back along the building to my right, so I will turn right to swing my heading toward it.", + "The bin I came for sits at the lower left edge of my view, so that stop is behind me now. Ahead there is only the stone corner, brick and window glass, nothing seatable. I will keep swinging right to bring the open walkway and its benches into view.", + "My view is now entirely brick wall and window panes, with no seating anywhere in it. The bench I need must lie further around this facade to my right. Another right turn should carry my heading toward the open side of the walkway.", + "The window band is sliding off to my left and a pale stone pier is entering from the right, so the wall is beginning to fall away. Still no bench in sight along this face. I will turn right again to keep uncovering the walkway beyond the corner.", + "The masonry pier now dominates the centre and a brighter, open strip is showing past its right edge. That opening is where the walkway runs, so the seating should lie along it. One more right turn should bring that stretch in front of me.", + "The corner has opened out and I can see wooden benches set against the wall to my right, under the arched glass roof. My heading still points partly into the stonework. Turning right once more should place the bench and the walkway squarely ahead of me.", + "The walkway now runs straight ahead of me and the nearest wooden bench stands against the wall on my left, still several paces off. My heading is clear of the stonework. I will step forward along the paving to close that gap.", + "The bench is much larger now, its slats and dark iron legs clearly on my left, but I am still short of its seat. Nothing blocks the paving in front of me. Another step forward should bring me level with it.", + "The bench is right beside me, its backrest and slats within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000067_y-002692_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000067_y-002692_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c465e273af6184f2a1bac31bdfc7a5c29fe00e95 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000067_y-002692_z000143_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the ticket machine on your right.", + "Type": 2, + "Start_Pose": [ + 67.28, + -2691.791, + 143.15, + 0.0, + -133.365, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 67.28, + -2691.791, + 143.15, + 0.0, + -133.365, + 0.0 + ], + [ + -19.14, + -2783.29, + 143.15, + 0.0, + -133.365, + 0.0 + ], + [ + -105.561, + -2874.789, + 143.15, + 0.0, + -133.365, + 0.0 + ], + [ + -191.981, + -2966.287, + 143.15, + 0.0, + -133.365, + 0.0 + ], + [ + -278.401, + -3057.786, + 143.15, + 0.0, + -133.365, + 0.0 + ], + [ + -364.821, + -3149.285, + 143.15, + 0.0, + -133.365, + 0.0 + ], + [ + -364.821, + -3149.285, + 143.15, + 0.0, + -133.365, + 0.0 + ] + ], + "Rationale": [ + "Two ticket machines stand along this wall, and the one on my right, set beside the arched window with the bench past it, is my target. It sits well ahead down the concourse, so I will walk straight forward to close that gap.", + "The ticket machine beside the arched window is larger in my view now, but still several strides away. The paving between us is clear, so I keep walking forward toward it.", + "The other machine has slipped out of my view and only my target remains, standing next to the litter bin under the arched window. It is centered but not yet within reach, so I advance again.", + "The machine's screen and card slots are now legible directly ahead of me, with the bin at its left. A short distance still separates me from it, so I step forward once more.", + "The ticket machine now fills most of my view and I am nearly at its front panel. One more step forward should bring me right up to it, close enough to count as arrived.", + "The lit keypad and coin slot fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f4fd904440dc9352a33031ecf287ba8e9cb20f1 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the dark trash bin near the ticket machines along the brick wall.", + "Type": 0, + "Start_Pose": [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0.0 + ], + [ + 35.036, + -2253.699, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -19.213, + -2367.267, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -73.462, + -2480.834, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -127.711, + -2594.401, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -181.96, + -2707.968, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -236.21, + -2821.535, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -290.459, + -2935.103, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -344.708, + -3048.67, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -344.708, + -3048.67, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + -344.708, + -3048.67, + 143.15, + -0.05, + -140.533, + -0.0 + ] + ], + "Rationale": [ + "From this open paved concourse I can see the row of ticket machines standing against the brick wall ahead and slightly to my left, with a dark bin shape at their base. My heading already points down the open walkway toward them, so nothing needs adjusting yet. I will step forward to begin closing the distance to that cluster.", + "The ticket machines and the brick wall behind them have grown larger, confirming my current heading leads straight to the target area. The paving in front of me is still unobstructed. I will keep walking forward to shorten the remaining gap.", + "The nearest machine's screen and the second machine beside the green steel column are now clearly separated in front of me, so I am reading the right cluster along the brick wall. The dark bin I need is still low and small near their bases. Another forward step should bring me close enough to pick it out distinctly.", + "The word Tickets is now legible on the machine ahead on my left, so this is the ticket machine line along the brick wall named in the task. The bin next to the second machine is still several paces off. I will continue straight ahead toward it.", + "The first ticket machine is now passing close on my left, and the second one stands further along the wall with a dark boxy bin tucked beside it. That further bin is the object I need to reach. I will step forward again along the open paving.", + "The second ticket machine is now centered ahead with the dark trash bin clearly beside its left base, right where the brick wall and bench begin. The gap is down to a few paces of clear tile. I will keep moving forward to close on the bin.", + "The dark bin beside the ticket machine is now large and unmistakable just ahead and slightly left, next to the riveted green column. I am still a couple of paces short of standing beside it. I will advance again to bring myself right up to it.", + "The ticket machine now fills much of the view ahead and the dark bin sits low at my left, very close against the machine's side. One more short step should place me directly alongside the bin at the brick wall. I will move forward to finish closing that last gap.", + "I am now right beside the ticket machine along the brick wall, and only the top corner of the dark bin is showing at the lower left edge of my view. I will turn left so the bin sits centered in front of me instead of being cut off by the machine housing. This small heading change should confirm I am standing at the target rather than just past it.", + "The dark trash bin stands directly ahead of me, right beside the ticket machine at the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1afd1b868bc33c6c3f66b0dc1bc4cdab424dc9 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the second arched window from the left along the stone facade.", + "Type": 2, + "Start_Pose": [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0.0 + ], + [ + 89.285, + -2140.132, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 88.114, + -2265.986, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 86.943, + -2391.839, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 85.773, + -2517.693, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 84.602, + -2643.546, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 83.431, + -2769.4, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 82.26, + -2895.253, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 81.089, + -3021.107, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 79.919, + -3146.96, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 78.748, + -3272.814, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 77.593, + -3366.446, + 143.15, + -0.05, + -90.533, + 0.0 + ], + [ + 77.593, + -3366.446, + 143.15, + -0.05, + -90.533, + 0.0 + ] + ], + "Rationale": [ + "The stone facade with its arched windows runs off to my right, and from here only a couple of arches are visible at the edge of my view. I cannot count the row reliably from this angle, so I will turn right to bring the whole run of arches in front of me.", + "Now the run of arched windows is fully in front of me, and counting from the left end, the second one is the tall central arch whose crown rises above its neighbours and which has a bench standing on either side. That arch is my target, so I will walk straight ahead toward it across the open paving.", + "The tall arch with a bench on each side sits almost dead ahead and has grown noticeably larger, so my heading is good. I will keep walking forward to close the remaining distance.", + "The tall arch stays centered in my view with its two flanking benches now clearly separated by a gap of brick wall. Nothing blocks the paving in front of me, so I continue walking straight toward it.", + "The facade now fills most of my view and the tall arch I chose still stands between its two benches directly ahead. I am still several strides short of the wall, so I keep advancing.", + "The left end of the row is beginning to slide out of my view as I close in, but I am still tracking the same tall arch that sits between the pair of benches. I will step forward again to reach the wall beneath it.", + "The benches and the brick base below the tall arch are close now, with the open gap between the two benches lining up right in front of me. I will keep walking into that gap to bring myself up to the window.", + "I am nearly at the facade, with the glazing of my target window filling the middle of my view and a bench standing to either side of the clear approach. A couple more steps should put me right at the window, so I move forward.", + "From this range the facade no longer reads as a countable row, but the bench pair still brackets my window and its brickwork sits squarely between them. The clear paving in that gap runs right up to the wall, so I keep walking into it.", + "The brick base under my window now fills the middle of my view, with the small ground light between the two bench ends marking the centre of the approach. Only a stride or so of paving remains, so I step ahead again.", + "I am right up against the brickwork, with the window frame above me and the bench arms fallen back to the far edges of my view. One short step should bring me flush to the wall beneath this window.", + "The sill and glazing of my target window are directly before me at arm's length above its brick base. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t5_a_p/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..33a94dd72e1563e009c77facd02cbc724fe79425 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000089_y-002140_z000143_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the trash bag near the dark trash bin by the ticket machines.", + "Type": 5, + "Start_Pose": [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -366.534, + -3095.021, + 55.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0 + ], + [ + 35.036, + -2253.699, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -19.213, + -2367.267, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -73.462, + -2480.834, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -127.711, + -2594.401, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -181.96, + -2707.968, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -236.21, + -2821.535, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -290.459, + -2935.103, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + -290.459, + -2935.103, + 143.15, + 0.0, + -115.533, + 0.0 + ], + [ + -290.459, + -2935.103, + 143.15, + 0.0, + -115.533, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -366.534, + -3095.021, + 55.15, + 0.0, + 0.0, + 0.0 + ], + [ + -366.534, + -3095.021, + 55.15, + 0.0, + 0.0, + 0.0 + ], + [ + -366.534, + -3095.021, + 55.15, + 0.0, + 0.0, + 0.0 + ], + [ + -366.534, + -3095.021, + 55.15, + 0.0, + 0.0, + 0.0 + ], + [ + -366.534, + -3095.021, + 55.15, + 0.0, + 0.0, + 0.0 + ], + [ + -366.534, + -3095.021, + 55.15, + 0.0, + 0.0, + 0.0 + ], + [ + -366.534, + -3095.021, + 55.15, + 0.0, + 0.0, + 0.0 + ], + [ + -366.534, + -3095.021, + 55.15, + 0.0, + 0.0, + 0.0 + ], + [ + -270.927, + -2943.756, + 113.256, + -28.202, + -65.389, + 1.862 + ], + [ + -270.927, + -2943.756, + 113.256, + -28.202, + -65.389, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1058.1, + 932.2, + 806.4, + 680.5, + 554.7, + 428.8, + 303.0, + 177.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The ticket machines stand well ahead of me along the station arcade, with a dark bin beside them, but I am too far away to make out any trash bag on the ground. I will walk straight forward along the open paving to close that distance and get a clearer look at the area.", + "The pair of ticket machines and the dark bin near them are noticeably larger in view now, so my heading is already pointed at the target area. Nothing blocks the tiled walkway ahead, so I will keep walking straight to close in further.", + "I can now see a dark object sitting on the pavement just right of the second ticket machine, which fits the trash bag I need. My current heading lines up with it, so I will continue walking forward rather than adjust my facing.", + "The dark trash bag is clearly resting on the tiles next to the far ticket machine and the bin, still several strides away. My path along the arcade is clear, so I will keep advancing toward it.", + "The bag is holding steady slightly right of my centerline, near the small bin beside the ticket machine, and it is still out of reach. Walking forward keeps shrinking that gap without needing a turn yet.", + "The bag now shows its crumpled shape clearly on the tiles in front of the ticket machine, close to the metal bin. It sits just ahead in my path, so another forward step should bring me into grasping range.", + "The trash bag fills much of the lower view beside the bin and the ticket machine, but it still sits a bit beyond comfortable reach. I will take one more step forward so it comes directly in front of me for the grasp.", + "The trash bag is now right at my feet, directly in front of the ticket machine and the adjacent bin, filling the bottom of my view with nothing between us. My hands are empty and the bag is within reach, so I will attempt to pick it up.", + "The trash bag is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000166_y000942_z000144_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000166_y000942_z000144_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca7a8e1ff53e02962672f4239f9a2cc3ab8b18a --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000166_y000942_z000144_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the bench.", + "Type": 0, + "Start_Pose": [ + 165.997, + 941.81, + 143.663, + -0.05, + -133.716, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 165.997, + 941.81, + 143.663, + -0.05, + -133.716, + 0.0 + ], + [ + 79.018, + 850.842, + 143.819, + -0.05, + -133.716, + 0.0 + ], + [ + -7.961, + 759.875, + 143.21, + -0.05, + -133.716, + 0.0 + ], + [ + -94.94, + 668.907, + 143.21, + -0.05, + -133.716, + 0.0 + ], + [ + -181.92, + 577.94, + 143.21, + -0.05, + -133.716, + 0.0 + ], + [ + -181.92, + 577.94, + 143.21, + -0.05, + -158.716, + 0.0 + ], + [ + -299.194, + 532.254, + 143.21, + -0.05, + -158.716, + 0.0 + ], + [ + -299.194, + 532.254, + 143.21, + -0.05, + -158.716, + 0.0 + ] + ], + "Rationale": [ + "I can see the wooden bench set against the station wall to my left, some distance down the covered walkway. The paved corridor ahead of me is clear, so I will move forward to begin closing that gap.", + "The bench now appears slightly larger and lower in my view, confirming that my heading is carrying me toward it. I will keep advancing along the open tiles since nothing blocks the path.", + "The bench has shifted further toward the left edge of my view and its slats are clearly resolved, so I am still too far forward-offset from it. Another step forward should bring me alongside it.", + "The bench's armrest and backrest now fill much of my left foreground, but I am not yet level with its seat. I will advance once more to draw even with the bench.", + "The bench is now very close but sits off to my left, with my heading pointed down the walkway past it. I will turn left to face the bench directly before making my final approach.", + "The bench is now centered in front of me with its full length and backrest visible against the wall. A short step forward should place me right at it.", + "The bench fills my view 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/VictorianTrainStation/task_x000213_y-002538_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000213_y-002538_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e1d008fdb16ec964c4f14b22988b25012c28319 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000213_y-002538_z000143_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the ticket machine closest to you in the left.", + "Type": 2, + "Start_Pose": [ + 212.656, + -2537.871, + 143.15, + 0.0, + -133.365, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 212.656, + -2537.871, + 143.15, + 0.0, + -133.365, + 0.0 + ], + [ + 126.236, + -2629.37, + 143.15, + 0.0, + -133.365, + 0.0 + ], + [ + 126.236, + -2629.37, + 143.15, + 0.0, + -158.365, + 0.0 + ], + [ + 9.243, + -2675.773, + 143.15, + 0.0, + -158.365, + 0.0 + ], + [ + -107.749, + -2722.176, + 143.15, + 0.0, + -158.365, + 0.0 + ], + [ + -224.742, + -2768.58, + 143.15, + 0.0, + -158.365, + 0.0 + ], + [ + -341.734, + -2814.983, + 143.15, + 0.0, + -158.365, + 0.0 + ], + [ + -341.734, + -2814.983, + 143.15, + 0.0, + -158.365, + 0.0 + ] + ], + "Rationale": [ + "Two ticket machines stand ahead against the wall, and the nearer one on the left sits right beside the green latticed pillar, so that pillar marks my target. I will walk forward to close the open stretch of paving between us.", + "The near ticket machine beside the green pillar now sits well off to my left while my heading still points across the plaza. I will turn left to bring it in front of me before continuing.", + "The turn has centered the ticket machine that stands against the brick wall beside the green pillar, though further machines further down the left arcade have come into view as well. I keep to the one by the pillar and step forward toward it.", + "The ticket machine beside the green pillar is squarely ahead and its screen and card slot are now readable. There is still clear paving in front of me, so I will keep walking toward it.", + "The machine now fills much of my view, but I am still a couple of paces short of standing at its front panel. I will advance again to close that remaining gap.", + "I am directly in front of the ticket machine's panel, with the pillar and litter bin just to its right confirming this is the one I chose. One more short step should bring me right up against it.", + "The ticket machine's lit screen and coin slot are directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0d0d53e399ad599a8c1d9873c9df0f7e193f2941 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the third bench from the right along the station wall.", + "Type": 2, + "Start_Pose": [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0.0 + ], + [ + 120.398, + 1239.194, + 143.819, + -0.05, + 137.521, + -0.0 + ], + [ + 27.574, + 1324.189, + 143.38, + -0.05, + 137.521, + -0.0 + ], + [ + -65.25, + 1409.184, + 143.38, + -0.05, + 137.521, + -0.0 + ], + [ + -65.25, + 1409.184, + 143.38, + -0.05, + 112.521, + 0.0 + ], + [ + -113.457, + 1525.445, + 143.38, + -0.05, + 112.521, + 0.0 + ], + [ + -161.664, + 1641.706, + 143.38, + -0.05, + 112.521, + 0.0 + ], + [ + -161.664, + 1641.706, + 143.38, + -0.05, + 137.521, + 0.0 + ], + [ + -254.488, + 1726.701, + 143.38, + -0.05, + 137.521, + 0.0 + ], + [ + -346.51, + 1811.837, + 143.15, + -0.05, + 137.521, + 0.0 + ], + [ + -346.51, + 1811.837, + 143.15, + -0.05, + 137.521, + 0.0 + ] + ], + "Rationale": [ + "Looking down the station wall, the benches run away to my left, and counting in from the right-hand end the third one is the one sitting immediately beside the litter bin. The benches themselves are identical, so I hold that bin as my marker. I step forward along the concourse to close the distance.", + "The ticket machine on my right is drawing level with me, and the bench beside the litter bin is still some way ahead along the wall. Nothing blocks the open tiled floor in front of me, so I keep walking forward.", + "The two benches ahead of me now read clearly, and the left one of that pair is the one touching the litter bin, which is my target. It is still several paces off down the wall, so I advance again.", + "The benches nearest on my right are the ones I have already come past, while the litter bin and the bench beside it sit ahead and slightly to my left. My heading is drifting into the wall, so I turn left to line my path back along the concourse toward that bench.", + "With the platform and the parked train opening up on my left, the wall line of benches now runs cleanly ahead of me. The bench next to the litter bin lies further along that line, so I walk forward down the open floor.", + "The litter bin and the bench alongside it are noticeably larger now but still a couple of paces off to my right front. I keep moving forward to draw level with them before committing to a turn.", + "I am now roughly abreast of the litter bin, and the bench standing beside it lies off to my right against the station wall while my heading points on down the empty platform. Turning right should bring that bench squarely in front of me.", + "The turn has put the litter bin and the bench beside it directly ahead of me, with the brick pier of the wall behind them. Only a short gap of tiling remains, so I step forward to close on that bench.", + "The bench and the litter bin beside it now fill the right of my view, but the seat still sits a stride beyond me with clear tiling between. One more step forward should bring me right up against it at the wall.", + "The bench beside the litter bin fills my view against the brick wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t2_b/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96f0c84374526784e6de51449b78acd7482e1258 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the first bench from the right, closest to the ticket machine.", + "Type": 2, + "Start_Pose": [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0.0 + ], + [ + 213.222, + 1154.199, + 143.819, + -0.05, + 162.521, + -0.0 + ], + [ + 93.174, + 1192.002, + 143.819, + -0.05, + 162.521, + -0.0 + ], + [ + 93.174, + 1192.002, + 143.819, + -0.05, + -172.479, + -0.0 + ], + [ + -31.602, + 1175.528, + 143.194, + -0.05, + -172.479, + -0.0 + ], + [ + -156.378, + 1159.054, + 143.194, + -0.05, + -172.479, + -0.0 + ], + [ + -281.154, + 1142.581, + 143.194, + -0.05, + -172.479, + -0.0 + ], + [ + -281.154, + 1142.581, + 143.194, + -0.05, + -172.479, + -0.0 + ] + ], + "Rationale": [ + "Along the wall a row of benches runs left to right, and the last one on the right sits immediately beside the tall ticket machine, so that is the bench I want. It lies well to the right of my heading, near the frame edge. I will turn right to bring it and the machine into the center of my view.", + "The ticket machine now stands near the middle of my view with the bench I want directly to its right. The open paving ahead is clear of obstacles. I will walk forward to close the distance to that pair.", + "I am closer now, but the bench next to the ticket machine sits off to the right of my heading while the machine itself is nearly straight ahead. A small right turn should put that bench in front of me. I will turn right to line up my approach.", + "The bench beside the ticket machine is now roughly centered ahead of me, with the machine at its left. Nothing blocks the tiles between us. I will step forward to close in on it.", + "The bench and the ticket machine beside it fill much more of my view, so the approach is working. I am still a few paces short of standing at the bench. I will continue forward.", + "The bench now spans most of my view with the ticket machine right at its left end, confirming this is the one I chose. A short step more should bring me right up against its seat. I will move forward again.", + "The bench backrest fills the near foreground directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t5_a_p/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9326f3a54ec33de1bddbe81faa9343dc0c536cfe --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000213_y001154_z000144_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the tomato on the tiled floor near the ticket machine.", + "Type": 5, + "Start_Pose": [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -266.038, + 1403.973, + 114.215, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0 + ], + [ + 120.398, + 1239.194, + 143.819, + -0.05, + 137.521, + -0.0 + ], + [ + 27.574, + 1324.189, + 143.38, + -0.05, + 137.521, + -0.0 + ], + [ + 27.574, + 1324.189, + 143.38, + -0.05, + 162.521, + -0.0 + ], + [ + -92.474, + 1361.992, + 143.38, + -0.05, + 162.521, + -0.0 + ], + [ + -92.474, + 1361.992, + 143.38, + 0.0, + 162.521, + -0.0 + ], + [ + -92.474, + 1361.992, + 143.38, + 0.0, + 162.521, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -266.038, + 1403.973, + 114.215, + 0.0, + 0.0, + 0.0 + ], + [ + -266.038, + 1403.973, + 114.215, + 0.0, + 0.0, + 0.0 + ], + [ + -266.038, + 1403.973, + 114.215, + 0.0, + 0.0, + 0.0 + ], + [ + -266.038, + 1403.973, + 114.215, + 0.0, + 0.0, + 0.0 + ], + [ + -266.038, + 1403.973, + 114.215, + 0.0, + 0.0, + 0.0 + ], + [ + -98.306, + 1341.44, + 113.256, + -28.202, + -147.335, + 1.862 + ], + [ + -98.306, + 1341.44, + 113.256, + -28.202, + -147.335, + 1.862 + ] + ], + "PD_Dist_2D": [ + 540.4, + 420.1, + 304.3, + 304.3, + 178.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The red tomato is clearly visible on the tiled floor ahead, resting just in front of the ticket machine to my right. It is still far off across the concourse, so I will walk straight forward to close that distance.", + "The tomato now appears larger and lower in my view, confirming my forward heading is bringing me toward it. The floor between us is still open and clear, so I will keep walking forward to shorten the remaining gap.", + "The tomato has drifted to the right edge of my view, close to the ticket machine, while my heading still points down the concourse. I will turn right to bring the tomato back to the center of my view before continuing.", + "The tomato now sits centered in front of me on the tiles, with the ticket machine directly beyond it. It is still a few steps out of reach, so I will walk forward to get close enough to grasp it.", + "The tomato is now large and centered in the lower part of my view, well within arm's reach on the tiled floor. I will attempt to pick it up, which should place it in my hands.", + "The tomato is now held in my hands and no longer resting on the tiles. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000227_y-002312_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000227_y-002312_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2dd88042be3676a2793af5dfe29ffa6f7c888782 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000227_y-002312_z000143_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the lattice pillar between the two ticket machines.", + "Type": 0, + "Start_Pose": [ + 227.058, + -2311.555, + 143.15, + 0.0, + -148.538, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 227.058, + -2311.555, + 143.15, + 0.0, + -148.538, + 0.0 + ], + [ + 119.702, + -2377.245, + 143.15, + 0.0, + -148.538, + 0.0 + ], + [ + 12.346, + -2442.935, + 143.15, + 0.0, + -148.538, + 0.0 + ], + [ + 12.346, + -2442.935, + 143.15, + 0.0, + -123.538, + 0.0 + ], + [ + -57.19, + -2547.841, + 143.15, + 0.0, + -123.538, + 0.0 + ], + [ + -126.726, + -2652.747, + 143.15, + 0.0, + -123.538, + 0.0 + ], + [ + -196.262, + -2757.653, + 143.15, + 0.0, + -123.538, + 0.0 + ], + [ + -265.797, + -2862.559, + 143.15, + 0.0, + -123.538, + 0.0 + ], + [ + -335.333, + -2967.465, + 143.15, + 0.0, + -123.538, + 0.0 + ], + [ + -335.333, + -2967.465, + 143.15, + 0.0, + -148.538, + 0.0 + ], + [ + -428.457, + -3032.252, + 143.15, + 0.0, + -148.538, + 0.0 + ], + [ + -428.457, + -3032.252, + 143.15, + 0.0, + -148.538, + 0.0 + ] + ], + "Rationale": [ + "From the open concourse floor I can see the green latticed metal pillar rising ahead and slightly to my right, flanked on either side by a ticket machine. Nothing blocks the tiled floor between us, so I will move forward to begin closing that fairly long distance.", + "The pillar and its two flanking ticket machines are noticeably larger now, confirming I am headed the right way. I will continue forward since the distance is still considerable and the path stays clear.", + "The lattice pillar and the pair of ticket machines sit off to the right of my current heading, while my straight-ahead direction points toward the open hall and the far ATMs. I will turn right to bring the pillar closer to the center of my view before continuing.", + "The turn worked, and the green lattice pillar with a ticket machine on each side is now roughly ahead of me. I will move forward along this heading to cut down the remaining distance.", + "The nearer ticket machine now fills the left part of my view and the pillar stands just beyond it, so I am well inside the machine pair's area. I will keep advancing toward the pillar face.", + "I am nearly level with the first ticket machine, and the riveted green lattice column is close ahead with the second machine beyond it. Another step forward should bring me into the space between the two machines where the pillar stands.", + "The lattice pillar now dominates the left of my view and the far ticket machine with its bin sits ahead on the right, so I am entering the gap between the two machines. I will advance again to draw level with the pillar itself.", + "The pillar's riveted flange is right beside me on the left and the second ticket machine stands close on the right, so only a short stretch of floor remains. I will step forward once more to reach the pillar's position between the machines before settling my heading.", + "The riveted green lattice pillar is now close but pushed to the left edge of my view, while the ticket machine and its bin dominate the right side. I will turn left to bring the pillar into the center of my heading so my remaining approach runs straight at it.", + "After turning, the latticed green pillar with its rows of rivets now fills the center of my view, with the ticket machine to its right and another machine casing behind it on the left. One more step forward should close the small remaining gap and place me directly at the pillar between the two machines.", + "The riveted lattice pillar fills my view at arm's length, flanked by the ticket machine structures. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000227_y-002312_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000227_y-002312_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0c358b06ddd434b507475344d56e75626b878c0a --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000227_y-002312_z000143_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the ticket machine on the far right.", + "Type": 2, + "Start_Pose": [ + 227.058, + -2311.555, + 143.15, + 0.0, + -178.298, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 227.058, + -2311.555, + 143.15, + 0.0, + -178.298, + 0.0 + ], + [ + 227.058, + -2311.555, + 143.15, + 0.0, + -153.298, + 0.0 + ], + [ + 114.621, + -2368.11, + 143.15, + 0.0, + -153.298, + 0.0 + ], + [ + 2.184, + -2424.664, + 143.15, + 0.0, + -153.298, + 0.0 + ], + [ + 2.184, + -2424.664, + 143.15, + 0.0, + -128.298, + 0.0 + ], + [ + -75.817, + -2523.438, + 143.15, + 0.0, + -128.298, + 0.0 + ], + [ + -153.818, + -2622.212, + 143.15, + 0.0, + -128.298, + 0.0 + ], + [ + -231.82, + -2720.986, + 143.15, + 0.0, + -128.298, + 0.0 + ], + [ + -231.82, + -2720.986, + 143.15, + 0.0, + -153.298, + 0.0 + ], + [ + -344.257, + -2777.541, + 143.15, + 0.0, + -153.298, + 0.0 + ], + [ + -344.257, + -2777.541, + 143.15, + 0.0, + -153.298, + 0.0 + ] + ], + "Rationale": [ + "Along this concourse the small cash machines cluster to the left, while a single tall Tickets kiosk stands off at the right edge of my view against the brick pillar, so that one is my goal. It sits well off my current heading, so I will turn right to bring it toward the middle of my view before walking.", + "Now facing along the frontage, I see a second Tickets kiosk further right that was hidden before, so I hold onto the one standing against the brick pillar rather than recounting the row. It is still far across the open paving, so I will walk forward to close that distance.", + "The kiosk beside the brick pillar has grown larger and sits slightly right of my heading, with clear paving between us. I will keep walking forward to close the remaining gap.", + "From here the pale wall corner and the bin sit directly in my path, while the kiosk against the brick pillar lies a little to my right. Turning right should swing my heading past that corner and put the kiosk squarely ahead of my walking line.", + "The kiosk by the brick pillar now stands ahead of me with open floor in between, and the second one is further along to its right. I will step forward to keep closing on it.", + "The Tickets sign and card slots on the kiosk beside the brick pillar are readable now, so I am closing well but still several paces short of standing at it. I will walk forward again.", + "The kiosk now fills much of the left of my view, its screen and coin slot close enough to make out in detail. One more step forward should bring me level with its front panel.", + "I have drawn level with the kiosk and it now sits hard against the left edge of my view, with only the far machine and the green truss ahead. Turning left should bring its front panel back in front of me so I can stand squarely at it.", + "The kiosk's Tickets header, screen and card slot are now centred in front of me, so my heading is right and only a short gap of paving remains. I will take one more step forward to stand at its front panel within reach.", + "The kiosk's screen, coin slot and card reader fill my view at arm's length. I have arrived at the ticket machine, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000266_y-002806_z000143_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000266_y-002806_z000143_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2357a17ecdb3062b73cace2e6ace8cc1e505f2cb --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000266_y-002806_z000143_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the bench on the right first, then go to the ticket machine.", + "Type": 3, + "Start_Pose": [ + 266.438, + -2806.47, + 143.15, + -0.05, + -109.851, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 266.438, + -2806.47, + 143.15, + -0.05, + -109.851, + 0.0 + ], + [ + 266.438, + -2806.47, + 143.15, + -0.05, + -84.851, + -0.0 + ], + [ + 277.733, + -2931.821, + 143.15, + -0.05, + -84.851, + -0.0 + ], + [ + 289.029, + -3057.172, + 143.15, + -0.05, + -84.851, + -0.0 + ], + [ + 300.324, + -3182.523, + 143.15, + -0.05, + -84.851, + -0.0 + ], + [ + 311.226, + -3289.918, + 143.15, + -0.05, + -84.851, + -0.0 + ], + [ + 311.226, + -3289.918, + 143.15, + -0.05, + -84.851, + -0.0 + ], + [ + 311.226, + -3289.918, + 143.15, + -0.05, + -109.851, + -0.0 + ], + [ + 311.226, + -3289.918, + 143.15, + -0.05, + -134.851, + -0.0 + ], + [ + 311.226, + -3289.918, + 143.15, + -0.05, + -159.851, + -0.0 + ], + [ + 311.226, + -3289.918, + 143.15, + -0.05, + 175.149, + 0.0 + ], + [ + 185.818, + -3279.275, + 143.15, + -0.05, + 175.149, + 0.0 + ], + [ + 60.41, + -3268.631, + 143.15, + -0.05, + 175.149, + 0.0 + ], + [ + -64.999, + -3257.988, + 143.15, + -0.05, + 175.149, + 0.0 + ], + [ + -190.407, + -3247.345, + 143.15, + -0.05, + 175.149, + 0.0 + ], + [ + -315.815, + -3236.702, + 143.15, + -0.05, + 175.149, + 0.0 + ], + [ + -315.815, + -3236.702, + 143.15, + -0.05, + 175.149, + 0.0 + ] + ], + "Rationale": [ + "Two wooden benches stand against the station frontage ahead, and the one on the right sits off to the right of my current heading. I will turn right so that bench lies straight in front of me before I start walking toward it.", + "The right-hand bench with the litter bin beside it now sits ahead of me, and the paving between us is open and clear. I will walk forward to begin closing that distance.", + "The bench and the bin at its end are noticeably larger and remain aligned with my heading. Nothing blocks the tiles between us, so I keep stepping forward toward the seat.", + "The bench now fills the lower half of my view, its slats only a couple of paces away against the brick base of the wall. I will walk forward again to bring myself right up to it.", + "I am nearly against the bench, with its armrest and the bin beside it directly in front of me. A final short step forward should place me level with the seat.", + "The bench slats and its dark armrest fill the space immediately in front of me, with the stone wall behind it within arm's reach. I am standing at the bench on the right. I mark arriving here, and now I set off for the ticket machine.", + "From right beside the bench my view is filled by its slats and the pale stone wall, and no ticket machine is anywhere in front of me. The machine stands off to my left along this frontage, so I will turn left to swing my heading toward it.", + "The turn has brought more of the wall and the bench's backrest into view, but the ticket machine is still not in front of me. I will turn left again to keep sweeping my heading toward the open side of the concourse.", + "I am standing right beside the bench, with only wall, windows and a second bench filling my view, and no ticket machine in sight. I will keep swinging left to sweep the open paving beyond these benches, where a ticket machine should appear.", + "The sweep has paid off: a ticket machine now shows at the far left of my view, across the paving under the arcade. It sits too far to the edge to walk toward cleanly, so I will turn left again to bring it nearer the center of my heading.", + "Two ticket machines now stand ahead of me under the arcade, with clear open paving between us and the bench pushed off to my right. My heading is good enough to close distance, so I will walk straight forward toward them.", + "The ticket machines have grown noticeably larger and their labels are legible, so my line of travel is carrying me toward them. There is still a good stretch of tiles between us, and I will keep walking forward.", + "The nearer ticket machine is squarely ahead with its screen and card slots clearly visible, and nothing blocks the tiles between us. I will step forward again to cut the remaining gap.", + "The ticket machine now fills much of my view, its keypad and ticket slot plainly in front of me. I am not yet close enough to stand at it, so I will advance one more step.", + "I am nearly at the ticket machine, its blue screen and yellow reader right in front of my face, though a little floor still separates us. A final step forward should put me directly at its front panel.", + "The ticket machine's screen and slots fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000376_y-002801_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000376_y-002801_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7771dd0ef27d94ba33f07086ac086e4124130dc2 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000376_y-002801_z000143_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the large double doors near the barriers, without crossing the barriers.", + "Type": 0, + "Start_Pose": [ + 376.422, + -2801.175, + 143.15, + 0.0, + -21.562, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 376.422, + -2801.175, + 143.15, + 0.0, + -21.562, + 0.0 + ], + [ + 493.473, + -2847.429, + 143.15, + 0.0, + -21.562, + 0.0 + ], + [ + 610.525, + -2893.683, + 143.15, + 0.0, + -21.562, + 0.0 + ], + [ + 727.576, + -2939.938, + 143.15, + 0.0, + -21.562, + 0.0 + ], + [ + 844.628, + -2986.192, + 143.15, + 0.0, + -21.562, + 0.0 + ], + [ + 844.628, + -2986.192, + 143.15, + 0.0, + -46.562, + 0.0 + ], + [ + 931.165, + -3077.58, + 143.15, + 0.0, + -46.562, + 0.0 + ], + [ + 1017.701, + -3168.969, + 143.15, + 0.0, + -46.562, + 0.0 + ], + [ + 1017.701, + -3168.969, + 143.15, + 0.0, + -71.562, + 0.0 + ], + [ + 1057.508, + -3288.367, + 143.15, + 0.0, + -71.562, + 0.0 + ], + [ + 1093.479, + -3353.058, + 143.15, + 0.0, + -71.562, + 0.0 + ], + [ + 1093.479, + -3353.058, + 143.15, + 0.0, + -71.562, + 0.0 + ] + ], + "Rationale": [ + "The tall blue double doors are set into the stone facade ahead on my left, while the metal barriers fence off the arched hall to my right. The paved walkway between them is clear, so I will move forward along it to close distance on the doors without touching the barrier line.", + "The doorway on the left has grown noticeably larger, confirming that my heading down the walkway is reducing the distance to it. The barriers still stay off to my right side, so another step forward is safe and keeps me clear of them.", + "I am now roughly abreast of the ornate panels of the target doors, but still out in the open walkway rather than beside them. Continuing forward should bring me level with the small step and landing in front of that entrance while the barrier row stays on my right.", + "The doors now fill much of the left edge of my view, so I am close along the facade but not yet in front of them. One more forward step along the open pavement should place me near the doorway landing, and my path still does not touch the barriers on the right.", + "The double doors are far off to my left, nearly out of view, while my heading still points down the walkway past them. I will turn left to swing the entrance toward the center of my view so I can approach it directly.", + "After the turn, the blue double doors sit much closer to the middle-left of my view with clear paving in front of them. I will move forward to close the remaining gap toward the entrance, keeping the barriers safely off to my right.", + "The weathered panels and the small step at the base of the doors are now large in my view, so I am only a short distance from the entrance. Another forward step should bring me right up to the doorway without any need to pass the barrier line.", + "At this short range the doors have slid toward the left half of my view and my heading is drifting along the wall instead of into the entrance. I will turn left to square up with the double doors before covering the last bit of distance.", + "The weathered blue double doors now fill the center of my view and my heading is squared onto them, with the barrier line left behind on my right. I will move forward along the building face to close the remaining gap to the doorway without stepping toward the barriers.", + "The door panels and their rivets now dominate my view, so only a short distance remains to the threshold. I will advance one more short step to settle directly in front of the doors, and the wall trim on the right should keep me from drifting off the doorway.", + "The large blue double doors fill my view at arm's length, with no barrier between us. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000616_y000980_z-000689_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000616_y000980_z-000689_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6167c1bf194af0150f9d0fca158611deafc3bef7 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000616_y000980_z-000689_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Go to the painting on the wall first, then go to the bench.", + "Type": 3, + "Start_Pose": [ + 616.007, + 979.96, + -689.056, + -0.05, + 157.989, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 616.007, + 979.96, + -689.056, + -0.05, + 157.989, + 0.0 + ], + [ + 616.007, + 979.96, + -689.056, + -0.05, + 132.989, + 0.0 + ], + [ + 530.189, + 1072.024, + -689.056, + -0.05, + 132.989, + 0.0 + ], + [ + 444.371, + 1164.088, + -689.056, + -0.05, + 132.989, + 0.0 + ], + [ + 358.553, + 1256.152, + -689.056, + -0.05, + 132.989, + 0.0 + ], + [ + 272.735, + 1348.216, + -689.056, + -0.05, + 132.989, + 0.0 + ], + [ + 272.735, + 1348.216, + -689.056, + -0.05, + 107.989, + 0.0 + ], + [ + 233.866, + 1467.922, + -664.644, + -0.05, + 107.989, + 0.0 + ], + [ + 233.866, + 1467.922, + -664.644, + -0.05, + 107.989, + 0.0 + ], + [ + 262.402, + 1380.039, + -688.997, + -0.05, + 107.989, + 0.0 + ], + [ + 262.402, + 1380.039, + -688.997, + -0.05, + 132.989, + 0.0 + ], + [ + 262.402, + 1380.039, + -688.997, + -0.05, + 157.989, + 0.0 + ], + [ + 262.402, + 1380.039, + -688.997, + -0.05, + -177.011, + 0.0 + ], + [ + 262.402, + 1380.039, + -688.997, + -0.05, + -152.011, + 0.0 + ], + [ + 262.402, + 1380.039, + -688.997, + -0.05, + -127.011, + 0.0 + ], + [ + 262.402, + 1380.039, + -688.997, + -0.05, + -102.011, + 0.0 + ], + [ + 236.211, + 1256.935, + -688.997, + -0.05, + -102.011, + 0.0 + ], + [ + 210.02, + 1133.832, + -688.997, + -0.05, + -102.011, + 0.0 + ], + [ + 183.828, + 1010.728, + -688.997, + -0.05, + -102.011, + 0.0 + ], + [ + 159.837, + 932.104, + -688.997, + -0.05, + -102.011, + 0.0 + ], + [ + 159.837, + 932.104, + -688.997, + -0.05, + -102.011, + 0.0 + ] + ], + "Rationale": [ + "The framed flower painting hangs on the brick wall to my left, while the bench sits far off to my right. I need the painting first, so I will turn left to bring it into the center of my view and open a straight walking line toward that wall.", + "The painting now sits well within my view along the brick wall ahead, with clear tiled floor between me and it. I will walk forward to cut the distance toward it.", + "The painting has grown larger and its lit patch of wall is clearer, so my heading is still good. I will keep walking forward along the open floor to close more of the remaining gap.", + "The painting's wooden frame and flowers are now clearly resolved on the wall ahead of me, and nothing blocks the tiles in front. Another step forward should bring me near enough to stand in front of it.", + "The painting fills much of the left side of my view and the wall's kerb is close underfoot. I will advance once more to draw up right beside it.", + "I am close to the wall now, but the painting has slid to the far left edge of my view while the phone box crowds the right. Turning left should square me up with the painting before I take my last step toward it.", + "The painting is centered ahead on the brick wall with only the low kerb between us. One more step forward should put me directly in front of it.", + "The flower painting's copper frame and brushwork fill my whole view, close enough to touch the brick beneath it. I have reached the painting on the wall. I mark reaching it and now set off for the wooden bench across the tiled hall.", + "The framed flower picture fills my whole view, so I am pressed right up against that stretch of brick wall with no room to swing around. I will step back from it to open enough space to turn and set off toward the bench.", + "Backing off has restored some distance, and I can see the painting on the brick wall with the tiled floor opening away to my right. The bench sits out in the open concourse, so I will turn right to begin swinging my heading off this wall.", + "The painting has slid to my left and the red telephone box with the tiled walkway is now edging into the right side of my view. I am still facing too much wall, so I will keep turning right toward the open concourse.", + "The telephone box now stands roughly ahead of me with the arched hall and pale tiled floor stretching off to the right. The seating area lies farther around that way, so I will continue rotating right.", + "My view has opened onto the wide checkered floor under the arches, but the wall and telephone box still take up my left and no bench is in sight yet. I will turn right again to sweep across the open hall.", + "The wooden bench has just come into the far right edge of my view, against the brick wall beyond the ironwork. I will keep turning right to bring it properly in front of me before walking over.", + "The bench now sits well right of my center, with the tiled floor running clear toward it. One more turn to the right should line my heading up with it so I can walk straight across.", + "The bench is now centered ahead of me against the brick wall, with open checkered floor the whole way there. I will walk forward to close that distance.", + "The wooden bench against the brick wall is now clearly ahead of me and slightly left, but still a few strides off. I will walk forward to keep closing that gap along the tiled floor, which looks clear the whole way.", + "The bench has grown considerably in view and its slats and legs are distinct, so I am much nearer than a moment ago. Another step forward should bring me right up alongside it.", + "The bench seat fills the left of my view and the brick wall behind it is close enough to read the mortar lines, so I am nearly at it. One more short step forward should place me directly beside the bench.", + "The bench backrest is right beside me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000681_y000954_z-000689_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000681_y000954_z-000689_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c70dda9e2d58bf36f46cc44affc192912c385e67 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000681_y000954_z-000689_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the bench first, then go to the painting on the wall.", + "Type": 3, + "Start_Pose": [ + 681.437, + 953.51, + -689.056, + -0.05, + 157.989, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 681.437, + 953.51, + -689.056, + -0.05, + 157.989, + -0.0 + ], + [ + 681.437, + 953.51, + -689.056, + -0.05, + -177.011, + -0.0 + ], + [ + 555.749, + 946.947, + -689.056, + -0.05, + -177.011, + -0.0 + ], + [ + 430.062, + 940.384, + -689.056, + -0.05, + -177.011, + -0.0 + ], + [ + 304.374, + 933.822, + -689.056, + -0.05, + -177.011, + -0.0 + ], + [ + 304.374, + 933.822, + -689.056, + -0.05, + -152.011, + -0.0 + ], + [ + 206.9, + 875.569, + -689.056, + -0.05, + -152.011, + -0.0 + ], + [ + 206.9, + 875.569, + -689.056, + -0.05, + -152.011, + -0.0 + ], + [ + 206.9, + 875.569, + -689.056, + -0.05, + -177.011, + -0.0 + ], + [ + 206.9, + 875.569, + -689.056, + -0.05, + 157.989, + -0.0 + ], + [ + 206.9, + 875.569, + -689.056, + -0.05, + 132.989, + 0.0 + ], + [ + 206.9, + 875.569, + -689.056, + -0.05, + 107.989, + 0.0 + ], + [ + 206.9, + 875.569, + -689.056, + -0.05, + 82.989, + 0.0 + ], + [ + 222.262, + 1000.487, + -689.056, + -0.05, + 82.989, + 0.0 + ], + [ + 237.625, + 1125.404, + -689.056, + -0.05, + 82.989, + 0.0 + ], + [ + 252.987, + 1250.322, + -689.056, + -0.05, + 82.989, + 0.0 + ], + [ + 252.987, + 1250.322, + -689.056, + -0.05, + 107.989, + 0.0 + ], + [ + 214.117, + 1370.029, + -689.056, + -0.05, + 107.989, + 0.0 + ], + [ + 175.782, + 1480.31, + -658.937, + -0.05, + 107.989, + 0.0 + ], + [ + 175.782, + 1480.31, + -658.937, + -0.05, + 107.989, + 0.0 + ] + ], + "Rationale": [ + "The wooden bench sits far to my right along the near wall, while the framed flower painting hangs on the brick wall to my left. Since the bench is my first destination, I will pivot right to bring it toward the center of my view before walking.", + "The bench now sits ahead and slightly right, with clear tiled floor between me and it. I will walk forward to cut down that distance.", + "The bench has grown noticeably larger and its seat and legs are clearly resolved ahead to my right. Nothing blocks the tiles in front of me, so another step forward should bring me closer still.", + "The bench now fills much of the right side of my view, its slats close enough to count. I am still a stride or two short of standing beside it, so I will keep walking.", + "The bench is right beside me but skewed off to my right, so walking straight on would carry me past it down the concourse. I will turn right to square up with it before taking the last step.", + "With the bench now centered ahead against the brick wall, only a short gap remains. I will step forward to close it and stand right at the bench.", + "The wooden bench is directly in front of me, its seat and armrest filling the lower view with the brick wall right behind it. I have reached the bench. I mark reaching it and now set off for the flower painting hanging on the wall.", + "Standing at the bench, my view is filled by its seat and the brick wall, with no painting anywhere in front of me. The framed picture hangs back across the concourse on the far wall, so I will turn left to swing my heading away from this corner toward that side.", + "The bench I came for is right beside me at my right, so nothing more is needed here and I now want the far brick wall where the framed picture hangs. My view still faces the open concourse and the ironwork, with no painting in sight. I will keep swinging left to bring that wall around into view.", + "The sweep has brought the red phone box and the long brick wall into the left of my view, but the framed picture is still beyond the edge. The bench has slid off to my right, confirming I am rotating away from it. Another left turn should carry the wall further toward the center.", + "A framed picture has just appeared at the far left margin of my view, past the phone box on the brick wall. It is too close to the edge to walk toward reliably. I will turn left again so it moves inward and I can head straight at it.", + "The lit floral picture on the brick wall now sits left of center with the phone box off to my right. My heading is still angled across the wall rather than at it. One more left turn should square me up with the painting before I walk in.", + "The brick wall with its spotlit framed pictures now lies squarely ahead of me, the floral one just right of center. There is clear tiled floor between me and it. I will walk forward to close the distance.", + "The framed pictures have grown larger and the wall fills more of my view, so my heading is good. I am still several paces short of standing before the floral one. I will step forward again.", + "The floral painting in its wooden frame is close now, lit on the brick just right of my center, with the low curb of the wall base coming into view. A little more distance remains before I am right in front of it. I will continue forward.", + "I am nearly at the wall, but the floral painting has drifted up into the right portion of my view while dark ironwork fills the left. I need it centered ahead of me before closing the last steps. I will turn right to face it directly.", + "The framed flower painting is lit on the brick wall directly ahead of me, now well centered in my view after the slight rightward correction. It is still a few paces off, so I will walk straight toward it to close the remaining gap.", + "The painting now fills most of my view, its copper frame and the light pooling around it clearly resolved just ahead. A short further step should bring me right up against the wall beneath it.", + "The painting's frame and canvas fill my view at arm's length against the brick wall. I have arrived at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000699_y-002736_z000143_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000699_y-002736_z000143_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8069ed64c5903a92a5d3f7198fa53c49e52b4cd --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000699_y-002736_z000143_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Go to the large double doors first, then go to the bench.", + "Type": 3, + "Start_Pose": [ + 698.976, + -2735.525, + 143.15, + 0.0, + -81.082, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 698.976, + -2735.525, + 143.15, + 0.0, + -81.082, + 0.0 + ], + [ + 718.487, + -2859.862, + 143.15, + 0.0, + -81.082, + 0.0 + ], + [ + 718.487, + -2859.862, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 788.717, + -2964.305, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 858.947, + -3068.747, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 929.177, + -3173.19, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 999.407, + -3277.632, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 1066.659, + -3353.046, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 1066.659, + -3353.046, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 1015.1, + -3276.369, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 963.54, + -3199.692, + 143.15, + 0.0, + -56.082, + 0.0 + ], + [ + 963.54, + -3199.692, + 143.15, + 0.0, + -81.082, + 0.0 + ], + [ + 963.54, + -3199.692, + 143.15, + 0.0, + -106.082, + 0.0 + ], + [ + 963.54, + -3199.692, + 143.15, + 0.0, + -131.082, + 0.0 + ], + [ + 963.54, + -3199.692, + 143.15, + 0.0, + -156.082, + 0.0 + ], + [ + 848.489, + -3250.719, + 143.15, + 0.0, + -156.082, + 0.0 + ], + [ + 733.438, + -3301.746, + 143.15, + 0.0, + -156.082, + 0.0 + ], + [ + 618.387, + -3352.773, + 143.15, + 0.0, + -156.082, + 0.0 + ], + [ + 504.97, + -3366.709, + 143.15, + 0.0, + -156.082, + 0.0 + ], + [ + 504.97, + -3366.709, + 143.15, + 0.0, + 178.918, + -0.0 + ], + [ + 420.064, + -3364.517, + 143.15, + 0.0, + 178.918, + -0.0 + ], + [ + 420.064, + -3364.517, + 143.15, + 0.0, + 178.918, + -0.0 + ] + ], + "Rationale": [ + "The tall blue double doors stand ahead on the right side of the stone facade, set back behind a low step. Nothing blocks the open paving between me and them, so I will walk forward to close the gap before refining my heading.", + "After stepping forward, the double doors sit off to my right rather than straight ahead, so walking on would carry me past them along the wall. I will turn right to bring the doors nearer the center of my view before continuing.", + "The blue double doors now sit ahead of me with the paved walkway running clear toward them. My heading looks good, so I will walk forward to shorten the distance.", + "The double doors have grown noticeably larger and their panelled detail is clearer, confirming I am closing on them. The route stays open, so I will keep walking straight ahead.", + "The doorway and its low stone step now dominate the left of my view, so I am only a short distance away. I will advance again to bring myself right up to the doors.", + "The weathered blue panels of the double doors now tower beside me and the step in front of them is close. A little more forward walking should place me directly at the doorway.", + "I am nearly against the doors, with the studded panelling and handle plate filling most of my view. One more short step forward should put me squarely at them.", + "The chipped blue panelling and heavy studs of the tall double doors fill my whole view at arm's length. I have arrived at these doors. I mark reaching them, and now I set off to find the bench.", + "I am pressed close enough to the tall painted doors that their panelling fills almost my whole view, leaving no room to swing around toward the bench. I will step back along the facade to open up space and bring the walkway back into sight. That clearance should let me reorient cleanly.", + "The door face still dominates my view and the stone plinth beside it sits very near, so I am not yet clear of the entrance recess. Another step back should put enough distance between me and the doorway for a wide turn along the frontage.", + "I now have room in front of the doorway, and the seating I want lies back along the building frontage rather than ahead of me. I will begin rotating left to sweep my view off the door leaves and toward the covered walkway.", + "The turn so far has only brought more of the blue door panels and the masonry pier across my view, with no open pavement yet. I will keep rotating left so my heading swings past the wall toward the passage where the seating should be.", + "I am now facing blank ashlar wall and the dark plinth, which means my heading is still buried in the building instead of the open concourse. Another left rotation should carry my view further around toward the paved walkway.", + "The open walkway has appeared at the far left of my view, and I can pick out a wooden bench with a litter bin beside it near the brickwork. One more left rotation should place that seating closer to the middle of my heading before I walk.", + "The bench beside the bin and the ticket machines is now ahead and slightly to my left, with clear paving between us. I will walk forward along the frontage to close that gap.", + "The bench has grown larger ahead of me and the bin next to it is clearly nearer, so my heading is carrying me correctly along the walkway. I will keep walking forward to close the remaining distance to the seat.", + "The wooden slatted bench sits ahead along the left side of the arcade, past the litter bin against the brick wall. It is still several strides off, so I will keep walking straight down this open lane to close the gap.", + "The bench has grown noticeably larger and now fills the left of my view, while the litter bin sits just off my right shoulder. A further step forward should bring me level with the bench seat.", + "I am now beside the litter bin, and the bench has slid to the left edge of my view where I can barely judge it. Turning left should swing my heading onto the bench so I can face it squarely.", + "The bench is now framed ahead of me with its backrest and seat clearly in view. A short step forward should place me right at its side, close enough to count as standing at it.", + "The bench is directly beside me, its seat within arm's reach. Both named destinations have been reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x000728_y001014_z-000689_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x000728_y001014_z-000689_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1087fc81892a233c428213a6d8ec4e09078f6eda --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x000728_y001014_z-000689_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head to the picture hanging on the wall.", + "Type": 0, + "Start_Pose": [ + 728.487, + 1013.82, + -689.056, + -0.05, + 150.15, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 728.487, + 1013.82, + -689.056, + -0.05, + 150.15, + 0.0 + ], + [ + 619.326, + 1076.464, + -689.056, + -0.05, + 150.15, + -0.0 + ], + [ + 510.164, + 1139.108, + -689.056, + -0.05, + 150.15, + -0.0 + ], + [ + 401.003, + 1201.752, + -689.056, + -0.05, + 150.15, + -0.0 + ], + [ + 291.841, + 1264.396, + -689.056, + -0.05, + 150.15, + -0.0 + ], + [ + 291.841, + 1264.396, + -689.056, + -0.05, + 125.15, + -0.0 + ], + [ + 219.382, + 1367.304, + -689.056, + -0.05, + 125.15, + -0.0 + ], + [ + 219.382, + 1367.304, + -689.056, + -0.05, + 100.15, + -0.0 + ], + [ + 197.507, + 1480.312, + -658.934, + -0.05, + 100.15, + -0.0 + ], + [ + 197.507, + 1480.312, + -658.934, + -0.05, + 100.15, + -0.0 + ] + ], + "Rationale": [ + "I can already see the spotlit framed picture on the brick wall ahead to my left, past the red phone box. The corridor floor in front of me is clear, so I will move forward to close the large gap before worrying about turning toward it.", + "The picture has grown slightly larger on the left wall, confirming I am closing on it. The lane between me and the phone box remains open, so another forward step should keep shortening the distance.", + "The framed picture is now clearly detailed on my left with its wall light visible, but it still sits well ahead of my current position. I will continue straight along the open corridor to bring it closer before committing to a turn.", + "The picture has drifted toward the left edge of my view, which tells me I am nearly alongside it. One more forward step down this clear stretch should put me close enough to swing toward the wall.", + "The picture is now only partly visible at the left border of my view while I am still facing down the corridor. I will turn left to bring the framed picture back into the center of my heading so I can approach it directly.", + "The turn brought the framed picture back into view on my left, and the walkway in front of me is clear. I will step forward to close the remaining distance toward the wall where it hangs.", + "I am now very close to the brick wall, and the picture has slipped to the far left edge with mostly bare brick straight ahead. I will turn left again to square my heading onto the picture before the final short approach.", + "The spotlit framed picture is now centered in my view with the wall directly ahead. I will move forward a short distance to stand right at the picture and complete the approach.", + "The framed picture's wooden edge and canvas fill my view at arm's length. I have reached it, so the task is complete and further movement is unnecessary." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001081_y001011_z-000689_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001081_y001011_z-000689_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4038a22cecbdcd95edcc56f5d02c9c44fc1c070 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001081_y001011_z-000689_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the red phone booth at the end of the road.", + "Type": 0, + "Start_Pose": [ + 1081.404, + 1011.103, + -689.056, + -0.05, + 167.821, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1081.404, + 1011.103, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + 958.378, + 1037.655, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + 835.351, + 1064.207, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + 712.325, + 1090.759, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + 589.299, + 1117.311, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + 466.273, + 1143.863, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + 343.246, + 1170.415, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + 220.22, + 1196.967, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + 97.194, + 1223.519, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + -25.833, + 1250.071, + -689.056, + -0.05, + 167.821, + 0.0 + ], + [ + -25.833, + 1250.071, + -689.056, + -0.05, + 142.821, + -0.0 + ], + [ + -126.111, + 1326.129, + -689.056, + -0.05, + 142.821, + -0.0 + ], + [ + -126.111, + 1326.129, + -689.056, + -0.05, + 142.821, + -0.0 + ] + ], + "Rationale": [ + "I can see the red phone booth standing against the left wall far down this tiled arcade, which matches the target at the end of the road. The corridor ahead is clear of obstacles, so I will move forward to begin closing the long distance to it.", + "The booth is now slightly larger and still sits ahead and a little left along the arcade wall, confirming my heading is usable. I will continue straight forward since the floor ahead remains unobstructed.", + "The framed picture on the left wall and the bench on the right are growing, showing my forward motion is steadily shortening the gap. The phone booth remains roughly along my current line of travel, so another forward step should bring me closer without any turn.", + "The red booth now reads clearly with its glazed panels, but it is still several strides away down the passage. The route stays open, so I will keep advancing straight toward it.", + "The booth has grown noticeably and the ironwork arches are passing to either side of me, so my heading is still carrying me toward the target. I will move forward again to keep reducing the remaining distance.", + "The phone booth is now clearly close on my left, with its ground light visible at its base, but I am not yet beside it. Another forward step should bring me nearly level with the booth.", + "The booth now dominates the left side of my view and I can make out its door frame and lettering panel, so I am nearly at the end of the passage. I will advance once more to close the last of the distance to it.", + "The booth is very close on my left with its telephone sign legible, and the floor immediately in front of me is still clear. I will step forward again to draw level with the booth rather than stopping short of it.", + "The red phone booth now fills the left side of my view at close range, so I am nearly level with it but still slightly short along the walkway. I will advance one more step to bring myself fully alongside the booth before adjusting my heading.", + "The booth has slid to the far left of my view and is partly cut off, while my heading points down the empty passage instead of at the target. Turning left should swing the phone booth back into the center of my view for a clean final approach.", + "The red booth now stands centered in front of me with its door face visible and clear floor between us. A single step forward should close the last bit of distance and put me directly at the booth.", + "The red phone booth's door panel fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001479_y001100_z-000689_t1_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001479_y001100_z-000689_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd8fc13319d9cd80084672931caff835364be6a2 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001479_y001100_z-000689_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for the trash bin standing immediately beside the red telephone booth; after locating it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + 1479.496, + 1099.815, + -689.056, + 0.0, + -41.519, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1479.496, + 1099.815, + -689.056, + 0.0, + -41.519, + 0.0 + ], + [ + 1479.496, + 1099.815, + -689.056, + 0.0, + -16.519, + 0.0 + ], + [ + 1479.496, + 1099.815, + -689.056, + 0.0, + 8.481, + -0.0 + ], + [ + 1603.979, + 1118.377, + -689.056, + 0.0, + 8.481, + -0.0 + ], + [ + 1728.461, + 1136.939, + -689.056, + 0.0, + 8.481, + -0.0 + ], + [ + 1852.944, + 1155.501, + -689.056, + 0.0, + 8.481, + -0.0 + ], + [ + 1977.427, + 1174.062, + -689.056, + 0.0, + 8.481, + -0.0 + ], + [ + 2101.91, + 1192.624, + -689.056, + 0.0, + 8.481, + -0.0 + ], + [ + 2101.91, + 1192.624, + -689.056, + 0.0, + 33.481, + -0.0 + ], + [ + 2206.885, + 1262.056, + -689.056, + 0.0, + 33.481, + -0.0 + ], + [ + 2206.885, + 1262.056, + -689.056, + 0.0, + 58.481, + -0.0 + ], + [ + 2272.681, + 1369.346, + -689.056, + 0.0, + 58.481, + -0.0 + ], + [ + 2272.681, + 1369.346, + -689.056, + 0.0, + 58.481, + -0.0 + ] + ], + "Rationale": [ + "My view is filled with the brick and green ironwork wall close on my left, so I cannot see any red telephone booth or bin from this heading. The open concourse continues off to my right, which is the only direction that could reveal the target. I will turn right to sweep my view toward that open space.", + "The turn has brought a red telephone booth into view far ahead on the right side of the hall, with dark box shapes standing next to it. It still sits off to the right edge of my field of view, so my heading is not yet lined up with it. I will turn right once more to bring the booth and its neighbouring bins closer to the centre of my view.", + "The red telephone booth now sits just right of centre at the far end of the hall, with two dark bins standing beside it against the wall. The target has been located, so searching is over and I can commit to closing the distance. The tiled floor ahead is clear, so I will step forward along the hall.", + "The booth and the bins beside it have grown larger and are still ahead and slightly to my right, confirming I am on a good line toward them. Nothing blocks the tiled walkway between me and that corner. I will keep walking forward to shorten the remaining distance.", + "From here the red booth is clearly defined and two dark bins stand against the brick wall immediately to its right. I am still several strides away from being beside them. Continuing straight ahead should keep bringing me toward that corner.", + "The booth now fills a good part of my view and the nearer bin beside it is plainly visible on the right against the brick wall. I am close but not yet standing next to the bin. Another step forward should carry me nearly alongside it.", + "The telephone booth and the bin at its right side are now close in front of me along the wall. There is still a short stretch of open tiles before I would be standing beside the bin. I will advance again to close that last gap.", + "I have come almost level with the telephone booth, and the bin standing beside it is now off toward the right edge of my view against the brick wall. Walking straight would carry me past the booth instead of up to the bin. I will turn right to put the bin in front of me before stepping in.", + "The red telephone booth stands just ahead on my left, and the dark trash bin sits immediately beside it against the brick wall on my right. With the target confirmed, I will walk forward to close the remaining gap instead of scanning further.", + "I am now close to the pair, but the bin sits off toward the right edge of my view while the booth dominates the center. Turning right should bring the bin into the middle of my heading so my next step goes straight at it.", + "The trash bin is now near the center of my view, standing on the pavement right next to the red booth at my left. I will step forward to finish closing on it and stand directly beside it.", + "The trash bin fills the near foreground at arm's length, with the red telephone booth right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001509_y-002707_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001509_y-002707_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..26434369058d583cd95f567f342f8496add09e12 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001509_y-002707_z000143_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the red phone booth.", + "Type": 0, + "Start_Pose": [ + 1509.211, + -2706.618, + 143.15, + -0.05, + -46.803, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1509.211, + -2706.618, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 1595.363, + -2798.37, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 1681.514, + -2890.121, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 1767.666, + -2981.873, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 1767.666, + -2981.873, + 143.15, + -0.05, + -71.803, + 0.0 + ], + [ + 1806.97, + -3101.438, + 143.15, + -0.05, + -71.803, + 0.0 + ], + [ + 1846.274, + -3221.002, + 143.15, + -0.05, + -71.803, + 0.0 + ], + [ + 1846.274, + -3221.002, + 143.15, + -0.05, + -71.803, + 0.0 + ] + ], + "Rationale": [ + "The red phone booth stands against the building facade ahead and slightly to my left, clearly identifiable by its bright red frame. The open tiled floor between us looks unobstructed, so I will move forward to begin closing that distance.", + "The booth now appears larger and its paneled door is easier to distinguish, confirming I am gaining ground on it. My heading still keeps it in the left portion of my view with clear floor ahead, so I will continue forward.", + "The booth is much closer now, with its glazed panels and the benches beside it clearly resolved. There is still open pavement between us, so another forward step should bring me near enough to close in on the target.", + "The phone booth has grown so large that it now sits against the left edge of my view, meaning my heading is drifting past it to the right. I will turn left to bring the booth back toward the center of my view before advancing further.", + "The booth is now centered in front of me with its telephone sign and door facing my approach. Only a short stretch of pavement remains, so I will step forward to close in on it.", + "The booth door fills most of my view and its lettered sign is directly overhead, so I am nearly at it. One more forward step should place me right at the red booth.", + "The red booth's paneled door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001593_y-002796_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001593_y-002796_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f9061d42e211c009ccf227a5cd04e8bff3a2b3b8 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001593_y-002796_z000143_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the bench located next to the phone booth.", + "Type": 0, + "Start_Pose": [ + 1593.433, + -2796.315, + 143.15, + -0.05, + -46.803, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1593.433, + -2796.315, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 1679.585, + -2888.067, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 1765.736, + -2979.818, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 1851.888, + -3071.57, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 1938.039, + -3163.322, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 2024.191, + -3255.074, + 143.15, + -0.05, + -46.803, + -0.0 + ], + [ + 2024.191, + -3255.074, + 143.15, + -0.05, + -46.803, + -0.0 + ] + ], + "Rationale": [ + "I can see the red phone booth ahead against the station wall, with a wooden bench immediately to its right, so that bench is my target. My heading already points down the walkway toward it, so I will step forward to begin closing the gap.", + "The phone booth and the bench beside it now appear larger and lower in my view, confirming I am walking straight at them. The tiled floor ahead stays clear, so I will continue forward without adjusting my heading.", + "The booth now fills the left side of my view and the bench next to it sits just ahead with the litter bin at its far end. I am still a couple of steps short of standing at that bench, so I will keep moving forward.", + "I have drawn level with the edge of the phone booth, and the bench beside it lies just ahead and slightly left along the wall. Another forward step should bring me right up alongside its seat.", + "The bench now occupies most of the near ground in front of me, with the litter bin at its right end within arm's reach. One more short step should place me directly at the bench beside the phone booth.", + "I am standing right at the wooden bench beside the phone booth, its seat within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001617_y001269_z-000689_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001617_y001269_z-000689_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a9cd2736ca5a72b61dbbe8e678ba1e12df42a6 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001617_y001269_z-000689_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the bench.", + "Type": 0, + "Start_Pose": [ + 1616.748, + 1269.071, + -689.056, + -0.05, + -36.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1616.748, + 1269.071, + -689.056, + -0.05, + -36.0, + 0.0 + ], + [ + 1718.57, + 1195.093, + -689.056, + -0.05, + -36.0, + -0.0 + ], + [ + 1820.392, + 1121.115, + -689.056, + -0.05, + -36.0, + -0.0 + ], + [ + 1922.214, + 1047.137, + -689.056, + -0.05, + -36.0, + -0.0 + ], + [ + 1922.214, + 1047.137, + -689.056, + -0.05, + -11.0, + -0.0 + ], + [ + 2045.761, + 1023.122, + -689.056, + -0.05, + -11.0, + -0.0 + ], + [ + 2169.307, + 999.107, + -689.056, + -0.05, + -11.0, + -0.0 + ], + [ + 2292.854, + 975.092, + -689.056, + -0.05, + -11.0, + -0.0 + ], + [ + 2416.4, + 951.077, + -689.056, + -0.05, + -11.0, + -0.0 + ], + [ + 2416.4, + 951.077, + -689.056, + -0.05, + -11.0, + -0.0 + ] + ], + "Rationale": [ + "From the entrance of this tiled arcade I can already pick out a dark wooden bench set against the brick wall on the left, some distance ahead down the passage. Nothing blocks the open tiled floor between us, so I will step forward along the corridor to begin closing that gap.", + "The bench now reads slightly larger and its legs and armrest are clearer, confirming my heading is carrying me toward it. The floor ahead is still unobstructed, so another forward step should continue shrinking the distance.", + "The bench sits ahead beside the illuminated brick pier and is clearly closer than before, though still several strides away. I will keep advancing straight down the open walkway to cut that remaining distance.", + "My current heading is drifting toward the brick wall and steel columns on my left, with the bench close to the edge of my view rather than in front of my travel lane. A small turn to the right should point me down the open tiled walkway that runs past the bench, giving clearance from the wall while keeping the target in sight.", + "After the heading adjustment the wide tiled passage opens in front of me, with the bench on the left against the brick wall and the red phone box on the right. The lane is clear, so I will move forward to approach the bench along it.", + "The bench is noticeably nearer now, its seat and armrests clearly resolved just to my left, but I am not yet beside it. Continuing straight ahead should bring me level with it.", + "The bench now occupies a good part of the left side of my view, so only a short remaining gap separates me from it. One more forward step should place me right alongside the bench.", + "The bench is immediately to my left, close enough that I can see along its full length, yet my body is still slightly short of it. A final forward step should bring me level with the bench and complete the approach.", + "The bench is right beside me, filling the near left of my view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001721_y001093_z-000689_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001721_y001093_z-000689_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cedf0e6b140a778a69dd262f7fb56b8f76d26f5a --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001721_y001093_z-000689_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Walk to the red telephone booth, then continue to the bench visible under the iron arch beyond it.", + "Type": 3, + "Start_Pose": [ + 1720.921, + 1093.413, + -689.056, + 0.0, + 18.481, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1720.921, + 1093.413, + -689.056, + 0.0, + 18.481, + -0.0 + ], + [ + 1840.289, + 1133.309, + -689.056, + 0.0, + 18.481, + -0.0 + ], + [ + 1959.658, + 1173.205, + -689.056, + 0.0, + 18.481, + -0.0 + ], + [ + 2079.026, + 1213.101, + -689.056, + 0.0, + 18.481, + -0.0 + ], + [ + 2198.394, + 1252.997, + -689.056, + 0.0, + 18.481, + -0.0 + ], + [ + 2317.763, + 1292.893, + -689.056, + 0.0, + 18.481, + -0.0 + ], + [ + 2437.131, + 1332.789, + -689.056, + 0.0, + 18.481, + -0.0 + ], + [ + 2437.131, + 1332.789, + -689.056, + 0.0, + 18.481, + -0.0 + ], + [ + 2437.131, + 1332.789, + -689.056, + 0.0, + -6.519, + 0.0 + ], + [ + 2437.131, + 1332.789, + -689.056, + 0.0, + -31.519, + 0.0 + ], + [ + 2437.131, + 1332.789, + -689.056, + 0.0, + -56.519, + 0.0 + ], + [ + 2506.562, + 1227.814, + -689.056, + 0.0, + -56.519, + 0.0 + ], + [ + 2575.994, + 1122.839, + -689.056, + 0.0, + -56.519, + 0.0 + ], + [ + 2575.994, + 1122.839, + -689.056, + 0.0, + -81.519, + 0.0 + ], + [ + 2594.556, + 998.357, + -689.056, + 0.0, + -81.519, + 0.0 + ], + [ + 2594.556, + 998.357, + -689.056, + 0.0, + -81.519, + 0.0 + ] + ], + "Rationale": [ + "The red telephone booth stands ahead on the right side of the tiled hall, against the brick wall between the litter bins. The floor between us is open and level, so I will walk straight forward to close that distance.", + "The booth has grown larger and the two bins beside it are now clearly separated, confirming I am gaining ground on it. My heading still points down the open aisle toward it, so another step forward continues the approach.", + "The telephone booth now sits well right of centre with its glazed panels readable, so I am still some paces short of it. Nothing blocks the tiled floor between us, so I keep walking forward.", + "The booth fills a large part of the right half of my view and its floor light is close, but I am not yet level with it. I will advance another step to bring myself alongside the red box.", + "The lettered telephone sign on the booth is now legible and the box towers over the right of my view, so I am nearly beside it. One more step forward should put me right at its door.", + "The red frame and green glazing of the booth now dominate the right side of my view at arm's length, with only a narrow gap to the brick wall behind it. A final step forward should bring me fully level with the booth rather than just short of it.", + "The red telephone booth stands directly at my shoulder, its glazed door and painted frame filling my view at touching distance. I have reached the booth. I mark reaching it, then set off for the bench under the iron arch further along the hall.", + "Standing against the booth, my heading is buried in its red panelling while the open hall with the green iron arches lies off to my left. I will turn left to swing my view off the booth and toward that arched space where the bench should be.", + "The red booth now sits at my right shoulder and the open tiled concourse under the ironwork spreads to my left. I still cannot see the bench I want, so I will keep swinging left across the arched bays to bring it into view.", + "The dark wooden bench has just come into the far left edge of my view, tucked beneath the green iron arch. It is too far off center to walk at directly, so I will turn left again to bring it in front of me.", + "The bench under the riveted iron columns is now roughly ahead of me with clear patterned floor between us. Nothing blocks that lane, so I will walk forward to close the distance.", + "The bench has grown noticeably larger and its legs and slats are clearly resolved against the brick wall. I am still several paces short of it, so I will keep walking forward.", + "My approach has drifted so that the bench is now cut off at the left border while my heading points down the empty arcade toward the steps. A left turn should square me onto the bench before I close the last stretch.", + "The bench is now centered directly in front of me, its back and armrests framed between the two green iron columns. Only a short gap of tile remains, so I will step forward to stand at it.", + "The bench beneath the iron arch is directly in front of me, filling my view at arm's reach. Both destinations have been reached, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001733_y001038_z-000689_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001733_y001038_z-000689_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6ebefb52c89fb947d6931846e83d43346f4aa6c9 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001733_y001038_z-000689_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the nearest trash bin on the right first, then go to the bench on the left.", + "Type": 3, + "Start_Pose": [ + 1733.25, + 1038.365, + -689.056, + -0.05, + 9.189, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1733.25, + 1038.365, + -689.056, + -0.05, + 9.189, + 0.0 + ], + [ + 1733.25, + 1038.365, + -689.056, + -0.05, + 34.189, + -0.0 + ], + [ + 1733.25, + 1038.365, + -689.056, + -0.05, + 59.189, + -0.0 + ], + [ + 1797.716, + 1146.46, + -689.056, + -0.05, + 59.189, + -0.0 + ], + [ + 1862.182, + 1254.556, + -689.056, + -0.05, + 59.189, + -0.0 + ], + [ + 1926.648, + 1362.651, + -689.056, + -0.05, + 59.189, + -0.0 + ], + [ + 1991.114, + 1470.747, + -662.861, + -0.05, + 59.189, + -0.0 + ], + [ + 1991.114, + 1470.747, + -662.861, + -0.05, + 34.189, + -0.0 + ], + [ + 1991.114, + 1470.747, + -662.861, + -0.05, + 9.189, + -0.0 + ], + [ + 1991.114, + 1470.747, + -662.861, + -0.05, + 9.189, + -0.0 + ], + [ + 1991.114, + 1470.747, + -662.861, + -0.05, + -15.811, + -0.0 + ], + [ + 1991.114, + 1470.747, + -662.861, + -0.05, + -40.811, + -0.0 + ], + [ + 2086.373, + 1388.49, + -689.056, + -0.05, + -40.811, + -0.0 + ], + [ + 2181.631, + 1306.232, + -689.056, + -0.05, + -40.811, + -0.0 + ], + [ + 2276.89, + 1223.975, + -689.056, + -0.05, + -40.811, + -0.0 + ], + [ + 2372.149, + 1141.718, + -689.056, + -0.05, + -40.811, + -0.0 + ], + [ + 2467.408, + 1059.461, + -689.056, + -0.05, + -40.811, + -0.0 + ], + [ + 2562.667, + 977.204, + -689.056, + -0.05, + -40.811, + -0.0 + ], + [ + 2562.667, + 977.204, + -689.056, + -0.05, + -40.811, + -0.0 + ] + ], + "Rationale": [ + "Two dark trash bins stand against the brick wall on the right side of this covered concourse, while the wooden bench sits far off to the left. Since the bins are my first destination, I will turn right to bring them toward the centre of my view before walking.", + "The pair of bins now sits just right of centre with the red phone box off to their left, so my heading is still a little short of the nearer bin. I will turn right once more so that my path lines up with the bins along the brick wall.", + "The two bins are clearly in view ahead beside the lit brick pier, with open tiled floor between me and them. My heading is good enough to start closing that distance, so I will walk forward.", + "The bins have grown noticeably larger and now sit just left of my path along the wall. There is still a stretch of tile before I am beside them, so I will keep walking forward.", + "The nearer bin now fills much of the lower left of my view, so only a short gap remains before I am level with it. I will step forward again to close that gap.", + "The dark bin has slipped to the very edge of my view at the lower left, meaning I am drawing alongside it beside the riveted green pier. One more step forward should place me right at the bin.", + "My view is now almost entirely filled by the dark riveted ironwork of the pier, so I can no longer see the bin I have walked up to. I will turn left to swing my gaze back toward the wall line and the bin beside me.", + "Turning has opened the view again: the red phone box and the dark edge of a bin appear at the left, though the metal pier still blocks most of my sight. Another left turn should bring the bin squarely in front of me.", + "The dark trash bin on my right stands directly beside me, close enough to touch against the brick wall. I have arrived at it, the nearest bin on that side. I mark reaching it and now set off toward the wooden bench along the wall on the far side of the concourse.", + "The bin beside me is done with, and my heading still points along the brick wall where only the phone box and the arched hall open to the left. The bench sits off that way, out of my current view. I will turn left to swing my heading toward the open concourse and bring it into sight.", + "The wooden bench has come into view at the left side of the hall, against the far wall past the red phone box. It is still well off my forward axis, so walking now would carry me across its front. Another left turn should bring it closer to the center of my heading.", + "The bench now sits ahead of me under the arches, roughly on my line of travel, with clear patterned tiling between us. Nothing blocks the route. I will walk forward to close the distance.", + "The bench has grown larger and holds its place slightly left of my heading, so my line is still good. I am not yet near enough to count as standing at it. I keep walking forward.", + "The bench and its dark iron legs are clearly resolved ahead on my left, against the brick and green pillars. Several paces of open tile still separate us. Another step forward should bring me nearer.", + "The bench now fills much of the left of my view and its backrest is at close range, but I am still short of standing beside it. The floor in front of me stays clear. I will step forward again.", + "The bench is right beside me on the left, its seat slats stretching along my side. One more step should place me squarely at it rather than just short of its end. I move forward.", + "The wooden bench now fills the left side of my view, its backrest close beside me, but I am still slightly short of standing level with its seat. One more step forward should bring me right alongside it.", + "The bench is directly beside me at arm's length on my left. I have arrived at it, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001748_y-002605_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001748_y-002605_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13edbf012c9e7dd12bddcdeeb881971ab2ca3c01 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001748_y-002605_z000143_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the ticket machine mounted on the brick wall.", + "Type": 0, + "Start_Pose": [ + 1748.444, + -2604.985, + 143.15, + -0.05, + 3.507, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1748.444, + -2604.985, + 143.15, + -0.05, + 3.507, + 0.0 + ], + [ + 1874.067, + -2597.286, + 143.15, + -0.05, + 3.507, + 0.0 + ], + [ + 1874.067, + -2597.286, + 143.15, + -0.05, + 28.507, + -0.0 + ], + [ + 1984.667, + -2537.218, + 143.15, + -0.05, + 28.507, + -0.0 + ], + [ + 2095.267, + -2477.15, + 143.15, + -0.05, + 28.507, + -0.0 + ], + [ + 2205.866, + -2417.082, + 143.15, + -0.05, + 28.507, + -0.0 + ], + [ + 2316.466, + -2357.013, + 143.15, + -0.05, + 28.507, + -0.0 + ], + [ + 2427.066, + -2296.945, + 143.15, + -0.05, + 28.507, + -0.0 + ], + [ + 2427.066, + -2296.945, + 143.15, + -0.05, + 28.507, + -0.0 + ] + ], + "Rationale": [ + "From this station concourse I can see a freestanding machine set against the brick pier on my right, which matches the ticket machine described in the task. I will step forward across the open floor to close some of the gap and get a clearer look at that unit before committing to a heading.", + "The brick wall machine sits well off to my right while my heading still points down the arched hall ahead. I will turn right to bring that machine toward the center of my view so I can approach it in a straight line.", + "The ticket machine on the brick pier is now roughly centered ahead of me with clear tiled floor in between. I will move forward to close distance along this heading.", + "The machine has grown larger and stays centered, confirming my heading is good. I will continue forward since I am still several steps away from it.", + "I can now read the Tickets label on the panel ahead, so this is definitely the ticket machine mounted on the brick wall. I will keep advancing to get within close range of its front face.", + "The ticket machine now fills much of my view, with its screen and card slots becoming distinct, and a small bin sits to its left without blocking my line. I will step forward again to reach a proper standing position in front of it.", + "I am nearly at the machine, with its casing and coin slot filling most of my view. One more short step forward should place me directly at the panel within interaction range.", + "The ticket machine's panel, screen and coin slot fill my view at arm's length against the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x001748_y-002605_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x001748_y-002605_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e3a72ba7622e7928189f11f39c6881c73348003 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x001748_y-002605_z000143_t2_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the second ticket machine from the left under the green iron arches.", + "Type": 2, + "Start_Pose": [ + 1748.444, + -2604.985, + 143.15, + -0.05, + 3.507, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1748.444, + -2604.985, + 143.15, + -0.05, + 3.507, + 0.0 + ], + [ + 1874.067, + -2597.286, + 143.15, + -0.05, + 3.507, + 0.0 + ], + [ + 1999.691, + -2589.587, + 143.15, + -0.05, + 3.507, + 0.0 + ], + [ + 2125.314, + -2581.889, + 143.15, + -0.05, + 3.507, + 0.0 + ], + [ + 2250.937, + -2574.19, + 143.15, + -0.05, + 3.507, + 0.0 + ], + [ + 2376.56, + -2566.491, + 143.15, + -0.05, + 3.507, + 0.0 + ], + [ + 2376.56, + -2566.491, + 143.15, + -0.05, + -21.493, + -0.0 + ], + [ + 2493.667, + -2612.604, + 143.15, + -0.05, + -21.493, + -0.0 + ], + [ + 2610.774, + -2658.717, + 143.15, + -0.05, + -21.493, + -0.0 + ], + [ + 2727.881, + -2704.83, + 144.909, + -0.05, + -21.493, + -0.0 + ], + [ + 2727.881, + -2704.83, + 144.909, + -0.05, + 3.507, + 0.0 + ], + [ + 2853.505, + -2697.131, + 141.906, + -0.05, + 3.507, + 0.0 + ], + [ + 2979.128, + -2689.433, + 141.906, + -0.05, + 3.507, + 0.0 + ], + [ + 3104.751, + -2681.734, + 141.906, + -0.05, + 3.507, + 0.0 + ], + [ + 3230.374, + -2674.035, + 141.906, + -0.05, + 3.507, + 0.0 + ], + [ + 3355.998, + -2666.336, + 141.906, + -0.05, + 3.507, + 0.0 + ], + [ + 3481.621, + -2658.637, + 141.906, + -0.05, + 3.507, + 0.0 + ], + [ + 3481.621, + -2658.637, + 141.906, + -0.05, + -21.493, + -0.0 + ], + [ + 3598.728, + -2704.75, + 141.906, + -0.05, + -21.493, + -0.0 + ], + [ + 3598.728, + -2704.75, + 141.906, + -0.05, + -21.493, + -0.0 + ] + ], + "Rationale": [ + "Under the green iron arches ahead I can see exactly two ticket machines standing side by side against the far wall, so counting from the left settles my target as the right-hand one of that pair, next to the arched alcove. The bank machine on the brick wall to my right is not part of that row. I walk forward to close the long distance across the open concourse.", + "The pair of ticket machines is still far off beneath the arches, only slightly larger than before. Nothing blocks the tiled floor between us, so I keep walking straight toward them.", + "The machines are growing slowly and are drifting toward the left half of my view as I advance along the hall. The route straight ahead remains open, so I take another step forward to gain ground before correcting my heading.", + "The near green arch column and the wall-mounted bank machine are sliding past on my right, which tells me I am genuinely closing distance. The two ticket machines remain clearly visible ahead and left, and my target is still the right-hand one of them. I continue forward.", + "The pair of ticket machines is noticeably nearer but now sits well off to the left of my heading. There is still clear floor directly ahead, so I step forward once more before turning to line up on them.", + "My straight heading has carried the two ticket machines out to the left edge of my view, with the heavy arch column crowding the right side. I turn left to bring the pair back toward the center of my view so I can walk directly at them.", + "The turn worked, and the two ticket machines now sit ahead of me in the right-center of my view with open tiled floor between us. I walk forward to keep closing on them, still aiming for the right-hand machine of the pair.", + "Both machines have grown larger and their screens are becoming legible, so I am closing in on the correct wall. The benches and bins along the left wall are no obstruction to my line of travel. I keep walking forward toward the pair.", + "The two machines now stand out plainly against the pale wall in the right half of my view, their header panels readable. The wide checkered floor between us is completely clear. I step forward again to shorten the remaining gap.", + "My advance has pushed the pair of machines off to the right of where I am pointing, with empty hall filling the middle of my view. A turn to the right should swing them back to the center so my next steps land straight on them.", + "The rotation has brought both machines into the middle of my view, framed under the arch with the bin beside them. My heading now points straight at the pair, so I walk forward to keep closing.", + "The machines have grown noticeably and the fluted green pillar behind them is sharp, confirming I am on the correct stretch of wall. My target remains the one of the pair standing nearer that pillar. I continue walking toward it.", + "Their casings and blue screens are clearly separated now, so the two units read distinctly rather than as one block. Nothing stands between me and them but bare tile. Another step forward should bring me closer.", + "The Tickets headers are readable and the machines fill the left-center of my view, with the small bin sitting to their right by the arch base. I still need several strides to reach standing distance, so I keep moving forward.", + "At this range the two units loom large enough that the leftmost one is drifting toward the edge of my view, so I hold my target as the machine standing beside the green fluted pillar rather than by counting. Its screen and coin slot are clearly detailed. I advance again.", + "Only my target and a sliver of its neighbour remain in view, its keypad panel and yellow button now close and sharp. I am nearly at arm's reach but not yet squarely in front of it. One more step forward should put me at the machine.", + "The machine beside the fluted pillar has slid to the left edge of my view, leaving bare wall and the bin filling the space in front of me. I turn left to swing it back to the center so my final step lands squarely at its panel.", + "The turn brought the machine standing next to the green pillar back into the middle of my view, with its neighbour just behind it on the left. Its screen and yellow button are close but still a stride away, so I walk forward to stand right at its face.", + "I am standing directly at the ticket machine beside the green pillar, its screen and slots filling my view at arm's reach. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002051_y000970_z-000689_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002051_y000970_z-000689_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ceeb72a6252e9fc4b5af953092a3a2c06bff6be5 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002051_y000970_z-000689_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go towards the green pillar frame on the left.", + "Type": 2, + "Start_Pose": [ + 2051.154, + 969.993, + -689.056, + -0.05, + 84.201, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2051.154, + 969.993, + -689.056, + -0.05, + 84.201, + -0.0 + ], + [ + 2051.154, + 969.993, + -689.056, + -0.05, + 59.201, + -0.0 + ], + [ + 2115.597, + 1078.102, + -689.056, + -0.05, + 59.201, + -0.0 + ], + [ + 2180.041, + 1186.211, + -689.056, + -0.05, + 59.201, + -0.0 + ], + [ + 2244.484, + 1294.32, + -689.056, + -0.05, + 59.201, + -0.0 + ], + [ + 2244.484, + 1294.32, + -689.056, + -0.05, + 34.201, + -0.0 + ], + [ + 2348.578, + 1365.065, + -689.056, + -0.05, + 34.201, + -0.0 + ], + [ + 2348.578, + 1365.065, + -689.056, + -0.05, + 59.201, + -0.0 + ], + [ + 2417.593, + 1456.234, + -676.634, + -0.05, + 59.201, + -0.0 + ], + [ + 2417.593, + 1456.234, + -676.634, + -0.05, + 59.201, + -0.0 + ] + ], + "Rationale": [ + "Several green riveted pillar frames repeat along this brick wall, and the one I want is at the left end of that run, the one standing beside the red telephone box. That end is cut off at the edge of my view, so I will turn left to bring it in front of me.", + "The turn opened up the left end of the arcade, and the green pillar frame beside the red telephone box now sits ahead of me. The tiled floor between us is clear of bins and obstacles, so I will walk forward to close the distance.", + "The telephone box and the green frame next to it have grown noticeably larger and remain slightly left of my heading. The two litter bins stay off to my right, clear of my line, so I will keep walking forward.", + "The green frame with its pale circular plates is now close, standing just right of the telephone box in front of me. A bin sits well to my right and does not block the floor I need, so I will continue forward.", + "From this close range the near bin and plain brickwork fill most of my view, and the green frame has drifted to my left with only its edge showing. I will turn left to put that frame back near the centre of my heading before advancing further.", + "The turn brought the green frame back into view beside the red telephone box, with open tile in front of me. I will step forward to close the remaining gap to it.", + "Standing this near, the telephone box now takes up the left half of my view and the green frame I am heading for lies off to my right. I will turn right so that the frame sits squarely ahead of me.", + "The green riveted frame with its circular plates is now centred directly in front of me, just past the low kerb. I will step forward to bring myself right up to it.", + "The green riveted frame fills my whole view at arm's length, its bolts and circular plates right in front of me. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002106_y000969_z-000689_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002106_y000969_z-000689_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1631eb64eb5260f2a7bde9881b17ad9b3186c96 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002106_y000969_z-000689_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the brick wall directly illuminated by the spotlight on the right.", + "Type": 2, + "Start_Pose": [ + 2106.1, + 969.254, + -689.056, + -0.05, + 84.201, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2106.1, + 969.254, + -689.056, + -0.05, + 84.201, + 0.0 + ], + [ + 2118.817, + 1094.469, + -689.056, + -0.05, + 84.201, + -0.0 + ], + [ + 2118.817, + 1094.469, + -689.056, + -0.05, + 109.201, + -0.0 + ], + [ + 2077.424, + 1213.326, + -689.056, + -0.05, + 109.201, + -0.0 + ], + [ + 2077.424, + 1213.326, + -689.056, + -0.05, + 134.201, + -0.0 + ], + [ + 1989.678, + 1303.555, + -689.056, + -0.05, + 134.201, + -0.0 + ], + [ + 1901.932, + 1393.783, + -689.056, + -0.05, + 134.201, + -0.0 + ], + [ + 1901.932, + 1393.783, + -689.056, + -0.05, + 109.201, + -0.0 + ], + [ + 1901.932, + 1393.783, + -689.056, + -0.05, + 109.201, + -0.0 + ] + ], + "Rationale": [ + "Two pools of light fall on this brick facade, and the one I want is the brighter patch on the right side of my view, not the nearer one toward the middle. I am still well back on the tiled floor, so I will walk forward to close distance before committing to a heading.", + "From here the bright pool I chose sits off to my right edge while my body still points at the dimmer central patch and the litter bins. I will turn right to bring that right-hand spotlit brickwork toward the center of my view.", + "The spotlit brick panel I am after now sits ahead of me between the green ironwork columns, with a framed picture further along the wall. The wall is still several paces off, so I will step forward to shorten the gap.", + "I am close enough that the brick face fills most of my view and walking straight on would only press me into the column beside the lit patch. I will turn right to swing onto the walkway that runs along this wall, keeping the illuminated brickwork beside me.", + "The corridor now opens ahead with the spotlit brickwork running along my left and a red telephone box far down at the end. The lit panel is still a few paces off along the wall, so I will keep walking forward.", + "The glowing pool on the brickwork to my left has grown large and its edge now curves close to me, so I am nearly level with it. One more step forward should place me right at that illuminated stretch of wall.", + "I am standing right beside the lit brickwork, but it slides past on my left while my body still points down the arcade. I will turn left so I face the illuminated brick squarely.", + "The spotlit brick face fills my view at arm's length, its bright pool centered before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91be1864bf599db03e3aa7cda6ebae6592090ff1 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t0_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Proceed towards the ticket machines in the distance.", + "Type": 0, + "Start_Pose": [ + 2132.71, + -2572.708, + 143.15, + -0.05, + -35.437, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2132.71, + -2572.708, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2235.254, + -2645.682, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2337.798, + -2718.656, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2440.342, + -2791.63, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2440.342, + -2791.63, + 143.15, + -0.05, + -10.437, + -0.0 + ], + [ + 2564.119, + -2814.43, + 143.15, + -0.05, + -10.437, + -0.0 + ], + [ + 2687.895, + -2837.23, + 144.721, + -0.05, + -10.437, + -0.0 + ], + [ + 2811.672, + -2860.03, + 141.667, + -0.05, + -10.437, + -0.0 + ], + [ + 2935.448, + -2882.829, + 141.667, + -0.05, + -10.437, + -0.0 + ], + [ + 3059.225, + -2905.629, + 141.667, + -0.05, + -10.437, + -0.0 + ], + [ + 3183.002, + -2928.429, + 141.667, + -0.05, + -10.437, + -0.0 + ], + [ + 3306.778, + -2951.229, + 141.667, + -0.05, + -10.437, + -0.0 + ], + [ + 3306.778, + -2951.229, + 141.667, + -0.05, + 14.563, + -0.0 + ], + [ + 3428.593, + -2919.583, + 141.667, + -0.05, + 14.563, + -0.0 + ], + [ + 3550.409, + -2887.936, + 141.667, + -0.05, + 14.563, + -0.0 + ], + [ + 3550.409, + -2887.936, + 141.667, + -0.05, + 14.563, + -0.0 + ] + ], + "Rationale": [ + "Two pale ticket machines stand against the far wall on the right side of this arched hall, well ahead of me. The tiled floor between us is open and clear of benches or barriers, so I will step forward to begin closing that distance.", + "The machines have grown slightly larger and the arch overhead has shifted back, confirming my forward steps are gaining ground. The path ahead over the tiles remains unobstructed, so I will keep walking forward.", + "The ticket machines are now clearly readable as a pair beside the teal columns, still off to my right of center. Since forward motion continues to shorten the gap smoothly, I will take another step before adjusting my heading.", + "The ticket machines sit noticeably to the right of my straight-ahead direction, so continuing forward would carry me past them along the bench wall. I will turn right a small amount to bring the pair of machines closer to the center of my view.", + "After the turn, the two ticket machines sit nearly centered ahead of me under the arch, with patterned tiles running straight toward them. With this heading looking good, I will move forward to close the remaining distance.", + "The machines keep growing in front of me and stay roughly on my line of travel, so my heading still points at them. I will continue stepping forward across the open tiles.", + "Both machines now show their sloped fronts and dark upper panels clearly, but there is still a stretch of tiled floor between us. I will keep walking forward to shorten that remaining stretch.", + "The two ticket machines with their small waste bins beside them now fill a good part of my view, slightly right of straight ahead. The floor in front of me is still clear, so I will advance again to get within close range of them.", + "The pair of ticket machines stands clearly ahead of me against the far wall, a little right of my straight-ahead direction, and the tiled floor between us is open and unobstructed. I will step forward again to keep closing that remaining distance before making any heading refinement.", + "The two machines now read clearly as ticket terminals and their panels have grown noticeably larger, confirming my forward line is closing on them. Since the floor ahead remains clear, I will continue walking forward toward them.", + "The ticket terminals with their blue screens are close enough now that I can see individual slots and buttons, but there is still a stretch of tile between me and them. I will take another step forward to shorten that gap.", + "Both ticket terminals sit off to the right side of my view, so walking straight would carry me past their front faces rather than up to them. I will turn right to bring the pair of machines directly in front of me before advancing further.", + "The turn has brought both ticket machines squarely in front of me with their screens facing my approach. With a short stretch of open tile remaining, I will step forward to close on them.", + "The two terminals now dominate my view, their keypads and coin slots plainly visible just a step or two away. One more forward step should place me right at the machines, close enough to count as reaching them.", + "Both ticket machine fronts fill my view at arm's length, with their screens and slots directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c565c75a69a57760423f454229bfa53de4e890f --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the bench closest to you on the left.", + "Type": 2, + "Start_Pose": [ + 2132.71, + -2572.708, + 143.15, + -0.05, + -35.437, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2132.71, + -2572.708, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2235.254, + -2645.682, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2235.254, + -2645.682, + 143.15, + -0.05, + -60.437, + -0.0 + ], + [ + 2297.35, + -2755.156, + 143.15, + -0.05, + -60.437, + -0.0 + ], + [ + 2359.447, + -2864.63, + 143.15, + -0.05, + -60.437, + -0.0 + ], + [ + 2421.543, + -2974.104, + 143.15, + -0.05, + -60.437, + -0.0 + ], + [ + 2483.639, + -3083.577, + 143.15, + -0.05, + -60.437, + -0.0 + ], + [ + 2483.639, + -3083.577, + 143.15, + -0.05, + -85.437, + 0.0 + ], + [ + 2493.652, + -3209.037, + 143.15, + -0.05, + -85.437, + 0.0 + ], + [ + 2493.652, + -3209.037, + 143.15, + -0.05, + -85.437, + 0.0 + ] + ], + "Rationale": [ + "Along the left wall a wooden bench sits under the tall arched windows beside a dark waste bin, and it is the closest one on my left, with the others strung further down the hall. Open tiled floor lies between us, so I walk forward to cut that distance before angling toward it.", + "The bench I chose sits well off to my left while my heading still points down the open hall toward the cash machines. I turn left so that my path runs toward that bench instead of past it.", + "The turn has brought the left wall and its benches across the front of my view, with the bench beside the waste bin now clearly ahead of me. It is still several strides off, so I step forward along this heading.", + "The bench next to the waste bin has grown noticeably and now sits just left of my heading under the lit window. There is still clear tile between me and it, so I keep walking forward.", + "My bench and its waste bin now fill much of the left side of my view, close enough that the slats and legs read clearly. I am not yet beside it, so I take another step forward.", + "The bench under the window is very near now, its seat spanning the lower left of my view while the green ironwork column stands just past it. One more forward step should bring me level with the seat.", + "The bench I am heading for now runs off the left edge of my view while my heading points at the iron column and the benches beyond it. I turn left to face the bench squarely before closing the last bit of distance.", + "The turn has centered the bench, with its full backrest and the waste bin beside it directly in front of me under the lit window. A single step forward should put me right at it.", + "The bench fills my view at arm's reach, its slats right in front of me. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t2_b/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3b3afbe0cd14f8a49b7058778671556cb113b68f --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002133_y-002573_z000143_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the second closest bench in the left.", + "Type": 2, + "Start_Pose": [ + 2132.71, + -2572.708, + 143.15, + -0.05, + -35.437, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2132.71, + -2572.708, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2235.254, + -2645.682, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2337.798, + -2718.656, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2440.342, + -2791.63, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2542.886, + -2864.604, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2645.43, + -2937.578, + 143.15, + -0.05, + -35.437, + -0.0 + ], + [ + 2747.974, + -3010.552, + 141.667, + -0.05, + -35.437, + -0.0 + ], + [ + 2747.974, + -3010.552, + 141.667, + -0.05, + -60.437, + -0.0 + ], + [ + 2810.07, + -3120.026, + 141.667, + -0.05, + -60.437, + -0.0 + ], + [ + 2872.167, + -3229.499, + 141.667, + -0.05, + -60.437, + -0.0 + ], + [ + 2872.167, + -3229.499, + 141.667, + -0.05, + -60.437, + -0.0 + ] + ], + "Rationale": [ + "Along the left wall I can count the benches: the closest one sits just ahead of me under the tall window, and the next one back stands further down the hall beside a litter bin. That bin-side bench is my target, so I walk straight ahead down the open floor to close the gap.", + "The bench beside the litter bin is still well down the hall on my left, past the nearer one at the wall. The floor ahead is clear, so I keep walking forward to shorten the distance before I need to angle toward it.", + "The seating along the left wall is growing larger, and the bench next to the litter bin is now clearer under the arch. I continue straight ahead since the direct line toward it is still open.", + "I am drawing level with the brick pier, and my bench with the litter bin beside it sits ahead on the left. Another step forward keeps me on the straight line toward it.", + "The bench beside the litter bin is now plainly ahead of me on the left, lit against the brick wall. I walk forward again rather than turn yet, because I still need distance before the final approach angle matters.", + "The nearer bench has slid to my left edge and is passing behind me, and the bench with the litter bin at its side is now the one filling the left of my view. I step forward once more to bring myself alongside it.", + "My heading has carried me past the line of the seating, so the bench with the litter bin beside it now lies off to my left rather than in front. I turn left to swing my facing onto it before closing the last stretch.", + "The turn has put the bench with the litter bin at its end squarely ahead of me against the brick wall. With the alignment good, I walk forward to close the remaining few steps up to it.", + "The bench with the litter bin at its end now fills most of my view, though its seat still sits a stride or two beyond arm's reach. One more step forward should put me right at its edge, close enough to count as standing beside it.", + "The bench with the litter bin at its end fills my view, an arm's length away. I am standing at it, so the task is complete." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002169_y-002199_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002169_y-002199_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..422ed44ba166a9e2270da85e0864ae95c4d1eb85 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002169_y-002199_z000143_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the red telephone booth.", + "Type": 0, + "Start_Pose": [ + 2169.047, + -2199.282, + 143.15, + -0.05, + -85.773, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2169.047, + -2199.282, + 143.15, + -0.05, + -85.773, + -0.0 + ], + [ + 2178.324, + -2324.799, + 143.15, + -0.05, + -85.773, + 0.0 + ], + [ + 2178.324, + -2324.799, + 143.15, + -0.05, + -110.773, + 0.0 + ], + [ + 2133.686, + -2442.476, + 143.15, + -0.05, + -110.773, + 0.0 + ], + [ + 2089.048, + -2560.153, + 143.15, + -0.05, + -110.773, + 0.0 + ], + [ + 2044.41, + -2677.83, + 143.15, + -0.05, + -110.773, + 0.0 + ], + [ + 1999.772, + -2795.508, + 143.15, + -0.05, + -110.773, + 0.0 + ], + [ + 1955.134, + -2913.185, + 143.15, + -0.05, + -110.773, + 0.0 + ], + [ + 1910.496, + -3030.862, + 143.15, + -0.05, + -110.773, + 0.0 + ], + [ + 1865.858, + -3148.539, + 143.15, + -0.05, + -110.773, + 0.0 + ], + [ + 1865.858, + -3148.539, + 143.15, + -0.05, + -85.773, + 0.0 + ], + [ + 1875.008, + -3253.225, + 143.149, + -0.05, + -85.773, + 0.0 + ], + [ + 1875.008, + -3253.225, + 143.149, + -0.05, + -85.773, + 0.0 + ] + ], + "Rationale": [ + "The red telephone booth is already visible far ahead, standing against the arcaded wall to the left of the benches. The open tiled floor between us is clear, so I will step forward to begin closing that large gap before refining my heading.", + "After stepping forward, the booth sits well to the left of the direction I am facing, while my path points at the empty middle of the hall. I will turn left so the booth moves toward the center of my view and my walking direction points at it.", + "The turn brought the red booth into the middle of my view, with the barrier railings safely off to the left. With the heading now pointing at the target, I will walk forward to reduce the remaining distance.", + "The booth is slightly larger and still holding near the center of my view, confirming my heading is good. Nothing blocks the tiles between me and it, so I keep walking forward.", + "The red booth now stands out clearly beside the arched window and the wooden bench, but it is still several paces away. I will continue straight ahead since my current line leads directly to it.", + "The booth's panelled door and roof detail are becoming readable, so the gap is shrinking as expected. I will take another step forward on the same line to keep closing in.", + "The booth now dominates the center of my view, with the bench to its right and a small bin to its left. I am not yet close enough to stand at it, so I step forward again.", + "The telephone sign above the door is now legible and the booth fills much of my view, so only a short distance remains. I will advance once more to bring myself right up to it.", + "The red telephone booth now towers directly ahead of me, its lettered sign and glazed door clearly readable just a short walk away. Only a small gap of paving remains between me and its base, so I will step forward again to close it.", + "I am now right beside the booth, but its glazed red door sits off to my right while the brick wall and litter bin dominate straight ahead. Turning right should swing my heading onto the booth door so I can face the target squarely.", + "The booth's red door and glazing are now centered right in front of me, filling most of my view. A last short step forward should bring me flush against the booth at proper arrival distance.", + "I am standing directly against the red telephone booth, its red panels and glass filling my view at contact range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002169_y-002199_z000143_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002169_y-002199_z000143_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..889922688b109f74c070b51c0633a161d5f25df0 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002169_y-002199_z000143_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the second bench from the right along the wall.", + "Type": 2, + "Start_Pose": [ + 2169.047, + -2199.282, + 143.15, + -0.05, + -85.773, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2169.047, + -2199.282, + 143.15, + -0.05, + -85.773, + 0 + ], + [ + 2178.324, + -2324.799, + 143.15, + -0.05, + -85.773, + 0.0 + ], + [ + 2178.324, + -2324.799, + 143.15, + -0.05, + -60.773, + 0.0 + ], + [ + 2239.777, + -2434.635, + 143.15, + -0.05, + -60.773, + 0.0 + ], + [ + 2301.23, + -2544.471, + 143.15, + -0.05, + -60.773, + 0.0 + ], + [ + 2362.684, + -2654.307, + 143.15, + -0.05, + -60.773, + 0.0 + ], + [ + 2362.684, + -2654.307, + 143.15, + -0.05, + -35.773, + 0.0 + ], + [ + 2464.798, + -2727.881, + 143.15, + -0.05, + -35.773, + 0.0 + ], + [ + 2566.912, + -2801.455, + 143.15, + -0.05, + -35.773, + 0.0 + ], + [ + 2669.027, + -2875.029, + 143.15, + -0.05, + -35.773, + 0.0 + ], + [ + 2669.027, + -2875.029, + 143.15, + -0.05, + -60.773, + 0.0 + ], + [ + 2730.48, + -2984.865, + 144.75, + -0.05, + -60.773, + 0.0 + ], + [ + 2791.933, + -3094.701, + 141.669, + -0.05, + -60.773, + 0.0 + ], + [ + 2853.387, + -3204.537, + 141.669, + -0.05, + -60.773, + 0.0 + ], + [ + 2914.192, + -3290.274, + 141.669, + -0.05, + -60.773, + 0.0 + ], + [ + 2914.192, + -3290.274, + 141.669, + -0.05, + -60.773, + 0.0 + ] + ], + "Rationale": [ + "The benches stand in a single run along the wall, and the row continues away to my right toward the far end of the hall. They all look alike, so I settle my target now as the one standing next in from that far end of the run, holding its place against the deep arched bays rather than any detail. I step forward to close distance on that side of the concourse.", + "Walking straight ahead carries me across the concourse rather than along the bench run, whose far end lies off to my right. I turn right so my heading follows the wall toward the deeper bays where my bench waits.", + "Now the wall with its benches runs off to my left and the line of them continues into the shadowed arches ahead. My chosen bench sits far down that run, so I walk forward along the open tiling to close the gap.", + "The benches beside the wall are noticeably larger now, but the ones deeper under the green ironwork are still distant. I keep walking forward, since my bench lies further along toward the end of the run.", + "The brick bay ahead and the benches beneath it are coming closer, yet I am still short of the far end of the run. Another step forward keeps me advancing along the wall toward my bench.", + "The wall bends into the deeper bay here, so continuing on this heading would take me past the benches instead of along them. I turn right to face down the length of that bay, where the run of benches finishes.", + "The benches I passed have dropped behind me, and what I see now is the tail of the run under the brick pier, with the cash machines opposite on my right. I am still going to the bench that stands next in from the far end of that run, so I walk forward into the bay.", + "The last few benches under the brick pier are clearly ahead on my left, with a litter bin standing between them. I step forward again to bring myself alongside my bench rather than stopping short in the open floor.", + "The near bench under the brick pier is already beside me on the left, and the litter bin plus the two further seats mark where the run ends. My bench is the one standing just short of that end, so I walk on to reach its level.", + "From this close the seats no longer read as a row from any end, but the bench I settled on is the one flanked by the litter bin near the finish of this run, now over on my left. I turn left so my heading points straight at it.", + "My bench and its litter bin now sit ahead rather than off to one side, with clear tiling between us. I step forward to shorten that remaining gap.", + "The slatted back of my bench fills much more of my view now, though I am still a few paces off from standing beside it. Another step forward keeps me closing on it.", + "The bench now dominates the left of my view, its armrest and the bin beside it clearly within a pace or two. I walk forward again to draw right up alongside the seat.", + "Only the last short stretch separates me from the bench, whose backrest already stretches across my view against the brick. I take one more step to stand properly at it.", + "The bench stands right at my side, its back and armrest filling my view beside the litter bin. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002176_y-002661_z000143_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002176_y-002661_z000143_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96f1ad88ce099bc8f3f7b84a4d7b6003d227f140 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002176_y-002661_z000143_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "First go to the green metal arch support, then go to the red phone booth.", + "Type": 3, + "Start_Pose": [ + 2175.937, + -2661.475, + 143.266, + -0.05, + -82.971, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2175.937, + -2661.475, + 143.266, + -0.05, + -82.971, + 0.0 + ], + [ + 2175.937, + -2661.475, + 143.15, + -0.05, + -57.971, + 0.0 + ], + [ + 2242.686, + -2768.176, + 143.15, + -0.05, + -57.971, + 0.0 + ], + [ + 2309.435, + -2874.876, + 143.15, + -0.05, + -57.971, + 0.0 + ], + [ + 2376.184, + -2981.577, + 143.15, + -0.05, + -57.971, + 0.0 + ], + [ + 2442.933, + -3088.278, + 143.15, + -0.05, + -57.971, + 0.0 + ], + [ + 2442.933, + -3088.278, + 143.15, + -0.05, + -32.971, + 0.0 + ], + [ + 2548.522, + -3156.772, + 143.15, + -0.05, + -32.971, + 0.0 + ], + [ + 2654.111, + -3225.266, + 143.15, + -0.05, + -32.971, + 0.0 + ], + [ + 2654.111, + -3225.266, + 143.15, + -0.05, + -32.971, + 0.0 + ], + [ + 2576.593, + -3174.981, + 143.15, + -0.05, + -32.971, + 0.0 + ], + [ + 2576.593, + -3174.981, + 143.15, + -0.05, + -57.971, + 0.0 + ], + [ + 2576.593, + -3174.981, + 143.15, + -0.05, + -82.971, + 0.0 + ], + [ + 2576.593, + -3174.981, + 143.15, + -0.05, + -107.971, + -0.0 + ], + [ + 2576.593, + -3174.981, + 143.15, + -0.05, + -132.971, + -0.0 + ], + [ + 2576.593, + -3174.981, + 143.15, + -0.05, + -157.971, + 0.0 + ], + [ + 2459.922, + -3222.188, + 143.15, + -0.05, + -157.971, + 0.0 + ], + [ + 2343.252, + -3269.394, + 143.15, + -0.05, + -157.971, + 0.0 + ], + [ + 2343.252, + -3269.394, + 143.15, + -0.05, + 177.029, + 0.0 + ], + [ + 2217.562, + -3262.871, + 143.15, + -0.05, + 177.029, + 0.0 + ], + [ + 2091.872, + -3256.348, + 143.15, + -0.05, + 177.029, + 0.0 + ], + [ + 2091.872, + -3256.348, + 143.15, + -0.05, + -157.971, + 0.0 + ], + [ + 1976.123, + -3289.299, + 143.15, + -0.05, + -157.971, + 0.0 + ], + [ + 1976.123, + -3289.299, + 143.15, + -0.05, + -157.971, + 0.0 + ] + ], + "Rationale": [ + "The green ironwork arch supports stand at the far right edge of my view, while the red booth sits close on my left wall. Since the arches are my first destination, I will turn right to bring that green structure into the center of my heading.", + "The green arched ironwork now spans the right half of my view, down the open concourse ahead. The tiled floor between me and it is clear of benches, so I will walk forward to close the distance.", + "The green columns and their curved braces have grown noticeably larger and the lamps beneath them are clearer, confirming I am closing on the support structure. Nothing blocks the tile between me and them, so I keep walking forward.", + "The nearest green column and the riveted arch springing from it now fill much of the right side of my view, but I am still a few paces short of standing at its base. The path along the benches stays open, so I advance again.", + "The green pillar and its bolted bracing are close enough now to read the individual rivets, and the wall with its bench sits tight on my left. One more step forward should bring me level with the base of the support.", + "My heading has drifted into the wall and bench on my left while the green support column sits off to my right side. I will turn right so the metal arch structure and the open floor beneath it lie directly ahead of me.", + "The green riveted support column now stands squarely to my left front with clear tiled floor running past it. I will step forward to draw level with the arch structure.", + "The green column's riveted plate is now very close on my left, so I am nearly beside the arch support itself. One more step forward should place me right at its base.", + "The riveted green metal arch support rises directly beside me, its painted girder filling the near left of my view at arm's length. I have arrived at that arch support. I mark reaching it and now turn my attention to the red phone booth back along the concourse.", + "I am pressed close against the green arch support, with its girder crowding the whole left side of my view. Before swinging around toward the red phone booth, I will step back to open clearance from the column so my turn is not blocked by it.", + "With a little space now between me and the green girder, my heading still runs deeper into the platform where only benches and ticket machines lie ahead. The red phone booth sits back the other way, so I will turn left to begin swinging my view around toward it.", + "My view now falls on the green columns and the bench beside them, still nothing of the red booth. I will keep turning left to carry my heading further around toward the open concourse where the booth stands.", + "The rotation has brought a lit window bay and a bench into view, but the red booth is still outside my field of view to the left. I will continue turning left to keep sweeping my heading that way.", + "I am now looking squarely at a bench beneath the station windows, with the wall running off to my left. Another left turn should bring the stretch of concourse holding the red phone booth into view.", + "The red phone booth has come into sight near the left edge of my view, standing against the pale facade beyond a bench and a bin. I will turn left once more to bring it closer to the centre of my heading before walking toward it.", + "The red phone booth now sits ahead and slightly left, with clear paved floor between me and it apart from a bench and bin along the wall. I will walk forward to close the distance toward the booth.", + "The red phone booth stands ahead along the colonnade, still some distance off beyond the bench and the bin at my side. The open paving in front of me is clear, so I will walk forward to close the gap toward it.", + "The booth is noticeably nearer now, but it sits left of my heading while the wall and bench crowd the right of my view. I will turn left to bring the red booth toward the center of my path before continuing.", + "The red booth now sits comfortably in front of me with open concourse paving between us. Nothing blocks the lane, so I will step forward to shorten the remaining distance.", + "The booth has grown large in my view, its glazed door and lettering clearly readable just ahead and slightly right. I am not yet beside it, so I will keep walking forward to draw close.", + "I am nearly level with the booth, but it has slid to the right edge of my view while my heading points down the empty concourse. Turning right should square me onto the red booth for the final step.", + "The red booth now fills the center of my view with its door panel directly facing me, only a pace or so away. One more step forward should place me right at it.", + "The red phone booth's glazed door and frame fill my view at arm's length. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002189_y-002358_z000143_t5_a_p/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002189_y-002358_z000143_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f77a657fda1c47a6e37f33c7a8d99e45e61308b8 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002189_y-002358_z000143_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the metal bucket near the base of the green steel column along the platform.", + "Type": 5, + "Start_Pose": [ + 2188.661, + -2358.429, + 143.15, + -0.05, + 63.027, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2236.478, + -1890.207, + 53.316, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2188.661, + -2358.429, + 143.15, + -0.05, + 63.027, + 0 + ], + [ + 2188.661, + -2358.429, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2192.994, + -2232.645, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2197.327, + -2106.86, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2201.66, + -1981.076, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2201.66, + -1981.076, + 143.15, + 0.0, + 88.027, + -0.0 + ], + [ + 2201.66, + -1981.076, + 143.15, + 0.0, + 88.027, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2236.478, + -1890.207, + 53.316, + 0.0, + 0.0, + 0.0 + ], + [ + 2236.478, + -1890.207, + 53.316, + 0.0, + 0.0, + 0.0 + ], + [ + 2236.478, + -1890.207, + 53.316, + 0.0, + 0.0, + 0.0 + ], + [ + 2236.478, + -1890.207, + 53.316, + 0.0, + 0.0, + 0.0 + ], + [ + 2236.478, + -1890.207, + 53.316, + 0.0, + 0.0, + 0.0 + ], + [ + 2180.298, + -1980.951, + 113.256, + -28.202, + 138.172, + 1.862 + ], + [ + 2180.298, + -1980.951, + 113.256, + -28.202, + 138.172, + 1.862 + ] + ], + "PD_Dist_2D": [ + 470.7, + 470.7, + 345.2, + 220.2, + 97.3, + 21.4, + 21.4 + ], + "Rationale": [ + "From beside the ticket machine I can see the dark metal bucket sitting far ahead near a green steel column, but it lies off to the right of my current heading. I will turn right to bring the platform edge and that bucket into the center of my view before walking.", + "The bucket now sits roughly ahead of me at the foot of the green column beside the yellow platform line, but it is still far away. The paved walkway between me and it is clear, so I will step forward to close the distance.", + "The bucket has grown noticeably larger and stays near the middle of my view against the green column. Nothing blocks the walkway, so I will keep walking straight to shorten the remaining gap.", + "The bucket is close now, its handle and rim clearly visible just below center on the yellow platform strip, yet still slightly too distant to grasp comfortably. I will take one more step forward to bring it within reach.", + "The bucket is directly in front of me at the base of the green column, its rim filling the lower edge of my view. This is close enough to grasp it, so I will attempt the pick and expect the bucket to come into my hands.", + "The metal bucket is now held in my hands rather than resting on the platform. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002225_y002158_z000144_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002225_y002158_z000144_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..466bde847a332e8494d996dde1b8569556979739 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002225_y002158_z000144_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the second bench from the right along the station building wall.", + "Type": 2, + "Start_Pose": [ + 2225.041, + 2157.529, + 143.819, + -0.05, + -56.013, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2225.041, + 2157.529, + 143.819, + -0.05, + -56.013, + 0.0 + ], + [ + 2295.397, + 2053.171, + 143.819, + -0.05, + -56.013, + -0.0 + ], + [ + 2365.753, + 1948.814, + 143.309, + -0.05, + -56.013, + -0.0 + ], + [ + 2436.108, + 1844.456, + 143.309, + -0.05, + -56.013, + -0.0 + ], + [ + 2436.108, + 1844.456, + 143.309, + -0.05, + -81.013, + 0.0 + ], + [ + 2455.769, + 1720.142, + 143.309, + -0.05, + -81.013, + 0.0 + ], + [ + 2475.429, + 1595.828, + 143.309, + -0.05, + -81.013, + 0.0 + ], + [ + 2495.09, + 1471.514, + 143.309, + -0.05, + -81.013, + 0.0 + ], + [ + 2495.09, + 1471.514, + 143.309, + -0.05, + -56.013, + 0.0 + ], + [ + 2565.445, + 1367.156, + 143.992, + -0.05, + -56.013, + 0.0 + ], + [ + 2565.445, + 1367.156, + 143.992, + -0.05, + -56.013, + 0.0 + ] + ], + "Rationale": [ + "Counting the benches along the station wall from the near end, the closest one sits right in front of me and my target is the next one along, the bench standing against the pale stone pier just beyond it. The platform ahead is clear, so I will walk forward along the row.", + "The nearest bench has grown larger on my right, but the bench I want lies further along beside the pier past it. I will keep walking down the platform to close that gap.", + "I am now almost level with the near bench, and the wall bench I chose is still further down the covered platform. Another step forward should bring me alongside and then past this first seat.", + "The wall and the bench beside it now crowd most of my view, leaving the open walkway off to my left. I will turn left to swing my heading back onto the free platform lane so I can continue down the row without scraping the wall.", + "With the walkway and the train side open ahead, the way down the platform is clear again. The bench I picked out beside the pale pier lies further along on my right, so I will step forward toward it.", + "The end of the row I counted from has now fallen behind me, so I simply hold to the bench standing against the pale pier ahead on my right. The lane beside the parked train stays clear, so I keep walking.", + "The bench I am heading for is close now, set against the wall just off my right shoulder. One more step along the platform should bring me level with it.", + "My heading runs down the open platform while the bench I want sits against the wall to my right. I will turn right to face it so the last short approach carries me straight to that seat.", + "The bench against the pale pier now fills the near right of my view, angled just ahead of me rather than beside me. A single step along this heading should close the last of the gap and put me at its side.", + "The bench beside the pale pier stands directly at my side, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002324_y-001693_z000145_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002324_y-001693_z000145_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7cb8f2aca8d8a2820ccad124edd4944cb6da136c --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002324_y-001693_z000145_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the second bench on the left side of the platform.", + "Type": 2, + "Start_Pose": [ + 2324.025, + -1692.833, + 145.067, + -0.05, + 77.175, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2324.025, + -1692.833, + 145.067, + -0.05, + 77.175, + -0.0 + ], + [ + 2351.962, + -1570.114, + 143.342, + -0.05, + 77.175, + 0.0 + ], + [ + 2379.9, + -1447.395, + 143.342, + -0.05, + 77.175, + 0.0 + ], + [ + 2407.837, + -1324.676, + 143.342, + -0.05, + 77.175, + 0.0 + ], + [ + 2435.775, + -1201.957, + 143.342, + -0.05, + 77.175, + 0.0 + ], + [ + 2463.712, + -1079.237, + 143.342, + -0.05, + 77.175, + 0.0 + ], + [ + 2491.649, + -956.518, + 143.342, + -0.05, + 77.175, + 0.0 + ], + [ + 2491.649, + -956.518, + 143.342, + -0.05, + 77.175, + 0.0 + ] + ], + "Rationale": [ + "Two benches line the left wall ahead of me, and the one I want is the farther of them, set against the pale stone panel beneath the large framed poster. They look alike, so I hold that poster and pillar as my marker. I walk forward down the platform toward it.", + "The near bench now sits large in my left foreground while the bench under the framed poster is still farther down the wall. The walkway between the wall and the tactile strip stays open, so I keep stepping forward along it.", + "The nearer bench is sliding past my left shoulder, and the bench beside the poster and pillar is drawing closer ahead. I continue walking straight down the platform to close that remaining gap.", + "The bench I passed has dropped behind me, so the bench under the framed poster is now the nearest one on my left. It still lies a few paces ahead, so I keep advancing.", + "The bench under the poster is close on my left, but its seat still runs ahead of me rather than beside me. I step forward again to draw level with it.", + "The bench fills my left foreground now, with its backrest just short of my shoulder. One more step forward should place me alongside the middle of it, right at the wall it stands against.", + "I am standing alongside the bench beneath the framed poster, within arm's reach on my left. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002324_y001888_z000144_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002324_y001888_z000144_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9515986d75b21d75fbb5a83cc645765ed7a584e8 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002324_y001888_z000144_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the large pillar near the red phone booth.", + "Type": 0, + "Start_Pose": [ + 2323.658, + 1887.817, + 143.616, + -0.05, + 62.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2323.658, + 1887.817, + 143.616, + -0.05, + 62.84, + -0.0 + ], + [ + 2381.11, + 1999.798, + 143.15, + -0.05, + 62.84, + -0.0 + ], + [ + 2438.561, + 2111.779, + 143.15, + -0.05, + 62.84, + -0.0 + ], + [ + 2496.013, + 2223.76, + 143.15, + -0.05, + 62.84, + -0.0 + ], + [ + 2553.465, + 2335.742, + 143.15, + -0.05, + 62.84, + -0.0 + ], + [ + 2596.611, + 2447.554, + 144.602, + -0.05, + 62.84, + -0.0 + ], + [ + 2596.611, + 2447.554, + 144.602, + -0.05, + 62.84, + -0.0 + ] + ], + "Rationale": [ + "I can see the red phone booth far ahead on the left side of the covered walkway, with the large riveted pillar standing right beside it. My heading already runs straight down this corridor toward that pair, so no turn is needed. I will move forward to begin closing the distance.", + "The booth and the tall pillar beside it now appear noticeably larger and closer, confirming my heading is correct. The walkway ahead stays open with no obstruction between me and the pillar. I will continue forward to keep closing the gap.", + "The red booth is now clearly resolved just left of center, and the broad green-panelled pillar beside it fills much of the left of my view. I am still several steps away from being beside that pillar. I will keep moving forward along the same line.", + "The pillar's riveted column and the booth are close now, dominating the left half of my view. A couple more steps should bring me directly alongside the large pillar next to the phone booth. I will advance again.", + "The booth's glazed door and the tall pillar are within a short step, with the pillar filling the near left of my view. One more forward move should place me right at the base of that large pillar. I will take that final step.", + "The large riveted pillar fills my view directly beside the red phone booth, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002327_y003349_z000144_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002327_y003349_z000144_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fdae85b10cb041921346c4471d35e8cbbfa6ec06 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002327_y003349_z000144_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the red phone booth.", + "Type": 0, + "Start_Pose": [ + 2327.284, + 3349.032, + 143.554, + -0.05, + -81.513, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2327.284, + 3349.032, + 143.554, + -0.05, + -81.513, + -0.0 + ], + [ + 2345.859, + 3224.551, + 143.15, + -0.05, + -81.513, + -0.0 + ], + [ + 2364.434, + 3100.071, + 143.15, + -0.05, + -81.513, + -0.0 + ], + [ + 2364.434, + 3100.071, + 143.15, + -0.05, + -56.513, + -0.0 + ], + [ + 2433.876, + 2995.103, + 143.15, + -0.05, + -56.513, + -0.0 + ], + [ + 2503.319, + 2890.135, + 143.15, + -0.05, + -56.513, + -0.0 + ], + [ + 2503.319, + 2890.135, + 143.15, + -0.05, + -56.513, + -0.0 + ] + ], + "Rationale": [ + "I can already see the red phone booth standing against the brick wall ahead on my right side of the platform. The tiled walkway in front of me is clear, so I will move forward along it to begin closing the distance.", + "The booth now appears noticeably larger and closer on my right, confirming my heading is carrying me toward it. The walkway remains unobstructed, so I will continue forward to shorten the remaining distance.", + "The booth is now close but sits well off to my right, near the edge of my view, while my heading points straight down the platform past it. I will turn right to bring the booth into the center of my view so the last stretch of approach is aimed directly at it.", + "The red booth is now centered in front of me with its glazed door panels clearly visible. With the paving between us empty, I will move forward to close the remaining gap.", + "The booth now fills much of the right half of my view and I am nearly beside it. One more step forward should bring me right up to it, close enough to count as having reached the target.", + "The red phone booth fills my view directly beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002329_y-001640_z000145_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002329_y-001640_z000145_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5143bed32ece041349ce4fdf393a34a765bd806e --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002329_y-001640_z000145_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the third wooden bench from the left along the platform.", + "Type": 2, + "Start_Pose": [ + 2329.027, + -1639.6, + 144.93, + -0.05, + 63.027, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2329.027, + -1639.6, + 144.93, + -0.05, + 63.027, + -0.0 + ], + [ + 2386.113, + -1527.432, + 143.15, + -0.05, + 63.027, + -0.0 + ], + [ + 2443.199, + -1415.264, + 143.15, + -0.05, + 63.027, + -0.0 + ], + [ + 2443.199, + -1415.264, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2447.532, + -1289.479, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2451.865, + -1163.695, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2456.198, + -1037.911, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2460.531, + -912.126, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2464.865, + -786.342, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2469.198, + -660.558, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2473.531, + -534.773, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2477.864, + -408.989, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2482.197, + -283.205, + 143.15, + -0.05, + 88.027, + -0.0 + ], + [ + 2482.197, + -283.205, + 143.15, + -0.05, + 63.027, + -0.0 + ], + [ + 2526.975, + -182.67, + 143.15, + -0.05, + 63.027, + -0.0 + ], + [ + 2526.975, + -182.67, + 143.15, + -0.05, + 63.027, + -0.0 + ] + ], + "Rationale": [ + "The benches form one receding row against the left wall: the nearest at the left end is the first, the next is the second, and my target is the third one further down the platform. They look identical, so I fix the target by its place in that run rather than by any detail. I walk forward along the platform toward it.", + "The first bench of the row is now close on my left, with the following benches spaced further down the platform. My bench is still well ahead, so I keep walking forward along the open paving.", + "Drifting close to the wall has pushed the bench row to the extreme left edge of my view, while the clear platform runs off to my right. I turn right to bring my heading back parallel with the platform so the remaining benches stay ahead of me instead of sliding out of sight.", + "The turn has opened the platform straight ahead, with the bench row running along the wall to my left and the train standing at the edge on my right. My bench is still further down that row, so I step forward.", + "My heading holds along the paving with the benches passing steadily on my left. The bench I am heading for is still ahead of me, so I keep advancing.", + "Another bench slides past at my left shoulder and the walkway stays unobstructed between the wall and the platform edge. I continue walking to close the remaining distance to my bench.", + "The benches ahead are still set some way down the wall beyond the iron columns, so I am not yet level with the one I want. The path stays open, and I move forward again.", + "The bench at the start of the row has now dropped behind my shoulder, so I can no longer count the row from its near end and simply stay with the bench I picked. It lies further along the wall past the next column, so I keep walking forward.", + "Deeper under the arched roof the remaining wall seats read as a small dark cluster far ahead, while red carriages run past on my right. The paving between the iron columns is clear of anyone, so I press on toward my bench.", + "The seats along the left wall are separating out of the shadow now, but I am still well short of the one I chose. Nothing narrows the walkway here, so I keep walking down the platform.", + "My bench has grown into the near foreground on the left, with the other seats trailing away beyond it toward the far archway. I am not yet level with its front edge, so I advance again.", + "The bench sits close along my left flank, yet a stride or two still separates me from standing at it. The tiles stay open ahead, so I take another step forward.", + "The bench has come up hard against my left shoulder while my heading still runs straight down the platform past it. I turn left so my body faces the seat instead of carrying on along the paving.", + "The turn has set the bench squarely in front of me with the brick and window wall behind it. Only a short gap remains between me and its seat, so I step forward to close it.", + "The bench stands directly at my side, within arm's reach along the wall. I have arrived at it, so there is nothing further to do and I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002505_y-002591_z000143_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002505_y-002591_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..64ef20678cb7084e2dfc72ae66ee0fb06438e4a0 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002505_y-002591_z000143_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Proceed to the red phone booth.", + "Type": 0, + "Start_Pose": [ + 2505.423, + -2590.531, + 143.15, + 0.0, + -113.897, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2505.423, + -2590.531, + 143.15, + 0.0, + -113.897, + 0.0 + ], + [ + 2454.438, + -2705.601, + 143.15, + 0.0, + -113.897, + 0.0 + ], + [ + 2454.438, + -2705.601, + 143.15, + 0.0, + -138.897, + 0.0 + ], + [ + 2359.6, + -2788.342, + 143.15, + 0.0, + -138.897, + 0.0 + ], + [ + 2264.762, + -2871.084, + 143.15, + 0.0, + -138.897, + 0.0 + ], + [ + 2169.923, + -2953.825, + 143.15, + 0.0, + -138.897, + 0.0 + ], + [ + 2075.085, + -3036.567, + 143.15, + 0.0, + -138.897, + 0.0 + ], + [ + 1980.246, + -3119.309, + 143.15, + 0.0, + -138.897, + 0.0 + ], + [ + 1980.246, + -3119.309, + 143.15, + 0.0, + -113.897, + 0.0 + ], + [ + 1929.262, + -3234.378, + 143.15, + 0.0, + -113.897, + 0.0 + ], + [ + 1929.262, + -3234.378, + 143.15, + 0.0, + -113.897, + 0.0 + ] + ], + "Rationale": [ + "From the open paved concourse I can already pick out the red phone booth standing against the building facade well ahead and slightly to my left, past the benches. Nothing blocks the tiled floor between us, so I will move forward to begin closing that distance before refining my heading.", + "The red booth now sits noticeably left of my view center, so continuing straight ahead would carry me past it toward the open plaza. I will turn left to bring the booth closer to the middle of my view and set a heading that should aim me directly at it.", + "After the turn the red booth is much closer to my forward axis, with the bench beside it and clear tiles all the way there. I will move forward along this heading to reduce the remaining distance.", + "The booth is visibly larger and still near the center-right of my view, confirming my heading is carrying me toward it. I will keep moving forward since the walkway ahead remains clear of the railings on my left.", + "The red booth now stands out clearly ahead with its glazed door panels distinguishable, but I am still several strides short of it. Another forward step should continue closing the gap without any obstacle in the way.", + "The booth fills a good part of the upper center of my view and the bench beside it is close on the right, so I am nearing the target but not yet beside it. I will advance again to bring myself right up to the booth.", + "The red booth is now large and only a short distance ahead, its frame drifting toward the right side of my view as I close in. I will take one more forward step to arrive within arm's reach of it.", + "I am now right beside the red booth, but it has swung off to my right and its door face is only partly in view while the empty walkway dominates the left. I will turn right to square up on the booth's front before making any final step.", + "The red phone booth now sits centered in my view with its glazed door and telephone sign directly ahead after my slight right turn. Only a short gap of paving remains between me and its front panel, so I will step forward once more to close that last distance.", + "The red booth's glazed door and painted frame fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05fa004355cef2e1511f218a3cce1f7dae3b8b0e --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Proceed to the ticket machines in the distance.", + "Type": 0, + "Start_Pose": [ + 2695.742, + -2920.151, + 144.792, + -0.05, + -22.49, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2695.742, + -2920.151, + 144.792, + -0.05, + -22.49, + -0.0 + ], + [ + 2812.029, + -2968.295, + 141.667, + -0.05, + -22.49, + 0.0 + ], + [ + 2812.029, + -2968.295, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 2937.767, + -2962.783, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3063.505, + -2957.271, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3189.243, + -2951.759, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3314.982, + -2946.247, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3440.72, + -2940.736, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3566.458, + -2935.224, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3566.458, + -2935.224, + 141.667, + -0.05, + 2.51, + 0.0 + ] + ], + "Rationale": [ + "I can see two ticket machines standing against the far wall on the right side of the concourse, well ahead of me. The tiled floor between us is open, so I will move forward to begin closing that distance before refining my heading.", + "After advancing, the ticket machines sit off to the right of my heading while the benches and wall fill the left of my view. I will turn right to bring the pair of machines toward the center of my view so the remaining approach can be a straight run.", + "The two ticket machines are now centered ahead of me under the arch, with unobstructed tiling leading straight to them. I will move forward along this heading to reduce the distance.", + "The machines are growing larger and remain squarely in front of me, so my heading still points at the target. I will keep advancing since there is nothing between me and them.", + "I am closer now, with the screens and the small bin beside the left machine becoming clearly readable, but still several steps away. Another forward step should continue closing the gap without any need to reorient.", + "Both machines now fill much of my view and stay centered, so my alignment is good. I will move forward again to get within a normal standing distance of the machine fronts.", + "The keypads, card slots and yellow buttons are visible in detail, yet there is still a stretch of tile before the machines' base. I will step forward once more to close that last gap and stand directly at them.", + "The machine faces are almost within arm's reach and centered ahead of me, with only a short span of floor remaining. A final forward step should place me right at the ticket machine panel.", + "The ticket machine's lit screen, card slot and buttons fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b406956e3b4a7b6ef08a6d9d62ce13593be3c36 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the nearest bench on the left.", + "Type": 2, + "Start_Pose": [ + 2695.742, + -2920.151, + 144.792, + -0.05, + -22.49, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2695.742, + -2920.151, + 144.792, + -0.05, + -22.49, + -0.0 + ], + [ + 2695.742, + -2920.151, + 144.993, + -0.05, + -47.49, + -0.0 + ], + [ + 2780.787, + -3012.929, + 141.78, + -0.05, + -47.49, + -0.0 + ], + [ + 2865.832, + -3105.707, + 141.78, + -0.05, + -47.49, + -0.0 + ], + [ + 2865.832, + -3105.707, + 141.78, + -0.05, + -72.49, + 0.0 + ], + [ + 2903.7, + -3225.734, + 141.78, + -0.05, + -72.49, + 0.0 + ], + [ + 2903.7, + -3225.734, + 141.78, + -0.05, + -72.49, + 0.0 + ] + ], + "Rationale": [ + "A row of benches lines the wall to my left, and the closest of them, the one under the lamp-lit brick pier, sits at the very edge of my view, half cut off. I will turn left so that bench comes fully in front of me before I approach it.", + "The bench beside the lamp-lit brick pier now sits ahead and slightly left, with clear open tiling between it and me. I will walk forward to close that distance.", + "The bench under the lit brick pier has grown noticeably larger on my left, though further benches and bins along the same wall have come into view behind it. I am still going to that near bench, so I will keep walking forward to shorten the gap.", + "I am close now, but the bench by the lit brick pier has slid to my left side while my heading still points down the corridor past it. I will turn left to square up on it before taking the last step.", + "The bench under the lamp-lit brick wall now sits centered in front of me with the bin at its far end, just a short gap of tiling remaining. I will step forward to bring myself right up beside it.", + "The bench beneath the lamp-lit brick wall is 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/VictorianTrainStation/task_x002696_y-002920_z000145_t2_b/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8a510f5b40504a5a8409b1565c16383a0d488180 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t2_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk over to the first trash bin near the benches.", + "Type": 2, + "Start_Pose": [ + 2695.742, + -2920.151, + 144.993, + -0.05, + -22.49, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2695.742, + -2920.151, + 144.993, + -0.05, + -22.49, + 0.0 + ], + [ + 2812.029, + -2968.295, + 141.667, + -0.05, + -22.49, + 0.0 + ], + [ + 2812.029, + -2968.295, + 141.667, + -0.05, + -47.49, + -0.0 + ], + [ + 2897.074, + -3061.073, + 141.667, + -0.05, + -47.49, + -0.0 + ], + [ + 2982.119, + -3153.851, + 141.667, + -0.05, + -47.49, + -0.0 + ], + [ + 3067.165, + -3246.629, + 141.667, + -0.05, + -47.49, + -0.0 + ], + [ + 3067.165, + -3246.629, + 141.667, + -0.05, + -47.49, + -0.0 + ] + ], + "Rationale": [ + "A row of benches runs along the wall to my front left, with similar bins spaced between the seats; since they look alike, I fix on the one at the near end of that row, beside the closest bench, as my target. It is still well ahead, so I walk forward to close the gap.", + "After moving up, the bin at the near end of the bench row sits far off to my left while my heading points across the open floor toward the ticket machines. I turn left so the bin and its bench come in front of me for a straight approach.", + "The turn has brought the bench row squarely ahead, and my bin stands beside the near bench, a few paces off. The tiled floor between us is clear, so I step forward toward it.", + "The bin I am heading for now reads large and close, just left of center between the two benches. Nothing stands in the way, so I keep walking straight at it.", + "The far end of the bench row has slid out of my view, but the bin I chose is close ahead on my left, with its bench filling much of the frame. One more step forward should put me right alongside it.", + "The bin stands immediately at my left, within arm's reach beside the bench. I have arrived at it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t2_c/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a58342e8d4e083c8a9f954554c4bc8f2ea9e175 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002696_y-002920_z000145_t2_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the bench that is further away on the left side.", + "Type": 2, + "Start_Pose": [ + 2695.742, + -2920.151, + 144.792, + -0.05, + -22.49, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2695.742, + -2920.151, + 144.792, + -0.05, + -22.49, + -0.0 + ], + [ + 2812.029, + -2968.295, + 141.667, + -0.05, + -22.49, + 0.0 + ], + [ + 2928.316, + -3016.439, + 141.667, + -0.05, + -22.49, + 0.0 + ], + [ + 2928.316, + -3016.439, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3054.054, + -3010.927, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3179.792, + -3005.415, + 141.667, + -0.05, + 2.51, + 0.0 + ], + [ + 3179.792, + -3005.415, + 141.667, + -0.05, + -22.49, + 0.0 + ], + [ + 3296.079, + -3053.559, + 141.667, + -0.05, + -22.49, + 0.0 + ], + [ + 3412.366, + -3101.703, + 141.667, + -0.05, + -22.49, + 0.0 + ], + [ + 3412.366, + -3101.703, + 141.667, + -0.05, + -47.49, + -0.0 + ], + [ + 3497.411, + -3194.481, + 141.667, + -0.05, + -47.49, + -0.0 + ], + [ + 3582.457, + -3287.259, + 141.667, + -0.05, + -47.49, + -0.0 + ], + [ + 3582.457, + -3287.259, + 141.667, + -0.05, + -47.49, + -0.0 + ] + ], + "Rationale": [ + "Along the left wall I can pick out two benches of the same wooden pattern, and the farther one is the one tucked against the brick pier beside the green iron column, so that is what I will follow from here. Nothing blocks the tiled floor ahead, so I step forward to close the distance.", + "The bench beside the brick pier and green column is still well ahead on my left, with clear tiling between me and it. I walk forward again to keep shortening that gap.", + "The near bench and its litter bin crowd the wall line immediately to my left, so hugging that side would leave me squeezed against them. I turn right to face the open tiling toward the ticket machines, which should give me a clean lane to carry on deeper into the hall before I swing back to the bench by the brick pier.", + "With the open tiling now straight ahead, I have a clear run past the crowded wall line. I step forward to advance deeper toward the far end where the bench against the brick pier stands.", + "The ticket machines and the arch ahead are growing, so I am still gaining ground on the far end of the hall. The bench by the brick pier sits just off my left edge, so another step forward should bring me level with it.", + "I have come far enough that the bench beside the brick pier has slipped to the very edge of my left side, while the ticket machines fill my heading. I turn left to swing my facing back onto that bench so I can walk straight at it.", + "The bench against the brick wall beside the green column is back in view on my left, with its litter bin beside it and clear floor between us. I step forward to close in on it.", + "The bench under the brick wall and green iron column now fills much of my left side, so only a short stretch of tile remains. I walk forward again to draw right up beside it.", + "The bench under the brick wall has drifted to my far left edge and is running away from my heading, so walking on as I face now would carry me past its end. I turn left to bring it back in front of me before making the last approach.", + "The bench sits squarely ahead now, its slatted back against the brick pier with the litter bin at its near end and open tile between us. I step forward to cover that remaining gap.", + "The bench now spans most of my view and my own shadow falls across its slats, so I am nearly beside it. One more step should put me right at its edge.", + "The wooden bench against the brick pier is right at my side, close enough to touch. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002760_y-002544_z000142_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002760_y-002544_z000142_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e2e0374c206361e155d942a85ec74dd32b8287e --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002760_y-002544_z000142_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "First go to the bench on the far left, then go to the double ticket machines.", + "Type": 3, + "Start_Pose": [ + 2760.401, + -2543.548, + 141.667, + -0.05, + -50.331, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2760.401, + -2543.548, + 141.667, + -0.05, + -50.331, + 0.0 + ], + [ + 2840.743, + -2640.427, + 141.667, + -0.05, + -50.331, + 0.0 + ], + [ + 2840.743, + -2640.427, + 141.667, + -0.05, + -75.331, + -0.0 + ], + [ + 2872.615, + -2762.184, + 141.667, + -0.05, + -75.331, + -0.0 + ], + [ + 2904.487, + -2883.941, + 141.667, + -0.05, + -75.331, + -0.0 + ], + [ + 2936.359, + -3005.697, + 141.667, + -0.05, + -75.331, + -0.0 + ], + [ + 2968.23, + -3127.454, + 141.667, + -0.05, + -75.331, + -0.0 + ], + [ + 2968.23, + -3127.454, + 141.667, + -0.05, + -100.331, + 0.0 + ], + [ + 2945.66, + -3251.272, + 141.667, + -0.05, + -100.331, + 0.0 + ], + [ + 2945.66, + -3251.272, + 141.667, + -0.05, + -100.331, + 0.0 + ], + [ + 2945.66, + -3251.272, + 141.667, + -0.05, + -75.331, + -0.0 + ], + [ + 2945.66, + -3251.272, + 141.667, + -0.05, + -50.331, + 0.0 + ], + [ + 2945.66, + -3251.272, + 141.667, + -0.05, + -25.331, + 0.0 + ], + [ + 2945.66, + -3251.272, + 141.667, + -0.05, + -0.331, + 0.0 + ], + [ + 2945.66, + -3251.272, + 141.667, + -0.05, + 24.669, + 0.0 + ], + [ + 3060.032, + -3198.742, + 141.667, + -0.05, + 24.669, + 0.0 + ], + [ + 3174.404, + -3146.211, + 141.667, + -0.05, + 24.669, + 0.0 + ], + [ + 3288.777, + -3093.681, + 141.667, + -0.05, + 24.669, + 0.0 + ], + [ + 3403.149, + -3041.151, + 141.667, + -0.05, + 24.669, + 0.0 + ], + [ + 3517.521, + -2988.62, + 141.667, + -0.05, + 24.669, + 0.0 + ], + [ + 3631.894, + -2936.09, + 141.667, + -0.05, + 24.669, + 0.0 + ], + [ + 3631.894, + -2936.09, + 141.667, + -0.05, + 24.669, + 0.0 + ] + ], + "Rationale": [ + "A row of wooden benches lines the wall ahead on my left, and the one at the far end of that row is where I need to get first. The open tiled floor between us is clear, so I will walk forward to cut down that distance before turning toward it.", + "The benches sit off to my left along the brick wall while my heading still points down the open hall. I will turn left to swing that bench line into the middle of my view so I can walk straight at the far end of it.", + "The turn has put the bench row squarely in front of me, with the leftmost bench visible beyond the arch pillar. Nothing blocks the tile between us, so I will keep walking to close the gap toward that far bench.", + "The benches and their bins have grown larger, so my heading is carrying me correctly along the wall. I am still several strides short of the bench at the left end, so I will step forward again.", + "The nearest bench and its litter bin now fill much of my view, but the bench at the far left edge of the row is still ahead of me. The floor in front stays clear, so I will advance once more.", + "The brick pier and the bench seats are close enough now that I can see the slats and the bin lid clearly. One more step forward should bring me right up alongside the end of this bench row.", + "I am right at the wall with a bin and bench edges filling my view, and the last bench of the row lies further to my left. I will turn left so that end bench comes in front of me instead of at the edge.", + "The turn has placed the end bench squarely ahead, backed by the brick wall and the iron column that marks the left limit of this row. A single step forward should put me right at it.", + "The wooden slatted bench at the far end of the row fills my view, its backrest right in front of me against the lit brick wall. I have reached this bench at the left end of the hall. I mark reaching it and now set out for the pair of ticket machines across the concourse.", + "Standing at the bench, my view is filled by its back and the brick wall, so nothing ahead leads anywhere. The ticket machines stand back across the hall behind my right shoulder, so I will turn right to begin swinging my heading around toward them.", + "The rotation has brought the pale stone pier and the bench end into view, but I am still facing the wall side of the hall. I will keep turning right to bring the open tiled floor and the machines against the far wall into my forward view.", + "More of the bench row, the litter bin and a hint of the green ironwork are sliding into view on the right, so the hall is opening up in that direction. Another right turn should carry my heading further toward the machine wall.", + "The checkered floor and the tall green arches now fill the right side of my view, meaning the open concourse is nearly ahead of me. I will turn right once more to bring the ticket machines on the far wall into the center of my view.", + "The two ticket machines are now visible under the arched alcove, but they sit right of center rather than straight ahead. One more turn to the right should place them squarely in front of me before I start walking.", + "The pair of ticket machines now sits close to the center of my view against the far wall, with open checkered floor between us. With my heading set, I will walk forward to close the distance to them.", + "The two ticket machines have grown larger and stay centered ahead, so my line of travel is good. I will keep walking forward across the open floor to get near enough to stand at them.", + "The pair of ticket machines sits ahead against the wall, centered in my view with clear open tiling between us. Nothing blocks the straight line, so I will keep walking forward to shorten the remaining gap.", + "The two ticket machines now fill much more of my view, their screens and keypads legible, which tells me the last step closed real distance. I am still several paces short of standing at them, so I continue forward on the same heading.", + "The twin ticket machines loom directly in front of me with their card slots and buttons in detail, and the floor between us is only a short stretch of tile. I will step forward again to close that last bit of distance.", + "Both machine faces now dominate my view at close range, their glowing blue screens level with me. One more step should bring me right up against them, so I advance.", + "I am standing right at the twin ticket machines, their screens and buttons within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002800_y-002736_z000142_t1_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002800_y-002736_z000142_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..983de6bee304dd28e51326582edf84a5da4ccaa7 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002800_y-002736_z000142_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search for two ticket machines standing side by side against the green metal framework, then navigate into the gap between them.", + "Type": 1, + "Start_Pose": [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -81.519, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -81.519, + 0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -56.519, + 0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -31.519, + 0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -6.519, + 0.0 + ], + [ + 2924.595, + -2750.253, + 141.667, + 0.0, + -6.519, + 0.0 + ], + [ + 3049.641, + -2764.542, + 141.667, + 0.0, + -6.519, + 0.0 + ], + [ + 3174.686, + -2778.831, + 141.667, + 0.0, + -6.519, + 0.0 + ], + [ + 3299.731, + -2793.121, + 141.667, + 0.0, + -6.519, + 0.0 + ], + [ + 3424.776, + -2807.41, + 141.667, + 0.0, + -6.519, + 0.0 + ], + [ + 3549.821, + -2821.699, + 141.667, + 0.0, + -6.519, + 0.0 + ], + [ + 3549.821, + -2821.699, + 141.667, + 0.0, + -6.519, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see benches, tall arched windows and litter bins along the wall, with no ticket machines anywhere in view. I will turn right to sweep the hall and look for the pair of machines set against the green metal framework.", + "Turning has brought a machine marked Tickets into the far right edge of my view, but it is cut off and I cannot yet tell whether a second one stands beside it. I will keep turning right to bring that area fully into the center of my view.", + "Now I can see two ticket machines standing side by side against the green metal columns, but they sit off to the right of my heading. One more right turn should put the narrow gap between them straight ahead so I can walk in directly.", + "The pair of ticket machines is now centered ahead with the seam between them lined up on my heading. I will walk forward across the tiled floor to close the long distance to them.", + "The two machines are growing larger and remain centered, so my heading still points at the gap between them. I continue walking forward since nothing blocks the tiled floor in between.", + "I am noticeably closer now, with the Tickets labels readable and the dark slot between the two cabinets clearly visible. Another step forward keeps me tracking straight into that gap.", + "The machines now fill much of my view and the gap between them stays aligned with my path. I keep advancing to reduce the remaining distance to the opening.", + "Both cabinets are close enough that their keypads and card slots are sharp, and the shadowed gap between them is directly in front of me. I will step forward again to move into that opening.", + "Both ticket machines now fill my view at close range, with the dark slot between their side panels centered directly ahead of me. Since I am already committed to this pair against the green metal columns, I will step forward once more to bring myself into that narrow gap.", + "I am standing between the two ticket machines, with one panel close on each side and the gap enclosing me. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x002800_y-002736_z000142_t1_b/infos.json b/dataset/trajectory/VictorianTrainStation/task_x002800_y-002736_z000142_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4132bc3de75a81a7256dc49131960e400e89e1de --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x002800_y-002736_z000142_t1_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Locate the red telephone booth nearby; once you identify it, walk over to it.", + "Type": 1, + "Start_Pose": [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -81.519, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -81.519, + 0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -56.519, + 0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -31.519, + 0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -6.519, + 0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + 18.481, + -0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + 43.481, + -0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + 68.481, + -0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + 93.481, + -0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + 118.481, + -0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + 143.481, + -0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + 168.481, + -0.0 + ], + [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -166.519, + 0.0 + ], + [ + 2677.159, + -2765.305, + 143.205, + 0.0, + -166.519, + 0.0 + ], + [ + 2554.768, + -2794.645, + 143.205, + 0.0, + -166.519, + 0.0 + ], + [ + 2432.376, + -2823.986, + 143.205, + 0.0, + -166.519, + 0.0 + ], + [ + 2309.985, + -2853.327, + 143.205, + 0.0, + -166.519, + 0.0 + ], + [ + 2309.985, + -2853.327, + 143.205, + 0.0, + -141.519, + 0.0 + ], + [ + 2211.461, + -2931.643, + 143.205, + 0.0, + -141.519, + 0.0 + ], + [ + 2112.937, + -3009.959, + 143.205, + 0.0, + -141.519, + 0.0 + ], + [ + 2014.412, + -3088.276, + 143.205, + 0.0, + -141.519, + 0.0 + ], + [ + 2014.412, + -3088.276, + 143.205, + 0.0, + -116.519, + 0.0 + ], + [ + 1958.217, + -3200.893, + 143.205, + 0.0, + -116.519, + 0.0 + ], + [ + 1916.355, + -3253.439, + 143.204, + 0.0, + -116.519, + 0.0 + ], + [ + 1916.355, + -3253.439, + 143.204, + 0.0, + -116.519, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see arched windows, wooden benches and tiled floor of this station hall, with nothing red or booth shaped in front of me. Since the telephone booth is not in this part of my view, I will turn to my right to sweep a fresh section of the hall.", + "My new heading shows more brickwork, benches and a machine appearing at the right edge, but still no red telephone booth. I will keep rotating to the right so that the area beyond that edge comes into my view.", + "I now face two ticket machines standing against the pillars, with benches trailing off to my left and no red booth anywhere in my sight. I will continue my rightward scan, since the hall clearly extends further in that direction.", + "The ticket machines sit squarely in front of me and the space to my right opens into a darker part of the hall that I cannot inspect yet. Turning right again should bring that unexplored stretch into my view in case the booth stands there.", + "Ahead of me the machines have slid to my left edge and I am looking at tall columns and shadowed archways with no sign of a red booth. I will rotate further right to keep uncovering new parts of this concourse.", + "In front of me lies a dim interior with a sunken stairwell opening in the floor and nothing that matches a telephone booth. I will turn right once more, hoping the brighter area I can sense past the pillar reveals the target.", + "A heavy pillar blocks much of my forward view, but daylight and a large clock at my right suggest the concourse continues that way. I will keep turning right so that the brighter, more open side of the station enters my view.", + "I am now looking across a sunlit concourse with departure boards and barriers, yet no red telephone booth has appeared in my sight. I will continue my rightward scan to check the far side of this open area.", + "From this heading I only see the platform ramps, the red departure boards and the iron roof structure, with no sign of a red telephone booth. Since nothing here matches the target, I will keep rotating rightward to sweep more of the concourse into view.", + "The view now opens onto the wide tiled concourse with turnstiles and barriers on the right, but still no red booth stands out along that side. I will continue turning right to bring the far wall and the unexamined right portion of the hall into my field of view.", + "At the far right edge of my view, against the sunlit stone facade, I can make out a tall red shape that looks like the telephone booth I am looking for. I will turn right once more to bring that candidate closer to the center of my view and confirm it.", + "The red telephone booth is now clearly identified ahead and slightly to my right, standing beside a bench against the stone facade. The tiled floor between us is open and clear, so I will start walking forward to close the distance to it.", + "The booth has grown noticeably larger and stays in the right half of my view, confirming that my heading is carrying me toward it. I will keep walking forward along this open stretch of paving.", + "I am steadily closing on the red booth, whose panelled door and roof sign are now easier to resolve against the facade. Nothing blocks the path, so another step forward should bring me nearer still.", + "The booth now occupies a large part of the right side of my view and the bench beside it is close as well, so I still have some ground to cover. I will continue advancing toward it.", + "My forward motion has pushed the red booth toward the right edge of my view, so continuing straight would carry me past it rather than to it. I will turn right to bring the booth back in front of me and line up my approach.", + "The red telephone booth now sits ahead of me against the station wall, roughly centered in my view with clear open paving between us. Since the target is identified and my heading points at it, I will walk forward to close the remaining distance.", + "The booth has grown noticeably larger and stays near the middle of my view, confirming my last step carried me toward it. I will keep walking forward since nothing blocks the paving ahead.", + "The red booth now dominates the right half of my view and its glazed panels are clearly resolved, so I am getting close. Another step forward should bring me within a few paces of it.", + "At this range the booth has drifted to the right edge of my view while my heading still points down the open concourse. I will turn right to bring the booth back to the center of my view before continuing.", + "The turn placed the telephone booth squarely in front of me, with its door and lettering plainly readable. I will step forward to finish closing the short gap that remains.", + "The booth's red frame and glazing now fill most of my view and my own shadow falls on its panels, so I am nearly touching it. One short step forward should place me right at its side.", + "The red telephone booth's glazed door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003074_y000842_z-000688_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003074_y000842_z-000688_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fb86b3c3ea728e5dfefb5410ee0670a5aeea636b --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003074_y000842_z-000688_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Go to the red phone booth in front of you first, then go to the bench closest to you.", + "Type": 3, + "Start_Pose": [ + 3074.08, + 841.817, + -688.032, + -0.05, + 157.989, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3074.08, + 841.817, + -688.032, + -0.05, + 157.989, + 0.0 + ], + [ + 3074.08, + 841.817, + -688.035, + -0.05, + 132.989, + 0.0 + ], + [ + 2988.262, + 933.881, + -688.981, + -0.05, + 132.989, + 0.0 + ], + [ + 2902.444, + 1025.945, + -688.981, + -0.05, + 132.989, + 0.0 + ], + [ + 2816.626, + 1118.009, + -688.981, + -0.05, + 132.989, + 0.0 + ], + [ + 2730.808, + 1210.073, + -688.981, + -0.05, + 132.989, + 0.0 + ], + [ + 2644.99, + 1302.136, + -688.981, + -0.05, + 132.989, + 0.0 + ], + [ + 2644.99, + 1302.136, + -688.981, + -0.05, + 132.989, + 0.0 + ], + [ + 2644.99, + 1302.136, + -688.981, + -0.05, + 157.989, + 0.0 + ], + [ + 2644.99, + 1302.136, + -688.981, + -0.05, + -177.011, + 0.0 + ], + [ + 2644.99, + 1302.136, + -688.981, + -0.05, + -152.011, + 0.0 + ], + [ + 2644.99, + 1302.136, + -688.981, + -0.05, + -127.011, + -0.0 + ], + [ + 2644.99, + 1302.136, + -688.981, + -0.05, + -102.011, + -0.0 + ], + [ + 2618.799, + 1179.033, + -688.981, + -0.05, + -102.011, + -0.0 + ], + [ + 2618.799, + 1179.033, + -688.981, + -0.05, + -77.011, + -0.0 + ], + [ + 2647.088, + 1056.394, + -688.981, + -0.05, + -77.011, + -0.0 + ], + [ + 2675.376, + 933.756, + -688.981, + -0.05, + -77.011, + -0.0 + ], + [ + 2675.376, + 933.756, + -688.981, + -0.05, + -77.011, + -0.0 + ] + ], + "Rationale": [ + "The red phone booth stands against the brick wall well off to my left, while my heading points down the empty arcade. I will turn left so the booth sits ahead of me and I can walk straight at it.", + "The phone booth now sits ahead and slightly left, with clear open tile between me and it. I will walk forward to close the long gap toward it.", + "The booth has grown larger in front of me, so my heading is carrying me straight onto it. Nothing blocks the tiles between us, so I keep walking forward.", + "The red booth fills more of my view and its glazing and lit base are now distinct, but I am still several paces short of standing beside it. I will step forward again to keep closing.", + "The booth now towers on my left front, taller than the frame at its top, so I am close but not yet abreast of it. Another forward step should bring me right up against it.", + "The booth's red frame and glass now dominate the left side of my view at arm's reach. One more step forward should place me level with it rather than just short of its front face.", + "The red phone booth's glass and painted frame stand immediately beside me, filling the whole left side of my view at touching distance. I have reached the phone booth. I mark reaching it, and now I set off for the bench nearest to where I began.", + "Standing at the booth, my view is mostly blocked by its glass panel, and the bench I want lies back across the arcade behind my right shoulder. I will turn right to swing my heading off the booth and open the hall up again.", + "The red booth is now only a sliver at my left edge, and the long concourse has opened ahead with pale benches set against the far right wall. I will keep turning right to swing my heading off the booth and toward that seating side.", + "The benches sit ahead and slightly right of my heading, still well down the concourse. Another right turn should bring the seating line more squarely in front of me before I commit to walking.", + "The benches I can see are distant, drifting toward the left of my view as I rotate, so they are not the nearest seat available to me. I will continue right to sweep the wall on my near side, where a closer bench may stand.", + "A wooden bench stands close against the wall on my right, far nearer than the ones strung along the left. One more right turn should put that near bench in the middle of my path.", + "The nearest bench now sits squarely ahead of me with clear tiled floor between us. I will walk forward to close that short gap.", + "The bench now fills much of my view and its near end lies off to my right, so walking straight on would only carry me into its back. Turning right should point me at that end and the open pavement beside it.", + "The bench lies along my left with clear tiles running past its near end. Stepping forward should bring me alongside it rather than into its back.", + "Only the near end of the bench remains in my left view, its armrest almost within reach. One more step forward should place me right beside this closest bench.", + "The bench's slatted back and armrest fill the near left of my view, close enough to touch. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003082_y-002055_z000144_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003082_y-002055_z000144_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16c7dc6c33fff61fd642a23dce7c4fdaebc1e483 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003082_y-002055_z000144_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the double ticket machines.", + "Type": 0, + "Start_Pose": [ + 3081.535, + -2055.324, + 144.421, + -0.05, + -66.81, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3081.535, + -2055.324, + 144.421, + -0.05, + -66.81, + 0.0 + ], + [ + 3131.096, + -2171.014, + 144.291, + -0.05, + -66.81, + 0.0 + ], + [ + 3180.657, + -2286.704, + 144.989, + -0.05, + -66.81, + 0.0 + ], + [ + 3230.218, + -2402.394, + 141.667, + -0.05, + -66.81, + 0.0 + ], + [ + 3230.218, + -2402.394, + 141.667, + -0.05, + -41.81, + 0.0 + ], + [ + 3324.028, + -2486.3, + 141.667, + -0.05, + -41.81, + 0.0 + ], + [ + 3417.838, + -2570.205, + 141.667, + -0.05, + -41.81, + 0.0 + ], + [ + 3511.648, + -2654.111, + 141.667, + -0.05, + -41.81, + 0.0 + ], + [ + 3605.458, + -2738.016, + 141.667, + -0.05, + -41.81, + 0.0 + ], + [ + 3679.726, + -2821.41, + 141.667, + -0.05, + -41.81, + 0.0 + ], + [ + 3679.726, + -2821.41, + 141.667, + -0.05, + -41.81, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the concourse I can see the pair of ticket machines standing against the wall to the right of center, still far across the tiled floor. The open floor ahead is clear, so I will move forward to start closing that distance.", + "The double machines have grown slightly larger and are still slightly right of my heading, so I am closing on them correctly. I will keep advancing straight while the floor in front of me remains clear.", + "The two machine fronts with their screens are now clearly readable on the right of my view, confirming this is the target pair. Another step forward should bring me near enough that a small heading correction is all that remains.", + "The pair of ticket machines sits noticeably to the right of my heading while the arched window and benches fill the center of my view. I will turn right to place the machines in front of me before continuing to close the gap.", + "After the turn the two ticket machines now sit near the middle of my view with their labeled tops facing me. With the heading corrected and open floor between us, I will move forward along this line.", + "The two machines are larger and still centered, so my heading is holding well as I approach. I will continue forward to reduce the remaining distance.", + "The machine fronts, coin slots and screens are now close and dominate the middle of my view, but there is still a stretch of floor before them. I will step forward again to get within arm's reach of the pair.", + "Both machines now loom directly ahead at a slight angle, with the nearer one filling much of my view. A final short advance should place me right at the front of the double ticket machines.", + "Both ticket machines now fill my view, with the nearer screen and card slot clearly legible just ahead and slightly right. A short final step should bring me right up to the pair at a proper standing distance rather than leaving a gap.", + "I am standing directly at the double ticket machines, with the adjacent unit's screen and slots right beside me. The approach task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003108_y-002314_z000145_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003108_y-002314_z000145_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..387445b1feb237d22a34f5921f24f6aed9369114 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003108_y-002314_z000145_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Navigate to the bin located near the bench.", + "Type": 0, + "Start_Pose": [ + 3107.848, + -2314.364, + 144.946, + -0.05, + -151.268, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3107.848, + -2314.364, + 144.946, + -0.05, + -151.268, + -0.0 + ], + [ + 2997.485, + -2374.866, + 141.667, + -0.05, + -151.268, + -0.0 + ], + [ + 2887.122, + -2435.368, + 141.667, + -0.05, + -151.268, + -0.0 + ], + [ + 2887.122, + -2435.368, + 141.667, + -0.05, + -126.268, + -0.0 + ], + [ + 2812.669, + -2536.843, + 141.667, + -0.05, + -126.268, + -0.0 + ], + [ + 2738.215, + -2638.318, + 143.738, + -0.05, + -126.268, + -0.0 + ], + [ + 2663.762, + -2739.793, + 143.15, + -0.05, + -126.268, + -0.0 + ], + [ + 2589.308, + -2841.268, + 143.15, + -0.05, + -126.268, + -0.0 + ], + [ + 2514.854, + -2942.743, + 143.15, + -0.05, + -126.268, + -0.0 + ], + [ + 2440.401, + -3044.217, + 143.15, + -0.05, + -126.268, + -0.0 + ], + [ + 2365.947, + -3145.692, + 143.15, + -0.05, + -126.268, + -0.0 + ], + [ + 2291.494, + -3247.167, + 143.15, + -0.05, + -126.268, + -0.0 + ], + [ + 2291.494, + -3247.167, + 143.15, + -0.05, + -101.268, + -0.0 + ], + [ + 2291.494, + -3247.167, + 143.15, + -0.05, + -101.268, + -0.0 + ] + ], + "Rationale": [ + "From under the station canopy I can see a row of wooden benches along the far right-hand wall, with a small dark bin standing between them beside the red telephone box. That cluster is my target area, so I will step forward across the open tiled concourse to begin closing the long gap.", + "The benches and the bin beside them now appear slightly larger and the pillar on my left has slid past, so my previous step did shorten the distance. The floor ahead remains clear, so I will keep walking forward toward that seating area.", + "My straight heading is carrying me toward the open concourse and the barriers on the left, while the benches and the bin between them sit off to my right along the wall. I will turn right to swing my heading onto that bench alcove so the following steps lead directly to the bin.", + "After the turn the bench row with the dark bin sits closer to the middle of my view, so my heading now points at the target area. The tiles between me and the benches are open, so I will walk forward to close the remaining distance.", + "The bin between the two benches is clearly visible ahead and growing as I advance along the wall. My heading is still good, so I will continue stepping forward rather than adjusting it.", + "The benches, the telephone box and the bin now fill much more of my view, confirming steady progress toward them. Nothing blocks the tiled floor in front of me, so I will take another step forward.", + "The bin is now plainly resting on the pavement between the two benches a short way ahead of me. I am still too far for a confident stopping position, so I will move forward again to tighten the approach.", + "The bin beside the nearer bench is now large and just ahead and slightly right of my heading, so only a little distance remains. I will step forward once more to bring myself alongside it.", + "The dark bin sits ahead beside the wall, tucked between the wooden bench on the left and the second bench on the right, so my heading is already pointed at the target. It is still several paces off, so I will step forward along the paved walkway to close that gap.", + "The bin now reads much larger and its slot and round panel are clearly visible just right of straight ahead, confirming I am tracking the right object next to the bench. I will keep walking forward since there is still open paving between me and it.", + "The bin and the adjacent bench fill much of the view now, with the bin standing a short distance ahead and slightly to my right. One more forward step should bring me within arm's reach of it rather than leaving me hovering short.", + "I am now standing right at the bench, whose seat and armrest dominate the left side, and the bin has slipped to the lower right edge of my view as I closed in. Turning right should swing my heading back onto the bin so it sits squarely in front of me.", + "The bin stands directly in front of me at arm's length, with the bench right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t0_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf2cb324299a8de98f7618818fe7c36a1e0e892f --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go towards the large green arched pillar.", + "Type": 0, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3034.264, + -2676.846, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2980.015, + -2790.414, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2925.766, + -2903.981, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2871.517, + -3017.548, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2817.267, + -3131.115, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2763.018, + -3244.682, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2763.018, + -3244.682, + 141.667, + -0.05, + -115.533, + -0.0 + ] + ], + "Rationale": [ + "The large green arched ironwork pillar stands ahead of me near the middle of my view, rising from the tiled floor where it meets the brick arch. My heading is already lined up with it, so I will step straight forward across the open tiles to begin closing the gap.", + "The green arched pillar now looks slightly larger and still sits close to straight ahead, confirming my heading is good. I will continue forward without turning to keep shortening the distance.", + "The green pillar and the arch springing from it fill more of my forward view, and the walkway ahead remains clear of obstructions. Another straight step should bring me noticeably nearer.", + "I can now see the riveted detail of the green column base and the benches flanking it on either side, so I am well aligned with the target. I will keep walking forward since there is still open floor between me and the pillar.", + "The green pillar now dominates the center of my view with the brick arch behind it, but I am not yet close enough to call this arrival. I will take another forward step along the same heading.", + "The green ironwork column is very near, with its bolted plates and surface texture clearly readable ahead of me. A little more forward motion should place me right at its base.", + "The green column now blocks most of what lies ahead, with a bench close on my left and the brick wall to my right. One final short step forward should bring me directly against the pillar.", + "The large green arched pillar's riveted surface 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/VictorianTrainStation/task_x003143_y-002450_z000142_t0_b/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..25101912d800d3b4f241e66c8f2e137fc0ae3849 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t0_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the red telephone booth.", + "Type": 0, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3034.264, + -2676.846, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3034.264, + -2676.846, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2937.102, + -2756.847, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2839.94, + -2836.847, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2742.778, + -2916.847, + 142.685, + -0.05, + -140.533, + -0.0 + ], + [ + 2645.616, + -2996.847, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2548.454, + -3076.847, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2451.292, + -3156.848, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2451.292, + -3156.848, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 2329.424, + -3188.29, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 2207.556, + -3219.732, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 2085.688, + -3251.175, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 1963.819, + -3282.617, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 1963.819, + -3282.617, + 143.15, + -0.05, + -165.533, + -0.0 + ] + ], + "Rationale": [ + "I can already spot the red telephone booth standing far ahead on the left side of the covered walkway, near the tall arched windows. The open tiled floor in front of me is clear, so I will step forward to begin closing that long distance.", + "The booth has grown slightly larger and the benches along the wall are nearer, so my heading is carrying me usefully toward the target. The floor ahead remains empty, so I will continue walking forward to keep shrinking the gap.", + "The red booth now sits well to the left of where I am facing, while my current heading points at the brick pier and the wall straight ahead. I will turn left to bring the booth closer to the center of my view before continuing.", + "After turning, the long walkway with the booth beside it opens up ahead of me and the target is much better placed in my forward path. The tiled ground in that direction is clear, so I will walk forward along it.", + "The booth and the row of benches are noticeably larger, confirming my heading is taking me straight down the corridor toward the target. I will keep stepping forward since nothing blocks this stretch of floor.", + "The red booth is clearly distinguishable ahead and to my left, with a bench and a bin lining the wall beside it. Distance is still considerable, so I will continue forward along the open tiles.", + "I am now close enough to see the glazed panels and the sign board of the red booth on the left side of the corridor. Since I am still a few steps short of standing beside it, I will move forward again.", + "The booth stands just past the bench and bin ahead on my left, and the walkway between me and it is unobstructed. I will take another step forward to keep reducing the remaining distance to the target.", + "The red telephone booth stands clearly against the pale wall ahead and to my left, with the open walkway between the benches still free of obstruction. I will step forward again along this covered corridor to keep closing the remaining distance to it.", + "The booth now sits noticeably off to the left of my heading while my current path aims past it toward the bench and bin on the right. Turning left should bring the booth closer to straight ahead so my next steps carry me directly to it.", + "After the turn the red booth sits near the middle of my view with clear tiled floor leading up to it. I will walk forward on this heading to reduce the remaining gap.", + "The booth has grown larger and its glazed door panels are now distinct, so my heading is holding well. Another step forward should bring me within a few paces of it.", + "The telephone booth now towers directly ahead with its lettered sign and door frame fully visible, and the adjacent bench is safely to my right. I will step forward once more to stand right at the booth.", + "I am nearly touching the booth, with its red door panel and glass filling most of the space in front of me. One final short step should place me immediately beside it.", + "The red telephone booth's painted panels fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69bc42bdd1b06e3dc28889a9e95a6583e129994d --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the first bench on the right.", + "Type": 2, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -90.533, + 0.0 + ], + [ + 3087.342, + -2689.133, + 141.667, + -0.05, + -90.533, + 0.0 + ], + [ + 3086.171, + -2814.986, + 141.667, + -0.05, + -90.533, + 0.0 + ], + [ + 3086.171, + -2814.986, + 141.667, + -0.05, + -65.533, + 0.0 + ], + [ + 3138.298, + -2929.543, + 141.667, + -0.05, + -65.533, + 0.0 + ], + [ + 3190.425, + -3044.1, + 141.667, + -0.05, + -65.533, + 0.0 + ], + [ + 3242.552, + -3158.657, + 141.667, + -0.05, + -65.533, + 0.0 + ], + [ + 3294.679, + -3273.213, + 141.667, + -0.05, + -65.533, + 0.0 + ], + [ + 3294.679, + -3273.213, + 141.667, + -0.05, + -65.533, + 0.0 + ] + ], + "Rationale": [ + "Along the right-hand wall a row of benches runs beneath the arched windows, and the nearest of them, the one at my right edge next to the waste bin, is the one I want. The tiled floor ahead is open, so I walk forward to close distance before angling toward it.", + "The bench I chose sits well off to my right, outside my forward path. I turn right to swing it toward the middle of my view so I can walk straight at it.", + "The turn has brought the wall of benches around in front of me, with mine on the right side under the tall window beside its bin. The floor between us is clear, so I step forward to close the gap.", + "The bench beside the bin has grown larger and its slats are clearer, but it is still several strides away toward my right. I keep walking forward to cut down that remaining distance.", + "More benches of the same kind keep coming into view along this wall, so I stay with the one I picked at the near right end, the one flanked by the waste bin under the bright window. It has slid toward my right edge, so I turn right to bring it back in front of me.", + "The turn has lined my bench and the bin at its end up ahead of me. The tiled floor between is clear, so I walk forward to close the remaining gap.", + "The bench and the bin beside it now take up much of my view, yet I am still a couple of strides short of standing at it. I continue forward to reach it.", + "The bench is close ahead and slightly to my left, its backrest and armrest filling the near view with the bin at its end. One more step forward should bring me right up beside it.", + "The bench now spans the lower half of my view with the bin at its far end, but its seat still sits a short stride out from where I stand. I advance once more to draw level with it.", + "The bench's armrest and slatted back fill my view right beside me, with its bin at arm's reach. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_b/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2ec4cc977e8ba842cb58ee5cf62029ca3adf288 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the second bench on the right side.", + "Type": 2, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -90.533, + 0.0 + ], + [ + 3087.342, + -2689.133, + 141.667, + -0.05, + -90.533, + 0.0 + ], + [ + 3086.171, + -2814.986, + 141.667, + -0.05, + -90.533, + 0.0 + ], + [ + 3085.0, + -2940.84, + 141.667, + -0.05, + -90.533, + 0.0 + ], + [ + 3083.83, + -3066.693, + 141.667, + -0.05, + -90.533, + 0.0 + ], + [ + 3083.83, + -3066.693, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3029.581, + -3180.26, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2976.039, + -3289.407, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2976.039, + -3289.407, + 141.667, + -0.05, + -115.533, + -0.0 + ] + ], + "Rationale": [ + "Along the wall to my right a row of benches recedes into the concourse, and counting from the near end the second of them is the one tucked against the brick pier beside the green iron column, with a litter bin at its side. I fix on that bench and step forward to open up the floor before I swing toward it.", + "My chosen bench, the one against the brick pier beside the green column, lies off to the right edge of my view rather than ahead of me. Turning right should swing that stretch of wall in front of me so I can walk at it directly.", + "The wall with its benches now faces me squarely across a wide stretch of tiled floor. The bench I want, beside the green column with a litter bin next to it, sits ahead and a little left, so I walk straight forward to close that gap.", + "The benches have grown noticeably and I can make out my bench sitting against the brick beside the green pier, with the bin at its edge. There is still a good stretch of floor between us, so I keep walking straight ahead.", + "Only a pair of benches and a bin now fill my view, so the near end of the row I counted from has slid out of sight, but I am still going to the bench beside the green column. It sits to the left of the bin, close but not yet within reach, so I advance again.", + "The bench beside the green column and the bin next to it now fill much of my view, though a couple of paces of tile remain in front of me. I step forward again to bring myself right up against that bench.", + "At this range the bench I am after has drifted to the left half of my view, with the litter bin sitting straight in front of me instead. Turning left should put that bench squarely ahead so my last steps land beside it rather than at the bin.", + "The bench beside the green column now sits centered ahead of me with the lit brick behind it and the bin off to its right. A short step forward should bring me right up to it.", + "The bench beside the green column now spans most of my view, its seat and armrest close under the lit brick. A short gap of tile still separates me from its front edge, so one more step should put me right alongside it.", + "The bench's backrest and slats are right in front of me at arm's length. I have arrived beside it, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_c/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8a8daae13769089014a39b0c28e47f1656b5a48b --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t2_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the second wooden bench from the left along the brick wall.", + "Type": 2, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3034.264, + -2676.846, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2980.015, + -2790.414, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2925.766, + -2903.981, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2871.517, + -3017.548, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 2871.517, + -3017.548, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2774.355, + -3097.548, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2677.193, + -3177.548, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2580.031, + -3257.549, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2580.031, + -3257.549, + 143.15, + -0.05, + -115.533, + -0.0 + ], + [ + 2580.031, + -3257.549, + 143.15, + -0.05, + -115.533, + -0.0 + ] + ], + "Rationale": [ + "Counting the benches along the wall from the left, the first stands beside the red phone box and the second sits just to the right of the dark litter bin, so that bin-side bench is my target. It lies well ahead and slightly left across the tiled floor. I will walk forward to begin closing that distance.", + "The bench beside the litter bin is still far off near the arcade wall, with plenty of clear tile between me and it. Nothing blocks the straight line ahead, so I will keep walking forward.", + "The bench with the litter bin at its left end is noticeably larger now, though still several strides away along the wall. My heading remains clean, so another forward step should keep shrinking the gap.", + "My target bench and its litter bin now sit clearly to the left of the big teal column, while another bench rests beyond the column on the brick side. I keep to the bin-side bench and walk forward again.", + "The bench beside the bin has drifted toward the left part of my view as I close on the columns, but it is still the one I want. A further step forward should bring me into its aisle before I adjust heading.", + "Walking past the column has pushed the bench with the litter bin out to the far left edge, and my heading now points at the brick pier instead. I will turn left to swing that bench back toward the center of my view.", + "The turn has brought the bench standing immediately right of the litter bin back into view ahead of me, with the phone box and the end bench beyond it. The walkway in front is open, so I will step forward toward it.", + "The bench next to the litter bin now fills much of my forward view against the brick base under the window, but I am still a stride or two short of standing at it. I will keep walking forward to reach its side.", + "The bench beside the litter bin now stretches across the near foreground with its armrest almost within reach, but I am still standing a little short of its end. One more step forward should bring me level with its seat.", + "I am standing level with the bench beside the litter bin, but it runs off to my right along the brick base while my heading points down the arcade. Turning right should square me onto the bench itself.", + "The bench beside the litter bin fills my view at arm's length, its back set against the brick sill. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f789710b028d3aa58f830e81f0c15cf36ce695e9 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Go to the red telephone booth, then navigate to the wooden bench beneath the arched window with the brick surround.", + "Type": 3, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -115.533, + -0.0 + ], + [ + 3088.513, + -2563.279, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2991.351, + -2643.279, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2894.189, + -2723.28, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2797.027, + -2803.28, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2699.865, + -2883.28, + 144.834, + -0.05, + -140.533, + -0.0 + ], + [ + 2602.703, + -2963.28, + 143.213, + -0.05, + -140.533, + -0.0 + ], + [ + 2505.541, + -3043.28, + 143.213, + -0.05, + -140.533, + -0.0 + ], + [ + 2408.379, + -3123.281, + 143.213, + -0.05, + -140.533, + -0.0 + ], + [ + 2311.217, + -3203.281, + 143.213, + -0.05, + -140.533, + -0.0 + ], + [ + 2214.055, + -3283.281, + 143.213, + -0.05, + -140.533, + -0.0 + ], + [ + 2214.055, + -3283.281, + 143.213, + -0.05, + -165.533, + -0.0 + ], + [ + 2094.914, + -3290.367, + 143.229, + -0.05, + -165.533, + -0.0 + ], + [ + 1974.488, + -3289.332, + 143.229, + -0.05, + -165.533, + -0.0 + ], + [ + 1974.488, + -3289.332, + 143.229, + -0.05, + -165.533, + -0.0 + ], + [ + 2063.958, + -3266.249, + 143.229, + -0.05, + -165.533, + -0.0 + ], + [ + 2063.958, + -3266.249, + 143.229, + -0.05, + -140.533, + -0.0 + ], + [ + 2063.958, + -3266.249, + 143.229, + -0.05, + -115.533, + -0.0 + ], + [ + 2063.958, + -3266.249, + 143.229, + -0.05, + -90.533, + -0.0 + ], + [ + 2063.958, + -3266.249, + 143.229, + -0.05, + -65.533, + -0.0 + ], + [ + 2063.958, + -3266.249, + 143.229, + -0.05, + -40.533, + -0.0 + ], + [ + 2063.958, + -3266.249, + 143.229, + -0.05, + -15.533, + -0.0 + ], + [ + 2184.713, + -3289.65, + 143.229, + -0.05, + -15.533, + -0.0 + ], + [ + 2305.331, + -3307.222, + 143.15, + -0.05, + -15.533, + -0.0 + ], + [ + 2305.331, + -3307.222, + 143.15, + -0.05, + -15.533, + -0.0 + ] + ], + "Rationale": [ + "The red telephone booth stands far down the covered concourse, tucked against the pale wall past the benches on my left. Nothing blocks the tiled floor between us, so I will walk straight ahead to cut down that distance before refining my heading.", + "The red booth sits well to the left of my current heading, near the far end of the arcade wall, while I am aimed at the ironwork and benches straight ahead. I will turn left so the booth moves toward the center of my view and I can walk a direct line to it.", + "After the turn the red booth sits nearer the middle of my view, framed between the arched windows and the benches along the wall. The stone floor ahead is clear, so I will step forward along this line to close on it.", + "The booth has grown slightly larger and stays ahead of me beside the row of wooden benches, so my heading is still good. I will keep walking forward rather than adjusting, since nothing stands in the open floor between us.", + "The red booth and the bin beside it are clearly resolved now, sitting just left of center where the tall arched windows begin. My line still leads straight at them, so another step forward should keep shrinking the gap.", + "The booth's glazed door panels are becoming legible and the nearest bench is drawing level with me, so I am well inside the arcade. I will continue forward along the same clear stretch of paving toward the booth.", + "The red booth now fills a good part of the left-of-center view with its bench and litter bin close beside it. Since I am still several strides short of standing at it, I will walk forward again.", + "The booth's red frame and glazing are close enough to read in detail, though it still sits a short distance ahead beyond the bench. The paving in front of me remains clear, so I will take another step toward it.", + "The red telephone booth stands ahead beside the bench, still several paces off along this colonnade. Nothing blocks the tiled walkway between us, so I will keep walking straight toward it.", + "The booth is noticeably larger now, its glazed door and red frame clearly resolved just left of my heading. I am still short of it, so another step forward should close more of the gap.", + "The telephone booth now dominates the left of my view with the wooden bench angling in beside it. A little more distance remains before I stand at it, so I keep walking forward.", + "I am close enough that the booth's lettered crown fills the upper left while my heading points along the bench and brickwork instead. Turning left should swing the red booth into the center of my view so I can walk straight up to it.", + "The red booth now sits squarely in front of me with clear floor between its base and my feet. I will step forward to close the last of that gap.", + "The booth's glazed door panel fills most of my view, though I am still a stride from standing right at it. One more step forward should bring me flush against the booth.", + "The red telephone booth's painted frame and glazing fill my view at arm's length, so close that I can read the grain of the paint. I have reached the telephone booth. I mark reaching it, and now I am heading for the wooden bench under the arched window with the brick surround.", + "Pressed this close, the booth's panel blocks nearly everything and leaves me no room to swing around toward the benches along the wall. I will step back to open up space before reorienting.", + "I have already marked reaching the red telephone booth, so my heading now needs to leave it and find the wooden bench under the arched window with brick surround. The booth still fills the right of my view, so I turn right to swing my facing toward the seating along the wall.", + "The booth has slid to the left edge and the wooden bench with the brick band beneath the tall window is appearing on the right. I continue turning right so that bench and its window surround move toward the center of my view.", + "The bench and the brick course under the window now fill most of my view, but I am facing almost straight into the wall at very close range. Another right step of turn should carry my heading along the row of seating instead of into the masonry.", + "The arched window with its brick surround is centered right in front of me with the bench directly below it, far too close to walk toward. I keep turning right to open my heading down the line of benches where I have floor to move on.", + "The bench has swung to my left and a stone pier with a waste bin is coming into view on the right. I turn right again to keep rotating my facing toward the open paving that runs beside the benches.", + "I can now see the bin, the near bench and a further bench continuing along the wall, with tiled floor opening on the right. One more right turn should put that walkable strip straight ahead so I can advance beside the benches.", + "My heading is now clear of the wall, with the tiled concourse running ahead and the benches lining the brick and window wall on my left. I walk forward to close on the bench seated under the arched window with the brick surround.", + "The wooden bench beneath the arched window with brick surround is now close on my left, but I am still short of being level with it. I step forward again to draw alongside the bench.", + "The wooden bench sits directly beside me beneath the arched window with its brick surround. I am at my destination, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t5_a_p/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b2bafcbd43e62dea7376095c9941a0b5182a53ff --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003143_y-002450_z000142_t5_a_p/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the metal bucket near the red telephone booth.", + "Type": 5, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1889.019, + -3198.294, + 83.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + 0 + ], + [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 3045.6, + -2529.712, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2948.438, + -2609.712, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2851.276, + -2689.713, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2754.114, + -2769.713, + 141.667, + -0.05, + -140.533, + -0.0 + ], + [ + 2656.952, + -2849.713, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2559.79, + -2929.713, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2462.628, + -3009.713, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2365.466, + -3089.714, + 143.15, + -0.05, + -140.533, + -0.0 + ], + [ + 2365.466, + -3089.714, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 2243.598, + -3121.156, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 2121.73, + -3152.598, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 1999.862, + -3184.041, + 143.15, + -0.05, + -165.533, + -0.0 + ], + [ + 1999.862, + -3184.041, + 143.15, + 0.0, + -165.533, + 0.0 + ], + [ + 1999.862, + -3184.041, + 143.15, + 0.0, + -165.533, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1889.019, + -3198.294, + 83.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2005.787, + -3204.565, + 113.256, + -28.202, + -115.388, + 1.862 + ], + [ + 2005.787, + -3204.565, + 113.256, + -28.202, + -115.388, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1460.2, + 1460.2, + 1335.9, + 1211.9, + 1088.4, + 965.4, + 843.3, + 722.5, + 603.8, + 488.7, + 488.7, + 362.9, + 237.2, + 111.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The red telephone booth I need to reach sits far off to the left edge of my view, deep down the station concourse, while my heading points across the open tiled floor. I will turn left to bring that booth and the objects beside it into the center of my path before walking.", + "The red telephone booth now sits ahead of me along the concourse, with benches and a dark cylindrical container beside it. The floor between us is clear and open, so I will walk forward to close the long distance toward the booth area.", + "The booth is slightly larger now but still far down the hall, and the metal container beside it is only a small dark shape. Nothing blocks the tiled walkway ahead, so I will keep advancing along this heading.", + "The telephone booth and the benches along the wall are growing steadily in front of me, which confirms this heading leads to the target area. The path remains open, so I will continue walking forward.", + "The booth sits ahead beside the wall with a dark bucket-like container just to its left, and I am still several strides short of it. I will keep moving forward to shorten that gap.", + "The booth and the metal container next to it are clearly resolved now against the station wall, but they remain beyond arm's reach. The route stays free of obstacles, so I will advance again.", + "The telephone booth now fills a good part of the view ahead, with the dark metal container standing at its left side. I am still too far to reach that container, so I will continue stepping forward.", + "The booth and the metal bucket beside it are close ahead and slightly left of my heading, with clear tiles between us. I will keep walking forward to bring the bucket within reach before adjusting my heading.", + "The red telephone booth is now clearly ahead and slightly left, with a dark metal bucket standing right beside its base. I am still several strides away, too far for any grasp. I will keep walking forward to close that gap along the open paving.", + "The booth and the metal bucket beside it now sit on the left half of my view, while my heading points along the benches to the right. Continuing straight would carry me past them. I will turn left to bring the bucket toward the center of my path.", + "After the turn the red booth and the metal bucket at its side are framed ahead of me with clear paving between. The bucket is still too distant to reach. I will step forward on this heading to shorten the remaining distance.", + "The bucket and the booth have grown noticeably larger, so my heading is carrying me straight toward them. I am still a couple of strides short of grasping range. Another step forward should bring the bucket close enough to handle.", + "The metal bucket now fills much of the lower view right beside the red booth, but its rim is still slightly out of comfortable arm's reach. One more forward step should place me directly over it. I will advance.", + "I am standing right at the metal bucket beside the red telephone booth, its open rim directly in front of me and well within arm's reach. Nothing blocks my hands. I will attempt to pick it up now.", + "The metal bucket is now held in my hands, lifted off the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/VictorianTrainStation/task_x003172_y-002231_z000144_t3_a/infos.json b/dataset/trajectory/VictorianTrainStation/task_x003172_y-002231_z000144_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d9dc7ec7f8daefa715b166feceeaa1daae95b9c3 --- /dev/null +++ b/dataset/trajectory/VictorianTrainStation/task_x003172_y-002231_z000144_t3_a/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "First, go to the distant red phone booth, then proceed to the base of the large pillar on the left.", + "Type": 3, + "Start_Pose": [ + 3171.887, + -2231.266, + 144.291, + -0.05, + -171.268, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3171.887, + -2231.266, + 144.291, + -0.05, + -171.268, + -0.0 + ], + [ + 3171.887, + -2231.266, + 144.291, + -0.05, + -146.268, + -0.0 + ], + [ + 3067.217, + -2301.157, + 144.965, + -0.05, + -146.268, + -0.0 + ], + [ + 2962.547, + -2371.047, + 141.782, + -0.05, + -146.268, + -0.0 + ], + [ + 2857.877, + -2440.938, + 141.782, + -0.05, + -146.268, + -0.0 + ], + [ + 2753.207, + -2510.829, + 141.782, + -0.05, + -146.268, + -0.0 + ], + [ + 2648.538, + -2580.719, + 143.15, + -0.05, + -146.268, + -0.0 + ], + [ + 2543.868, + -2650.61, + 143.15, + -0.05, + -146.268, + -0.0 + ], + [ + 2439.198, + -2720.5, + 143.15, + -0.05, + -146.268, + -0.0 + ], + [ + 2334.528, + -2790.391, + 143.15, + -0.05, + -146.268, + -0.0 + ], + [ + 2334.528, + -2790.391, + 143.15, + -0.05, + -121.268, + -0.0 + ], + [ + 2269.202, + -2897.969, + 143.15, + -0.05, + -121.268, + -0.0 + ], + [ + 2203.876, + -3005.547, + 143.15, + -0.05, + -121.268, + -0.0 + ], + [ + 2138.55, + -3113.124, + 143.15, + -0.05, + -121.268, + -0.0 + ], + [ + 2073.224, + -3220.702, + 143.15, + -0.05, + -121.268, + -0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + -121.268, + -0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + -121.268, + -0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + -146.268, + -0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + -171.268, + -0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + 163.732, + -0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + 138.732, + -0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + 113.732, + -0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + 88.732, + 0.0 + ], + [ + 2011.259, + -3289.665, + 143.15, + -0.05, + 63.732, + 0.0 + ], + [ + 2066.96, + -3176.803, + 143.15, + -0.05, + 63.732, + 0.0 + ], + [ + 2122.662, + -3063.941, + 143.15, + -0.05, + 63.732, + 0.0 + ], + [ + 2178.363, + -2951.079, + 143.15, + -0.05, + 63.732, + 0.0 + ], + [ + 2234.064, + -2838.217, + 143.15, + -0.05, + 63.732, + 0.0 + ], + [ + 2289.766, + -2725.355, + 143.15, + -0.05, + 63.732, + 0.0 + ], + [ + 2345.467, + -2612.493, + 143.15, + -0.05, + 63.732, + 0.0 + ], + [ + 2401.169, + -2499.631, + 143.15, + -0.05, + 63.732, + 0.0 + ], + [ + 2401.169, + -2499.631, + 143.15, + -0.05, + 38.732, + 0.0 + ], + [ + 2499.349, + -2420.884, + 143.15, + -0.05, + 38.732, + 0.0 + ], + [ + 2597.529, + -2342.137, + 143.15, + -0.05, + 38.732, + 0.0 + ], + [ + 2597.529, + -2342.137, + 143.15, + -0.05, + 38.732, + 0.0 + ] + ], + "Rationale": [ + "The red phone booth sits far off along the right-hand wall of the concourse, while heavy green ironwork and a brick wall crowd the left of my view. Turning right should swing that open hall and the distant booth toward the centre of my heading before I start walking.", + "The concourse now opens ahead of me and the small red booth stands against the far wall, well beyond the benches. The tiled floor between us is clear, so I will walk forward to close that distance.", + "The booth has grown slightly and the arcade of tall windows beside it is more distinct, confirming I am on a good line. Nothing blocks the open floor, so another step forward should continue closing on it.", + "I have passed under the ironwork and the hall is wide open, with the red booth still ahead and a little right against the pale stone wall. The barriers stay well off to my left, so I keep walking straight toward it.", + "The booth's red panels and the bench next to it are clearly resolved now, but it is still a fair walk away across the tiles. My heading holds it on the right of centre, so I advance again.", + "The wall of arched windows is drawing closer and the red booth is noticeably taller in view, though it is drifting a little toward my right as I advance. The path stays clear, so I continue forward rather than adjusting heading yet.", + "The booth now stands out plainly against the sunlit stone, with its bench and litter bin beside it, but I am still several strides short. Walking straight ahead again should bring me nearer before I need to turn toward it.", + "The red booth is close enough that its glazed door panels are distinct, sitting to the right of my heading beside the bench. I take another step forward to cut the remaining distance across the open floor.", + "The red call box stands ahead against the right-hand wall beside the bench, still several paces off across the open concourse floor. My heading already points along that stretch of clear paving, so I will keep walking forward to cut the remaining distance.", + "The booth has grown noticeably larger, but it sits off to the right of my current heading rather than straight ahead. I will turn right to swing that red box onto my line of travel before continuing toward it.", + "The turn has brought the red booth near the middle of my view, with the bench and bin lined up along the same wall. The paving in front of it is clear, so I will step forward to close on it.", + "The call box now stands tall just left of my centre line, its red frame catching the sunlight. Several strides of open floor still separate us, so I will walk forward again to draw nearer.", + "Its red panelling and glazed doors now fill much of the left side of my view, with the wooden bench running beside it. I am not yet standing at it, so another step forward should bring me alongside.", + "I can pick out the individual panes and the worn red frame of the booth just to my left, yet I am still a stride short of being right at it. I will advance once more to close that last gap.", + "Only a narrow strip of paving remains between me and the booth, with the bench arm and the stone pier of the facade closing in ahead. I will take one more short step forward to stand right at its side.", + "The red phone booth's glazed door and painted frame are right beside me, close enough to touch, with the bench pressed against my other side. I have reached the phone booth. I mark arriving here and turn my attention to the tall pillar over on the left.", + "I am pressed right up against the red phone booth, with its glazing and the bench filling my view, so there is nothing further to gain facing this corner. The tall green pillars line the concourse well behind my current heading, so I turn left to begin swinging around toward them.", + "The rotation has revealed the booth's red front panel, but I am still aimed almost straight at it and the pale wall beside it. Another left turn should keep carrying my heading away from this corner and toward the open hall where the heavy pillars stand.", + "The booth has slid to the right side of my view and the open concourse with its metal barriers is opening on the left. I continue turning left to bring more of that hall, and the tall green columns along it, in front of me.", + "Only the booth's edge clings to the right border now, while the arched hall and railings stretch across most of my view. I turn left again to sweep further along the concourse toward the massive ironwork supports.", + "The hall is wide open ahead with the platform railings and a train off to the left, but the great green columns sit further round than my current heading. I keep turning left to draw them closer to the middle of my view.", + "The station clock and the first of the green arched supports have appeared along the left of my view, so my heading is nearly where I want it. One more left turn should bring that pillar cluster more squarely in front of me.", + "The green ironwork pillars and their arches now fill the left portion of my view beyond a clear stretch of tiled floor. A final left turn should line my walking direction up with the base of that column.", + "The heavy green columns now rise ahead of me along the left side of the concourse, with open tiled floor between us and no obstruction in the way. With my heading set on them, I walk forward to close that distance toward the pillar base.", + "The row of massive green iron pillars stands along the left side of the concourse ahead of me, still well out of reach. My path down the open tiled floor is clear of barriers and benches, so I will keep walking forward to close that distance.", + "I can see the green pillar arches on my left growing larger and the platform clock coming nearer, which tells me my heading is carrying me along the correct side of the hall. Nothing blocks the tiles in front of me, so I will step forward again.", + "The heavy green column with its riveted base is now clearly picked out on my left, but I am still several paces short of standing beside it. I will continue walking straight ahead along the open floor.", + "The ticket machine and bin sit beside the pillar line to my left front, marking how far I still have to travel. The lane between me and them is empty, so another forward step should bring the pillar base within a short reach.", + "The green pillar and the machines beside it now fill much of the left of my view, so I am close but not yet alongside the column's footing. I will advance again to bring myself level with it.", + "The riveted green column stands just off my left shoulder now, with the ticket machine tight beside it. One more step forward should place me right at the pillar's footing rather than short of it.", + "I am now beside the great riveted pillar, but it lies off to my left while my body still points down the platform. I will turn left so the column's base sits squarely in front of me.", + "The huge green column with its studded plating now faces me directly, its base a couple of paces off. I will step forward to bring myself right up against that footing.", + "The riveted green pillar now fills the left half of my view, with its wide plinth just ahead of me and a narrow gap between it and the ticket machine on the right. I am close but not yet standing at its base, so I will step forward once more to close that last stretch of floor.", + "The pillar's riveted base and plinth fill my view at arm's length. The task is complete, so I stop here." + ] +}